version: 66.06 glider: 146 mission: 5 dive: 78 start: 8 26 110 21 45 31 data: $ID,146 $MISSION,5 $DIVE,78 $D_SURF,4 $D_FLARE,3 $D_TGT,500 $D_ABORT,1040 $D_NO_BLEED,200 $D_BOOST,4 $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,208 $T_MISSION,400 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,5 $T_NO_W,120 $T_LOITER,0 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,1 $APOGEE_PITCH,-5 $MAX_BUOY,150 $COURSE_BIAS,0 $GLIDE_SLOPE,35 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,52407 $NAV_MODE,1 $FERRY_MAX,45 $KALMAN_USE,1 $HD_A,0.003 $HD_B,0.0099999998 $HD_C,9.9999997e-06 $HEADING,-1 $ESCAPE_HEADING,0 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2143 $TGT_DEFAULT_LON,-15810 $TGT_AUTO_DEFAULT,0 $SM_CC,420 $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,100000 $HEAPDBG,0 $T_GPS,25 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-248781.55 $T_RSLEEP,3 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,485 $PITCH_MAX,3757 $C_PITCH,3000 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,16 $PITCH_TIMEOUT,17 $PITCH_AD_RATE,175 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0.029999999 $PITCH_ADJ_DBAND,1.2 $ROLL_MIN,160 $ROLL_MAX,3941 $ROLL_DEG,45 $C_ROLL_DIVE,1770 $C_ROLL_CLIMB,1820 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,29 $R_STBD_OVSHOOT,62 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,1.5 $ROLL_ADJ_DBAND,0.039999999 $VBD_MIN,477 $VBD_MAX,3951 $C_VBD,3001 $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,100 $MINV_24V,19 $MINV_10V,8 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-29.527605 $PRESSURE_SLOPE,0.000115925 $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,5 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,4 $ALTIM_SENSITIVITY,1 $XPDR_VALID,5 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,0 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,53 $DEVICE4,35 $DEVICE5,87 $DEVICE6,-1 $LOGGERS,0 $LOGGERDEVICE1,-1 $LOGGERDEVICE2,-1 $COMPASS_DEVICE,33 $COMPASS2_DEVICE,-1 $PHONE_DEVICE,48 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0043563824 $SEABIRD_T_H,0.00063101487 $SEABIRD_T_I,2.4083547e-05 $SEABIRD_T_J,2.5612533e-06 $SEABIRD_C_G,-9.9059887 $SEABIRD_C_H,1.1423759 $SEABIRD_C_I,-0.0019893181 $SEABIRD_C_J,0.00023308786 $GPS1,213137,2251.881,-15744.961,30,1.4,30,10.1 $_CALLS,3 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,0.89 $_SM_ANGLEo,-66.6 $GPS2,214438,2251.923,-15745.031,10,1.9,10,10.1 $SPEED_LIMITS,0.114,0.240 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.217,-0.102 $KALMAN_X,-67860.9,73.9,132.7,111666.9,-730.2 $KALMAN_Y,6656.2,-177.7,513.7,125132.2,-779.2 $MHEAD_RNG_PITCHd_Wd,105.1,7489,-14.1,-8.013 $D_GRID,500 $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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors $STATE,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,16,-1.06,-146.0,0.0,0.0,0,97,0.00,0.00,-78.70,0.000,2,0.000,0.000,473,1756,3244,0,0,0,0,0,0 $GC,100,-1.06,-146.0,3.1,-4.0,10,126,12.12,2.67,-6.78,0.000,4,0.158,0.067,2760,192,3597,0,0,0,0,0,0 $GC,152,-0.25,-146.0,17.5,-28.0,16,162,0.80,2.45,0.00,0.000,6,0.086,0.022,2941,1792,3598,0,0,0,0,0,0 $GC,471,-0.48,-146.0,34.6,-4.3,56,480,0.20,0.00,0.00,0.000,6,0.052,0.000,2881,1794,3599,0,0,0,0,0,0 $GC,739,-0.56,-146.0,53.4,-7.4,81,744,0.00,2.72,0.00,0.000,4,0.000,0.056,2880,193,3598,0,0,0,0,0,0 $GC,786,-0.68,-146.0,57.1,-7.9,84,791,0.12,2.38,0.00,0.000,6,0.074,0.015,2833,1776,3598,0,0,0,0,0,0 $GC,1049,-0.68,-146.0,82.9,-10.0,108,1053,0.00,2.42,0.00,0.000,4,0.000,0.026,2833,3312,3599,0,0,0,0,0,0 $GC,1078,-0.68,-146.0,85.7,-8.6,110,1083,0.00,2.50,0.00,0.000,6,0.000,0.031,2833,1763,3599,0,0,0,0,0,0 $GC,1342,-0.68,-146.0,106.3,-7.6,134,1347,0.00,2.65,0.00,0.000,4,0.000,0.062,2833,193,3599,0,0,0,0,0,0 $GC,1371,-0.72,-146.0,108.7,-8.1,136,1376,0.00,2.35,0.00,0.000,6,0.000,0.016,2833,1779,3599,0,0,0,0,0,0 $GC,1637,-0.77,-146.0,127.2,-7.3,160,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1780,3600,0,0,0,0,0,0 $GC,1904,-0.84,-146.0,147.6,-7.4,185,1909,0.00,2.70,0.00,0.000,4,0.000,0.065,2833,187,3600,0,0,0,0,0,0 $GC,1938,-0.92,-146.0,150.3,-7.8,187,1943,0.15,2.33,0.00,0.000,6,0.064,0.023,2779,1750,3599,0,0,0,0,0,0 $GC,2202,-0.92,-146.0,173.0,-8.8,211,2207,0.10,2.42,0.00,0.000,4,0.114,0.032,2802,3306,3600,0,0,0,0,0,0 $GC,2246,-0.98,-146.0,176.3,-7.2,214,2251,0.00,2.45,0.00,0.000,6,0.000,0.034,2802,1766,3599,0,0,0,0,0,0 $GC,2514,-0.98,-146.0,195.8,-7.3,238,2519,0.00,2.67,0.00,0.000,4,0.000,0.067,2802,195,3599,0,0,0,0,0,0 $GC,2559,-1.02,-146.0,199.4,-7.8,241,2564,0.10,2.33,0.00,0.000,6,0.084,0.021,2763,1761,3599,0,0,0,0,0,0 $GC,2810,-0.97,-146.0,222.7,-9.3,247,2812,0.12,0.00,0.00,0.000,6,0.136,0.000,2790,1762,3599,0,0,0,0,0,0 $GC,3052,-0.97,-146.0,242.8,-8.3,253,3056,0.00,2.70,0.00,0.000,4,0.000,0.074,2790,194,3599,0,0,0,0,0,0 $GC,3073,-0.97,-146.0,244.8,-9.2,253,3077,0.00,2.35,0.00,0.000,6,0.000,0.018,2790,1756,3598,0,0,0,0,0,0 $GC,3335,-0.97,-146.0,266.0,-7.8,260,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1756,3598,0,0,0,0,0,0 $GC,3577,-0.97,-146.0,284.1,-7.4,266,3582,0.00,2.70,0.00,0.000,4,0.000,0.077,2790,194,3597,0,0,0,0,0,0 $GC,3599,-0.97,-146.0,285.7,-6.8,266,3603,0.00,2.38,0.00,0.000,6,0.000,0.027,2790,1734,3597,0,0,0,0,0,0 $GC,3855,-0.97,-146.0,302.2,-6.5,273,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1734,3596,0,0,0,0,0,0 $GC,4099,-1.01,-146.0,319.4,-7.2,279,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1734,3596,0,0,0,0,0,0 $GC,4342,-1.06,-146.0,336.7,-7.0,285,4346,0.00,2.62,0.00,0.000,4,0.000,0.043,2790,3351,3595,0,0,0,0,0,0 $GC,4363,-1.12,-146.0,338.5,-7.7,285,4369,0.15,2.62,0.00,0.000,6,0.067,0.051,2743,1765,3595,0,0,0,0,0,0 $GC,4620,-1.08,-146.0,361.1,-8.9,292,4626,0.10,2.90,0.00,0.000,4,0.117,0.102,2763,183,3593,0,0,0,0,0,0 $GC,4642,-1.08,-146.0,363.3,-8.8,292,4646,0.00,2.42,0.00,0.000,6,0.000,0.029,2764,1741,3593,0,0,0,0,0,0 $GC,4898,-1.08,-146.0,381.5,-7.0,299,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1741,3592,0,0,0,0,0,0 $GC,5143,-1.08,-146.0,398.7,-7.1,305,5147,0.00,2.65,0.00,0.000,4,0.000,0.054,2764,3349,3591,0,0,0,0,0,0 $GC,5176,-1.12,-146.0,401.1,-7.1,305,5182,0.00,2.70,0.00,0.000,6,0.000,0.061,2764,1755,3591,0,0,0,0,0,0 $GC,5426,-1.12,-146.0,418.3,-6.9,312,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1756,3589,0,0,0,0,0,0 $GC,5671,-1.12,-146.0,435.0,-6.6,318,5675,0.00,2.62,0.00,0.000,4,0.000,0.047,2764,3347,3587,0,0,0,0,0,0 $GC,5692,-1.16,-146.0,436.5,-6.3,318,5697,0.00,2.70,0.00,0.000,6,0.000,0.065,2764,1761,3587,0,0,0,0,0,0 $GC,5948,-1.19,-146.0,453.1,-6.6,325,5950,0.10,0.00,0.00,0.000,6,0.092,0.000,2732,1761,3585,0,0,0,0,0,0 $GC,6192,-1.19,-146.0,471.5,-7.5,331,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1761,3583,0,0,0,0,0,0 $GC,6435,-1.19,-146.0,489.4,-7.3,337,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1761,3582,0,0,0,0,0,0 $STATE,6596,end dive,TARGET_DEPTH_EXCEEDED $STATE,6596,begin apogee $GC,6602,-0.31,0.0,502.1,7.9,341,6724,0.88,0.00,118.22,0.923,6,0.079,0.000,2929,1834,3001,0,0,0,0,0,0 $STATE,6725,end apogee,CONTROL_FINISHED_OK $STATE,6725,begin climb $GC,6729,1.06,146.0,506.2,0.0,344,6862,1.25,2.72,123.88,0.900,4,0.057,0.062,3234,3390,2403,0,0,0,0,0,0 $GC,6914,0.92,146.0,501.1,8.1,348,6920,0.17,2.78,0.00,0.000,6,0.114,0.064,3199,1813,2398,0,0,0,0,0,0 $GC,7176,0.87,169.2,482.1,7.2,355,7199,0.00,0.00,19.75,0.848,6,0.000,0.000,3199,1814,2311,0,0,0,0,0,0 $GC,7463,0.83,197.2,461.8,7.0,362,7494,0.00,2.67,25.50,0.859,4,0.000,0.044,3200,3397,2195,0,0,0,0,0,0 $GC,7525,0.80,207.9,457.3,7.6,363,7541,0.12,2.78,10.55,0.784,6,0.123,0.058,3175,1807,2153,0,0,0,0,0,0 $GC,7785,0.83,234.6,438.9,7.0,369,7815,0.00,3.08,24.33,0.849,4,0.000,0.120,3175,232,2043,0,0,0,0,0,0 $GC,7827,0.84,242.3,435.7,7.7,370,7841,0.00,2.55,8.45,0.736,6,0.000,0.030,3175,1803,2012,0,0,0,0,0,0 $GC,8109,0.84,244.2,413.1,7.9,377,8113,0.00,2.67,0.00,0.000,4,0.000,0.051,3175,3412,2007,0,0,0,0,0,0 $GC,8143,0.88,244.2,410.4,8.3,377,8148,0.00,2.72,0.00,0.000,6,0.000,0.051,3175,1814,2005,0,0,0,0,0,0 $GC,8393,0.91,267.0,392.1,7.2,384,8422,0.10,2.70,22.17,0.830,4,0.183,0.042,3200,3407,1911,0,0,0,0,0,0 $GC,8439,0.92,273.8,388.4,7.8,385,8453,0.00,2.70,7.65,0.713,6,0.000,0.053,3200,1825,1884,0,0,0,0,0,0 $GC,8723,0.92,273.8,363.8,8.9,392,8727,0.00,2.58,0.00,0.000,4,0.000,0.040,3201,3413,1879,0,0,0,0,0,0 $GC,8743,0.92,273.8,361.7,9.0,392,8748,0.00,2.65,0.00,0.000,6,0.000,0.044,3201,1832,1878,0,0,0,0,0,0 $GC,8999,0.92,273.8,339.2,8.7,399,9003,0.00,2.85,0.00,0.000,4,0.000,0.087,3200,236,1878,0,0,0,0,0,0 $GC,9044,0.88,273.8,334.6,10.7,400,9048,0.00,2.55,0.00,0.000,6,0.000,0.023,3201,1841,1877,0,0,0,0,0,0 $GC,9321,0.88,273.8,308.8,9.4,407,9325,0.00,2.53,0.00,0.000,4,0.000,0.041,3201,3400,1876,0,0,0,0,0,0 $GC,9342,0.88,273.8,306.7,9.8,407,9346,0.00,2.60,0.00,0.000,6,0.000,0.042,3200,1820,1875,0,0,0,0,0,0 $GC,9598,0.88,273.8,282.2,9.5,414,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1820,1875,0,0,0,0,0,0 $GC,9840,0.88,273.8,260.9,8.6,420,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1819,1874,0,0,0,0,0,0 $GC,10084,0.88,273.8,240.7,8.3,426,10089,0.00,2.75,0.00,0.000,4,0.000,0.076,3200,235,1874,0,0,0,0,0,0 $GC,10099,0.88,273.8,239.3,8.0,426,10104,0.00,2.50,0.00,0.000,6,0.000,0.020,3201,1851,1873,0,0,0,0,0,0 $GC,10368,0.88,275.2,218.2,8.0,433,10372,0.00,2.75,0.00,0.000,4,0.000,0.068,3200,239,1873,0,0,0,0,0,0 $GC,10394,0.88,275.2,215.6,9.2,433,10399,0.00,2.45,0.00,0.000,6,0.000,0.022,3200,1828,1873,0,0,0,0,0,0 $GC,10651,0.90,294.3,196.4,7.3,442,10674,0.00,2.50,17.27,0.671,4,0.000,0.029,3200,3387,1800,0,0,0,0,0,0 $GC,10704,0.96,294.3,192.0,8.1,446,10709,0.00,2.55,0.00,0.000,6,0.000,0.034,3201,1828,1799,0,0,0,0,0,0 $GC,10966,0.97,295.6,171.2,8.0,471,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1828,1797,0,0,0,0,0,0 $GC,11221,1.01,295.6,149.1,8.7,495,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1828,1797,0,0,0,0,0,0 $GC,11482,1.08,308.1,129.0,7.5,519,11507,0.15,2.80,13.20,0.591,4,0.179,0.069,3242,241,1743,0,0,0,0,0,0 $GC,11521,1.02,308.1,125.2,9.9,522,11525,0.00,2.47,0.00,0.000,6,0.000,0.021,3242,1848,1743,0,0,0,0,0,0 $GC,11783,1.02,308.1,102.1,8.5,546,11787,0.00,2.42,0.00,0.000,4,0.000,0.035,3242,3385,1743,0,0,0,0,0,0 $GC,11843,1.08,308.1,96.5,9.5,550,11852,0.00,2.53,0.00,0.000,6,0.000,0.033,3242,1845,1741,0,0,0,0,0,0 $GC,12109,1.10,317.9,75.7,7.6,575,12128,0.00,0.00,9.75,0.525,6,0.000,0.000,3242,1845,1704,0,0,0,0,0,0 $GC,12387,1.11,328.1,53.9,7.6,601,12407,0.00,0.00,10.40,0.512,6,0.000,0.000,3242,1845,1662,0,0,0,0,0,0 $GC,12665,1.11,328.1,32.0,8.2,627,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1845,1661,0,0,0,0,0,0 $GC,13000,1.19,359.5,5.0,6.8,674,13020,0.00,0.00,17.75,0.498,2,0.000,0.000,3242,1845,1583,0,0,0,0,0,0 $STATE,13020,end climb,SURFACE_DEPTH_REACHED $STATE,13021,begin surface coast $FINISH,0.3,1.023279 $STATE,13102,end surface coast,CONTROL_FINISHED_OK $STATE,13102,begin surface $SM_CCo,13125,64.97,0.433,1,0,1287,420.20 $SM_GC,0.84,0.00,0.00,64.97,0.000,0.000,0.433,474,1757,1287,-11.62,-0.37,420.20 $IRIDIUM_FIX,2246.36,-15743.68,201199,212141 $TT8_MAMPS,0.025311 $HUMID,42.59 $INTERNAL_PRESSURE,9.37536 $TCM_TEMP,24.10 $XPDR_PINGS,55 $24V_AH,23.6,14.468 $10V_AH,10.4,13.637 $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,27.900,135.500,428.875,64.975,0.000,77.127,92.895,334.586,13.750,0.000,11.607,1327.913,8715.079,555.169,2506.993,867.864,33.367,1424.570,0.000,2527.371,0.000,0.538,0.000 $DEVICE_MAMPS,182.546,119.652,923.468,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,465.828,437.427,542.363,1083.324,1638.546,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355556 $DATA_FILE_SIZE,54157,688 $CAP_FILE_SIZE,137547,0 $CFSIZE,260165632,178130944 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,270810,012654,2250.737,-15743.862,29,1.2,46,10.1