version: 66.06 glider: 146 mission: 5 dive: 330 start: 10 4 110 12 35 44 data: $ID,146 $MISSION,5 $DIVE,330 $D_SURF,4 $D_FLARE,3 $D_TGT,500 $D_ABORT,750 $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,360 $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,-253854.69 $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,41 $R_STBD_OVSHOOT,67 $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 $GPS1,122037,2252.636,-15741.407,34,1.6,34,10.1 $_CALLS,3 $_XMS_NAKs,7 $_XMS_TOUTs,0 $_SM_DEPTHo,1.12 $_SM_ANGLEo,-66.7 $GPS2,123450,2252.502,-15741.439,16,1.9,16,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,NE $TGT_LATLONG,2258.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.042,0.231 $KALMAN_X,-297910.5,10.6,-399.8,348497.3,265.2 $KALMAN_Y,-465974.2,-414.5,-274.6,599866.7,-654.1 $MHEAD_RNG_PITCHd_Wd,339.5,10226,-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,15,end surface,CONTROL_FINISHED_OK $STATE,15,begin dive $GC,18,-1.38,-116.8,0.0,0.0,0,99,0.00,0.00,-79.00,0.000,2,0.000,0.000,478,1747,3264,0,0,0,0,0,0 $GC,102,-1.38,-116.8,3.4,-6.2,10,128,11.20,2.55,-4.07,0.000,4,0.137,0.044,2690,3329,3481,0,0,0,0,0,0 $GC,200,-1.31,-116.8,26.4,-15.8,23,208,0.08,2.53,0.00,0.000,6,0.093,0.031,2710,1790,3481,0,0,0,0,0,0 $GC,472,-1.23,-116.8,69.9,-14.4,49,482,0.10,0.00,0.00,0.000,6,0.131,0.000,2730,1790,3482,0,0,0,0,0,0 $GC,735,-1.23,-116.8,101.3,-11.1,74,740,0.00,2.70,0.00,0.000,4,0.000,0.064,2730,190,3482,0,0,0,0,0,0 $GC,755,-1.23,-116.8,103.3,-10.5,75,759,0.00,2.40,0.00,0.000,6,0.000,0.015,2730,1800,3482,0,0,0,0,0,0 $GC,1023,-1.23,-116.8,129.7,-9.7,99,1027,0.00,2.35,0.00,0.000,4,0.000,0.026,2730,3316,3482,0,0,0,0,0,0 $GC,1058,-1.31,-116.8,133.8,-9.9,101,1064,0.00,2.45,0.00,0.000,6,0.000,0.035,2730,1789,3483,0,0,0,0,0,0 $GC,1321,-1.36,-116.8,158.1,-9.6,126,1326,0.12,2.75,0.00,0.000,4,0.167,0.062,2688,193,3483,0,0,0,0,0,0 $GC,1357,-1.28,-116.8,162.4,-12.7,128,1363,0.15,2.40,0.00,0.000,6,0.106,0.017,2719,1786,3483,0,0,0,0,0,0 $GC,1621,-1.28,-116.8,189.5,-10.0,153,1626,0.00,2.38,0.00,0.000,4,0.000,0.029,2719,3316,3483,0,0,0,0,0,0 $GC,1657,-1.35,-116.8,193.0,-8.7,155,1663,0.00,2.42,0.00,0.000,6,0.000,0.034,2719,1800,3483,0,0,0,0,0,0 $GC,1941,-1.35,-116.8,219.8,-9.5,168,1945,0.00,2.35,0.00,0.000,4,0.000,0.028,2719,3311,3483,0,0,0,0,0,0 $GC,1968,-1.41,-116.8,222.3,-8.9,168,1973,0.12,2.40,0.00,0.000,6,0.071,0.031,2675,1803,3483,0,0,0,0,0,0 $GC,2220,-1.36,-116.8,250.2,-11.3,174,2222,0.12,0.00,0.00,0.000,6,0.111,0.000,2701,1804,3482,0,0,0,0,0,0 $GC,2462,-1.36,-116.8,274.9,-10.2,180,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1803,3482,0,0,0,0,0,0 $GC,2705,-1.36,-116.8,299.9,-10.4,186,2710,0.00,2.83,0.00,0.000,4,0.000,0.077,2701,193,3482,0,0,0,0,0,0 $GC,2739,-1.36,-116.8,304.0,-12.8,186,2745,0.00,2.45,0.00,0.000,6,0.000,0.025,2701,1775,3482,0,0,0,0,0,0 $GC,2989,-1.40,-116.8,330.0,-10.1,193,2994,0.00,2.53,0.00,0.000,4,0.000,0.038,2701,3349,3481,0,0,0,0,0,0 $GC,3040,-1.49,-116.8,334.6,-9.5,194,3045,0.12,2.50,0.00,0.000,6,0.073,0.041,2659,1829,3481,0,0,0,0,0,0 $GC,3313,-1.49,-116.8,364.6,-11.1,201,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1826,3479,0,0,0,0,0,0 $GC,3555,-1.49,-116.8,393.8,-12.1,207,3559,0.00,2.47,0.00,0.000,4,0.000,0.044,2659,3353,3478,0,0,0,0,0,0 $GC,3570,-1.49,-116.8,396.0,-12.5,207,3575,0.00,2.55,0.00,0.000,6,0.000,0.053,2660,1826,3478,0,0,0,0,0,0 $GC,3833,-1.49,-116.8,425.1,-11.1,214,3838,0.00,3.00,0.00,0.000,4,0.000,0.104,2659,197,3476,0,0,0,0,0,0 $GC,3882,-1.49,-116.8,431.0,-11.6,215,3887,0.00,2.58,0.00,0.000,6,0.000,0.034,2659,1798,3476,0,0,0,0,0,0 $GC,4155,-1.49,-116.8,457.3,-9.4,222,4159,0.00,2.60,0.00,0.000,4,0.000,0.058,2659,3360,3474,0,0,0,0,0,0 $GC,4183,-1.49,-116.8,459.9,-9.4,222,4187,0.00,2.58,0.00,0.000,6,0.000,0.054,2659,1829,3474,0,0,0,0,0,0 $GC,4433,-1.49,-116.8,484.2,-9.9,228,4438,0.00,3.05,0.00,0.000,4,0.000,0.114,2659,201,3472,0,0,0,0,0,0 $GC,4488,-1.49,-116.8,490.6,-11.7,229,4493,0.00,2.58,0.00,0.000,6,0.000,0.038,2659,1799,3471,0,0,0,0,0,0 $STATE,4590,end dive,TARGET_DEPTH_EXCEEDED $STATE,4590,begin apogee $GC,4597,-0.31,0.0,501.7,10.5,232,4697,1.23,0.00,95.90,0.914,6,0.084,0.000,2931,1798,3001,0,0,0,0,0,0 $STATE,4697,end apogee,CONTROL_FINISHED_OK $STATE,4698,begin climb $GC,4700,1.38,116.8,504.0,0.0,234,4805,1.58,0.00,100.47,0.891,6,0.043,0.000,3308,1798,2524,0,0,0,0,0,0 $GC,5037,1.30,157.7,486.7,7.7,243,5079,0.12,2.78,35.03,0.865,4,0.135,0.062,3286,3405,2356,0,0,0,0,0,0 $GC,5157,1.32,171.2,476.3,9.3,245,5177,0.00,2.67,12.68,0.800,6,0.000,0.056,3286,1847,2302,0,0,0,0,0,0 $GC,5459,1.29,188.3,449.3,9.1,253,5476,0.00,0.00,15.77,0.821,6,0.000,0.000,3286,1847,2233,0,0,0,0,0,0 $GC,5699,1.28,210.8,427.6,8.7,259,5725,0.00,2.62,20.83,0.834,4,0.000,0.041,3286,3415,2140,0,0,0,0,0,0 $GC,5753,1.30,225.9,422.6,9.2,260,5773,0.00,2.70,14.40,0.798,6,0.000,0.049,3285,1841,2080,0,0,0,0,0,0 $GC,6025,1.30,225.9,393.8,10.8,267,6029,0.00,2.95,0.00,0.000,4,0.000,0.092,3285,232,2073,0,0,0,0,0,0 $GC,6074,1.20,225.9,387.1,13.9,268,6079,0.12,2.58,0.00,0.000,6,0.135,0.027,3263,1847,2071,0,0,0,0,0,0 $GC,6348,1.20,225.9,356.1,11.4,275,6352,0.00,2.53,0.00,0.000,4,0.000,0.035,3263,3408,2070,0,0,0,0,0,0 $GC,6363,1.20,225.9,354.0,11.4,275,6368,0.00,2.62,0.00,0.000,6,0.000,0.046,3263,1820,2070,0,0,0,0,0,0 $GC,6624,1.20,226.5,327.4,10.0,282,6628,0.00,2.55,0.00,0.000,4,0.000,0.035,3263,3407,2069,0,0,0,0,0,0 $GC,6670,1.28,229.8,323.0,9.8,283,6675,0.00,2.60,0.00,0.000,6,0.000,0.040,3263,1836,2068,0,0,0,0,0,0 $GC,6949,1.35,256.0,298.9,8.5,290,6978,0.12,0.00,26.25,0.781,6,0.085,0.000,3296,1836,1957,0,0,0,0,0,0 $GC,7192,1.36,262.3,275.9,9.7,296,7206,0.00,2.85,6.45,0.637,4,0.000,0.072,3296,233,1930,0,0,0,0,0,0 $GC,7241,1.30,262.3,270.3,12.4,297,7246,0.00,2.55,0.00,0.000,6,0.000,0.027,3296,1839,1929,0,0,0,0,0,0 $GC,7519,1.30,262.3,241.6,10.6,304,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1840,1927,0,0,0,0,0,0 $GC,7762,1.30,262.3,215.6,10.4,310,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1841,1926,0,0,0,0,0,0 $GC,8015,1.30,262.3,190.3,11.0,322,8019,0.00,2.47,0.00,0.000,4,0.000,0.032,3296,3390,1926,0,0,0,0,0,0 $GC,8071,1.36,262.3,183.3,11.7,326,8077,0.00,2.58,0.00,0.000,6,0.000,0.036,3296,1807,1925,0,0,0,0,0,0 $GC,8333,1.36,262.3,154.1,10.5,351,8338,0.00,2.53,0.00,0.000,4,0.000,0.035,3296,3392,1924,0,0,0,0,0,0 $GC,8358,1.41,262.3,151.5,10.3,352,8365,0.00,2.55,0.00,0.000,6,0.000,0.040,3296,1820,1924,0,0,0,0,0,0 $GC,8624,1.44,288.1,126.2,8.6,377,8652,0.00,2.58,22.67,0.631,4,0.000,0.031,3296,3397,1825,0,0,0,0,0,0 $GC,8695,1.55,305.0,119.7,9.1,382,8718,0.12,2.60,15.93,0.603,6,0.052,0.035,3334,1832,1757,0,0,0,0,0,0 $GC,8983,1.56,312.0,89.7,9.6,409,8997,0.00,2.58,6.80,0.510,4,0.000,0.029,3334,3394,1728,0,0,0,0,0,0 $GC,9011,1.57,324.3,87.3,9.3,411,9035,0.00,2.55,12.77,0.562,6,0.000,0.033,3334,1828,1676,0,0,0,0,0,0 $GC,9290,1.61,324.3,58.1,11.0,437,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1827,1673,0,0,0,0,0,0 $GC,9557,1.65,324.4,31.7,10.0,462,9562,0.10,2.53,0.00,0.000,4,0.092,0.027,3362,3394,1673,0,0,0,0,0,0 $GC,9612,1.65,324.4,24.4,13.2,468,9621,0.00,2.55,0.00,0.000,6,0.000,0.034,3362,1844,1672,0,0,0,0,0,0 $STATE,9778,end climb,SURFACE_DEPTH_REACHED $STATE,9778,begin surface coast $FINISH,0.5,1.023286 $STATE,9822,end surface coast,CONTROL_FINISHED_OK $STATE,9822,begin surface $SM_CCo,9844,83.95,0.463,1,0,1288,420.20 $SM_GC,0.90,0.00,0.00,83.95,0.000,0.000,0.463,480,1739,1288,-11.60,-0.85,420.20 $IRIDIUM_FIX,2244.02,-15743.68,291299,121239 $TT8_MAMPS,0.025311 $HUMID,49.72 $INTERNAL_PRESSURE,9.3363 $TCM_TEMP,22.30 $XPDR_PINGS,46 $24V_AH,23.5,46.513 $10V_AH,10.1,45.624 $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,27.100,119.000,385.950,83.950,0.000,86.242,98.320,400.493,11.500,0.000,17.633,1000.548,6518.950,568.368,1815.775,883.774,33.361,1238.250,0.000,1823.901,0.000,0.536,0.000 $DEVICE_MAMPS,167.206,113.516,914.264,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,336.841,289.428,386.690,727.631,1100.661,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355720 $DATA_FILE_SIZE,38440,499 $CAP_FILE_SIZE,110476,0 $CFSIZE,260165632,162598912 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,041010,152225,2253.414,-15741.654,16,1.4,27,10.1