version: 66.06 glider: 146 mission: 6 dive: 321 start: 6 19 111 1 25 13 data: $ID,146 $MISSION,6 $DIVE,321 $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,-275693.12 $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,3165 $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,1890 $C_ROLL_CLIMB,1995 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,40 $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 $GPS1,010934,2249.965,-15800.539,11,99.0,30,10.1 $_CALLS,2 $_XMS_NAKs,7 $_XMS_TOUTs,0 $_SM_DEPTHo,1.23 $_SM_ANGLEo,-70.2 $GPS2,012419,2250.015,-15800.686,8,1.3,13,10.1 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,WAY2 $TGT_LATLONG,2250.000,-15757.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.224,-0.071 $KALMAN_X,-183607.3,-251.4,-3.7,177223.7,-719.6 $KALMAN_Y,-45239.3,-377.3,31.3,56910.0,698.5 $MHEAD_RNG_PITCHd_Wd,97.5,6291,-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,-70.85,0.000,2,0.000,0.000,474,1879,3299,0,0,0,0,0,0 $GC,92,-1.38,-116.8,3.9,-7.5,9,118,12.38,2.62,-3.38,0.000,4,0.150,0.056,2853,322,3490,0,0,0,0,0,0 $GC,138,-0.63,-116.8,19.9,-35.4,14,146,0.75,2.42,0.00,0.000,6,0.090,0.015,3022,1912,3492,0,0,0,0,0,0 $GC,425,-0.83,-116.8,48.5,-8.7,45,430,0.15,2.38,0.00,0.000,4,0.062,0.025,2970,3422,3493,0,0,0,0,0,0 $GC,462,-0.97,-116.8,52.1,-10.5,47,466,0.00,2.40,0.00,0.000,6,0.000,0.024,2970,1898,3493,0,0,0,0,0,0 $GC,729,-1.12,-116.8,78.3,-8.8,71,734,0.20,2.40,0.00,0.000,4,0.051,0.028,2901,3427,3493,0,0,0,0,0,0 $GC,751,-1.24,-116.8,80.7,-9.7,72,756,0.00,2.40,0.00,0.000,6,0.000,0.024,2900,1893,3493,0,0,0,0,0,0 $GC,1014,-1.28,-116.8,110.0,-10.9,96,1018,0.00,2.40,0.00,0.000,4,0.000,0.029,2901,3428,3493,0,0,0,0,0,0 $GC,1061,-1.36,-116.8,114.8,-11.3,99,1066,0.12,2.40,0.00,0.000,6,0.069,0.025,2850,1894,3494,0,0,0,0,0,0 $GC,1327,-1.32,-116.8,150.9,-14.4,123,1332,0.12,2.45,0.00,0.000,4,0.105,0.026,2878,3432,3494,0,0,0,0,0,0 $GC,1385,-1.39,-116.8,158.1,-11.5,127,1389,0.00,2.38,0.00,0.000,6,0.000,0.028,2878,1914,3494,0,0,0,0,0,0 $GC,1651,-1.39,-116.8,189.2,-11.8,151,1655,0.00,2.38,0.00,0.000,4,0.000,0.031,2878,3432,3494,0,0,0,0,0,0 $GC,1702,-1.46,-116.8,195.6,-11.0,155,1707,0.12,2.38,0.00,0.000,6,0.070,0.030,2827,1913,3494,0,0,0,0,0,0 $GC,1985,-1.41,-116.8,232.1,-12.7,164,1990,0.12,2.40,0.00,0.000,4,0.107,0.028,2857,3430,3494,0,0,0,0,0,0 $GC,2006,-1.41,-116.8,234.9,-12.0,164,2010,0.00,2.38,0.00,0.000,6,0.000,0.025,2857,1915,3494,0,0,0,0,0,0 $GC,2269,-1.41,-116.8,263.0,-10.6,171,2273,0.00,2.38,0.00,0.000,4,0.000,0.028,2857,3420,3494,0,0,0,0,0,0 $GC,2375,-1.48,-116.8,274.3,-10.4,173,2379,0.00,2.35,0.00,0.000,6,0.000,0.033,2857,1934,3494,0,0,0,0,0,0 $GC,2636,-1.52,-116.8,301.5,-10.5,180,2637,0.10,0.00,0.00,0.000,6,0.083,0.000,2817,1934,3494,0,0,0,0,0,0 $GC,2880,-1.52,-116.8,328.1,-11.0,186,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1934,3493,0,0,0,0,0,0 $GC,3122,-1.52,-116.8,354.0,-10.2,192,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1934,3492,0,0,0,0,0,0 $GC,3366,-1.52,-116.8,380.4,-10.8,198,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1934,3491,0,0,0,0,0,0 $GC,3610,-1.52,-116.8,406.2,-10.3,204,3614,0.00,2.45,0.00,0.000,4,0.000,0.044,2816,3416,3489,0,0,0,0,0,0 $GC,3668,-1.52,-116.8,412.3,-11.7,205,3672,0.00,2.45,0.00,0.000,6,0.000,0.056,2816,1951,3490,0,0,0,0,0,0 $GC,3934,-1.52,-116.8,444.2,-12.1,212,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1952,3487,0,0,0,0,0,0 $GC,4177,-1.52,-116.8,472.9,-11.5,218,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1952,3485,0,0,0,0,0,0 $GC,4423,-1.52,-116.8,496.6,-9.5,224,4427,0.00,2.47,0.00,0.000,4,0.000,0.061,2816,3415,3484,0,0,0,0,0,0 $GC,4450,-1.52,-116.8,499.2,-9.2,224,4454,0.00,2.50,0.00,0.000,6,0.000,0.059,2816,1949,3484,0,0,0,0,0,0 $STATE,4494,end dive,TARGET_DEPTH_EXCEEDED $STATE,4494,begin apogee $GC,4500,-0.31,0.0,503.4,9.0,225,4600,1.23,0.00,96.78,0.913,6,0.074,0.000,3097,1949,3010,0,0,0,0,0,0 $STATE,4601,end apogee,CONTROL_FINISHED_OK $STATE,4601,begin climb $GC,4603,1.38,116.8,504.8,0.0,227,4707,1.55,0.00,99.53,0.890,6,0.038,0.000,3472,1949,2533,0,0,0,0,0,0 $GC,4944,1.29,145.6,485.4,8.4,236,4975,0.12,2.72,24.60,0.854,4,0.127,0.049,3449,3518,2415,0,0,0,0,0,0 $GC,5021,1.25,173.0,478.9,8.5,237,5052,0.00,2.55,25.20,0.849,6,0.000,0.053,3448,2015,2304,0,0,0,0,0,0 $GC,5310,1.22,195.5,453.3,8.7,245,5332,0.00,0.00,20.33,0.836,6,0.000,0.000,3448,2015,2213,0,0,0,0,0,0 $GC,5552,1.18,202.6,430.1,9.6,251,5561,0.12,0.00,7.07,0.715,6,0.123,0.000,3424,2015,2184,0,0,0,0,0,0 $GC,5797,1.20,218.6,408.0,9.1,257,5814,0.00,0.00,15.57,0.811,6,0.000,0.000,3424,2014,2118,0,0,0,0,0,0 $GC,6039,1.20,218.6,383.1,10.6,263,6043,0.00,2.47,0.00,0.000,4,0.000,0.036,3424,3524,2114,0,0,0,0,0,0 $GC,6060,1.20,218.6,380.6,11.4,263,6064,0.00,2.55,0.00,0.000,6,0.000,0.044,3424,2001,2113,0,0,0,0,0,0 $GC,6316,1.20,218.6,353.8,10.5,270,6321,0.00,2.83,0.00,0.000,4,0.000,0.083,3423,410,2111,0,0,0,0,0,0 $GC,6382,1.20,218.6,345.8,12.1,271,6387,0.00,2.45,0.00,0.000,6,0.000,0.021,3423,1962,2110,0,0,0,0,0,0 $GC,6640,1.22,233.8,322.1,9.2,278,6655,0.00,0.00,13.60,0.764,6,0.000,0.000,3424,1963,2056,0,0,0,0,0,0 $GC,6884,1.29,246.4,299.1,9.3,284,6903,0.10,2.75,12.52,0.743,4,0.097,0.062,3452,410,2004,0,0,0,0,0,0 $GC,6931,1.24,246.4,294.0,10.7,285,6936,0.00,2.58,0.00,0.000,6,0.000,0.020,3451,2021,2002,0,0,0,0,0,0 $GC,7210,1.25,257.8,267.8,9.4,292,7229,0.00,2.80,11.32,0.716,4,0.000,0.055,3451,410,1958,0,0,0,0,0,0 $GC,7268,1.25,257.8,261.5,10.7,293,7273,0.00,2.55,0.00,0.000,6,0.000,0.021,3452,2008,1956,0,0,0,0,0,0 $GC,7535,1.27,272.3,236.7,9.2,300,7551,0.00,0.00,13.70,0.706,6,0.000,0.000,3451,2009,1900,0,0,0,0,0,0 $GC,7781,1.27,272.3,212.1,10.4,306,7785,0.00,2.72,0.00,0.000,4,0.000,0.058,3451,408,1897,0,0,0,0,0,0 $GC,7835,1.27,272.3,206.0,10.8,307,7840,0.00,2.47,0.00,0.000,6,0.000,0.025,3452,1994,1896,0,0,0,0,0,0 $GC,8107,1.34,291.9,182.1,8.9,325,8127,0.00,0.00,18.17,0.673,6,0.000,0.000,3452,1994,1818,0,0,0,0,0,0 $GC,8380,1.41,299.2,155.9,9.6,351,8394,0.00,2.70,7.53,0.578,4,0.000,0.056,3451,403,1789,0,0,0,0,0,0 $GC,8434,1.41,299.2,150.5,10.6,355,8439,0.00,2.50,0.00,0.000,6,0.000,0.025,3452,1996,1788,0,0,0,0,0,0 $GC,8702,1.50,312.9,124.6,9.3,379,8728,0.17,2.75,13.12,0.600,4,0.064,0.057,3500,408,1732,0,0,0,0,0,0 $GC,8740,1.50,312.9,119.7,11.8,382,8744,0.00,2.47,0.00,0.000,6,0.000,0.021,3500,2001,1732,0,0,0,0,0,0 $GC,9004,1.52,333.7,93.2,8.8,406,9028,0.00,2.53,19.15,0.586,4,0.000,0.036,3500,3553,1647,0,0,0,0,0,0 $GC,9053,1.53,338.1,88.3,9.8,410,9068,0.00,2.53,4.93,0.444,6,0.000,0.033,3500,1987,1632,0,0,0,0,0,0 $GC,9322,1.57,338.1,60.9,10.9,435,9326,0.00,2.62,0.00,0.000,4,0.000,0.058,3500,418,1629,0,0,0,0,0,0 $GC,9356,1.57,338.1,56.3,12.4,437,9365,0.00,2.47,0.00,0.000,6,0.000,0.018,3500,1998,1628,0,0,0,0,0,0 $GC,9629,1.57,338.1,26.7,11.4,464,9637,0.00,2.67,0.00,0.000,4,0.000,0.051,3500,423,1628,0,0,0,0,0,0 $GC,9662,1.57,338.1,22.3,11.7,468,9671,0.00,2.45,0.00,0.000,6,0.000,0.018,3499,1999,1628,0,0,0,0,0,0 $STATE,9828,end climb,SURFACE_DEPTH_REACHED $STATE,9828,begin surface coast $FINISH,0.7,0.980050 $STATE,9872,end surface coast,CONTROL_FINISHED_OK $STATE,9872,begin surface $SM_CCo,9894,35.00,0.518,0,0,1459,380.21 $SM_GC,1.52,0.00,0.00,35.00,0.000,0.000,0.518,477,1876,1459,-12.36,-0.40,380.21 $IRIDIUM_FIX,2241.69,-15759.32,120900,010126 $TT8_MAMPS,0.026078 $HUMID,62.04 $INTERNAL_PRESSURE,9.17027 $TCM_TEMP,21.90 $XPDR_PINGS,39 $24V_AH,23.5,40.253 $10V_AH,10.3,35.388 $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,29.625,105.700,403.125,35.000,0.000,58.719,76.419,547.493,9.750,0.000,14.668,1001.870,6516.911,510.944,1814.781,971.461,33.371,1161.500,0.000,1824.896,0.000,0.536,0.000 $DEVICE_MAMPS,149.565,82.836,912.730,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,338.145,280.312,385.602,756.402,1144.272,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355684 $DATA_FILE_SIZE,38418,499 $CAP_FILE_SIZE,109227,0 $CFSIZE,260165632,165416960 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,190611,041209,2249.795,-15759.654,46,1.3,46,10.1