version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 701 start: 10 3 121 23 7 56 data: $ID,626 $MISSION,3 $DIVE,701 $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,31 $R_STBD_OVSHOOT,40 $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 $GPS1,031021,230136,2245.2346,-15801.2402,7,1.2,21,9.8,0.0,359.4,8,9.7 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.17 $_SM_ANGLEo,-71.4 $GPS2,031021,230705,2245.2532,-15801.2910,7,1.1,24,9.8,0.8,316.2,8,9.5 $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,105.3,2254,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,16,-0.55,-116.8,123,2291,1198,1118,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,16386,0.000,0.000,123,2292,3132,3097,3167,0,0,0,0,0,0,15.18,28.83,15.19 $GC,84,-0.55,-116.8,123,2292,3098,3167,3.7,-7.5,9,107,8.43,2.42,-2.30,0.000,18948,0.430,0.063,2575,839,3279,3256,3303,0,0,0,0,0,0,14.20,13.37,14.49 $GC,115,-0.55,-116.8,2574,838,3261,3298,19.0,-42.2,13,122,0.00,2.42,0.00,0.000,3078,0.000,0.050,2566,2261,3279,3263,3296,0,0,0,0,0,0,14.97,14.83,14.98 $GC,366,-0.55,-116.8,2565,2261,3266,3296,75.4,-18.8,41,376,0.00,2.38,0.00,0.000,2564,0.000,0.055,2566,849,3281,3267,3295,0,0,0,0,0,0,15.23,14.58,15.24 $GC,399,-0.55,-116.8,2566,849,3267,3295,81.2,-17.8,44,405,0.05,2.40,0.00,0.000,3078,0.389,0.059,2573,2270,3280,3267,3294,0,0,0,0,0,0,14.64,14.88,14.89 $GC,656,-0.55,-116.8,2573,2273,3268,3293,116.0,-13.6,69,664,0.00,2.35,0.00,0.000,516,0.000,0.054,2573,857,3280,3268,3293,0,0,0,0,0,0,15.26,14.75,15.27 $GC,701,-0.55,-116.8,2572,856,3269,3293,121.6,-12.6,73,709,0.00,2.35,0.00,0.000,3078,0.000,0.057,2564,2262,3280,3270,3291,0,0,0,0,0,0,14.81,14.74,14.83 $GC,949,-0.55,-116.8,2564,2262,3270,3292,156.4,-14.8,98,953,0.00,2.38,0.00,0.000,2308,0.000,0.067,2553,3681,3280,3270,3291,0,0,0,0,0,0,15.29,14.90,15.30 $GC,964,-0.55,-116.8,2552,3681,3270,3293,158.1,-14.4,99,972,0.05,2.38,0.00,0.000,3078,0.343,0.045,2572,2249,3281,3270,3292,0,0,0,0,0,0,14.69,14.90,14.92 $GC,1214,-0.55,-116.8,2572,2245,3270,3292,185.5,-9.3,124,1218,0.00,2.28,0.00,0.000,516,0.000,0.054,2572,859,3280,3270,3291,0,0,0,0,0,0,15.28,14.92,15.29 $GC,1308,-0.55,-116.8,2572,859,3271,3292,194.0,-8.7,133,1316,0.00,2.35,0.00,0.000,3078,0.000,0.057,2563,2265,3280,3271,3290,0,0,0,0,0,0,14.83,14.76,14.85 $STATE,1374,end dive,TARGET_DEPTH_EXCEEDED $STATE,1375,begin apogee $GC,1381,-0.13,0.0,2563,2088,3271,3290,200.5,-9.8,140,1479,0.35,0.08,93.62,1.089,10246,0.236,0.146,2699,2149,2798,2864,2733,0,0,0,0,0,0,14.53,14.62,13.97 $STATE,1480,end apogee,CONTROL_FINISHED_OK $STATE,1480,begin climb $GC,1483,0.55,116.8,2700,2149,2863,2733,204.0,0.0,150,1589,0.52,2.38,96.60,1.070,10756,0.150,0.051,2929,754,2320,2402,2238,0,0,0,0,0,0,14.47,14.39,13.90 $GC,1607,0.62,237.4,2928,754,2397,2238,201.8,3.9,162,1713,0.00,2.35,95.88,1.068,11270,0.000,0.052,2929,2104,1831,1908,1754,0,0,0,0,0,0,14.76,14.62,13.90 $GC,1953,0.62,237.4,2929,2104,1907,1748,161.3,11.5,197,1961,0.00,2.28,0.00,0.000,2564,0.000,0.058,2938,756,1827,1907,1748,0,0,0,0,0,0,15.17,14.76,15.17 $GC,2007,0.62,237.4,2939,755,1903,1748,155.2,11.4,202,2016,0.00,2.30,0.00,0.000,3078,0.000,0.054,2939,2127,1826,1904,1748,0,0,0,0,0,0,14.81,14.76,14.83 $GC,2258,0.62,237.4,2939,2128,1904,1747,124.3,12.3,227,2267,0.00,2.35,0.00,0.000,2308,0.000,0.066,2939,3538,1825,1903,1747,0,0,0,0,0,0,15.23,14.76,15.23 $GC,2332,0.62,237.4,2939,3538,1903,1747,113.9,13.7,234,2343,0.00,2.25,0.00,0.000,1030,0.000,0.046,2950,2165,1825,1904,1747,0,0,0,0,0,0,15.04,14.94,15.06 $GC,2587,0.62,237.4,2950,2165,1903,1747,84.2,10.8,259,2595,0.00,2.40,0.00,0.000,516,0.000,0.060,2962,715,1825,1904,1747,0,0,0,0,0,0,15.26,14.73,15.26 $GC,2654,0.64,259.2,2961,714,1901,1747,77.6,9.0,265,2682,0.00,2.40,17.92,0.954,13318,0.000,0.055,2962,2131,1741,1825,1658,0,0,0,0,0,0,15.04,14.88,14.16 $GC,2922,0.65,282.6,2960,2131,1825,1654,55.9,8.9,292,2954,0.00,2.40,19.58,0.920,12548,0.000,0.067,2962,3539,1646,1736,1556,0,0,0,0,0,0,15.24,14.74,14.22 $GC,2969,0.65,288.3,2961,3539,1736,1556,51.5,9.8,296,2982,0.00,2.38,6.40,0.818,13318,0.000,0.050,2972,2125,1621,1714,1529,0,0,0,0,0,0,14.97,14.85,14.13 $GC,3229,0.65,288.3,2972,2126,1714,1527,21.3,12.5,328,3237,0.00,2.40,0.00,0.000,4612,0.000,0.061,2984,717,1620,1714,1526,0,0,0,0,0,0,15.21,14.83,15.21 $GC,3277,0.65,288.3,2983,717,1709,1527,15.6,12.4,336,3285,0.08,2.42,0.00,0.000,5126,0.306,0.057,2955,2127,1618,1710,1526,0,0,0,0,0,0,14.65,14.84,14.88 $STATE,3389,end climb,SURFACE_DEPTH_REACHED $STATE,3389,begin surface coast $FINISH,0.7,1.023044 $STATE,3417,end surface coast,CONTROL_FINISHED_OK $STATE,3418,begin surface $SM_CCo,3434,46.22,0.187,0,0,1166,400.08 $SM_GC,1.24,6.30,0.22,46.22,0.034,0.076,0.187,165,2293,1166,-7.96,-0.82,400.08,0,0,0,0,0,0,14.90,14.95,14.65 $IRIDIUM_FIX,2237.01,-15754.11,031021,230314 $TT8_MAMPS,0.02247,0.340795 $HUMID,52.48 $INTERNAL_PRESSURE,9.30662 $TCM_TEMP,24.50 $XPDR_PINGS,0 $24V_AH,13.37,160.384 $10V_AH,12.84,0.000 $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,15.775,52.525,330.000,46.225,0.000,32.896,64.235,107.793,0.000,0.000,25.170,929.174,1277.194,428.358,1070.338,142.262,0.000,866.693,0.000,853.127,0.000,0.554,0.000 $DEVICE_MAMPS,429.930,146.115,1089.360,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,238.175,261.213,494.091,452.122,517.626,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339100 $DATA_FILE_SIZE,33956,362 $CAP_FILE_SIZE,61620,0 $CFSIZE,1023623168,956350464 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0 $CURRENT,0.146,344.39,1 $GPS,041021,000719,2245.397,-15800.971,8,0.8,44,9.8,0.0,281.2,11,6.1