version: 66.06 glider: 146 mission: 6 dive: 261 start: 6 11 111 19 43 39 data: $ID,146 $MISSION,6 $DIVE,261 $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,-274225.91 $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,47 $R_STBD_OVSHOOT,61 $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 $GPS1,191606,2247.558,-15801.871,18,1.1,23,10.1 $_CALLS,5 $_XMS_NAKs,3 $_XMS_TOUTs,0 $_SM_DEPTHo,1.21 $_SM_ANGLEo,-70.0 $GPS2,194243,2247.699,-15802.078,21,2.0,32,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,WAY4 $TGT_LATLONG,2247.000,-15803.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.090,-0.124 $KALMAN_X,-105997.1,-75.9,77.0,96981.1,-680.9 $KALMAN_Y,-68331.0,-81.9,504.2,74934.1,-56.1 $MHEAD_RNG_PITCHd_Wd,206.1,2038,-30.7,-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,-1.98,-50.3,0.0,0.0,0,87,0.00,0.00,-69.25,0.000,6,0.000,0.000,480,1802,3216,0,0,0,0,0,0 $GC,91,-2.02,-86.8,3.3,-5.2,9,117,11.32,2.60,-2.88,0.000,4,0.140,0.062,2705,269,3368,0,0,0,0,0,0 $GC,305,-1.93,-86.8,65.8,-26.3,31,310,0.17,2.38,0.00,0.000,6,0.143,0.013,2738,1846,3369,0,0,0,0,0,0 $GC,573,-2.00,-86.8,117.2,-16.9,55,577,0.00,2.62,0.00,0.000,4,0.000,0.056,2738,272,3370,0,0,0,0,0,0 $GC,614,-2.00,-86.8,126.5,-20.1,58,618,0.00,2.35,0.00,0.000,6,0.000,0.018,2738,1859,3370,0,0,0,0,0,0 $GC,882,-2.11,-86.8,170.3,-13.4,82,887,0.17,2.33,0.00,0.000,4,0.058,0.031,2683,3351,3370,0,0,0,0,0,0 $GC,984,-2.17,-86.8,189.5,-17.9,90,993,0.00,2.40,0.00,0.000,6,0.000,0.031,2683,1850,3370,0,0,0,0,0,0 $GC,1246,-2.21,-86.8,237.5,-18.3,101,1250,0.00,2.38,0.00,0.000,4,0.000,0.031,2683,3357,3371,0,0,0,0,0,0 $GC,1274,-2.27,-86.8,242.4,-16.7,101,1279,0.00,2.38,0.00,0.000,6,0.000,0.033,2683,1850,3371,0,0,0,0,0,0 $GC,1530,-2.33,-86.8,283.9,-16.6,108,1532,0.12,0.00,0.00,0.000,6,0.074,0.000,2639,1850,3370,0,0,0,0,0,0 $GC,1773,-2.33,-86.8,329.3,-18.5,114,1777,0.00,2.42,0.00,0.000,4,0.000,0.042,2639,3353,3371,0,0,0,0,0,0 $GC,1807,-2.33,-86.8,335.5,-18.6,114,1815,0.00,2.45,0.00,0.000,6,0.000,0.045,2639,1858,3371,0,0,0,0,0,0 $GC,2057,-2.33,-86.8,380.0,-17.5,121,2061,0.00,2.42,0.00,0.000,4,0.000,0.039,2638,3348,3369,0,0,0,0,0,0 $GC,2113,-2.33,-86.8,389.2,-16.0,122,2118,0.00,2.53,0.00,0.000,6,0.000,0.058,2638,1850,3369,0,0,0,0,0,0 $GC,2381,-2.33,-86.8,430.1,-15.3,129,2385,0.00,2.45,0.00,0.000,4,0.000,0.050,2639,3342,3368,0,0,0,0,0,0 $GC,2430,-2.33,-86.8,438.1,-15.5,130,2435,0.00,2.53,0.00,0.000,6,0.000,0.060,2639,1857,3368,0,0,0,0,0,0 $GC,2708,-2.33,-86.8,484.2,-17.1,137,2713,0.00,2.47,0.00,0.000,4,0.000,0.058,2638,3331,3366,0,0,0,0,0,0 $GC,2788,-2.37,-86.8,497.8,-17.0,138,2793,0.00,2.53,0.00,0.000,6,0.000,0.061,2638,1865,3365,0,0,0,0,0,0 $STATE,2832,end dive,TARGET_DEPTH_EXCEEDED $STATE,2832,begin apogee $GC,2838,-0.31,0.0,505.3,16.2,140,2915,2.10,0.00,72.97,0.891,6,0.103,0.000,3087,1934,3010,0,0,0,0,0,0 $STATE,2916,end apogee,CONTROL_FINISHED_OK $STATE,2916,begin climb $GC,2919,2.02,86.8,508.1,0.0,142,2997,2.17,0.00,73.65,0.874,6,0.041,0.000,3606,1934,2656,0,0,0,0,0,0 $GC,3240,1.99,93.0,485.5,9.2,150,3251,0.00,2.65,5.85,0.670,4,0.000,0.052,3607,3495,2629,0,0,0,0,0,0 $GC,3263,1.95,106.8,483.5,8.2,150,3282,0.10,2.58,13.77,0.805,6,0.159,0.052,3589,1990,2574,0,0,0,0,0,0 $GC,3568,1.96,114.4,455.5,9.0,158,3582,0.00,2.60,7.07,0.718,4,0.000,0.048,3589,3500,2542,0,0,0,0,0,0 $GC,3818,1.97,119.5,431.8,9.4,163,3829,0.00,2.53,5.40,0.653,6,0.000,0.044,3589,2002,2522,0,0,0,0,0,0 $GC,4075,1.99,133.1,410.6,8.2,169,4094,0.00,2.55,12.93,0.795,4,0.000,0.037,3589,3501,2467,0,0,0,0,0,0 $GC,4118,1.99,137.6,406.6,9.4,170,4128,0.00,2.53,5.62,0.651,6,0.000,0.041,3589,2001,2448,0,0,0,0,0,0 $GC,4402,1.99,137.6,376.7,10.6,177,4407,0.00,2.45,0.00,0.000,4,0.000,0.033,3589,3512,2443,0,0,0,0,0,0 $GC,4545,2.00,142.8,362.3,9.3,180,4556,0.00,2.50,5.12,0.624,6,0.000,0.037,3589,2004,2427,0,0,0,0,0,0 $GC,4819,2.05,151.8,338.2,8.8,187,4833,0.00,2.53,9.27,0.734,4,0.000,0.035,3589,3530,2390,0,0,0,0,0,0 $GC,5035,2.05,151.8,315.5,10.8,191,5041,0.00,2.47,0.00,0.000,6,0.000,0.033,3589,2026,2387,0,0,0,0,0,0 $GC,5288,2.10,159.2,292.1,9.0,198,5302,0.12,2.47,7.62,0.680,4,0.089,0.038,3620,3508,2359,0,0,0,0,0,0 $GC,5358,2.10,159.2,284.5,11.3,199,5362,0.00,2.42,0.00,0.000,6,0.000,0.035,3620,2032,2357,0,0,0,0,0,0 $GC,5621,2.10,159.2,255.4,11.4,206,5625,0.00,2.38,0.00,0.000,4,0.000,0.031,3620,3508,2356,0,0,0,0,0,0 $GC,5788,2.10,159.2,236.7,10.1,209,5794,0.00,2.40,0.00,0.000,6,0.000,0.035,3620,2040,2355,0,0,0,0,0,0 $GC,6038,2.11,166.4,212.7,9.1,216,6052,0.00,2.85,6.97,0.617,4,0.000,0.064,3619,413,2330,0,0,0,0,0,0 $GC,6152,2.05,166.4,201.6,10.7,218,6156,0.00,2.47,0.00,0.000,6,0.000,0.021,3619,1988,2329,0,0,0,0,0,0 $GC,6416,2.06,173.1,177.7,9.1,242,6430,0.00,2.62,7.20,0.594,4,0.000,0.035,3620,3563,2303,0,0,0,0,0,0 $GC,6639,2.06,173.1,154.7,10.7,261,6648,0.00,2.45,0.00,0.000,6,0.000,0.029,3620,2063,2301,0,0,0,0,0,0 $GC,6903,2.13,184.9,130.9,8.5,286,6920,0.00,2.83,11.65,0.601,4,0.000,0.063,3620,406,2256,0,0,0,0,0,0 $GC,6955,2.13,184.9,124.5,11.8,290,6964,0.00,2.60,0.00,0.000,6,0.000,0.020,3620,2052,2254,0,0,0,0,0,0 $GC,7224,2.22,196.0,98.5,8.6,315,7241,0.10,2.75,10.93,0.566,4,0.103,0.051,3646,411,2210,0,0,0,0,0,0 $GC,7512,2.22,196.0,65.1,11.2,338,7522,0.00,2.55,0.00,0.000,6,0.000,0.018,3645,2031,2206,0,0,0,0,0,0 $GC,7779,2.29,209.4,44.4,8.2,363,7797,0.00,2.47,12.70,0.529,4,0.000,0.032,3646,3565,2156,0,0,0,0,0,0 $GC,7842,2.36,212.3,38.4,9.7,367,7854,0.08,2.47,4.15,0.383,6,0.060,0.027,3674,2047,2143,0,0,0,0,0,0 $GC,8158,2.43,212.3,4.9,13.1,409,8167,0.00,2.75,0.00,0.000,4,0.000,0.053,3674,411,2140,0,0,0,0,0,0 $STATE,8175,end climb,SURFACE_DEPTH_REACHED $STATE,8175,begin surface coast $FINISH,0.5,0.975181 $STATE,8217,end surface coast,CONTROL_FINISHED_OK $STATE,8217,begin surface $SM_CCo,8242,136.48,0.519,0,0,1459,380.21 $SM_GC,1.18,0.00,0.00,136.48,0.000,0.000,0.519,476,1846,1459,-12.35,0.48,380.21 $IRIDIUM_FIX,2239.35,-15802.37,040900,191936 $TT8_MAMPS,0.026078 $HUMID,58.34 $INTERNAL_PRESSURE,9.16051 $TCM_TEMP,22.00 $XPDR_PINGS,39 $24V_AH,23.6,33.033 $10V_AH,10.4,28.684 $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,29.500,105.425,272.900,136.475,0.000,140.985,189.860,828.011,9.750,0.000,33.665,901.320,5313.532,492.549,1818.818,1454.312,33.363,1170.587,0.000,1794.057,0.000,0.536,0.000 $DEVICE_MAMPS,158.769,222.430,891.254,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,281.938,240.194,325.170,628.537,950.722,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355792 $DATA_FILE_SIZE,32057,417 $CAP_FILE_SIZE,110399,0 $CFSIZE,260165632,168591360 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,110611,220524,2246.986,-15802.924,68,1.0,85,10.1