version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 914 start: 10 14 121 23 53 51 data: $ID,626 $MISSION,3 $DIVE,914 $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,32 $R_STBD_OVSHOOT,26 $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 $GPS1,141021,234723,2244.2622,-15801.9316,9,0.9,24,9.8,0.7,246.4,8,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.20 $_SM_ANGLEo,-70.6 $GPS2,141021,235302,2244.2627,-15801.9824,5,0.9,24,9.8,0.9,230.3,8,10.0 $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,93.4,3650,-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,17,-0.55,-116.8,123,2282,1293,1188,0.0,0.0,0,80,0.00,0.00,-61.08,0.000,16386,0.000,0.000,123,2282,3213,3176,3251,0,0,0,0,0,0,15.19,28.83,15.19 $GC,84,-0.55,-116.8,123,2282,3176,3251,3.8,-6.9,9,99,8.57,0.00,-1.00,0.000,18950,0.433,0.000,2565,2283,3279,3250,3309,0,0,0,0,0,0,14.07,13.32,14.40 $GC,350,-0.55,-116.8,2564,2282,3263,3296,62.7,-17.6,42,361,0.00,2.40,0.00,0.000,2564,0.000,0.057,2565,854,3280,3265,3296,0,0,0,0,0,0,15.23,14.50,15.23 $GC,452,-0.55,-116.8,2565,854,3267,3295,77.6,-13.1,51,462,0.03,2.38,0.00,0.000,3078,0.399,0.058,2565,2264,3280,3268,3293,0,0,0,0,0,0,14.29,14.52,14.42 $GC,703,-0.55,-116.8,2565,2264,3267,3293,107.1,-11.4,76,713,0.00,2.38,0.00,0.000,2564,0.000,0.054,2566,850,3281,3268,3294,0,0,0,0,0,0,15.25,14.52,15.26 $GC,769,-0.55,-116.8,2565,850,3268,3294,114.3,-10.0,82,780,0.03,2.38,0.00,0.000,3078,0.400,0.057,2566,2266,3280,3269,3292,0,0,0,0,0,0,14.32,14.52,14.42 $GC,1022,-0.55,-116.8,2565,2266,3268,3293,141.1,-10.2,107,1030,0.00,2.38,0.00,0.000,2564,0.000,0.052,2566,847,3280,3268,3293,0,0,0,0,0,0,15.27,14.70,15.27 $GC,1090,-0.55,-116.8,2565,847,3268,3293,147.4,-9.2,113,1097,0.05,2.40,0.00,0.000,3078,0.377,0.058,2574,2270,3280,3269,3292,0,0,0,0,0,0,14.64,14.88,14.88 $GC,1337,-0.55,-116.8,2574,2271,3269,3292,172.1,-10.5,138,1347,0.00,2.35,0.00,0.000,516,0.000,0.052,2574,854,3280,3269,3292,0,0,0,0,0,0,15.28,14.56,15.28 $GC,1373,-0.55,-116.8,2574,854,3269,3293,175.5,-10.0,141,1381,0.00,2.42,0.00,0.000,3078,0.000,0.057,2565,2265,3280,3269,3291,0,0,0,0,0,0,14.85,14.78,14.89 $GC,1625,-0.55,-116.8,2565,2264,3269,3291,198.9,-9.2,166,1635,0.00,2.38,0.00,0.000,2564,0.000,0.056,2565,851,3280,3270,3291,0,0,0,0,0,0,15.26,14.69,15.26 $STATE,1638,end dive,TARGET_DEPTH_EXCEEDED $STATE,1638,begin apogee $GC,1647,-0.13,0.0,2555,2123,3269,3291,200.1,-9.3,167,1745,0.38,0.00,94.18,1.084,10246,0.224,0.000,2699,2124,2800,2868,2732,0,0,0,0,0,0,14.44,14.59,13.85 $STATE,1746,end apogee,CONTROL_FINISHED_OK $STATE,1746,begin climb $GC,1749,0.55,116.8,2700,2124,2867,2732,204.9,0.0,177,1854,0.50,2.47,96.88,1.074,10756,0.138,0.052,2925,710,2321,2407,2236,0,0,0,0,0,0,14.55,14.56,13.83 $GC,1932,0.57,157.8,2925,709,2393,2237,202.6,8.0,195,1973,0.00,2.40,33.90,1.053,11270,0.000,0.052,2926,2126,2156,2244,2068,0,0,0,0,0,0,14.56,14.50,13.94 $GC,2215,0.58,172.7,2925,2126,2244,2062,175.9,9.3,223,2233,0.00,2.42,13.32,0.991,10500,0.000,0.067,2926,3542,2093,2183,2003,0,0,0,0,0,0,15.19,14.81,14.04 $GC,2403,0.59,179.5,2925,3542,2183,2004,157.0,9.7,241,2421,0.00,2.35,7.07,0.913,9222,0.000,0.046,2937,2120,2066,2156,1977,0,0,0,0,0,0,14.99,14.89,14.02 $GC,2662,0.61,222.3,2936,2120,2157,1973,135.4,7.9,267,2703,0.00,2.42,34.65,1.018,10756,0.000,0.060,2948,712,1891,1975,1808,0,0,0,0,0,0,15.24,14.79,14.06 $GC,2730,0.62,241.8,2948,711,1967,1809,129.7,9.1,273,2756,0.00,2.42,16.77,0.975,9222,0.000,0.055,2948,2129,1812,1895,1730,0,0,0,0,0,0,14.91,14.80,14.02 $GC,2997,0.62,241.8,2948,2129,1895,1724,100.8,10.9,300,3007,0.00,2.38,0.00,0.000,260,0.000,0.070,2948,3535,1809,1895,1724,0,0,0,0,0,0,15.21,14.50,15.21 $GC,3041,0.62,241.8,2947,3535,1895,1724,95.7,11.4,304,3052,0.00,2.33,0.00,0.000,5126,0.000,0.049,2958,2128,1810,1896,1724,0,0,0,0,0,0,14.69,14.68,14.71 $GC,3295,0.66,300.2,2958,2130,1895,1723,72.1,7.1,329,3353,0.00,2.45,46.53,0.946,10756,0.000,0.060,2970,717,1573,1664,1483,0,0,0,0,0,0,15.23,14.65,14.06 $GC,3451,0.68,340.0,2969,717,1657,1482,61.5,8.0,344,3491,0.00,2.38,31.85,0.919,9222,0.000,0.055,2970,2115,1411,1506,1317,0,0,0,0,0,0,14.57,14.51,14.05 $GC,3731,0.69,351.9,2970,2115,1506,1312,35.4,9.5,372,3751,0.00,2.42,10.32,0.850,8452,0.000,0.073,2970,3533,1363,1460,1266,0,0,0,0,0,0,15.19,14.58,14.09 $GC,3779,0.69,351.9,2969,3533,1460,1266,30.7,10.5,376,3788,0.00,2.40,0.00,0.000,5126,0.000,0.052,2980,2125,1363,1460,1266,0,0,0,0,0,0,14.95,14.82,14.97 $STATE,4027,end climb,SURFACE_DEPTH_REACHED $STATE,4027,begin surface coast $FINISH,0.7,1.023191 $STATE,4052,end surface coast,CONTROL_FINISHED_OK $STATE,4052,begin surface $SM_CCo,4070,11.75,0.210,0,0,1247,380.21 $SM_GC,0.88,6.43,0.25,11.75,0.048,0.061,0.210,179,2304,1247,-7.90,-0.90,380.21,0,0,0,0,0,0,14.92,14.95,14.57 $IRIDIUM_FIX,2234.68,-15802.37,141021,234901 $TT8_MAMPS,0.023219,0.290612 $HUMID,54.05 $INTERNAL_PRESSURE,9.29685 $TCM_TEMP,24.20 $XPDR_PINGS,0 $24V_AH,13.32,197.307 $10V_AH,12.19,0.000 $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,15.975,52.725,385.475,11.750,0.000,26.844,44.008,127.860,0.000,0.000,27.911,1084.727,1489.687,412.167,1272.894,193.835,0.000,946.615,0.000,1065.520,0.000,0.555,0.000 $DEVICE_MAMPS,432.990,73.440,1084.005,209.610,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,281.063,303.646,583.609,527.641,623.114,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339072 $DATA_FILE_SIZE,40620,426 $CAP_FILE_SIZE,69272,0 $CFSIZE,1023623168,942374912 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $CURRENT,0.076,327.39,1 $GPS,151021,010321,2244.403,-15801.727,8,1.0,48,9.8,0.5,294.2,7,5.1