version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 1015 start: 10 21 121 10 57 55 data: $ID,626 $MISSION,3 $DIVE,1015 $N_DIVES,0 $STOP_T,0 $D_SURF,3 $D_FLARE,3 $D_TGT,400 $D_ABORT,450 $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,133 $T_MISSION,200 $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,140 $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,2732 $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,2075 $C_ROLL_CLIMB,2100 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,37 $R_STBD_OVSHOOT,23 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,600 $VBD_MAX,3960 $C_VBD,2650 $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 $GPS1,211021,105019,2239.0251,-15818.2852,17,0.8,40,9.8,0.4,350.5,10,7.0 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.08 $_SM_ANGLEo,-74.6 $GPS2,211021,105726,2239.0261,-15818.3975,7,0.8,13,9.8,0.5,294.0,10,9.5 $SPEED_LIMITS,0.215,0.228 $TGT_NAME,ALOHA3 $TGT_LATLONG,2239.500,-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,79.9,31455,-17.6,-10.025,-23.76,2039 $D_GRID,400 $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,-136.3,114,2078,789,635,0.0,0.0,0,97,0.00,0.00,-76.15,0.000,16390,0.000,0.000,115,2079,3207,3168,3247,0,0,0,0,0,0,15.07,12.76,15.02 $GC,101,-0.55,-136.3,114,2079,3168,3247,4.0,-8.3,11,116,8.62,2.38,0.00,0.000,2564,0.433,0.042,2555,654,3209,3175,3243,0,0,0,0,0,0,13.99,14.45,14.28 $GC,145,-0.55,-136.3,2554,652,3187,3233,20.2,-22.5,18,153,0.00,2.50,0.00,0.000,3078,0.000,0.054,2546,2090,3209,3188,3230,0,0,0,0,0,0,14.83,14.67,14.85 $GC,400,-0.55,-136.3,2546,2090,3189,3228,64.2,-17.0,48,410,0.00,2.35,0.00,0.000,2308,0.000,0.065,2535,3481,3209,3190,3228,0,0,0,0,0,0,15.16,14.31,15.16 $GC,425,-0.55,-136.3,2535,3481,3189,3228,68.2,-17.0,50,436,0.05,2.30,0.00,0.000,3078,0.293,0.043,2553,2075,3208,3190,3227,0,0,0,0,0,0,14.19,14.66,14.30 $GC,679,-0.55,-136.3,2553,2072,3191,3227,104.1,-12.7,75,687,0.00,2.30,0.00,0.000,516,0.000,0.050,2553,672,3209,3191,3227,0,0,0,0,0,0,15.17,14.56,15.18 $GC,711,-0.55,-136.3,2553,672,3192,3226,108.5,-12.1,78,722,0.00,2.35,0.00,0.000,3078,0.000,0.051,2544,2070,3209,3192,3226,0,0,0,0,0,0,14.44,14.38,14.45 $GC,965,-0.55,-136.3,2544,2070,3192,3226,136.8,-11.7,103,971,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2070,3209,3193,3226,0,0,0,0,0,0,15.19,15.20,15.20 $GC,1211,-0.55,-136.3,2544,2072,3193,3226,163.9,-10.8,128,1220,0.00,2.40,0.00,0.000,2308,0.000,0.064,2533,3494,3209,3193,3226,0,0,0,0,0,0,15.23,14.52,15.23 $GC,1244,-0.55,-136.3,2533,3494,3193,3226,167.7,-11.9,131,1249,0.05,2.33,0.00,0.000,3078,0.352,0.041,2552,2073,3209,3193,3226,0,0,0,0,0,0,14.57,14.85,14.79 $GC,1498,-0.55,-136.3,2552,2070,3194,3226,192.6,-9.3,156,1508,0.00,2.33,0.00,0.000,2564,0.000,0.051,2552,671,3210,3195,3226,0,0,0,0,0,0,15.23,14.39,15.24 $GC,1595,-0.55,-136.3,2552,671,3194,3226,200.8,-8.5,165,1603,0.00,2.45,0.00,0.000,3078,0.000,0.052,2543,2080,3210,3195,3225,0,0,0,0,0,0,14.76,14.69,14.80 $GC,1846,-0.55,-136.3,2542,2080,3195,3224,223.8,-9.6,190,1855,0.00,2.35,0.00,0.000,2308,0.000,0.065,2533,3478,3210,3195,3225,0,0,0,0,0,0,15.21,14.54,15.21 $GC,1872,-0.55,-136.3,2531,3478,3195,3224,226.3,-9.4,192,1880,0.05,2.38,0.00,0.000,3078,0.340,0.039,2552,2050,3209,3195,3224,0,0,0,0,0,0,14.53,14.76,14.76 $GC,2120,-0.55,-136.3,2552,2048,3195,3224,246.4,-8.0,217,2125,0.00,2.45,0.00,0.000,260,0.000,0.061,2543,3487,3209,3195,3224,0,0,0,0,0,0,15.22,14.77,15.23 $GC,2249,-0.55,-136.3,2542,3488,3195,3224,256.7,-8.3,229,2256,0.00,2.33,0.00,0.000,3078,0.000,0.041,2543,2069,3209,3195,3223,0,0,0,0,0,0,14.96,14.84,14.98 $GC,2499,-0.55,-136.3,2542,2067,3195,3222,278.6,-9.1,254,2507,0.00,2.33,0.00,0.000,2564,0.000,0.053,2543,675,3208,3195,3222,0,0,0,0,0,0,15.22,14.59,15.22 $GC,2566,-0.55,-136.3,2543,674,3194,3222,285.0,-9.4,260,2573,0.05,2.38,0.00,0.000,3078,0.368,0.051,2551,2081,3208,3195,3221,0,0,0,0,0,0,14.54,14.80,14.77 $GC,2817,-0.55,-136.3,2551,2083,3195,3220,305.7,-7.4,285,2821,0.00,2.38,0.00,0.000,2308,0.000,0.065,2543,3482,3207,3195,3220,0,0,0,0,0,0,15.23,14.76,15.23 $GC,2884,-0.55,-136.3,2541,3484,3194,3219,310.3,-6.7,291,2891,0.00,2.38,0.00,0.000,3078,0.000,0.041,2542,2071,3207,3195,3219,0,0,0,0,0,0,14.90,14.73,14.92 $GC,3135,-0.55,-136.3,2542,2069,3195,3216,327.8,-7.6,316,3144,0.00,2.35,0.00,0.000,2564,0.000,0.056,2542,671,3205,3194,3217,0,0,0,0,0,0,15.22,14.56,15.22 $GC,3212,-0.55,-136.3,2542,670,3194,3217,333.9,-7.9,323,3219,0.08,2.38,0.00,0.000,3078,0.307,0.052,2559,2074,3205,3194,3216,0,0,0,0,0,0,14.50,14.78,14.74 $GC,3462,-0.55,-136.3,2559,2076,3194,3213,352.3,-7.9,348,3472,0.00,2.40,0.00,0.000,4356,0.000,0.067,2550,3478,3203,3194,3213,0,0,0,0,0,0,15.23,14.27,15.23 $GC,3567,-0.55,-136.3,2550,3477,3194,3212,361.0,-7.9,358,3576,0.00,2.30,0.00,0.000,3078,0.000,0.041,2550,2074,3203,3194,3212,0,0,0,0,0,0,14.76,14.78,14.76 $GC,3818,-0.55,-136.3,2549,2074,3194,3208,379.8,-7.3,383,3823,0.00,2.38,0.00,0.000,2564,0.000,0.055,2550,673,3201,3194,3209,0,0,0,0,0,0,15.21,14.76,15.21 $GC,3887,-0.55,-136.3,2550,671,3192,3210,384.9,-7.9,389,3894,0.00,2.40,0.00,0.000,3078,0.000,0.053,2540,2076,3200,3192,3209,0,0,0,0,0,0,14.91,14.76,14.94 $STATE,4069,end dive,TARGET_DEPTH_EXCEEDED $STATE,4070,begin apogee $GC,4077,-0.13,0.0,2540,2076,3191,3206,400.2,-8.2,408,4203,0.40,0.00,116.30,1.434,10246,0.231,0.000,2686,2076,2649,2736,2562,0,0,0,0,0,0,13.95,14.40,13.50 $STATE,4204,end apogee,CONTROL_FINISHED_OK $STATE,4204,begin climb $GC,4207,0.55,136.3,2686,2076,2736,2561,404.5,0.0,421,4337,0.50,2.45,119.53,1.401,10756,0.140,0.055,2906,696,2092,2184,2000,0,0,0,0,0,0,14.39,14.42,13.54 $GC,4440,0.55,136.3,2906,696,2173,1995,388.1,10.1,444,4449,0.00,2.45,0.00,0.000,1030,0.000,0.051,2906,2101,2083,2172,1995,0,0,0,0,0,0,14.77,14.66,14.80 $GC,4691,0.55,136.3,2906,2101,2173,1993,362.2,10.3,469,4700,0.00,2.40,0.00,0.000,260,0.000,0.068,2906,3502,2083,2173,1993,0,0,0,0,0,0,15.11,14.52,15.12 $GC,4765,0.55,136.3,2906,3502,2173,1993,353.7,11.1,476,4774,0.00,2.35,0.00,0.000,5126,0.000,0.046,2918,2102,2083,2173,1994,0,0,0,0,0,0,14.66,14.63,14.69 $GC,5017,0.55,136.3,2917,2101,2173,1992,326.7,10.4,501,5027,0.00,2.42,0.00,0.000,4356,0.000,0.066,2917,3510,2083,2173,1993,0,0,0,0,0,0,15.18,14.34,15.18 $GC,5124,0.55,136.3,2917,3510,2173,1992,313.7,13.0,511,5132,0.05,2.38,0.00,0.000,5126,0.418,0.046,2914,2096,2082,2172,1992,0,0,0,0,0,0,14.47,14.81,14.76 $GC,5372,0.57,163.5,2913,2093,2173,1991,288.6,8.7,536,5402,0.00,2.45,22.30,1.321,8452,0.000,0.065,2914,3517,1981,2071,1892,0,0,0,0,0,0,15.19,14.43,13.78 $GC,5447,0.57,163.5,2913,3517,2072,1893,281.2,10.6,543,5457,0.00,2.38,0.00,0.000,5126,0.000,0.048,2922,2104,1982,2072,1892,0,0,0,0,0,0,14.50,14.45,14.52 $GC,5702,0.58,185.7,2922,2102,2072,1889,258.5,8.9,568,5729,0.00,2.45,19.45,1.270,12804,0.000,0.060,2933,684,1892,1982,1803,0,0,0,0,0,0,15.16,14.41,13.78 $GC,5829,0.58,185.7,2933,684,1973,1803,245.3,10.2,580,5838,0.00,2.40,0.00,0.000,5126,0.000,0.051,2933,2096,1886,1971,1802,0,0,0,0,0,0,14.59,14.55,14.63 $GC,6080,0.58,185.7,2933,2096,1973,1801,217.4,11.3,605,6089,0.05,2.42,0.00,0.000,4356,0.411,0.066,2918,3512,1886,1972,1801,0,0,0,0,0,0,14.58,14.52,14.74 $GC,6167,0.58,185.7,2917,3512,1972,1800,208.2,10.5,613,6174,0.00,2.40,0.00,0.000,5126,0.000,0.048,2926,2093,1886,1972,1801,0,0,0,0,0,0,14.91,14.78,14.93 $GC,6417,0.62,243.6,2926,2092,1972,1800,187.0,7.1,638,6474,0.00,2.50,49.22,1.198,8964,0.000,0.066,2927,3513,1654,1749,1560,0,0,0,0,0,0,15.17,14.35,13.76 $GC,6490,0.64,289.2,2926,3513,1749,1560,181.6,7.7,645,6537,0.00,2.45,38.85,1.157,9222,0.000,0.047,2938,2091,1469,1562,1377,0,0,0,0,0,0,14.76,14.66,13.71 $GC,6778,0.65,304.1,2937,2091,1562,1370,155.1,9.3,674,6798,0.00,0.00,12.90,1.076,10246,0.000,0.000,2938,2091,1410,1506,1315,0,0,0,0,0,0,15.10,14.34,13.78 $GC,7040,0.67,326.6,2937,2091,1506,1312,131.6,8.9,700,7068,0.00,2.47,19.88,1.073,10500,0.000,0.065,2937,3509,1316,1411,1222,0,0,0,0,0,0,15.12,14.39,13.83 $GC,7114,0.67,326.6,2937,3509,1411,1222,124.2,10.3,707,7123,0.00,2.38,0.00,0.000,1030,0.000,0.049,2948,2103,1316,1411,1222,0,0,0,0,0,0,14.84,14.73,14.86 $GC,7367,0.67,326.6,2948,2103,1411,1220,96.8,11.0,732,7376,0.00,2.40,0.00,0.000,516,0.000,0.059,2959,690,1315,1411,1219,0,0,0,0,0,0,15.13,14.31,15.14 $GC,7414,0.67,326.6,2959,690,1409,1219,91.7,10.8,736,7421,0.00,2.45,0.00,0.000,5126,0.000,0.048,2959,2106,1313,1409,1218,0,0,0,0,0,0,14.87,14.72,14.89 $GC,7664,0.70,375.0,2959,2107,1408,1218,69.3,7.6,761,7711,0.00,2.42,39.08,1.000,12548,0.000,0.065,2959,3510,1118,1214,1023,0,0,0,0,0,0,15.16,14.38,13.87 $GC,7740,0.72,406.9,2959,3510,1215,1023,63.1,8.4,768,7779,0.00,2.42,26.23,0.968,13318,0.000,0.047,2970,2095,989,1083,895,0,0,0,0,0,0,14.82,14.69,13.81 $GC,8019,0.72,413.1,2969,2095,1083,892,35.1,9.7,796,8032,0.00,2.42,6.32,0.838,12804,0.000,0.060,2980,691,963,1058,868,0,0,0,0,0,0,15.10,14.69,13.86 $GC,8106,0.72,413.1,2980,691,1054,868,25.5,12.2,807,8114,0.05,2.45,0.00,0.000,5126,0.326,0.048,2959,2103,960,1054,867,0,0,0,0,0,0,14.51,14.71,14.73 $STATE,8338,end climb,SURFACE_DEPTH_REACHED $STATE,8338,begin surface coast $FINISH,0.2,1.023423 $STATE,8366,end surface coast,CONTROL_FINISHED_OK $STATE,8368,begin surface $SM_CCo,8447,0.00,0.000,0,0,960,414.55 $SM_GC,1.16,6.45,0.00,0.00,0.048,0.000,0.000,168,2106,960,-7.86,0.88,414.55,0,0,0,0,0,0,14.85,15.10,14.90 $IRIDIUM_FIX,2230.01,-15818.85,211021,105221 $TT8_MAMPS,0.023219,0.343791 $HUMID,56.57 $INTERNAL_PRESSURE,9.10154 $TCM_TEMP,23.30 $XPDR_PINGS,3 $24V_AH,12.76,217.707 $10V_AH,12.23,0.000 $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,16.400,110.150,470.050,0.000,0.000,24.971,45.784,201.511,0.750,0.000,14.371,2155.068,3607.559,571.143,2198.781,336.075,0.000,1502.593,0.000,1928.904,0.000,0.553,0.000 $DEVICE_MAMPS,432.990,68.085,1433.610,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,572.037,629.418,1151.196,806.454,943.505,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339116 $DATA_FILE_SIZE,80644,855 $CAP_FILE_SIZE,118417,0 $CFSIZE,1023623168,935182336 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.177,292.73,1 $GPS,211021,132001,2239.262,-15818.525,14,0.8,43,9.8,0.0,270.7,10,5.6