version: 66.06 glider: 146 mission: 5 dive: 555 start: 11 2 110 8 16 7 data: $ID,146 $MISSION,5 $DIVE,555 $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,400 $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,-261054.77 $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,22 $R_STBD_OVSHOOT,56 $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 $GPS1,080536,2254.049,-15743.134,29,0.9,29,10.1 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.10 $_SM_ANGLEo,-67.4 $GPS2,081513,2254.155,-15743.118,9,1.2,14,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,SE $TGT_LATLONG,2249.000,-15742.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.079,-0.221 $KALMAN_X,-262398.2,-142.6,105.7,309749.5,-491.7 $KALMAN_Y,-516759.9,115.7,301.7,652591.0,745.6 $MHEAD_RNG_PITCHd_Wd,150.3,9737,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-84.03,0.000,6,0.000,0.000,476,1781,3479,0,0,0,0,0,0 $GC,108,-1.38,-116.8,4.4,-9.5,11,125,12.00,2.67,0.00,0.000,4,0.164,0.051,2689,188,3481,0,0,0,0,0,0 $GC,157,-1.05,-116.8,20.1,-26.6,17,165,0.35,2.45,0.00,0.000,6,0.094,0.017,2765,1765,3482,0,0,0,0,0,0 $GC,436,-1.05,-116.8,53.8,-11.5,47,440,0.00,2.50,0.00,0.000,4,0.000,0.025,2765,3340,3483,0,0,0,0,0,0 $GC,471,-1.10,-116.8,57.8,-10.9,49,475,0.00,2.55,0.00,0.000,6,0.000,0.028,2765,1760,3483,0,0,0,0,0,0 $GC,740,-1.20,-116.8,83.4,-9.3,73,745,0.12,2.67,0.00,0.000,4,0.069,0.057,2723,190,3484,0,0,0,0,0,0 $GC,773,-1.24,-116.8,86.9,-10.8,75,778,0.00,2.38,0.00,0.000,6,0.000,0.015,2723,1776,3484,0,0,0,0,0,0 $GC,1042,-1.28,-116.8,110.8,-7.3,99,1047,0.00,2.67,0.00,0.000,4,0.000,0.062,2722,187,3485,0,0,0,0,0,0 $GC,1059,-1.28,-116.8,112.6,-7.3,100,1063,0.00,2.38,0.00,0.000,6,0.000,0.021,2722,1748,3485,0,0,0,0,0,0 $GC,1334,-1.32,-116.8,132.9,-8.2,125,1338,0.00,2.47,0.00,0.000,4,0.000,0.031,2723,3323,3485,0,0,0,0,0,0 $GC,1368,-1.40,-116.8,135.8,-8.4,127,1373,0.12,2.53,0.00,0.000,6,0.065,0.028,2674,1739,3486,0,0,0,0,0,0 $GC,1632,-1.35,-116.8,163.1,-11.1,151,1637,0.15,2.47,0.00,0.000,4,0.121,0.025,2705,3321,3486,0,0,0,0,0,0 $GC,1700,-1.42,-116.8,170.7,-10.2,156,1709,0.00,2.47,0.00,0.000,6,0.000,0.027,2705,1793,3486,0,0,0,0,0,0 $GC,1968,-1.42,-116.8,196.8,-9.9,181,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1790,3486,0,0,0,0,0,0 $GC,2239,-1.42,-116.8,224.1,-9.7,190,2243,0.00,2.40,0.00,0.000,4,0.000,0.025,2705,3321,3486,0,0,0,0,0,0 $GC,2255,-1.46,-116.8,225.8,-9.6,190,2259,0.00,2.40,0.00,0.000,6,0.000,0.030,2706,1810,3486,0,0,0,0,0,0 $GC,2517,-1.46,-116.8,250.7,-9.6,197,2522,0.00,2.80,0.00,0.000,4,0.000,0.073,2705,190,3486,0,0,0,0,0,0 $GC,2539,-1.46,-116.8,253.0,-9.7,197,2543,0.00,2.50,0.00,0.000,6,0.000,0.024,2706,1809,3485,0,0,0,0,0,0 $GC,2794,-1.50,-116.8,274.9,-8.4,204,2799,0.15,2.42,0.00,0.000,4,0.063,0.029,2653,3339,3485,0,0,0,0,0,0 $GC,2818,-1.50,-116.8,276.9,-8.4,204,2823,0.10,2.45,0.00,0.000,6,0.115,0.035,2674,1825,3485,0,0,0,0,0,0 $GC,3073,-1.50,-116.8,299.6,-8.9,211,3078,0.00,2.88,0.00,0.000,4,0.000,0.081,2674,192,3484,0,0,0,0,0,0 $GC,3100,-1.50,-116.8,302.2,-9.8,211,3104,0.00,2.53,0.00,0.000,6,0.000,0.023,2674,1813,3484,0,0,0,0,0,0 $GC,3352,-1.50,-116.8,324.4,-8.8,217,3356,0.00,2.45,0.00,0.000,4,0.000,0.038,2674,3348,3483,0,0,0,0,0,0 $GC,3384,-1.50,-116.8,327.4,-8.8,217,3390,0.00,2.45,0.00,0.000,6,0.000,0.036,2674,1852,3483,0,0,0,0,0,0 $GC,3634,-1.50,-116.8,347.8,-8.3,224,3639,0.00,2.95,0.00,0.000,4,0.000,0.088,2674,197,3483,0,0,0,0,0,0 $GC,3675,-1.50,-116.8,351.5,-9.4,225,3680,0.00,2.60,0.00,0.000,6,0.000,0.028,2674,1828,3482,0,0,0,0,0,0 $GC,3959,-1.50,-116.8,377.8,-9.1,232,3963,0.00,2.47,0.00,0.000,4,0.000,0.041,2674,3351,3480,0,0,0,0,0,0 $GC,3980,-1.50,-116.8,379.8,-9.1,232,3984,0.00,2.50,0.00,0.000,6,0.000,0.048,2674,1848,3480,0,0,0,0,0,0 $GC,4237,-1.50,-116.8,403.7,-9.5,239,4241,0.00,2.42,0.00,0.000,4,0.000,0.042,2674,3342,3479,0,0,0,0,0,0 $GC,4264,-1.53,-116.8,406.7,-10.0,239,4268,0.00,2.47,0.00,0.000,6,0.000,0.049,2674,1862,3479,0,0,0,0,0,0 $GC,4514,-1.53,-116.8,429.9,-9.3,245,4519,0.00,3.05,0.00,0.000,4,0.000,0.096,2674,197,3478,0,0,0,0,0,0 $GC,4548,-1.53,-116.8,433.2,-9.9,245,4554,0.00,2.62,0.00,0.000,6,0.000,0.032,2674,1822,3477,0,0,0,0,0,0 $GC,4798,-1.53,-116.8,456.0,-9.0,252,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1822,3476,0,0,0,0,0,0 $GC,5042,-1.53,-116.8,477.6,-8.9,258,5047,0.00,2.58,0.00,0.000,4,0.000,0.062,2674,3345,3474,0,0,0,0,0,0 $GC,5072,-1.58,-116.8,480.1,-8.5,258,5076,0.00,2.53,0.00,0.000,6,0.000,0.055,2674,1862,3474,0,0,0,0,0,0 $STATE,5319,end dive,TARGET_DEPTH_EXCEEDED $STATE,5319,begin apogee $GC,5326,-0.31,0.0,500.9,8.3,264,5428,1.15,0.00,98.97,0.927,6,0.084,0.000,2929,1835,3001,0,0,0,0,0,0 $STATE,5429,end apogee,CONTROL_FINISHED_OK $STATE,5429,begin climb $GC,5432,1.38,116.8,502.9,0.0,266,5539,1.58,0.00,103.30,0.902,6,0.038,0.000,3308,1835,2523,0,0,0,0,0,0 $GC,5768,1.31,165.4,487.4,7.2,275,5818,0.00,2.67,42.67,0.882,4,0.000,0.050,3308,3389,2325,0,0,0,0,0,0 $GC,5920,1.25,176.9,474.1,9.4,278,5940,0.17,2.70,11.20,0.795,6,0.121,0.062,3274,1821,2278,0,0,0,0,0,0 $GC,6186,1.31,224.8,454.5,7.3,285,6235,0.00,2.67,43.53,0.874,4,0.000,0.044,3274,3384,2083,0,0,0,0,0,0 $GC,6264,1.34,251.4,448.1,8.5,286,6294,0.00,2.72,25.05,0.844,6,0.000,0.062,3273,1827,1976,0,0,0,0,0,0 $GC,6554,1.35,261.9,421.8,9.4,294,6569,0.00,3.05,9.98,0.772,4,0.000,0.104,3273,228,1932,0,0,0,0,0,0 $GC,6608,1.30,261.9,415.3,11.6,295,6613,0.00,2.58,0.00,0.000,6,0.000,0.024,3273,1814,1930,0,0,0,0,0,0 $GC,6878,1.30,261.9,386.8,10.8,302,6882,0.00,2.62,0.00,0.000,4,0.000,0.038,3273,3409,1928,0,0,0,0,0,0 $GC,6917,1.36,261.9,382.2,11.8,303,6922,0.10,2.67,0.00,0.000,6,0.102,0.050,3299,1827,1926,0,0,0,0,0,0 $GC,7201,1.36,261.9,346.8,12.2,310,7205,0.00,2.88,0.00,0.000,4,0.000,0.087,3299,235,1926,0,0,0,0,0,0 $GC,7229,1.28,261.9,343.2,13.0,310,7234,0.00,2.58,0.00,0.000,6,0.000,0.023,3299,1842,1924,0,0,0,0,0,0 $GC,7483,1.28,261.9,315.3,10.8,316,7487,0.00,2.85,0.00,0.000,4,0.000,0.073,3299,234,1924,0,0,0,0,0,0 $GC,7515,1.19,261.9,310.9,12.6,316,7522,0.20,2.53,0.00,0.000,6,0.110,0.021,3258,1814,1923,0,0,0,0,0,0 $GC,7767,1.27,274.8,287.5,9.3,323,7787,0.00,2.90,11.82,0.742,4,0.000,0.074,3258,230,1879,0,0,0,0,0,0 $GC,7804,1.27,274.8,283.3,10.2,323,7810,0.00,2.50,0.00,0.000,6,0.000,0.026,3258,1800,1878,0,0,0,0,0,0 $GC,8055,1.39,305.6,261.7,8.3,330,8090,0.20,2.85,28.45,0.764,4,0.068,0.072,3308,230,1755,0,0,0,0,0,0 $GC,8103,1.35,305.6,257.1,10.8,331,8107,0.00,2.50,0.00,0.000,6,0.000,0.028,3308,1786,1753,0,0,0,0,0,0 $GC,8380,1.35,305.6,228.7,10.3,338,8384,0.00,2.60,0.00,0.000,4,0.000,0.032,3308,3392,1750,0,0,0,0,0,0 $GC,8403,1.39,305.6,226.2,11.0,338,8408,0.00,2.70,0.00,0.000,6,0.000,0.045,3308,1777,1749,0,0,0,0,0,0 $GC,8658,1.39,305.6,196.6,11.7,345,8662,0.00,2.62,0.00,0.000,4,0.000,0.037,3308,3390,1748,0,0,0,0,0,0 $GC,8680,1.39,305.6,193.8,12.6,346,8686,0.00,2.65,0.00,0.000,6,0.000,0.041,3308,1795,1747,0,0,0,0,0,0 $GC,8945,1.40,313.3,166.8,9.6,371,8955,0.00,0.00,7.20,0.599,6,0.000,0.000,3308,1795,1723,0,0,0,0,0,0 $GC,9213,1.45,319.4,141.1,9.7,396,9228,0.00,2.72,7.38,0.584,4,0.000,0.067,3308,236,1697,0,0,0,0,0,0 $GC,9258,1.45,319.4,136.0,11.5,399,9264,0.00,2.53,0.00,0.000,6,0.000,0.021,3308,1827,1696,0,0,0,0,0,0 $GC,9521,1.50,319.4,108.9,10.6,424,9525,0.00,2.50,0.00,0.000,4,0.000,0.035,3308,3393,1695,0,0,0,0,0,0 $GC,9557,1.61,319.4,105.2,10.3,426,9568,0.12,2.62,0.00,0.000,6,0.045,0.042,3349,1818,1695,0,0,0,0,0,0 $GC,9824,1.61,319.4,73.9,11.6,451,9829,0.00,2.72,0.00,0.000,4,0.000,0.064,3348,239,1695,0,0,0,0,0,0 $GC,9893,1.55,319.4,66.1,10.4,456,9898,0.00,2.47,0.00,0.000,6,0.000,0.019,3348,1827,1694,0,0,0,0,0,0 $GC,10164,1.63,346.9,45.1,8.5,480,10194,0.00,2.55,24.92,0.574,4,0.000,0.029,3348,3376,1585,0,0,0,0,0,0 $GC,10221,1.71,359.6,39.2,9.3,484,10245,0.08,2.62,12.25,0.534,6,0.056,0.035,3377,1805,1533,0,0,0,0,0,0 $STATE,10526,end climb,SURFACE_DEPTH_REACHED $STATE,10526,begin surface coast $FINISH,0.4,1.010408 $STATE,10568,end surface coast,CONTROL_FINISHED_OK $STATE,10572,begin surface $SM_CCo,10594,33.67,0.535,0,0,1369,400.08 $SM_GC,1.29,0.00,0.00,33.67,0.000,0.000,0.535,475,1748,1369,-11.62,-0.62,400.08 $IRIDIUM_FIX,2244.02,-15751.06,270100,050519 $TT8_MAMPS,0.026078 $HUMID,56.69 $INTERNAL_PRESSURE,9.2777 $TCM_TEMP,20.40 $XPDR_PINGS,146 $24V_AH,23.3,77.067 $10V_AH,9.7,72.461 $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,28.500,156.400,426.725,33.675,0.000,30.108,45.957,350.148,36.500,0.000,16.138,1094.939,6815.469,542.896,1983.327,765.888,33.372,1297.404,0.000,1987.211,0.000,0.534,0.000 $DEVICE_MAMPS,164.138,194.051,926.536,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,358.707,320.629,411.190,796.309,1199.720,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355668 $DATA_FILE_SIZE,41561,531 $CAP_FILE_SIZE,120824,0 $CFSIZE,260165632,149831680 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,021110,111428,2254.046,-15743.026,12,99.0,31,10.1