version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 926 start: 10 15 121 16 1 51 data: $ID,626 $MISSION,3 $DIVE,926 $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,22 $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 $GPS1,151021,155502,2243.7214,-15802.9932,7,0.9,27,9.8,0.6,103.3,9,9.6 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.19 $_SM_ANGLEo,-73.3 $GPS2,151021,160101,2243.6904,-15803.0039,7,1.0,23,9.8,0.8,106.7,8,9.3 $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,39.2,5675,-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,-116.8,123,2274,1296,1190,0.0,0.0,0,75,0.00,0.00,-55.90,0.000,16386,0.000,0.000,123,2274,3013,2988,3039,0,0,0,0,0,0,15.18,28.83,15.19 $GC,79,-0.55,-116.8,123,2274,2988,3039,3.2,-5.9,8,102,8.52,2.40,-4.45,0.000,18692,0.428,0.075,2555,3693,3278,3257,3299,0,0,0,0,0,0,14.08,13.25,14.38 $GC,160,-0.55,-116.8,2555,3694,3260,3298,21.9,-10.1,21,168,0.05,2.42,0.00,0.000,3078,0.353,0.049,2574,2264,3279,3263,3295,0,0,0,0,0,0,14.58,14.79,14.81 $GC,421,-0.55,-116.8,2574,2261,3266,3292,58.2,-15.9,52,430,0.00,2.40,0.00,0.000,260,0.000,0.069,2566,3681,3279,3266,3292,0,0,0,0,0,0,15.23,14.53,15.23 $GC,506,-0.55,-116.8,2565,3682,3266,3293,70.3,-13.8,60,516,0.00,2.30,0.00,0.000,3078,0.000,0.041,2565,2263,3278,3266,3291,0,0,0,0,0,0,14.77,14.79,14.78 $GC,756,-0.55,-116.8,2565,2263,3266,3292,106.9,-11.7,85,761,0.00,2.45,0.00,0.000,2308,0.000,0.073,2555,3682,3279,3266,3292,0,0,0,0,0,0,15.26,14.83,15.27 $GC,845,-0.55,-116.8,2555,3682,3266,3293,113.6,-7.0,93,852,0.05,2.33,0.00,0.000,3078,0.348,0.042,2575,2254,3279,3266,3292,0,0,0,0,0,0,14.66,14.92,14.88 $GC,1094,-0.55,-116.8,2575,2253,3267,3292,135.8,-11.6,118,1103,0.00,2.42,0.00,0.000,260,0.000,0.073,2566,3682,3279,3267,3292,0,0,0,0,0,0,15.26,14.50,15.27 $GC,1168,-0.55,-116.8,2566,3682,3266,3292,144.1,-10.8,125,1172,0.00,2.30,0.00,0.000,3078,0.000,0.040,2566,2266,3279,3267,3292,0,0,0,0,0,0,15.04,14.94,15.06 $GC,1423,-0.55,-116.8,2566,2262,3267,3291,169.1,-8.6,150,1432,0.00,2.42,0.00,0.000,2308,0.000,0.073,2555,3677,3279,3267,3291,0,0,0,0,0,0,15.27,14.54,15.27 $GC,1527,-0.55,-116.8,2555,3677,3267,3291,177.7,-8.1,160,1537,0.03,2.28,0.00,0.000,3078,0.360,0.041,2567,2269,3279,3267,3291,0,0,0,0,0,0,14.51,14.76,14.60 $STATE,1755,end dive,TARGET_DEPTH_EXCEEDED $STATE,1756,begin apogee $GC,1763,-0.13,0.0,2568,2098,3267,3290,200.4,-10.6,183,1867,0.35,0.08,94.05,1.080,10246,0.213,0.150,2707,2147,2799,2864,2734,0,0,0,0,0,0,14.30,14.57,13.86 $STATE,1868,end apogee,CONTROL_FINISHED_OK $STATE,1868,begin climb $GC,1871,0.55,116.8,2707,2147,2864,2733,207.1,0.0,194,1977,0.50,2.40,97.20,1.067,10500,0.070,0.068,2971,3529,2323,2403,2243,0,0,0,0,0,0,14.68,14.29,13.78 $GC,2253,0.59,185.0,2971,3530,2402,2244,188.1,6.6,231,2321,0.08,2.33,55.92,1.049,13318,0.268,0.043,2942,2149,2042,2128,1957,0,0,0,0,0,0,14.47,14.78,13.91 $GC,2562,0.60,200.1,2942,2149,2128,1950,161.2,9.3,262,2581,0.00,2.40,12.65,0.976,8964,0.000,0.067,2942,3530,1982,2066,1899,0,0,0,0,0,0,15.19,14.83,14.07 $GC,2818,0.61,216.1,2942,3530,2065,1899,134.9,9.3,287,2838,0.00,2.30,14.38,0.959,13318,0.000,0.049,2952,2139,1916,1998,1835,0,0,0,0,0,0,14.78,14.72,14.09 $GC,3078,0.64,266.7,2951,2138,1998,1830,113.8,7.5,313,3126,0.00,2.42,41.10,0.983,10756,0.000,0.063,2963,717,1709,1797,1622,0,0,0,0,0,0,15.23,14.52,14.02 $GC,3133,0.67,318.0,2962,716,1795,1623,110.1,7.5,318,3180,0.00,2.40,41.28,0.966,9222,0.000,0.057,2963,2113,1502,1591,1413,0,0,0,0,0,0,14.88,14.76,13.97 $GC,3421,0.67,318.0,2962,2113,1591,1406,80.7,10.7,347,3426,0.00,2.38,0.00,0.000,516,0.000,0.061,2973,716,1498,1591,1406,0,0,0,0,0,0,15.18,14.81,15.19 $GC,3509,0.67,319.8,2973,716,1587,1406,71.6,10.0,355,3516,0.00,2.42,0.00,0.000,5126,0.000,0.057,2973,2124,1496,1587,1405,0,0,0,0,0,0,14.96,14.81,14.98 $GC,3757,0.67,319.8,2971,2124,1587,1404,44.6,11.0,380,3766,0.00,2.38,0.00,0.000,4356,0.000,0.071,2973,3533,1495,1587,1403,0,0,0,0,0,0,15.23,14.51,15.23 $GC,3801,0.67,319.8,2973,3533,1587,1403,38.5,13.8,384,3811,0.05,2.35,0.00,0.000,5126,0.288,0.052,2965,2121,1495,1587,1403,0,0,0,0,0,0,14.28,14.54,14.44 $GC,4065,0.70,364.9,2964,2118,1587,1403,10.3,7.8,427,4094,0.00,2.45,19.73,0.232,10756,0.000,0.067,2974,724,1308,1401,1216,0,0,0,0,0,0,15.21,14.54,14.50 $STATE,4137,end climb,SURFACE_DEPTH_REACHED $STATE,4137,begin surface coast $FINISH,2.1,1.023195 $STATE,4144,end surface coast,CONTROL_FINISHED_OK $STATE,4144,begin surface $SM_CCo,4164,6.05,0.216,0,0,1247,380.21 $SM_GC,1.98,6.43,2.67,6.05,0.049,0.061,0.216,171,2267,1247,-7.91,-0.90,380.21,0,0,0,0,0,0,14.91,14.82,14.55 $IRIDIUM_FIX,2234.68,-15806.70,151021,155647 $TT8_MAMPS,0.02247,0.31458 $HUMID,53.18 $INTERNAL_PRESSURE,9.28709 $TCM_TEMP,24.30 $XPDR_PINGS,1 $24V_AH,13.25,199.590 $10V_AH,12.60,0.000 $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,16.050,52.900,376.300,6.050,0.000,31.909,43.551,134.017,0.250,0.000,24.508,1139.506,1496.193,406.377,1330.633,187.752,0.000,938.784,0.000,1102.887,0.000,0.556,0.000 $DEVICE_MAMPS,428.400,149.940,1080.180,215.730,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,290.734,316.514,600.988,537.602,620.505,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339164 $DATA_FILE_SIZE,40718,440 $CAP_FILE_SIZE,69622,0 $CFSIZE,1023623168,941588480 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0 $CURRENT,0.139,197.12,1 $GPS,151021,171232,2243.438,-15803.176,8,0.8,31,9.8,0.7,96.5,10,8.7