version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 916 start: 10 15 121 2 27 15 data: $ID,626 $MISSION,3 $DIVE,916 $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,29 $R_STBD_OVSHOOT,45 $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 $GPS1,151021,022025,2244.4812,-15801.5518,8,0.9,40,9.8,0.5,269.4,9,4.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.19 $_SM_ANGLEo,-74.3 $GPS2,151021,022625,2244.4736,-15801.6260,8,0.9,17,9.8,0.0,217.2,9,9.2 $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,62.6,2943,-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,-116.8,123,2294,1302,1188,0.0,0.0,0,73,0.00,0.00,-53.38,0.000,16386,0.000,0.000,123,2295,2921,2915,2928,0,0,0,0,0,0,15.17,28.83,15.18 $GC,77,-0.55,-116.8,123,2295,2915,2929,3.1,-6.2,8,100,8.55,2.30,-6.25,0.000,18692,0.431,0.077,2551,3662,3279,3261,3297,0,0,0,0,0,0,14.05,13.84,14.35 $GC,136,-0.55,-116.8,2551,3662,3261,3297,17.9,-15.6,17,144,0.08,2.40,0.00,0.000,3078,0.296,0.050,2580,2253,3280,3265,3295,0,0,0,0,0,0,14.57,14.78,14.81 $GC,396,-0.55,-116.8,2579,2250,3267,3292,61.0,-16.6,49,408,0.00,2.33,0.00,0.000,4868,0.000,0.056,2580,854,3279,3268,3291,0,0,0,0,0,0,15.23,14.52,15.23 $GC,517,-0.55,-116.8,2579,854,3268,3291,78.9,-14.1,60,526,0.00,2.33,0.00,0.000,1030,0.000,0.055,2571,2241,3280,3270,3290,0,0,0,0,0,0,14.57,14.52,14.59 $GC,768,-0.55,-116.8,2570,2241,3270,3290,110.3,-11.8,85,778,0.00,2.33,0.00,0.000,2564,0.000,0.054,2571,852,3280,3270,3291,0,0,0,0,0,0,15.25,14.75,15.25 $GC,813,-0.55,-116.8,2570,852,3271,3291,115.4,-11.1,89,822,0.00,2.38,0.00,0.000,3078,0.000,0.056,2560,2267,3280,3271,3290,0,0,0,0,0,0,14.76,14.69,14.77 $GC,1064,-0.55,-116.8,2560,2267,3271,3290,144.8,-11.8,114,1074,0.00,2.38,0.00,0.000,2564,0.000,0.054,2560,851,3280,3271,3290,0,0,0,0,0,0,15.26,14.66,15.26 $GC,1128,-0.55,-116.8,2560,851,3272,3291,152.3,-10.9,120,1139,0.08,2.38,0.00,0.000,3078,0.269,0.057,2577,2266,3280,3271,3290,0,0,0,0,0,0,14.24,14.50,14.42 $GC,1379,-0.55,-116.8,2577,2265,3271,3290,177.5,-9.4,145,1389,0.00,2.35,0.00,0.000,516,0.000,0.052,2577,850,3281,3272,3290,0,0,0,0,0,0,15.27,14.69,15.28 $GC,1488,-0.55,-116.8,2577,850,3272,3290,186.5,-7.8,155,1496,0.00,2.40,0.00,0.000,3078,0.000,0.057,2567,2266,3280,3271,3290,0,0,0,0,0,0,15.02,14.88,15.04 $STATE,1684,end dive,TARGET_DEPTH_EXCEEDED $STATE,1684,begin apogee $GC,1691,-0.13,0.0,2567,2063,3272,3289,200.4,-6.3,175,1794,0.35,0.10,94.88,1.083,10246,0.226,0.068,2703,2157,2799,2866,2732,0,0,0,0,0,0,14.43,14.33,13.81 $STATE,1795,end apogee,CONTROL_FINISHED_OK $STATE,1796,begin climb $GC,1799,0.55,116.8,2703,2157,2866,2731,203.0,0.0,186,1905,0.52,2.47,97.50,1.071,10756,0.116,0.051,2946,715,2321,2406,2237,0,0,0,0,0,0,14.59,14.33,13.81 $GC,2422,0.58,176.6,2945,714,2390,2233,172.7,7.0,247,2481,0.00,2.30,48.17,1.050,13318,0.000,0.052,2945,2093,2079,2167,1991,0,0,0,0,0,0,14.81,14.80,13.93 $GC,2723,0.59,193.3,2945,2093,2167,1986,144.0,9.2,277,2743,0.00,2.35,14.70,0.995,12804,0.000,0.056,2956,707,2010,2096,1924,0,0,0,0,0,0,15.20,14.82,14.07 $GC,2768,0.61,216.1,2957,706,2090,1924,139.9,8.9,281,2797,0.00,2.38,19.12,0.990,13318,0.000,0.054,2956,2118,1917,1999,1836,0,0,0,0,0,0,14.76,14.71,14.00 $GC,3038,0.62,228.8,2956,2117,1999,1832,114.3,9.4,308,3057,0.00,2.40,11.30,0.945,12548,0.000,0.067,2956,3541,1865,1948,1783,0,0,0,0,0,0,15.21,14.57,14.04 $GC,3124,0.62,228.8,2956,3541,1948,1783,105.7,10.6,316,3132,0.05,2.40,0.00,0.000,5126,0.369,0.049,2949,2122,1865,1948,1783,0,0,0,0,0,0,14.61,14.83,14.84 $GC,3377,0.62,239.3,2949,2120,1948,1782,81.4,9.6,341,3395,0.00,2.47,9.93,0.903,8452,0.000,0.071,2949,3536,1822,1906,1739,0,0,0,0,0,0,15.23,14.83,14.09 $GC,3412,0.64,262.9,2948,3536,1906,1739,78.2,8.9,344,3440,0.00,2.38,20.15,0.946,13318,0.000,0.050,2958,2124,1726,1815,1637,0,0,0,0,0,0,14.99,14.85,14.10 $GC,3680,0.66,306.4,2958,2124,1815,1634,56.0,7.9,371,3719,0.00,0.00,34.92,0.926,10246,0.000,0.000,2959,2124,1548,1639,1457,0,0,0,0,0,0,15.21,14.74,14.10 $GC,3962,0.66,306.4,2958,2124,1639,1453,30.4,10.2,399,3974,0.00,2.42,0.00,0.000,2308,0.000,0.070,2959,3533,1545,1639,1451,0,0,0,0,0,0,15.19,14.47,15.19 $GC,3982,0.66,306.4,2958,3533,1639,1453,28.1,10.5,401,3990,0.00,2.42,0.00,0.000,5126,0.000,0.053,2969,2119,1546,1639,1453,0,0,0,0,0,0,14.95,14.81,14.97 $STATE,4213,end climb,SURFACE_DEPTH_REACHED $STATE,4213,begin surface coast $FINISH,0.3,1.023171 $STATE,4248,end surface coast,CONTROL_FINISHED_OK $STATE,4248,begin surface $SM_CCo,4266,30.83,0.200,0,0,1249,380.21 $SM_GC,1.29,6.32,0.28,30.83,0.035,0.060,0.200,150,2322,1249,-7.89,-0.62,380.21,0,0,0,0,0,0,14.98,14.95,14.56 $IRIDIUM_FIX,2234.68,-15814.95,151021,022215 $TT8_MAMPS,0.02247,0.290612 $HUMID,53.66 $INTERNAL_PRESSURE,9.28709 $TCM_TEMP,24.20 $XPDR_PINGS,3 $24V_AH,13.81,197.659 $10V_AH,12.59,0.000 $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,15.950,48.175,350.675,30.825,0.000,32.898,53.572,139.216,0.750,0.000,18.406,1157.466,1571.749,412.648,1355.473,192.764,0.000,953.155,0.000,1132.416,0.000,0.554,0.000 $DEVICE_MAMPS,431.460,77.265,1083.240,199.665,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,297.781,323.176,620.932,556.373,648.866,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339120 $DATA_FILE_SIZE,40730,450 $CAP_FILE_SIZE,70924,0 $CFSIZE,1023623168,942243840 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.083,223.93,1 $GPS,151021,033953,2244.460,-15801.443,8,0.9,21,9.8,2.1,268.4,9,9.8