version: 66.06 glider: 146 mission: 6 dive: 283 start: 6 14 111 10 41 22 data: $ID,146 $MISSION,6 $DIVE,283 $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,400 $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,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,-274792.5 $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,3160 $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,1850 $C_ROLL_CLIMB,1995 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,47 $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 $GPS1,102724,2250.236,-15758.912,27,1.1,44,10.1 $_CALLS,3 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.27 $_SM_ANGLEo,-71.1 $GPS2,104026,2250.288,-15759.105,10,1.7,10,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,WAY2 $TGT_LATLONG,2250.000,-15757.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.235,0.008 $KALMAN_X,-127964.6,174.9,-100.7,123948.0,-843.5 $KALMAN_Y,-60468.3,85.6,-41.7,72248.0,-303.3 $MHEAD_RNG_PITCHd_Wd,77.9,3633,-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,12,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.57,0.000,2,0.000,0.000,480,1827,3236,0,0,0,0,0,0 $GC,91,-1.38,-116.8,3.3,-5.3,9,117,11.98,2.62,-4.75,0.000,4,0.136,0.061,2852,292,3489,0,0,0,0,0,0 $GC,182,-1.22,-116.8,27.5,-19.6,21,190,0.15,2.42,0.00,0.000,6,0.103,0.015,2887,1859,3490,0,0,0,0,0,0 $GC,459,-1.17,-116.8,72.4,-15.4,47,463,0.00,2.45,0.00,0.000,4,0.000,0.033,2888,3407,3491,0,0,0,0,0,0 $GC,517,-1.17,-116.8,80.7,-12.2,51,522,0.00,2.42,0.00,0.000,6,0.000,0.028,2887,1866,3491,0,0,0,0,0,0 $GC,783,-1.17,-116.8,112.6,-11.4,75,787,0.00,2.45,0.00,0.000,4,0.000,0.031,2887,3412,3492,0,0,0,0,0,0 $GC,825,-1.22,-116.8,117.9,-11.1,78,830,0.00,2.47,0.00,0.000,6,0.000,0.025,2888,1853,3492,0,0,0,0,0,0 $GC,1090,-1.25,-116.8,149.5,-11.2,102,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1853,3492,0,0,0,0,0,0 $GC,1355,-1.31,-116.8,176.7,-10.1,127,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1853,3493,0,0,0,0,0,0 $GC,1637,-1.36,-116.8,204.5,-9.7,151,1642,0.10,2.67,0.00,0.000,4,0.086,0.064,2848,271,3493,0,0,0,0,0,0 $GC,1677,-1.31,-116.8,209.2,-12.2,152,1682,0.12,2.40,0.00,0.000,6,0.120,0.021,2874,1869,3493,0,0,0,0,0,0 $GC,1962,-1.36,-116.8,239.0,-10.3,159,1966,0.00,2.42,0.00,0.000,4,0.000,0.028,2874,3403,3493,0,0,0,0,0,0 $GC,2023,-1.46,-116.8,246.1,-11.7,160,2028,0.15,2.45,0.00,0.000,6,0.061,0.025,2821,1853,3493,0,0,0,0,0,0 $GC,2283,-1.46,-116.8,279.6,-13.0,167,2288,0.00,2.45,0.00,0.000,4,0.000,0.029,2822,3402,3493,0,0,0,0,0,0 $GC,2357,-1.46,-116.8,288.4,-11.1,168,2361,0.00,2.45,0.00,0.000,6,0.000,0.031,2822,1870,3493,0,0,0,0,0,0 $GC,2607,-1.46,-116.8,315.7,-11.0,174,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1870,3492,0,0,0,0,0,0 $GC,2850,-1.46,-116.8,345.0,-11.8,180,2854,0.00,2.47,0.00,0.000,4,0.000,0.041,2821,3402,3491,0,0,0,0,0,0 $GC,2912,-1.46,-116.8,351.9,-10.3,181,2917,0.00,2.50,0.00,0.000,6,0.000,0.048,2821,1876,3491,0,0,0,0,0,0 $GC,3173,-1.46,-116.8,378.1,-9.8,188,3177,0.00,2.45,0.00,0.000,4,0.000,0.045,2821,3391,3490,0,0,0,0,0,0 $GC,3251,-1.46,-116.8,386.0,-9.5,189,3256,0.00,2.55,0.00,0.000,6,0.000,0.055,2821,1876,3490,0,0,0,0,0,0 $GC,3502,-1.46,-116.8,409.9,-9.5,196,3506,0.00,2.47,0.00,0.000,4,0.000,0.041,2821,3398,3488,0,0,0,0,0,0 $GC,3524,-1.46,-116.8,412.3,-9.4,196,3528,0.00,2.58,0.00,0.000,6,0.000,0.054,2822,1876,3488,0,0,0,0,0,0 $GC,3779,-1.46,-116.8,438.2,-10.5,203,3783,0.00,2.47,0.00,0.000,4,0.000,0.046,2822,3391,3486,0,0,0,0,0,0 $GC,3835,-1.51,-116.8,444.0,-10.6,204,3840,0.00,2.55,0.00,0.000,6,0.000,0.054,2822,1888,3486,0,0,0,0,0,0 $GC,4102,-1.51,-116.8,470.6,-10.0,211,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1888,3484,0,0,0,0,0,0 $GC,4346,-1.51,-116.8,494.1,-9.4,217,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1888,3483,0,0,0,0,0,0 $STATE,4426,end dive,TARGET_DEPTH_EXCEEDED $STATE,4426,begin apogee $GC,4434,-0.31,0.0,501.9,9.6,219,4534,1.17,0.00,96.97,0.916,6,0.080,0.000,3089,1972,3010,0,0,0,0,0,0 $STATE,4535,end apogee,CONTROL_FINISHED_OK $STATE,4535,begin climb $GC,4538,1.38,116.8,504.1,0.0,221,4646,1.58,2.83,99.93,0.894,4,0.040,0.066,3466,3548,2532,0,0,0,0,0,0 $GC,4683,1.30,163.8,501.5,7.3,225,4733,0.12,2.67,41.17,0.870,6,0.127,0.054,3443,1997,2341,0,0,0,0,0,0 $GC,5000,1.25,166.5,471.1,9.9,233,5005,0.00,3.03,0.00,0.000,4,0.000,0.112,3443,408,2332,0,0,0,0,0,0 $GC,5018,1.17,168.6,469.4,9.9,233,5028,0.12,2.58,4.00,0.551,6,0.126,0.038,3417,1967,2322,0,0,0,0,0,0 $GC,5284,1.20,193.6,446.1,8.6,240,5309,0.00,0.00,23.85,0.847,6,0.000,0.000,3417,1968,2220,0,0,0,0,0,0 $GC,5527,1.22,204.0,423.1,9.4,246,5543,0.00,2.80,10.23,0.777,4,0.000,0.069,3417,405,2176,0,0,0,0,0,0 $GC,5567,1.22,204.0,419.0,10.5,247,5572,0.00,2.58,0.00,0.000,6,0.000,0.027,3417,1995,2175,0,0,0,0,0,0 $GC,5851,1.23,214.1,391.2,9.5,254,5866,0.00,2.67,9.93,0.766,4,0.000,0.049,3417,3580,2136,0,0,0,0,0,0 $GC,5894,1.24,223.7,387.2,9.5,255,5909,0.00,2.67,10.27,0.761,6,0.000,0.041,3417,1983,2097,0,0,0,0,0,0 $GC,6172,1.25,234.6,361.2,9.4,262,6188,0.00,2.65,10.93,0.763,4,0.000,0.040,3417,3580,2052,0,0,0,0,0,0 $GC,6245,1.30,235.7,353.8,10.0,263,6250,0.10,2.62,0.00,0.000,6,0.091,0.036,3446,1998,2050,0,0,0,0,0,0 $GC,6496,1.31,245.7,329.4,9.5,269,6509,0.00,0.00,10.82,0.747,6,0.000,0.000,3446,1998,2007,0,0,0,0,0,0 $GC,6738,1.32,249.4,305.7,9.8,275,6748,0.00,2.80,4.43,0.560,4,0.000,0.075,3446,410,1993,0,0,0,0,0,0 $GC,6759,1.32,249.4,303.3,10.8,275,6763,0.00,2.58,0.00,0.000,6,0.000,0.021,3446,2029,1992,0,0,0,0,0,0 $GC,7015,1.32,249.4,275.6,10.8,282,7020,0.00,2.78,0.00,0.000,4,0.000,0.060,3447,404,1991,0,0,0,0,0,0 $GC,7049,1.28,249.4,271.6,11.8,282,7054,0.00,2.53,0.00,0.000,6,0.000,0.026,3446,1999,1991,0,0,0,0,0,0 $GC,7299,1.28,254.6,246.8,9.7,289,7306,0.00,0.00,6.10,0.619,6,0.000,0.000,3446,1999,1972,0,0,0,0,0,0 $GC,7543,1.28,254.6,220.0,11.0,295,7548,0.00,2.55,0.00,0.000,4,0.000,0.037,3446,3567,1969,0,0,0,0,0,0 $GC,7565,1.28,254.6,217.3,11.2,295,7569,0.00,2.58,0.00,0.000,6,0.000,0.036,3446,1984,1969,0,0,0,0,0,0 $GC,7822,1.31,278.5,192.8,8.7,305,7850,0.00,2.75,22.35,0.696,4,0.000,0.067,3447,413,1873,0,0,0,0,0,0 $GC,7875,1.32,283.6,188.2,9.7,309,7889,0.00,2.47,6.07,0.565,6,0.000,0.020,3446,1998,1852,0,0,0,0,0,0 $GC,8145,1.39,301.2,164.2,9.0,334,8166,0.00,2.75,16.30,0.653,4,0.000,0.059,3446,413,1781,0,0,0,0,0,0 $GC,8252,1.39,301.2,152.9,10.7,343,8257,0.00,2.45,0.00,0.000,6,0.000,0.018,3446,1983,1778,0,0,0,0,0,0 $GC,8519,1.45,301.2,126.6,10.5,367,8524,0.12,2.55,0.00,0.000,4,0.078,0.033,3481,3552,1778,0,0,0,0,0,0 $GC,8538,1.50,301.2,124.0,11.2,368,8542,0.00,2.55,0.00,0.000,6,0.000,0.031,3482,1979,1776,0,0,0,0,0,0 $GC,8800,1.50,301.2,95.7,10.0,392,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1979,1776,0,0,0,0,0,0 $GC,9060,1.55,307.9,70.1,9.6,416,9073,0.00,2.53,6.72,0.496,4,0.000,0.035,3481,3548,1753,0,0,0,0,0,0 $GC,9140,1.63,326.9,62.3,8.9,422,9164,0.10,2.55,17.88,0.560,6,0.043,0.029,3517,1985,1677,0,0,0,0,0,0 $GC,9431,1.63,326.9,32.4,11.6,449,9435,0.00,2.65,0.00,0.000,4,0.000,0.053,3517,406,1674,0,0,0,0,0,0 $GC,9465,1.59,326.9,28.1,12.2,452,9474,0.00,2.47,0.00,0.000,6,0.000,0.018,3517,1990,1674,0,0,0,0,0,0 $STATE,9670,end climb,SURFACE_DEPTH_REACHED $STATE,9670,begin surface coast $FINISH,0.6,0.975006 $STATE,9706,end surface coast,CONTROL_FINISHED_OK $STATE,9706,begin surface $SM_CCo,9728,43.03,0.520,0,0,1459,380.21 $SM_GC,1.21,0.00,0.00,43.03,0.000,0.000,0.520,475,1767,1459,-12.35,-2.35,380.21 $IRIDIUM_FIX,2244.02,-15759.32,070900,101036 $TT8_MAMPS,0.026078 $HUMID,60.75 $INTERNAL_PRESSURE,9.14098 $TCM_TEMP,21.80 $XPDR_PINGS,41 $24V_AH,23.5,35.693 $10V_AH,10.3,31.104 $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,28.075,118.700,397.950,43.025,0.000,77.322,106.703,328.127,10.250,0.000,12.352,991.103,6472.412,503.799,1785.917,803.714,33.366,1182.586,0.000,1791.449,0.000,0.535,0.000 $DEVICE_MAMPS,135.759,111.982,915.798,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,329.181,279.571,375.202,686.924,1040.184,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355460 $DATA_FILE_SIZE,38421,486 $CAP_FILE_SIZE,109961,0 $CFSIZE,260165632,167432192 $ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,140611,132522,2250.024,-15758.545,7,99.0,26,10.1