version: 66.06 glider: 147 mission: 5 dive: 74 start: 7 16 110 9 28 34 data: $ID,147 $MISSION,5 $DIVE,74 $D_SURF,4 $D_FLARE,3 $D_TGT,900 $D_ABORT,1020 $D_NO_BLEED,80 $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,300 $T_MISSION,620 $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,110 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.023 $MASS,52418 $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,8 $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,1 $CAPMAXSIZE,100000 $HEAPDBG,0 $T_GPS,5 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-20227.076 $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,2700 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,15 $PITCH_TIMEOUT,15 $PITCH_AD_RATE,160 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,160 $ROLL_MAX,3941 $ROLL_DEG,40 $C_ROLL_DIVE,2250 $C_ROLL_CLIMB,2500 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,46 $R_STBD_OVSHOOT,27 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,477 $VBD_MAX,3951 $C_VBD,3519 $VBD_DBAND,2 $VBD_CNV,-0.245296 $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,50 $VBD_MAXERRORS,1 $CF8_MAXERRORS,20 $AH0_24V,92 $AH0_10V,100 $MINV_24V,19 $MINV_10V,8 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-27.612097 $PRESSURE_SLOPE,0.000116148 $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,2 $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,0.0042834701 $SEABIRD_T_H,0.00062685186 $SEABIRD_T_I,2.2120101e-05 $SEABIRD_T_J,2.1369924e-06 $SEABIRD_C_G,-9.8335438 $SEABIRD_C_H,1.0998563 $SEABIRD_C_I,-0.0012027813 $SEABIRD_C_J,0.00017447164 $GPS1,092230,2144.857,-15822.019,45,1.3,45,9.9 $_CALLS,1 $_XMS_NAKs,4 $_XMS_TOUTs,0 $_SM_DEPTHo,1.88 $_SM_ANGLEo,-66.6 $GPS2,092744,2144.818,-15822.036,11,1.8,11,9.9 $SPEED_LIMITS,0.173,0.226 $TGT_NAME,INT1 $TGT_LATLONG,2152.000,-15814.500 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.157,0.162 $KALMAN_X,0.0,0.0,0.0,0.0,0.0 $KALMAN_Y,0.0,0.0,0.0,0.0,0.0 $MHEAD_RNG_PITCHd_Wd,34.4,18565,-20.6,-10.000 $D_GRID,900 $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,14,begin dive $GC,17,-1.51,-107.5,0.0,0.0,0,91,0.00,0.00,-72.38,0.000,2,0.000,0.000,474,2246,3459,0,0,0,0,0,0 $GC,96,-1.51,-107.5,4.6,-4.5,5,127,11.05,2.35,-8.60,0.000,4,0.187,0.055,2360,3655,3952,0,0,0,0,0,0 $GC,158,-1.51,-107.5,34.0,-36.8,9,174,0.00,2.25,0.00,0.000,6,0.000,0.031,2360,2267,3953,0,0,0,0,0,0 $GC,476,-1.51,-107.5,110.1,-22.6,34,479,0.00,2.33,0.00,0.000,4,0.000,0.044,2361,833,3954,0,0,0,0,0,0 $GC,514,-1.51,-107.5,118.6,-23.2,36,518,0.00,2.28,0.00,0.000,6,0.000,0.031,2361,2262,3954,0,0,0,0,0,0 $GC,815,-1.51,-107.5,178.3,-20.1,61,819,0.00,2.25,0.00,0.000,4,0.000,0.045,2361,3654,3956,0,0,0,0,0,0 $GC,876,-1.51,-107.5,193.1,-19.2,64,889,0.00,2.25,0.00,0.000,6,0.000,0.030,2360,2252,3955,0,0,0,0,0,0 $GC,1163,-1.51,-107.5,251.0,-20.7,74,1168,0.00,2.33,0.00,0.000,4,0.000,0.054,2360,840,3956,0,0,0,0,0,0 $GC,1180,-1.51,-107.5,254.8,-20.4,74,1184,0.00,2.22,0.00,0.000,6,0.000,0.030,2360,2250,3957,0,0,0,0,0,0 $GC,1448,-1.51,-107.5,304.1,-18.7,81,1453,0.00,2.38,0.00,0.000,4,0.000,0.065,2360,3646,3957,0,0,0,0,0,0 $GC,1522,-1.51,-107.5,317.6,-16.2,82,1526,0.00,2.25,0.00,0.000,6,0.000,0.039,2361,2257,3958,0,0,0,0,0,0 $GC,1772,-1.51,-107.5,357.0,-15.6,88,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2257,3957,0,0,0,0,0,0 $GC,2015,-1.51,-107.5,399.1,-17.5,94,2020,0.00,2.40,0.00,0.000,4,0.000,0.074,2360,3645,3958,0,0,0,0,0,0 $GC,2042,-1.51,-107.5,404.3,-18.1,94,2047,0.00,2.30,0.00,0.000,6,0.000,0.048,2360,2257,3957,0,0,0,0,0,0 $GC,2306,-1.51,-107.5,446.2,-16.0,101,2311,0.00,2.55,0.00,0.000,4,0.000,0.098,2361,840,3957,0,0,0,0,0,0 $GC,2328,-1.51,-107.5,450.7,-14.4,101,2332,0.00,2.33,0.00,0.000,6,0.000,0.049,2361,2244,3957,0,0,0,0,0,0 $GC,2589,-1.51,-107.5,489.6,-14.8,108,2593,0.00,2.53,0.00,0.000,4,0.000,0.087,2360,3662,3955,0,0,0,0,0,0 $GC,2706,-1.51,-107.5,506.6,-14.6,110,2710,0.00,2.40,0.00,0.000,6,0.000,0.058,2360,2246,3954,0,0,0,0,0,0 $GC,2965,-1.51,-107.5,542.3,-14.4,116,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2246,3952,0,0,0,0,0,0 $GC,3199,-1.51,-107.5,577.5,-14.6,122,3204,0.00,2.60,0.00,0.000,4,0.000,0.107,2360,3655,3950,0,0,0,0,0,0 $GC,3227,-1.51,-107.5,581.8,-15.5,122,3232,0.00,2.47,0.00,0.000,6,0.000,0.079,2360,2253,3950,0,0,0,0,0,0 $GC,3477,-1.51,-107.5,615.8,-13.4,128,3481,0.00,2.67,0.00,0.000,4,0.000,0.121,2360,3655,3948,0,0,0,0,0,0 $GC,3509,-1.51,-107.5,620.0,-12.3,128,3515,0.00,2.55,0.00,0.000,6,0.000,0.094,2361,2251,3948,0,0,0,0,0,0 $GC,3760,-1.51,-107.5,650.7,-12.2,135,3764,0.00,2.80,0.00,0.000,4,0.000,0.139,2361,3654,3946,0,0,0,0,0,0 $GC,3786,-1.51,-107.5,654.2,-13.1,135,3791,0.00,2.62,0.00,0.000,6,0.000,0.111,2360,2253,3946,0,0,0,0,0,0 $GC,4043,-1.51,-107.5,684.7,-12.1,141,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2253,3944,0,0,0,0,0,0 $GC,4281,-1.51,-107.5,714.8,-12.4,147,4285,0.00,3.03,0.00,0.000,4,0.000,0.179,2361,3651,3942,0,0,0,0,0,0 $GC,4307,-1.51,-107.5,718.3,-12.4,147,4312,0.00,2.83,0.00,0.000,6,0.000,0.145,2360,2253,3942,0,0,0,0,0,0 $GC,4557,-1.51,-107.5,747.7,-11.8,153,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2252,3940,0,0,0,0,0,0 $GC,4802,-1.51,-107.5,775.6,-11.4,159,4807,0.00,3.35,0.00,0.000,4,0.000,0.222,2360,3650,3939,0,0,0,0,0,0 $GC,4834,-1.51,-107.5,779.5,-11.7,159,4840,0.00,3.08,0.00,0.000,6,0.000,0.181,2360,2250,3938,0,0,1,0,0,0 $GC,5093,-1.51,-107.5,806.5,-10.7,166,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2250,3937,0,0,0,0,0,0 $GC,5329,-1.51,-107.5,831.6,-10.3,172,5334,0.00,3.75,0.00,0.000,4,0.000,0.262,2361,3650,3935,0,0,1,0,0,0 $GC,5373,-1.51,-107.5,836.7,-10.6,173,5378,0.00,3.35,0.00,0.000,6,0.000,0.220,2361,2251,3935,0,0,1,0,0,0 $GC,5651,-1.51,-107.5,870.0,-12.5,180,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2252,3933,0,0,0,0,0,0 $GC,5904,-1.51,-107.5,899.7,-12.1,186,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2252,3931,0,0,0,0,0,0 $STATE,5933,end dive,TARGET_DEPTH_EXCEEDED $STATE,5933,begin apogee $GC,5939,-0.33,0.0,904.6,12.2,187,6032,1.27,0.00,88.78,1.225,6,0.100,0.000,2626,2487,3519,0,0,0,0,0,0 $STATE,6033,end apogee,CONTROL_FINISHED_OK $STATE,6033,begin climb $GC,6035,1.51,107.5,908.0,0.0,189,6141,1.70,4.32,93.53,1.200,4,0.029,0.295,3037,1090,3080,0,0,1,0,0,0 $GC,6186,1.84,377.0,920.3,-6.9,192,6440,0.28,4.43,240.23,1.203,6,0.051,0.303,3108,2499,1981,0,0,1,0,0,0 $GC,6702,1.84,377.0,852.4,20.5,205,6707,0.00,3.62,0.00,0.000,4,0.000,0.241,3108,1088,1971,0,0,1,0,0,0 $GC,6751,1.84,377.0,844.1,20.6,206,6756,0.00,3.53,0.00,0.000,6,0.000,0.227,3108,2501,1971,0,0,1,0,0,0 $GC,7034,1.84,377.0,786.0,19.6,213,7040,0.00,3.38,0.00,0.000,4,0.000,0.219,3108,3915,1969,0,0,0,0,0,0 $GC,7056,1.84,377.0,781.5,20.2,213,7061,0.00,3.08,0.00,0.000,6,0.000,0.175,3108,2500,1969,0,0,1,0,0,0 $GC,7312,1.84,377.0,732.9,18.9,220,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2499,1968,0,0,0,0,0,0 $GC,7562,1.84,377.0,686.4,19.4,226,7567,0.00,2.83,0.00,0.000,4,0.000,0.142,3108,1083,1968,0,0,0,0,0,0 $GC,7583,1.84,377.0,680.8,18.7,226,7588,0.00,2.78,0.00,0.000,6,0.000,0.123,3108,2504,1967,0,0,0,0,0,0 $GC,7839,1.84,377.0,632.6,18.9,233,7844,0.00,2.70,0.00,0.000,4,0.000,0.113,3108,1081,1967,0,0,0,0,0,0 $GC,7855,1.84,377.0,629.2,19.4,233,7859,0.00,2.60,0.00,0.000,6,0.000,0.091,3108,2503,1966,0,0,0,0,0,0 $GC,8115,1.84,377.0,580.3,19.0,240,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2503,1966,0,0,0,0,0,0 $GC,8367,1.84,377.0,535.9,18.1,246,8371,0.00,2.55,0.00,0.000,4,0.000,0.084,3109,1077,1966,0,0,0,0,0,0 $GC,8382,1.84,377.0,531.3,18.4,246,8386,0.00,2.42,0.00,0.000,6,0.000,0.054,3108,2505,1965,0,0,0,0,0,0 $GC,8650,1.84,377.0,484.9,17.0,253,8654,0.00,2.50,0.00,0.000,4,0.000,0.071,3108,1071,1965,0,0,0,0,0,0 $GC,8683,1.84,377.0,478.8,17.9,253,8688,0.00,2.42,0.00,0.000,6,0.000,0.051,3108,2508,1965,0,0,0,0,0,0 $GC,8932,1.84,377.0,435.9,17.3,260,8937,0.00,2.45,0.00,0.000,4,0.000,0.080,3108,3906,1964,0,0,0,0,0,0 $GC,8987,1.84,377.0,425.2,19.2,261,8991,0.00,2.33,0.00,0.000,6,0.000,0.038,3108,2484,1964,0,0,0,0,0,0 $GC,9266,1.84,377.0,375.7,17.7,268,9270,0.00,2.42,0.00,0.000,4,0.000,0.075,3108,1088,1964,0,0,0,0,0,0 $GC,9281,1.84,377.0,372.9,17.6,268,9285,0.00,2.33,0.00,0.000,6,0.000,0.039,3108,2512,1964,0,0,0,0,0,0 $GC,9548,1.84,377.0,330.2,16.1,275,9552,0.00,2.42,0.00,0.000,4,0.000,0.059,3108,1086,1964,0,0,0,0,0,0 $GC,9630,1.84,377.0,315.9,17.5,276,9636,0.00,2.30,0.00,0.000,6,0.000,0.037,3108,2508,1963,0,0,0,0,0,0 $GC,9880,1.84,377.0,275.2,16.5,283,9884,0.00,2.40,0.00,0.000,4,0.000,0.054,3108,1082,1963,0,0,0,0,0,0 $GC,9895,1.84,377.0,272.0,18.1,283,9899,0.00,2.33,0.00,0.000,6,0.000,0.035,3108,2510,1962,0,0,0,0,0,0 $GC,10163,1.84,377.0,228.8,15.7,290,10167,0.00,2.38,0.00,0.000,4,0.000,0.054,3108,1091,1962,0,0,0,0,0,0 $GC,10178,1.84,377.0,226.1,15.8,290,10182,0.00,2.30,0.00,0.000,6,0.000,0.033,3108,2511,1962,0,0,0,0,0,0 $GC,10452,1.84,377.0,184.9,14.5,302,10455,0.00,2.35,0.00,0.000,4,0.000,0.052,3109,1091,1962,0,0,0,0,0,0 $GC,10470,1.84,377.0,181.9,14.4,303,10474,0.00,2.28,0.00,0.000,6,0.000,0.033,3108,2504,1962,0,0,0,0,0,0 $GC,10772,1.84,377.0,141.4,10.6,328,10776,0.00,2.35,0.00,0.000,4,0.000,0.051,3109,1082,1963,0,0,0,0,0,0 $GC,10810,1.84,377.0,137.4,10.5,330,10813,0.00,2.28,0.00,0.000,6,0.000,0.032,3108,2500,1962,0,0,0,0,0,0 $GC,11119,1.84,377.0,106.3,10.1,355,11123,0.00,2.35,0.00,0.000,4,0.000,0.056,3109,3909,1964,0,0,0,0,0,0 $GC,11249,1.84,377.0,91.6,11.8,362,11253,0.00,2.28,0.00,0.000,6,0.000,0.031,3108,2488,1964,0,0,0,0,0,0 $GC,11576,1.84,377.0,54.7,12.1,387,11580,0.00,2.33,0.00,0.000,4,0.000,0.062,3108,1092,1966,0,0,0,0,0,0 $STATE,12061,end climb,SURFACE_DEPTH_REACHED $STATE,12061,begin surface coast $FINISH,1.2,1.005284 $STATE,12154,end surface coast,CONTROL_FINISHED_OK $STATE,12154,begin surface $SM_CCo,12177,35.00,0.494,0,0,1806,420.19 $SM_GC,2.35,0.00,0.00,35.00,0.000,0.000,0.494,478,2256,1806,-10.22,0.20,420.19 $IRIDIUM_FIX,2134.17,-15817.95,101099,060600 $TT8_MAMPS,0.027612 $HUMID,38.54 $INTERNAL_PRESSURE,9.20934 $TCM_TEMP,24.60 $XPDR_PINGS,2 $24V_AH,23.5,8.983 $10V_AH,10.2,8.217 $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,25.225,158.100,422.525,35.000,0.000,27.618,30.929,140.849,0.500,0.000,13.183,947.932,7470.583,487.941,3115.157,503.996,29.237,1251.858,0.000,3153.559,0.000,0.537,0.000 $DEVICE_MAMPS,187.148,302.965,1224.899,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,293.451,176.839,2154.311,1169.872,1424.046,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356164 $DATA_FILE_SIZE,32076,425 $CAP_FILE_SIZE,161411,132 $CFSIZE,260165632,214700032 $ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,0,0 $GPS,160710,125355,2146.167,-15820.310,68,1.0,68,9.9