version: 66.06 glider: 146 mission: 5 dive: 86 start: 8 28 110 1 57 25 data: $ID,146 $MISSION,5 $DIVE,86 $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,150 $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,-248967.3 $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,44 $R_STBD_OVSHOOT,68 $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 $GPS1,015024,2256.470,-15741.954,24,1.8,41,10.1 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.95 $_SM_ANGLEo,-67.4 $GPS2,015631,2256.432,-15742.011,18,2.0,35,10.1 $SPEED_LIMITS,0.114,0.240 $TGT_NAME,NE $TGT_LATLONG,2258.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.116,0.220 $KALMAN_X,-75716.9,179.7,197.5,124552.6,-1436.7 $KALMAN_Y,5683.9,12.0,50.3,134735.5,-749.6 $MHEAD_RNG_PITCHd_Wd,17.7,2903,-13.4,-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,12,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,15,-1.01,-146.0,0.0,0.0,0,96,0.00,0.00,-78.30,0.000,2,0.000,0.000,474,1745,3216,0,0,0,0,0,0 $GC,99,-1.01,-146.0,3.0,-3.7,10,125,12.15,2.50,-7.38,0.000,4,0.157,0.035,2770,3328,3601,0,0,0,0,0,0 $GC,176,-0.87,-146.0,20.4,-14.1,20,184,0.15,2.53,0.00,0.000,6,0.088,0.031,2806,1783,3602,0,0,0,0,0,0 $GC,464,-0.76,-146.0,54.7,-12.0,51,469,0.12,2.72,0.00,0.000,4,0.113,0.061,2833,192,3602,0,0,0,0,0,0 $GC,500,-0.69,-146.0,59.8,-11.5,53,509,0.00,2.42,0.00,0.000,6,0.000,0.015,2833,1787,3602,0,0,0,0,0,0 $GC,761,-0.69,-146.0,84.7,-8.8,78,766,0.00,2.72,0.00,0.000,4,0.000,0.058,2833,190,3602,0,0,0,0,0,0 $GC,791,-0.69,-146.0,87.2,-9.2,80,795,0.00,2.35,0.00,0.000,6,0.000,0.017,2833,1765,3602,0,0,0,0,0,0 $GC,1054,-0.69,-146.0,107.6,-7.2,104,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1767,3603,0,0,0,0,0,0 $GC,1307,-0.69,-146.0,129.1,-9.4,128,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1767,3603,0,0,0,0,0,0 $GC,1562,-0.74,-146.0,151.7,-7.5,152,1566,0.00,2.67,0.00,0.000,4,0.000,0.064,2833,193,3603,0,0,0,0,0,0 $GC,1596,-0.80,-146.0,154.0,-8.3,154,1601,0.00,2.35,0.00,0.000,6,0.000,0.017,2833,1761,3603,0,0,0,0,0,0 $GC,1863,-0.85,-146.0,170.8,-6.3,178,1868,0.00,2.42,0.00,0.000,4,0.000,0.026,2833,3311,3604,0,0,0,0,0,0 $GC,1886,-0.93,-146.0,172.8,-6.6,179,1892,0.15,2.47,0.00,0.000,6,0.062,0.033,2776,1750,3604,0,0,0,0,0,0 $GC,2150,-0.88,-146.0,195.9,-8.7,204,2155,0.15,2.67,0.00,0.000,4,0.097,0.068,2811,196,3603,0,0,0,0,0,0 $GC,2191,-0.92,-146.0,199.4,-7.9,207,2195,0.00,2.33,0.00,0.000,6,0.000,0.024,2811,1767,3603,0,0,0,0,0,0 $GC,2453,-0.92,-146.0,215.7,-6.0,214,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1768,3603,0,0,0,0,0,0 $GC,2695,-0.92,-146.0,231.2,-6.5,220,2699,0.00,2.42,0.00,0.000,4,0.000,0.027,2810,3314,3603,0,0,0,0,0,0 $GC,2737,-0.99,-146.0,234.2,-7.6,221,2742,0.12,2.47,0.00,0.000,6,0.071,0.030,2767,1769,3603,0,0,0,0,0,0 $GC,3022,-0.94,-146.0,261.6,-9.8,228,3027,0.12,2.75,0.00,0.000,4,0.107,0.077,2796,196,3602,0,0,0,0,0,0 $GC,3055,-0.94,-146.0,264.4,-7.8,228,3061,0.00,2.35,0.00,0.000,6,0.000,0.017,2796,1741,3603,0,0,0,0,0,0 $GC,3307,-0.94,-146.0,278.9,-5.4,235,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1741,3602,0,0,0,0,0,0 $GC,3549,-0.94,-146.0,295.4,-7.0,241,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1741,3602,0,0,0,0,0,0 $GC,3793,-0.94,-146.0,313.2,-7.1,247,3797,0.00,2.55,0.00,0.000,4,0.000,0.043,2796,3333,3601,0,0,0,0,0,0 $GC,3834,-1.03,-146.0,315.6,-6.6,248,3838,0.00,2.55,0.00,0.000,6,0.000,0.047,2796,1771,3601,0,0,0,0,0,0 $GC,4119,-1.07,-146.0,332.7,-6.0,255,4124,0.12,2.85,0.00,0.000,4,0.071,0.094,2753,183,3600,0,0,0,0,0,0 $GC,4169,-1.07,-146.0,337.2,-9.3,256,4173,0.00,2.42,0.00,0.000,6,0.000,0.025,2753,1742,3599,0,0,0,0,0,0 $GC,4448,-1.03,-146.0,362.2,-8.9,263,4453,0.10,2.65,0.00,0.000,4,0.118,0.045,2774,3354,3598,0,0,0,0,0,0 $GC,4475,-1.03,-146.0,364.8,-8.1,263,4480,0.00,2.65,0.00,0.000,6,0.000,0.051,2774,1761,3598,0,0,0,0,0,0 $GC,4726,-1.03,-146.0,382.9,-7.0,269,4730,0.00,2.88,0.00,0.000,4,0.000,0.100,2774,186,3597,0,0,0,0,0,0 $GC,4766,-1.03,-146.0,385.6,-6.9,270,4771,0.00,2.50,0.00,0.000,6,0.000,0.029,2774,1759,3596,0,0,0,0,0,0 $GC,5050,-1.03,-146.0,404.1,-6.7,277,5054,0.00,2.62,0.00,0.000,4,0.000,0.060,2774,3354,3595,0,0,0,0,0,0 $GC,5090,-1.08,-146.0,406.6,-6.4,278,5094,0.00,2.70,0.00,0.000,6,0.000,0.055,2774,1757,3595,0,0,0,0,0,0 $GC,5374,-1.08,-146.0,424.4,-6.2,285,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1757,3594,0,0,0,0,0,0 $GC,5617,-1.08,-146.0,440.3,-6.5,291,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1757,3592,0,0,0,0,0,0 $GC,5861,-1.12,-146.0,456.1,-6.3,297,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1757,3590,0,0,0,0,0,0 $GC,6105,-1.12,-146.0,469.7,-5.6,303,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1757,3588,0,0,0,0,0,0 $GC,6348,-1.16,-146.0,485.0,-6.3,309,6353,0.12,2.70,0.00,0.000,4,0.077,0.061,2736,3354,3587,0,0,0,0,0,0 $GC,6375,-1.16,-146.0,487.2,-7.9,309,6380,0.00,2.78,0.00,0.000,6,0.000,0.067,2735,1757,3587,0,0,0,0,0,0 $STATE,6541,end