version: 66.06 glider: 146 mission: 6 dive: 476 start: 7 8 111 3 2 56 data: $ID,146 $MISSION,6 $DIVE,476 $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,-279627.06 $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,22 $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 $GPS1,024131,2250.455,-15801.922,59,1.1,59,10.1 $_CALLS,4 $_XMS_NAKs,6 $_XMS_TOUTs,0 $_SM_DEPTHo,1.36 $_SM_ANGLEo,-68.7 $GPS2,030202,2250.421,-15802.194,16,1.9,16,10.1 $SPEED_LIMITS,0.143,0.216 $TGT_NAME,WAY2 $TGT_LATLONG,2250.000,-15757.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.214,-0.028 $KALMAN_X,-381537.2,-337.8,-69.1,372724.9,-878.8 $KALMAN_Y,139844.2,355.5,302.1,-128432.8,165.5 $MHEAD_RNG_PITCHd_Wd,87.3,8901,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,2,0.000,0.000,479,1967,3286,0,0,0,0,0,0 $GC,91,-1.48,-97.3,4.2,-8.6,9,109,12.05,0.00,-2.17,0.000,6,0.139,0.000,2843,1967,3409,0,0,0,0,0,0 $GC,450,-1.39,-97.3,70.3,-15.9,48,455,0.12,2.55,0.00,0.000,4,0.136,0.034,2867,3569,3412,0,0,0,0,0,0 $GC,528,-1.39,-97.3,81.8,-12.7,54,533,0.00,2.45,0.00,0.000,6,0.000,0.021,2867,1996,3412,0,0,0,0,0,0 $GC,852,-1.39,-97.3,117.1,-10.3,84,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1996,3412,0,0,0,0,0,0 $GC,1175,-1.44,-97.3,151.3,-10.7,114,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1995,3413,0,0,0,0,0,0 $GC,1506,-1.51,-97.3,185.1,-9.8,145,1510,0.00,2.47,0.00,0.000,4,0.000,0.026,2867,3566,3414,0,0,0,0,0,0 $GC,1575,-1.64,-97.3,192.1,-8.9,150,1585,0.17,2.47,0.00,0.000,6,0.030,0.028,2799,2007,3414,0,0,0,0,0,0 $GC,1899,-1.59,-97.3,227.2,-10.8,164,1904,0.12,2.62,0.00,0.000,4,0.111,0.060,2825,431,3414,0,0,0,0,0,0 $GC,1916,-1.55,-97.3,229.1,-11.2,164,1920,0.00,2.42,0.00,0.000,6,0.000,0.016,2826,2023,3414,0,0,0,0,0,0 $GC,2259,-1.55,-97.3,266.2,-10.8,173,2263,0.00,2.42,0.00,0.000,4,0.000,0.033,2825,3558,3414,0,0,0,0,0,0 $GC,2308,-1.61,-97.3,272.0,-11.1,174,2313,0.00,2.45,0.00,0.000,6,0.000,0.031,2826,2012,3414,0,0,0,0,0,0 $GC,2624,-1.65,-97.3,303.0,-9.6,182,2628,0.00,2.50,0.00,0.000,4,0.000,0.038,2826,3558,3413,0,0,0,0,0,0 $GC,2691,-1.75,-97.3,309.4,-9.2,183,2696,0.15,2.45,0.00,0.000,6,0.064,0.035,2774,2022,3413,0,0,0,0,0,0 $GC,3028,-1.75,-97.3,343.3,-10.0,192,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2022,3412,0,0,0,0,0,0 $GC,3354,-1.75,-97.3,376.3,-10.4,200,3358,0.00,2.55,0.00,0.000,4,0.000,0.047,2774,3558,3411,0,0,0,0,0,0 $GC,3483,-1.75,-97.3,390.1,-10.7,203,3487,0.00,2.55,0.00,0.000,6,0.000,0.051,2774,2029,3411,0,0,0,0,0,0 $GC,3808,-1.75,-97.3,426.3,-11.7,211,3812,0.00,2.53,0.00,0.000,4,0.000,0.048,2774,3552,3407,0,0,0,0,0,0 $GC,3851,-1.75,-97.3,431.6,-11.4,212,3855,0.00,2.58,0.00,0.000,6,0.000,0.054,2774,2020,3407,0,0,0,0,0,0 $GC,4175,-1.75,-97.3,469.8,-12.3,220,4180,0.00,2.92,0.00,0.000,4,0.000,0.107,2774,420,3405,0,0,0,0,0,0 $GC,4197,-1.71,-97.3,472.7,-13.4,220,4202,0.12,2.55,0.00,0.000,6,0.121,0.040,2799,1982,3404,0,0,0,0,0,0 $STATE,4450,end dive,TARGET_DEPTH_EXCEEDED $STATE,4450,begin apogee $GC,4457,-0.31,0.0,502.6,11.5,227,4542,1.38,0.00,80.85,0.904,6,0.085,0.000,3106,1982,3010,0,0,0,0,0,0 $STATE,4542,end apogee,CONTROL_FINISHED_OK $STATE,4542,begin climb $GC,4545,1.48,97.3,505.7,0.0,229,4639,1.62,2.90,82.72,0.884,4,0.043,0.085,3506,412,2612,0,0,0,0,0,0 $GC,4651,1.42,196.7,506.6,3.2,231,4749,0.10,2.62,86.25,0.872,6,0.140,0.033,3487,2001,2207,0,0,0,0,0,0 $GC,5074,1.36,196.7,459.1,12.5,242,5078,0.00,2.83,0.00,0.000,4,0.000,0.077,3487,410,2198,0,0,0,0,0,0 $GC,5123,1.25,196.7,451.8,14.5,243,5128,0.20,2.58,0.00,0.000,6,0.117,0.028,3448,1991,2196,0,0,0,0,0,0 $GC,5438,1.25,196.7,417.9,10.5,251,5442,0.00,2.80,0.00,0.000,4,0.000,0.075,3447,401,2194,0,0,0,0,0,0 $GC,5521,1.25,196.7,408.5,11.2,253,5526,0.00,2.58,0.00,0.000,6,0.000,0.025,3447,1995,2192,0,0,0,0,0,0 $GC,5845,1.25,197.3,376.5,10.0,261,5850,0.00,2.62,0.00,0.000,4,0.000,0.049,3447,3578,2190,0,0,0,0,0,0 $GC,5887,1.25,200.2,372.5,9.8,262,5891,0.00,2.62,0.00,0.000,6,0.000,0.035,3447,1977,2190,0,0,0,0,0,0 $GC,6211,1.31,217.0,342.1,8.9,270,6232,0.00,2.65,15.70,0.776,4,0.000,0.037,3447,3577,2126,0,0,0,0,0,0 $GC,6303,1.36,218.4,333.9,9.9,272,6308,0.10,2.60,0.00,0.000,6,0.098,0.031,3473,1988,2124,0,0,0,0,0,0 $GC,6622,1.37,222.0,303.1,9.8,280,6633,0.00,2.75,5.88,0.636,4,0.000,0.071,3472,407,2103,0,0,0,0,0,0 $GC,6742,1.37,222.0,289.6,11.4,282,6747,0.00,2.53,0.00,0.000,6,0.000,0.018,3473,2004,2102,0,0,0,0,0,0 $GC,7074,1.45,249.1,259.7,8.2,290,7104,0.00,2.58,24.95,0.742,4,0.000,0.035,3473,3554,1993,0,0,0,0,0,0 $GC,7218,1.51,249.1,245.3,11.1,293,7223,0.12,2.55,0.00,0.000,6,0.080,0.035,3506,1987,1989,0,0,0,0,0,0 $GC,7566,1.54,274.0,212.3,8.3,302,7595,0.00,2.78,22.45,0.693,4,0.000,0.066,3507,422,1891,0,0,0,0,0,0 $GC,7694,1.54,274.0,199.7,10.8,304,7700,0.00,2.47,0.00,0.000,6,0.000,0.018,3506,1998,1888,0,0,0,0,0,0 $GC,8019,1.59,274.0,166.6,10.5,335,8023,0.00,2.53,0.00,0.000,4,0.000,0.038,3506,3555,1887,0,0,0,0,0,0 $GC,8054,1.64,274.0,163.5,10.6,337,8059,0.10,2.53,0.00,0.000,6,0.090,0.034,3534,1993,1885,0,0,0,0,0,0 $GC,8382,1.64,274.0,125.5,11.7,367,8387,0.00,2.65,0.00,0.000,4,0.000,0.061,3534,418,1885,0,0,0,0,0,0 $GC,8448,1.60,274.0,117.3,12.1,372,8452,0.00,2.45,0.00,0.000,6,0.000,0.021,3534,2000,1884,0,0,0,0,0,0 $GC,8773,1.69,319.0,86.9,6.9,402,8820,0.00,2.72,38.40,0.581,4,0.000,0.053,3534,425,1707,0,0,0,0,0,0 $GC,8862,1.70,323.8,79.8,9.7,409,8877,0.00,2.45,5.15,0.437,6,0.000,0.020,3534,2000,1690,0,0,0,0,0,0 $GC,9197,1.74,323.8,49.0,10.8,440,9202,0.00,2.65,0.00,0.000,4,0.000,0.047,3534,416,1689,0,0,0,0,0,0 $GC,9306,1.74,323.8,36.5,10.9,448,9311,0.00,2.42,0.00,0.000,6,0.000,0.018,3534,1995,1687,0,0,0,0,0,0 $STATE,9615,end climb,SURFACE_DEPTH_REACHED $STATE,9615,begin surface coast $FINISH,0.7,0.978366 $STATE,9657,end surface coast,CONTROL_FINISHED_OK $STATE,9658,begin surface $SM_CCo,9681,45.85,0.504,0,0,1460,380.21 $SM_GC,1.20,0.00,0.00,45.85,0.000,0.000,0.504,475,1997,1460,-12.42,-0.40,380.21 $IRIDIUM_FIX,2241.69,-15804.53,011000,030309 $TT8_MAMPS,0.026078 $HUMID,63.74 $INTERNAL_PRESSURE,9.18004 $TCM_TEMP,21.30 $XPDR_PINGS,45 $24V_AH,23.5,59.068 $10V_AH,10.1,52.899 $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,28.750,103.350,362.350,45.850,0.000,102.291,139.410,642.133,11.250,0.000,20.885,992.073,6379.074,442.153,1960.760,1185.321,33.372,1152.495,0.000,1957.420,0.000,0.536,0.000 $DEVICE_MAMPS,139.594,107.380,904.293,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,335.843,288.568,385.656,733.343,1104.448,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355716 $DATA_FILE_SIZE,38412,495 $CAP_FILE_SIZE,108897,0 $CFSIZE,260165632,157241344 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,080711,054620,2250.278,-15801.451,36,1.6,36,10.1