version: 66.06 glider: 146 mission: 7 dive: 44 start: 5 29 112 7 25 15 data: $ID,146 $MISSION,7 $DIVE,44 $D_SURF,4 $D_FLARE,3 $D_TGT,700 $D_ABORT,800 $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,233 $T_MISSION,500 $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,140 $COURSE_BIAS,0 $GLIDE_SLOPE,35 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,52355 $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,450 $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,-288644.41 $T_RSLEEP,2 $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,2170 $C_ROLL_CLIMB,2120 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,22 $R_STBD_OVSHOOT,14 $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,2950 $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,94 $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,10 $ALTIM_PULSE,8 $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,0.0043256786 $SEABIRD_T_H,0.0006194216 $SEABIRD_T_I,2.1253354e-05 $SEABIRD_T_J,2.0307182e-06 $SEABIRD_C_G,-9.7992477 $SEABIRD_C_H,1.0845563 $SEABIRD_C_I,-0.0017217569 $SEABIRD_C_J,0.00021252052 $GPS1,071757,2243.462,-15759.258,58,1.2,58,10.1 $_CALLS,1 $_XMS_NAKs,3 $_XMS_TOUTs,1 $_SM_DEPTHo,-0.10 $_SM_ANGLEo,-66.2 $GPS2,072420,2243.473,-15759.271,12,1.2,12,10.1 $SPEED_LIMITS,0.143,0.252 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $KALMAN_CONTROL,-0.033,0.160 $KALMAN_X,-73523.3,331.0,-143.7,80928.8,-767.5 $KALMAN_Y,-20000.6,141.5,-432.9,25647.9,583.3 $MHEAD_RNG_PITCHd_Wd,338.1,3090,-28.9,-10.014 $D_GRID,700 $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,17,end surface,CONTROL_FINISHED_OK $STATE,17,begin dive $GC,20,-1.87,-56.3,0.0,0.0,0,116,0.00,0.00,-90.05,0.000,6,0.000,0.000,468,2187,3179,0,0,0,0,0,0 $GC,120,-1.96,-128.4,0.9,-1.4,12,147,11.52,2.58,-7.43,0.000,4,0.171,0.048,2562,3773,3474,0,0,0,0,0,0 $GC,433,-1.65,-128.4,76.3,-23.9,45,438,0.40,2.55,0.00,0.000,6,0.146,0.022,2637,2153,3475,0,0,0,0,0,0 $GC,701,-1.47,-128.4,130.0,-19.5,69,706,0.20,2.62,0.00,0.000,4,0.140,0.034,2675,3779,3476,0,0,0,0,0,0 $GC,974,-1.36,-128.4,181.5,-16.9,91,981,0.12,2.53,0.00,0.000,6,0.143,0.027,2698,2169,3477,0,0,0,0,0,0 $GC,1241,-1.32,-128.4,216.3,-13.0,108,1245,0.00,2.55,0.00,0.000,4,0.000,0.030,2698,3769,3477,0,0,0,0,0,0 $GC,1282,-1.27,-128.4,221.4,-13.1,109,1287,0.12,2.53,0.00,0.000,6,0.140,0.022,2721,2157,3477,0,0,0,0,0,0 $GC,1565,-1.27,-128.4,254.5,-11.2,116,1569,0.00,2.60,0.00,0.000,4,0.000,0.038,2721,3767,3478,0,0,0,0,0,0 $GC,1670,-1.27,-128.4,266.6,-11.2,118,1675,0.00,2.53,0.00,0.000,6,0.000,0.022,2721,2161,3478,0,0,0,0,0,0 $GC,1933,-1.27,-128.4,295.5,-11.3,125,1938,0.00,2.65,0.00,0.000,4,0.000,0.067,2720,597,3478,0,0,0,0,0,0 $GC,1972,-1.27,-128.4,300.8,-13.7,126,1977,0.00,2.50,0.00,0.000,6,0.000,0.032,2721,2164,3478,0,0,0,0,0,0 $GC,2257,-1.27,-128.4,334.5,-11.2,133,2262,0.00,2.62,0.00,0.000,4,0.000,0.051,2720,3751,3477,0,0,0,0,0,0 $GC,2442,-1.27,-128.4,355.9,-10.4,137,2446,0.00,2.58,0.00,0.000,6,0.000,0.040,2721,2176,3477,0,0,0,0,0,0 $GC,2717,-1.32,-128.4,383.2,-10.0,144,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2176,3476,0,0,0,0,0,0 $GC,2959,-1.37,-128.4,408.1,-10.3,150,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2176,3475,0,0,0,0,0,0 $GC,3202,-1.42,-128.4,433.0,-10.4,156,3207,0.12,2.67,0.00,0.000,4,0.075,0.055,2681,3752,3473,0,0,0,0,0,0 $GC,3403,-1.37,-128.4,457.2,-11.5,160,3408,0.00,2.65,0.00,0.000,6,0.000,0.051,2681,2186,3472,0,0,0,0,0,0 $GC,3658,-1.37,-128.4,483.0,-10.0,167,3662,0.00,2.67,0.00,0.000,4,0.000,0.064,2681,3747,3471,0,0,0,0,0,0 $GC,3841,-1.37,-128.4,504.1,-11.6,171,3846,0.00,2.62,0.00,0.000,6,0.000,0.054,2681,2195,3470,0,0,0,0,0,0 $GC,4120,-1.37,-131.3,531.1,-9.7,178,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2194,3468,0,0,0,0,0,0 $GC,4364,-1.38,-136.3,553.3,-9.1,184,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2194,3466,0,0,0,0,0,0 $GC,4609,-1.38,-136.3,578.3,-10.2,190,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2194,3465,0,0,0,0,0,0 $GC,4851,-1.38,-136.3,603.0,-10.3,196,4855,0.00,2.80,0.00,0.000,4,0.000,0.098,2681,3742,3463,0,0,0,0,0,0 $GC,4939,-1.38,-136.3,612.7,-10.9,198,4944,0.00,2.75,0.00,0.000,6,0.000,0.079,2681,2204,3463,0,0,0,0,0,0 $GC,5219,-1.38,-136.3,639.4,-9.5,205,5224,0.00,2.80,0.00,0.000,4,0.000,0.097,2681,3739,3461,0,0,0,0,0,0 $GC,5377,-1.38,-136.3,654.8,-10.2,208,5381,0.00,2.80,0.00,0.000,6,0.000,0.100,2681,2216,3459,0,0,0,0,0,0 $GC,5633,-1.38,-136.3,676.3,-8.3,215,5638,0.00,2.83,0.00,0.000,4,0.000,0.112,2681,3738,3459,0,0,0,0,0,0 $GC,5660,-1.38,-136.3,678.8,-9.0,215,5665,0.00,2.70,0.00,0.000,6,0.000,0.080,2681,2231,3458,0,0,0,0,0,0 $GC,5910,-1.38,-136.3,697.7,-7.3,221,5915,0.00,2.72,0.00,0.000,4,0.000,0.093,2681,3740,3457,0,0,0,0,0,0 $STATE,5940,end dive,TARGET_DEPTH_EXCEEDED $STATE,5941,begin apogee $GC,5951,-0.31,0.0,700.2,7.5,221,6059,1.20,0.00,104.88,1.104,6,0.123,0.000,2926,2117,2950,0,0,0,0,0,0 $STATE,6060,end apogee,CONTROL_FINISHED_OK $STATE,6060,begin climb $GC,6063,1.97,136.3,701.7,0.0,224,6188,2.28,0.00,120.82,1.062,6,0.071,0.000,3429,2117,2394,0,0,0,0,0,0 $GC,6401,2.15,136.3,656.4,14.5,233,6406,0.17,2.78,0.00,0.000,4,0.086,0.067,3470,3697,2386,0,0,0,0,0,0 $GC,6481,2.28,136.3,643.3,16.8,234,6487,0.10,2.75,0.00,0.000,6,0.104,0.061,3493,2119,2383,0,0,0,0,0,0 $GC,6733,2.35,136.3,600.9,16.6,241,6737,0.00,2.67,0.00,0.000,4,0.000,0.058,3493,3695,2381,0,0,0,0,0,0 $GC,6829,2.43,136.3,584.2,17.0,243,6835,0.15,2.67,0.00,0.000,6,0.089,0.061,3527,2141,2380,0,0,0,0,0,0 $GC,7101,2.43,136.3,532.2,19.4,250,7106,0.00,2.65,0.00,0.000,4,0.000,0.056,3528,3700,2379,0,0,0,0,0,0 $GC,7140,2.43,136.3,524.2,21.7,251,7145,0.00,2.67,0.00,0.000,6,0.000,0.049,3527,2139,2378,0,0,0,0,0,0 $GC,7425,2.43,136.3,468.8,19.0,258,7430,0.00,2.60,0.00,0.000,4,0.000,0.046,3527,3703,2376,0,0,0,0,0,0 $GC,7542,2.43,136.3,447.6,17.1,260,7546,0.00,2.62,0.00,0.000,6,0.000,0.041,3528,2140,2376,0,0,0,0,0,0 $GC,7792,2.47,136.3,407.8,15.3,266,7797,0.00,2.60,0.00,0.000,4,0.000,0.042,3528,3703,2375,0,0,0,0,0,0 $GC,7860,2.51,136.3,396.4,16.9,267,7865,0.00,2.55,0.00,0.000,6,0.000,0.037,3527,2162,2375,0,0,0,0,0,0 $GC,8116,2.56,136.3,353.5,16.7,274,8121,0.12,2.55,0.00,0.000,4,0.093,0.042,3558,3700,2374,0,0,0,0,0,0 $GC,8157,2.56,136.3,346.3,18.1,275,8161,0.00,2.50,0.00,0.000,6,0.000,0.040,3558,2170,2374,0,0,0,0,0,0 $GC,8441,2.56,136.3,298.0,16.6,282,8445,0.00,2.53,0.00,0.000,4,0.000,0.046,3558,3700,2374,0,0,0,0,0,0 $GC,8462,2.56,136.3,294.4,16.1,282,8466,0.00,2.47,0.00,0.000,6,0.000,0.035,3558,2176,2373,0,0,0,0,0,0 $GC,8719,2.56,136.3,251.0,17.0,289,8724,0.00,2.50,0.00,0.000,4,0.000,0.047,3558,3703,2373,0,0,0,0,0,0 $GC,8814,2.56,136.3,234.7,16.0,291,8818,0.00,2.42,0.00,0.000,6,0.000,0.030,3558,2205,2373,0,0,0,0,0,0 $GC,9073,2.56,136.3,192.3,16.2,299,9077,0.00,2.45,0.00,0.000,4,0.000,0.040,3558,3708,2373,0,0,0,0,0,0 $GC,9091,2.56,136.3,189.6,16.5,300,9095,0.00,2.42,0.00,0.000,6,0.000,0.029,3558,2208,2373,0,0,0,0,0,0 $GC,9354,2.60,136.3,148.9,16.1,324,9358,0.00,2.45,0.00,0.000,4,0.000,0.037,3558,3707,2373,0,0,0,0,0,0 $GC,9432,2.64,136.3,136.6,15.0,330,9436,0.00,2.40,0.00,0.000,6,0.000,0.029,3558,2218,2373,0,0,0,0,0,0 $GC,9697,2.69,136.3,97.0,17.0,354,9702,0.12,2.40,0.00,0.000,4,0.089,0.038,3589,3707,2373,0,0,0,0,0,0 $GC,9749,2.69,136.3,86.6,19.3,358,9754,0.00,2.40,0.00,0.000,6,0.000,0.031,3590,2222,2373,0,0,0,0,0,0 $GC,10017,2.69,136.3,41.5,15.6,382,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2222,2374,0,0,0,0,0,0 $STATE,10271,end climb,SURFACE_DEPTH_REACHED $STATE,10271,begin surface coast $FINISH,-0.5,1.023743 $STATE,10306,end surface coast,CONTROL_FINISHED_OK $STATE,10306,begin surface $SM_CCo,10328,249.75,0.528,0,0,1115,450.13 $SM_GC,-0.02,0.00,0.00,249.75,0.000,0.000,0.528,473,2118,1115,-11.62,-1.47,450.13 $IRIDIUM_FIX,2237.01,-15800.20,230801,040400 $TT8_MAMPS,0.026078 $HUMID,57.99 $INTERNAL_PRESSURE,9.307 $TCM_TEMP,20.60 $XPDR_PINGS,35 $24V_AH,23.3,6.925 $10V_AH,10.4,6.212 $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,29.250,119.925,225.700,249.750,0.000,30.908,33.809,174.363,8.750,0.000,14.178,945.962,7171.130,608.994,1716.429,520.458,33.354,1296.139,0.000,1710.359,0.000,0.534,0.000 $DEVICE_MAMPS,171.041,114.283,1103.713,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,286.380,202.033,274.340,507.996,768.321,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356048 $DATA_FILE_SIZE,32025,421 $CAP_FILE_SIZE,102055,0 $CFSIZE,260165632,144523264 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,290512,102254,2244.408,-15800.116,27,1.4,40,10.1