version: 66.06 glider: 146 mission: 6 dive: 625 start: 8 3 111 8 53 18 data: $ID,146 $MISSION,6 $DIVE,625 $D_SURF,4 $D_FLARE,3 $D_TGT,450 $D_ABORT,500 $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,150 $T_MISSION,300 $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,100 $COURSE_BIAS,0 $GLIDE_SLOPE,35 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,52520 $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,380 $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,-283071.34 $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,3175 $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,2120 $C_ROLL_CLIMB,1805 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,18 $R_STBD_OVSHOOT,60 $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,3010 $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,94 $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,0.0036476359 $SEABIRD_T_H,0.00058019959 $SEABIRD_T_I,1.488937e-05 $SEABIRD_T_J,2.4708795e-06 $SEABIRD_C_G,-10.237597 $SEABIRD_C_H,1.1413157 $SEABIRD_C_I,-0.0016513355 $SEABIRD_C_J,0.00021051844 $GPS1,084516,2147.708,-15804.440,8,5.7,27,9.9 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.53 $_SM_ANGLEo,-69.4 $GPS2,085230,2147.708,-15804.560,36,1.5,40,9.9 $SPEED_LIMITS,0.143,0.217 $TGT_NAME,FIVE $TGT_LATLONG,2140.500,-15809.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.019,-0.216 $KALMAN_X,-657509.2,-207.5,-756.7,645226.3,-656.9 $KALMAN_Y,261808.4,138.3,-340.5,-365682.9,484.6 $MHEAD_RNG_PITCHd_Wd,175.2,15383,-21.6,-10.000 $D_GRID,450 $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,14,end surface,CONTROL_FINISHED_OK $STATE,15,begin dive $GC,17,-1.47,-97.3,0.0,0.0,0,89,0.00,0.00,-69.12,0.000,2,0.000,0.000,473,2125,3203,0,0,0,0,0,0 $GC,92,-1.47,-97.3,4.1,-8.6,11,120,12.68,2.72,-3.90,0.000,4,0.158,0.054,2849,523,3410,0,0,0,0,0,0 $GC,200,-1.36,-97.3,26.7,-16.0,29,208,0.10,2.50,0.00,0.000,6,0.106,0.016,2873,2115,3410,0,0,0,0,0,0 $GC,601,-1.41,-97.3,79.2,-12.6,67,605,0.00,2.50,0.00,0.000,4,0.000,0.030,2873,3678,3412,0,0,0,0,0,0 $GC,632,-1.48,-97.3,84.0,-14.8,69,636,0.00,2.50,0.00,0.000,6,0.000,0.022,2873,2092,3412,0,0,0,0,0,0 $GC,1025,-1.56,-97.3,143.0,-13.9,105,1030,0.17,2.55,0.00,0.000,4,0.058,0.054,2815,547,3413,0,0,0,0,0,0 $GC,1063,-1.56,-97.3,149.5,-15.7,108,1068,0.00,2.40,0.00,0.000,6,0.000,0.015,2815,2132,3413,0,0,0,0,0,0 $GC,1452,-1.56,-97.3,190.5,-9.0,144,1456,0.00,2.42,0.00,0.000,4,0.000,0.036,2815,3673,3414,0,0,0,0,0,0 $GC,1470,-1.56,-97.3,192.1,-9.3,145,1474,0.00,2.40,0.00,0.000,6,0.000,0.020,2815,2124,3415,0,0,0,0,0,0 $GC,1875,-1.56,-97.3,234.8,-11.0,160,1879,0.00,2.62,0.00,0.000,4,0.000,0.054,2815,548,3415,0,0,0,0,0,0 $GC,1897,-1.56,-97.3,237.3,-11.4,160,1902,0.00,2.40,0.00,0.000,6,0.000,0.023,2815,2118,3415,0,0,0,0,0,0 $GC,2274,-1.56,-97.3,276.5,-10.9,170,2278,0.00,2.50,0.00,0.000,4,0.000,0.033,2815,3676,3415,0,0,0,0,0,0 $GC,2290,-1.60,-97.3,278.4,-11.4,170,2294,0.00,2.45,0.00,0.000,6,0.000,0.026,2815,2122,3415,0,0,0,0,0,0 $GC,2674,-1.64,-97.3,320.7,-11.0,180,2678,0.00,2.53,0.00,0.000,4,0.000,0.042,2815,3674,3415,0,0,0,0,0,0 $GC,2701,-1.69,-97.3,323.9,-11.2,180,2705,0.00,2.50,0.00,0.000,6,0.000,0.035,2815,2118,3415,0,0,0,0,0,0 $GC,3073,-1.73,-97.3,357.9,-8.3,189,3078,0.00,2.55,0.00,0.000,4,0.000,0.044,2815,3677,3414,0,0,0,0,0,0 $GC,3092,-1.77,-97.3,359.5,-8.4,189,3097,0.12,2.53,0.00,0.000,6,0.070,0.041,2768,2120,3414,0,0,0,0,0,0 $GC,3475,-1.73,-97.3,400.6,-11.5,199,3477,0.15,0.00,0.00,0.000,6,0.106,0.000,2800,2121,3412,0,0,0,0,0,0 $GC,3842,-1.73,-97.3,438.6,-10.3,208,3846,0.00,2.62,0.00,0.000,4,0.000,0.059,2800,3677,3409,0,0,0,0,0,0 $STATE,3945,end dive,TARGET_DEPTH_EXCEEDED $STATE,3945,begin apogee $GC,3954,-0.31,0.0,450.4,11.0,210,4040,1.33,0.00,82.18,0.858,6,0.084,0.000,3100,1815,3009,0,0,0,0,0,0 $STATE,4041,end apogee,CONTROL_FINISHED_OK $STATE,4041,begin climb $GC,4043,1.47,97.3,452.8,0.0,212,4137,1.62,3.08,82.30,0.844,4,0.046,0.105,3498,213,2612,0,0,0,0,0,0 $GC,4177,1.32,164.6,453.1,5.4,215,4242,0.17,2.55,58.08,0.835,6,0.120,0.034,3465,1776,2338,0,0,0,0,0,0 $GC,4614,1.33,178.5,411.9,9.1,226,4634,0.00,2.80,12.48,0.749,4,0.000,0.051,3464,3392,2281,0,0,0,0,0,0 $GC,4713,1.33,178.5,401.9,10.2,228,4718,0.00,2.67,0.00,0.000,6,0.000,0.048,3465,1807,2278,0,0,0,0,0,0 $GC,5109,1.35,189.2,366.6,9.3,238,5125,0.00,2.62,10.25,0.723,4,0.000,0.039,3464,3398,2236,0,0,0,0,0,0 $GC,5148,1.35,189.2,362.5,10.3,239,5153,0.00,2.67,0.00,0.000,6,0.000,0.043,3465,1811,2235,0,0,0,0,0,0 $GC,5555,1.39,224.6,328.7,7.6,249,5592,0.00,0.00,32.08,0.772,6,0.000,0.000,3464,1811,2094,0,0,0,0,0,0 $GC,5958,1.41,242.5,294.8,8.8,259,5982,0.00,2.70,16.65,0.731,4,0.000,0.036,3465,3402,2021,0,0,0,0,0,0 $GC,5994,1.48,266.9,291.8,8.3,259,6024,0.15,2.67,23.08,0.736,6,0.074,0.038,3504,1805,1923,0,0,0,0,0,0 $GC,6412,1.48,266.9,239.4,12.4,270,6417,0.00,2.80,0.00,0.000,4,0.000,0.069,3505,219,1917,0,0,0,0,0,0 $GC,6429,1.43,266.9,236.9,11.0,270,6433,0.00,2.58,0.00,0.000,6,0.000,0.024,3505,1833,1916,0,0,0,0,0,0 $GC,6813,1.47,295.8,201.0,8.0,280,6844,0.00,2.83,25.75,0.680,4,0.000,0.061,3504,223,1802,0,0,0,0,0,0 $GC,6898,1.43,295.8,191.3,13.3,285,6902,0.00,2.53,0.00,0.000,6,0.000,0.021,3504,1816,1800,0,0,0,0,0,0 $GC,7286,1.43,295.8,152.0,10.4,321,7290,0.00,2.75,0.00,0.000,4,0.000,0.064,3505,220,1797,0,0,0,0,0,0 $GC,7391,1.43,295.8,140.2,11.1,330,7396,0.00,2.47,0.00,0.000,6,0.000,0.018,3504,1809,1796,0,0,0,0,0,0 $GC,7782,1.54,334.4,105.7,7.4,366,7827,0.00,2.78,33.60,0.598,4,0.000,0.060,3505,220,1644,0,0,0,0,0,0 $GC,7889,1.60,334.4,96.9,11.0,375,7893,0.00,2.50,0.00,0.000,6,0.000,0.023,3505,1811,1642,0,0,0,0,0,0 $GC,8279,1.69,334.4,59.4,10.1,411,8281,0.15,0.00,0.00,0.000,6,0.074,0.000,3545,1812,1641,0,0,0,0,0,0 $GC,8663,1.69,334.4,17.4,11.1,457,8670,0.00,2.72,0.00,0.000,4,0.000,0.054,3545,221,1641,0,0,0,0,0,0 $GC,8779,1.64,334.4,5.9,11.6,478,8787,0.00,2.45,0.00,0.000,6,0.000,0.018,3545,1793,1641,0,0,0,0,0,0 $STATE,8792,end climb,SURFACE_DEPTH_REACHED $STATE,8792,begin surface coast $FINISH,0.8,0.980035 $STATE,8825,end surface coast,CONTROL_FINISHED_OK $STATE,8825,begin surface $SM_CCo,8848,37.12,0.504,0,0,1459,380.21 $SM_GC,1.62,0.00,0.00,37.12,0.000,0.000,0.504,474,2146,1459,-12.42,0.74,380.21 $IRIDIUM_FIX,2138.81,-15804.59,271000,060619 $TT8_MAMPS,0.025311 $HUMID,65.43 $INTERNAL_PRESSURE,9.17027 $TCM_TEMP,20.70 $XPDR_PINGS,213 $24V_AH,23.4,80.081 $10V_AH,10.0,72.263 $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,29.100,94.550,376.425,37.125,0.000,27.901,38.299,202.318,53.250,0.000,42.046,915.448,6029.845,452.188,1409.755,507.314,33.358,1068.961,0.000,1374.277,0.000,0.534,0.000 $DEVICE_MAMPS,158.002,105.079,857.506,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,328.472,286.341,277.151,687.523,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355956 $DATA_FILE_SIZE,35108,486 $CAP_FILE_SIZE,85522,0 $CFSIZE,260165632,147582976 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,030811,112236,2147.395,-15804.614,30,1.9,30,9.9