version: 66.06 glider: 146 mission: 6 dive: 169 start: 5 31 111 15 19 18 data: $ID,146 $MISSION,6 $DIVE,169 $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,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,25 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-271582.97 $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,3140 $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,1770 $C_ROLL_CLIMB,1970 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,31 $R_STBD_OVSHOOT,57 $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,3001 $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 $GPS1,150807,2247.010,-15759.409,30,1.1,35,10.1 $_CALLS,2 $_XMS_NAKs,12 $_XMS_TOUTs,0 $_SM_DEPTHo,1.21 $_SM_ANGLEo,-68.8 $GPS2,151825,2247.058,-15759.472,9,1.9,20,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,WAY4 $TGT_LATLONG,2247.000,-15803.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.223,-0.073 $KALMAN_X,-88249.2,-114.2,-264.8,84057.6,-118.4 $KALMAN_Y,-132642.1,-466.0,-289.9,139241.7,682.8 $MHEAD_RNG_PITCHd_Wd,241.9,6026,-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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.75,0.000,2,0.000,0.000,474,1764,3376,0,0,0,0,0,0 $GC,101,-1.38,-116.8,3.8,-6.9,10,127,12.23,2.55,-1.80,0.000,4,0.148,0.044,2829,3341,3481,0,0,0,0,0,0 $GC,280,-1.27,-116.8,45.6,-18.7,30,290,0.12,2.55,0.00,0.000,6,0.106,0.028,2859,1768,3482,0,0,0,0,0,0 $GC,547,-1.22,-116.8,84.4,-12.7,55,552,0.00,2.70,0.00,0.000,4,0.000,0.067,2858,187,3483,0,0,0,0,0,0 $GC,565,-1.15,-116.8,87.8,-13.8,56,570,0.12,2.40,0.00,0.000,6,0.128,0.017,2885,1809,3483,0,0,0,0,0,0 $GC,827,-1.15,-116.8,120.3,-12.5,80,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1810,3484,0,0,0,0,0,0 $GC,1082,-1.15,-116.8,151.8,-11.4,104,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1810,3484,0,0,0,0,0,0 $GC,1338,-1.21,-116.8,176.9,-9.9,128,1342,0.00,2.33,0.00,0.000,4,0.000,0.026,2885,3302,3484,0,0,0,0,0,0 $GC,1384,-1.31,-116.8,181.6,-9.9,131,1390,0.12,2.47,0.00,0.000,6,0.071,0.026,2841,1753,3484,0,0,0,0,0,0 $GC,1673,-1.31,-116.8,215.8,-12.2,150,1677,0.00,2.42,0.00,0.000,4,0.000,0.031,2841,3298,3485,0,0,0,0,0,0 $GC,1701,-1.31,-116.8,219.4,-12.5,150,1705,0.00,2.45,0.00,0.000,6,0.000,0.033,2841,1762,3485,0,0,0,0,0,0 $GC,1950,-1.31,-116.8,245.2,-10.2,156,1955,0.00,2.42,0.00,0.000,4,0.000,0.035,2841,3299,3485,0,0,0,0,0,0 $GC,2022,-1.31,-116.8,253.1,-10.8,157,2027,0.00,2.45,0.00,0.000,6,0.000,0.030,2841,1775,3485,0,0,0,0,0,0 $GC,2274,-1.31,-116.8,280.3,-11.0,163,2278,0.00,2.42,0.00,0.000,4,0.000,0.034,2841,3298,3485,0,0,0,0,0,0 $GC,2306,-1.31,-116.8,284.5,-11.7,163,2312,0.00,2.45,0.00,0.000,6,0.000,0.031,2841,1785,3485,0,0,0,0,0,0 $GC,2556,-1.31,-116.8,312.3,-11.0,170,2560,0.00,2.42,0.00,0.000,4,0.000,0.031,2840,3296,3485,0,0,0,0,0,0 $GC,2589,-1.35,-116.8,316.0,-11.5,170,2594,0.00,2.47,0.00,0.000,6,0.000,0.041,2841,1791,3485,0,0,0,0,0,0 $GC,2840,-1.35,-116.8,340.0,-9.2,177,2844,0.00,2.42,0.00,0.000,4,0.000,0.041,2841,3288,3483,0,0,0,0,0,0 $GC,2901,-1.41,-116.8,346.0,-9.6,178,2905,0.00,2.47,0.00,0.000,6,0.000,0.044,2840,1803,3483,0,0,0,0,0,0 $GC,3163,-1.45,-116.8,370.0,-9.2,185,3168,0.00,2.42,0.00,0.000,4,0.000,0.042,2841,3295,3482,0,0,0,0,0,0 $GC,3204,-1.51,-116.8,373.9,-9.5,186,3209,0.12,2.50,0.00,0.000,6,0.072,0.048,2797,1801,3482,0,0,0,0,0,0 $GC,3487,-1.51,-116.8,406.8,-11.9,193,3491,0.00,2.42,0.00,0.000,4,0.000,0.048,2797,3291,3479,0,0,0,0,0,0 $GC,3543,-1.51,-116.8,413.8,-12.3,194,3547,0.00,2.50,0.00,0.000,6,0.000,0.058,2797,1822,3480,0,0,0,0,0,0 $GC,3809,-1.51,-116.8,444.4,-11.3,201,3813,0.00,2.42,0.00,0.000,4,0.000,0.048,2797,3284,3478,0,0,0,0,0,0 $GC,3830,-1.51,-116.8,447.1,-11.6,201,3834,0.00,2.53,0.00,0.000,6,0.000,0.060,2796,1817,3478,0,0,0,0,0,0 $GC,4087,-1.51,-116.8,474.2,-10.5,208,4091,0.00,2.45,0.00,0.000,4,0.000,0.054,2797,3281,3477,0,0,0,0,0,0 $GC,4130,-1.51,-116.8,479.4,-11.3,209,4134,0.00,2.50,0.00,0.000,6,0.000,0.067,2796,1829,3476,0,0,0,0,0,0 $STATE,4325,end dive,TARGET_DEPTH_EXCEEDED $STATE,4325,begin apogee $GC,4331,-0.31,0.0,500.8,10.9,214,4431,1.23,0.00,96.70,0.925,6,0.084,0.000,3071,1917,3001,0,0,0,0,0,0 $STATE,4432,end apogee,CONTROL_FINISHED_OK $STATE,4432,begin climb $GC,4436,1.38,116.8,503.2,0.0,216,4547,1.55,3.00,99.25,0.900,4,0.048,0.115,3439,385,2522,0,0,0,0,0,0 $GC,4606,1.29,155.6,497.1,7.8,220,4647,0.00,2.50,33.67,0.874,6,0.000,0.035,3439,1898,2364,0,0,0,0,0,0 $GC,4893,1.25,160.2,470.2,9.8,227,4903,0.12,2.72,4.20,0.572,4,0.126,0.060,3414,3480,2347,0,0,0,0,0,0 $GC,4960,1.25,161.5,463.5,10.0,228,4965,0.00,2.55,0.00,0.000,6,0.000,0.054,3414,1977,2345,0,0,0,0,0,0 $GC,5217,1.28,182.1,440.0,8.8,235,5244,0.00,3.05,20.48,0.850,4,0.000,0.105,3414,382,2256,0,0,0,0,0,0 $GC,5260,1.31,206.5,436.1,8.6,236,5289,0.00,2.53,22.42,0.844,6,0.000,0.031,3415,1916,2159,0,0,0,0,0,0 $GC,5542,1.34,233.8,411.8,8.5,243,5572,0.00,2.67,24.45,0.844,4,0.000,0.046,3414,3485,2047,0,0,0,0,0,0 $GC,5594,1.36,251.1,407.0,9.0,244,5620,0.10,2.55,16.62,0.813,6,0.102,0.048,3441,1977,1976,0,0,0,0,0,0 $GC,5865,1.36,251.1,376.3,11.9,251,5869,0.00,2.50,0.00,0.000,4,0.000,0.034,3440,3495,1972,0,0,0,0,0,0 $GC,5904,1.36,251.1,371.3,12.8,252,5908,0.00,2.50,0.00,0.000,6,0.000,0.039,3441,1998,1970,0,0,0,0,0,0 $GC,6186,1.36,251.1,337.7,11.6,259,6191,0.00,2.83,0.00,0.000,4,0.000,0.079,3441,388,1968,0,0,0,0,0,0 $GC,6208,1.36,251.1,334.8,13.0,259,6213,0.00,2.47,0.00,0.000,6,0.000,0.026,3441,1945,1967,0,0,0,0,0,0 $GC,6463,1.36,251.1,306.6,10.7,266,6468,0.00,2.62,0.00,0.000,4,0.000,0.037,3441,3548,1967,0,0,0,0,0,0 $GC,6535,1.36,251.1,297.6,12.9,267,6539,0.00,2.53,0.00,0.000,6,0.000,0.038,3441,2005,1965,0,0,0,0,0,0 $GC,6791,1.36,251.1,265.6,12.6,274,6796,0.00,2.80,0.00,0.000,4,0.000,0.067,3441,389,1964,0,0,0,0,0,0 $GC,6833,1.36,251.1,260.5,12.3,275,6837,0.00,2.58,0.00,0.000,6,0.000,0.022,3441,2017,1963,0,0,0,0,0,0 $GC,7116,1.38,267.7,233.1,9.1,282,7135,0.00,2.55,13.73,0.724,4,0.000,0.041,3441,3538,1909,0,0,0,0,0,0 $GC,7147,1.38,267.7,229.8,10.7,282,7152,0.00,2.53,0.00,0.000,6,0.000,0.031,3441,2001,1907,0,0,0,0,0,0 $GC,7397,1.42,267.7,200.4,12.1,288,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2001,1905,0,0,0,0,0,0 $GC,7652,1.48,272.8,174.2,9.7,309,7666,0.00,2.80,5.78,0.577,4,0.000,0.066,3441,394,1886,0,0,0,0,0,0 $GC,7715,1.48,272.8,167.0,11.4,314,7719,0.00,2.55,0.00,0.000,6,0.000,0.024,3441,2023,1885,0,0,0,0,0,0 $GC,7977,1.55,272.8,140.3,10.2,338,7979,0.15,0.00,0.00,0.000,6,0.073,0.000,3481,2024,1884,0,0,0,0,0,0 $GC,8231,1.55,272.8,113.4,11.1,362,8236,0.00,2.75,0.00,0.000,4,0.000,0.059,3481,389,1884,0,0,0,0,0,0 $GC,8265,1.50,272.8,109.1,13.1,364,8274,0.00,2.55,0.00,0.000,6,0.000,0.019,3481,2012,1884,0,0,0,0,0,0 $GC,8532,1.50,272.8,77.1,12.2,389,8537,0.00,2.70,0.00,0.000,4,0.000,0.053,3481,392,1884,0,0,0,0,0,0 $GC,8552,1.50,272.8,74.3,11.6,390,8556,0.00,2.50,0.00,0.000,6,0.000,0.018,3481,2008,1884,0,0,0,0,0,0 $GC,8821,1.50,272.8,45.4,11.7,414,8825,0.00,2.42,0.00,0.000,4,0.000,0.034,3481,3532,1884,0,0,0,0,0,0 $GC,8879,1.55,272.8,38.4,12.0,418,8883,0.00,2.50,0.00,0.000,6,0.000,0.028,3482,1976,1884,0,0,0,0,0,0 $GC,9197,1.63,298.4,8.9,8.6,459,9232,0.00,2.72,22.62,0.536,4,0.000,0.053,3481,396,1783,0,0,0,0,0,0 $STATE,9241,end climb,SURFACE_DEPTH_REACHED $STATE,9241,begin surface coast $FINISH,0.6,0.980070 $STATE,9272,end surface coast,CONTROL_FINISHED_OK $STATE,9272,begin surface $SM_CCo,9296,82.68,0.532,0,0,1369,400.08 $SM_GC,1.29,0.00,0.00,82.68,0.000,0.000,0.532,480,1842,1369,-12.24,2.04,400.08 $IRIDIUM_FIX,2237.01,-15758.03,240800,151554 $TT8_MAMPS,0.026078 $HUMID,57.63 $INTERNAL_PRESSURE,9.15074 $TCM_TEMP,22.10 $XPDR_PINGS,49 $24V_AH,23.5,21.175 $10V_AH,10.4,18.417 $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,28.075,132.425,359.925,82.675,0.000,53.298,74.334,287.154,12.250,0.000,22.316,967.364,6019.270,502.772,1827.120,682.461,33.366,1208.012,0.000,1815.867,0.000,0.535,0.000 $DEVICE_MAMPS,148.031,209.391,925.002,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,317.334,269.981,361.950,686.205,1038.931,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355484 $DATA_FILE_SIZE,38331,468 $CAP_FILE_SIZE,107232,0 $CFSIZE,260165632,173432832 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,310511,175700,2247.115,-15800.861,31,1.6,41,10.1