version: 66.06 glider: 148 mission: 10 dive: 443 start: 9 19 111 17 5 49 data: $ID,148 $MISSION,10 $DIVE,443 $D_SURF,4 $D_FLARE,3 $D_TGT,200 $D_ABORT,430 $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,66 $T_MISSION,660 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,4 $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,140 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,52523 $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,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,5 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-886362.38 $T_RSLEEP,3 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,420 $PITCH_MAX,3705 $C_PITCH,2990 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,16 $PITCH_TIMEOUT,17 $PITCH_AD_RATE,160 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0.039999999 $PITCH_ADJ_DBAND,1.5 $ROLL_MIN,160 $ROLL_MAX,3940 $ROLL_DEG,45 $C_ROLL_DIVE,1870 $C_ROLL_CLIMB,1630 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,63 $R_STBD_OVSHOOT,96 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,2 $ROLL_ADJ_GAIN,1 $ROLL_ADJ_DBAND,0.039999999 $VBD_MIN,511 $VBD_MAX,3949 $C_VBD,2955 $VBD_DBAND,2 $VBD_CNV,-0.24529999 $VBD_TIMEOUT,720 $PITCH_VBD_SHIFT,0.0012300001 $VBD_PUMP_AD_RATE_SURFACE,5 $VBD_PUMP_AD_RATE_APOGEE,4 $VBD_BLEED_AD_RATE,8 $UNCOM_BLEED,50 $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,-11.834597 $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,5 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,3 $XPDR_VALID,5 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,1 $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,0.004341084 $SEABIRD_T_H,0.00063239998 $SEABIRD_T_I,2.5339032e-05 $SEABIRD_T_J,2.8251138e-06 $SEABIRD_C_G,-9.8402824 $SEABIRD_C_H,1.0914109 $SEABIRD_C_I,9.7469172e-05 $SEABIRD_C_J,8.7214314e-05 $GPS1,165835,2429.748,-15635.647,11,1.8,15,10.4 $_CALLS,1 $_XMS_NAKs,1 $_XMS_TOUTs,1 $_SM_DEPTHo,1.33 $_SM_ANGLEo,-70.7 $GPS2,170452,2429.704,-15635.653,10,3.2,29,10.4 $SPEED_LIMITS,0.175,0.253 $TGT_NAME,TNorth $TGT_LATLONG,2500.000,-15730.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.190,0.166 $KALMAN_X,-27722.7,131.0,312.8,188493.4,660.4 $KALMAN_Y,-87602.0,-166.1,22.7,399815.8,-601.7 $MHEAD_RNG_PITCHd_Wd,300.7,107094,-18.3,-10.101 $D_GRID,200 $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,15,end surface,CONTROL_FINISHED_OK $STATE,15,begin dive $GC,17,-1.31,-136.3,0.0,0.0,0,94,0.00,0.00,-74.38,0.000,2,0.000,0.000,413,1916,3309,0,0,0,0,0,0 $GC,98,-1.31,-136.3,3.8,-7.1,10,123,12.30,2.38,-3.47,0.000,4,0.166,0.035,2696,3395,3510,0,0,0,0,0,0 $GC,234,-1.24,-136.3,31.6,-13.1,29,239,0.10,2.40,0.00,0.000,6,0.123,0.022,2719,1884,3512,0,0,0,0,0,0 $GC,503,-1.13,-136.3,69.0,-12.2,53,509,0.12,2.60,0.00,0.000,4,0.110,0.038,2747,292,3512,0,0,0,0,0,0 $GC,550,-1.24,-136.3,74.6,-9.8,56,555,0.12,2.35,0.00,0.000,6,0.062,0.017,2671,1843,3512,0,0,0,0,0,0 $GC,814,-1.10,-136.3,106.2,-11.0,80,819,0.32,2.47,0.00,0.000,4,0.082,0.024,2748,3430,3512,0,0,0,0,0,0 $GC,855,-1.27,-136.3,109.6,-7.7,83,860,0.15,2.45,0.00,0.000,6,0.051,0.021,2655,1871,3512,0,0,0,0,0,0 $GC,1121,-1.10,-136.3,140.9,-12.0,107,1130,0.40,2.53,0.00,0.000,4,0.081,0.036,2747,299,3512,0,0,0,0,0,0 $GC,1157,-1.18,-136.3,144.7,-9.4,110,1161,0.00,2.40,0.00,0.000,6,0.000,0.018,2747,1880,3513,0,0,0,0,0,0 $GC,1421,-1.32,-136.3,165.6,-7.9,134,1426,0.17,0.00,0.00,0.000,6,0.048,0.000,2640,1884,3512,0,0,0,0,0,0 $GC,1684,-1.14,-136.3,199.1,-12.6,159,1686,0.45,0.00,0.00,0.000,6,0.079,0.000,2743,1884,3513,0,0,0,0,0,0 $STATE,1694,end dive,TARGET_DEPTH_EXCEEDED $STATE,1694,begin apogee $GC,1703,-0.31,0.0,200.4,12.6,160,1813,0.77,0.00,105.35,0.570,6,0.067,0.000,2924,1607,2953,0,0,0,0,0,0 $STATE,1814,end apogee,CONTROL_FINISHED_OK $STATE,1814,begin climb $GC,1817,1.31,136.3,204.5,0.0,163,1932,1.40,2.40,107.07,0.568,4,0.027,0.054,3300,201,2398,0,0,0,0,0,0 $GC,1941,1.09,225.6,203.9,5.6,165,2022,0.32,2.22,72.88,0.559,6,0.100,0.018,3230,1622,2035,0,0,0,0,0,0 $GC,2284,1.09,225.6,165.7,10.9,195,2288,0.00,2.55,0.00,0.000,4,0.000,0.035,3230,3194,2029,0,0,0,0,0,0 $GC,2333,1.09,225.6,160.9,10.5,199,2338,0.00,2.50,0.00,0.000,6,0.000,0.028,3230,1652,2026,0,0,0,0,0,0 $GC,2603,1.10,230.0,134.3,9.9,223,2613,0.00,2.45,4.03,0.347,4,0.000,0.047,3230,176,2016,0,0,0,0,0,0 $GC,2671,1.10,230.0,126.7,10.8,229,2675,0.00,2.25,0.00,0.000,6,0.000,0.019,3230,1622,2016,0,0,0,0,0,0 $GC,2938,1.14,263.6,102.8,8.4,253,2982,0.00,2.58,30.42,0.502,4,0.000,0.030,3230,3196,1877,0,0,0,0,0,0 $GC,3033,1.25,284.9,94.0,9.0,261,3063,0.12,2.55,18.80,0.481,6,0.063,0.028,3291,1629,1791,0,0,0,0,0,0 $GC,3322,1.19,284.9,63.2,10.2,288,3327,0.20,2.40,0.00,0.000,4,0.091,0.044,3245,178,1788,0,0,0,0,0,0 $GC,3355,1.22,312.3,60.1,8.7,290,3386,0.00,2.25,24.12,0.469,6,0.000,0.018,3245,1642,1680,0,0,0,0,0,0 $GC,3654,1.36,349.8,37.5,8.2,317,3696,0.17,2.55,32.42,0.457,4,0.050,0.030,3326,3187,1527,0,0,0,0,0,0 $GC,3734,1.36,349.8,28.7,11.6,323,3745,0.15,2.55,0.00,0.000,6,0.073,0.034,3287,1632,1523,0,0,0,0,0,0 $STATE,3968,end climb,SURFACE_DEPTH_REACHED $STATE,3968,begin surface coast $FINISH,0.5,1.023298 $STATE,4016,end surface coast,CONTROL_FINISHED_OK $STATE,4016,begin surface $SM_CCo,4038,36.42,0.432,0,0,1323,400.08 $SM_GC,1.29,0.00,0.00,36.42,0.000,0.000,0.432,407,1950,1323,-11.89,2.26,400.08 $IRIDIUM_FIX,2422.84,-15636.89,131200,151526 $TT8_MAMPS,0.026845 $HUMID,61.61 $INTERNAL_PRESSURE,9.50619 $TCM_TEMP,22.70 $XPDR_PINGS,1 $24V_AH,23.8,40.838 $10V_AH,10.3,46.036 $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,28.775,49.575,395.100,36.425,0.000,27.723,35.583,155.570,0.250,0.000,32.263,673.652,1335.225,383.854,1284.607,781.362,33.350,913.192,0.000,1591.962,0.000,0.541,0.000 $DEVICE_MAMPS,165.672,53.690,569.881,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,245.541,480.088,552.191,582.706,1090.938,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355972 $DATA_FILE_SIZE,28977,366 $CAP_FILE_SIZE,61619,0 $CFSIZE,260165632,111443968 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,190911,181506,2429.367,-15635.865,35,1.0,41,10.4