version: 66.06 glider: 146 mission: 5 dive: 116 start: 9 1 110 10 38 20 data: $ID,146 $MISSION,5 $DIVE,116 $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,-249628.67 $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,50 $R_STBD_OVSHOOT,63 $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 $GPS1,103106,2250.485,-15743.897,24,1.2,24,10.1 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.95 $_SM_ANGLEo,-67.6 $GPS2,103725,2250.493,-15743.932,10,1.7,15,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.186,-0.114 $KALMAN_X,-109758.5,57.0,-127.0,155734.0,-836.0 $KALMAN_Y,1476.9,-313.6,-16.2,128333.4,195.6 $MHEAD_RNG_PITCHd_Wd,111.5,4304,-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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.97,0.000,6,0.000,0.000,472,1741,3479,0,0,0,0,0,0 $GC,108,-1.15,-116.8,4.0,-5.4,11,126,11.57,2.55,0.00,0.000,4,0.141,0.051,2743,215,3481,0,0,0,0,0,0 $GC,222,-1.02,-116.8,33.6,-15.5,26,227,0.15,2.38,0.00,0.000,6,0.104,0.015,2775,1781,3482,0,0,0,0,0,0 $GC,489,-0.95,-116.8,67.3,-11.1,50,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1783,3481,0,0,0,0,0,0 $GC,754,-0.91,-116.8,99.6,-11.9,75,759,0.12,0.00,0.00,0.000,6,0.109,0.000,2803,1783,3482,0,0,0,0,0,0 $GC,1017,-0.96,-116.8,125.7,-9.6,100,1021,0.00,2.67,0.00,0.000,4,0.000,0.064,2803,211,3483,0,0,0,0,0,0 $GC,1038,-0.99,-116.8,127.4,-9.2,101,1043,0.00,2.35,0.00,0.000,6,0.000,0.021,2803,1794,3483,0,0,0,0,0,0 $GC,1305,-1.06,-116.8,150.2,-8.3,125,1310,0.15,0.00,0.00,0.000,6,0.065,0.000,2754,1795,3483,0,0,0,0,0,0 $GC,1567,-1.06,-116.8,180.6,-11.8,150,1572,0.00,2.67,0.00,0.000,4,0.000,0.067,2753,218,3483,0,0,0,0,0,0 $GC,1624,-1.02,-116.8,186.9,-11.8,154,1629,0.12,2.33,0.00,0.000,6,0.104,0.020,2780,1776,3483,0,0,0,0,0,0 $GC,1891,-1.02,-116.8,210.5,-8.2,170,1895,0.00,2.67,0.00,0.000,4,0.000,0.069,2780,212,3483,0,0,0,0,0,0 $GC,1907,-1.02,-116.8,211.9,-7.9,170,1911,0.00,2.33,0.00,0.000,6,0.000,0.016,2781,1774,3483,0,0,0,0,0,0 $GC,2168,-1.05,-116.8,230.3,-6.9,177,2172,0.00,2.40,0.00,0.000,4,0.000,0.027,2781,3307,3483,0,0,0,0,0,0 $GC,2202,-1.13,-116.8,232.8,-7.2,177,2208,0.12,2.42,0.00,0.000,6,0.074,0.030,2735,1794,3483,0,0,0,0,0,0 $GC,2452,-1.09,-116.8,257.0,-9.9,184,2457,0.12,2.78,0.00,0.000,4,0.104,0.074,2762,196,3483,0,0,0,0,0,0 $GC,2492,-1.09,-116.8,261.2,-10.7,185,2496,0.00,2.33,0.00,0.000,6,0.000,0.019,2762,1728,3482,0,0,0,0,0,0 $GC,2776,-1.09,-116.8,286.9,-8.8,192,2780,0.00,2.55,0.00,0.000,4,0.000,0.037,2762,3342,3483,0,0,0,0,0,0 $GC,2831,-1.16,-116.8,291.6,-8.4,193,2835,0.00,2.55,0.00,0.000,6,0.000,0.033,2762,1767,3482,0,0,0,0,0,0 $GC,3099,-1.19,-116.8,312.0,-7.5,200,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1766,3482,0,0,0,0,0,0 $GC,3341,-1.24,-116.8,330.1,-7.5,206,3343,0.15,0.00,0.00,0.000,6,0.070,0.000,2716,1767,3482,0,0,0,0,0,0 $GC,3584,-1.24,-116.8,352.0,-8.9,212,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1767,3480,0,0,0,0,0,0 $GC,3828,-1.24,-116.8,373.4,-8.7,218,3832,0.00,2.58,0.00,0.000,4,0.000,0.043,2717,3336,3480,0,0,0,0,0,0 $GC,3857,-1.24,-116.8,375.9,-9.5,218,3862,0.00,2.65,0.00,0.000,6,0.000,0.054,2716,1764,3479,0,0,0,0,0,0 $GC,4107,-1.24,-116.8,399.2,-9.3,224,4111,0.00,2.58,0.00,0.000,4,0.000,0.043,2716,3333,3478,0,0,0,0,0,0 $GC,4156,-1.24,-116.8,403.9,-9.0,225,4160,0.00,2.62,0.00,0.000,6,0.000,0.054,2716,1775,3478,0,0,0,0,0,0 $GC,4430,-1.24,-116.8,427.9,-8.8,232,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1775,3476,0,0,0,0,0,0 $GC,4673,-1.24,-116.8,450.5,-9.2,238,4678,0.00,2.58,0.00,0.000,4,0.000,0.050,2716,3328,3475,0,0,0,0,0,0 $GC,4713,-1.24,-116.8,454.2,-8.7,239,4717,0.00,2.67,0.00,0.000,6,0.000,0.066,2716,1774,3473,0,0,0,0,0,0 $GC,4997,-1.24,-116.8,479.0,-9.0,246,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1774,3472,0,0,0,0,0,0 $STATE,5237,end dive,TARGET_DEPTH_EXCEEDED $STATE,5237,begin apogee $GC,5243,-0.31,0.0,502.1,9.4,252,5342,0.95,0.00,95.97,0.915,6,0.091,0.000,2932,1774,3001,0,0,0,0,0,0 $STATE,5343,end apogee,CONTROL_FINISHED_OK $STATE,5343,begin climb $GC,5345,1.15,116.8,504.7,0.0,254,5454,1.35,2.83,101.00,0.891,4,0.043,0.057,3257,3379,2523,0,0,0,0,0,0 $GC,5467,1.07,166.6,503.3,5.7,257,5518,0.12,2.75,43.50,0.868,6,0.124,0.061,3233,1813,2320,0,0,0,0,0,0 $GC,5764,0.98,166.6,477.9,9.1,265,5768,0.00,2.60,0.00,0.000,4,0.000,0.044,3233,3375,2311,0,0,0,0,0,0 $GC,5780,0.91,166.6,476.2,8.7,265,5786,0.17,2.70,0.00,0.000,6,0.110,0.061,3198,1824,2310,0,0,0,0,0,0 $GC,6042,0.93,186.5,456.6,7.1,272,6060,0.00,0.00,16.95,0.834,6,0.000,0.000,3198,1824,2240,0,0,0,0,0,0 $GC,6285,0.96,212.8,439.9,6.8,278,6315,0.00,2.65,23.83,0.848,4,0.000,0.041,3198,3387,2132,0,0,0,0,0,0 $GC,6344,0.98,225.5,435.6,7.4,279,6363,0.00,2.67,12.48,0.792,6,0.000,0.058,3198,1834,2082,0,0,0,0,0,0 $GC,6615,1.00,241.0,415.8,7.3,286,6635,0.00,3.03,14.75,0.811,4,0.000,0.101,3197,233,2017,0,0,0,0,0,0 $GC,6648,1.02,259.7,413.4,7.1,286,6673,0.10,2.55,18.25,0.813,6,0.087,0.027,3226,1812,1941,0,0,0,0,0,0 $GC,6941,1.02,259.7,387.3,8.9,294,6946,0.00,2.62,0.00,0.000,4,0.000,0.043,3226,3412,1935,0,0,0,0,0,0 $GC,6996,1.02,259.7,381.8,10.0,295,7001,0.00,2.67,0.00,0.000,6,0.000,0.051,3226,1827,1934,0,0,0,0,0,0 $GC,7264,1.02,259.7,355.6,10.1,302,7268,0.00,2.58,0.00,0.000,4,0.000,0.038,3225,3409,1933,0,0,0,0,0,0 $GC,7291,1.02,259.7,352.5,11.0,302,7295,0.00,2.62,0.00,0.000,6,0.000,0.039,3226,1833,1932,0,0,0,0,0,0 $GC,7541,1.02,259.7,327.3,10.1,308,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1833,1931,0,0,0,0,0,0 $GC,7786,1.02,259.7,304.3,9.5,314,7790,0.00,2.80,0.00,0.000,4,0.000,0.074,3225,232,1931,0,0,0,0,0,0 $GC,7818,0.97,259.7,300.8,10.6,314,7824,0.00,2.55,0.00,0.000,6,0.000,0.023,3225,1850,1929,0,0,0,0,0,0 $GC,8068,0.97,262.4,280.5,7.9,321,8072,0.00,2.47,0.00,0.000,4,0.000,0.039,3226,3392,1929,0,0,0,0,0,0 $GC,8102,0.98,268.1,278.0,7.7,321,8115,0.00,2.58,6.35,0.637,6,0.000,0.040,3226,1821,1908,0,0,0,0,0,0 $GC,8394,0.98,268.1,252.0,9.6,329,8398,0.00,2.75,0.00,0.000,4,0.000,0.070,3225,241,1907,0,0,0,0,0,0 $GC,8409,0.98,268.1,250.2,9.9,329,8413,0.00,2.50,0.00,0.000,6,0.000,0.023,3226,1849,1906,0,0,0,0,0,0 $GC,8672,0.98,268.1,225.1,9.6,336,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1850,1906,0,0,0,0,0,0 $GC,8914,0.99,272.4,205.2,7.8,342,8925,0.00,2.47,5.50,0.555,4,0.000,0.031,3225,3393,1889,0,0,0,0,0,0 $GC,8942,1.02,273.5,203.0,8.0,342,8946,0.00,2.55,0.00,0.000,6,0.000,0.038,3226,1826,1889,0,0,0,0,0,0 $GC,9202,1.02,273.5,181.8,8.9,363,9206,0.00,2.50,0.00,0.000,4,0.000,0.028,3226,3396,1888,0,0,0,0,0,0 $GC,9235,1.09,273.5,178.6,9.2,365,9241,0.00,2.55,0.00,0.000,6,0.000,0.038,3226,1821,1888,0,0,0,0,0,0 $GC,9499,1.12,273.5,153.8,9.5,390,9504,0.00,2.67,0.00,0.000,4,0.000,0.064,3226,244,1888,0,0,0,0,0,0 $GC,9555,1.12,273.5,147.5,10.5,394,9564,0.00,2.45,0.00,0.000,6,0.000,0.018,3226,1820,1888,0,0,0,0,0,0 $GC,9822,1.17,273.5,123.1,8.9,419,9827,0.12,2.47,0.00,0.000,4,0.076,0.033,3262,3387,1888,0,0,0,0,0,0 $GC,9863,1.17,273.5,118.5,10.8,422,9868,0.00,2.53,0.00,0.000,6,0.000,0.032,3262,1820,1888,0,0,0,0,0,0 $GC,10126,1.17,273.5,92.9,9.5,446,10130,0.00,2.47,0.00,0.000,4,0.000,0.028,3262,3385,1888,0,0,0,0,0,0 $GC,10156,1.17,273.5,90.0,9.9,448,10160,0.00,2.55,0.00,0.000,6,0.000,0.032,3262,1802,1888,0,0,0,0,0,0 $GC,10422,1.19,287.0,67.2,7.4,472,10449,0.00,2.55,14.57,0.548,4,0.000,0.025,3262,3389,1829,0,0,0,0,0,0 $GC,10480,1.25,287.0,62.6,8.1,476,10484,0.00,2.58,0.00,0.000,6,0.000,0.031,3262,1809,1828,0,0,0,0,0,0 $GC,10746,1.29,320.5,42.7,6.5,500,10788,0.00,2.75,29.55,0.542,4,0.000,0.059,3262,248,1693,0,0,0,0,0,0 $GC,10817,1.29,320.5,37.4,8.6,505,10821,0.00,2.40,0.00,0.000,6,0.000,0.018,3262,1813,1691,0,0,0,0,0,0 $GC,11132,1.29,320.5,10.4,9.0,545,11141,0.00,2.50,0.00,0.000,4,0.000,0.028,3262,3382,1690,0,0,0,0,0,0 $GC,11180,1.37,320.5,5.8,9.8,551,11190,0.10,2.58,0.00,0.000,6,0.045,0.033,3303,1814,1689,0,0,0,0,0,0 $STATE,11198,end climb,SURFACE_DEPTH_REACHED $STATE,11198,begin surface coast $FINISH,0.3,1.011993 $STATE,11254,end surface coast,CONTROL_FINISHED_OK $STATE,11254,begin surface $SM_CCo,11276,86.47,0.453,1,0,1287,420.20 $SM_GC,0.95,0.00,0.00,86.47,0.000,0.000,0.453,476,1754,1287,-11.61,-0.45,420.20 $IRIDIUM_FIX,2244.02,-15743.68,261199,070723 $TT8_MAMPS,0.026078 $HUMID,43.10 $INTERNAL_PRESSURE,9.36559 $TCM_TEMP,23.50 $XPDR_PINGS,50 $24V_AH,23.6,19.124 $10V_AH,10.4,18.562 $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,26.875,139.225,382.700,86.475,0.000,28.595,37.151,168.437,12.500,0.000,17.036,1119.138,7456.654,570.268,2068.308,532.820,33.380,1319.719,0.000,2070.490,0.000,0.536,0.000 $DEVICE_MAMPS,141.128,131.157,915.031,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,379.138,327.364,429.396,823.717,1247.042,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355572 $DATA_FILE_SIZE,44807,561 $CAP_FILE_SIZE,114819,0 $CFSIZE,260165632,175837184 $ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,010910,134843,2249.838,-15742.840,8,2.0,13,10.1