version: 66.03 glider: 148 mission: 6 dive: 158 start: 9 1 108 10 34 44 data: $ID,148 $MISSION,6 $DIVE,158 $D_SURF,3 $D_FLARE,3 $D_TGT,510 $D_ABORT,700 $D_NO_BLEED,80 $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,200 $T_MISSION,300 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,5 $T_NO_W,120 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,1 $APOGEE_PITCH,-5 $MAX_BUOY,140 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,52629 $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,180 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2200 $TGT_DEFAULT_LON,-15800 $TGT_AUTO_DEFAULT,0 $SM_CC,548.98138 $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,5 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-9454.6816 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,420 $PITCH_MAX,3705 $C_PITCH,2920 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,16 $PITCH_TIMEOUT,15 $PITCH_AD_RATE,160 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0.029999999 $PITCH_ADJ_DBAND,1 $ROLL_MIN,160 $ROLL_MAX,3940 $ROLL_DEG,40 $C_ROLL_DIVE,1900 $C_ROLL_CLIMB,1660 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,52 $R_STBD_OVSHOOT,40 $ROLL_AD_RATE,400 $ROLL_MAXERRORS,2 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,511 $VBD_MAX,3949 $C_VBD,2749 $VBD_DBAND,2 $VBD_CNV,-0.24529999 $VBD_TIMEOUT,360 $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,61.200001 $PRESSURE_YINT,-11.792777 $PRESSURE_SLOPE,0.00011637 $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,10 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,2 $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 $SMARTS,0 $SMARTDEVICE1,-1 $SMARTDEVICE2,-1 $COMPASS_DEVICE,33 $PHONE_DEVICE,48 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0043992815 $SEABIRD_T_H,0.00064238382 $SEABIRD_T_I,2.7016365e-05 $SEABIRD_T_J,3.0340441e-06 $SEABIRD_C_G,-10.010528 $SEABIRD_C_H,1.1459081 $SEABIRD_C_I,-0.0015769247 $SEABIRD_C_J,0.00021306775 $GPS1,101838,2248.634,-15748.982,29,0.9,29,10.1 $_CALLS,5 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.35 $_SM_ANGLEo,-58.0 $GPS2,103350,2248.466,-15749.021,9,1.4,14,10.1 $SPEED_LIMITS,0.147,0.238 $TGT_NAME,WPT4 $TGT_LATLONG,2248.000,-15749.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.199,0.131 $KALMAN_X,-84586.2,14.4,554.8,97579.9,-2282.0 $KALMAN_Y,-60375.1,98.8,394.1,60567.9,-3916.8 $MHEAD_RNG_PITCHd_Wd,46.4,864,-15.6,-8.500 $D_GRID,510 $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 $STATE,17,end surface,CONTROL_FINISHED_OK $STATE,17,begin dive $GC,19,-1.14,-136.2,0.0,0.0,0,89,0.00,0.00,-68.28,0.000,2,0.000,0.000,414,1881,2764 $GC,92,-1.14,-136.3,3.4,-3.9,9,125,11.95,2.30,-12.25,0.000,4,0.160,0.045,2662,3294,3307 $GC,150,-0.87,-136.3,13.0,-15.0,17,158,0.22,2.17,0.00,0.000,6,0.095,0.029,2724,1910,3307 $GC,360,-0.91,-136.3,39.1,-11.4,48,364,0.00,2.22,0.00,0.000,4,0.000,0.035,2724,3310,3308 $GC,436,-0.91,-136.3,48.4,-11.7,54,446,0.00,2.22,0.00,0.000,6,0.000,0.028,2724,1892,3308 $GC,637,-0.98,-136.3,70.6,-10.6,73,641,0.00,2.25,0.00,0.000,4,0.000,0.037,2724,3301,3308 $GC,692,-1.04,-136.3,76.4,-9.6,77,702,0.10,2.20,0.00,0.000,6,0.035,0.020,2666,1896,3308 $GC,890,-1.01,-136.3,100.2,-12.0,96,894,0.15,2.25,0.00,0.000,4,0.097,0.032,2702,3303,3308 $GC,967,-1.05,-136.3,109.0,-9.8,102,976,0.00,2.20,0.00,0.000,6,0.000,0.028,2702,1900,3308 $GC,1169,-1.11,-136.3,128.0,-8.4,121,1174,0.10,2.22,0.00,0.000,4,0.058,0.029,2657,3303,3309 $GC,1209,-1.05,-136.3,132.9,-11.6,124,1214,0.15,2.17,0.00,0.000,6,0.093,0.028,2689,1894,3309 $GC,1409,-1.10,-136.3,152.8,-9.3,142,1413,0.00,2.25,0.00,0.000,4,0.000,0.031,2689,3312,3309 $GC,1460,-1.14,-136.3,157.9,-9.8,146,1464,0.00,2.17,0.00,0.000,6,0.000,0.020,2689,1902,3309 $GC,1785,-1.19,-136.3,186.8,-8.3,176,1789,0.12,2.22,0.00,0.000,4,0.050,0.030,2632,3303,3309 $GC,1885,-1.12,-136.3,197.9,-12.0,184,1891,0.20,2.17,0.00,0.000,6,0.087,0.019,2676,1888,3309 $GC,2196,-1.18,-136.3,226.5,-9.5,194,2200,0.00,2.25,0.00,0.000,4,0.000,0.041,2676,3304,3309 $GC,2314,-1.23,-136.3,236.8,-8.3,196,2318,0.10,2.15,0.00,0.000,6,0.060,0.019,2632,1899,3309 $GC,2644,-1.23,-136.3,268.6,-9.6,204,2648,0.00,2.25,0.00,0.000,4,0.000,0.039,2631,3312,3309 $GC,2715,-1.23,-136.3,275.4,-9.8,205,2720,0.00,2.20,0.00,0.000,6,0.000,0.028,2632,1908,3309 $GC,3052,-1.23,-136.3,305.1,-8.8,214,3056,0.00,2.25,0.00,0.000,4,0.000,0.041,2631,3308,3309 $GC,3156,-1.23,-136.3,315.4,-9.4,216,3161,0.00,2.22,0.00,0.000,6,0.000,0.030,2631,1901,3309 $GC,3505,-1.23,-136.3,349.6,-10.0,225,3508,0.00,2.28,0.00,0.000,4,0.000,0.048,2631,3300,3307 $GC,3544,-1.23,-136.3,353.5,-10.0,226,3548,0.00,2.20,0.00,0.000,6,0.000,0.031,2631,1896,3307 $GC,3867,-1.23,-136.3,382.1,-8.3,234,3871,0.00,2.30,0.00,0.000,4,0.000,0.051,2631,3301,3305 $GC,3933,-1.23,-136.3,388.0,-9.0,235,3938,0.00,2.22,0.00,0.000,6,0.000,0.025,2631,1902,3305 $GC,4277,-1.26,-136.3,416.4,-8.4,244,4281,0.00,2.28,0.00,0.000,4,0.000,0.048,2632,3295,3302 $GC,4355,-1.26,-136.3,422.9,-8.5,245,4359,0.00,2.22,0.00,0.000,6,0.000,0.024,2631,1899,3302 $GC,4692,-1.30,-136.3,447.4,-7.2,254,4696,0.00,2.30,0.00,0.000,4,0.000,0.054,2631,3294,3299 $GC,4770,-1.33,-136.3,453.3,-7.3,255,4776,0.00,2.20,0.00,0.000,6,0.000,0.025,2631,1893,3299 $GC,5102,-1.38,-136.3,476.9,-7.0,264,5106,0.00,2.30,0.00,0.000,4,0.000,0.055,2631,3292,3296 $GC,5192,-1.42,-136.3,483.7,-7.6,266,5196,0.00,2.20,0.00,0.000,6,0.000,0.034,2631,1903,3296 $GC,5516,-1.47,-136.3,507.2,-7.3,274,5520,0.15,2.28,0.00,0.000,4,0.049,0.046,2572,3291,3293 $STATE,5546,end dive,TARGET_DEPTH_EXCEEDED $STATE,5546,begin apogee $GC,5553,-0.31,0.0,510.3,9.8,274,5665,1.25,0.00,108.45,0.919,6,0.097,0.000,2844,1662,2749 $STATE,5666,end apogee,CONTROL_FINISHED_OK $STATE,5666,begin climb $GC,5667,1.14,136.3,512.4,0.0,277,5790,1.38,2.45,113.12,0.894,4,0.051,0.066,3172,256,2192 $GC,5926,0.81,136.3,489.4,13.4,283,5931,0.38,2.25,0.00,0.000,6,0.117,0.029,3098,1646,2185 $GC,6251,0.69,161.9,464.0,7.4,291,6279,0.15,2.47,21.40,0.851,4,0.121,0.051,3070,3065,2087 $GC,6487,0.65,186.8,447.2,7.4,296,6514,0.00,2.28,21.85,0.846,6,0.000,0.035,3070,1661,1987 $GC,6838,0.59,196.9,419.7,8.1,305,6853,0.10,2.42,9.45,0.772,4,0.130,0.066,3052,257,1946 $GC,7003,0.59,196.9,405.2,8.8,308,7008,0.00,2.28,0.00,0.000,6,0.000,0.031,3052,1667,1943 $GC,7341,0.61,216.7,378.7,7.7,317,7365,0.00,2.45,18.25,0.818,4,0.000,0.050,3052,257,1865 $GC,7478,0.64,234.4,367.8,7.8,320,7498,0.00,2.22,15.88,0.798,6,0.000,0.028,3051,1663,1793 $GC,7836,0.68,271.1,342.5,7.0,329,7878,0.00,2.45,32.40,0.811,4,0.000,0.049,3051,257,1642 $GC,7969,0.74,278.9,332.1,8.2,332,7984,0.12,2.25,8.02,0.701,6,0.054,0.027,3096,1672,1611 $GC,8298,0.69,278.9,295.5,11.4,340,8302,0.12,2.38,0.00,0.000,4,0.108,0.053,3071,252,1605 $GC,8426,0.74,278.9,281.9,9.4,342,8432,0.00,2.22,0.00,0.000,6,0.000,0.029,3071,1666,1604 $GC,8757,0.75,292.1,254.2,7.9,351,8773,0.00,2.35,10.85,0.693,4,0.000,0.051,3071,257,1558 $GC,8862,0.82,299.9,245.6,8.2,353,8877,0.12,2.22,8.23,0.650,6,0.054,0.028,3117,1666,1525 $GC,9209,0.76,299.9,206.8,11.4,362,9214,0.15,2.33,0.00,0.000,4,0.098,0.048,3086,254,1521 $GC,9298,0.82,299.9,197.7,9.3,364,9304,0.00,2.22,0.00,0.000,6,0.000,0.021,3086,1661,1521 $GC,9622,0.82,306.6,170.0,8.2,395,9634,0.00,2.33,6.62,0.563,4,0.000,0.046,3086,249,1497 $GC,9728,0.90,306.6,160.9,9.1,404,9735,0.08,2.22,0.00,0.000,6,0.042,0.028,3130,1660,1497 $GC,10057,0.84,306.6,125.5,11.4,435,10062,0.12,2.30,0.00,0.000,4,0.102,0.045,3104,248,1497 $GC,10166,0.89,306.6,112.8,11.1,444,10176,0.00,2.22,0.00,0.000,6,0.000,0.026,3104,1662,1496 $GC,10367,0.89,306.6,92.2,10.3,463,10371,0.00,2.25,0.00,0.000,4,0.000,0.045,3104,3065,1497 $GC,10534,0.94,316.8,76.8,8.1,477,10548,0.00,2.22,9.88,0.529,6,0.000,0.025,3104,1645,1457 $GC,10738,1.03,340.8,60.9,7.5,496,10767,0.17,2.38,22.05,0.552,4,0.044,0.038,3167,3052,1358 $GC,10954,0.96,340.8,35.6,12.7,514,10963,0.15,2.22,0.00,0.000,6,0.087,0.025,3131,1660,1351 $GC,11164,1.02,390.3,16.9,6.4,546,11211,0.00,2.35,42.28,0.520,4,0.000,0.035,3131,3053,1158 $STATE,11286,end climb,SURFACE_DEPTH_REACHED $STATE,11286,begin surface coast $FINISH,0.7,1.023154 $STATE,11311,end surface coast,CONTROL_FINISHED_OK $STATE,11312,begin surface $SM_CCo,11333,105.12,0.505,0,0,510,548.98 $SM_GC,1.42,0.00,0.00,105.12,0.000,0.000,0.505,415,1862,510,-11.52,-1.07,548.98 $IRIDIUM_FIX,2239.35,-15746.73,261197,101044 $TT8_MAMPS,0.026845 $HUMID,1656 $INTERNAL_PRESSURE,8.86753 $TCM_TEMP,23.50 $XPDR_PINGS,183 $24V_AH,23.8,28.510 $10V_AH,10.1,26.013 $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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder $DEVICE_SECS,28.625,131.425,448.725,105.125,0.000,138.763,427.867,0.000,45.750,0.000,0.000,16.911,1179.015,7548.020,602.419,2199.219,819.833,33.365,1525.518,0.000,2248.342,0.000,0.468 $DEVICE_MAMPS,160.303,65.962,918.866,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000 $SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,415.585,349.432,646.827,485.408,996.612,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $DATA_FILE_SIZE,44682,569 $CAP_FILE_SIZE,241058,0 $CFSIZE,260165632,247943168 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,010908,134628,2247.462,-15749.100,9,3.7,28,10.1