version: 66.06 glider: 146 mission: 7 dive: 1 start: 5 23 112 6 3 14 data: $ID,146 $MISSION,7 $DIVE,1 $D_SURF,4 $D_FLARE,3 $D_TGT,45 $D_ABORT,120 $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,15 $T_MISSION,60 $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,52355 $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,450 $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,-287731.16 $T_RSLEEP,2 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,485 $PITCH_MAX,3757 $C_PITCH,3106 $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,2000 $C_ROLL_CLIMB,1800 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,65 $R_STBD_OVSHOOT,110 $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,2841 $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,10 $ALTIM_PULSE,8 $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,0.0043256786 $SEABIRD_T_H,0.0006194216 $SEABIRD_T_I,2.1253354e-05 $SEABIRD_T_J,2.0307182e-06 $SEABIRD_C_G,-9.7992477 $SEABIRD_C_H,1.0845563 $SEABIRD_C_I,-0.0017217569 $SEABIRD_C_J,0.00021252052 $GPS1,055456,2240.617,-15803.671,12,1.1,12,10.0 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,-1.13 $_SM_ANGLEo,-62.0 $GPS2,060226,2240.587,-15803.721,12,1.2,12,10.0 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $KALMAN_CONTROL,0.144,0.185 $KALMAN_X,0.0,0.0,0.0,0.0,0.0 $KALMAN_Y,0.0,0.0,0.0,0.0,0.0 $MHEAD_RNG_PITCHd_Wd,27.9,10353,-19.8,-10.000 $D_GRID,45 $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,16,end surface,CONTROL_FINISHED_OK $STATE,16,begin dive $GC,18,-1.38,-116.8,0.0,0.0,0,145,0.00,0.00,-121.22,0.000,6,0.000,0.000,483,1975,3317,0,0,0,0,0,0 $GC,148,-1.38,-116.8,-1.1,-0.1,16,165,12.12,2.50,0.00,0.000,4,0.153,0.053,2797,451,3319,0,0,0,0,0,0 $GC,496,-1.13,-116.8,-1.2,-0.1,63,507,0.25,2.33,0.00,0.000,6,0.108,0.029,2852,1954,3317,0,0,0,0,0,0 $STATE,524,end dive,TARGET_DEPTH_EXCEEDED $STATE,524,begin apogee $GC,532,-0.31,0.0,48.3,87.4,66,631,0.77,0.00,88.05,0.544,6,0.085,0.000,3032,1808,2840,0,0,0,0,0,0 $STATE,634,end apogee,CONTROL_FINISHED_OK $STATE,634,begin climb $GC,636,1.38,116.8,53.4,0.0,76,736,1.58,2.70,92.22,0.525,4,0.057,0.056,3403,237,2363,0,0,0,0,0,0 $GC,842,1.49,116.8,37.0,10.6,91,846,0.10,2.40,0.00,0.000,6,0.094,0.022,3432,1799,2358,0,0,0,0,0,0 $GC,1157,1.54,116.8,4.0,10.8,133,1166,0.00,2.53,0.00,0.000,4,0.000,0.037,3432,3358,2356,0,0,0,0,0,0 $STATE,1174,end climb,SURFACE_DEPTH_REACHED $STATE,1174,begin surface coast $FINISH,-1.2,1.021568 $STATE,1230,end surface coast,CONTROL_FINISHED_OK $STATE,1230,begin surface $SM_CCo,1253,254.95,0.488,0,0,1005,450.13 $SM_GC,-0.44,0.00,0.00,254.95,0.000,0.000,0.488,473,2010,1005,-12.11,0.28,450.13 $IRIDIUM_FIX,2232.34,-15801.07,170801,060624 $TT8_MAMPS,0.025311 $HUMID,53.07 $INTERNAL_PRESSURE,9.59998 $TCM_TEMP,24.40 $XPDR_PINGS,6 $24V_AH,23.7,1.280 $10V_AH,10.5,1.265 $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,26.750,14.800,180.275,254.950,0.000,0.000,0.000,0.000,1.500,0.000,14.354,258.682,55.916,414.401,789.127,63.758,29.238,724.817,0.000,800.129,0.000,0.541,0.000 $DEVICE_MAMPS,153.400,59.059,543.803,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,93.648,115.713,146.296,472.142,722.623,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356124 $DATA_FILE_SIZE,9922,143 $CAP_FILE_SIZE,107587,0 $CFSIZE,260165632,146997248 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,230512,062919,2240.469,-15803.783,10,1.4,15,10.0