version: 66.06 glider: 146 mission: 5 dive: 552 start: 11 1 110 22 50 56 data: $ID,146 $MISSION,5 $DIVE,552 $D_SURF,4 $D_FLARE,3 $D_TGT,500 $D_ABORT,750 $D_NO_BLEED,200 $D_BOOST,0 $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,166 $T_MISSION,360 $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,-260976.11 $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,23 $R_STBD_OVSHOOT,54 $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 $GPS1,223636,2253.521,-15742.516,34,1.3,34,10.1 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.09 $_SM_ANGLEo,-65.8 $GPS2,225002,2253.742,-15742.544,11,1.2,11,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.042,-0.231 $KALMAN_X,-260822.8,-120.0,-58.2,309299.6,-322.7 $KALMAN_Y,-524575.7,855.9,-228.2,659425.0,1431.0 $MHEAD_RNG_PITCHd_Wd,159.7,8831,-19.9,-10.040 $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,-1.38,-116.4,0.0,0.0,0,105,0.00,0.00,-86.30,0.000,2,0.000,0.000,474,1796,3477,0,0,0,0,0,0 $GC,109,-1.38,-116.8,4.2,-8.2,11,126,12.12,2.72,0.00,0.000,4,0.168,0.052,2688,181,3479,0,0,0,0,0,0 $GC,171,-1.25,-116.8,22.3,-17.3,19,181,0.15,2.47,0.00,0.000,6,0.099,0.023,2722,1772,3480,0,0,0,0,0,0 $GC,448,-1.18,-116.8,60.0,-13.9,47,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1773,3481,0,0,0,0,0,0 $GC,709,-1.18,-116.8,90.2,-10.0,72,713,0.00,2.42,0.00,0.000,4,0.000,0.031,2722,3332,3481,0,0,0,0,0,0 $GC,740,-1.23,-116.8,93.2,-9.8,74,744,0.00,2.50,0.00,0.000,6,0.000,0.028,2722,1760,3481,0,0,0,0,0,0 $GC,1003,-1.23,-116.8,118.0,-8.5,98,1007,0.00,2.47,0.00,0.000,4,0.000,0.031,2722,3333,3482,0,0,0,0,0,0 $GC,1049,-1.31,-116.8,121.5,-7.8,101,1053,0.00,2.45,0.00,0.000,6,0.000,0.031,2721,1780,3482,0,0,0,0,0,0 $GC,1317,-1.31,-116.8,141.7,-7.9,125,1321,0.00,2.65,0.00,0.000,4,0.000,0.060,2722,199,3482,0,0,0,0,0,0 $GC,1339,-1.35,-116.8,144.2,-8.6,126,1348,0.00,2.47,0.00,0.000,6,0.000,0.017,2722,1809,3483,0,0,0,0,0,0 $GC,1607,-1.40,-116.8,165.9,-9.1,151,1612,0.12,0.00,0.00,0.000,6,0.070,0.000,2679,1810,3482,0,0,0,0,0,0 $GC,1870,-1.40,-116.8,192.7,-9.6,176,1874,0.00,2.40,0.00,0.000,4,0.000,0.029,2679,3324,3483,0,0,0,0,0,0 $GC,1912,-1.40,-116.8,196.5,-9.0,179,1916,0.00,2.45,0.00,0.000,6,0.000,0.028,2679,1787,3482,0,0,0,0,0,0 $GC,2164,-1.40,-116.8,220.8,-9.9,188,2168,0.00,2.72,0.00,0.000,4,0.000,0.065,2679,190,3483,0,0,0,0,0,0 $GC,2215,-1.40,-116.8,226.5,-11.3,189,2219,0.00,2.40,0.00,0.000,6,0.000,0.021,2679,1774,3483,0,0,0,0,0,0 $GC,2489,-1.40,-116.8,256.1,-11.0,196,2492,0.00,2.45,0.00,0.000,4,0.000,0.030,2679,3328,3482,0,0,0,0,0,0 $GC,2510,-1.40,-116.8,258.8,-10.9,196,2514,0.00,2.53,0.00,0.000,6,0.000,0.031,2679,1766,3482,0,0,0,0,0,0 $GC,2772,-1.40,-116.8,285.0,-9.7,203,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1766,3481,0,0,0,0,0,0 $GC,3017,-1.40,-116.8,308.1,-9.5,209,3021,0.00,2.47,0.00,0.000,4,0.000,0.038,2679,3325,3481,0,0,0,0,0,0 $GC,3041,-1.40,-116.8,310.5,-9.4,209,3045,0.00,2.55,0.00,0.000,6,0.000,0.036,2679,1769,3481,0,0,0,0,0,0 $GC,3296,-1.40,-116.8,334.6,-9.4,216,3300,0.00,2.47,0.00,0.000,4,0.000,0.037,2679,3318,3480,0,0,0,0,0,0 $GC,3331,-1.43,-116.8,337.7,-9.3,216,3336,0.00,2.53,0.00,0.000,6,0.000,0.047,2679,1782,3480,0,0,0,0,0,0 $GC,3581,-1.43,-116.8,360.7,-9.0,223,3585,0.00,2.45,0.00,0.000,4,0.000,0.034,2679,3314,3479,0,0,0,0,0,0 $GC,3625,-1.49,-116.8,364.7,-8.8,224,3630,0.00,2.53,0.00,0.000,6,0.000,0.049,2679,1799,3478,0,0,0,0,0,0 $GC,3906,-1.49,-116.8,388.4,-8.6,231,3910,0.00,2.45,0.00,0.000,4,0.000,0.039,2679,3315,3476,0,0,0,0,0,0 $GC,3927,-1.49,-116.8,390.5,-8.6,231,3932,0.00,2.53,0.00,0.000,6,0.000,0.050,2679,1803,3476,0,0,0,0,0,0 $GC,4182,-1.49,-116.8,412.1,-8.8,238,4187,0.00,2.92,0.00,0.000,4,0.000,0.100,2679,184,3475,0,0,0,0,0,0 $GC,4205,-1.49,-116.8,414.4,-10.0,238,4210,0.00,2.53,0.00,0.000,6,0.000,0.031,2679,1764,3475,0,0,0,0,0,0 $GC,4461,-1.49,-116.8,438.6,-9.5,245,4466,0.00,2.62,0.00,0.000,4,0.000,0.051,2679,3352,3473,0,0,0,0,0,0 $GC,4489,-1.53,-116.8,441.4,-9.8,245,4493,0.00,2.60,0.00,0.000,6,0.000,0.058,2679,1806,3473,0,0,0,0,0,0 $GC,4740,-1.53,-116.8,464.7,-9.3,251,4745,0.00,2.55,0.00,0.000,4,0.000,0.049,2679,3352,3471,0,0,0,0,0,0 $GC,4757,-1.53,-116.8,466.4,-9.0,251,4761,0.00,2.62,0.00,0.000,6,0.000,0.060,2679,1810,3471,0,0,0,0,0,0 $GC,5017,-1.53,-116.8,487.4,-8.0,258,5022,0.00,2.58,0.00,0.000,4,0.000,0.051,2679,3360,3470,0,0,0,0,0,0 $GC,5035,-1.58,-116.8,488.8,-8.0,258,5040,0.10,2.62,0.00,0.000,6,0.081,0.064,2641,1825,3470,0,0,0,0,0,0 $STATE,5172,end dive,TARGET_DEPTH_EXCEEDED $STATE,5172,begin apogee $GC,5177,-0.31,0.0,501.6,9.2,262,5280,1.33,0.00,98.35,0.921,6,0.087,0.000,2932,1825,3001,0,0,0,0,0,0 $STATE,5280,end apogee,CONTROL_FINISHED_OK $STATE,5281,begin climb $GC,5283,1.38,116.8,503.8,0.0,264,5397,1.52,2.72,102.78,0.898,4,0.038,0.051,3309,3398,2523,0,0,0,0,0,0 $GC,5516,1.33,164.3,496.6,7.3,269,5565,0.00,2.75,41.97,0.876,6,0.000,0.062,3308,1818,2330,0,0,0,0,0,0 $GC,5826,1.25,182.6,470.3,9.0,277,5850,0.17,2.75,16.70,0.835,4,0.155,0.043,3275,3404,2255,0,0,0,0,0,0 $GC,5872,1.28,205.0,465.6,8.7,278,5901,0.00,2.75,21.48,0.844,6,0.000,0.058,3275,1830,2165,0,0,0,0,0,0 $GC,6154,1.28,206.5,438.3,9.9,285,6158,0.00,2.60,0.00,0.000,4,0.000,0.042,3275,3405,2158,0,0,0,0,0,0 $GC,6186,1.28,206.5,434.7,10.5,285,6192,0.00,2.70,0.00,0.000,6,0.000,0.052,3275,1833,2158,0,0,0,0,0,0 $GC,6438,1.30,216.6,410.9,9.5,292,6454,0.00,3.00,10.73,0.781,4,0.000,0.104,3275,230,2116,0,0,0,0,0,0 $GC,6478,1.23,216.6,406.6,10.8,293,6482,0.00,2.60,0.00,0.000,6,0.000,0.026,3275,1836,2115,0,0,0,0,0,0 $GC,6762,1.24,225.5,379.4,9.5,300,6777,0.00,2.92,9.12,0.750,4,0.000,0.082,3275,229,2081,0,0,0,0,0,0 $GC,6812,1.18,225.5,374.2,10.9,301,6817,0.00,2.58,0.00,0.000,6,0.000,0.028,3275,1822,2079,0,0,0,0,0,0 $GC,7090,1.19,237.9,347.9,9.3,308,7110,0.00,2.70,12.27,0.771,4,0.000,0.039,3275,3411,2030,0,0,0,0,0,0 $GC,7152,1.25,240.4,342.1,9.9,309,7157,0.00,2.67,0.00,0.000,6,0.000,0.048,3275,1815,2029,0,0,0,0,0,0 $GC,7418,1.27,253.3,317.2,9.3,316,7439,0.00,2.85,15.10,0.769,4,0.000,0.082,3275,237,1968,0,0,0,0,0,0 $GC,7449,1.27,253.3,313.9,10.3,316,7455,0.00,2.55,0.00,0.000,6,0.000,0.020,3275,1835,1967,0,0,0,0,0,0 $GC,7701,1.29,269.5,290.9,9.1,323,7719,0.00,0.00,16.02,0.754,6,0.000,0.000,3275,1836,1902,0,0,0,0,0,0 $GC,7944,1.35,288.6,269.4,8.9,329,7968,0.00,2.92,18.27,0.745,4,0.000,0.076,3275,237,1824,0,0,0,0,0,0 $GC,8007,1.35,288.6,263.2,10.2,330,8012,0.00,2.53,0.00,0.000,6,0.000,0.022,3275,1820,1822,0,0,0,0,0,0 $GC,8271,1.41,288.6,237.8,10.1,337,8276,0.15,2.83,0.00,0.000,4,0.078,0.071,3315,234,1819,0,0,0,0,0,0 $GC,8315,1.36,288.6,231.5,13.9,338,8320,0.00,2.45,0.00,0.000,6,0.000,0.024,3314,1790,1818,0,0,0,0,0,0 $GC,8593,1.36,288.6,196.6,12.7,345,8598,0.00,2.72,0.00,0.000,4,0.000,0.075,3314,235,1818,0,0,0,0,0,0 $GC,8653,1.29,288.6,188.6,14.3,349,8659,0.15,2.42,0.00,0.000,6,0.118,0.027,3283,1776,1817,0,0,0,0,0,0 $GC,8916,1.38,308.5,163.4,8.9,374,8941,0.00,2.62,18.12,0.668,4,0.000,0.031,3283,3387,1741,0,0,0,0,0,0 $GC,8995,1.54,328.7,156.2,8.9,380,9024,0.22,2.65,19.23,0.658,6,0.062,0.037,3341,1779,1659,0,0,0,0,0,0 $GC,9284,1.54,328.7,125.3,11.3,407,9288,0.00,2.67,0.00,0.000,4,0.000,0.074,3341,240,1655,0,0,0,0,0,0 $GC,9347,1.48,328.7,116.1,14.4,412,9352,0.00,2.40,0.00,0.000,6,0.000,0.026,3341,1769,1654,0,0,0,0,0,0 $GC,9612,1.48,328.7,83.1,13.3,436,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1771,1653,0,0,0,0,0,0 $GC,9877,1.49,338.4,53.8,9.5,461,9891,0.00,2.65,9.10,0.536,4,0.000,0.059,3341,236,1619,0,0,0,0,0,0 $GC,9909,1.53,363.7,51.2,8.6,463,9937,0.00,2.40,22.98,0.573,6,0.000,0.020,3341,1771,1518,0,0,0,0,0,0 $GC,10203,1.59,375.2,24.1,9.4,493,10220,0.00,0.00,10.90,0.518,6,0.000,0.000,3342,1772,1472,0,0,0,0,0,0 $STATE,10391,end climb,SURFACE_DEPTH_REACHED $STATE,10391,begin surface coast $FINISH,0.3,1.011308 $STATE,10433,end surface coast,CONTROL_FINISHED_OK $STATE,10434,begin surface $SM_CCo,10455,37.83,0.535,0,0,1287,420.20 $SM_GC,0.86,0.00,0.00,37.83,0.000,0.000,0.535,475,1772,1287,-11.62,0.06,420.20 $IRIDIUM_FIX,2246.36,-15740.63,260100,222252 $TT8_MAMPS,0.026078 $HUMID,56.89 $INTERNAL_PRESSURE,9.26793 $TCM_TEMP,20.40 $XPDR_PINGS,159 $24V_AH,23.3,76.659 $10V_AH,9.9,72.091 $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,27.700,145.575,443.125,37.825,0.000,46.226,83.706,448.711,39.750,0.000,13.125,1081.806,6757.520,530.556,2002.043,924.238,33.369,1317.701,0.000,2006.209,0.000,0.534,0.000 $DEVICE_MAMPS,167.973,103.545,921.167,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,355.417,307.593,405.502,772.600,1168.041,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355636 $DATA_FILE_SIZE,41519,526 $CAP_FILE_SIZE,121637,0 $CFSIZE,260165632,150011904 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,021110,014658,2253.914,-15742.648,8,99.0,27,10.1