version: 66.03 glider: 139 mission: 2 dive: 155 start: 4 29 108 6 55 49 data: $ID,139 $MISSION,2 $DIVE,155 $D_SURF,3 $D_FLARE,3 $D_TGT,450 $D_ABORT,600 $D_NO_BLEED,200 $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,220 $T_MISSION,360 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,5 $T_NO_W,120 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,1 $APOGEE_PITCH,-5 $MAX_BUOY,180 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,51851 $NAV_MODE,1 $FERRY_MAX,45 $KALMAN_USE,1 $HD_A,0.0038945 $HD_B,0.0099684997 $HD_C,2.576e-06 $HEADING,-1 $ESCAPE_HEADING,0 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,47.599998 $TGT_DEFAULT_LON,-122.3 $TGT_AUTO_DEFAULT,0 $SM_CC,310 $N_FILEKB,4 $FILEMGR,0 $CALL_NDIVES,1 $COMM_SEQ,0 $KERMIT,0 $N_NOCOMM,1 $N_NOSURFACE,0 $UPLOAD_DIVES_MAX,-1 $CALL_TRIES,5 $CALL_WAIT,60 $CAPUPLOAD,0 $CAPMAXSIZE,50000 $HEAPDBG,0 $T_GPS,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-1254954.1 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,435 $PITCH_MAX,3724 $C_PITCH,2770 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,16 $PITCH_TIMEOUT,15 $PITCH_AD_RATE,170 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,227 $ROLL_MAX,3931 $ROLL_DEG,40 $C_ROLL_DIVE,2200 $C_ROLL_CLIMB,2150 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,42 $R_STBD_OVSHOOT,61 $ROLL_AD_RATE,400 $ROLL_MAXERRORS,2 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,450 $VBD_MAX,3860 $C_VBD,2664 $VBD_DBAND,2 $VBD_CNV,-0.24529999 $VBD_TIMEOUT,720 $PITCH_VBD_SHIFT,0.0012300001 $VBD_PUMP_AD_RATE_SURFACE,4 $VBD_PUMP_AD_RATE_APOGEE,4 $VBD_BLEED_AD_RATE,8 $UNCOM_BLEED,20 $VBD_MAXERRORS,1 $CF8_MAXERRORS,20 $AH0_24V,91.800003 $AH0_10V,61.200001 $PRESSURE_YINT,-14.036633 $PRESSURE_SLOPE,0.000116328 $AD7714Ch0Gain,128 $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,10 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,1 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,-2.25 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,35 $DEVICE4,-1 $DEVICE5,-1 $DEVICE6,-1 $SMARTS,0 $SMARTDEVICE1,-1 $SMARTDEVICE2,-1 $COMPASS_DEVICE,33 $PHONE_DEVICE,48 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0043412433 $SEABIRD_T_H,0.00063263031 $SEABIRD_T_I,2.551855e-05 $SEABIRD_T_J,2.8651004e-06 $SEABIRD_C_G,-9.8929949 $SEABIRD_C_H,1.093717 $SEABIRD_C_I,-0.0013470891 $SEABIRD_C_J,0.00018459925 $GPS1,063738,2108.250,-15754.096,33,1.3,33,9.8 $_CALLS,4 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.95 $_SM_ANGLEo,-62.4 $GPS2,065457,2108.118,-15754.360,12,1.7,12,9.8 $SPEED_LIMITS,0.118,0.250 $TGT_NAME,WPT2 $TGT_LATLONG,2102.306,-15746.945 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.248,0.033 $KALMAN_X,-162225.4,-3.9,-67.9,159025.7,-2152.3 $KALMAN_Y,-68275.1,-97.7,116.5,55209.6,-1374.7 $MHEAD_RNG_PITCHd_Wd,72.7,16738,-11.3,-6.818 $D_GRID,450 $GCHEAD,st_secs,pitch_ctl,vbd_ctl,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 $STATE,16,end surface,CONTROL_FINISHED_OK $STATE,16,begin dive $GC,18,-0.92,-175.2,0.0,0.0,0,70,0.00,0.00,-49.60,0.000,2,0.000,0.000,425,2161,2871 $GC,72,-0.92,-175.2,3.3,-6.1,9,102,12.18,2.38,-9.77,0.000,4,0.161,0.060,2560,3584,3382 $GC,125,-0.92,-175.2,15.2,-18.7,18,131,0.00,2.25,0.00,0.000,6,0.000,0.021,2559,2194,3382 $GC,457,-0.92,-175.2,50.7,-9.5,61,461,0.00,2.33,0.00,0.000,4,0.000,0.033,2559,797,3382 $GC,477,-0.92,-175.2,52.9,-10.4,62,484,0.00,2.28,0.00,0.000,6,0.000,0.019,2560,2194,3383 $GC,802,-0.92,-175.2,86.8,-10.9,93,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2197,3383 $GC,1121,-0.92,-175.2,117.5,-8.6,123,1125,0.00,2.33,0.00,0.000,4,0.000,0.033,2559,3590,3383 $GC,1147,-0.92,-175.2,120.0,-9.0,125,1155,0.00,2.28,0.00,0.000,6,0.000,0.019,2559,2197,3383 $GC,1473,-0.92,-175.2,147.7,-7.8,156,1477,0.00,2.33,0.00,0.000,4,0.000,0.038,2559,806,3384 $GC,1528,-0.92,-175.2,152.3,-8.3,160,1535,0.00,2.28,0.00,0.000,6,0.000,0.020,2560,2202,3383 $GC,1854,-0.92,-175.2,176.1,-7.6,191,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2204,3384 $GC,2172,-0.92,-175.2,195.2,-4.6,221,2176,0.00,2.35,0.00,0.000,4,0.000,0.034,2560,803,3384 $GC,2204,-0.92,-175.2,196.6,-3.9,223,2210,0.00,2.28,0.00,0.000,6,0.000,0.021,2560,2192,3384 $GC,2522,-0.92,-175.2,211.3,-5.4,243,2526,0.00,2.35,0.00,0.000,4,0.000,0.036,2560,3591,3384 $GC,2562,-0.92,-175.2,213.6,-6.4,245,2566,0.00,2.28,0.00,0.000,6,0.000,0.057,2560,2194,3384 $GC,2888,-0.92,-175.2,235.1,-6.9,261,2892,0.00,2.38,0.00,0.000,4,0.000,0.038,2560,3594,3383 $GC,2942,-0.92,-175.2,239.2,-7.7,263,2946,0.00,2.30,0.00,0.000,6,0.000,0.051,2559,2203,3383 $GC,3264,-0.92,-175.2,262.2,-7.2,279,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3381 $GC,3573,-0.92,-175.2,281.7,-5.3,294,3577,0.00,2.35,0.00,0.000,4,0.000,0.037,2560,810,3380 $GC,3605,-0.92,-175.2,283.5,-5.3,295,3611,0.00,2.30,0.00,0.000,6,0.000,0.051,2560,2196,3380 $GC,3921,-0.92,-175.2,296.1,-3.6,311,3925,0.00,2.38,0.00,0.000,4,0.000,0.041,2560,3593,3379 $GC,3964,-0.92,-175.2,297.8,-4.0,313,3969,0.00,2.28,0.00,0.000,6,0.000,0.024,2560,2204,3379 $GC,4287,-0.92,-175.2,313.4,-5.7,323,4291,0.00,2.38,0.00,0.000,4,0.000,0.038,2559,799,3377 $GC,4308,-0.92,-175.2,315.0,-7.3,323,4313,0.00,2.33,0.00,0.000,6,0.000,0.026,2560,2188,3377 $GC,4651,-0.92,-175.2,342.9,-8.5,332,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2189,3375 $GC,4976,-0.92,-175.2,365.1,-6.0,340,4980,0.00,2.38,0.00,0.000,4,0.000,0.040,2559,800,3373 $GC,5002,-0.92,-175.2,366.7,-5.9,340,5007,0.00,2.35,0.00,0.000,6,0.000,0.028,2560,2197,3373 $GC,5338,-0.92,-175.2,387.1,-6.2,349,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2198,3371 $GC,5663,-0.92,-175.2,405.9,-5.6,357,5668,0.00,2.38,0.00,0.000,4,0.000,0.041,2559,808,3369 $GC,5703,-0.92,-175.2,408.1,-6.2,358,5707,0.00,2.33,0.00,0.000,6,0.000,0.063,2560,2202,3369 $GC,6026,-0.92,-175.2,422.9,-4.4,366,6030,0.00,2.40,0.00,0.000,4,0.000,0.041,2559,802,3367 $GC,6058,-0.92,-175.2,425.3,-7.8,366,6065,0.00,2.35,0.00,0.000,6,0.000,0.037,2560,2194,3367 $STATE,6388,end dive,TARGET_DEPTH_EXCEEDED $STATE,6388,begin apogee $GC,6393,-0.31,0.0,450.4,6.9,375,6535,0.65,0.00,140.05,0.891,6,0.065,0.000,2701,2194,2664 $STATE,6536,end apogee,CONTROL_FINISHED_OK $STATE,6536,begin climb $GC,6538,0.92,175.2,455.8,0.0,378,6690,1.20,2.58,143.55,0.863,4,0.047,0.051,2973,754,1947 $GC,6752,0.92,175.2,442.5,12.0,383,6756,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2150,1940 $GC,7064,0.92,175.2,416.5,8.2,391,7068,0.00,2.45,0.00,0.000,4,0.000,0.045,2973,3554,1937 $GC,7104,0.92,175.2,412.6,10.0,392,7109,0.00,2.38,0.00,0.000,6,0.000,0.061,2973,2155,1937 $GC,7428,0.92,175.4,387.7,6.8,400,7432,0.00,2.45,0.00,0.000,4,0.000,0.058,2973,749,1935 $GC,7549,0.92,175.4,379.8,7.6,402,7556,0.00,2.38,0.00,0.000,6,0.000,0.029,2973,2147,1932 $GC,7881,0.92,175.4,353.5,8.5,411,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2148,1933 $GC,8206,0.92,175.4,323.5,9.5,419,8210,0.00,2.42,0.00,0.000,4,0.000,0.049,2973,3547,1931 $GC,8271,0.92,175.4,317.6,8.8,420,8276,0.00,2.38,0.00,0.000,6,0.000,0.064,2973,2153,1931 $GC,8595,0.95,195.9,295.5,6.3,430,8617,0.00,2.45,15.80,0.776,4,0.000,0.059,2973,3548,1864 $GC,8639,0.97,212.5,292.8,6.4,432,8661,0.00,2.38,15.88,0.762,6,0.000,0.061,2972,2144,1797 $GC,8969,0.99,229.1,273.0,6.4,448,8991,0.00,2.45,15.25,0.748,4,0.000,0.051,2973,745,1728 $GC,9029,0.99,229.1,268.3,8.3,450,9036,0.00,2.40,0.00,0.000,6,0.000,0.061,2973,2153,1725 $GC,9344,0.99,229.1,241.7,8.6,466,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2157,1724 $GC,9654,0.99,229.1,216.6,8.4,481,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2157,1723 $GC,9967,1.02,252.8,195.0,6.2,499,9989,0.00,0.00,21.02,0.700,6,0.000,0.000,2973,2157,1633 $GC,10303,1.02,252.8,171.3,7.9,531,10307,0.00,2.42,0.00,0.000,4,0.000,0.041,2973,746,1629 $GC,10386,1.02,252.8,164.8,8.0,538,10390,0.00,2.33,0.00,0.000,6,0.000,0.024,2973,2156,1627 $GC,10710,1.02,252.8,140.8,7.8,568,10714,0.00,2.40,0.00,0.000,4,0.000,0.038,2973,748,1627 $GC,10794,1.02,252.8,133.9,8.3,575,10798,0.00,2.30,0.00,0.000,6,0.000,0.022,2973,2155,1626 $GC,11119,1.02,252.8,107.8,6.9,605,11123,0.00,2.40,0.00,0.000,4,0.000,0.050,2973,747,1626 $GC,11169,1.02,252.8,104.1,7.3,609,11173,0.00,2.28,0.00,0.000,6,0.000,0.021,2973,2153,1626 $GC,11499,1.07,290.1,85.0,5.8,640,11539,0.12,0.00,33.15,0.588,6,0.048,0.000,3012,2157,1479 $GC,11857,1.07,290.1,52.1,10.1,674,11861,0.00,2.38,0.00,0.000,4,0.000,0.036,3011,747,1476 $GC,11902,1.07,290.1,47.3,10.6,678,11906,0.00,2.28,0.00,0.000,6,0.000,0.020,3012,2157,1474 $GC,12234,1.07,290.1,17.7,7.8,720,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2162,1475 $STATE,12418,end climb,SURFACE_DEPTH_REACHED $STATE,12418,begin surface coast $FINISH,0.3,1.023331 $STATE,12452,end surface coast,CONTROL_FINISHED_OK $STATE,12453,begin surface $SM_CCo,12471,16.92,0.502,0,0,1400,310.06 $SM_GC,1.23,0.00,0.00,16.92,0.000,0.000,0.502,430,2160,1400,-10.76,-1.13,310.06 $IRIDIUM_FIX,2059.45,-15753.03,240797,060621 $TT8_MAMPS,0.029146 $HUMID,1829 $INTERNAL_PRESSURE,8.60979 $TCM_TEMP,22.80 $XPDR_PINGS,685 $24V_AH,23.6,23.863 $10V_AH,10.2,13.216 $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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder $DEVICE_SECS,25.175,108.350,384.700,16.925,0.000,113.832,188.731,426.483,171.250,0.000,0.000,14.078,1319.783,9167.736,492.906,1627.440,911.183,33.374,1292.368,0.000,1618.233,0.000,0.470 $DEVICE_MAMPS,161.070,63.661,891.254,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,511.843,500.777,847.754,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $DATA_FILE_SIZE,38016,759 $CAP_FILE_SIZE,105122,9 $CFSIZE,260165632,250527744 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,290408,102508,2107.588,-15753.726,34,1.5,34,9.8