version: 66.06 glider: 146 mission: 5 dive: 127 start: 9 2 110 23 35 50 data: $ID,146 $MISSION,5 $DIVE,127 $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,-249903.12 $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,37 $R_STBD_OVSHOOT,26 $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 $GPS1,232906,2255.063,-15745.703,9,1.2,25,10.1 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.95 $_SM_ANGLEo,-67.2 $GPS2,233455,2255.063,-15745.735,15,1.5,15,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,SW $TGT_LATLONG,2249.500,-15755.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.147,-0.161 $KALMAN_X,-119872.6,76.0,-33.8,162633.3,-1088.6 $KALMAN_Y,-1408.7,95.7,-223.5,139479.0,130.1 $MHEAD_RNG_PITCHd_Wd,212.1,18876,-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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.82,0.000,6,0.000,0.000,476,1756,3479,0,0,0,0,0,0 $GC,108,-1.15,-116.8,4.4,-5.9,11,126,11.65,2.62,0.00,0.000,4,0.145,0.048,2742,196,3481,0,0,0,0,0,0 $GC,284,-0.98,-116.8,43.2,-16.3,31,289,0.20,2.47,0.00,0.000,6,0.100,0.015,2785,1814,3482,0,0,0,0,0,0 $GC,552,-0.93,-116.8,76.8,-11.4,55,556,0.00,2.72,0.00,0.000,4,0.000,0.056,2785,203,3482,0,0,0,0,0,0 $GC,573,-0.89,-116.8,79.1,-9.5,56,578,0.10,2.35,0.00,0.000,6,0.123,0.017,2806,1781,3482,0,0,0,0,0,0 $GC,837,-0.93,-116.8,105.4,-9.3,80,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1782,3483,0,0,0,0,0,0 $GC,1103,-0.98,-116.8,125.1,-7.3,105,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1781,3483,0,0,0,0,0,0 $GC,1366,-1.05,-116.8,145.2,-8.2,130,1370,0.15,2.42,0.00,0.000,4,0.064,0.029,2758,3315,3483,0,0,0,0,0,0 $GC,1386,-1.09,-116.8,146.8,-8.3,131,1391,0.00,2.47,0.00,0.000,6,0.000,0.035,2757,1769,3483,0,0,0,0,0,0 $GC,1649,-1.09,-116.8,175.3,-10.8,155,1653,0.00,2.70,0.00,0.000,4,0.000,0.065,2758,197,3483,0,0,0,0,0,0 $GC,1683,-1.05,-116.8,178.7,-11.7,157,1687,0.00,2.33,0.00,0.000,6,0.000,0.023,2758,1770,3483,0,0,0,0,0,0 $GC,1954,-1.05,-116.8,204.3,-8.8,179,1959,0.00,2.70,0.00,0.000,4,0.000,0.072,2757,197,3483,0,0,0,0,0,0 $GC,1972,-1.05,-116.8,206.0,-8.8,179,1976,0.00,2.33,0.00,0.000,6,0.000,0.015,2758,1771,3483,0,0,0,0,0,0 $GC,2233,-1.05,-116.8,231.5,-10.2,186,2238,0.00,2.40,0.00,0.000,4,0.000,0.034,2758,3300,3483,0,0,0,0,0,0 $GC,2278,-1.09,-116.8,236.3,-10.0,187,2282,0.00,2.47,0.00,0.000,6,0.000,0.031,2757,1767,3483,0,0,0,0,0,0 $GC,2556,-1.09,-116.8,263.8,-9.7,194,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1767,3483,0,0,0,0,0,0 $GC,2799,-1.09,-116.8,284.3,-8.4,200,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1767,3483,0,0,0,0,0,0 $GC,3042,-1.09,-116.8,305.3,-8.6,206,3046,0.00,2.42,0.00,0.000,4,0.000,0.028,2757,3296,3483,0,0,0,0,0,0 $GC,3070,-1.13,-116.8,307.7,-8.7,206,3074,0.00,2.45,0.00,0.000,6,0.000,0.041,2758,1775,3482,0,0,0,0,0,0 $GC,3321,-1.13,-116.8,328.8,-8.3,212,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1775,3481,0,0,0,0,0,0 $GC,3564,-1.17,-116.8,344.7,-6.3,218,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1775,3481,0,0,0,0,0,0 $GC,3808,-1.21,-116.8,362.4,-7.4,224,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1775,3481,0,0,0,0,0,0 $GC,4051,-1.27,-116.8,382.9,-8.5,230,4053,0.15,0.00,0.00,0.000,6,0.067,0.000,2710,1775,3479,0,0,0,0,0,0 $GC,4296,-1.27,-116.8,408.7,-10.5,236,4300,0.00,2.53,0.00,0.000,4,0.000,0.048,2709,3294,3478,0,0,0,0,0,0 $GC,4311,-1.27,-116.8,410.5,-10.0,236,4316,0.00,2.58,0.00,0.000,6,0.000,0.056,2709,1770,3478,0,0,0,0,0,0 $GC,4573,-1.27,-116.8,431.8,-7.9,243,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1769,3476,0,0,0,0,0,0 $GC,4817,-1.27,-116.8,452.9,-8.7,249,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1769,3475,0,0,0,0,0,0 $GC,5060,-1.27,-116.8,475.3,-9.2,255,5064,0.00,2.55,0.00,0.000,4,0.000,0.054,2709,3285,3473,0,0,0,0,0,0 $GC,5081,-1.27,-116.8,477.4,-9.1,255,5085,0.00,2.60,0.00,0.000,6,0.000,0.064,2709,1770,3473,0,0,0,0,0,0 $STATE,5334,end dive,TARGET_DEPTH_EXCEEDED $STATE,5335,begin apogee $GC,5341,-0.31,0.0,500.0,8.9,262,5441,1.00,0.00,96.53,0.920,6,0.083,0.000,2932,1769,3001,0,0,0,0,0,0 $STATE,5442,end apogee,CONTROL_FINISHED_OK $STATE,5442,begin climb $GC,5445,1.15,116.8,502.6,0.0,264,5557,1.33,2.80,100.65,0.894,4,0.043,0.054,3255,3342,2522,0,0,0,0,0,0 $GC,5571,1.11,199.5,503.4,4.2,267,5652,0.00,2.67,71.85,0.880,6,0.000,0.059,3255,1820,2186,0,0,0,0,0,0 $GC,5896,0.99,199.5,473.7,10.2,275,5898,0.20,0.00,0.00,0.000,6,0.175,0.000,3215,1820,2177,0,0,0,0,0,0 $GC,6140,0.99,199.5,452.3,8.5,281,6145,0.00,2.53,0.00,0.000,4,0.000,0.048,3215,3340,2175,0,0,0,0,0,0 $GC,6184,0.99,199.5,448.4,8.1,282,6188,0.00,2.62,0.00,0.000,6,0.000,0.058,3215,1819,2173,0,0,0,0,0,0 $GC,6462,1.00,207.1,427.1,7.7,289,6469,0.00,0.00,5.50,0.663,6,0.000,0.000,3215,1818,2156,0,0,0,0,0,0 $GC,6707,1.00,207.1,407.3,8.0,295,6711,0.00,2.50,0.00,0.000,4,0.000,0.042,3215,3347,2154,0,0,0,0,0,0 $GC,6750,1.00,207.1,403.7,8.1,296,6755,0.00,2.55,0.00,0.000,6,0.000,0.052,3215,1841,2153,0,0,0,0,0,0 $GC,7028,1.01,219.7,383.4,7.4,303,7042,0.00,0.00,12.27,0.794,6,0.000,0.000,3216,1841,2105,0,0,0,0,0,0 $GC,7273,1.02,222.4,363.7,7.9,309,7277,0.00,2.42,0.00,0.000,4,0.000,0.038,3215,3351,2102,0,0,0,0,0,0 $GC,7328,1.02,222.4,358.2,10.0,310,7333,0.00,2.53,0.00,0.000,6,0.000,0.046,3215,1835,2101,0,0,0,0,0,0 $GC,7595,1.02,222.4,333.9,8.9,317,7599,0.00,2.83,0.00,0.000,4,0.000,0.082,3215,239,2100,0,0,0,0,0,0 $GC,7644,0.97,222.4,329.1,10.2,318,7648,0.00,2.45,0.00,0.000,6,0.000,0.026,3215,1791,2098,0,0,0,0,0,0 $GC,7917,1.00,248.8,309.5,6.8,325,7950,0.00,2.72,26.58,0.786,4,0.000,0.041,3215,3401,1985,0,0,0,0,0,0 $GC,8028,1.06,250.8,301.2,7.9,327,8032,0.00,2.60,0.00,0.000,6,0.000,0.038,3215,1833,1982,0,0,0,0,0,0 $GC,8288,1.06,250.8,280.0,8.3,334,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1832,1980,0,0,0,0,0,0 $GC,8532,1.12,266.0,262.0,7.3,340,8554,0.12,2.58,15.85,0.723,4,0.079,0.031,3251,3399,1916,0,0,0,0,0,0 $GC,8594,1.12,266.0,256.0,10.4,341,8599,0.00,2.58,0.00,0.000,6,0.000,0.039,3251,1840,1914,0,0,0,0,0,0 $GC,8854,1.12,266.0,231.1,9.5,348,8859,0.00,2.50,0.00,0.000,4,0.000,0.031,3251,3396,1912,0,0,0,0,0,0 $GC,8881,1.12,266.0,228.4,8.9,348,8886,0.00,2.53,0.00,0.000,6,0.000,0.035,3251,1848,1911,0,0,0,0,0,0 $GC,9138,1.12,266.0,203.2,10.1,355,9142,0.00,2.47,0.00,0.000,4,0.000,0.029,3251,3398,1911,0,0,0,0,0,0 $GC,9159,1.12,266.0,200.6,10.9,355,9163,0.00,2.53,0.00,0.000,6,0.000,0.033,3251,1845,1911,0,0,0,0,0,0 $GC,9427,1.12,266.0,172.9,9.7,380,9432,0.00,2.75,0.00,0.000,4,0.000,0.069,3251,241,1911,0,0,0,0,0,0 $GC,9451,1.06,266.0,170.5,9.7,381,9460,0.00,2.53,0.00,0.000,6,0.000,0.021,3251,1855,1910,0,0,0,0,0,0 $GC,9713,1.06,266.0,145.9,10.0,406,9717,0.00,2.42,0.00,0.000,4,0.000,0.035,3251,3388,1910,0,0,0,0,0,0 $GC,9771,1.11,266.0,140.0,10.7,410,9780,0.00,2.50,0.00,0.000,6,0.000,0.039,3251,1866,1909,0,0,0,0,0,0 $GC,10037,1.11,266.0,115.4,8.9,435,10041,0.00,2.75,0.00,0.000,4,0.000,0.065,3251,243,1910,0,0,0,0,0,0 $GC,10058,1.11,266.0,112.7,10.5,436,10067,0.00,2.53,0.00,0.000,6,0.000,0.025,3251,1859,1909,0,0,0,0,0,0 $GC,10325,1.11,266.0,88.4,8.9,461,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1861,1909,0,0,0,0,0,0 $GC,10592,1.18,287.8,69.6,7.0,486,10617,0.00,2.80,19.75,0.555,4,0.000,0.058,3251,243,1826,0,0,0,0,0,0 $GC,10642,1.20,299.9,66.3,7.5,490,10660,0.00,2.50,11.82,0.522,6,0.000,0.018,3252,1868,1777,0,0,0,0,0,0 $GC,10927,1.28,317.5,44.8,7.2,516,10947,0.12,0.00,16.25,0.522,6,0.077,0.000,3289,1869,1705,0,0,0,0,0,0 $GC,11230,1.28,317.5,16.5,9.6,552,11240,0.00,2.80,0.00,0.000,4,0.000,0.063,3289,244,1703,0,0,0,0,0,0 $GC,11256,1.28,317.5,13.6,10.1,555,11266,0.00,2.50,0.00,0.000,6,0.000,0.019,3289,1849,1702,0,0,0,0,0,0 $STATE,11362,end climb,SURFACE_DEPTH_REACHED $STATE,11362,begin surface coast $FINISH,0.3,1.014886 $STATE,11428,end surface coast,CONTROL_FINISHED_OK $STATE,11428,begin surface $SM_CCo,11449,90.45,0.453,1,0,1288,420.20 $SM_GC,0.84,0.00,0.00,90.45,0.000,0.000,0.453,476,1746,1288,-11.61,-0.65,420.20 $IRIDIUM_FIX,2248.70,-15808.00,271199,202035 $TT8_MAMPS,0.025311 $HUMID,42.91 $INTERNAL_PRESSURE,9.37536 $TCM_TEMP,23.90 $XPDR_PINGS,44 $24V_AH,23.6,20.387 $10V_AH,10.4,19.947 $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,26.350,117.725,377.050,90.450,0.000,29.265,26.415,155.795,11.000,0.000,16.944,1132.329,7631.680,526.885,2088.259,516.014,33.369,1290.113,0.000,2101.297,0.000,0.535,0.000 $DEVICE_MAMPS,174.876,82.069,920.400,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,391.865,355.885,448.894,853.266,1290.572,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355580 $DATA_FILE_SIZE,44662,579 $CAP_FILE_SIZE,110702,0 $CFSIZE,260165632,175173632 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,030910,024937,2253.938,-15747.327,40,1.2,40,10.1