version: 66.06 glider: 146 mission: 5 dive: 117 start: 9 1 110 13 55 30 data: $ID,146 $MISSION,5 $DIVE,117 $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,-249656.17 $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,32 $R_STBD_OVSHOOT,61 $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 $GPS1,134843,2249.838,-15742.840,8,2.0,13,10.1 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.96 $_SM_ANGLEo,-67.7 $GPS2,135436,2249.853,-15742.866,15,1.7,25,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.194,-0.094 $KALMAN_X,-110378.9,-109.9,178.3,158050.0,-929.8 $KALMAN_Y,1391.7,-401.5,395.4,126906.0,-408.6 $MHEAD_RNG_PITCHd_Wd,105.7,2164,-16.3,-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,-1.16,-113.9,0.0,0.0,0,105,0.00,0.00,-86.12,0.000,6,0.000,0.000,476,1753,3467,0,0,0,0,0,0 $GC,108,-1.16,-116.8,4.0,-5.3,11,126,11.52,2.60,0.00,0.000,4,0.140,0.051,2740,197,3468,0,0,0,0,0,0 $GC,177,-0.90,-116.8,26.4,-23.2,20,187,0.25,2.42,0.00,0.000,6,0.076,0.023,2800,1770,3469,0,0,0,0,0,0 $GC,454,-0.90,-116.8,61.0,-10.9,46,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1771,3470,0,0,0,0,0,0 $GC,719,-0.90,-116.8,85.8,-8.6,71,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1771,3470,0,0,0,0,0,0 $GC,980,-0.90,-116.8,109.8,-9.2,96,984,0.00,2.67,0.00,0.000,4,0.000,0.067,2800,201,3471,0,0,0,0,0,0 $GC,1026,-0.96,-116.8,113.7,-10.0,99,1031,0.00,2.38,0.00,0.000,6,0.000,0.018,2800,1776,3471,0,0,0,0,0,0 $GC,1293,-1.01,-116.8,137.3,-8.3,123,1297,0.00,2.40,0.00,0.000,4,0.000,0.025,2800,3324,3471,0,0,0,0,0,0 $GC,1326,-1.11,-116.8,140.7,-8.4,125,1333,0.17,2.50,0.00,0.000,6,0.058,0.029,2742,1767,3471,0,0,0,0,0,0 $GC,1591,-1.06,-116.8,167.7,-9.9,150,1596,0.12,2.70,0.00,0.000,4,0.104,0.065,2769,197,3472,0,0,0,0,0,0 $GC,1613,-1.06,-116.8,170.4,-9.7,151,1619,0.00,2.35,0.00,0.000,6,0.000,0.015,2770,1771,3472,0,0,0,0,0,0 $GC,1877,-1.06,-116.8,192.3,-8.3,176,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1773,3472,0,0,0,0,0,0 $GC,2132,-1.06,-116.8,215.1,-9.0,189,2136,0.00,2.40,0.00,0.000,4,0.000,0.034,2770,3311,3472,0,0,0,0,0,0 $GC,2188,-1.13,-116.8,219.9,-8.1,190,2193,0.00,2.47,0.00,0.000,6,0.000,0.036,2770,1760,3472,0,0,0,0,0,0 $GC,2455,-1.13,-116.8,241.7,-8.4,197,2459,0.00,2.70,0.00,0.000,4,0.000,0.073,2769,194,3472,0,0,0,0,0,0 $GC,2470,-1.13,-116.8,243.3,-8.5,197,2474,0.00,2.33,0.00,0.000,6,0.000,0.017,2770,1752,3471,0,0,0,0,0,0 $GC,2739,-1.17,-116.8,264.3,-7.5,204,2744,0.10,2.47,0.00,0.000,4,0.084,0.028,2732,3328,3471,0,0,0,0,0,0 $GC,2772,-1.17,-116.8,267.2,-8.9,204,2778,0.00,2.50,0.00,0.000,6,0.000,0.030,2732,1763,3471,0,0,0,0,0,0 $GC,3022,-1.17,-116.8,290.5,-9.5,211,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1762,3470,0,0,0,0,0,0 $GC,3265,-1.17,-116.8,314.7,-10.3,217,3270,0.00,2.50,0.00,0.000,4,0.000,0.031,2732,3321,3470,0,0,0,0,0,0 $GC,3299,-1.17,-116.8,318.1,-10.2,217,3305,0.00,2.55,0.00,0.000,6,0.000,0.038,2732,1768,3470,0,0,0,0,0,0 $GC,3549,-1.17,-116.8,340.1,-8.9,224,3554,0.00,2.80,0.00,0.000,4,0.000,0.088,2731,190,3470,0,0,0,0,0,0 $GC,3598,-1.17,-116.8,344.8,-9.3,225,3602,0.00,2.40,0.00,0.000,6,0.000,0.029,2732,1724,3469,0,0,0,0,0,0 $GC,3878,-1.17,-116.8,367.7,-7.9,232,3882,0.00,2.67,0.00,0.000,4,0.000,0.046,2732,3354,3468,0,0,0,0,0,0 $GC,3910,-1.17,-116.8,370.4,-7.8,232,3916,0.00,2.67,0.00,0.000,6,0.000,0.048,2731,1747,3468,0,0,0,0,0,0 $GC,4160,-1.17,-116.8,390.7,-8.3,239,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1746,3466,0,0,0,0,0,0 $GC,4405,-1.17,-116.8,413.1,-9.1,245,4409,0.00,2.62,0.00,0.000,4,0.000,0.049,2732,3353,3465,0,0,0,0,0,0 $GC,4449,-1.22,-116.8,417.4,-9.4,246,4453,0.00,2.70,0.00,0.000,6,0.000,0.060,2732,1756,3465,0,0,0,0,0,0 $GC,4726,-1.22,-116.8,439.8,-8.0,253,4731,0.00,2.62,0.00,0.000,4,0.000,0.045,2732,3346,3463,0,0,0,0,0,0 $GC,4744,-1.22,-116.8,441.4,-7.9,253,4748,0.00,2.70,0.00,0.000,6,0.000,0.055,2732,1755,3463,0,0,0,0,0,0 $GC,5004,-1.22,-116.8,462.9,-8.2,260,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1755,3461,0,0,0,0,0,0 $GC,5248,-1.22,-116.8,484.2,-9.0,266,5252,0.00,2.65,0.00,0.000,4,0.000,0.051,2732,3339,3459,0,0,0,0,0,0 $GC,5304,-1.28,-116.8,489.4,-9.6,267,5309,0.00,2.72,0.00,0.000,6,0.000,0.063,2732,1764,3459,0,0,0,0,0,0 $STATE,5446,end dive,TARGET_DEPTH_EXCEEDED $STATE,5446,begin apogee $GC,5452,-0.31,0.0,502.2,8.7,271,5549,0.88,0.00,93.60,0.920,6,0.074,0.000,2931,1826,3001,0,0,0,0,0,0 $STATE,5550,end apogee,CONTROL_FINISHED_OK $STATE,5550,begin climb $GC,5552,1.16,116.8,504.7,0.0,273,5665,1.33,2.75,99.95,0.897,4,0.044,0.056,3254,3390,2523,0,0,0,0,0,0 $GC,5682,1.11,179.1,503.9,5.1,276,5743,0.00,2.72,54.38,0.877,6,0.000,0.058,3253,1819,2269,0,0,0,0,0,0 $GC,6005,1.00,179.1,475.4,9.0,284,6007,0.17,0.00,0.00,0.000,6,0.177,0.000,3219,1819,2260,0,0,0,0,0,0 $GC,6249,0.96,179.1,455.5,8.1,290,6253,0.00,2.60,0.00,0.000,4,0.000,0.048,3219,3389,2257,0,0,0,0,0,0 $GC,6309,0.96,179.1,450.5,8.3,291,6314,0.00,2.67,0.00,0.000,6,0.000,0.055,3219,1825,2256,0,0,0,0,0,0 $GC,6572,0.98,194.8,431.4,7.3,298,6586,0.00,0.00,12.60,0.813,6,0.000,0.000,3219,1825,2206,0,0,0,0,0,0 $GC,6815,0.98,198.2,412.2,7.9,304,6824,0.00,2.58,3.95,0.554,4,0.000,0.037,3219,3393,2193,0,0,0,0,0,0 $GC,6904,0.98,198.2,404.4,8.9,306,6908,0.00,2.62,0.00,0.000,6,0.000,0.053,3219,1842,2191,0,0,0,0,0,0 $GC,7188,0.99,204.0,382.1,7.7,313,7196,0.00,0.00,6.75,0.708,6,0.000,0.000,3219,1842,2169,0,0,0,0,0,0 $GC,7430,1.00,215.0,363.6,7.5,319,7446,0.00,2.55,10.70,0.773,4,0.000,0.036,3219,3400,2125,0,0,0,0,0,0 $GC,7471,1.01,220.9,360.6,7.7,320,7485,0.00,2.60,7.22,0.703,6,0.000,0.044,3219,1846,2100,0,0,0,0,0,0 $GC,7758,1.03,237.3,339.5,7.2,327,7779,0.00,2.90,15.70,0.788,4,0.000,0.083,3219,236,2032,0,0,0,0,0,0 $GC,7807,0.97,237.3,335.7,8.4,328,7812,0.00,2.58,0.00,0.000,6,0.000,0.021,3219,1849,2030,0,0,0,0,0,0 $GC,8080,0.97,237.3,314.2,8.2,335,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1850,2028,0,0,0,0,0,0 $GC,8323,0.97,237.3,292.8,8.8,341,8327,0.00,2.47,0.00,0.000,4,0.000,0.040,3219,3396,2028,0,0,0,0,0,0 $GC,8401,1.03,237.3,285.6,9.1,342,8406,0.00,2.53,0.00,0.000,6,0.000,0.038,3219,1854,2026,0,0,0,0,0,0 $GC,8652,1.05,251.1,266.8,7.4,349,8671,0.00,2.88,12.75,0.717,4,0.000,0.070,3218,250,1976,0,0,0,0,0,0 $GC,8699,1.05,251.1,262.7,9.3,350,8704,0.00,2.53,0.00,0.000,6,0.000,0.023,3219,1864,1974,0,0,0,0,0,0 $GC,8979,1.10,261.9,242.6,7.5,357,8995,0.10,2.47,10.35,0.678,4,0.221,0.036,3245,3398,1934,0,0,0,0,0,0 $GC,9023,1.10,261.9,238.2,10.0,358,9027,0.00,2.53,0.00,0.000,6,0.000,0.035,3245,1846,1933,0,0,0,0,0,0 $GC,9301,1.10,261.9,210.0,10.1,365,9306,0.00,2.78,0.00,0.000,4,0.000,0.066,3245,243,1932,0,0,0,0,0,0 $GC,9318,1.06,261.9,208.4,10.0,365,9323,0.00,2.53,0.00,0.000,6,0.000,0.018,3245,1864,1931,0,0,0,0,0,0 $GC,9576,1.06,261.9,184.9,8.6,383,9580,0.00,2.42,0.00,0.000,4,0.000,0.036,3245,3389,1931,0,0,0,0,0,0 $GC,9653,1.11,261.9,178.4,9.0,389,9657,0.00,2.50,0.00,0.000,6,0.000,0.033,3245,1852,1930,0,0,0,0,0,0 $GC,9915,1.11,261.9,156.9,8.5,413,9920,0.00,2.78,0.00,0.000,4,0.000,0.064,3245,242,1930,0,0,0,0,0,0 $GC,9966,1.11,261.9,151.9,9.8,417,9970,0.00,2.47,0.00,0.000,6,0.000,0.018,3245,1848,1930,0,0,0,0,0,0 $GC,10234,1.11,261.9,130.4,8.8,441,10238,0.00,2.42,0.00,0.000,4,0.000,0.029,3245,3383,1930,0,0,0,0,0,0 $GC,10278,1.18,261.9,125.4,9.8,444,10288,0.00,2.50,0.00,0.000,6,0.000,0.033,3245,1859,1930,0,0,0,0,0,0 $GC,10546,1.22,261.9,101.4,8.9,469,10551,0.00,2.42,0.00,0.000,4,0.000,0.028,3245,3389,1930,0,0,0,0,0,0 $GC,10580,1.29,261.9,97.7,8.6,471,10586,0.15,2.45,0.00,0.000,6,0.071,0.032,3288,1859,1930,0,0,0,0,0,0 $GC,10848,1.29,263.3,73.5,7.9,496,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1859,1931,0,0,0,0,0,0 $GC,11113,1.31,277.0,52.2,7.4,521,11132,0.00,0.00,15.07,0.535,6,0.000,0.000,3289,1859,1870,0,0,0,0,0,0 $GC,11392,1.31,277.0,29.8,9.8,547,11401,0.00,2.45,0.00,0.000,4,0.000,0.026,3289,3386,1869,0,0,0,0,0,0 $GC,11418,1.31,277.0,26.9,9.7,550,11427,0.00,2.47,0.00,0.000,6,0.000,0.031,3289,1872,1868,0,0,0,0,0,0 $STATE,11681,end climb,SURFACE_DEPTH_REACHED $STATE,11681,begin surface coast $FINISH,0.3,1.005150 $STATE,11739,end surface coast,CONTROL_FINISHED_OK $STATE,11739,begin surface $SM_CCo,11761,125.90,0.471,1,0,1287,420.20 $SM_GC,1.01,0.00,0.00,125.90,0.000,0.000,0.471,475,1738,1287,-11.62,-0.90,420.20 $IRIDIUM_FIX,2241.69,-15751.94,261199,101008 $TT8_MAMPS,0.025311 $HUMID,42.40 $INTERNAL_PRESSURE,9.36559 $TCM_TEMP,23.70 $XPDR_PINGS,53 $24V_AH,23.6,19.236 $10V_AH,10.4,18.693 $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,26.100,138.950,343.025,125.900,0.000,30.964,29.826,145.536,13.250,0.000,26.873,1182.066,7735.892,561.911,2252.509,512.541,33.371,1367.758,0.000,2246.628,0.000,0.537,0.000 $DEVICE_MAMPS,220.896,237.003,920.400,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,403.305,355.785,460.117,878.788,1329.143,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355552 $DATA_FILE_SIZE,47832,596 $CAP_FILE_SIZE,118453,0 $CFSIZE,260165632,175771648 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,010910,171500,2248.951,-15741.778,35,1.5,35,10.1