version: 66.06 glider: 146 mission: 7 dive: 46 start: 5 29 112 14 4 25 data: $ID,146 $MISSION,7 $DIVE,46 $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,-288697.19 $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,58 $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 $GPS1,135324,2245.524,-15800.214,69,1.1,69,10.1 $_CALLS,2 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,-0.04 $_SM_ANGLEo,-67.2 $GPS2,140331,2245.545,-15800.264,14,1.1,18,10.1 $SPEED_LIMITS,0.143,0.252 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $KALMAN_CONTROL,0.194,-0.051 $KALMAN_X,-76426.9,231.9,91.2,82014.9,-2270.5 $KALMAN_Y,-20101.1,-281.0,372.7,29184.6,-287.8 $MHEAD_RNG_PITCHd_Wd,94.6,1105,-23.5,-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,16,end surface,CONTROL_FINISHED_OK $STATE,16,begin dive $GC,18,-1.57,-84.4,0.0,0.0,0,121,0.00,0.00,-94.20,0.000,6,0.000,0.000,470,2117,3292,0,0,0,0,0,0 $GC,125,-1.63,-136.3,1.4,-3.5,13,149,12.10,2.47,-4.95,0.000,4,0.177,0.047,2635,617,3507,0,0,0,0,0,0 $GC,299,-1.21,-136.3,44.1,-23.4,35,305,0.47,2.47,0.00,0.000,6,0.132,0.017,2730,2212,3507,0,0,0,0,0,0 $GC,566,-1.03,-136.3,86.6,-15.3,59,571,0.20,2.62,0.00,0.000,4,0.120,0.043,2770,611,3508,0,0,0,0,0,0 $GC,610,-0.89,-136.3,93.9,-14.7,62,615,0.15,2.40,0.00,0.000,6,0.125,0.017,2800,2166,3508,0,0,0,0,0,0 $GC,873,-0.85,-136.3,127.4,-12.0,86,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2166,3508,0,0,0,0,0,0 $GC,1127,-0.85,-136.3,158.1,-12.2,110,1131,0.00,2.50,0.00,0.000,4,0.000,0.033,2800,3733,3509,0,0,0,0,0,0 $GC,1143,-0.85,-136.3,160.1,-11.8,111,1148,0.00,2.42,0.00,0.000,6,0.000,0.022,2800,2178,3509,0,0,0,0,0,0 $GC,1407,-0.85,-136.3,189.4,-11.0,135,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2178,3509,0,0,0,0,0,0 $GC,1671,-0.85,-136.3,217.3,-10.1,149,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2178,3510,0,0,0,0,0,0 $GC,1915,-0.85,-136.3,237.6,-7.9,155,1920,0.00,2.55,0.00,0.000,4,0.000,0.037,2800,3732,3510,0,0,0,0,0,0 $GC,1945,-0.85,-136.3,239.8,-8.2,155,1949,0.00,2.47,0.00,0.000,6,0.000,0.029,2800,2168,3509,0,0,0,0,0,0 $GC,2194,-0.85,-136.3,260.2,-8.2,161,2199,0.00,2.65,0.00,0.000,4,0.000,0.061,2800,597,3510,0,0,0,0,0,0 $GC,2222,-0.85,-136.3,262.9,-9.9,161,2226,0.00,2.45,0.00,0.000,6,0.000,0.030,2800,2159,3509,0,0,0,0,0,0 $GC,2473,-0.85,-136.3,287.3,-9.9,167,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2160,3509,0,0,0,0,0,0 $GC,2715,-0.85,-136.3,310.0,-9.2,173,2720,0.00,2.65,0.00,0.000,4,0.000,0.059,2800,594,3508,0,0,0,0,0,0 $GC,2737,-0.85,-136.3,312.2,-9.6,173,2742,0.00,2.50,0.00,0.000,6,0.000,0.034,2800,2168,3508,0,0,0,0,0,0 $GC,2993,-0.85,-136.3,333.5,-8.1,180,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2168,3507,0,0,0,0,0,0 $GC,3239,-0.88,-136.3,353.1,-8.1,186,3243,0.00,2.62,0.00,0.000,4,0.000,0.046,2800,3755,3506,0,0,0,0,0,0 $GC,3266,-0.88,-136.3,355.6,-8.8,186,3270,0.00,2.58,0.00,0.000,6,0.000,0.037,2800,2162,3506,0,0,0,0,0,0 $GC,3516,-0.92,-136.3,375.8,-8.1,192,3520,0.00,2.62,0.00,0.000,4,0.000,0.049,2800,3747,3504,0,0,0,0,0,0 $GC,3539,-0.92,-136.3,377.7,-8.4,192,3544,0.00,2.60,0.00,0.000,6,0.000,0.039,2800,2160,3504,0,0,0,0,0,0 $GC,3794,-0.97,-136.3,397.8,-7.6,199,3799,0.00,2.67,0.00,0.000,4,0.000,0.048,2800,3750,3503,0,0,0,0,0,0 $GC,3879,-0.97,-136.3,404.8,-8.8,201,3883,0.00,2.60,0.00,0.000,6,0.000,0.040,2800,2177,3503,0,0,0,0,0,0 $GC,4164,-1.02,-136.3,425.7,-7.3,208,4169,0.00,2.88,0.00,0.000,4,0.000,0.097,2800,585,3501,0,0,0,0,0,0 $GC,4191,-1.02,-136.3,428.0,-7.9,208,4195,0.00,2.60,0.00,0.000,6,0.000,0.044,2799,2159,3501,0,0,0,0,0,0 $GC,4443,-1.07,-136.3,446.4,-7.2,214,4445,0.15,0.00,0.00,0.000,6,0.067,0.000,2753,2159,3499,0,0,0,0,0,0 $GC,4685,-1.04,-136.3,467.0,-8.4,220,4690,0.10,2.78,0.00,0.000,4,0.132,0.072,2772,3759,3498,0,0,0,0,0,0 $GC,4770,-1.04,-136.3,474.5,-8.8,222,4775,0.00,2.67,0.00,0.000,6,0.000,0.048,2773,2164,3497,0,0,0,0,0,0 $GC,5055,-1.04,-136.3,497.4,-8.0,229,5060,0.00,2.92,0.00,0.000,4,0.000,0.107,2772,586,3496,0,0,0,0,0,0 $GC,5070,-1.04,-136.3,499.0,-8.5,229,5075,0.00,2.65,0.00,0.000,6,0.000,0.048,2772,2172,3496,0,0,0,0,0,0 $GC,5331,-1.04,-136.3,519.4,-7.7,236,5336,0.00,2.78,0.00,0.000,4,0.000,0.081,2772,3758,3494,0,0,0,0,0,0 $GC,5388,-1.04,-136.3,524.2,-8.7,237,5393,0.00,2.70,0.00,0.000,6,0.000,0.058,2773,2176,3494,0,0,0,0,0,0 $GC,5654,-1.04,-136.3,544.2,-7.3,244,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2176,3492,0,0,0,0,0,0 $GC,5898,-1.04,-136.3,560.7,-6.6,250,5903,0.00,2.78,0.00,0.000,4,0.000,0.080,2773,3751,3491,0,0,0,0,0,0 $GC,5955,-1.04,-136.3,564.5,-7.3,251,5959,0.00,2.70,0.00,0.000,6,0.000,0.065,2773,2181,3491,0,0,0,0,0,0 $GC,6221,-1.04,-136.3,581.7,-6.4,258,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2181,3489,0,0,0,0,0,0 $GC,6465,-1.04,-136.3,598.5,-7.0,264,6469,0.00,2.80,0.00,0.000,4,0.000,0.079,2773,3753,3488,0,0,0,0,0,0 $GC,6624,-1.04,-136.3,610.8,-7.9,267,6629,0.00,2.75,0.00,0.000,6,0.000,0.075,2772,2197,3487,0,0,0,0,0,0 $GC,6879,-1.04,-136.3,630.6,-7.6,274,6884,0.00,2.83,0.00,0.000,4,0.000,0.091,2773,3754,3486,0,0,0,0,0,0 $GC,6936,-1.04,-136.3,635.3,-8.9,275,6941,0.00,2.78,0.00,0.000,6,0.000,0.084,2772,2205,3486,0,0,0,0,0,0 $GC,7204,-1.04,-136.3,656.0,-7.6,282,7209,0.00,2.88,0.00,0.000,4,0.000,0.106,2773,3756,3484,0,0,0,0,0,0 $GC,7220,-1.04,-136.3,657.5,-7.5,282,7225,0.00,2.83,0.00,0.000,6,0.000,0.093,2772,2218,3484,0,0,0,0,0,0 $GC,7483,-1.04,-136.3,677.4,-7.7,289,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2218,3483,0,0,0,0,0,0 $GC,7724,-1.04,-136.3,696.5,-7.9,295,7729,0.00,2.95,0.00,0.000,4,0.000,0.120,2773,3755,3482,0,0,0,0,0,0 $STATE,7766,end dive,TARGET_DEPTH_EXCEEDED $STATE,7766,begin apogee $GC,7775,-0.31,0.0,700.3,9.0,296,7891,0.70,0.00,110.88,1.110,6,0.107,0.000,2923,2118,2950,0,0,0,0,0,0 $STATE,7891,end apogee,CONTROL_FINISHED_OK $STATE,7892,begin climb $GC,7896,1.63,136.3,703.7,0.0,299,8028,1.92,3.25,120.00,1.076,4,0.071,0.129,3353,533,2393,0,0,0,0,0,0 $GC,8046,1.78,136.7,693.2,10.0,302,8052,0.15,2.78,0.00,0.000,6,0.080,0.058,3389,2122,2390,0,0,0,0,0,0 $GC,8302,1.87,136.7,664.0,11.5,309,8307,0.00,2.90,0.00,0.000,4,0.000,0.091,3389,3715,2385,0,0,0,0,0,0 $GC,8388,1.99,136.7,653.8,12.5,311,8394,0.17,2.78,0.00,0.000,6,0.097,0.060,3427,2123,2382,0,0,0,0,0,0 $GC,8672,1.99,136.7,613.7,14.2,318,8677,0.00,2.72,0.00,0.000,4,0.000,0.054,3428,3713,2381,0,0,0,0,0,0 $GC,8698,1.99,136.7,609.7,15.5,318,8703,0.00,2.70,0.00,0.000,6,0.000,0.052,3427,2141,2380,0,0,0,0,0,0 $GC,8951,1.99,136.7,574.8,13.9,324,8955,0.00,2.70,0.00,0.000,4,0.000,0.058,3428,3719,2379,0,0,0,0,0,0 $GC,9023,2.03,136.7,564.2,14.1,325,9027,0.00,2.70,0.00,0.000,6,0.000,0.060,3428,2158,2379,0,0,0,0,0,0 $GC,9273,2.07,136.7,532.1,12.5,331,9274,0.10,0.00,0.00,0.000,6,0.111,0.000,3451,2158,2378,0,0,0,0,0,0 $GC,9518,2.07,136.7,499.4,13.5,337,9522,0.00,2.60,0.00,0.000,4,0.000,0.053,3451,3717,2377,0,0,0,0,0,0 $GC,9584,2.07,136.7,489.4,14.3,338,9588,0.00,2.60,0.00,0.000,6,0.000,0.049,3451,2175,2377,0,0,0,0,0,0 $GC,9844,2.07,136.7,452.4,14.4,345,9849,0.00,2.55,0.00,0.000,4,0.000,0.044,3451,3718,2376,0,0,0,0,0,0 $GC,9918,2.07,136.7,440.9,16.0,346,9922,0.00,2.55,0.00,0.000,6,0.000,0.038,3451,2183,2375,0,0,0,0,0,0 $GC,10168,2.07,136.7,403.9,14.8,352,10172,0.00,2.58,0.00,0.000,4,0.000,0.044,3450,3728,2375,0,0,0,0,0,0 $GC,10207,2.07,136.7,398.2,14.3,353,10211,0.00,2.53,0.00,0.000,6,0.000,0.040,3451,2198,2375,0,0,0,0,0,0 $GC,10491,2.07,136.7,361.1,12.5,360,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2198,2375,0,0,0,0,0,0 $GC,10733,2.07,136.7,330.9,12.3,366,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2198,2375,0,0,0,0,0,0 $GC,10977,2.07,136.7,300.2,12.6,372,10981,0.00,2.53,0.00,0.000,4,0.000,0.044,3451,3729,2374,0,0,0,0,0,0 $GC,11009,2.07,136.7,295.6,13.3,372,11015,0.00,2.50,0.00,0.000,6,0.000,0.036,3451,2194,2374,0,0,0,0,0,0 $GC,11261,2.11,136.7,264.5,12.3,379,11265,0.00,2.50,0.00,0.000,4,0.000,0.044,3451,3718,2374,0,0,0,0,0,0 $GC,11300,2.15,136.7,259.2,13.5,380,11305,0.00,2.47,0.00,0.000,6,0.000,0.038,3451,2199,2374,0,0,0,0,0,0 $GC,11584,2.20,136.7,226.1,11.0,387,11589,0.12,2.50,0.00,0.000,4,0.086,0.050,3485,3718,2374,0,0,0,0,0,0 $GC,11613,2.20,136.7,222.4,13.4,387,11617,0.00,2.42,0.00,0.000,6,0.000,0.035,3485,2221,2374,0,0,0,0,0,0 $GC,11864,2.20,136.7,191.1,12.9,396,11869,0.00,2.85,0.00,0.000,4,0.000,0.055,3485,522,2374,0,0,0,0,0,0 $GC,11885,2.20,136.7,189.0,13.0,397,11889,0.00,2.78,0.00,0.000,6,0.000,0.029,3485,2263,2374,0,0,0,0,0,0 $GC,12152,2.20,136.7,157.5,11.7,421,12157,0.00,2.35,0.00,0.000,4,0.000,0.040,3485,3726,2374,0,0,0,0,0,0 $GC,12185,2.20,136.7,152.5,12.6,423,12195,0.00,2.47,0.00,0.000,6,0.000,0.034,3485,2202,2374,0,0,0,0,0,0 $GC,12450,2.20,136.7,122.2,11.4,448,12454,0.00,2.47,0.00,0.000,4,0.000,0.038,3485,3729,2374,0,0,0,0,0,0 $GC,12479,2.20,136.7,118.3,12.4,450,12483,0.00,2.45,0.00,0.000,6,0.000,0.028,3485,2206,2374,0,0,0,0,0,0 $GC,12742,2.20,136.7,86.0,13.7,474,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2206,2375,0,0,0,0,0,0 $GC,13007,2.20,136.7,50.9,12.9,499,13012,0.00,2.45,0.00,0.000,4,0.000,0.038,3485,3726,2376,0,0,0,0,0,0 $GC,13103,2.25,136.7,36.5,14.4,506,13107,0.00,2.35,0.00,0.000,6,0.000,0.028,3485,2242,2376,0,0,0,0,0,0 $STATE,13388,end climb,SURFACE_DEPTH_REACHED $STATE,13388,begin surface coast $FINISH,-0.6,1.023749 $STATE,13438,end surface coast,CONTROL_FINISHED_OK $STATE,13438,begin surface $SM_CCo,13460,251.65,0.517,0,0,1115,450.13 $SM_GC,-0.01,0.00,0.00,251.65,0.000,0.000,0.517,469,2127,1115,-11.64,-1.22,450.13 $IRIDIUM_FIX,2237.01,-15802.37,230801,141429 $TT8_MAMPS,0.026078 $HUMID,56.65 $INTERNAL_PRESSURE,9.31676 $TCM_TEMP,21.30 $XPDR_PINGS,50 $24V_AH,23.3,7.171 $10V_AH,10.4,6.425 $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,28.475,169.250,230.875,251.650,0.000,60.763,70.108,257.831,12.500,0.000,20.346,1173.494,9785.646,613.129,2011.892,735.854,33.355,1436.951,0.000,2000.191,0.000,0.535,0.000 $DEVICE_MAMPS,177.177,128.856,1109.849,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,375.452,263.429,362.100,646.716,979.735,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356040 $DATA_FILE_SIZE,41519,551 $CAP_FILE_SIZE,133164,0 $CFSIZE,260165632,144363520 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,290512,175431,2245.623,-15758.973,50,1.3,50,10.1