version: 66.06 glider: 146 mission: 6 dive: 247 start: 6 10 111 1 47 51 data: $ID,146 $MISSION,6 $DIVE,247 $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,623.79791 $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,-273780 $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,1830 $C_ROLL_CLIMB,1995 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,22 $R_STBD_OVSHOOT,38 $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,3020 $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 $GPS1,013107,2247.377,-15759.555,50,1.5,50,10.1 $_CALLS,5 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.20 $_SM_ANGLEo,-66.2 $GPS2,014655,2247.539,-15759.705,14,1.4,31,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,WAY4 $TGT_LATLONG,2247.000,-15803.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.173,-0.159 $KALMAN_X,-95747.1,-507.2,-173.2,91462.6,-283.8 $KALMAN_Y,-77303.7,-299.3,7.5,84328.8,1225.5 $MHEAD_RNG_PITCHd_Wd,217.4,5714,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.32,0.000,6,0.000,0.000,481,1850,3497,0,0,0,0,0,0 $GC,100,-1.38,-116.8,4.5,-8.8,10,117,12.05,2.65,0.00,0.000,4,0.141,0.046,2848,239,3500,0,0,0,0,0,0 $GC,308,-1.21,-116.8,56.6,-20.1,32,313,0.22,2.47,0.00,0.000,6,0.117,0.015,2894,1856,3501,0,0,0,0,0,0 $GC,570,-1.21,-116.8,95.7,-13.2,56,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1858,3502,0,0,0,0,0,0 $GC,824,-1.21,-116.8,126.1,-11.8,80,829,0.00,2.70,0.00,0.000,4,0.000,0.055,2895,249,3502,0,0,0,0,0,0 $GC,844,-1.21,-116.8,128.3,-11.9,81,848,0.00,2.42,0.00,0.000,6,0.000,0.016,2894,1866,3502,0,0,0,0,0,0 $GC,1109,-1.26,-116.8,156.4,-9.0,105,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1867,3502,0,0,0,0,0,0 $GC,1376,-1.33,-116.8,180.2,-8.9,130,1381,0.10,2.72,0.00,0.000,4,0.083,0.062,2853,250,3503,0,0,0,0,0,0 $GC,1404,-1.33,-116.8,183.8,-11.2,132,1408,0.00,2.38,0.00,0.000,6,0.000,0.022,2853,1834,3503,0,0,0,0,0,0 $GC,1682,-1.33,-116.8,215.7,-12.0,149,1686,0.00,2.40,0.00,0.000,4,0.000,0.035,2853,3366,3503,0,0,0,0,0,0 $GC,1714,-1.33,-116.8,220.1,-12.4,149,1720,0.00,2.45,0.00,0.000,6,0.000,0.031,2853,1826,3503,0,0,0,0,0,0 $GC,1964,-1.33,-116.8,248.0,-10.7,156,1968,0.00,2.45,0.00,0.000,4,0.000,0.035,2853,3371,3503,0,0,0,0,0,0 $GC,1992,-1.38,-116.8,250.9,-10.6,156,1997,0.00,2.40,0.00,0.000,6,0.000,0.031,2853,1853,3503,0,0,0,0,0,0 $GC,2242,-1.38,-116.8,277.2,-10.6,162,2246,0.00,2.40,0.00,0.000,4,0.000,0.029,2853,3363,3503,0,0,0,0,0,0 $GC,2275,-1.44,-116.8,280.9,-11.0,162,2281,0.00,2.42,0.00,0.000,6,0.000,0.035,2853,1856,3504,0,0,0,0,0,0 $GC,2526,-1.49,-116.8,309.3,-11.5,169,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1856,3503,0,0,0,0,0,0 $GC,2769,-1.54,-116.8,336.6,-11.2,175,2774,0.12,2.42,0.00,0.000,4,0.077,0.037,2807,3360,3502,0,0,0,0,0,0 $GC,2818,-1.54,-116.8,343.0,-12.6,176,2822,0.00,2.42,0.00,0.000,6,0.000,0.044,2807,1874,3502,0,0,0,0,0,0 $GC,3098,-1.54,-116.8,374.9,-11.2,183,3102,0.00,2.40,0.00,0.000,4,0.000,0.044,2807,3358,3500,0,0,0,0,0,0 $GC,3125,-1.54,-116.8,378.2,-11.4,183,3129,0.00,2.45,0.00,0.000,6,0.000,0.044,2807,1879,3500,0,0,0,0,0,0 $GC,3375,-1.54,-116.8,405.2,-11.0,189,3379,0.00,2.97,0.00,0.000,4,0.000,0.099,2807,246,3499,0,0,0,0,0,0 $GC,3392,-1.50,-116.8,407.1,-11.5,189,3397,0.12,2.53,0.00,0.000,6,0.117,0.035,2832,1810,3499,0,0,0,0,0,0 $GC,3653,-1.54,-116.8,436.0,-10.8,196,3658,0.00,2.67,0.00,0.000,4,0.000,0.058,2832,3415,3497,0,0,0,0,0,0 $GC,3720,-1.61,-116.8,443.8,-11.4,197,3725,0.00,2.60,0.00,0.000,6,0.000,0.058,2832,1883,3497,0,0,0,0,0,0 $GC,3977,-1.65,-116.8,470.5,-10.2,204,3979,0.15,0.00,0.00,0.000,6,0.068,0.000,2782,1883,3495,0,0,0,0,0,0 $GC,4220,-1.61,-116.8,498.4,-11.5,210,4225,0.12,2.62,0.00,0.000,4,0.117,0.058,2808,3419,3493,0,0,0,0,0,0 $STATE,4233,end dive,TARGET_DEPTH_EXCEEDED $STATE,4233,begin apogee $GC,4243,-0.31,0.0,500.5,11.9,210,4344,1.23,0.00,96.95,0.907,6,0.087,0.000,3083,1990,3020,0,0,0,0,0,0 $STATE,4345,end apogee,CONTROL_FINISHED_OK $STATE,4345,begin climb $GC,4348,1.38,116.8,503.5,0.0,213,4459,1.60,2.83,99.57,0.887,4,0.048,0.058,3461,3574,2541,0,0,0,0,0,0 $GC,4477,1.36,198.8,501.0,5.3,216,4554,0.00,2.72,70.97,0.873,6,0.000,0.054,3461,1986,2209,0,0,0,0,0,0 $GC,4798,1.28,198.8,469.7,10.4,224,4803,0.10,2.67,0.00,0.000,4,0.133,0.044,3441,3578,2200,0,0,0,0,0,0 $GC,4854,1.28,198.8,463.8,10.2,225,4859,0.00,2.72,0.00,0.000,6,0.000,0.056,3442,1997,2198,0,0,0,0,0,0 $GC,5120,1.28,198.8,436.2,10.6,232,5125,0.00,2.65,0.00,0.000,4,0.000,0.043,3441,3583,2196,0,0,0,0,0,0 $GC,5159,1.28,198.8,431.7,11.4,233,5163,0.00,2.70,0.00,0.000,6,0.000,0.051,3441,2000,2195,0,0,0,0,0,0 $GC,5443,1.28,198.8,402.5,10.0,240,5447,0.00,2.60,0.00,0.000,4,0.000,0.044,3441,3584,2193,0,0,0,0,0,0 $GC,5464,1.29,200.3,400.1,10.0,240,5469,0.00,2.65,0.00,0.000,6,0.000,0.042,3441,2001,2193,0,0,0,0,0,0 $GC,5720,1.31,219.6,376.7,8.9,247,5744,0.00,3.00,16.88,0.803,4,0.000,0.090,3441,406,2123,0,0,0,0,0,0 $GC,5757,1.28,233.4,373.2,9.2,247,5777,0.00,2.62,13.80,0.776,6,0.000,0.029,3441,2024,2067,0,0,0,0,0,0 $GC,6050,1.29,237.6,344.5,9.8,255,6057,0.00,0.00,4.32,0.564,6,0.000,0.000,3441,2025,2051,0,0,0,0,0,0 $GC,6295,1.29,237.6,319.0,10.5,261,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2024,2048,0,0,0,0,0,0 $GC,6538,1.29,239.3,294.7,9.9,267,6542,0.00,2.53,0.00,0.000,4,0.000,0.038,3441,3575,2047,0,0,0,0,0,0 $GC,6564,1.29,239.3,291.9,10.5,267,6569,0.00,2.60,0.00,0.000,6,0.000,0.038,3441,1993,2045,0,0,0,0,0,0 $GC,6814,1.29,243.4,267.4,9.8,273,6823,0.00,0.00,6.07,0.629,6,0.000,0.000,3441,1993,2026,0,0,0,0,0,0 $GC,7103,1.30,246.1,238.4,9.9,280,7113,0.00,2.78,3.88,0.489,4,0.000,0.071,3441,416,2016,0,0,0,0,0,0 $GC,7131,1.30,246.6,235.5,10.0,280,7135,0.00,2.53,0.00,0.000,6,0.000,0.021,3441,2013,2015,0,0,0,0,0,0 $GC,7386,1.36,265.6,212.4,8.9,287,7410,0.00,2.60,18.62,0.703,4,0.000,0.036,3441,3559,1937,0,0,0,0,0,0 $GC,7458,1.43,271.8,205.7,9.7,288,7474,0.12,2.58,7.05,0.604,6,0.081,0.031,3477,1995,1910,0,0,0,0,0,0 $GC,7732,1.43,271.8,175.4,12.0,310,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1995,1907,0,0,0,0,0,0 $GC,7997,1.43,271.8,143.8,12.0,335,8001,0.00,2.58,0.00,0.000,4,0.000,0.038,3477,3567,1906,0,0,0,0,0,0 $GC,8053,1.43,271.8,137.2,12.0,339,8057,0.00,2.53,0.00,0.000,6,0.000,0.037,3477,2013,1904,0,0,0,0,0,0 $GC,8320,1.45,288.8,112.9,9.1,363,8345,0.00,2.78,15.30,0.604,4,0.000,0.061,3477,414,1841,0,0,0,0,0,0 $GC,8351,1.45,288.8,109.1,10.4,365,8356,0.00,2.53,0.00,0.000,6,0.000,0.025,3477,2026,1839,0,0,0,0,0,0 $GC,8615,1.50,288.8,81.8,10.4,390,8619,0.00,2.72,0.00,0.000,4,0.000,0.055,3477,408,1839,0,0,0,0,0,0 $GC,8661,1.50,288.8,77.1,10.8,393,8665,0.00,2.45,0.00,0.000,6,0.000,0.025,3477,2005,1838,0,0,0,0,0,0 $GC,8929,1.57,302.1,52.7,9.3,417,8944,0.10,0.00,12.38,0.535,6,0.094,0.000,3507,2007,1788,0,0,0,0,0,0 $GC,9216,1.57,302.1,19.2,11.4,448,9225,0.00,2.70,0.00,0.000,4,0.000,0.051,3507,415,1786,0,0,0,0,0,0 $GC,9263,1.57,302.1,13.3,13.6,454,9273,0.00,2.47,0.00,0.000,6,0.000,0.025,3507,1993,1785,0,0,0,0,0,0 $STATE,9342,end climb,SURFACE_DEPTH_REACHED $STATE,9342,begin surface coast $FINISH,0.5,0.979909 $STATE,9379,end surface coast,CONTROL_FINISHED_OK $STATE,9380,begin surface $SM_CCo,9402,255.07,0.514,0,0,475,623.80 $SM_GC,1.06,0.00,0.00,255.07,0.000,0.000,0.514,476,1812,475,-12.35,-0.51,623.80 $IRIDIUM_FIX,2239.35,-15802.37,030900,010144 $TT8_MAMPS,0.025311 $HUMID,56.45 $INTERNAL_PRESSURE,9.10191 $TCM_TEMP,21.70 $XPDR_PINGS,45 $24V_AH,23.5,31.115 $10V_AH,10.4,27.094 $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,28.375,119.250,365.800,255.075,0.000,156.430,400.400,0.000,11.250,0.000,36.212,951.734,6380.799,673.440,1782.295,823.219,33.364,1348.898,0.000,1762.396,0.000,0.535,0.000 $DEVICE_MAMPS,141.128,98.943,906.594,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,318.238,264.332,362.057,677.444,1024.496,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355708 $DATA_FILE_SIZE,38413,470 $CAP_FILE_SIZE,99475,0 $CFSIZE,260165632,169312256 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,100611,043007,2247.214,-15801.246,37,1.1,37,10.1