version: 66.06 glider: 146 mission: 5 dive: 102 start: 8 30 110 9 26 31 data: $ID,146 $MISSION,5 $DIVE,102 $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,120 $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,-249317.3 $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,57 $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 $GPS1,091156,2257.341,-15755.322,62,99.0,81,10.1 $_CALLS,3 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.97 $_SM_ANGLEo,-67.8 $GPS2,092534,2257.368,-15755.394,11,99.0,30,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.205,-0.075 $KALMAN_X,-93921.9,-117.4,-170.4,120392.3,-1210.8 $KALMAN_Y,4084.9,-431.9,200.6,138353.4,33.4 $MHEAD_RNG_PITCHd_Wd,100.0,27622,-16.1,-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,12,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.22,0.000,6,0.000,0.000,474,1733,3478,0,0,0,0,0,0 $GC,106,-1.15,-116.8,4.7,-6.7,11,123,11.90,2.50,0.00,0.000,4,0.155,0.047,2739,219,3480,0,0,0,0,0,0 $GC,143,0.11,-116.8,19.8,-36.1,15,153,1.25,2.40,0.00,0.000,6,0.084,0.015,3020,1788,3480,0,0,0,0,0,0 $GC,451,-0.45,-116.8,40.5,-8.1,52,460,0.47,0.00,0.00,0.000,6,0.095,0.000,2898,1790,3481,0,0,0,0,0,0 $GC,719,-0.77,-116.8,55.1,-5.3,77,724,0.25,2.62,0.00,0.000,4,0.048,0.060,2813,224,3481,0,0,0,0,0,0 $GC,742,-0.95,-116.8,57.0,-6.3,78,751,0.00,2.35,0.00,0.000,6,0.000,0.023,2814,1784,3481,0,0,0,0,0,0 $GC,1007,-0.95,-116.8,83.9,-9.7,103,1011,0.00,2.40,0.00,0.000,4,0.000,0.032,2814,3309,3481,0,0,0,0,0,0 $GC,1029,-0.95,-116.8,86.4,-9.0,104,1039,0.00,2.42,0.00,0.000,6,0.000,0.029,2814,1798,3481,0,0,0,0,0,0 $GC,1296,-1.00,-116.8,106.0,-6.0,129,1301,0.15,2.72,0.00,0.000,4,0.060,0.068,2759,195,3481,0,0,0,0,0,0 $GC,1332,-0.93,-116.8,109.6,-10.0,131,1338,0.17,2.35,0.00,0.000,6,0.089,0.017,2799,1766,3482,0,0,0,0,0,0 $GC,1596,-0.98,-116.8,131.9,-9.1,156,1601,0.00,2.42,0.00,0.000,4,0.000,0.033,2799,3321,3482,0,0,0,0,0,0 $GC,1619,-1.03,-116.8,133.9,-9.6,157,1624,0.10,2.47,0.00,0.000,6,0.086,0.028,2760,1751,3482,0,0,0,0,0,0 $GC,1883,-1.03,-116.8,162.6,-9.8,181,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1751,3482,0,0,0,0,0,0 $GC,2145,-1.03,-116.8,186.2,-8.7,206,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1751,3482,0,0,0,0,0,0 $GC,2425,-1.03,-116.8,211.7,-9.1,224,2429,0.00,2.45,0.00,0.000,4,0.000,0.026,2760,3317,3481,0,0,0,0,0,0 $GC,2447,-1.03,-116.8,213.7,-8.6,224,2451,0.00,2.45,0.00,0.000,6,0.000,0.031,2760,1766,3481,0,0,0,0,0,0 $GC,2704,-1.03,-116.8,236.3,-8.7,231,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1767,3481,0,0,0,0,0,0 $GC,2946,-1.03,-116.8,256.0,-8.2,237,2951,0.00,2.70,0.00,0.000,4,0.000,0.079,2760,199,3481,0,0,0,0,0,0 $GC,2967,-1.03,-116.8,257.9,-8.6,237,2971,0.00,2.33,0.00,0.000,6,0.000,0.021,2760,1740,3481,0,0,0,0,0,0 $GC,3230,-1.03,-116.8,280.3,-8.8,244,3234,0.00,2.55,0.00,0.000,4,0.000,0.039,2760,3349,3480,0,0,0,0,0,0 $GC,3269,-1.08,-116.8,284.2,-9.5,245,3273,0.00,2.53,0.00,0.000,6,0.000,0.036,2760,1772,3480,0,0,0,0,0,0 $GC,3552,-1.08,-116.8,310.0,-8.8,252,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1769,3480,0,0,0,0,0,0 $GC,3797,-1.12,-116.8,330.1,-8.1,258,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1769,3480,0,0,0,0,0,0 $GC,4039,-1.17,-116.8,350.3,-8.7,264,4044,0.00,2.53,0.00,0.000,4,0.000,0.042,2760,3340,3478,0,0,0,0,0,0 $GC,4084,-1.25,-116.8,354.7,-9.7,265,4089,0.15,2.60,0.00,0.000,6,0.067,0.050,2713,1779,3478,0,0,0,0,0,0 $GC,4363,-1.25,-116.8,384.7,-10.5,272,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1779,3477,0,0,0,0,0,0 $GC,4606,-1.25,-116.8,406.2,-8.6,278,4610,0.00,2.90,0.00,0.000,4,0.000,0.106,2713,186,3476,0,0,0,0,0,0 $GC,4633,-1.21,-116.8,408.5,-8.8,278,4638,0.10,2.47,0.00,0.000,6,0.122,0.036,2734,1749,3475,0,0,0,0,0,0 $GC,4882,-1.21,-116.8,428.5,-8.2,284,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1749,3474,0,0,0,0,0,0 $GC,5127,-1.21,-116.8,450.8,-9.3,290,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1749,3472,0,0,0,0,0,0 $GC,5370,-1.21,-116.8,472.1,-8.6,296,5374,0.00,2.75,0.00,0.000,4,0.000,0.074,2734,3354,3471,0,0,0,0,0,0 $GC,5414,-1.27,-116.8,475.9,-8.3,297,5418,0.00,2.67,0.00,0.000,6,0.000,0.062,2734,1780,3470,0,0,0,0,0,0 $GC,5693,-1.31,-116.8,497.3,-7.6,304,5697,0.00,2.65,0.00,0.000,4,0.000,0.054,2734,3357,3468,0,0,0,0,0,0 $STATE,5723,end dive,TARGET_DEPTH_EXCEEDED $STATE,5723,begin apogee $GC,5731,-0.31,0.0,500.1,8.1,304,5830,0.85,0.00,95.45,0.917,6,0.077,0.000,2930,1815,3000,0,0,0,0,0,0 $STATE,5831,end apogee,CONTROL_FINISHED_OK $STATE,5831,begin climb $GC,5835,1.15,116.8,502.7,0.0,307,5939,1.35,0.00,100.78,0.894,6,0.043,0.000,3258,1815,2524,0,0,0,0,0,0 $GC,6182,1.02,135.8,486.2,7.1,316,6206,0.17,2.70,16.12,0.835,4,0.115,0.052,3223,3400,2445,0,0,0,0,0,0 $GC,6336,0.98,148.5,475.7,7.4,319,6357,0.00,2.70,12.25,0.809,6,0.000,0.060,3223,1821,2394,0,0,0,0,0,0 $GC,6602,0.94,171.0,457.1,7.0,326,6628,0.00,2.67,20.83,0.852,4,0.000,0.046,3223,3404,2301,0,0,0,0,0,0 $GC,6740,0.90,173.3,446.7,7.9,329,6746,0.12,2.67,0.00,0.000,6,0.121,0.054,3198,1830,2297,0,0,0,0,0,0 $GC,7013,0.94,210.2,429.4,6.3,336,7054,0.00,3.05,34.60,0.862,4,0.000,0.104,3198,229,2142,0,0,0,0,0,0 $GC,7089,0.90,210.2,423.7,8.2,337,7094,0.00,2.58,0.00,0.000,6,0.000,0.022,3198,1842,2139,0,0,0,0,0,0 $GC,7339,0.92,227.6,405.3,7.2,343,7357,0.00,0.00,15.75,0.818,6,0.000,0.000,3199,1842,2073,0,0,0,0,0,0 $GC,7583,0.92,227.6,385.6,8.3,349,7587,0.00,2.85,0.00,0.000,4,0.000,0.078,3198,231,2068,0,0,0,0,0,0 $GC,7629,0.92,227.6,381.0,10.7,350,7633,0.00,2.55,0.00,0.000,6,0.000,0.023,3198,1833,2066,0,0,0,0,0,0 $GC,7906,0.96,227.6,356.6,8.5,357,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1834,2065,0,0,0,0,0,0 $GC,8150,1.04,267.8,340.6,6.1,363,8190,0.12,0.00,36.03,0.815,6,0.083,0.000,3232,1834,1909,0,0,0,0,0,0 $GC,8434,1.04,267.8,316.2,8.9,370,8439,0.00,2.50,0.00,0.000,4,0.000,0.035,3232,3404,1902,0,0,0,0,0,0 $GC,8462,1.08,267.8,312.9,10.7,370,8467,0.00,2.62,0.00,0.000,6,0.000,0.044,3232,1810,1901,0,0,0,0,0,0 $GC,8712,1.08,267.8,286.7,10.4,376,8716,0.00,2.58,0.00,0.000,4,0.000,0.035,3233,3408,1901,0,0,0,0,0,0 $GC,8733,1.08,267.8,284.2,11.1,376,8737,0.00,2.60,0.00,0.000,6,0.000,0.041,3232,1825,1900,0,0,0,0,0,0 $GC,8989,1.08,267.8,260.3,9.1,383,8993,0.00,2.53,0.00,0.000,4,0.000,0.035,3233,3404,1899,0,0,0,0,0,0 $GC,9004,1.08,267.8,258.7,8.9,383,9009,0.00,2.55,0.00,0.000,6,0.000,0.036,3232,1831,1898,0,0,0,0,0,0 $GC,9271,1.08,267.8,234.0,9.3,390,9276,0.00,2.72,0.00,0.000,4,0.000,0.072,3232,242,1898,0,0,0,0,0,0 $GC,9293,1.08,267.8,231.8,10.4,390,9298,0.00,2.53,0.00,0.000,6,0.000,0.019,3232,1866,1898,0,0,0,0,0,0 $GC,9549,1.10,279.4,211.8,7.5,397,9564,0.00,2.45,9.88,0.640,4,0.000,0.037,3232,3386,1861,0,0,0,0,0,0 $GC,9597,1.16,279.4,208.1,8.4,398,9602,0.00,2.53,0.00,0.000,6,0.000,0.033,3232,1839,1859,0,0,0,0,0,0 $GC,9861,1.16,279.4,186.0,9.4,415,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1839,1859,0,0,0,0,0,0 $GC,10122,1.16,279.4,158.7,9.9,440,10126,0.00,2.45,0.00,0.000,4,0.000,0.029,3232,3398,1859,0,0,0,0,0,0 $GC,10163,1.23,279.4,154.6,10.0,443,10168,0.15,2.50,0.00,0.000,6,0.071,0.039,3275,1847,1859,0,0,0,0,0,0 $GC,10428,1.23,279.4,125.1,10.0,467,10432,0.00,2.72,0.00,0.000,4,0.000,0.066,3275,244,1859,0,0,0,0,0,0 $GC,10461,1.15,279.4,121.7,10.7,469,10466,0.12,2.50,0.00,0.000,6,0.120,0.021,3250,1868,1858,0,0,0,0,0,0 $GC,10726,1.20,287.3,101.0,7.6,493,10740,0.00,2.45,8.45,0.531,4,0.000,0.032,3250,3390,1828,0,0,0,0,0,0 $GC,10800,1.29,287.3,95.2,8.3,499,10805,0.12,2.50,0.00,0.000,6,0.080,0.034,3288,1846,1827,0,0,0,0,0,0 $GC,11065,1.29,287.3,71.0,9.7,523,11069,0.00,2.70,0.00,0.000,4,0.000,0.060,3288,243,1827,0,0,0,0,0,0 $GC,11100,1.25,287.3,67.5,11.1,525,11105,0.00,2.45,0.00,0.000,6,0.000,0.018,3288,1848,1827,0,0,0,0,0,0 $GC,11367,1.25,287.3,40.2,11.0,549,11371,0.00,2.40,0.00,0.000,4,0.000,0.028,3287,3382,1826,0,0,0,0,0,0 $GC,11411,1.25,287.3,35.0,11.3,552,11415,0.00,2.45,0.00,0.000,6,0.000,0.033,3288,1849,1826,0,0,0,0,0,0 $GC,11729,1.25,287.3,4.9,10.1,596,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1850,1827,0,0,0,0,0,0 $STATE,11745,end climb,SURFACE_DEPTH_REACHED $STATE,11745,begin surface coast $FINISH,0.6,1.023368 $STATE,11802,end surface coast,CONTROL_FINISHED_OK $STATE,11802,begin surface $SM_CCo,11824,113.95,0.468,1,0,1287,420.20 $SM_GC,0.92,0.00,0.00,113.95,0.000,0.000,0.468,474,1752,1287,-11.62,-0.51,420.20 $IRIDIUM_FIX,2246.36,-15755.40,241199,090954 $TT8_MAMPS,0.026078 $HUMID,42.12 $INTERNAL_PRESSURE,9.37536 $TCM_TEMP,23.80 $XPDR_PINGS,53 $24V_AH,23.6,17.389 $10V_AH,10.4,16.704 $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,28.850,133.550,350.125,113.950,0.000,80.828,91.324,347.773,13.250,0.000,35.875,1201.095,7853.296,589.917,2265.849,853.725,33.374,1346.017,0.000,2259.905,0.000,0.537,0.000 $DEVICE_MAMPS,154.934,105.846,916.565,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,410.456,373.424,472.477,933.181,1410.446,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355476 $DATA_FILE_SIZE,47787,606 $CAP_FILE_SIZE,125560,0 $CFSIZE,260165632,176680960 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,300810,124654,2256.747,-15754.747,37,1.3,37,10.1