version: 66.06 glider: 146 mission: 6 dive: 208 start: 6 5 111 8 8 30 data: $ID,146 $MISSION,6 $DIVE,208 $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,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,52520 $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,380 $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,-272724.44 $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,3155 $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,1820 $C_ROLL_CLIMB,2000 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,48 $R_STBD_OVSHOOT,62 $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,3020 $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,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,0.0036476359 $SEABIRD_T_H,0.00058019959 $SEABIRD_T_I,1.488937e-05 $SEABIRD_T_J,2.4708795e-06 $SEABIRD_C_G,-10.237597 $SEABIRD_C_H,1.1413157 $SEABIRD_C_I,-0.0016513355 $SEABIRD_C_J,0.00021051844 $GPS1,080106,2247.936,-15757.939,40,1.3,40,10.1 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.24 $_SM_ANGLEo,-68.8 $GPS2,080737,2248.005,-15757.858,18,1.6,29,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,WAY3 $TGT_LATLONG,2247.000,-15757.800 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.002,-0.235 $KALMAN_X,-89835.4,-91.3,-46.8,88158.8,91.3 $KALMAN_Y,-107749.5,594.3,-139.3,114892.4,951.3 $MHEAD_RNG_PITCHd_Wd,170.3,1864,-19.8,-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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,17,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-69.53,0.000,2,0.000,0.000,473,1793,3239,0,0,0,0,0,0 $GC,92,-1.38,-116.8,3.6,-6.2,9,118,12.43,2.60,-4.78,0.000,4,0.152,0.061,2846,266,3500,0,0,0,0,0,0 $GC,210,-1.17,-116.8,35.8,-21.8,24,218,0.20,2.40,0.00,0.000,6,0.109,0.014,2892,1846,3501,0,0,0,0,0,0 $GC,477,-1.17,-116.8,77.7,-14.2,49,481,0.00,2.35,0.00,0.000,4,0.000,0.027,2892,3355,3502,0,0,0,0,0,0 $GC,512,-1.17,-116.8,82.5,-12.6,51,516,0.00,2.40,0.00,0.000,6,0.000,0.032,2892,1836,3503,0,0,0,0,0,0 $GC,778,-1.17,-116.8,114.8,-11.1,75,782,0.00,2.38,0.00,0.000,4,0.000,0.027,2892,3357,3503,0,0,0,0,0,0 $GC,801,-1.22,-116.8,117.8,-11.1,76,812,0.00,2.45,0.00,0.000,6,0.000,0.025,2892,1827,3504,0,0,0,0,0,0 $GC,1068,-1.26,-116.8,148.3,-11.5,101,1072,0.00,2.40,0.00,0.000,4,0.000,0.031,2892,3362,3504,0,0,0,0,0,0 $GC,1124,-1.34,-116.8,155.7,-11.3,105,1134,0.10,2.45,0.00,0.000,6,0.038,0.031,2844,1832,3504,0,0,0,0,0,0 $GC,1391,-1.34,-116.8,188.2,-12.3,130,1395,0.00,2.38,0.00,0.000,4,0.000,0.031,2845,3359,3505,0,0,0,0,0,0 $GC,1408,-1.34,-116.8,191.2,-12.4,131,1412,0.00,2.38,0.00,0.000,6,0.000,0.029,2845,1836,3505,0,0,0,0,0,0 $GC,1682,-1.34,-116.8,224.6,-12.0,142,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1836,3505,0,0,0,0,0,0 $GC,1925,-1.34,-116.8,252.7,-11.6,148,1929,0.00,2.42,0.00,0.000,4,0.000,0.035,2844,3362,3505,0,0,0,0,0,0 $GC,1985,-1.34,-116.8,259.5,-10.5,149,1989,0.00,2.40,0.00,0.000,6,0.000,0.034,2844,1847,3505,0,0,0,0,0,0 $GC,2252,-1.34,-116.8,288.2,-10.6,156,2256,0.00,2.40,0.00,0.000,4,0.000,0.037,2845,3353,3505,0,0,0,0,0,0 $GC,2273,-1.38,-116.8,290.4,-9.9,156,2278,0.00,2.40,0.00,0.000,6,0.000,0.036,2845,1853,3505,0,0,0,0,0,0 $GC,2529,-1.38,-116.8,316.0,-10.0,163,2534,0.00,2.85,0.00,0.000,4,0.000,0.086,2844,242,3505,0,0,0,0,0,0 $GC,2550,-1.38,-116.8,318.5,-11.3,163,2554,0.00,2.45,0.00,0.000,6,0.000,0.026,2844,1805,3505,0,0,0,0,0,0 $GC,2808,-1.42,-116.8,344.2,-9.9,170,2812,0.00,2.58,0.00,0.000,4,0.000,0.042,2844,3397,3504,0,0,0,0,0,0 $GC,2852,-1.49,-116.8,348.8,-9.5,171,2856,0.00,2.53,0.00,0.000,6,0.000,0.042,2844,1857,3503,0,0,0,0,0,0 $GC,3131,-1.54,-116.8,374.6,-9.2,178,3133,0.10,0.00,0.00,0.000,6,0.090,0.000,2807,1857,3502,0,0,0,0,0,0 $GC,3373,-1.54,-116.8,400.9,-10.9,184,3377,0.00,2.53,0.00,0.000,4,0.000,0.043,2807,3392,3501,0,0,0,0,0,0 $GC,3405,-1.54,-116.8,404.8,-11.8,184,3411,0.00,2.58,0.00,0.000,6,0.000,0.055,2807,1857,3501,0,0,0,0,0,0 $GC,3656,-1.54,-116.8,433.6,-11.6,191,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1856,3499,0,0,0,0,0,0 $GC,3899,-1.54,-116.8,460.1,-10.7,197,3903,0.00,2.55,0.00,0.000,4,0.000,0.049,2807,3389,3497,0,0,0,0,0,0 $GC,3931,-1.54,-116.8,463.7,-10.8,197,3937,0.00,2.60,0.00,0.000,6,0.000,0.062,2807,1866,3497,0,0,0,0,0,0 $GC,4181,-1.54,-116.8,489.5,-10.6,204,4186,0.00,3.08,0.00,0.000,4,0.000,0.116,2807,234,3495,0,0,0,0,0,0 $GC,4203,-1.54,-116.8,492.0,-11.2,204,4208,0.00,2.62,0.00,0.000,6,0.000,0.037,2807,1842,3495,0,0,0,0,0,0 $STATE,4294,end dive,TARGET_DEPTH_EXCEEDED $STATE,4294,begin apogee $GC,4300,-0.31,0.0,502.0,10.8,207,4401,1.25,0.00,97.32,0.918,6,0.086,0.000,3086,2012,3020,0,0,0,0,0,0 $STATE,4402,end apogee,CONTROL_FINISHED_OK $STATE,4402,begin climb $GC,4404,1.38,116.8,504.5,0.0,209,4509,1.55,0.00,99.95,0.903,6,0.047,0.000,3454,2012,2543,0,0,0,0,0,0 $GC,4733,1.34,158.1,488.3,7.7,217,4774,0.00,2.75,35.38,0.874,4,0.000,0.057,3454,3583,2374,0,0,0,0,0,0 $GC,4867,1.26,158.1,475.1,11.0,220,4872,0.12,2.67,0.00,0.000,6,0.125,0.052,3430,2013,2369,0,0,0,0,0,0 $GC,5150,1.28,180.1,449.7,8.8,227,5175,0.00,3.10,19.55,0.842,4,0.000,0.110,3430,406,2284,0,0,0,0,0,0 $GC,5192,1.24,199.0,445.9,8.9,228,5217,0.00,2.65,18.33,0.828,6,0.000,0.033,3429,2013,2207,0,0,0,0,0,0 $GC,5474,1.25,207.3,419.0,9.6,235,5484,0.00,0.00,7.65,0.732,6,0.000,0.000,3430,2013,2175,0,0,0,0,0,0 $GC,5717,1.26,212.3,395.6,9.7,241,5724,0.00,0.00,5.78,0.670,6,0.000,0.000,3430,2013,2154,0,0,0,0,0,0 $GC,5960,1.26,212.3,370.9,10.1,247,5965,0.00,2.58,0.00,0.000,4,0.000,0.041,3430,3588,2151,0,0,0,0,0,0 $GC,5983,1.26,212.3,368.5,10.2,247,5988,0.00,2.62,0.00,0.000,6,0.000,0.035,3430,2000,2150,0,0,0,0,0,0 $GC,6238,1.27,223.6,344.2,9.4,254,6256,0.00,2.83,11.10,0.765,4,0.000,0.080,3430,413,2107,0,0,0,0,0,0 $GC,6285,1.27,223.6,339.3,10.7,255,6290,0.00,2.55,0.00,0.000,6,0.000,0.023,3430,2016,2105,0,0,0,0,0,0 $GC,6565,1.28,228.4,312.3,9.8,262,6575,0.00,2.55,5.53,0.637,4,0.000,0.036,3429,3572,2088,0,0,0,0,0,0 $GC,6608,1.28,228.4,307.5,10.8,263,6613,0.00,2.58,0.00,0.000,6,0.000,0.038,3430,1993,2086,0,0,0,0,0,0 $GC,6888,1.28,230.5,279.5,9.9,270,6893,0.00,2.72,0.00,0.000,4,0.000,0.066,3430,418,2084,0,0,0,0,0,0 $GC,6950,1.28,230.5,272.8,10.7,271,6954,0.00,2.45,0.00,0.000,6,0.000,0.019,3430,1990,2084,0,0,0,0,0,0 $GC,7217,1.34,248.5,248.6,9.0,278,7241,0.00,2.65,18.23,0.740,4,0.000,0.038,3430,3563,2007,0,0,0,0,0,0 $GC,7282,1.39,248.5,242.2,10.4,279,7287,0.12,2.58,0.00,0.000,6,0.084,0.031,3462,1980,2004,0,0,0,0,0,0 $GC,7543,1.39,248.5,213.0,11.3,286,7547,0.00,2.67,0.00,0.000,4,0.000,0.062,3463,423,2003,0,0,0,0,0,0 $GC,7566,1.35,248.5,210.3,12.1,286,7570,0.00,2.47,0.00,0.000,6,0.000,0.021,3462,1997,2002,0,0,0,0,0,0 $GC,7828,1.36,252.8,182.8,9.8,302,7836,0.00,0.00,4.78,0.532,6,0.000,0.000,3462,1997,1989,0,0,0,0,0,0 $GC,8091,1.36,252.8,154.5,10.6,327,8095,0.00,2.55,0.00,0.000,4,0.000,0.041,3462,3571,1988,0,0,0,0,0,0 $GC,8171,1.36,254.5,147.1,9.9,333,8176,0.00,2.55,0.00,0.000,6,0.000,0.030,3462,1981,1986,0,0,0,0,0,0 $GC,8438,1.38,267.7,122.0,9.3,357,8463,0.00,2.70,14.48,0.627,4,0.000,0.059,3463,430,1927,0,0,0,0,0,0 $GC,8499,1.38,267.7,115.2,11.3,362,8504,0.00,2.45,0.00,0.000,6,0.000,0.018,3462,1998,1926,0,0,0,0,0,0 $GC,8762,1.40,283.1,90.1,9.1,386,8786,0.00,2.55,14.73,0.586,4,0.000,0.031,3462,3562,1864,0,0,0,0,0,0 $GC,8805,1.45,293.5,86.6,9.4,389,8820,0.00,2.58,10.23,0.558,6,0.000,0.036,3462,1981,1822,0,0,0,0,0,0 $GC,9080,1.58,322.9,59.1,8.3,414,9112,0.15,2.67,26.00,0.574,4,0.067,0.062,3506,422,1702,0,0,0,0,0,0 $GC,9227,1.58,322.9,41.2,13.4,425,9231,0.00,2.38,0.00,0.000,6,0.000,0.017,3506,1969,1700,0,0,0,0,0,0 $GC,9538,1.58,322.9,5.7,10.2,464,9548,0.00,2.55,0.00,0.000,4,0.000,0.035,3506,3555,1699,0,0,0,0,0,0 $STATE,9557,end climb,SURFACE_DEPTH_REACHED $STATE,9557,begin surface coast $FINISH,2.9,0.980019 $STATE,9566,end surface coast,CONTROL_FINISHED_OK $STATE,9566,begin surface $SM_CCo,9591,46.40,0.528,0,0,1470,380.21 $SM_GC,1.52,0.00,0.00,46.40,0.000,0.000,0.528,480,1814,1470,-12.31,-0.17,380.21 $IRIDIUM_FIX,2239.35,-15757.16,290800,050516 $TT8_MAMPS,0.026078 $HUMID,59.64 $INTERNAL_PRESSURE,9.15074 $TCM_TEMP,21.90 $XPDR_PINGS,46 $24V_AH,23.5,26.059 $10V_AH,10.4,22.771 $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,28.550,128.700,389.000,46.400,0.000,27.951,36.871,179.211,11.500,0.000,31.359,961.139,6299.465,504.135,1753.328,513.099,33.367,1182.925,0.000,1737.243,0.000,0.538,0.000 $DEVICE_MAMPS,151.866,125.021,918.099,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,316.372,256.130,351.940,657.326,994.267,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355484 $DATA_FILE_SIZE,38359,467 $CAP_FILE_SIZE,102298,0 $CFSIZE,260165632,171388928 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,050611,105040,2247.177,-15757.898,37,2.0,52,10.1