version: 66.06 glider: 146 mission: 5 dive: 246 start: 9 20 110 1 43 40 data: $ID,146 $MISSION,5 $DIVE,246 $D_SURF,4 $D_FLARE,3 $D_TGT,500 $D_ABORT,800 $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,166 $T_MISSION,350 $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,-252099.97 $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,26 $R_STBD_OVSHOOT,20 $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 $GPS1,013634,2239.869,-15746.188,10,3.0,29,10.1 $_CALLS,1 $_XMS_NAKs,7 $_XMS_TOUTs,0 $_SM_DEPTHo,0.96 $_SM_ANGLEo,-65.3 $GPS2,014244,2239.780,-15746.214,14,1.2,14,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,NE $TGT_LATLONG,2258.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.013,0.234 $KALMAN_X,-251930.1,-167.6,-246.3,294325.3,-230.4 $KALMAN_Y,-245005.5,164.5,-129.9,354609.0,-2787.1 $MHEAD_RNG_PITCHd_Wd,353.2,34501,-19.8,-10.040 $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,13,begin dive $GC,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.05,0.000,2,0.000,0.000,475,1757,3459,0,0,0,0,0,0 $GC,107,-1.38,-116.8,4.0,-7.9,11,124,11.23,2.58,-0.30,0.000,4,0.137,0.041,2692,3382,3478,0,0,0,0,0,0 $GC,188,-1.30,-116.8,27.3,-17.6,22,198,0.08,2.65,0.00,0.000,6,0.089,0.031,2713,1765,3479,0,0,0,0,0,0 $GC,466,-1.22,-116.8,72.5,-15.8,48,475,0.10,0.00,0.00,0.000,6,0.125,0.000,2734,1765,3480,0,0,0,0,0,0 $GC,731,-1.22,-116.8,108.0,-12.2,73,736,0.00,2.67,0.00,0.000,4,0.000,0.068,2734,190,3481,0,0,0,0,0,0 $GC,752,-1.22,-116.8,111.5,-13.3,74,761,0.00,2.50,0.00,0.000,6,0.000,0.021,2734,1838,3480,0,0,0,0,0,0 $GC,1019,-1.22,-116.8,138.8,-10.3,99,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1840,3481,0,0,0,0,0,0 $GC,1284,-1.22,-116.8,164.0,-9.9,124,1288,0.00,2.80,0.00,0.000,4,0.000,0.061,2733,194,3482,0,0,0,0,0,0 $GC,1313,-1.22,-116.8,167.3,-10.9,126,1317,0.00,2.45,0.00,0.000,6,0.000,0.020,2734,1832,3482,0,0,0,0,0,0 $GC,1576,-1.27,-116.8,193.5,-9.8,150,1581,0.00,2.40,0.00,0.000,4,0.000,0.027,2734,3378,3482,0,0,0,0,0,0 $GC,1600,-1.33,-116.8,195.9,-9.3,151,1608,0.08,2.55,0.00,0.000,6,0.044,0.028,2696,1776,3482,0,0,0,0,0,0 $GC,1853,-1.33,-116.8,222.4,-10.4,161,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1774,3482,0,0,0,0,0,0 $GC,2095,-1.33,-116.8,247.6,-10.4,167,2100,0.00,2.72,0.00,0.000,4,0.000,0.072,2696,195,3482,0,0,0,0,0,0 $GC,2122,-1.29,-116.8,250.8,-12.2,167,2127,0.10,2.50,0.00,0.000,6,0.123,0.016,2717,1823,3482,0,0,0,0,0,0 $GC,2373,-1.29,-116.8,275.6,-9.8,173,2378,0.00,2.45,0.00,0.000,4,0.000,0.038,2717,3372,3482,0,0,0,0,0,0 $GC,2402,-1.35,-116.8,278.5,-9.7,173,2406,0.00,2.55,0.00,0.000,6,0.000,0.036,2717,1786,3481,0,0,0,0,0,0 $GC,2652,-1.39,-116.8,303.1,-10.1,179,2656,0.00,2.78,0.00,0.000,4,0.000,0.084,2717,189,3481,0,0,0,0,0,0 $GC,2685,-1.39,-116.8,307.1,-12.3,179,2691,0.00,2.50,0.00,0.000,6,0.000,0.025,2716,1813,3481,0,0,0,0,0,0 $GC,2936,-1.46,-116.8,331.7,-9.8,186,2938,0.15,0.00,0.00,0.000,6,0.069,0.000,2669,1813,3480,0,0,0,0,0,0 $GC,3178,-1.46,-116.8,357.7,-10.6,192,3183,0.00,2.47,0.00,0.000,4,0.000,0.041,2669,3352,3480,0,0,0,0,0,0 $GC,3201,-1.46,-116.8,360.0,-10.5,192,3206,0.00,2.62,0.00,0.000,6,0.000,0.046,2669,1771,3480,0,0,0,0,0,0 $GC,3456,-1.46,-116.8,386.8,-10.4,199,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1771,3479,0,0,0,0,0,0 $GC,3700,-1.46,-116.8,413.7,-11.4,205,3704,0.00,2.58,0.00,0.000,4,0.000,0.041,2669,3344,3477,0,0,0,0,0,0 $GC,3715,-1.46,-116.8,415.7,-11.6,205,3720,0.00,2.62,0.00,0.000,6,0.000,0.052,2669,1765,3477,0,0,0,0,0,0 $GC,3978,-1.46,-116.8,445.4,-11.5,212,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1765,3476,0,0,0,0,0,0 $GC,4220,-1.46,-116.8,470.4,-10.0,218,4225,0.00,2.58,0.00,0.000,4,0.000,0.047,2669,3334,3474,0,0,0,0,0,0 $GC,4253,-1.46,-116.8,473.9,-10.6,218,4259,0.00,2.70,0.00,0.000,6,0.000,0.061,2669,1767,3474,0,0,0,0,0,0 $GC,4505,-1.46,-116.8,498.5,-10.1,225,4509,0.00,2.62,0.00,0.000,4,0.000,0.056,2669,3338,3472,0,0,0,0,0,0 $STATE,4518,end dive,TARGET_DEPTH_EXCEEDED $STATE,4518,begin apogee $GC,4526,-0.31,0.0,500.3,10.3,225,4627,1.15,0.00,97.25,0.907,6,0.078,0.000,2930,1819,3001,0,0,0,0,0,0 $STATE,4628,end apogee,CONTROL_FINISHED_OK $STATE,4628,begin climb $GC,4630,1.38,116.8,503.3,0.0,228,4744,1.55,3.12,100.43,0.882,4,0.044,0.118,3306,239,2523,0,0,0,0,0,0 $GC,4750,1.31,189.4,501.1,5.8,230,4820,0.00,2.58,63.72,0.865,6,0.000,0.040,3306,1803,2228,0,0,0,0,0,0 $GC,5082,1.22,189.4,463.6,12.1,239,5087,0.20,2.75,0.00,0.000,4,0.133,0.058,3266,3405,2219,0,0,0,0,0,0 $GC,5177,1.22,189.4,453.2,10.4,241,5181,0.00,2.67,0.00,0.000,6,0.000,0.049,3266,1819,2217,0,0,0,0,0,0 $GC,5450,1.25,211.5,428.6,8.8,248,5475,0.00,2.67,18.90,0.815,4,0.000,0.044,3266,3416,2137,0,0,0,0,0,0 $GC,5487,1.27,229.3,425.1,9.0,248,5511,0.00,2.67,17.02,0.797,6,0.000,0.054,3266,1836,2066,0,0,0,0,0,0 $GC,5779,1.27,234.5,396.4,9.7,256,5789,0.00,2.58,5.62,0.643,4,0.000,0.039,3266,3418,2044,0,0,0,0,0,0 $GC,5877,1.37,260.6,387.5,8.5,258,5909,0.12,2.62,24.88,0.811,6,0.091,0.050,3298,1839,1937,0,0,0,0,0,0 $GC,6151,1.37,260.6,360.0,10.1,265,6156,0.00,2.55,0.00,0.000,4,0.000,0.036,3298,3423,1932,0,0,0,0,0,0 $GC,6202,1.37,260.6,354.6,11.1,266,6206,0.00,2.60,0.00,0.000,6,0.000,0.046,3298,1859,1931,0,0,0,0,0,0 $GC,6473,1.37,260.6,324.6,11.2,273,6478,0.00,2.47,0.00,0.000,4,0.000,0.036,3298,3416,1930,0,0,0,0,0,0 $GC,6495,1.37,260.6,321.8,12.1,273,6499,0.00,2.55,0.00,0.000,6,0.000,0.043,3298,1851,1929,0,0,0,0,0,0 $GC,6752,1.37,260.6,291.2,12.1,280,6756,0.00,2.53,0.00,0.000,4,0.000,0.031,3298,3424,1929,0,0,0,0,0,0 $GC,6807,1.37,260.6,283.9,12.7,281,6811,0.00,2.55,0.00,0.000,6,0.000,0.036,3298,1859,1928,0,0,0,0,0,0 $GC,7074,1.37,260.6,250.6,12.2,288,7078,0.00,2.50,0.00,0.000,4,0.000,0.035,3298,3424,1927,0,0,0,0,0,0 $GC,7097,1.37,260.6,247.9,12.3,288,7101,0.00,2.53,0.00,0.000,6,0.000,0.041,3298,1861,1927,0,0,0,0,0,0 $GC,7351,1.37,260.6,218.8,11.3,295,7356,0.00,2.50,0.00,0.000,4,0.000,0.035,3298,3427,1927,0,0,0,0,0,0 $GC,7384,1.37,260.6,214.8,12.3,295,7390,0.00,2.53,0.00,0.000,6,0.000,0.038,3298,1872,1926,0,0,0,0,0,0 $GC,7639,1.37,260.6,186.7,11.3,308,7643,0.00,2.47,0.00,0.000,4,0.000,0.031,3298,3424,1926,0,0,0,0,0,0 $GC,7673,1.37,260.6,183.3,11.8,310,7677,0.00,2.50,0.00,0.000,6,0.000,0.034,3298,1879,1926,0,0,0,0,0,0 $GC,7939,1.37,260.6,153.8,10.9,334,7943,0.00,2.45,0.00,0.000,4,0.000,0.029,3298,3424,1925,0,0,0,0,0,0 $GC,7985,1.42,260.6,148.8,11.2,337,7989,0.00,2.47,0.00,0.000,6,0.000,0.036,3298,1886,1925,0,0,0,0,0,0 $GC,8251,1.46,295.6,124.6,8.0,361,8290,0.00,0.00,29.67,0.624,6,0.000,0.000,3298,1886,1793,0,0,0,0,0,0 $GC,8547,1.51,296.3,97.5,10.0,389,8551,0.12,2.47,0.00,0.000,4,0.080,0.028,3333,3428,1790,0,0,0,0,0,0 $GC,8587,1.51,296.3,92.4,12.2,392,8591,0.00,2.50,0.00,0.000,6,0.000,0.032,3333,1881,1789,0,0,0,0,0,0 $GC,8854,1.51,296.3,63.1,10.2,416,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1881,1789,0,0,0,0,0,0 $GC,9119,1.52,308.9,39.4,9.3,441,9137,0.00,2.50,12.18,0.518,4,0.000,0.028,3333,3414,1740,0,0,0,0,0,0 $GC,9163,1.59,309.4,34.9,10.0,444,9173,0.00,2.53,0.00,0.000,6,0.000,0.033,3333,1875,1739,0,0,0,0,0,0 $STATE,9474,end climb,SURFACE_DEPTH_REACHED $STATE,9475,begin surface coast $FINISH,0.3,1.014534 $STATE,9531,end surface coast,CONTROL_FINISHED_OK $STATE,9531,begin surface $SM_CCo,9554,97.68,0.465,1,0,1287,420.20 $SM_GC,1.08,0.00,0.00,97.68,0.000,0.000,0.465,475,1747,1287,-11.62,-0.65,420.20 $IRIDIUM_FIX,2232.34,-15743.29,141299,232319 $TT8_MAMPS,0.026078 $HUMID,47.12 $INTERNAL_PRESSURE,9.34606 $TCM_TEMP,22.70 $XPDR_PINGS,47 $24V_AH,23.5,34.417 $10V_AH,10.3,35.377 $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,26.475,123.975,369.675,97.675,0.000,28.161,28.038,183.062,11.750,0.000,15.866,978.744,6129.388,533.874,1874.523,514.892,33.368,1235.553,0.000,1884.456,0.000,0.535,0.000 $DEVICE_MAMPS,137.293,118.118,906.594,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,333.886,283.151,387.785,747.712,1129.546,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355568 $DATA_FILE_SIZE,38479,495 $CAP_FILE_SIZE,100831,0 $CFSIZE,260165632,167931904 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,200910,042600,2239.825,-15746.361,37,1.2,42,10.1