dive,TARGET_DEPTH_EXCEEDED $STATE,6542,begin apogee $GC,6549,-0.31,0.0,500.9,8.2,313,6672,0.88,0.00,119.43,0.927,6,0.081,0.000,2932,1834,3001,0,0,0,0,0,0 $STATE,6673,end apogee,CONTROL_FINISHED_OK $STATE,6673,begin climb $GC,6675,1.01,146.0,504.8,0.0,316,6809,1.20,2.67,124.28,0.902,4,0.054,0.055,3225,3390,2404,0,0,0,0,0,0 $GC,6840,0.90,178.3,502.0,6.9,320,6875,0.15,2.78,28.83,0.862,6,0.118,0.062,3196,1817,2273,0,0,0,0,0,0 $GC,7127,0.84,202.8,481.2,7.2,327,7156,0.00,2.75,21.48,0.850,4,0.000,0.044,3197,3392,2173,0,0,0,0,0,0 $GC,7175,0.80,219.2,477.5,7.5,328,7196,0.10,2.75,15.68,0.821,6,0.129,0.058,3177,1818,2107,0,0,0,0,0,0 $GC,7453,0.80,223.0,456.0,7.9,335,7459,0.00,0.00,4.10,0.567,6,0.000,0.000,3177,1818,2090,0,0,0,0,0,0 $GC,7698,0.82,235.1,437.6,7.6,341,7718,0.00,2.70,12.20,0.811,4,0.000,0.048,3177,3392,2041,0,0,0,0,0,0 $GC,7730,0.82,240.3,434.8,7.8,341,7741,0.00,2.70,6.22,0.689,6,0.000,0.056,3177,1818,2021,0,0,0,0,0,0 $GC,7985,0.82,241.0,414.3,8.0,348,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1818,2017,0,0,0,0,0,0 $GC,8230,0.89,296.3,398.7,6.1,354,8287,0.00,2.67,50.62,0.858,4,0.000,0.041,3177,3391,1791,0,0,0,0,0,0 $GC,8304,0.90,301.4,393.3,7.8,355,8315,0.00,2.67,5.80,0.650,6,0.000,0.050,3177,1821,1772,0,0,0,0,0,0 $GC,8594,0.90,302.1,370.4,8.0,363,8598,0.00,2.92,0.00,0.000,4,0.000,0.096,3177,229,1766,0,0,0,0,0,0 $GC,8627,0.90,302.1,367.4,9.7,363,8633,0.00,2.50,0.00,0.000,6,0.000,0.027,3177,1816,1764,0,0,0,0,0,0 $GC,8877,0.91,308.2,347.6,7.8,370,8885,0.00,0.00,6.32,0.673,6,0.000,0.000,3177,1817,1744,0,0,0,0,0,0 $GC,9121,0.92,316.1,328.9,7.7,376,9132,0.10,0.00,8.70,0.719,6,0.098,0.000,3205,1817,1712,0,0,0,0,0,0 $GC,9365,0.92,316.1,306.7,9.2,382,9370,0.00,2.78,0.00,0.000,4,0.000,0.073,3204,234,1709,0,0,0,0,0,0 $GC,9381,0.87,316.1,305.1,9.0,382,9386,0.00,2.47,0.00,0.000,6,0.000,0.020,3205,1824,1708,0,0,0,0,0,0 $GC,9642,0.87,316.1,282.8,8.5,389,9646,0.00,2.55,0.00,0.000,4,0.000,0.033,3205,3394,1708,0,0,0,0,0,0 $GC,9664,0.87,316.1,280.9,8.4,389,9669,0.00,2.62,0.00,0.000,6,0.000,0.035,3205,1794,1707,0,0,0,0,0,0 $GC,9919,0.87,316.1,256.6,9.7,396,9923,0.00,2.70,0.00,0.000,4,0.000,0.077,3205,241,1707,0,0,0,0,0,0 $GC,9946,0.81,316.1,253.8,10.6,396,9951,0.12,2.45,0.00,0.000,6,0.117,0.021,3180,1816,1706,0,0,0,0,0,0 $GC,10197,0.90,348.2,235.8,6.9,402,10232,0.00,2.58,28.50,0.724,4,0.000,0.036,3180,3379,1580,0,0,0,0,0,0 $GC,10250,0.99,368.9,232.0,7.3,403,10275,0.15,2.58,19.55,0.696,6,0.070,0.035,3220,1805,1497,0,0,0,0,0,0 $GC,10521,0.99,368.9,206.5,9.8,409,10525,0.00,2.72,0.00,0.000,4,0.000,0.072,3220,240,1493,0,0,0,0,0,0 $GC,10536,0.93,368.9,204.7,10.0,409,10541,0.00,2.45,0.00,0.000,6,0.000,0.024,3220,1835,1492,0,0,0,0,0,0 $GC,10801,0.93,368.9,178.0,10.8,430,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1837,1492,0,0,0,0,0,0 $GC,11067,0.93,368.9,148.4,11.0,455,11072,0.00,2.75,0.00,0.000,4,0.000,0.063,3220,240,1492,0,0,0,0,0,0 $GC,11107,0.89,368.9,143.5,10.4,458,11112,0.12,2.42,0.00,0.000,6,0.112,0.025,3193,1812,1491,0,0,0,0,0,0 $GC,11368,0.95,368.9,119.8,8.4,482,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1813,1491,0,0,0,0,0,0 $GC,11625,1.07,395.0,99.7,7.1,506,11663,0.15,2.75,23.80,0.588,4,0.183,0.061,3235,238,1388,0,0,0,0,0,0 $GC,11681,1.03,395.0,94.6,9.6,510,11690,0.00,2.45,0.00,0.000,6,0.000,0.023,3235,1806,1387,0,0,0,0,0,0 $GC,11947,1.04,405.6,71.2,7.6,535,11962,0.00,2.70,10.32,0.525,4,0.000,0.059,3235,241,1345,0,0,0,0,0,0 $GC,12005,1.04,405.6,66.7,8.5,539,12009,0.00,2.35,0.00,0.000,6,0.000,0.018,3235,1788,1345,0,0,0,0,0,0 $GC,12271,1.04,405.6,43.5,9.6,563,12275,0.00,2.47,0.00,0.000,4,0.000,0.027,3235,3375,1344,0,0,0,0,0,0 $GC,12280,1.04,405.6,42.0,8.5,563,12290,0.00,2.58,0.00,0.000,6,0.000,0.028,3235,1775,1344,0,0,0,0,0,0 $GC,12574,1.04,405.6,18.2,9.0,598,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1776,1345,0,0,0,0,0,0 $STATE,12759,end climb,SURFACE_DEPTH_REACHED $STATE,12759,begin surface coast $FINISH,0.3,1.022388 $STATE,12836,end surface coast,CONTROL_FINISHED_OK $STATE,12837,begin surface $SM_CCo,12857,24.02,0.288,1,0,1288,420.20 $SM_GC,0.87,0.00,0.00,24.02,0.000,0.000,0.288,469,1771,1288,-11.65,0.03,420.20 $IRIDIUM_FIX,2248.70,-15740.63,211199,222248 $TT8_MAMPS,0.026078 $HUMID,43.03 $INTERNAL_PRESSURE,9.36559 $TCM_TEMP,24.00 $XPDR_PINGS,57 $24V_AH,23.5,15.487 $10V_AH,10.4,14.666 $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,27.425,145.625,485.825,24.025,0.000,28.679,28.138,153.707,14.250,0.000,36.608,1263.421,8547.271,580.611,2328.388,531.793,33.368,1418.964,0.000,2312.519,0.000,0.538,0.000 $DEVICE_MAMPS,183.313,204.022,926.536,288.392,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,431.231,382.333,485.782,938.734,1419.872,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355568 $DATA_FILE_SIZE,51127,637 $CAP_FILE_SIZE,130099,0 $CFSIZE,260165632,177647616 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,280810,053331,2257.760,-15741.988,38,1.9,38,10.1