version: 66.06 glider: 146 mission: 6 dive: 285 start: 6 14 111 16 28 44 data: $ID,146 $MISSION,6 $DIVE,285 $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,-274845.53 $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,56 $R_STBD_OVSHOOT,62 $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 $GPS1,161754,2249.917,-15758.066,38,1.5,38,10.1 $_CALLS,2 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.24 $_SM_ANGLEo,-71.6 $GPS2,162750,2250.008,-15758.156,13,1.9,13,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,WAY2 $TGT_LATLONG,2250.000,-15757.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.218,-0.087 $KALMAN_X,-130621.3,-219.1,-41.7,128562.1,-1213.4 $KALMAN_Y,-59885.0,-542.0,-101.4,71835.0,859.1 $MHEAD_RNG_PITCHd_Wd,101.6,1974,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,2,0.000,0.000,474,1818,3253,0,0,0,0,0,0 $GC,92,-1.38,-116.8,3.4,-5.8,9,118,12.05,2.58,-4.38,0.000,4,0.137,0.064,2850,301,3488,0,0,0,0,0,0 $GC,131,-0.42,-116.8,16.4,-33.6,13,140,0.95,2.40,0.00,0.000,6,0.092,0.021,3062,1870,3489,0,0,0,0,0,0 $GC,430,-0.71,-116.8,39.7,-6.3,49,435,0.22,2.38,0.00,0.000,4,0.046,0.031,2988,3384,3491,0,0,0,0,0,0 $GC,467,-0.91,-116.8,42.6,-8.3,51,472,0.10,2.38,0.00,0.000,6,0.077,0.022,2942,1870,3490,0,0,0,0,0,0 $GC,734,-0.97,-116.8,73.8,-11.6,75,738,0.00,2.65,0.00,0.000,4,0.000,0.052,2942,276,3491,0,0,0,0,0,0 $GC,769,-1.03,-116.8,78.7,-12.5,77,779,0.00,2.38,0.00,0.000,6,0.000,0.014,2942,1840,3491,0,0,0,0,0,0 $GC,1032,-1.13,-116.8,106.1,-10.3,102,1037,0.12,2.45,0.00,0.000,4,0.067,0.033,2889,3401,3492,0,0,0,0,0,0 $GC,1104,-1.17,-116.8,115.3,-12.7,107,1110,0.00,2.47,0.00,0.000,6,0.000,0.031,2889,1845,3491,0,0,0,0,0,0 $GC,1367,-1.17,-116.8,149.8,-12.1,132,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1845,3492,0,0,0,0,0,0 $GC,1620,-1.17,-116.8,176.5,-9.7,156,1624,0.00,2.42,0.00,0.000,4,0.000,0.025,2889,3396,3492,0,0,0,0,0,0 $GC,1696,-1.28,-116.8,183.7,-9.2,162,1701,0.00,2.42,0.00,0.000,6,0.000,0.024,2889,1846,3493,0,0,0,0,0,0 $GC,1968,-1.34,-116.8,209.5,-10.3,181,1972,0.00,2.62,0.00,0.000,4,0.000,0.065,2889,280,3493,0,0,0,0,0,0 $GC,2011,-1.34,-116.8,214.8,-11.6,182,2015,0.00,2.38,0.00,0.000,6,0.000,0.022,2889,1858,3493,0,0,0,0,0,0 $GC,2290,-1.40,-116.8,244.4,-10.5,189,2295,0.15,2.42,0.00,0.000,4,0.065,0.035,2839,3393,3494,0,0,0,0,0,0 $GC,2340,-1.40,-116.8,250.3,-11.1,190,2345,0.00,2.42,0.00,0.000,6,0.000,0.032,2839,1867,3493,0,0,0,0,0,0 $GC,2613,-1.40,-116.8,279.5,-10.5,197,2617,0.00,2.40,0.00,0.000,4,0.000,0.035,2839,3391,3494,0,0,0,0,0,0 $GC,2668,-1.45,-116.8,284.9,-9.7,198,2673,0.00,2.45,0.00,0.000,6,0.000,0.031,2839,1866,3494,0,0,0,0,0,0 $GC,2936,-1.45,-116.8,309.0,-9.1,205,2940,0.00,2.42,0.00,0.000,4,0.000,0.035,2839,3396,3493,0,0,0,0,0,0 $GC,2968,-1.49,-116.8,312.8,-10.8,205,2974,0.00,2.47,0.00,0.000,6,0.000,0.041,2839,1875,3493,0,0,0,0,0,0 $GC,3218,-1.49,-116.8,337.2,-9.8,212,3223,0.00,2.85,0.00,0.000,4,0.000,0.082,2839,264,3493,0,0,0,0,0,0 $GC,3246,-1.49,-116.8,340.3,-11.5,212,3251,0.00,2.47,0.00,0.000,6,0.000,0.027,2839,1827,3493,0,0,0,0,0,0 $GC,3496,-1.49,-116.8,366.1,-10.2,218,3500,0.00,2.62,0.00,0.000,4,0.000,0.047,2839,3432,3491,0,0,0,0,0,0 $GC,3537,-1.54,-116.8,370.4,-11.0,219,3542,0.00,2.58,0.00,0.000,6,0.000,0.048,2839,1881,3492,0,0,0,0,0,0 $GC,3822,-1.54,-116.8,398.2,-9.7,226,3826,0.00,2.55,0.00,0.000,4,0.000,0.040,2839,3435,3490,0,0,0,0,0,0 $GC,3911,-1.61,-116.8,406.7,-9.0,228,3916,0.12,2.60,0.00,0.000,6,0.070,0.054,2795,1894,3489,0,0,0,0,0,0 $GC,4191,-1.56,-116.8,435.7,-10.4,235,4196,0.10,2.55,0.00,0.000,4,0.118,0.042,2816,3434,3487,0,0,0,0,0,0 $GC,4217,-1.56,-116.8,438.8,-10.0,235,4222,0.00,2.60,0.00,0.000,6,0.000,0.058,2816,1895,3487,0,0,0,0,0,0 $GC,4468,-1.56,-116.8,462.3,-9.5,241,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1895,3486,0,0,0,0,0,0 $GC,4713,-1.56,-116.8,485.2,-9.5,247,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1895,3484,0,0,0,0,0,0 $STATE,4871,end dive,TARGET_DEPTH_EXCEEDED $STATE,4871,begin apogee $GC,4878,-0.31,0.0,501.7,10.2,251,4979,1.20,0.00,97.28,0.915,6,0.081,0.000,3089,2019,3010,0,0,0,0,0,0 $STATE,4979,end apogee,CONTROL_FINISHED_OK $STATE,4979,begin climb $GC,4982,1.38,116.8,504.2,0.0,253,5090,1.58,2.67,100.18,0.896,4,0.041,0.061,3465,3552,2532,0,0,0,0,0,0 $GC,5104,1.34,197.5,503.3,5.4,256,5180,0.00,2.70,70.15,0.881,6,0.000,0.048,3465,1988,2203,0,0,0,0,0,0 $GC,5438,1.25,197.5,464.1,13.3,265,5443,0.15,2.62,0.00,0.000,4,0.122,0.049,3434,3560,2195,0,0,0,0,0,0 $GC,5482,1.25,197.5,458.0,12.5,266,5486,0.00,2.70,0.00,0.000,6,0.000,0.056,3435,1991,2193,0,0,0,0,0,0 $GC,5759,1.25,197.5,423.9,12.2,273,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1991,2191,0,0,0,0,0,0 $GC,6003,1.25,197.5,397.7,10.4,279,6007,0.00,2.60,0.00,0.000,4,0.000,0.044,3434,3557,2189,0,0,0,0,0,0 $GC,6043,1.25,197.5,393.7,10.5,280,6048,0.00,2.65,0.00,0.000,6,0.000,0.044,3435,1986,2188,0,0,0,0,0,0 $GC,6326,1.28,217.3,367.7,8.9,287,6348,0.00,2.62,16.15,0.798,4,0.000,0.038,3435,3562,2123,0,0,0,0,0,0 $GC,6371,1.29,228.3,363.5,9.4,288,6388,0.00,2.65,11.15,0.755,6,0.000,0.040,3435,1983,2079,0,0,0,0,0,0 $GC,6649,1.29,228.3,334.7,10.7,295,6653,0.00,2.60,0.00,0.000,4,0.000,0.040,3435,3563,2074,0,0,0,0,0,0 $GC,6698,1.29,228.3,329.1,11.0,296,6703,0.00,2.60,0.00,0.000,6,0.000,0.037,3435,1994,2072,0,0,0,0,0,0 $GC,6972,1.31,243.3,302.6,9.2,303,6991,0.00,2.83,13.90,0.755,4,0.000,0.077,3434,411,2018,0,0,0,0,0,0 $GC,7021,1.27,246.5,297.8,9.9,304,7030,0.00,2.53,4.30,0.539,6,0.000,0.027,3434,1997,2005,0,0,0,0,0,0 $GC,7305,1.31,279.1,273.9,8.2,311,7337,0.00,0.00,30.50,0.764,6,0.000,0.000,3434,1998,1872,0,0,0,0,0,0 $GC,7549,1.38,300.3,252.4,8.8,317,7574,0.10,2.60,19.48,0.727,4,0.088,0.038,3464,3561,1784,0,0,0,0,0,0 $GC,7654,1.38,300.3,239.8,13.0,319,7659,0.00,2.60,0.00,0.000,6,0.000,0.035,3464,1985,1781,0,0,0,0,0,0 $GC,7922,1.38,300.3,204.4,13.2,326,7926,0.00,2.72,0.00,0.000,4,0.000,0.069,3464,407,1779,0,0,0,0,0,0 $GC,7955,1.33,300.3,199.4,14.7,326,7960,0.00,2.50,0.00,0.000,6,0.000,0.022,3464,2001,1778,0,0,0,0,0,0 $GC,8218,1.33,300.3,166.6,11.3,351,8223,0.00,2.70,0.00,0.000,4,0.000,0.057,3464,413,1777,0,0,0,0,0,0 $GC,8241,1.33,300.3,164.2,11.7,352,8245,0.00,2.47,0.00,0.000,6,0.000,0.025,3464,1998,1776,0,0,0,0,0,0 $GC,8504,1.37,301.3,136.0,10.0,376,8508,0.00,2.47,0.00,0.000,4,0.000,0.035,3464,3549,1776,0,0,0,0,0,0 $GC,8539,1.42,301.3,132.0,10.8,378,8548,0.00,2.55,0.00,0.000,6,0.000,0.035,3464,1988,1776,0,0,0,0,0,0 $GC,8805,1.47,301.3,103.6,11.1,403,8810,0.00,2.65,0.00,0.000,4,0.000,0.057,3464,417,1775,0,0,0,0,0,0 $GC,8847,1.47,301.3,98.0,12.7,406,8851,0.00,2.45,0.00,0.000,6,0.000,0.019,3464,2004,1775,0,0,0,0,0,0 $GC,9113,1.54,301.3,71.0,10.2,430,9122,0.12,0.00,0.00,0.000,6,0.077,0.000,3500,2005,1775,0,0,0,0,0,0 $GC,9379,1.54,307.9,43.8,9.7,455,9393,0.00,2.47,6.72,0.477,4,0.000,0.031,3500,3550,1752,0,0,0,0,0,0 $GC,9410,1.54,307.9,40.7,10.1,457,9414,0.00,2.53,0.00,0.000,6,0.000,0.028,3500,1985,1752,0,0,0,0,0,0 $GC,9724,1.54,307.9,7.8,11.4,496,9733,0.00,2.65,0.00,0.000,4,0.000,0.051,3500,410,1752,0,0,0,0,0,0 $STATE,9754,end climb,SURFACE_DEPTH_REACHED $STATE,9754,begin surface coast $FINISH,0.7,0.980056 $STATE,9797,end surface coast,CONTROL_FINISHED_OK $STATE,9797,begin surface $SM_CCo,9821,59.25,0.522,0,0,1460,380.21 $SM_GC,1.22,0.00,0.00,59.25,0.000,0.000,0.522,480,1882,1460,-12.33,0.90,380.21 $IRIDIUM_FIX,2241.69,-15757.16,070900,161646 $TT8_MAMPS,0.026078 $HUMID,60.63 $INTERNAL_PRESSURE,9.16051 $TCM_TEMP,21.90 $XPDR_PINGS,46 $24V_AH,23.5,35.927 $10V_AH,10.3,31.333 $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,29.200,132.525,369.800,59.250,0.000,59.607,68.586,265.349,11.500,0.000,15.308,1041.637,6264.702,512.082,1973.339,688.946,33.374,1217.540,0.000,1977.958,0.000,0.535,0.000 $DEVICE_MAMPS,136.526,82.069,915.031,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,343.292,287.978,397.073,786.767,1191.193,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355484 $DATA_FILE_SIZE,38307,506 $CAP_FILE_SIZE,110914,0 $CFSIZE,260165632,167321600 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,140611,191437,2250.034,-15757.544,30,1.5,30,10.1