version: 66.06 glider: 146 mission: 5 dive: 155 start: 9 6 110 23 43 53 data: $ID,146 $MISSION,5 $DIVE,155 $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,-250437.19 $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,27 $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 $GPS1,233655,2252.193,-15747.820,39,1.4,39,10.1 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,0.95 $_SM_ANGLEo,-68.9 $GPS2,234256,2252.178,-15747.904,11,1.1,11,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.218,-0.008 $KALMAN_X,-165837.7,-219.0,-58.4,205190.5,-1950.6 $KALMAN_Y,-9047.5,71.4,-315.9,141892.6,-349.2 $MHEAD_RNG_PITCHd_Wd,81.9,11672,-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,12,end surface,CONTROL_FINISHED_OK $STATE,12,begin dive $GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.50,0.000,6,0.000,0.000,474,1737,3479,0,0,0,0,0,0 $GC,107,-1.15,-116.8,4.6,-6.6,11,123,11.48,2.55,0.00,0.000,4,0.138,0.052,2740,207,3480,0,0,0,0,0,0 $GC,148,-0.08,-116.8,21.2,-39.0,16,156,1.05,2.47,0.00,0.000,6,0.077,0.016,2980,1811,3481,0,0,0,0,0,0 $GC,451,-0.65,-116.8,40.5,-8.1,53,456,0.50,2.70,0.00,0.000,4,0.057,0.055,2852,212,3481,0,0,0,0,0,0 $GC,510,-0.90,-116.8,45.5,-7.1,57,515,0.20,2.33,0.00,0.000,6,0.054,0.016,2787,1782,3481,0,0,0,0,0,0 $GC,780,-0.82,-116.8,74.4,-11.1,81,784,0.15,2.38,0.00,0.000,4,0.094,0.024,2822,3292,3481,0,0,0,0,0,0 $GC,825,-0.91,-116.8,78.9,-8.2,84,830,0.00,2.45,0.00,0.000,6,0.000,0.035,2822,1756,3481,0,0,0,0,0,0 $GC,1089,-0.97,-116.8,100.5,-8.3,108,1095,0.15,2.67,0.00,0.000,4,0.061,0.064,2768,188,3482,0,0,0,0,0,0 $GC,1147,-0.97,-116.8,107.4,-11.6,112,1156,0.00,2.30,0.00,0.000,6,0.000,0.022,2768,1714,3482,0,0,0,0,0,0 $GC,1414,-0.97,-116.8,136.1,-10.9,137,1418,0.00,2.45,0.00,0.000,4,0.000,0.031,2768,3288,3483,0,0,0,0,0,0 $GC,1483,-1.01,-116.8,144.2,-10.2,142,1492,0.00,2.50,0.00,0.000,6,0.000,0.029,2768,1750,3482,0,0,0,0,0,0 $GC,1745,-1.01,-116.8,168.0,-9.0,167,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1750,3483,0,0,0,0,0,0 $GC,1999,-1.01,-116.8,188.9,-8.3,191,2004,0.00,2.65,0.00,0.000,4,0.000,0.070,2768,190,3483,0,0,0,0,0,0 $GC,2032,-1.01,-116.8,191.5,-8.7,193,2037,0.00,2.30,0.00,0.000,6,0.000,0.018,2769,1742,3483,0,0,0,0,0,0 $GC,2286,-1.01,-116.8,216.3,-9.7,205,2290,0.00,2.45,0.00,0.000,4,0.000,0.033,2768,3307,3482,0,0,0,0,0,0 $GC,2314,-1.01,-116.8,219.0,-9.7,205,2318,0.00,2.47,0.00,0.000,6,0.000,0.034,2768,1760,3482,0,0,0,0,0,0 $GC,2564,-1.01,-116.8,242.3,-9.2,211,2568,0.00,2.70,0.00,0.000,4,0.000,0.072,2768,193,3483,0,0,0,0,0,0 $GC,2597,-1.01,-116.8,245.5,-10.2,211,2603,0.00,2.33,0.00,0.000,6,0.000,0.023,2768,1740,3483,0,0,0,0,0,0 $GC,2849,-1.01,-116.8,265.6,-7.7,218,2853,0.00,2.47,0.00,0.000,4,0.000,0.028,2768,3325,3482,0,0,0,0,0,0 $GC,2888,-1.08,-116.8,268.4,-6.8,219,2893,0.00,2.50,0.00,0.000,6,0.000,0.036,2768,1756,3482,0,0,0,0,0,0 $GC,3173,-1.12,-116.8,289.4,-7.7,226,3177,0.00,2.70,0.00,0.000,4,0.000,0.073,2768,190,3482,0,0,0,0,0,0 $GC,3229,-1.18,-116.8,294.5,-9.1,227,3234,0.12,2.35,0.00,0.000,6,0.068,0.019,2717,1725,3482,0,0,0,0,0,0 $GC,3496,-1.13,-116.8,321.7,-10.2,234,3501,0.17,2.60,0.00,0.000,4,0.095,0.043,2755,3347,3481,0,0,0,0,0,0 $GC,3537,-1.19,-116.8,325.3,-8.9,235,3541,0.00,2.60,0.00,0.000,6,0.000,0.044,2755,1748,3481,0,0,0,0,0,0 $GC,3820,-1.23,-116.8,348.4,-8.0,242,3822,0.10,0.00,0.00,0.000,6,0.087,0.000,2721,1747,3480,0,0,0,0,0,0 $GC,4063,-1.23,-116.8,370.0,-9.0,248,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1747,3479,0,0,0,0,0,0 $GC,4309,-1.23,-116.8,389.6,-7.9,254,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1747,3478,0,0,0,0,0,0 $GC,4551,-1.23,-116.8,408.9,-8.0,260,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1747,3477,0,0,0,0,0,0 $GC,4794,-1.23,-116.8,431.7,-9.5,266,4799,0.00,2.65,0.00,0.000,4,0.000,0.054,2721,3339,3475,0,0,0,0,0,0 $GC,4827,-1.23,-116.8,435.1,-10.3,266,4833,0.00,2.70,0.00,0.000,6,0.000,0.057,2720,1749,3475,0,0,0,0,0,0 $GC,5078,-1.23,-116.8,460.6,-10.2,273,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1750,3474,0,0,0,0,0,0 $GC,5320,-1.23,-116.8,482.9,-9.0,279,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1749,3472,0,0,0,0,0,0 $STATE,5562,end dive,TARGET_DEPTH_EXCEEDED $STATE,5562,begin apogee $GC,5568,-0.31,0.0,503.0,8.2,285,5668,0.93,0.00,96.10,0.912,6,0.075,0.000,2931,1828,3001,0,0,0,0,0,0 $STATE,5668,end apogee,CONTROL_FINISHED_OK $STATE,5669,begin climb $GC,5672,1.15,116.8,505.0,0.0,287,5784,1.33,3.15,100.22,0.890,4,0.052,0.107,3252,232,2522,0,0,0,0,0,0 $GC,5824,0.93,124.4,501.8,7.7,290,5840,0.25,2.58,7.35,0.718,6,0.111,0.037,3203,1796,2493,0,0,0,0,0,0 $GC,6085,1.00,183.9,487.6,5.3,297,6144,0.00,2.88,52.12,0.874,4,0.000,0.065,3203,3404,2250,0,0,0,0,0,0 $GC,6218,1.00,183.9,478.0,8.1,300,6222,0.00,2.70,0.00,0.000,6,0.000,0.058,3203,1837,2245,0,0,0,0,0,0 $GC,6498,1.00,183.9,454.4,8.9,307,6502,0.00,2.95,0.00,0.000,4,0.000,0.105,3202,234,2241,0,0,0,0,0,0 $GC,6525,0.95,183.9,451.5,10.3,307,6529,0.00,2.60,0.00,0.000,6,0.000,0.030,3202,1836,2239,0,0,0,0,0,0 $GC,6774,0.95,183.9,430.1,8.3,313,6779,0.00,2.60,0.00,0.000,4,0.000,0.047,3202,3416,2239,0,0,0,0,0,0 $GC,6791,0.95,183.9,428.7,8.2,313,6796,0.00,2.67,0.00,0.000,6,0.000,0.047,3202,1832,2237,0,0,0,0,0,0 $GC,7052,0.97,196.8,408.9,7.4,320,7068,0.00,2.60,10.45,0.779,4,0.000,0.034,3202,3417,2197,0,0,0,0,0,0 $GC,7095,0.97,200.8,405.6,7.8,321,7106,0.00,2.65,5.20,0.637,6,0.000,0.044,3203,1831,2182,0,0,0,0,0,0 $GC,7376,1.00,224.7,385.8,6.9,328,7400,0.00,0.00,22.30,0.823,6,0.000,0.000,3202,1831,2084,0,0,0,0,0,0 $GC,7618,1.04,252.0,369.2,6.7,334,7646,0.10,0.00,25.50,0.811,6,0.146,0.000,3229,1831,1973,0,0,0,0,0,0 $GC,7861,1.04,252.0,348.8,8.6,340,7866,0.00,2.58,0.00,0.000,4,0.000,0.037,3229,3418,1967,0,0,0,0,0,0 $GC,7903,1.04,252.0,345.2,9.4,341,7908,0.00,2.65,0.00,0.000,6,0.000,0.044,3229,1826,1965,0,0,0,0,0,0 $GC,8186,1.04,252.0,319.4,9.1,348,8190,0.00,2.58,0.00,0.000,4,0.000,0.033,3229,3414,1965,0,0,0,0,0,0 $GC,8207,1.04,252.0,317.3,9.8,348,8211,0.00,2.60,0.00,0.000,6,0.000,0.041,3229,1834,1964,0,0,0,0,0,0 $GC,8464,1.04,252.0,294.9,8.4,355,8468,0.00,2.55,0.00,0.000,4,0.000,0.035,3228,3414,1963,0,0,0,0,0,0 $GC,8503,1.04,252.0,291.6,8.1,356,8507,0.00,2.53,0.00,0.000,6,0.000,0.040,3229,1853,1963,0,0,0,0,0,0 $GC,8786,1.05,263.1,270.7,7.5,363,8801,0.00,2.83,9.48,0.686,4,0.000,0.072,3229,244,1927,0,0,0,0,0,0 $GC,8836,1.01,263.1,266.6,9.0,364,8840,0.00,2.58,0.00,0.000,6,0.000,0.025,3229,1879,1926,0,0,0,0,0,0 $GC,9107,1.01,263.1,243.2,9.0,371,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1881,1925,0,0,0,0,0,0 $GC,9351,1.01,263.1,221.2,8.8,377,9355,0.00,2.45,0.00,0.000,4,0.000,0.036,3229,3417,1925,0,0,0,0,0,0 $GC,9379,1.06,263.1,218.6,8.5,377,9384,0.00,2.55,0.00,0.000,6,0.000,0.033,3229,1851,1924,0,0,0,0,0,0 $GC,9629,1.07,270.1,199.0,7.7,383,9643,0.00,2.85,7.12,0.588,4,0.000,0.071,3229,244,1900,0,0,0,0,0,0 $GC,9656,1.07,270.1,196.7,8.0,385,9662,0.00,2.58,0.00,0.000,6,0.000,0.018,3229,1900,1899,0,0,0,0,0,0 $GC,9920,1.10,297.3,178.5,6.8,410,9951,0.00,0.00,24.95,0.656,6,0.000,0.000,3229,1902,1788,0,0,0,0,0,0 $GC,10208,1.14,297.3,154.3,9.2,437,10213,0.00,2.88,0.00,0.000,4,0.000,0.065,3229,243,1786,0,0,0,0,0,0 $GC,10248,1.14,297.3,150.2,11.0,440,10252,0.00,2.53,0.00,0.000,6,0.000,0.024,3229,1885,1785,0,0,0,0,0,0 $GC,10511,1.21,304.2,127.9,7.7,464,10523,0.15,0.00,7.22,0.529,6,0.097,0.000,3269,1886,1759,0,0,0,0,0,0 $GC,10780,1.21,304.2,102.3,10.1,489,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1886,1759,0,0,0,0,0,0 $GC,11046,1.21,308.8,79.0,7.8,514,11061,0.00,2.88,5.57,0.460,4,0.000,0.059,3270,243,1741,0,0,0,0,0,0 $GC,11102,1.21,308.8,74.4,9.1,518,11106,0.00,2.53,0.00,0.000,6,0.000,0.018,3269,1889,1740,0,0,0,0,0,0 $GC,11368,1.21,308.8,53.9,8.0,542,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1891,1741,0,0,0,0,0,0 $GC,11634,1.21,308.8,30.2,9.0,567,11639,0.00,2.80,0.00,0.000,4,0.000,0.058,3269,240,1740,0,0,0,0,0,0 $GC,11661,1.21,308.8,27.3,9.5,570,11670,0.00,2.55,0.00,0.000,6,0.000,0.018,3270,1883,1740,0,0,0,0,0,0 $STATE,11917,end climb,SURFACE_DEPTH_REACHED $STATE,11917,begin surface coast $FINISH,0.2,1.023313 $STATE,11971,end surface coast,CONTROL_FINISHED_OK $STATE,11971,begin surface $SM_CCo,11992,97.07,0.456,1,0,1287,420.20 $SM_GC,0.81,0.00,0.00,97.07,0.000,0.000,0.456,476,1732,1287,-11.61,-1.07,420.20 $IRIDIUM_FIX,2241.69,-15746.73,011299,202055 $TT8_MAMPS,0.025311 $HUMID,43.38 $INTERNAL_PRESSURE,9.37536 $TCM_TEMP,23.70 $XPDR_PINGS,51 $24V_AH,23.6,23.653 $10V_AH,10.4,23.556 $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,27.900,135.400,373.600,97.075,0.000,28.200,37.486,159.594,12.750,0.000,12.836,1211.359,7874.580,564.520,2269.508,536.262,33.367,1360.186,0.000,2281.668,0.000,0.536,0.000 $DEVICE_MAMPS,145.730,268.450,911.963,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,416.921,373.341,481.027,935.456,1413.680,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355544 $DATA_FILE_SIZE,47663,616 $CAP_FILE_SIZE,118772,0 $CFSIZE,260165632,173469696 $ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,070910,030638,2251.900,-15747.358,28,1.1,28,10.1