version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 677 start: 10 2 121 19 20 53 data: $ID,626 $MISSION,3 $DIVE,677 $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,65 $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 $GPS1,021021,191501,2245.1655,-15800.8262,9,1.0,27,9.8,0.6,310.9,9,6.7 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.20 $_SM_ANGLEo,-73.1 $GPS2,021021,192003,2245.1594,-15800.8555,8,0.9,16,9.8,0.0,293.4,9,9.5 $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,85.5,1490,-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,17,-0.55,-116.8,114,2307,1201,1113,0.0,0.0,0,75,0.00,0.00,-56.25,0.000,16386,0.000,0.000,114,2307,2953,2932,2975,0,0,0,0,0,0,15.19,28.83,15.19 $GC,79,-0.55,-116.8,114,2307,2933,2976,3.4,-7.0,8,101,8.50,0.00,-5.38,0.000,18438,0.436,0.000,2561,2307,3277,3257,3297,0,0,0,0,0,0,14.22,13.97,14.50 $GC,350,-0.55,-116.8,2561,2307,3262,3294,69.8,-23.0,41,360,0.00,2.40,0.00,0.000,2564,0.000,0.056,2561,862,3277,3263,3291,0,0,0,0,0,0,15.23,14.57,15.23 $GC,436,-0.55,-116.8,2561,862,3266,3290,86.4,-16.6,49,446,0.05,2.28,0.00,0.000,3078,0.344,0.056,2570,2230,3278,3266,3290,0,0,0,0,0,0,14.46,14.76,14.62 $GC,687,-0.55,-116.8,2570,2232,3267,3290,124.6,-14.2,74,695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2570,2232,3278,3267,3290,0,0,0,0,0,0,15.28,15.28,15.28 $GC,935,-0.55,-116.8,2570,2232,3266,3290,157.3,-12.3,99,945,0.00,2.30,0.00,0.000,2564,0.000,0.054,2570,855,3278,3267,3290,0,0,0,0,0,0,15.30,14.92,15.30 $GC,978,-0.55,-116.8,2570,854,3265,3290,162.4,-12.0,103,987,0.00,2.35,0.00,0.000,3078,0.000,0.058,2562,2257,3278,3267,3289,0,0,0,0,0,0,14.82,14.76,14.85 $GC,1230,-0.55,-116.8,2562,2257,3267,3289,189.6,-10.8,128,1234,0.00,2.35,0.00,0.000,2564,0.000,0.056,2562,855,3278,3267,3289,0,0,0,0,0,0,15.29,14.93,15.30 $GC,1276,-0.55,-116.8,2561,855,3267,3289,194.6,-11.3,132,1285,0.05,2.45,0.00,0.000,3078,0.307,0.059,2570,2268,3278,3268,3289,0,0,0,0,0,0,14.50,14.76,14.67 $STATE,1330,end dive,TARGET_DEPTH_EXCEEDED $STATE,1330,begin apogee $GC,1337,-0.13,0.0,2570,2084,3268,3289,200.9,-10.6,138,1435,0.35,0.08,93.12,1.080,10246,0.243,0.147,2704,2152,2798,2864,2733,0,0,0,0,0,0,14.35,14.62,14.01 $STATE,1436,end apogee,CONTROL_FINISHED_OK $STATE,1436,begin climb $GC,1439,0.55,116.8,2704,2153,2864,2733,204.8,0.0,148,1544,0.50,2.42,96.70,1.068,10756,0.148,0.051,2926,755,2321,2404,2238,0,0,0,0,0,0,14.52,14.59,13.93 $GC,1560,0.64,264.7,2925,755,2396,2239,204.7,2.5,160,1687,0.00,2.28,118.05,1.060,11270,0.000,0.051,2925,2104,1718,1802,1635,0,0,0,0,0,0,14.62,14.57,13.92 $GC,1927,0.64,264.7,2925,2104,1801,1630,158.9,12.4,197,1937,0.00,2.25,0.00,0.000,2564,0.000,0.058,2936,769,1715,1801,1630,0,0,0,0,0,0,15.17,14.73,15.18 $GC,1991,0.64,264.7,2935,769,1799,1630,151.7,11.1,203,2001,0.00,2.28,0.00,0.000,3078,0.000,0.055,2936,2124,1713,1798,1629,0,0,0,0,0,0,15.01,14.89,15.02 $GC,2243,0.64,264.7,2935,2124,1798,1628,121.4,12.6,228,2250,0.00,0.00,0.00,0.000,2054,0.000,0.000,2936,2124,1713,1798,1628,0,0,0,0,0,0,15.24,15.25,15.24 $GC,2493,0.64,264.7,2935,2124,1798,1627,91.3,10.8,253,2501,0.00,2.33,0.00,0.000,2308,0.000,0.068,2936,3526,1712,1798,1627,0,0,0,0,0,0,15.27,14.74,15.28 $GC,2528,0.64,264.7,2935,3526,1798,1627,87.5,11.0,256,2537,0.00,2.33,0.00,0.000,3078,0.000,0.054,2946,2166,1712,1798,1627,0,0,0,0,0,0,14.85,14.80,14.88 $GC,2778,0.66,299.4,2946,2166,1798,1627,63.4,8.3,281,2816,0.00,2.42,27.75,0.932,10756,0.000,0.063,2958,716,1576,1669,1484,0,0,0,0,0,0,15.26,14.69,14.23 $GC,2882,0.68,328.4,2958,715,1667,1484,54.2,8.6,291,2911,0.00,2.35,23.45,0.903,11270,0.000,0.058,2958,2115,1459,1553,1365,0,0,0,0,0,0,14.71,14.65,14.19 $GC,3155,0.68,328.4,2957,2115,1553,1362,23.5,12.2,323,3162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2958,2115,1457,1553,1362,0,0,0,0,0,0,15.20,15.20,15.20 $STATE,3327,end climb,SURFACE_DEPTH_REACHED $STATE,3327,begin surface coast $FINISH,0.8,1.023060 $STATE,3349,end surface coast,CONTROL_FINISHED_OK $STATE,3349,begin surface $SM_CCo,3365,29.60,0.183,0,0,1166,400.08 $SM_GC,1.24,6.32,0.25,29.60,0.036,0.063,0.183,157,2313,1166,-7.96,-0.68,400.08,0,0,0,0,0,0,14.95,14.98,14.66 $IRIDIUM_FIX,2234.68,-15759.32,021021,191620 $TT8_MAMPS,0.02247,0.341544 $HUMID,52.71 $INTERNAL_PRESSURE,9.30662 $TCM_TEMP,24.50 $XPDR_PINGS,2 $24V_AH,13.92,156.479 $10V_AH,11.85,0.000 $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,15.775,33.325,359.075,29.600,0.000,23.356,50.639,107.758,0.500,0.000,17.369,897.654,1246.857,411.825,1048.252,129.260,0.000,842.579,0.000,853.710,0.000,0.555,0.000 $DEVICE_MAMPS,436.050,146.880,1080.180,182.835,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,236.143,257.468,490.610,448.563,530.250,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339096 $DATA_FILE_SIZE,33975,359 $CAP_FILE_SIZE,55957,0 $CFSIZE,1023623168,957923328 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.095,285.18,1 $GPS,021021,201828,2245.208,-15800.578,8,0.8,22,9.8,0.9,244.2,10,8.8