version: 66.06 glider: 146 mission: 5 dive: 138 start: 9 4 110 13 11 8 data: $ID,146 $MISSION,5 $DIVE,138 $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,-250077.89 $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,61 $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 $GPS1,130401,2257.129,-15755.648,37,1.8,37,10.1 $_CALLS,1 $_XMS_NAKs,3 $_XMS_TOUTs,0 $_SM_DEPTHo,0.99 $_SM_ANGLEo,-68.2 $GPS2,131013,2257.134,-15755.722,10,1.5,27,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,NW $TGT_LATLONG,2258.000,-15755.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.209,0.063 $KALMAN_X,-134359.2,-221.9,-147.3,160349.1,-1621.0 $KALMAN_Y,-2287.7,-389.3,-85.6,144538.2,494.5 $MHEAD_RNG_PITCHd_Wd,63.2,2022,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,16,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-86.47,0.000,6,0.000,0.000,474,1755,3478,0,0,0,0,0,0 $GC,108,-1.15,-116.8,4.1,-5.4,11,124,11.55,2.50,0.00,0.000,4,0.141,0.021,2742,3343,3480,0,0,0,0,0,0 $GC,149,-0.15,-116.8,20.7,-38.4,16,159,0.93,2.60,0.00,0.000,6,0.065,0.042,2960,1780,3481,0,0,0,0,0,0 $GC,454,-0.48,-116.8,34.3,-4.1,53,460,0.25,2.70,0.00,0.000,4,0.044,0.065,2878,182,3481,0,0,0,0,0,0 $GC,477,-0.74,-116.8,35.7,-4.8,54,482,0.17,2.40,0.00,0.000,6,0.053,0.016,2818,1787,3481,0,0,0,0,0,0 $GC,746,-0.74,-116.8,64.6,-11.2,78,750,0.00,2.38,0.00,0.000,4,0.000,0.022,2818,3320,3481,0,0,0,0,0,0 $GC,767,-0.74,-116.8,67.4,-10.9,79,772,0.00,2.53,0.00,0.000,6,0.000,0.029,2818,1753,3482,0,0,0,0,0,0 $GC,1034,-0.79,-116.8,93.9,-9.9,103,1038,0.00,2.65,0.00,0.000,4,0.000,0.061,2818,197,3482,0,0,0,0,0,0 $GC,1068,-0.83,-116.8,97.3,-10.5,105,1073,0.00,2.35,0.00,0.000,6,0.000,0.017,2818,1777,3483,0,0,0,0,0,0 $GC,1335,-0.91,-116.8,117.5,-7.0,129,1339,0.00,2.70,0.00,0.000,4,0.000,0.063,2818,196,3483,0,0,0,0,0,0 $GC,1369,-0.98,-116.8,119.9,-6.9,131,1374,0.12,2.33,0.00,0.000,6,0.072,0.015,2771,1766,3483,0,0,0,0,0,0 $GC,1633,-0.98,-116.8,143.6,-9.4,155,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1767,3483,0,0,0,0,0,0 $GC,1895,-0.98,-116.8,167.8,-9.2,180,1899,0.00,2.40,0.00,0.000,4,0.000,0.025,2770,3309,3484,0,0,0,0,0,0 $GC,1936,-1.01,-116.8,171.8,-9.3,183,1940,0.00,2.50,0.00,0.000,6,0.000,0.031,2770,1755,3483,0,0,0,0,0,0 $GC,2198,-1.01,-116.8,195.9,-10.0,207,2203,0.00,2.67,0.00,0.000,4,0.000,0.070,2770,197,3483,0,0,0,0,0,0 $GC,2222,-1.01,-116.8,198.5,-10.0,208,2228,0.00,2.33,0.00,0.000,6,0.000,0.022,2770,1763,3483,0,0,0,0,0,0 $GC,2483,-1.01,-116.8,220.8,-8.4,216,2487,0.00,2.42,0.00,0.000,4,0.000,0.029,2770,3311,3484,0,0,0,0,0,0 $GC,2504,-1.01,-116.8,222.7,-8.6,216,2508,0.00,2.47,0.00,0.000,6,0.000,0.033,2770,1765,3484,0,0,0,0,0,0 $GC,2760,-1.01,-116.8,246.5,-9.8,223,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1765,3483,0,0,0,0,0,0 $GC,3002,-1.01,-116.8,270.7,-9.9,229,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1762,3483,0,0,0,0,0,0 $GC,3247,-1.05,-116.8,291.3,-8.0,235,3251,0.00,2.72,0.00,0.000,4,0.000,0.077,2770,197,3483,0,0,0,0,0,0 $GC,3288,-1.05,-116.8,294.1,-7.5,236,3292,0.00,2.35,0.00,0.000,6,0.000,0.019,2771,1729,3483,0,0,0,0,0,0 $GC,3573,-1.10,-116.8,311.6,-5.8,243,3577,0.00,2.55,0.00,0.000,4,0.000,0.039,2770,3338,3482,0,0,0,0,0,0 $GC,3612,-1.20,-116.8,314.1,-6.2,244,3618,0.15,2.53,0.00,0.000,6,0.066,0.035,2722,1770,3482,0,0,0,0,0,0 $GC,3898,-1.16,-116.8,338.9,-9.2,251,3903,0.12,2.53,0.00,0.000,4,0.111,0.036,2749,3335,3481,0,0,0,0,0,0 $GC,3937,-1.21,-116.8,342.8,-9.2,252,3942,0.00,2.58,0.00,0.000,6,0.000,0.043,2750,1771,3481,0,0,0,0,0,0 $GC,4221,-1.21,-116.8,367.7,-8.9,259,4225,0.00,2.83,0.00,0.000,4,0.000,0.097,2749,189,3481,0,0,0,0,0,0 $GC,4254,-1.21,-116.8,370.8,-9.2,259,4260,0.00,2.45,0.00,0.000,6,0.000,0.031,2749,1756,3481,0,0,0,0,0,0 $GC,4505,-1.25,-116.8,390.6,-7.5,266,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1756,3479,0,0,0,0,0,0 $GC,4748,-1.29,-116.8,407.3,-6.6,272,4754,0.12,2.65,0.00,0.000,4,0.074,0.055,2708,3351,3478,0,0,0,0,0,0 $GC,4782,-1.29,-116.8,410.0,-8.0,272,4788,0.00,2.67,0.00,0.000,6,0.000,0.054,2708,1776,3478,0,0,0,0,0,0 $GC,5033,-1.25,-116.8,430.1,-8.0,279,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1776,3476,0,0,0,0,0,0 $GC,5276,-1.22,-116.8,451.7,-9.0,285,5278,0.12,0.00,0.00,0.000,6,0.111,0.000,2734,1776,3475,0,0,0,0,0,0 $GC,5521,-1.22,-116.8,471.4,-7.9,291,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1776,3473,0,0,0,0,0,0 $GC,5764,-1.22,-116.8,490.1,-7.5,297,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1776,3471,0,0,0,0,0,0 $STATE,5923,end dive,TARGET_DEPTH_EXCEEDED $STATE,5923,begin apogee $GC,5930,-0.31,0.0,501.8,7.2,301,6029,0.88,0.00,95.85,0.921,6,0.074,0.000,2933,1840,3001,0,0,0,0,0,0 $STATE,6030,end apogee,CONTROL_FINISHED_OK $STATE,6030,begin climb $GC,6033,1.15,116.8,503.9,0.0,303,6138,1.35,0.00,100.78,0.894,6,0.053,0.000,3261,1840,2523,0,0,0,0,0,0 $GC,6370,1.06,167.1,492.0,5.7,312,6420,0.15,2.70,43.12,0.879,4,0.117,0.054,3230,3375,2318,0,0,0,0,0,0 $GC,6446,1.04,199.1,487.7,6.5,313,6480,0.00,2.70,28.62,0.855,6,0.000,0.060,3231,1821,2190,0,0,0,0,0,0 $GC,6744,0.97,199.1,463.4,8.4,321,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1821,2182,0,0,0,0,0,0 $GC,6986,0.91,199.1,439.7,9.9,327,6991,0.15,2.60,0.00,0.000,4,0.116,0.044,3200,3396,2179,0,0,0,0,0,0 $GC,7032,0.95,199.1,435.5,9.1,328,7036,0.00,2.65,0.00,0.000,6,0.000,0.053,3200,1828,2179,0,0,0,0,0,0 $GC,7309,0.96,206.0,413.7,7.7,335,7320,0.00,2.60,5.57,0.666,4,0.000,0.036,3200,3398,2161,0,0,0,0,0,0 $GC,7332,0.98,218.5,411.9,7.4,335,7352,0.00,2.65,12.85,0.800,6,0.000,0.046,3200,1827,2109,0,0,0,0,0,0 $GC,7639,0.99,231.3,390.0,7.4,343,7659,0.00,2.65,12.15,0.793,4,0.000,0.039,3200,3393,2058,0,0,0,0,0,0 $GC,7722,1.06,238.6,383.3,7.7,344,7736,0.15,2.62,7.88,0.729,6,0.076,0.044,3239,1835,2029,0,0,0,0,0,0 $GC,8018,1.02,238.6,356.7,8.9,352,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1835,2025,0,0,0,0,0,0 $GC,8258,1.02,238.6,336.2,8.3,358,8263,0.00,2.55,0.00,0.000,4,0.000,0.038,3238,3394,2024,0,0,0,0,0,0 $GC,8304,1.02,238.6,332.4,8.3,359,8308,0.00,2.58,0.00,0.000,6,0.000,0.043,3239,1838,2023,0,0,0,0,0,0 $GC,8581,1.04,248.5,310.5,7.6,366,8596,0.00,2.55,9.43,0.723,4,0.000,0.032,3238,3394,1988,0,0,0,0,0,0 $GC,8646,1.05,260.1,305.5,7.5,367,8666,0.00,2.53,12.23,0.739,6,0.000,0.036,3238,1849,1939,0,0,0,0,0,0 $GC,8952,1.05,260.1,276.1,10.1,375,8956,0.00,2.80,0.00,0.000,4,0.000,0.073,3238,239,1936,0,0,0,0,0,0 $GC,8979,0.99,260.1,272.8,11.7,375,8984,0.12,2.55,0.00,0.000,6,0.120,0.023,3216,1860,1934,0,0,0,0,0,0 $GC,9230,1.03,260.1,248.2,9.9,381,9235,0.00,2.80,0.00,0.000,4,0.000,0.071,3214,241,1934,0,0,0,0,0,0 $GC,9257,1.03,260.1,245.2,10.8,381,9261,0.00,2.50,0.00,0.000,6,0.000,0.021,3214,1856,1933,0,0,0,0,0,0 $GC,9507,1.09,276.6,225.5,7.2,387,9527,0.10,0.00,15.20,0.689,6,0.097,0.000,3242,1857,1871,0,0,0,0,0,0 $GC,9796,1.09,276.6,200.3,9.2,394,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1857,1870,0,0,0,0,0,0 $GC,10051,1.09,276.6,176.8,8.9,415,10056,0.00,2.42,0.00,0.000,4,0.000,0.035,3242,3393,1869,0,0,0,0,0,0 $GC,10080,1.09,276.6,173.9,8.7,417,10084,0.00,2.55,0.00,0.000,6,0.000,0.034,3242,1814,1868,0,0,0,0,0,0 $GC,10343,1.09,276.6,151.7,8.0,441,10348,0.00,2.53,0.00,0.000,4,0.000,0.032,3242,3399,1868,0,0,0,0,0,0 $GC,10377,1.13,276.6,148.7,8.1,443,10383,0.00,2.55,0.00,0.000,6,0.000,0.038,3242,1826,1868,0,0,0,0,0,0 $GC,10641,1.13,276.6,128.0,8.3,468,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1826,1868,0,0,0,0,0,0 $GC,10893,1.17,276.6,106.3,8.7,492,10898,0.00,2.72,0.00,0.000,4,0.000,0.064,3242,235,1868,0,0,0,0,0,0 $GC,10926,1.17,276.6,103.0,10.0,494,10936,0.00,2.47,0.00,0.000,6,0.000,0.018,3242,1829,1867,0,0,0,0,0,0 $GC,11195,1.22,276.6,82.2,8.8,519,11200,0.10,2.45,0.00,0.000,4,0.087,0.034,3273,3386,1868,0,0,0,0,0,0 $GC,11228,1.26,276.6,78.8,10.4,521,11232,0.00,2.50,0.00,0.000,6,0.000,0.031,3273,1825,1868,0,0,0,0,0,0 $GC,11496,1.26,276.6,56.2,8.1,545,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1825,1868,0,0,0,0,0,0 $GC,11760,1.26,276.6,32.8,8.9,570,11765,0.00,2.47,0.00,0.000,4,0.000,0.025,3273,3390,1868,0,0,0,0,0,0 $GC,11795,1.30,276.6,29.4,10.4,572,11805,0.00,2.53,0.00,0.000,6,0.000,0.031,3273,1840,1869,0,0,0,0,0,0 $STATE,12060,end climb,SURFACE_DEPTH_REACHED $STATE,12060,begin surface coast $FINISH,0.3,1.010256 $STATE,12137,end surface coast,CONTROL_FINISHED_OK $STATE,12137,begin surface $SM_CCo,12159,122.38,0.471,1,0,1288,420.20 $SM_GC,1.02,0.00,0.00,122.38,0.000,0.000,0.471,477,1741,1288,-11.61,-0.82,420.20 $IRIDIUM_FIX,2248.70,-15757.57,291199,090928 $TT8_MAMPS,0.026078 $HUMID,42.83 $INTERNAL_PRESSURE,9.36559 $TCM_TEMP,23.60 $XPDR_PINGS,50 $24V_AH,23.6,21.683 $10V_AH,10.4,21.353 $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,27.775,133.175,343.675,122.375,0.000,30.169,27.411,157.015,12.500,0.000,29.261,1227.030,8004.135,576.998,2310.572,540.779,33.373,1349.010,0.000,2310.320,0.000,0.536,0.000 $DEVICE_MAMPS,141.128,121.186,921.167,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,420.674,370.168,484.731,949.102,1434.049,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355564 $DATA_FILE_SIZE,47855,621 $CAP_FILE_SIZE,121510,0 $CFSIZE,260165632,174489600 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,040910,163707,2257.845,-15755.356,30,1.3,30,10.1