version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 873 start: 10 12 121 18 38 39 data: $ID,626 $MISSION,3 $DIVE,873 $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,380 $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,56 $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 $GPS1,121021,182923,2245.5376,-15801.3203,8,1.0,19,9.8,0.0,70.1,8,9.5 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.26 $_SM_ANGLEo,-75.4 $GPS2,121021,183749,2245.5964,-15801.3623,7,1.1,48,9.8,1.1,36.3,7,5.0 $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,116.9,2576,-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,-116.8,122,2303,1279,1196,0.0,0.0,0,81,0.00,0.00,-62.08,0.000,16386,0.000,0.000,123,2304,3273,3239,3308,0,0,0,0,0,0,15.19,28.83,15.20 $GC,85,-0.55,-116.8,122,2304,3240,3308,4.2,-8.5,9,100,8.52,2.40,0.00,0.000,2564,0.428,0.040,2575,843,3274,3245,3304,0,0,0,0,0,0,14.07,14.53,14.36 $GC,109,-0.55,-116.8,2575,843,3251,3299,17.8,-41.4,12,116,0.00,2.40,0.00,0.000,3078,0.000,0.042,2567,2261,3275,3253,3297,0,0,0,0,0,0,14.95,14.81,14.97 $GC,366,-0.55,-116.8,2566,2262,3258,3291,67.4,-17.3,40,376,0.00,2.38,0.00,0.000,2564,0.000,0.055,2567,849,3275,3260,3290,0,0,0,0,0,0,15.24,14.60,15.24 $GC,435,-0.55,-116.8,2567,849,3261,3290,78.4,-15.6,46,445,0.03,2.38,0.00,0.000,3078,0.397,0.059,2566,2255,3275,3261,3289,0,0,0,0,0,0,14.29,14.51,14.42 $GC,686,-0.55,-116.8,2566,2256,3261,3289,116.6,-12.7,71,692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2566,2256,3275,3262,3289,0,0,0,0,0,0,15.26,15.26,15.26 $GC,933,-0.55,-116.8,2566,2256,3261,3289,145.9,-11.5,96,938,0.00,2.38,0.00,0.000,2564,0.000,0.054,2566,847,3275,3261,3289,0,0,0,0,0,0,15.29,14.89,15.28 $GC,1007,-0.55,-116.8,2566,847,3262,3289,153.7,-10.0,103,1016,0.00,2.38,0.00,0.000,3078,0.000,0.057,2557,2261,3275,3261,3289,0,0,0,0,0,0,14.77,14.71,14.82 $GC,1258,-0.55,-116.8,2556,2261,3262,3288,180.1,-10.3,128,1263,0.05,2.38,0.00,0.000,2564,0.417,0.052,2574,847,3275,3262,3289,0,0,0,0,0,0,14.73,14.90,14.90 $GC,1327,-0.55,-116.8,2574,847,3262,3289,186.3,-9.2,134,1334,0.00,2.40,0.00,0.000,3078,0.000,0.057,2565,2267,3276,3263,3289,0,0,0,0,0,0,15.03,14.88,15.05 $STATE,1460,end dive,TARGET_DEPTH_EXCEEDED $STATE,1460,begin apogee $GC,1468,-0.13,0.0,2565,2081,3263,3288,200.9,-11.6,148,1566,0.35,0.10,93.85,1.076,10246,0.227,0.125,2700,2155,2798,2865,2732,0,0,0,0,0,0,14.46,14.60,13.88 $STATE,1567,end apogee,CONTROL_FINISHED_OK $STATE,1567,begin climb $GC,1570,0.55,116.8,2701,2155,2865,2732,206.8,0.0,158,1676,0.50,2.45,97.70,1.064,10756,0.129,0.052,2929,746,2322,2406,2238,0,0,0,0,0,0,14.51,14.56,13.84 $GC,1694,0.65,289.6,2929,746,2396,2239,210.8,1.2,171,1845,0.00,2.30,139.07,1.065,11270,0.000,0.053,2930,2104,1617,1705,1529,0,0,0,0,0,0,14.55,14.49,13.83 $GC,2086,0.65,289.6,2929,2104,1705,1524,165.3,11.9,210,2090,0.00,2.42,0.00,0.000,2308,0.000,0.066,2929,3543,1614,1705,1524,0,0,0,0,0,0,15.18,14.84,15.18 $GC,2141,0.65,289.6,2929,3543,1705,1524,158.8,12.0,215,2148,0.00,2.30,0.00,0.000,3078,0.000,0.048,2940,2155,1614,1705,1524,0,0,0,0,0,0,15.00,14.88,15.02 $GC,2390,0.65,289.6,2940,2154,1705,1524,132.1,10.5,240,2395,0.00,2.45,0.00,0.000,2564,0.000,0.064,2952,709,1614,1704,1524,0,0,0,0,0,0,15.23,14.88,15.23 $GC,2465,0.65,289.6,2951,709,1702,1523,123.7,11.6,247,2473,0.00,2.38,0.00,0.000,3078,0.000,0.057,2952,2118,1612,1701,1523,0,0,0,0,0,0,14.79,14.73,14.81 $GC,2718,0.67,313.0,2951,2118,1702,1522,97.4,8.9,272,2746,0.00,2.40,19.80,0.950,10500,0.000,0.063,2952,3540,1522,1616,1429,0,0,0,0,0,0,15.26,14.50,14.01 $GC,2772,0.67,319.0,2951,3540,1615,1429,92.1,9.8,277,2783,0.00,2.38,6.72,0.848,9222,0.000,0.049,2962,2118,1498,1593,1404,0,0,0,0,0,0,14.98,14.88,14.06 $GC,3032,0.67,322.8,2962,2118,1592,1400,68.6,9.9,303,3043,0.00,2.47,4.47,0.761,10500,0.000,0.067,2963,3544,1480,1575,1386,0,0,0,0,0,0,15.22,14.83,14.05 $GC,3057,0.67,322.8,2962,3544,1577,1386,65.9,10.2,305,3067,0.00,2.35,0.00,0.000,5126,0.000,0.054,2973,2129,1481,1577,1386,0,0,0,0,0,0,14.68,14.62,14.71 $GC,3309,0.67,322.8,2972,2129,1577,1386,39.5,11.1,330,3314,0.00,2.40,0.00,0.000,4612,0.000,0.064,2983,712,1481,1577,1386,0,0,0,0,0,0,15.23,14.88,15.23 $GC,3363,0.67,322.8,2983,711,1574,1385,33.7,10.2,335,3373,0.05,2.38,0.00,0.000,5126,0.266,0.054,2963,2129,1479,1574,1385,0,0,0,0,0,0,14.34,14.55,14.48 $GC,3629,0.72,400.1,2963,2131,1574,1385,14.2,6.1,380,3674,0.00,2.40,33.22,0.237,10500,0.000,0.064,2963,3531,1166,1264,1069,0,0,0,0,0,0,15.22,14.56,14.54 $GC,3682,0.72,400.4,2962,3532,1264,1068,9.1,10.1,387,3690,0.00,2.40,0.00,0.000,3078,0.000,0.050,2972,2117,1166,1264,1068,0,0,0,0,0,0,14.95,14.81,14.97 $STATE,3739,end climb,SURFACE_DEPTH_REACHED $STATE,3739,begin surface coast $FINISH,0.5,1.023188 $STATE,3771,end surface coast,CONTROL_FINISHED_OK $STATE,3771,begin surface $SM_CCo,3850,0.00,0.000,0,0,1164,401.55 $SM_GC,1.19,6.53,0.28,0.00,0.060,0.059,0.000,115,2328,1164,-7.96,-0.65,401.55,0,0,0,0,0,0,14.96,14.96,15.00 $IRIDIUM_FIX,2237.01,-15802.37,121021,183334 $TT8_MAMPS,0.02247,0.343042 $HUMID,53.22 $INTERNAL_PRESSURE,9.31638 $TCM_TEMP,24.90 $XPDR_PINGS,0 $24V_AH,13.83,189.918 $10V_AH,12.66,0.000 $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,16.025,53.175,394.850,0.000,0.000,55.782,100.618,113.437,0.000,0.000,49.354,1029.638,1496.802,407.714,1281.543,170.640,0.000,890.621,0.000,960.002,0.000,0.555,0.000 $DEVICE_MAMPS,428.400,125.460,1075.590,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,265.324,291.540,548.182,504.104,587.873,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339116 $DATA_FILE_SIZE,37436,403 $CAP_FILE_SIZE,64930,0 $CFSIZE,1023623168,945078272 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.195,343.45,1 $GPS,121021,194401,2245.750,-15801.057,8,1.0,37,9.8,0.5,287.5,8,7.2