version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 655 start: 10 1 121 17 59 46 data: $ID,626 $MISSION,3 $DIVE,655 $N_DIVES,0 $STOP_T,0 $D_SURF,3 $D_FLARE,3 $D_TGT,200 $D_ABORT,250 $D_NO_BLEED,150 $D_BOOST,20 $T_BOOST,0 $D_FINISH,0 $D_PITCH,0 $D_SAFE,0 $D_CALL,0 $SURFACE_URGENCY,0 $SURFACE_URGENCY_TRY,0 $SURFACE_URGENCY_FORCE,0 $T_DIVE,66 $T_MISSION,180 $T_ABORT,550 $T_TURN,500 $T_TURN_SAMPINT,5 $T_NO_W,120 $T_LOITER,0 $T_EPIRB,0 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,0 $APOGEE_PITCH,-5 $MAX_BUOY,120 $COURSE_BIAS,0 $GLIDE_SLOPE,25 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,54816 $MASS_COMP,0 $NAV_MODE,2 $FERRY_MAX,45 $KALMAN_USE,2 $HD_A,0.0019952599 $HD_B,0.011885 $HD_C,9.8500004e-06 $HEADING,-1 $ESCAPE_HEADING,270 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2141 $TGT_DEFAULT_LON,-15809 $TGT_AUTO_DEFAULT,0 $SM_CC,400 $N_FILEKB,4 $FILEMGR,0 $CALL_NDIVES,1 $COMM_SEQ,0 $PROTOCOL,9 $N_NOCOMM,2 $NOCOMM_ACTION,259 $N_NOSURFACE,0 $UPLOAD_DIVES_MAX,-1 $CALL_TRIES,5 $CALL_WAIT,60 $CAPUPLOAD,0 $CAPMAXSIZE,400000 $HEAPDBG,0 $T_GPS,15 $N_GPS,100840 $T_RSLEEP,4 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,199 $PITCH_MAX,3921 $C_PITCH,2750 $PITCH_DBAND,0.0099999998 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,37.799999 $PITCH_TIMEOUT,25 $PITCH_AD_RATE,125 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,183 $ROLL_MAX,3761 $ROLL_DEG,40 $C_ROLL_DIVE,2265 $C_ROLL_CLIMB,2125 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,38 $R_STBD_OVSHOOT,46 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,600 $VBD_MAX,3960 $C_VBD,2800 $VBD_DBAND,2 $VBD_CNV,-0.245296 $VBD_LP_IGNORE,0 $VBD_TIMEOUT,720 $PITCH_VBD_SHIFT,0.00061500003 $VBD_PUMP_AD_RATE_SURFACE,5 $VBD_PUMP_AD_RATE_APOGEE,4 $VBD_BLEED_AD_RATE,8 $UNCOM_BLEED,60 $VBD_MAXERRORS,1 $W_ADJ_DBAND,0 $DBDW,0 $PITCH_W_GAIN,0 $PITCH_W_DBAND,0 $CF8_MAXERRORS,20 $AH0_24V,310 $AH0_10V,0 $MINV_24V,11.5 $MINV_10V,10 $MAXI_24V,3 $MAXI_10V,2 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-177.91942 $PRESSURE_SLOPE,0.00014088588 $AD7714Ch0Gain,32 $TCM_PITCH_OFFSET,0 $TCM_ROLL_OFFSET,0 $COMPASS_USE,0 $ALTIM_BOTTOM_PING_RANGE,0 $ALTIM_TOP_PING_RANGE,0 $ALTIM_BOTTOM_TURN_MARGIN,0 $ALTIM_TOP_TURN_MARGIN,0 $ALTIM_TOP_MIN_OBSTACLE,1 $ALTIM_PING_DEPTH,0 $ALTIM_PING_DELTA,5 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,2 $XPDR_VALID,2 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097655999 $INT_PRESSURE_YINT,0 $DEEPGLIDER,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,37 $DEVICE4,67 $DEVICE5,54 $DEVICE6,-1 $LOGGERS,0 $LOGGERDEVICE1,-1 $LOGGERDEVICE2,-1 $LOGGERDEVICE3,-1 $LOGGERDEVICE4,-1 $COMPASS_DEVICE,17 $COMPASS2_DEVICE,-1 $PHONE_DEVICE,49 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0044219922 $SEABIRD_T_H,0.00064468966 $SEABIRD_T_I,2.6862755e-05 $SEABIRD_T_J,3.3151866e-06 $SEABIRD_C_G,-10.061407 $SEABIRD_C_H,1.1334444 $SEABIRD_C_I,-0.0030129163 $SEABIRD_C_J,0.00029655115 $GPS1,011021,175319,2245.1096,-15801.2764,9,0.8,39,9.8,0.4,281.8,10,5.7 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.19 $_SM_ANGLEo,-75.0 $GPS2,011021,175855,2245.1096,-15801.3066,7,0.8,15,9.8,0.0,260.9,10,9.3 $SPEED_LIMITS,0.217,0.227 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,1300.000 $KALMAN_CONTROL,0.000000,0.000000 $KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000 $KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000 $MHEAD_RNG_PITCHd_Wd,81.2,2241,-18.0,-10.101,-24.02,1992 $D_GRID,200 $GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts $STATE,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,16,-0.55,-116.8,123,2292,1199,1117,0.0,0.0,0,80,0.00,0.00,-61.28,0.000,16386,0.000,0.000,123,2293,3139,3104,3175,0,0,0,0,0,0,15.18,28.83,15.19 $GC,84,-0.55,-116.8,123,2293,3104,3175,3.7,-7.0,9,98,8.40,0.00,-2.17,0.000,18950,0.430,0.000,2561,2293,3279,3250,3309,0,0,0,0,0,0,14.21,13.44,14.50 $GC,345,-0.55,-116.8,2560,2293,3261,3297,74.9,-22.1,40,355,0.00,2.40,0.00,0.000,2564,0.000,0.059,2561,860,3279,3263,3295,0,0,0,0,0,0,15.24,14.59,15.24 $GC,422,-0.55,-116.8,2561,861,3266,3295,90.1,-16.5,47,431,0.05,2.33,0.00,0.000,3078,0.393,0.058,2569,2246,3280,3267,3293,0,0,0,0,0,0,14.65,14.89,14.90 $GC,672,-0.55,-116.8,2568,2249,3267,3295,126.2,-14.9,72,681,0.00,2.30,0.00,0.000,2564,0.000,0.055,2569,864,3281,3267,3295,0,0,0,0,0,0,15.28,14.63,15.28 $GC,705,-0.55,-116.8,2569,865,3267,3294,131.1,-14.3,75,715,0.00,2.33,0.00,0.000,3078,0.000,0.057,2560,2260,3280,3267,3293,0,0,0,0,0,0,14.83,14.76,14.85 $GC,957,-0.55,-116.8,2560,2259,3267,3294,163.7,-12.5,100,966,0.00,2.33,0.00,0.000,2564,0.000,0.057,2560,864,3280,3267,3294,0,0,0,0,0,0,15.29,14.79,15.30 $GC,1030,-0.55,-116.8,2560,864,3268,3294,172.0,-10.3,107,1040,0.08,2.35,0.00,0.000,3078,0.336,0.059,2577,2267,3280,3268,3292,0,0,0,0,0,0,14.67,14.92,14.92 $GC,1281,-0.55,-116.8,2577,2266,3268,3292,196.3,-10.0,132,1290,0.00,2.33,0.00,0.000,260,0.000,0.068,2567,3664,3280,3268,3292,0,0,0,0,0,0,15.30,14.59,15.30 $GC,1304,-0.55,-116.8,2567,3665,3268,3292,198.7,-10.2,134,1312,0.00,2.28,0.00,0.000,3078,0.000,0.045,2566,2262,3279,3268,3291,0,0,0,0,0,0,14.88,14.83,14.90 $STATE,1322,end dive,TARGET_DEPTH_EXCEEDED $STATE,1322,begin apogee $GC,1329,-0.13,0.0,2567,2083,3268,3291,200.7,-10.0,136,1426,0.35,0.08,93.05,1.085,10246,0.226,0.151,2704,2146,2798,2864,2733,0,0,0,0,0,0,14.55,14.62,14.02 $STATE,1427,end apogee,CONTROL_FINISHED_OK $STATE,1427,begin climb $GC,1429,0.55,116.8,2704,2146,2863,2733,204.7,0.0,146,1534,0.50,0.00,96.00,1.077,10502,0.137,0.000,2920,2146,2322,2406,2238,0,0,0,0,0,0,14.60,14.33,13.90 $GC,1775,0.57,146.0,2920,2146,2405,2233,188.7,8.6,181,1805,0.00,2.38,24.35,1.045,10756,0.000,0.054,2931,759,2202,2291,2114,0,0,0,0,0,0,15.17,14.81,14.15 $GC,1821,0.58,167.0,2930,759,2285,2114,184.7,9.0,185,1847,0.00,2.28,17.85,1.017,11270,0.000,0.053,2931,2115,2118,2206,2031,0,0,0,0,0,0,14.92,14.82,14.07 $GC,2088,0.59,182.7,2930,2115,2205,2027,157.6,9.3,212,2109,0.00,2.40,13.85,0.997,10500,0.000,0.067,2931,3540,2053,2141,1965,0,0,0,0,0,0,15.21,14.67,14.16 $GC,2184,0.59,182.7,2931,3541,2141,1965,147.4,10.8,221,2193,0.00,2.25,0.00,0.000,5126,0.000,0.048,2941,2168,2053,2141,1966,0,0,0,0,0,0,14.84,14.80,14.85 $GC,2434,0.59,182.7,2941,2167,2141,1964,123.8,10.2,246,2438,0.00,2.40,0.00,0.000,516,0.000,0.058,2953,718,2052,2141,1964,0,0,0,0,0,0,15.23,14.90,15.24 $GC,2459,0.59,182.7,2952,717,2136,1963,121.4,10.4,248,2467,0.03,2.42,0.00,0.000,5126,0.389,0.057,2943,2124,2049,2135,1963,0,0,0,0,0,0,14.66,14.84,14.77 $GC,2709,0.59,182.7,2943,2125,2136,1962,96.6,10.7,273,2718,0.00,2.33,0.00,0.000,4356,0.000,0.067,2943,3524,2049,2135,1963,0,0,0,0,0,0,15.26,14.75,15.26 $GC,2825,0.59,182.7,2942,3524,2135,1963,84.0,10.4,284,2833,0.00,2.40,0.00,0.000,5126,0.000,0.054,2952,2126,2049,2136,1963,0,0,0,0,0,0,14.92,14.85,14.94 $GC,3074,0.65,279.3,2952,2126,2136,1963,65.7,5.1,309,3155,0.00,2.45,74.50,0.953,10500,0.000,0.067,2953,3530,1658,1749,1568,0,0,0,0,0,0,15.27,14.69,14.16 $GC,3186,0.65,279.3,2952,3532,1748,1568,56.6,10.3,320,3190,0.00,2.38,0.00,0.000,5126,0.000,0.053,2963,2123,1658,1749,1568,0,0,0,0,0,0,14.87,14.76,14.88 $GC,3440,0.65,279.3,2963,2122,1749,1563,29.2,10.6,345,3448,0.00,2.42,0.00,0.000,4612,0.000,0.067,2974,713,1655,1748,1562,0,0,0,0,0,0,15.19,14.81,15.19 $GC,3508,0.65,279.3,2974,713,1742,1564,21.6,11.5,356,3516,0.05,2.42,0.00,0.000,5126,0.347,0.058,2954,2124,1652,1742,1562,0,0,0,0,0,0,14.66,14.84,14.91 $STATE,3682,end climb,SURFACE_DEPTH_REACHED $STATE,3682,begin surface coast $FINISH,0.4,1.023100 $STATE,3711,end surface coast,CONTROL_FINISHED_OK $STATE,3711,begin surface $SM_CCo,3727,49.45,0.187,0,0,1166,400.08 $SM_GC,1.26,6.43,0.22,49.45,0.060,0.083,0.187,157,2284,1166,-7.91,-0.93,400.08,0,0,0,0,0,0,15.00,14.94,14.66 $IRIDIUM_FIX,2234.68,-15759.32,011021,175441 $TT8_MAMPS,0.023219,0.340795 $HUMID,52.24 $INTERNAL_PRESSURE,9.31638 $TCM_TEMP,24.70 $XPDR_PINGS,2 $24V_AH,13.44,152.882 $10V_AH,12.38,0.000 $FG_AHR_24Vo,0.000 $FG_AHR_10Vo,0.000 $DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2 $DEVICE_SECS,15.875,47.650,319.600,49.450,0.000,31.064,48.212,134.326,0.500,0.000,17.027,1008.493,1427.316,405.831,1169.279,140.973,0.000,870.161,0.000,936.303,0.000,0.556,0.000 $DEVICE_MAMPS,429.930,151.470,1084.770,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,259.423,279.901,534.981,481.292,565.593,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339104 $DATA_FILE_SIZE,37220,393 $CAP_FILE_SIZE,62794,0 $CFSIZE,1023623168,959365120 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.119,277.33,1 $GPS,011021,190338,2245.201,-15801.161,8,1.0,18,9.8,0.7,258.2,8,9.7