version: 66.06 glider: 146 mission: 5 dive: 187 start: 9 11 110 16 39 15 data: $ID,146 $MISSION,5 $DIVE,187 $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,-251037 $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,52 $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 $GPS1,162955,2255.758,-15742.494,38,1.5,38,10.1 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.98 $_SM_ANGLEo,-65.8 $GPS2,163820,2255.640,-15742.506,11,1.4,11,10.1 $SPEED_LIMITS,0.114,0.218 $TGT_NAME,NE $TGT_LATLONG,2258.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.097,0.195 $KALMAN_X,-201136.0,37.6,-193.7,249651.4,-970.3 $KALMAN_Y,-65041.0,-83.0,-814.6,204950.1,-1212.7 $MHEAD_RNG_PITCHd_Wd,16.4,4455,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.72,0.000,6,0.000,0.000,473,1730,3479,0,0,0,0,0,0 $GC,107,-1.15,-116.8,4.8,-6.9,11,124,11.65,2.55,0.00,0.000,4,0.143,0.023,2742,3338,3481,0,0,0,0,0,0 $GC,136,0.31,-116.8,18.4,-32.3,14,144,1.40,2.55,0.00,0.000,6,0.073,0.038,3062,1797,3481,0,0,0,0,0,0 $GC,432,-0.26,-116.8,42.3,-8.8,50,442,0.47,0.00,0.00,0.000,6,0.062,0.000,2940,1797,3482,0,0,0,0,0,0 $GC,699,-0.79,-116.8,62.3,-7.5,75,705,0.45,2.70,0.00,0.000,4,0.049,0.063,2819,190,3482,0,0,0,0,0,0 $GC,809,-0.89,-116.8,73.0,-10.0,83,813,0.00,2.42,0.00,0.000,6,0.000,0.015,2819,1805,3482,0,0,0,0,0,0 $GC,1075,-0.94,-116.8,98.6,-8.1,107,1081,0.10,2.75,0.00,0.000,4,0.087,0.061,2780,186,3482,0,0,0,0,0,0 $GC,1098,-0.94,-116.8,101.3,-9.6,108,1107,0.00,2.42,0.00,0.000,6,0.000,0.020,2780,1791,3482,0,0,0,0,0,0 $GC,1364,-0.94,-116.8,124.7,-7.8,133,1369,0.00,2.70,0.00,0.000,4,0.000,0.064,2780,188,3482,0,0,0,0,0,0 $GC,1420,-0.94,-116.8,129.3,-7.5,137,1425,0.00,2.38,0.00,0.000,6,0.000,0.016,2780,1775,3483,0,0,0,0,0,0 $GC,1688,-0.94,-116.8,147.7,-6.6,161,1692,0.00,2.40,0.00,0.000,4,0.000,0.030,2780,3317,3483,0,0,0,0,0,0 $GC,1722,-1.00,-116.8,150.5,-6.7,163,1728,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,1770,3483,0,0,0,0,0,0 $GC,1986,-1.00,-116.8,171.6,-8.5,188,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1769,3483,0,0,0,0,0,0 $GC,2237,-1.00,-116.8,193.5,-8.3,212,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1770,3483,0,0,0,0,0,0 $GC,2487,-1.04,-116.8,213.2,-8.0,224,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1769,3483,0,0,0,0,0,0 $GC,2729,-1.09,-116.8,231.2,-7.1,230,2734,0.00,2.70,0.00,0.000,4,0.000,0.066,2780,193,3483,0,0,0,0,0,0 $GC,2756,-1.14,-116.8,233.4,-7.9,230,2761,0.12,2.38,0.00,0.000,6,0.074,0.023,2736,1773,3482,0,0,0,0,0,0 $GC,3007,-1.10,-116.8,258.3,-10.2,236,3012,0.12,2.72,0.00,0.000,4,0.106,0.071,2762,191,3482,0,0,0,0,0,0 $GC,3039,-1.10,-116.8,261.7,-10.4,236,3045,0.00,2.38,0.00,0.000,6,0.000,0.018,2762,1770,3482,0,0,0,0,0,0 $GC,3289,-1.10,-116.8,284.0,-9.0,243,3294,0.00,2.50,0.00,0.000,4,0.000,0.038,2762,3335,3482,0,0,0,0,0,0 $GC,3324,-1.16,-116.8,287.0,-8.5,243,3330,0.00,2.50,0.00,0.000,6,0.000,0.035,2762,1777,3481,0,0,0,0,0,0 $GC,3574,-1.16,-116.8,308.5,-8.6,250,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1776,3481,0,0,0,0,0,0 $GC,3818,-1.21,-116.8,327.2,-7.4,256,3823,0.12,2.50,0.00,0.000,4,0.078,0.039,2721,3324,3480,0,0,0,0,0,0 $GC,3841,-1.21,-116.8,329.3,-8.9,256,3845,0.00,2.53,0.00,0.000,6,0.000,0.041,2721,1779,3480,0,0,0,0,0,0 $GC,4095,-1.21,-116.8,354.2,-10.0,263,4100,0.00,2.50,0.00,0.000,4,0.000,0.040,2721,3330,3479,0,0,0,0,0,0 $GC,4128,-1.21,-116.8,358.0,-11.1,263,4134,0.00,2.58,0.00,0.000,6,0.000,0.048,2721,1783,3479,0,0,0,0,0,0 $GC,4378,-1.21,-116.8,384.8,-10.6,270,4383,0.00,2.88,0.00,0.000,4,0.000,0.100,2720,186,3478,0,0,0,0,0,0 $GC,4423,-1.21,-116.8,389.7,-11.3,271,4427,0.00,2.45,0.00,0.000,6,0.000,0.029,2721,1743,3477,0,0,0,0,0,0 $GC,4700,-1.21,-116.8,414.1,-8.2,278,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1742,3476,0,0,0,0,0,0 $GC,4944,-1.21,-116.8,431.9,-7.1,284,4948,0.00,2.67,0.00,0.000,4,0.000,0.054,2721,3357,3474,0,0,0,0,0,0 $GC,4978,-1.21,-116.8,434.2,-6.7,284,4983,0.00,2.67,0.00,0.000,6,0.000,0.057,2721,1775,3474,0,0,0,0,0,0 $GC,5228,-1.21,-116.8,452.3,-7.4,291,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1774,3473,0,0,0,0,0,0 $GC,5471,-1.21,-116.8,472.7,-8.6,297,5475,0.00,2.62,0.00,0.000,4,0.000,0.051,2721,3350,3471,0,0,0,0,0,0 $GC,5495,-1.21,-116.8,474.5,-8.0,297,5500,0.00,2.67,0.00,0.000,6,0.000,0.063,2721,1778,3471,0,0,0,0,0,0 $GC,5751,-1.21,-116.8,495.2,-8.0,304,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1778,3469,0,0,0,0,0,0 $STATE,5829,end dive,TARGET_DEPTH_EXCEEDED $STATE,5830,begin apogee $GC,5836,-0.31,0.0,501.2,7.6,306,5934,0.93,0.00,95.25,0.910,6,0.079,0.000,2929,1824,3001,0,0,0,0,0,0 $STATE,5935,end apogee,CONTROL_FINISHED_OK $STATE,5935,begin climb $GC,5939,1.15,116.8,502.3,0.0,308,6048,1.38,2.70,99.38,0.890,4,0.058,0.059,3256,3394,2524,0,0,0,0,0,0 $GC,6065,1.04,140.9,498.5,6.9,311,6094,0.15,2.75,21.42,0.833,6,0.120,0.058,3227,1818,2425,0,0,0,0,0,0 $GC,6365,0.97,142.1,474.3,8.0,319,6370,0.00,2.62,0.00,0.000,4,0.000,0.044,3227,3397,2417,0,0,0,0,0,0 $GC,6386,0.91,142.1,472.3,8.2,319,6392,0.15,2.72,0.00,0.000,6,0.118,0.058,3197,1817,2416,0,0,0,0,0,0 $GC,6642,0.97,188.9,456.8,5.8,326,6691,0.00,2.67,41.30,0.863,4,0.000,0.046,3197,3400,2230,0,0,0,0,0,0 $GC,6739,0.99,211.7,450.5,7.0,328,6766,0.00,2.70,20.95,0.828,6,0.000,0.054,3197,1834,2138,0,0,0,0,0,0 $GC,7009,0.99,211.7,429.4,8.1,334,7014,0.00,3.03,0.00,0.000,4,0.000,0.107,3197,232,2131,0,0,0,0,0,0 $GC,7051,0.99,211.7,425.6,9.8,335,7055,0.00,2.58,0.00,0.000,6,0.000,0.031,3197,1828,2130,0,0,0,0,0,0 $GC,7333,0.99,211.7,400.6,9.0,342,7338,0.00,2.60,0.00,0.000,4,0.000,0.044,3197,3405,2128,0,0,0,0,0,0 $GC,7390,1.06,211.7,395.3,9.3,343,7395,0.15,2.65,0.00,0.000,6,0.071,0.046,3237,1823,2127,0,0,0,0,0,0 $GC,7657,1.01,211.7,370.3,9.1,350,7661,0.00,2.85,0.00,0.000,4,0.000,0.084,3237,232,2126,0,0,0,0,0,0 $GC,7678,0.92,211.7,368.1,9.8,350,7683,0.17,2.55,0.00,0.000,6,0.114,0.025,3202,1843,2125,0,0,0,0,0,0 $GC,7935,0.94,226.7,349.3,7.3,357,7954,0.00,2.60,12.48,0.767,4,0.000,0.036,3203,3398,2076,0,0,0,0,0,0 $GC,8034,1.02,235.4,341.4,7.6,359,8049,0.00,2.60,9.07,0.720,6,0.000,0.040,3202,1839,2041,0,0,0,0,0,0 $GC,8313,1.07,245.7,320.3,7.5,366,8326,0.12,0.00,10.40,0.728,6,0.081,0.000,3235,1839,1999,0,0,0,0,0,0 $GC,8555,1.07,245.7,300.2,8.2,372,8559,0.00,2.53,0.00,0.000,4,0.000,0.032,3235,3397,1995,0,0,0,0,0,0 $GC,8626,1.07,245.7,294.1,8.7,373,8631,0.00,2.53,0.00,0.000,6,0.000,0.035,3235,1855,1994,0,0,0,0,0,0 $GC,8878,1.07,245.7,274.0,8.2,379,8882,0.00,2.80,0.00,0.000,4,0.000,0.076,3234,243,1994,0,0,0,0,0,0 $GC,8899,1.03,245.7,272.1,8.6,379,8903,0.00,2.55,0.00,0.000,6,0.000,0.025,3235,1866,1993,0,0,0,0,0,0 $GC,9154,1.03,245.7,250.9,8.3,386,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1868,1993,0,0,0,0,0,0 $GC,9397,1.03,245.7,229.4,8.8,392,9402,0.00,2.80,0.00,0.000,4,0.000,0.068,3235,242,1992,0,0,0,0,0,0 $GC,9415,1.03,245.7,227.9,8.7,392,9419,0.00,2.50,0.00,0.000,6,0.000,0.021,3234,1853,1992,0,0,0,0,0,0 $GC,9675,1.03,245.7,206.5,8.1,399,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1854,1992,0,0,0,0,0,0 $GC,9926,1.03,245.7,186.0,8.1,417,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1854,1991,0,0,0,0,0,0 $GC,10181,1.03,245.7,165.4,8.0,441,10185,0.00,2.42,0.00,0.000,4,0.000,0.035,3235,3389,1991,0,0,0,0,0,0 $GC,10203,1.03,245.7,163.4,8.7,442,10209,0.00,2.53,0.00,0.000,6,0.000,0.031,3235,1825,1991,0,0,0,0,0,0 $GC,10471,1.03,245.7,141.5,8.1,467,10475,0.00,2.47,0.00,0.000,4,0.000,0.035,3235,3397,1992,0,0,0,0,0,0 $GC,10535,1.09,245.7,135.6,8.4,472,10539,0.00,2.50,0.00,0.000,6,0.000,0.038,3235,1848,1991,0,0,0,0,0,0 $GC,10799,1.15,257.3,114.9,7.5,496,10816,0.00,2.80,10.90,0.565,4,0.000,0.067,3235,249,1952,0,0,0,0,0,0 $GC,10841,1.15,257.3,111.1,8.9,499,10847,0.00,2.47,0.00,0.000,6,0.000,0.018,3235,1858,1950,0,0,0,0,0,0 $GC,11106,1.27,303.0,92.6,5.9,524,11153,0.17,2.83,40.35,0.586,4,0.062,0.060,3285,240,1763,0,0,0,0,0,0 $GC,11159,1.27,303.0,87.9,9.0,528,11168,0.00,2.53,0.00,0.000,6,0.000,0.021,3285,1843,1762,0,0,0,0,0,0 $GC,11426,1.27,303.0,65.2,8.4,553,11430,0.00,2.42,0.00,0.000,4,0.000,0.028,3285,3387,1760,0,0,0,0,0,0 $GC,11483,1.32,303.0,60.3,8.6,557,11487,0.00,2.50,0.00,0.000,6,0.000,0.032,3285,1834,1759,0,0,0,0,0,0 $GC,11752,1.32,306.0,37.9,7.9,581,11756,0.00,2.67,0.00,0.000,4,0.000,0.059,3285,242,1759,0,0,0,0,0,0 $GC,11772,1.32,306.0,35.8,8.1,582,11776,0.00,2.42,0.00,0.000,6,0.000,0.018,3285,1833,1758,0,0,0,0,0,0 $GC,12083,1.32,306.0,10.7,9.0,623,12092,0.00,2.47,0.00,0.000,4,0.000,0.030,3285,3377,1758,0,0,0,0,0,0 $GC,12102,1.32,306.0,8.8,8.5,625,12112,0.00,2.53,0.00,0.000,6,0.000,0.031,3285,1832,1758,0,0,0,0,0,0 $STATE,12155,end climb,SURFACE_DEPTH_REACHED $STATE,12155,begin surface coast $FINISH,0.2,1.011307 $STATE,12204,end surface coast,CONTROL_FINISHED_OK $STATE,12204,begin surface $SM_CCo,12226,100.35,0.456,1,0,1287,420.20 $SM_GC,0.98,0.00,0.00,100.35,0.000,0.000,0.456,474,1746,1287,-11.62,-0.68,420.20 $IRIDIUM_FIX,2246.36,-15740.63,061299,131357 $TT8_MAMPS,0.025311 $HUMID,44.05 $INTERNAL_PRESSURE,9.36559 $TCM_TEMP,23.50 $XPDR_PINGS,55 $24V_AH,23.6,27.399 $10V_AH,10.3,27.838 $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,28.975,155.625,361.500,100.350,0.000,53.260,106.666,149.565,13.750,0.000,14.800,1260.125,8029.039,556.414,2357.476,635.589,33.374,1392.625,0.000,2364.490,0.000,0.535,0.000 $DEVICE_MAMPS,143.429,158.002,910.429,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,432.116,400.011,506.168,976.956,1476.331,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355508 $DATA_FILE_SIZE,51260,639 $CAP_FILE_SIZE,128081,0 $CFSIZE,260165632,171466752 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,110910,200607,2255.983,-15742.309,37,1.8,37,10.1