version: 66.06 glider: 146 mission: 5 dive: 493 start: 10 25 110 2 43 4 data: $ID,146 $MISSION,5 $DIVE,493 $D_SURF,4 $D_FLARE,3 $D_TGT,500 $D_ABORT,750 $D_NO_BLEED,200 $D_BOOST,0 $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,-259271.8 $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,34 $R_STBD_OVSHOOT,54 $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 $GPS1,023321,2256.808,-15744.413,55,3.2,74,10.1 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.05 $_SM_ANGLEo,-68.8 $GPS2,024208,2256.889,-15744.456,15,1.0,15,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,SW $TGT_LATLONG,2249.500,-15755.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.196,-0.130 $KALMAN_X,-259732.3,68.9,-103.5,304778.0,-125.1 $KALMAN_Y,-611830.4,187.5,1.5,752960.9,-271.6 $MHEAD_RNG_PITCHd_Wd,226.4,22610,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.10,0.000,2,0.000,0.000,474,1750,3471,0,0,0,0,0,0 $GC,108,-1.38,-116.8,4.5,-9.7,11,126,11.52,2.62,0.00,0.000,4,0.148,0.051,2690,195,3474,0,0,0,0,0,0 $GC,196,-1.25,-116.8,27.8,-16.3,23,205,0.15,2.47,0.00,0.000,6,0.100,0.023,2724,1778,3475,0,0,0,0,0,0 $GC,474,-1.25,-116.8,63.6,-11.1,49,478,0.00,2.47,0.00,0.000,4,0.000,0.025,2725,3339,3476,0,0,0,0,0,0 $GC,485,-1.25,-116.8,65.9,-11.0,49,494,0.00,2.55,0.00,0.000,6,0.000,0.027,2725,1771,3476,0,0,0,0,0,0 $GC,750,-1.29,-116.8,91.6,-8.8,74,755,0.00,2.70,0.00,0.000,4,0.000,0.059,2724,190,3478,0,0,0,0,0,0 $GC,832,-1.35,-116.8,99.3,-8.4,80,841,0.00,2.40,0.00,0.000,6,0.000,0.019,2724,1760,3477,0,0,0,0,0,0 $GC,1100,-1.40,-116.8,120.4,-8.1,105,1105,0.12,2.47,0.00,0.000,4,0.070,0.031,2681,3316,3478,0,0,0,0,0,0 $GC,1155,-1.40,-116.8,126.0,-10.4,109,1160,0.00,2.55,0.00,0.000,6,0.000,0.035,2680,1733,3478,0,0,0,0,0,0 $GC,1423,-1.36,-116.8,153.5,-11.2,133,1428,0.10,2.50,0.00,0.000,4,0.122,0.025,2702,3314,3479,0,0,0,0,0,0 $GC,1451,-1.36,-116.8,157.3,-10.8,135,1456,0.00,2.53,0.00,0.000,6,0.000,0.033,2702,1747,3478,0,0,0,0,0,0 $GC,1714,-1.36,-116.8,183.3,-10.0,159,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1746,3479,0,0,0,0,0,0 $GC,1965,-1.36,-116.8,208.5,-10.2,177,1969,0.00,2.50,0.00,0.000,4,0.000,0.025,2702,3317,3479,0,0,0,0,0,0 $GC,1977,-1.36,-116.8,209.7,-10.0,177,1981,0.00,2.53,0.00,0.000,6,0.000,0.033,2702,1748,3479,0,0,0,0,0,0 $GC,2243,-1.36,-116.8,231.6,-7.9,184,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1747,3479,0,0,0,0,0,0 $GC,2488,-1.36,-116.8,254.0,-9.7,190,2493,0.00,2.47,0.00,0.000,4,0.000,0.029,2702,3313,3478,0,0,0,0,0,0 $GC,2529,-1.44,-116.8,257.8,-9.5,191,2533,0.00,2.55,0.00,0.000,6,0.000,0.036,2702,1746,3478,0,0,0,0,0,0 $GC,2812,-1.49,-116.8,285.7,-10.1,198,2817,0.12,2.55,0.00,0.000,4,0.074,0.036,2662,3320,3477,0,0,0,0,0,0 $GC,2830,-1.49,-116.8,287.6,-9.9,198,2834,0.00,2.58,0.00,0.000,6,0.000,0.035,2662,1747,3477,0,0,0,0,0,0 $GC,3090,-1.49,-116.8,314.9,-10.3,205,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1747,3476,0,0,0,0,0,0 $GC,3334,-1.49,-116.8,339.3,-10.1,211,3338,0.00,2.53,0.00,0.000,4,0.000,0.040,2662,3311,3475,0,0,0,0,0,0 $GC,3379,-1.49,-116.8,343.7,-10.4,212,3383,0.00,2.58,0.00,0.000,6,0.000,0.040,2662,1760,3475,0,0,0,0,0,0 $GC,3656,-1.49,-116.8,372.0,-10.4,219,3660,0.00,2.53,0.00,0.000,4,0.000,0.040,2662,3314,3473,0,0,0,0,0,0 $GC,3677,-1.49,-116.8,374.3,-10.6,219,3682,0.00,2.58,0.00,0.000,6,0.000,0.049,2662,1768,3473,0,0,0,0,0,0 $GC,3934,-1.49,-116.8,400.6,-10.4,226,3939,0.00,2.85,0.00,0.000,4,0.000,0.092,2661,188,3472,0,0,0,0,0,0 $GC,3950,-1.49,-116.8,402.6,-10.5,226,3954,0.00,2.45,0.00,0.000,6,0.000,0.023,2661,1732,3472,0,0,0,0,0,0 $GC,4210,-1.49,-116.8,430.5,-10.6,233,4215,0.00,2.65,0.00,0.000,4,0.000,0.051,2661,3353,3470,0,0,0,0,0,0 $GC,4259,-1.49,-116.8,435.6,-10.2,234,4264,0.00,2.62,0.00,0.000,6,0.000,0.054,2661,1790,3470,0,0,0,0,0,0 $GC,4532,-1.49,-116.8,464.0,-10.7,241,4536,0.00,2.58,0.00,0.000,4,0.000,0.044,2662,3349,3468,0,0,0,0,0,0 $GC,4552,-1.49,-116.8,466.4,-11.0,241,4557,0.00,2.65,0.00,0.000,6,0.000,0.054,2661,1793,3468,0,0,0,0,0,0 $GC,4810,-1.49,-116.8,491.0,-9.4,248,4814,0.00,2.58,0.00,0.000,4,0.000,0.051,2661,3346,3466,0,0,0,0,0,0 $GC,4849,-1.52,-116.8,494.8,-9.1,249,4854,0.00,2.65,0.00,0.000,6,0.000,0.059,2661,1803,3466,0,0,0,0,0,0 $STATE,4927,end dive,TARGET_DEPTH_EXCEEDED $STATE,4927,begin apogee $GC,4932,-0.31,0.0,501.8,8.7,251,5033,1.23,0.00,97.20,0.926,6,0.099,0.000,2930,1802,3001,0,0,0,0,0,0 $STATE,5034,end apogee,CONTROL_FINISHED_OK $STATE,5034,begin climb $GC,5038,1.38,116.8,503.7,0.0,253,5149,1.52,3.08,102.72,0.903,4,0.052,0.114,3304,229,2523,0,0,0,0,0,0 $GC,5190,1.21,161.3,501.4,7.5,256,5236,0.20,2.62,39.53,0.880,6,0.121,0.037,3266,1816,2343,0,0,0,0,0,0 $GC,5484,1.28,215.8,481.1,6.9,263,5539,0.00,2.85,48.62,0.882,4,0.000,0.058,3266,3409,2120,0,0,0,0,0,0 $GC,5608,1.30,232.4,470.6,9.1,265,5629,0.00,2.75,15.77,0.824,6,0.000,0.057,3266,1829,2053,0,0,0,0,0,0 $GC,5896,1.30,232.4,439.6,11.3,273,5901,0.00,3.03,0.00,0.000,4,0.000,0.110,3265,232,2047,0,0,0,0,0,0 $GC,5917,1.25,232.4,437.1,11.9,273,5922,0.00,2.62,0.00,0.000,6,0.000,0.028,3265,1847,2045,0,0,0,0,0,0 $GC,6174,1.25,232.4,409.9,10.4,280,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1847,2045,0,0,0,0,0,0 $GC,6416,1.27,246.1,386.9,9.2,286,6435,0.00,2.97,12.20,0.792,4,0.000,0.074,3265,229,1996,0,0,0,0,0,0 $GC,6487,1.23,246.1,379.6,10.5,287,6491,0.00,2.60,0.00,0.000,6,0.000,0.025,3265,1838,1995,0,0,0,0,0,0 $GC,6743,1.25,259.4,355.7,9.3,294,6763,0.00,2.62,13.40,0.785,4,0.000,0.036,3265,3399,1942,0,0,0,0,0,0 $GC,6776,1.30,260.2,352.3,10.0,294,6781,0.00,2.67,0.00,0.000,6,0.000,0.044,3266,1826,1941,0,0,0,0,0,0 $GC,7026,1.30,260.2,325.8,10.7,300,7030,0.00,2.83,0.00,0.000,4,0.000,0.081,3266,236,1938,0,0,0,0,0,0 $GC,7060,1.30,260.2,321.7,12.6,300,7065,0.00,2.58,0.00,0.000,6,0.000,0.023,3265,1846,1938,0,0,0,0,0,0 $GC,7310,1.34,260.2,295.3,10.3,307,7311,0.10,0.00,0.00,0.000,6,0.102,0.000,3293,1847,1937,0,0,0,0,0,0 $GC,7553,1.34,260.2,270.3,10.2,313,7558,0.00,2.83,0.00,0.000,4,0.000,0.071,3293,234,1936,0,0,0,0,0,0 $GC,7587,1.27,260.2,266.5,12.5,313,7593,0.00,2.53,0.00,0.000,6,0.000,0.027,3293,1824,1935,0,0,0,0,0,0 $GC,7837,1.28,264.7,241.6,9.8,320,7847,0.00,2.58,4.95,0.574,4,0.000,0.034,3293,3397,1922,0,0,0,0,0,0 $GC,7870,1.31,264.7,238.0,10.5,320,7875,0.00,2.65,0.00,0.000,6,0.000,0.038,3293,1804,1922,0,0,0,0,0,0 $GC,8121,1.31,266.2,213.2,10.0,327,8126,0.00,2.72,0.00,0.000,4,0.000,0.076,3293,236,1921,0,0,0,0,0,0 $GC,8154,1.26,266.2,209.6,10.8,327,8159,0.00,2.50,0.00,0.000,6,0.000,0.027,3293,1821,1919,0,0,0,0,0,0 $GC,8413,1.28,278.4,186.1,9.3,343,8432,0.00,0.00,13.85,0.683,6,0.000,0.000,3293,1823,1865,0,0,0,0,0,0 $GC,8691,1.28,278.4,156.4,10.8,369,8696,0.00,2.78,0.00,0.000,4,0.000,0.066,3293,233,1862,0,0,0,0,0,0 $GC,8721,1.28,278.4,152.4,12.7,371,8725,0.00,2.53,0.00,0.000,6,0.000,0.027,3293,1828,1861,0,0,0,0,0,0 $GC,8988,1.28,280.0,124.4,9.9,395,8993,0.00,2.50,0.00,0.000,4,0.000,0.031,3293,3391,1861,0,0,0,0,0,0 $GC,9030,1.37,285.7,119.8,9.7,398,9044,0.00,2.60,7.50,0.574,6,0.000,0.041,3293,1817,1836,0,0,0,0,0,0 $GC,9300,1.44,297.8,96.0,9.3,423,9324,0.00,2.62,12.27,0.599,4,0.000,0.030,3293,3389,1785,0,0,0,0,0,0 $GC,9352,1.55,297.8,90.4,11.0,427,9357,0.20,2.62,0.00,0.000,6,0.069,0.037,3343,1810,1785,0,0,0,0,0,0 $GC,9620,1.56,303.7,62.4,9.7,451,9633,0.00,2.72,6.65,0.512,4,0.000,0.061,3343,238,1760,0,0,0,0,0,0 $GC,9688,1.49,308.0,54.9,9.8,456,9698,0.00,2.50,5.07,0.459,6,0.000,0.020,3343,1814,1745,0,0,0,0,0,0 $GC,9958,1.54,309.1,30.2,10.0,481,9962,0.00,2.53,0.00,0.000,4,0.000,0.030,3343,3389,1743,0,0,0,0,0,0 $GC,9987,1.61,316.7,26.9,9.6,484,10005,0.00,2.62,9.50,0.518,6,0.000,0.036,3343,1814,1708,0,0,0,0,0,0 $STATE,10246,end climb,SURFACE_DEPTH_REACHED $STATE,10247,begin surface coast $FINISH,0.4,1.010112 $STATE,10309,end surface coast,CONTROL_FINISHED_OK $STATE,10309,begin surface $SM_CCo,10331,86.00,0.538,0,0,1287,420.20 $SM_GC,1.00,0.00,0.00,86.00,0.000,0.000,0.538,477,1745,1287,-11.61,-0.71,420.20 $IRIDIUM_FIX,2246.36,-15743.68,180100,232317 $TT8_MAMPS,0.026078 $HUMID,55.11 $INTERNAL_PRESSURE,9.26793 $TCM_TEMP,20.10 $XPDR_PINGS,124 $24V_AH,23.3,68.168 $10V_AH,9.9,64.778 $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,26.975,146.800,389.250,86.000,0.000,27.765,36.036,311.804,31.000,0.000,17.317,1077.626,6631.935,551.272,1990.780,695.166,33.368,1297.000,0.000,1989.452,0.000,0.534,0.000 $DEVICE_MAMPS,148.031,118.118,925.769,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,359.201,323.451,416.265,805.848,1220.320,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355680 $DATA_FILE_SIZE,41612,531 $CAP_FILE_SIZE,114752,0 $CFSIZE,260165632,153583616 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,251010,053752,2256.546,-15745.906,9,99.0,28,10.1