version: 66.06 glider: 146 mission: 5 dive: 461 start: 10 21 110 0 1 32 data: $ID,146 $MISSION,5 $DIVE,461 $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,-258451.97 $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,46 $R_STBD_OVSHOOT,55 $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 $GPS1,235222,2251.590,-15750.998,10,99.0,29,10.1 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.04 $_SM_ANGLEo,-70.9 $GPS2,000037,2251.630,-15750.982,29,1.2,29,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,SW $TGT_LATLONG,2249.500,-15755.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.208,-0.109 $KALMAN_X,-261534.6,-144.7,206.6,295245.1,-162.7 $KALMAN_Y,-607748.6,-52.8,-136.5,739523.1,-191.9 $MHEAD_RNG_PITCHd_Wd,232.3,7912,-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,-85.90,0.000,2,0.000,0.000,477,1742,3466,0,0,0,0,0,0 $GC,108,-1.38,-116.8,4.5,-9.6,11,126,11.55,2.55,0.00,0.000,4,0.150,0.047,2689,211,3469,0,0,0,0,0,0 $GC,233,-1.29,-116.8,35.0,-15.6,27,239,0.15,2.42,0.00,0.000,6,0.126,0.015,2717,1787,3470,0,0,0,0,0,0 $GC,502,-1.25,-116.8,72.6,-12.1,51,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1789,3471,0,0,0,0,0,0 $GC,762,-1.25,-116.8,100.3,-10.6,76,767,0.00,2.42,0.00,0.000,4,0.000,0.025,2718,3338,3472,0,0,0,0,0,0 $GC,787,-1.29,-116.8,102.8,-10.0,77,793,0.00,2.53,0.00,0.000,6,0.000,0.027,2718,1763,3473,0,0,0,0,0,0 $GC,1051,-1.33,-116.8,127.1,-8.7,102,1055,0.00,2.65,0.00,0.000,4,0.000,0.058,2718,197,3474,0,0,0,0,0,0 $GC,1061,-1.33,-116.8,128.3,-8.9,102,1070,0.00,2.40,0.00,0.000,6,0.000,0.018,2718,1781,3474,0,0,0,0,0,0 $GC,1329,-1.37,-116.8,152.2,-9.3,127,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1782,3474,0,0,0,0,0,0 $GC,1592,-1.41,-116.8,177.4,-9.3,152,1597,0.10,2.40,0.00,0.000,4,0.087,0.027,2681,3304,3474,0,0,0,0,0,0 $GC,1650,-1.41,-116.8,183.7,-10.4,156,1659,0.00,2.53,0.00,0.000,6,0.000,0.028,2681,1751,3475,0,0,0,0,0,0 $GC,1937,-1.41,-116.8,212.2,-9.8,175,1941,0.00,2.42,0.00,0.000,4,0.000,0.029,2682,3298,3474,0,0,0,0,0,0 $GC,1965,-1.41,-116.8,215.0,-10.2,175,1969,0.00,2.50,0.00,0.000,6,0.000,0.028,2682,1747,3474,0,0,0,0,0,0 $GC,2215,-1.41,-116.8,239.3,-9.9,181,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1747,3474,0,0,0,0,0,0 $GC,2459,-1.41,-116.8,263.5,-10.0,187,2463,0.00,2.47,0.00,0.000,4,0.000,0.027,2681,3296,3474,0,0,0,0,0,0 $GC,2474,-1.41,-116.8,265.4,-10.5,187,2478,0.00,2.47,0.00,0.000,6,0.000,0.036,2681,1765,3474,0,0,0,0,0,0 $GC,2737,-1.41,-116.8,291.4,-9.8,194,2742,0.00,2.78,0.00,0.000,4,0.000,0.077,2681,187,3473,0,0,0,0,0,0 $GC,2755,-1.41,-116.8,293.3,-9.7,194,2759,0.00,2.40,0.00,0.000,6,0.000,0.021,2681,1720,3473,0,0,0,0,0,0 $GC,3017,-1.41,-116.8,317.8,-9.5,201,3021,0.00,2.62,0.00,0.000,4,0.000,0.035,2681,3349,3472,0,0,0,0,0,0 $GC,3072,-1.47,-116.8,323.4,-9.6,202,3077,0.00,2.58,0.00,0.000,6,0.000,0.043,2681,1783,3472,0,0,0,0,0,0 $GC,3338,-1.47,-116.8,350.3,-10.2,209,3343,0.00,2.53,0.00,0.000,4,0.000,0.037,2681,3352,3470,0,0,0,0,0,0 $GC,3361,-1.47,-116.8,352.6,-10.4,209,3366,0.00,2.60,0.00,0.000,6,0.000,0.044,2681,1785,3470,0,0,0,0,0,0 $GC,3616,-1.47,-116.8,377.6,-9.6,216,3621,0.00,2.53,0.00,0.000,4,0.000,0.038,2681,3348,3469,0,0,0,0,0,0 $GC,3656,-1.53,-116.8,381.3,-9.5,217,3661,0.00,2.58,0.00,0.000,6,0.000,0.051,2681,1803,3468,0,0,0,0,0,0 $GC,3942,-1.53,-116.8,406.1,-8.7,224,3946,0.00,2.47,0.00,0.000,4,0.000,0.037,2681,3342,3467,0,0,0,0,0,0 $GC,3963,-1.53,-116.8,408.3,-8.6,224,3967,0.00,2.60,0.00,0.000,6,0.000,0.051,2681,1802,3467,0,0,0,0,0,0 $GC,4218,-1.53,-116.8,429.3,-8.2,231,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1802,3465,0,0,0,0,0,0 $GC,4463,-1.53,-116.8,450.0,-8.6,237,4468,0.00,2.55,0.00,0.000,4,0.000,0.044,2682,3343,3464,0,0,0,0,0,0 $GC,4531,-1.58,-116.8,456.3,-8.9,238,4536,0.12,2.62,0.00,0.000,6,0.077,0.058,2642,1808,3463,0,0,0,0,0,0 $GC,4786,-1.54,-116.8,485.0,-11.7,245,4788,0.10,0.00,0.00,0.000,6,0.126,0.000,2663,1808,3462,0,0,0,0,0,0 $STATE,4946,end dive,TARGET_DEPTH_EXCEEDED $STATE,4946,begin apogee $GC,4953,-0.31,0.0,501.8,10.3,249,5052,1.23,0.00,95.10,0.927,6,0.089,0.000,2930,1808,3001,0,0,0,0,0,0 $STATE,5053,end apogee,CONTROL_FINISHED_OK $STATE,5053,begin climb $GC,5055,1.38,116.8,504.0,0.0,251,5168,1.58,2.72,100.82,0.902,4,0.049,0.050,3310,3383,2523,0,0,0,0,0,0 $GC,5196,1.30,157.0,501.0,7.7,255,5238,0.12,2.72,35.58,0.874,6,0.134,0.061,3288,1820,2360,0,0,0,0,0,0 $GC,5517,1.24,164.6,470.1,9.6,263,5525,0.00,0.00,6.50,0.709,6,0.000,0.000,3287,1820,2330,0,0,0,0,0,0 $GC,5762,1.22,203.1,450.7,7.8,269,5804,0.00,2.62,35.62,0.868,4,0.000,0.037,3287,3390,2171,0,0,0,0,0,0 $GC,5884,1.23,205.8,439.6,9.9,271,5888,0.00,2.70,0.00,0.000,6,0.000,0.054,3287,1825,2167,0,0,0,0,0,0 $GC,6134,1.19,205.8,413.1,10.9,277,6136,0.15,0.00,0.00,0.000,6,0.186,0.000,3258,1825,2164,0,0,0,0,0,0 $GC,6377,1.21,225.6,390.8,8.9,283,6399,0.00,0.00,19.83,0.829,6,0.000,0.000,3258,1825,2081,0,0,0,0,0,0 $GC,6621,1.25,254.7,370.3,8.4,289,6655,0.00,2.67,27.17,0.828,4,0.000,0.038,3258,3396,1961,0,0,0,0,0,0 $GC,6669,1.33,283.0,366.3,8.4,290,6705,0.12,2.70,26.42,0.814,6,0.090,0.045,3289,1815,1846,0,0,0,0,0,0 $GC,6950,1.33,283.0,335.1,11.2,297,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1815,1840,0,0,0,0,0,0 $GC,7193,1.33,283.0,307.6,11.3,303,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1815,1838,0,0,0,0,0,0 $GC,7435,1.33,283.0,279.5,11.5,309,7440,0.00,2.58,0.00,0.000,4,0.000,0.029,3289,3401,1836,0,0,0,0,0,0 $GC,7458,1.33,283.0,277.0,10.7,309,7462,0.00,2.62,0.00,0.000,6,0.000,0.044,3289,1824,1835,0,0,0,0,0,0 $GC,7715,1.33,283.0,251.5,10.0,316,7719,0.00,2.80,0.00,0.000,4,0.000,0.078,3289,236,1835,0,0,0,0,0,0 $GC,7771,1.29,283.0,245.1,11.6,317,7776,0.00,2.53,0.00,0.000,6,0.000,0.025,3289,1824,1834,0,0,0,0,0,0 $GC,8038,1.29,283.0,218.5,10.1,324,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1825,1833,0,0,0,0,0,0 $GC,8284,1.33,283.0,193.4,11.1,333,8288,0.00,2.55,0.00,0.000,4,0.000,0.036,3289,3401,1833,0,0,0,0,0,0 $GC,8308,1.39,283.0,191.6,10.4,334,8312,0.00,2.62,0.00,0.000,6,0.000,0.043,3289,1815,1832,0,0,0,0,0,0 $GC,8574,1.42,307.3,165.2,8.6,358,8600,0.00,2.60,20.05,0.679,4,0.000,0.033,3290,3394,1747,0,0,0,0,0,0 $GC,8637,1.54,321.0,159.3,9.3,363,8657,0.20,2.60,13.73,0.648,6,0.064,0.037,3341,1830,1692,0,0,0,0,0,0 $GC,8911,1.49,321.0,125.4,13.8,388,8916,0.00,2.78,0.00,0.000,4,0.000,0.070,3340,236,1687,0,0,0,0,0,0 $GC,8942,1.37,321.0,121.0,15.5,390,8948,0.20,2.55,0.00,0.000,6,0.117,0.021,3301,1852,1686,0,0,0,0,0,0 $GC,9204,1.43,321.0,89.8,11.3,414,9208,0.00,2.80,0.00,0.000,4,0.000,0.062,3301,237,1686,0,0,0,0,0,0 $GC,9225,1.43,321.0,87.9,11.4,415,9230,0.00,2.53,0.00,0.000,6,0.000,0.020,3301,1841,1685,0,0,0,0,0,0 $GC,9492,1.55,365.1,64.0,7.5,439,9537,0.15,2.55,38.25,0.598,4,0.074,0.028,3341,3380,1511,0,0,0,0,0,0 $GC,9551,1.62,392.3,59.4,8.5,443,9581,0.00,2.55,25.02,0.577,6,0.000,0.035,3341,1844,1400,0,0,0,0,0,0 $GC,9848,1.67,392.3,27.5,11.2,471,9858,0.10,2.80,0.00,0.000,4,0.098,0.064,3369,245,1397,0,0,0,0,0,0 $GC,9884,1.62,392.3,23.1,12.4,475,9893,0.00,2.53,0.00,0.000,6,0.000,0.020,3369,1831,1395,0,0,0,0,0,0 $STATE,10030,end climb,SURFACE_DEPTH_REACHED $STATE,10030,begin surface coast $FINISH,0.4,1.015337 $STATE,10068,end surface coast,CONTROL_FINISHED_OK $STATE,10068,begin surface $SM_CCo,10089,28.60,0.343,1,0,1287,420.20 $SM_GC,1.07,0.00,0.00,28.60,0.000,0.000,0.343,477,1741,1287,-11.61,-0.85,420.20 $IRIDIUM_FIX,2244.02,-15751.94,140100,212147 $TT8_MAMPS,0.026078 $HUMID,55.71 $INTERNAL_PRESSURE,9.2484 $TCM_TEMP,20.00 $XPDR_PINGS,78 $24V_AH,23.3,63.941 $10V_AH,10.0,60.898 $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,27.725,118.850,444.100,28.600,0.000,29.232,35.691,274.296,19.500,0.000,31.378,1004.857,6613.304,510.628,1852.361,639.449,33.367,1223.888,0.000,1845.818,0.000,0.534,0.000 $DEVICE_MAMPS,186.381,89.739,926.536,342.849,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,338.635,284.924,384.712,725.326,1097.082,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355720 $DATA_FILE_SIZE,38392,501 $CAP_FILE_SIZE,107312,0 $CFSIZE,260165632,155443200 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,211010,025128,2251.038,-15751.996,10,99.0,29,10.1