version: 66.06 glider: 146 mission: 5 dive: 104 start: 8 30 110 16 18 5 data: $ID,146 $MISSION,5 $DIVE,104 $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,-249370.88 $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,25 $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 $GPS1,161107,2256.445,-15753.988,39,1.5,39,10.1 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,0.95 $_SM_ANGLEo,-68.6 $GPS2,161708,2256.425,-15754.036,13,1.5,13,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.208,-0.065 $KALMAN_X,-96943.3,-283.7,83.2,125657.7,-1574.0 $KALMAN_Y,3278.7,-76.8,-392.6,137654.9,139.6 $MHEAD_RNG_PITCHd_Wd,97.4,24724,-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,12,begin dive $GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-86.05,0.000,6,0.000,0.000,473,1784,3478,0,0,0,0,0,0 $GC,106,-1.15,-116.8,4.1,-5.3,11,124,11.85,2.67,0.00,0.000,4,0.153,0.051,2738,190,3481,0,0,0,0,0,0 $GC,136,0.29,-116.8,17.6,-30.5,14,146,1.48,2.45,0.00,0.000,6,0.101,0.017,3056,1812,3481,0,0,0,0,0,0 $GC,448,-0.29,-116.8,39.7,-7.2,52,454,0.50,2.72,0.00,0.000,4,0.062,0.053,2929,191,3482,0,0,0,0,0,0 $GC,729,-0.88,-116.8,59.0,-7.4,74,739,0.47,2.33,0.00,0.000,6,0.081,0.016,2804,1748,3482,0,0,0,0,0,0 $GC,997,-0.88,-116.8,84.4,-10.5,99,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1748,3482,0,0,0,0,0,0 $GC,1257,-0.88,-116.8,109.0,-8.3,124,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1747,3483,0,0,0,0,0,0 $GC,1516,-0.94,-116.8,129.1,-6.8,148,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1747,3483,0,0,0,0,0,0 $GC,1781,-1.01,-116.8,149.9,-8.4,173,1786,0.12,0.00,0.00,0.000,6,0.219,0.000,2761,1748,3483,0,0,0,0,0,0 $GC,2043,-1.01,-116.8,177.3,-10.2,198,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1747,3483,0,0,0,0,0,0 $GC,2297,-1.01,-116.8,200.2,-8.2,222,2301,0.00,2.40,0.00,0.000,4,0.000,0.033,2761,3302,3483,0,0,0,0,0,0 $GC,2319,-1.01,-116.8,202.0,-8.4,222,2323,0.00,2.45,0.00,0.000,6,0.000,0.029,2761,1757,3484,0,0,0,0,0,0 $GC,2574,-1.01,-116.8,222.5,-8.2,229,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1757,3484,0,0,0,0,0,0 $GC,2820,-1.01,-116.8,245.2,-9.5,235,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1757,3483,0,0,0,0,0,0 $GC,3062,-1.01,-116.8,266.6,-8.5,241,3066,0.00,2.70,0.00,0.000,4,0.000,0.079,2761,195,3483,0,0,0,0,0,0 $GC,3084,-1.01,-116.8,268.6,-9.4,241,3088,0.00,2.30,0.00,0.000,6,0.000,0.026,2761,1706,3483,0,0,0,0,0,0 $GC,3344,-1.01,-116.8,290.5,-8.5,248,3349,0.00,2.53,0.00,0.000,4,0.000,0.038,2761,3287,3482,0,0,0,0,0,0 $GC,3394,-1.08,-116.8,295.0,-8.7,249,3399,0.00,2.47,0.00,0.000,6,0.000,0.044,2761,1767,3482,0,0,0,0,0,0 $GC,3668,-1.08,-116.8,316.2,-7.8,256,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1767,3482,0,0,0,0,0,0 $GC,3911,-1.13,-116.8,335.3,-7.6,262,3915,0.00,2.45,0.00,0.000,4,0.000,0.034,2761,3291,3482,0,0,0,0,0,0 $GC,3933,-1.18,-116.8,337.0,-7.4,262,3937,0.00,2.55,0.00,0.000,6,0.000,0.053,2761,1753,3481,0,0,0,0,0,0 $GC,4189,-1.23,-116.8,356.3,-7.8,269,4191,0.12,0.00,0.00,0.000,6,0.075,0.000,2717,1753,3480,0,0,0,0,0,0 $GC,4431,-1.23,-116.8,380.3,-10.0,275,4436,0.00,2.85,0.00,0.000,4,0.000,0.100,2717,178,3479,0,0,0,0,0,0 $GC,4470,-1.23,-116.8,384.7,-11.5,276,4474,0.00,2.35,0.00,0.000,6,0.000,0.032,2717,1680,3479,0,0,0,0,0,0 $GC,4754,-1.23,-116.8,412.7,-9.4,283,4758,0.00,2.67,0.00,0.000,4,0.000,0.054,2717,3283,3477,0,0,0,0,0,0 $GC,4803,-1.23,-116.8,417.5,-8.9,284,4807,0.00,2.58,0.00,0.000,6,0.000,0.054,2717,1762,3477,0,0,0,0,0,0 $GC,5076,-1.23,-116.8,440.9,-8.5,291,5080,0.00,2.90,0.00,0.000,4,0.000,0.114,2717,186,3475,0,0,0,0,0,0 $GC,5109,-1.23,-116.8,444.1,-9.8,291,5114,0.00,2.40,0.00,0.000,6,0.000,0.036,2717,1677,3475,0,0,0,0,0,0 $GC,5359,-1.23,-116.8,465.4,-8.5,298,5363,0.00,2.70,0.00,0.000,4,0.000,0.064,2717,3274,3473,0,0,0,0,0,0 $GC,5402,-1.23,-116.8,469.2,-8.8,299,5406,0.00,2.58,0.00,0.000,6,0.000,0.064,2717,1753,3473,0,0,0,0,0,0 $GC,5687,-1.23,-116.8,492.3,-8.2,306,5691,0.00,2.55,0.00,0.000,4,0.000,0.054,2717,3278,3471,0,0,0,0,0,0 $GC,5714,-1.23,-116.8,494.7,-8.2,306,5718,0.00,2.60,0.00,0.000,6,0.000,0.062,2717,1762,3471,0,0,0,0,0,0 $STATE,5799,end dive,TARGET_DEPTH_EXCEEDED $STATE,5799,begin apogee $GC,5804,-0.31,0.0,502.0,8.4,308,5904,0.95,0.00,96.15,0.916,6,0.082,0.000,2930,1763,3001,0,0,0,0,0,0 $STATE,5905,end apogee,CONTROL_FINISHED_OK $STATE,5905,begin climb $GC,5908,1.15,116.8,504.1,0.0,310,6013,1.35,0.00,100.18,0.891,6,0.054,0.000,3253,1762,2523,0,0,0,0,0,0 $GC,6249,1.02,129.5,486.4,7.4,319,6262,0.15,0.00,10.77,0.788,6,0.122,0.000,3224,1762,2473,0,0,0,0,0,0 $GC,6491,0.97,148.2,469.1,7.1,325,6515,0.00,2.72,17.08,0.836,4,0.000,0.050,3224,3328,2396,0,0,0,0,0,0 $GC,6625,0.93,157.6,459.1,7.6,328,6640,0.00,2.55,9.48,0.773,6,0.000,0.054,3224,1837,2358,0,0,0,0,0,0 $GC,6910,0.92,185.3,439.4,6.7,335,6938,0.12,0.00,25.73,0.854,6,0.121,0.000,3199,1837,2245,0,0,0,0,0,0 $GC,7151,0.95,217.4,423.8,6.5,341,7184,0.00,0.00,28.85,0.851,6,0.000,0.000,3199,1837,2113,0,0,0,0,0,0 $GC,7436,0.96,223.2,402.2,7.7,348,7447,0.00,2.47,5.75,0.668,4,0.000,0.041,3199,3346,2089,0,0,0,0,0,0 $GC,7510,1.03,223.2,395.8,9.3,349,7515,0.10,2.58,0.00,0.000,6,0.093,0.048,3226,1824,2088,0,0,0,0,0,0 $GC,7759,1.03,223.2,372.0,9.5,355,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1824,2086,0,0,0,0,0,0 $GC,8003,1.03,223.2,350.3,8.7,361,8008,0.00,2.85,0.00,0.000,4,0.000,0.088,3226,229,2084,0,0,0,0,0,0 $GC,8027,0.97,223.2,348.3,9.1,361,8031,0.00,2.42,0.00,0.000,6,0.000,0.025,3226,1781,2084,0,0,0,0,0,0 $GC,8282,0.98,231.0,328.2,7.7,368,8296,0.00,2.67,7.20,0.690,4,0.000,0.039,3226,3387,2058,0,0,0,0,0,0 $GC,8347,0.98,231.0,322.8,8.2,369,8351,0.00,2.58,0.00,0.000,6,0.000,0.048,3226,1832,2057,0,0,0,0,0,0 $GC,8609,0.98,231.0,298.8,9.8,376,8613,0.00,2.53,0.00,0.000,4,0.000,0.033,3226,3391,2056,0,0,0,0,0,0 $GC,8624,0.98,231.0,297.1,9.9,376,8628,0.00,2.53,0.00,0.000,6,0.000,0.035,3226,1843,2056,0,0,0,0,0,0 $GC,8891,0.98,231.0,272.7,8.9,383,8895,0.00,2.47,0.00,0.000,4,0.000,0.036,3226,3393,2055,0,0,0,0,0,0 $GC,8931,1.03,231.0,269.2,9.1,384,8936,0.00,2.53,0.00,0.000,6,0.000,0.037,3226,1854,2054,0,0,0,0,0,0 $GC,9214,1.05,251.8,248.0,7.0,391,9239,0.00,2.85,19.20,0.719,4,0.000,0.074,3226,239,1973,0,0,0,0,0,0 $GC,9257,1.05,251.8,244.9,8.2,392,9261,0.00,2.55,0.00,0.000,6,0.000,0.025,3226,1868,1972,0,0,0,0,0,0 $GC,9534,1.06,257.4,223.8,7.8,399,9545,0.00,2.45,6.00,0.577,4,0.000,0.037,3226,3396,1951,0,0,0,0,0,0 $GC,9579,1.12,257.4,220.2,8.4,400,9583,0.00,2.50,0.00,0.000,6,0.000,0.038,3226,1862,1950,0,0,0,0,0,0 $GC,9857,1.13,262.9,198.7,7.8,407,9866,0.00,0.00,6.38,0.565,6,0.000,0.000,3226,1862,1929,0,0,0,0,0,0 $GC,10122,1.13,262.9,176.5,8.5,432,10127,0.00,2.78,0.00,0.000,4,0.000,0.063,3226,243,1928,0,0,0,0,0,0 $GC,10144,1.13,262.9,174.8,8.9,433,10148,0.00,2.53,0.00,0.000,6,0.000,0.020,3226,1871,1927,0,0,0,0,0,0 $GC,10412,1.17,262.9,152.1,8.2,457,10417,0.12,0.00,0.00,0.000,6,0.077,0.000,3262,1873,1927,0,0,0,0,0,0 $GC,10675,1.17,262.9,127.5,9.4,482,10679,0.00,2.40,0.00,0.000,4,0.000,0.031,3262,3392,1927,0,0,0,0,0,0 $GC,10704,1.17,262.9,124.6,9.2,484,10713,0.00,2.47,0.00,0.000,6,0.000,0.038,3262,1879,1927,0,0,0,0,0,0 $GC,10971,1.18,274.3,103.2,7.5,509,10996,0.00,2.47,11.70,0.558,4,0.000,0.034,3262,3393,1881,0,0,0,0,0,0 $GC,11003,1.19,281.0,100.2,7.7,511,11023,0.00,2.42,7.45,0.507,6,0.000,0.038,3262,1886,1854,0,0,0,0,0,0 $GC,11278,1.22,302.7,79.9,7.0,537,11304,0.00,2.88,19.70,0.563,4,0.000,0.061,3263,248,1765,0,0,0,0,0,0 $GC,11329,1.22,302.7,76.3,8.0,541,11334,0.00,2.58,0.00,0.000,6,0.000,0.018,3262,1912,1764,0,0,0,0,0,0 $GC,11596,1.29,321.5,55.4,7.1,565,11616,0.00,0.00,17.10,0.535,6,0.000,0.000,3262,1914,1690,0,0,0,0,0,0 $GC,11875,1.34,321.5,32.6,9.0,591,11880,0.12,2.90,0.00,0.000,4,0.078,0.064,3298,241,1687,0,0,0,0,0,0 $GC,11896,1.34,321.5,30.1,9.7,592,11900,0.00,2.55,0.00,0.000,6,0.000,0.018,3298,1904,1686,0,0,0,0,0,0 $STATE,12134,end climb,SURFACE_DEPTH_REACHED $STATE,12134,begin surface coast $FINISH,0.2,1.010344 $STATE,12185,end surface coast,CONTROL_FINISHED_OK $STATE,12185,begin surface $SM_CCo,12206,89.80,0.456,1,0,1287,420.20 $SM_GC,1.03,0.00,0.00,89.80,0.000,0.000,0.456,480,1756,1287,-11.59,-0.40,420.20 $IRIDIUM_FIX,2251.04,-15755.40,241199,121249 $TT8_MAMPS,0.025311 $HUMID,42.36 $INTERNAL_PRESSURE,9.37536 $TCM_TEMP,23.70 $XPDR_PINGS,48 $24V_AH,23.6,17.620 $10V_AH,10.4,16.969 $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,28.875,123.650,388.700,89.800,0.000,29.140,29.995,166.001,12.000,0.000,14.627,1238.681,7964.142,565.530,2361.023,534.793,33.377,1381.519,0.000,2370.401,0.000,0.536,0.000 $DEVICE_MAMPS,218.595,113.516,915.798,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,429.078,393.711,497.089,974.760,1474.215,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355568 $DATA_FILE_SIZE,50937,634 $CAP_FILE_SIZE,118702,0 $CFSIZE,260165632,176562176 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,300810,194454,2255.987,-15753.325,51,1.0,67,10.1