version: 66.06 glider: 146 mission: 6 dive: 461 start: 7 6 111 4 51 0 data: $ID,146 $MISSION,6 $DIVE,461 $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,100 $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,-279247.06 $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,3175 $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,2010 $C_ROLL_CLIMB,1995 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,23 $R_STBD_OVSHOOT,63 $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 $GPS1,044206,2247.695,-15758.068,37,1.3,37,10.1 $_CALLS,1 $_XMS_NAKs,1 $_XMS_TOUTs,1 $_SM_DEPTHo,1.19 $_SM_ANGLEo,-65.0 $GPS2,045008,2247.769,-15758.109,12,1.3,12,10.1 $SPEED_LIMITS,0.143,0.216 $TGT_NAME,WAY3 $TGT_LATLONG,2247.000,-15757.800 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.108,-0.187 $KALMAN_X,-361282.2,-213.0,23.2,359231.5,-822.5 $KALMAN_Y,118867.3,-52.2,-329.4,-111327.9,1168.1 $MHEAD_RNG_PITCHd_Wd,139.8,1520,-21.8,-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,12,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,15,-1.48,-97.3,0.0,0.0,0,127,0.00,0.00,-109.20,0.000,2,0.000,0.000,471,1999,3285,0,0,0,0,0,0 $GC,130,-1.48,-97.3,3.6,-5.5,14,156,12.55,2.65,-2.28,0.000,4,0.155,0.054,2842,417,3410,0,0,0,0,0,0 $GC,220,-1.35,-97.3,26.3,-18.3,26,229,0.12,2.47,0.00,0.000,6,0.233,0.015,2872,2023,3412,0,0,0,0,0,0 $GC,554,-1.31,-97.3,74.0,-14.2,58,558,0.00,2.42,0.00,0.000,4,0.000,0.027,2872,3553,3412,0,0,0,0,0,0 $GC,576,-1.31,-97.3,77.4,-14.0,59,580,0.00,2.47,0.00,0.000,6,0.000,0.025,2872,1986,3412,0,0,0,0,0,0 $GC,903,-1.31,-97.3,122.5,-13.6,89,908,0.00,2.47,0.00,0.000,4,0.000,0.026,2872,3559,3412,0,0,0,0,0,0 $GC,935,-1.31,-97.3,127.0,-13.6,91,940,0.00,2.42,0.00,0.000,6,0.000,0.022,2872,2012,3412,0,0,0,0,0,0 $GC,1263,-1.31,-97.3,170.9,-12.7,121,1267,0.00,2.42,0.00,0.000,4,0.000,0.029,2872,3557,3412,0,0,0,0,0,0 $GC,1306,-1.40,-97.3,175.8,-11.6,124,1310,0.00,2.40,0.00,0.000,6,0.000,0.022,2872,2014,3412,0,0,0,0,0,0 $GC,1643,-1.49,-97.3,207.5,-8.8,149,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2014,3413,0,0,0,0,0,0 $GC,1963,-1.58,-97.3,238.0,-9.6,157,1968,0.17,2.45,0.00,0.000,4,0.058,0.036,2813,3552,3414,0,0,0,0,0,0 $GC,1980,-1.64,-97.3,239.8,-9.5,157,1984,0.00,2.40,0.00,0.000,6,0.000,0.024,2813,2022,3414,0,0,0,0,0,0 $GC,2323,-1.64,-97.3,277.9,-11.2,166,2327,0.00,2.45,0.00,0.000,4,0.000,0.031,2813,3549,3414,0,0,0,0,0,0 $GC,2346,-1.64,-97.3,280.3,-10.1,166,2350,0.00,2.40,0.00,0.000,6,0.000,0.028,2813,2037,3414,0,0,0,0,0,0 $GC,2682,-1.64,-97.3,309.8,-9.0,175,2686,0.00,2.42,0.00,0.000,4,0.000,0.038,2813,3547,3414,0,0,0,0,0,0 $GC,2725,-1.70,-97.3,313.4,-9.5,176,2729,0.00,2.42,0.00,0.000,6,0.000,0.033,2813,2036,3414,0,0,0,0,0,0 $GC,3048,-1.70,-97.3,345.5,-10.2,184,3053,0.00,2.45,0.00,0.000,4,0.000,0.040,2813,3544,3412,0,0,0,0,0,0 $GC,3156,-1.77,-97.3,356.3,-10.1,186,3161,0.10,2.45,0.00,0.000,6,0.079,0.038,2768,2056,3412,0,0,0,0,0,0 $GC,3499,-1.72,-97.3,396.4,-12.0,195,3504,0.15,2.95,0.00,0.000,4,0.107,0.091,2800,420,3410,0,0,0,0,0,0 $GC,3571,-1.72,-97.3,404.7,-10.3,196,3576,0.00,2.53,0.00,0.000,6,0.000,0.029,2800,2003,3410,0,0,0,0,0,0 $GC,3904,-1.72,-97.3,434.2,-8.5,204,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2003,3407,0,0,0,0,0,0 $GC,4228,-1.72,-97.3,463.8,-9.3,212,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2003,3404,0,0,0,0,0,0 $GC,4553,-1.77,-97.3,495.5,-10.2,220,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2003,3402,0,0,0,0,0,0 $STATE,4631,end dive,TARGET_DEPTH_EXCEEDED $STATE,4631,begin apogee $GC,4638,-0.31,0.0,504.4,10.9,222,4723,1.38,0.00,80.70,0.907,6,0.086,0.000,3106,2003,3010,0,0,0,0,0,0 $STATE,4723,end apogee,CONTROL_FINISHED_OK $STATE,4724,begin climb $GC,4726,1.48,97.3,507.7,0.0,224,4814,1.65,0.00,83.40,0.888,6,0.037,0.000,3506,2003,2613,0,0,0,0,0,0 $GC,5159,1.40,143.0,488.9,6.9,235,5205,0.12,3.00,39.58,0.871,4,0.129,0.088,3482,414,2426,0,0,0,0,0,0 $GC,5256,1.26,143.0,478.8,12.4,237,5261,0.15,2.62,0.00,0.000,6,0.127,0.031,3453,2003,2422,0,0,0,0,0,0 $GC,5605,1.26,143.0,443.1,10.3,246,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2002,2416,0,0,0,0,0,0 $GC,5929,1.29,167.2,414.4,8.4,254,5957,0.00,2.83,21.12,0.831,4,0.000,0.071,3453,410,2326,0,0,0,0,0,0 $GC,6024,1.26,183.1,406.6,8.9,256,6044,0.00,2.58,15.25,0.802,6,0.000,0.022,3453,2001,2262,0,0,0,0,0,0 $GC,6383,1.32,230.9,381.1,6.7,265,6432,0.00,2.88,42.33,0.829,4,0.000,0.065,3453,409,2067,0,0,0,0,0,0 $GC,6450,1.32,230.9,374.9,10.4,266,6454,0.00,2.58,0.00,0.000,6,0.000,0.026,3453,1996,2065,0,0,0,0,0,0 $GC,6789,1.36,230.9,338.7,11.0,275,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1997,2059,0,0,0,0,0,0 $GC,7112,1.41,230.9,304.4,10.4,283,7117,0.12,2.60,0.00,0.000,4,0.080,0.043,3487,3585,2057,0,0,0,0,0,0 $GC,7207,1.41,230.9,293.1,12.4,285,7211,0.00,2.60,0.00,0.000,6,0.000,0.036,3487,1993,2055,0,0,0,0,0,0 $GC,7521,1.42,241.2,261.5,9.3,293,7535,0.00,2.78,7.97,0.665,4,0.000,0.068,3487,417,2026,0,0,0,0,0,0 $GC,7552,1.42,241.2,258.0,10.3,293,7557,0.00,2.55,0.00,0.000,6,0.000,0.025,3487,2022,2025,0,0,0,0,0,0 $GC,7885,1.42,241.2,223.5,10.1,301,7889,0.00,2.75,0.00,0.000,4,0.000,0.054,3487,406,2024,0,0,0,0,0,0 $GC,7951,1.44,253.6,217.1,9.2,302,7970,0.00,2.47,12.43,0.676,6,0.000,0.019,3487,1991,1974,0,0,0,0,0,0 $GC,8297,1.51,263.8,188.1,9.3,319,8312,0.00,2.60,9.90,0.630,4,0.000,0.038,3487,3555,1933,0,0,0,0,0,0 $GC,8370,1.61,263.8,180.6,10.3,325,8375,0.15,2.55,0.00,0.000,6,0.074,0.031,3526,1993,1931,0,0,0,0,0,0 $GC,8700,1.61,263.8,145.5,10.2,355,8704,0.00,2.65,0.00,0.000,4,0.000,0.054,3526,413,1930,0,0,0,0,0,0 $GC,8735,1.61,263.8,141.4,10.2,357,8741,0.00,2.47,0.00,0.000,6,0.000,0.025,3526,2004,1929,0,0,0,0,0,0 $GC,9062,1.66,304.9,114.1,7.2,388,9099,0.00,0.00,35.45,0.605,6,0.000,0.000,3526,2005,1767,0,0,0,0,0,0 $GC,9418,1.74,328.3,83.5,8.4,421,9444,0.12,0.00,21.00,0.561,6,0.076,0.000,3562,2006,1669,0,0,0,0,0,0 $GC,9768,1.74,328.3,45.7,11.8,454,9773,0.00,2.67,0.00,0.000,4,0.000,0.049,3563,410,1667,0,0,0,0,0,0 $GC,9839,1.69,328.3,35.7,14.8,459,9844,0.00,2.42,0.00,0.000,6,0.000,0.017,3562,1992,1665,0,0,0,0,0,0 $STATE,10108,end climb,SURFACE_DEPTH_REACHED $STATE,10108,begin surface coast $FINISH,0.6,0.976443 $STATE,10150,end surface coast,CONTROL_FINISHED_OK $STATE,10151,begin surface $SM_CCo,10173,41.10,0.502,0,0,1460,380.21 $SM_GC,1.38,0.00,0.00,41.10,0.000,0.000,0.502,476,1994,1460,-12.42,-0.45,380.21 $IRIDIUM_FIX,2241.69,-15757.16,290900,010126 $TT8_MAMPS,0.026078 $HUMID,63.86 $INTERNAL_PRESSURE,9.18004 $TCM_TEMP,21.80 $XPDR_PINGS,38 $24V_AH,23.5,57.097 $10V_AH,10.2,51.145 $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,29.425,92.275,369.125,41.100,0.000,29.041,37.140,278.962,9.500,0.000,14.104,973.492,6836.927,463.398,1814.328,610.289,33.367,1132.876,0.000,1820.206,0.000,0.535,0.000 $DEVICE_MAMPS,233.168,91.273,906.594,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,339.146,286.082,380.488,711.754,1076.469,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355456 $DATA_FILE_SIZE,38475,501 $CAP_FILE_SIZE,94340,0 $CFSIZE,260165632,158035968 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,060711,074208,2247.408,-15758.157,11,1.9,11,10.1