version: 66.06 glider: 146 mission: 5 dive: 108 start: 8 31 110 6 35 51 data: $ID,146 $MISSION,5 $DIVE,108 $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,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,-249436.88 $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,52 $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 $GPS1,062107,2255.130,-15750.628,49,1.0,49,10.1 $_CALLS,2 $_XMS_NAKs,4 $_XMS_TOUTs,1 $_SM_DEPTHo,1.00 $_SM_ANGLEo,-69.1 $GPS2,063456,2255.088,-15750.741,12,1.6,12,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.204,-0.076 $KALMAN_X,-101752.2,251.0,-90.1,135774.2,-1475.6 $KALMAN_Y,2271.8,-77.0,-405.2,136194.8,144.2 $MHEAD_RNG_PITCHd_Wd,100.3,18703,-16.1,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,16,-1.15,-116.8,0.0,0.0,0,97,0.00,0.00,-79.00,0.000,2,0.000,0.000,476,1743,3264,0,0,0,0,0,0 $GC,100,-1.15,-116.8,3.2,-3.9,10,126,11.55,2.58,-4.10,0.000,4,0.140,0.046,2743,3335,3481,0,0,0,0,0,0 $GC,138,0.08,-116.8,15.8,-27.7,14,148,1.15,2.53,0.00,0.000,6,0.064,0.033,3012,1794,3481,0,0,0,0,0,0 $GC,463,-0.49,-116.8,35.2,-8.3,57,468,0.47,2.70,0.00,0.000,4,0.054,0.061,2890,193,3482,0,0,0,0,0,0 $GC,537,-0.92,-116.8,40.2,-5.4,62,547,0.35,2.42,0.00,0.000,6,0.036,0.017,2788,1831,3482,0,0,0,0,0,0 $GC,804,-0.86,-116.8,70.6,-13.4,87,813,0.10,0.00,0.00,0.000,6,0.117,0.000,2810,1831,3482,0,0,0,0,0,0 $GC,1066,-0.86,-116.8,99.1,-9.5,112,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1831,3482,0,0,0,0,0,0 $GC,1322,-0.91,-116.8,119.2,-6.8,136,1326,0.00,2.78,0.00,0.000,4,0.000,0.061,2810,192,3483,0,0,0,0,0,0 $GC,1343,-0.96,-116.8,120.6,-6.9,137,1347,0.00,2.38,0.00,0.000,6,0.000,0.023,2810,1801,3483,0,0,0,0,0,0 $GC,1611,-1.04,-116.8,137.0,-6.4,161,1616,0.15,2.75,0.00,0.000,4,0.065,0.068,2760,190,3483,0,0,0,0,0,0 $GC,1645,-0.99,-116.8,140.5,-9.8,163,1652,0.10,2.33,0.00,0.000,6,0.113,0.020,2783,1760,3483,0,0,0,0,0,0 $GC,1909,-0.99,-116.8,163.4,-9.1,188,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1762,3483,0,0,0,0,0,0 $GC,2163,-1.03,-116.8,186.1,-8.0,212,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1762,3483,0,0,0,0,0,0 $GC,2424,-1.08,-116.8,206.4,-7.5,231,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1762,3483,0,0,0,0,0,0 $GC,2666,-1.13,-116.8,225.0,-7.6,237,2668,0.12,0.00,0.00,0.000,6,0.074,0.000,2741,1762,3482,0,0,0,0,0,0 $GC,2909,-1.13,-116.8,248.3,-9.7,243,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1762,3482,0,0,0,0,0,0 $GC,3154,-1.13,-116.8,273.1,-10.2,249,3158,0.00,2.42,0.00,0.000,4,0.000,0.028,2741,3296,3482,0,0,0,0,0,0 $GC,3183,-1.13,-116.8,275.9,-9.5,249,3187,0.00,2.50,0.00,0.000,6,0.000,0.034,2741,1756,3482,0,0,0,0,0,0 $GC,3433,-1.13,-116.8,301.7,-10.4,255,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1754,3481,0,0,0,0,0,0 $GC,3678,-1.13,-116.8,324.2,-8.9,261,3682,0.00,2.78,0.00,0.000,4,0.000,0.084,2741,193,3481,0,0,0,0,0,0 $GC,3732,-1.13,-116.8,329.7,-9.9,262,3736,0.00,2.38,0.00,0.000,6,0.000,0.024,2741,1720,3481,0,0,0,0,0,0 $GC,4005,-1.13,-116.8,352.4,-8.2,269,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1720,3480,0,0,0,0,0,0 $GC,4249,-1.13,-116.8,371.5,-7.6,275,4253,0.00,2.65,0.00,0.000,4,0.000,0.048,2741,3352,3479,0,0,0,0,0,0 $GC,4304,-1.19,-116.8,375.8,-7.6,276,4308,0.00,2.62,0.00,0.000,6,0.000,0.054,2741,1768,3478,0,0,0,0,0,0 $GC,4570,-1.19,-116.8,394.7,-7.1,283,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1768,3477,0,0,0,0,0,0 $GC,4814,-1.19,-116.8,412.6,-7.4,289,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1768,3475,0,0,0,0,0,0 $GC,5059,-1.19,-116.8,431.9,-8.0,295,5063,0.00,2.58,0.00,0.000,4,0.000,0.049,2741,3342,3474,0,0,0,0,0,0 $GC,5098,-1.25,-116.8,435.3,-8.7,296,5103,0.00,2.70,0.00,0.000,6,0.000,0.062,2741,1758,3474,0,0,0,0,0,0 $GC,5383,-1.28,-116.8,455.9,-7.1,303,5387,0.00,2.60,0.00,0.000,4,0.000,0.053,2741,3342,3471,0,0,0,0,0,0 $GC,5406,-1.33,-116.8,457.6,-6.9,303,5412,0.12,2.67,0.00,0.000,6,0.071,0.058,2699,1768,3471,0,0,0,0,0,0 $GC,5662,-1.29,-116.8,478.3,-8.0,310,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1768,3469,0,0,0,0,0,0 $GC,5905,-1.29,-116.8,499.0,-8.5,316,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1768,3468,0,0,0,0,0,0 $STATE,5943,end dive,TARGET_DEPTH_EXCEEDED $STATE,5944,begin apogee $GC,5951,-0.31,0.0,502.5,8.5,317,6050,1.02,0.00,95.50,0.919,6,0.084,0.000,2929,1828,3001,0,0,0,0,0,0 $STATE,6051,end apogee,CONTROL_FINISHED_OK $STATE,6051,begin climb $GC,6053,1.15,116.8,504.7,0.0,319,6158,1.38,0.00,101.07,0.896,6,0.056,0.000,3259,1828,2524,0,0,0,0,0,0 $GC,6392,1.01,128.4,487.6,7.5,328,6404,0.17,0.00,9.80,0.782,6,0.117,0.000,3223,1827,2477,0,0,0,0,0,0 $GC,6634,0.98,158.2,471.4,6.6,334,6668,0.00,2.72,26.98,0.865,4,0.000,0.048,3224,3392,2355,0,0,0,0,0,0 $GC,6709,0.94,159.0,465.6,8.0,335,6713,0.00,2.72,0.00,0.000,6,0.000,0.058,3223,1812,2352,0,0,0,0,0,0 $GC,6961,0.90,168.0,446.8,7.6,341,6976,0.12,2.67,9.18,0.777,4,0.121,0.041,3197,3399,2315,0,0,0,0,0,0 $GC,7026,0.91,184.1,441.9,7.3,342,7047,0.00,2.70,15.75,0.828,6,0.000,0.056,3197,1818,2250,0,0,0,0,0,0 $GC,7329,0.92,189.9,418.8,7.7,350,7340,0.00,2.60,5.97,0.688,4,0.000,0.042,3196,3395,2225,0,0,0,0,0,0 $GC,7368,0.92,189.9,415.5,8.6,351,7373,0.00,2.62,0.00,0.000,6,0.000,0.050,3197,1838,2223,0,0,0,0,0,0 $GC,7651,0.96,219.1,396.0,6.7,358,7680,0.00,0.00,27.05,0.844,6,0.000,0.000,3197,1838,2107,0,0,0,0,0,0 $GC,7897,0.98,235.8,378.9,7.2,364,7918,0.00,2.95,15.68,0.805,4,0.000,0.087,3197,229,2038,0,0,0,0,0,0 $GC,7930,0.98,236.4,376.1,8.0,364,7936,0.00,2.58,0.00,0.000,6,0.000,0.020,3197,1843,2036,0,0,0,0,0,0 $GC,8182,1.02,236.4,356.0,8.2,371,8187,0.10,2.53,0.00,0.000,4,0.096,0.036,3224,3395,2034,0,0,0,0,0,0 $GC,8221,1.02,236.4,352.3,9.6,372,8225,0.00,2.60,0.00,0.000,6,0.000,0.044,3224,1828,2032,0,0,0,0,0,0 $GC,8503,1.02,236.4,327.0,8.9,379,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1827,2031,0,0,0,0,0,0 $GC,8747,1.02,236.4,305.7,8.8,385,8752,0.00,2.78,0.00,0.000,4,0.000,0.077,3224,236,2030,0,0,0,0,0,0 $GC,8798,0.97,236.4,300.6,10.5,386,8803,0.00,2.50,0.00,0.000,6,0.000,0.019,3224,1832,2029,0,0,0,0,0,0 $GC,9070,0.97,236.4,278.1,8.0,393,9074,0.00,2.50,0.00,0.000,4,0.000,0.033,3224,3390,2029,0,0,0,0,0,0 $GC,9143,1.02,243.1,272.2,7.7,394,9155,0.00,2.58,6.30,0.631,6,0.000,0.035,3224,1811,2009,0,0,0,0,0,0 $GC,9398,1.04,260.3,253.5,7.2,401,9422,0.00,2.62,16.58,0.719,4,0.000,0.030,3224,3389,1939,0,0,0,0,0,0 $GC,9450,1.10,267.4,249.5,7.7,402,9465,0.00,2.55,8.00,0.640,6,0.000,0.035,3224,1838,1909,0,0,0,0,0,0 $GC,9729,1.10,267.8,227.3,8.0,409,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1838,1906,0,0,0,0,0,0 $GC,9971,1.11,276.3,208.4,7.6,415,9982,0.00,0.00,8.88,0.625,6,0.000,0.000,3224,1838,1874,0,0,0,0,0,0 $GC,10225,1.11,276.3,187.5,8.8,430,10230,0.00,2.75,0.00,0.000,4,0.000,0.064,3224,236,1872,0,0,0,0,0,0 $GC,10268,1.11,276.3,183.0,10.4,433,10272,0.00,2.50,0.00,0.000,6,0.000,0.019,3224,1846,1870,0,0,0,0,0,0 $GC,10535,1.15,276.3,156.3,10.5,457,10540,0.10,2.45,0.00,0.000,4,0.089,0.029,3254,3387,1870,0,0,0,0,0,0 $GC,10588,1.19,276.3,149.7,11.6,461,10592,0.00,2.50,0.00,0.000,6,0.000,0.041,3254,1846,1870,0,0,0,0,0,0 $GC,10854,1.19,276.3,121.2,10.7,485,10858,0.00,2.75,0.00,0.000,4,0.000,0.068,3254,234,1871,0,0,0,0,0,0 $GC,10911,1.15,276.3,114.8,11.4,489,10915,0.00,2.50,0.00,0.000,6,0.000,0.019,3254,1851,1870,0,0,0,0,0,0 $GC,11177,1.16,284.6,93.9,7.6,513,11191,0.00,2.80,8.65,0.531,4,0.000,0.064,3254,246,1839,0,0,0,0,0,0 $GC,11227,1.17,290.1,90.1,7.8,517,11239,0.00,2.45,6.30,0.485,6,0.000,0.019,3254,1839,1818,0,0,0,0,0,0 $GC,11498,1.20,290.1,69.6,8.7,542,11502,0.00,2.45,0.00,0.000,4,0.000,0.028,3254,3387,1816,0,0,0,0,0,0 $GC,11544,1.29,290.1,65.6,8.6,545,11549,0.12,2.50,0.00,0.000,6,0.075,0.032,3291,1831,1815,0,0,0,0,0,0 $GC,11809,1.30,294.1,40.1,7.8,569,11819,0.00,0.00,4.88,0.413,6,0.000,0.000,3291,1831,1802,0,0,0,0,0,0 $GC,12111,1.30,294.1,10.3,12.5,607,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1831,1802,0,0,0,0,0,0 $STATE,12202,end climb,SURFACE_DEPTH_REACHED $STATE,12202,begin surface coast $FINISH,0.2,1.011773 $STATE,12295,end surface coast,CONTROL_FINISHED_OK $STATE,12295,begin surface $SM_CCo,12318,109.43,0.469,1,0,1287,420.20 $SM_GC,1.06,0.00,0.00,109.43,0.000,0.000,0.469,474,1746,1287,-11.62,-0.68,420.20 $IRIDIUM_FIX,2244.02,-15743.68,251199,060610 $TT8_MAMPS,0.026078 $HUMID,42.32 $INTERNAL_PRESSURE,9.37536 $TCM_TEMP,23.70 $XPDR_PINGS,45 $24V_AH,23.6,18.144 $10V_AH,10.4,17.507 $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,28.550,114.400,366.550,109.425,0.000,56.931,73.652,487.698,11.250,0.000,14.209,1243.193,8197.574,581.522,2295.801,942.897,33.375,1333.979,0.000,2311.243,0.000,0.536,0.000 $DEVICE_MAMPS,140.361,119.652,918.866,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,429.181,386.875,492.977,971.544,1469.319,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355680 $DATA_FILE_SIZE,51068,633 $CAP_FILE_SIZE,125013,0 $CFSIZE,260165632,176312320 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,310810,100407,2254.703,-15749.939,22,1.6,22,10.1