version: 66.06 glider: 146 mission: 6 dive: 492 start: 7 10 111 3 27 57 data: $ID,146 $MISSION,6 $DIVE,492 $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,-280240.94 $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,29 $R_STBD_OVSHOOT,57 $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 $GPS1,031434,2250.350,-15758.035,10,99.0,29,10.1 $_CALLS,2 $_XMS_NAKs,9 $_XMS_TOUTs,1 $_SM_DEPTHo,1.33 $_SM_ANGLEo,-70.9 $GPS2,032706,2250.393,-15758.133,30,1.2,30,10.1 $SPEED_LIMITS,0.143,0.216 $TGT_NAME,WAY2 $TGT_LATLONG,2250.000,-15757.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.192,-0.098 $KALMAN_X,-405124.1,-437.1,-152.9,403436.7,-635.0 $KALMAN_Y,151573.9,602.1,421.1,-140578.4,496.6 $MHEAD_RNG_PITCHd_Wd,107.0,2067,-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,12,begin dive $GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.72,0.000,2,0.000,0.000,479,1973,3298,0,0,0,0,0,0 $GC,93,-1.48,-97.3,4.2,-8.7,9,119,12.23,2.60,-1.98,0.000,4,0.145,0.060,2843,427,3410,0,0,0,0,0,0 $GC,144,-1.18,-97.3,19.3,-23.9,15,154,0.30,2.47,0.00,0.000,6,0.130,0.015,2911,2048,3411,0,0,0,0,0,0 $GC,490,-1.23,-97.3,63.5,-12.5,51,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2050,3412,0,0,0,0,0,0 $GC,817,-1.33,-97.3,98.4,-8.5,82,822,0.12,2.40,0.00,0.000,4,0.070,0.032,2868,3547,3412,0,0,0,0,0,0 $GC,839,-1.41,-97.3,100.1,-8.4,83,844,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,1996,3412,0,0,0,0,0,0 $GC,1169,-1.45,-97.3,131.5,-9.0,113,1173,0.00,2.58,0.00,0.000,4,0.000,0.058,2868,436,3413,0,0,0,0,0,0 $GC,1202,-1.45,-97.3,134.7,-10.1,115,1206,0.00,2.35,0.00,0.000,6,0.000,0.021,2867,1994,3413,0,0,0,0,0,0 $GC,1530,-1.52,-97.3,168.0,-10.7,145,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1995,3414,0,0,0,0,0,0 $GC,1888,-1.60,-97.3,204.5,-10.1,176,1890,0.17,0.00,0.00,0.000,6,0.058,0.000,2813,1995,3414,0,0,0,0,0,0 $GC,2210,-1.60,-97.3,238.4,-10.3,184,2214,0.00,2.47,0.00,0.000,4,0.000,0.035,2813,3551,3414,0,0,0,0,0,0 $GC,2242,-1.60,-97.3,241.7,-9.9,184,2248,0.00,2.40,0.00,0.000,6,0.000,0.028,2813,2011,3414,0,0,0,0,0,0 $GC,2575,-1.60,-97.3,274.6,-9.6,193,2580,0.00,2.47,0.00,0.000,4,0.000,0.039,2813,3550,3414,0,0,0,0,0,0 $GC,2643,-1.65,-97.3,281.2,-9.2,194,2647,0.00,2.42,0.00,0.000,6,0.000,0.025,2812,2017,3414,0,0,0,0,0,0 $GC,2980,-1.65,-97.3,312.0,-9.4,203,2985,0.00,2.72,0.00,0.000,4,0.000,0.074,2812,435,3414,0,0,0,0,0,0 $GC,3030,-1.65,-97.3,317.0,-9.4,204,3034,0.00,2.45,0.00,0.000,6,0.000,0.022,2812,1989,3414,0,0,0,0,0,0 $GC,3343,-1.65,-97.3,343.7,-8.6,212,3347,0.00,2.60,0.00,0.000,4,0.000,0.044,2812,3584,3413,0,0,0,0,0,0 $GC,3475,-1.71,-97.3,355.2,-8.6,215,3480,0.00,2.53,0.00,0.000,6,0.000,0.040,2812,2038,3412,0,0,0,0,0,0 $GC,3800,-1.75,-97.3,383.5,-8.8,223,3804,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3587,3411,0,0,0,0,0,0 $GC,3828,-1.81,-97.3,386.4,-10.5,223,3833,0.12,2.58,0.00,0.000,6,0.071,0.044,2768,2036,3411,0,0,0,0,0,0 $GC,4159,-1.81,-97.3,421.2,-10.7,231,4164,0.00,2.92,0.00,0.000,4,0.000,0.101,2768,427,3408,0,0,0,0,0,0 $GC,4186,-1.73,-97.3,424.4,-11.3,231,4191,0.12,2.60,0.00,0.000,6,0.114,0.040,2795,2021,3408,0,0,0,0,0,0 $GC,4519,-1.73,-97.3,456.7,-9.4,239,4524,0.00,2.85,0.00,0.000,4,0.000,0.089,2795,428,3406,0,0,0,0,0,0 $GC,4558,-1.73,-97.3,460.9,-10.5,240,4562,0.00,2.60,0.00,0.000,6,0.000,0.038,2795,2029,3406,0,0,0,0,0,0 $GC,4882,-1.73,-97.3,490.9,-9.5,248,4886,0.00,2.70,0.00,0.000,4,0.000,0.070,2795,3591,3403,0,0,0,0,0,0 $GC,4927,-1.78,-97.3,495.4,-10.5,249,4932,0.00,2.60,0.00,0.000,6,0.000,0.052,2795,2041,3403,0,0,0,0,0,0 $STATE,4999,end dive,TARGET_DEPTH_EXCEEDED $STATE,4999,begin apogee $GC,5005,-0.31,0.0,502.7,9.7,251,5090,1.38,0.00,81.12,0.914,6,0.078,0.000,3106,1985,3009,0,0,0,0,0,0 $STATE,5091,end apogee,CONTROL_FINISHED_OK $STATE,5091,begin climb $GC,5093,1.48,97.3,505.3,0.0,253,5185,1.65,2.80,83.45,0.890,4,0.035,0.050,3507,3578,2612,0,0,0,0,0,0 $GC,5222,1.42,182.1,505.6,4.2,256,5306,0.12,2.67,73.70,0.882,6,0.137,0.048,3485,1998,2267,0,0,0,0,0,0 $GC,5619,1.35,182.1,466.2,10.5,266,5624,0.00,2.67,0.00,0.000,4,0.000,0.043,3485,3591,2257,0,0,0,0,0,0 $GC,5663,1.29,182.1,461.3,11.4,267,5669,0.15,2.67,0.00,0.000,6,0.130,0.049,3456,1993,2255,0,0,0,0,0,0 $GC,5984,1.31,197.6,432.0,9.0,275,6003,0.00,3.03,12.88,0.799,4,0.000,0.104,3456,407,2203,0,0,0,0,0,0 $GC,6067,1.26,197.6,423.1,11.1,276,6074,0.00,2.55,0.00,0.000,6,0.000,0.029,3456,2005,2200,0,0,0,0,0,0 $GC,6398,1.26,197.6,389.1,10.1,285,6402,0.00,2.80,0.00,0.000,4,0.000,0.067,3456,406,2199,0,0,0,0,0,0 $GC,6504,1.26,197.6,377.1,11.4,287,6509,0.00,2.53,0.00,0.000,6,0.000,0.028,3456,2001,2197,0,0,0,0,0,0 $GC,6847,1.29,222.7,346.5,8.3,296,6871,0.00,0.00,22.67,0.803,6,0.000,0.000,3456,2001,2102,0,0,0,0,0,0 $GC,7174,1.36,252.1,319.7,8.0,304,7208,0.00,2.67,27.00,0.788,4,0.000,0.041,3456,3570,1981,0,0,0,0,0,0 $GC,7231,1.45,267.1,314.3,9.0,305,7252,0.15,2.67,14.75,0.746,6,0.075,0.038,3496,1968,1921,0,0,0,0,0,0 $GC,7579,1.45,267.1,269.8,13.6,313,7583,0.00,2.72,0.00,0.000,4,0.000,0.073,3496,407,1915,0,0,0,0,0,0 $GC,7736,1.45,267.1,246.4,13.4,316,7741,0.00,2.47,0.00,0.000,6,0.000,0.022,3496,1973,1913,0,0,0,0,0,0 $GC,8072,1.48,286.4,213.0,8.7,325,8097,0.00,2.67,17.02,0.691,4,0.000,0.040,3496,3556,1841,0,0,0,0,0,0 $GC,8117,1.53,289.0,209.0,9.9,326,8127,0.00,2.65,3.85,0.453,6,0.000,0.035,3496,1956,1831,0,0,0,0,0,0 $GC,8447,1.57,289.0,175.4,11.4,348,8451,0.00,2.65,0.00,0.000,4,0.000,0.061,3496,409,1828,0,0,0,0,0,0 $GC,8512,1.57,289.0,167.4,12.1,353,8516,0.00,2.42,0.00,0.000,6,0.000,0.025,3496,1978,1827,0,0,0,0,0,0 $GC,8841,1.63,289.0,133.2,10.4,383,8846,0.15,2.67,0.00,0.000,4,0.075,0.059,3535,408,1826,0,0,0,0,0,0 $GC,9004,1.58,289.0,113.1,12.6,396,9013,0.00,2.42,0.00,0.000,6,0.000,0.019,3535,1937,1826,0,0,0,0,0,0 $GC,9332,1.59,297.6,81.1,9.4,427,9342,0.00,0.00,8.40,0.525,6,0.000,0.000,3535,1937,1796,0,0,0,0,0,0 $GC,9662,1.65,313.8,53.4,8.9,458,9690,0.00,2.65,15.48,0.538,4,0.000,0.051,3535,410,1728,0,0,0,0,0,0 $GC,9758,1.65,313.8,43.5,11.2,465,9762,0.00,2.38,0.00,0.000,6,0.000,0.018,3535,1944,1727,0,0,0,0,0,0 $STATE,10127,end climb,SURFACE_DEPTH_REACHED $STATE,10127,begin surface coast $FINISH,0.6,0.976692 $STATE,10170,end surface coast,CONTROL_FINISHED_OK $STATE,10170,begin surface $SM_CCo,10193,55.08,0.513,0,0,1460,380.21 $SM_GC,1.46,0.00,0.00,55.08,0.000,0.000,0.513,474,1945,1460,-12.42,-1.81,380.21 $IRIDIUM_FIX,2241.69,-15757.16,031000,030329 $TT8_MAMPS,0.026078 $HUMID,64.88 $INTERNAL_PRESSURE,9.15074 $TCM_TEMP,20.30 $XPDR_PINGS,48 $24V_AH,23.4,60.988 $10V_AH,10.0,54.741 $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,29.150,109.225,360.325,55.075,0.000,55.660,83.273,398.408,12.000,0.000,32.140,1035.744,6610.021,483.865,2050.432,818.920,33.377,1193.543,0.000,2036.479,0.000,0.535,0.000 $DEVICE_MAMPS,144.963,131.157,914.264,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,350.881,290.024,403.002,782.858,1183.945,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355632 $DATA_FILE_SIZE,41559,517 $CAP_FILE_SIZE,105154,0 $CFSIZE,260165632,156430336 $ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,100711,062115,2250.193,-15757.455,89,99.0,108,10.1