version: 66.06 glider: 146 mission: 7 dive: 7 start: 5 23 112 16 7 0 data: $ID,146 $MISSION,7 $DIVE,7 $D_SURF,4 $D_FLARE,3 $D_TGT,300 $D_ABORT,450 $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,100 $T_MISSION,200 $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,1 $CAPMAXSIZE,100000 $HEAPDBG,0 $T_GPS,25 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-287890.34 $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,3100 $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,2020 $C_ROLL_CLIMB,1900 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,27 $R_STBD_OVSHOOT,39 $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 $GPS1,154552,2238.865,-15806.317,9,5.8,28,10.0 $_CALLS,3 $_XMS_NAKs,36 $_XMS_TOUTs,1 $_SM_DEPTHo,-0.29 $_SM_ANGLEo,-61.5 $GPS2,160607,2238.824,-15806.612,41,1.5,41,10.0 $SPEED_LIMITS,0.143,0.235 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $KALMAN_CONTROL,0.192,0.135 $KALMAN_X,-6449.3,-797.5,-1059.1,3385.4,27.9 $KALMAN_Y,-5130.4,-1047.6,-665.8,3586.4,385.3 $MHEAD_RNG_PITCHd_Wd,44.9,16073,-19.8,-10.000 $D_GRID,300 $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,-116.8,0.0,0.0,0,122,0.00,0.00,-100.22,0.000,6,0.000,0.000,475,2003,3318,0,0,0,0,0,0 $GC,125,-1.38,-116.8,0.6,-2.0,12,143,12.70,2.58,0.00,0.000,4,0.170,0.043,2792,424,3319,0,0,0,0,0,0 $GC,157,-0.19,-116.8,5.6,-13.5,15,167,1.20,2.53,0.00,0.000,6,0.100,0.021,3053,2029,3319,0,0,0,0,0,0 $GC,499,-0.50,-116.8,19.8,-4.5,64,509,0.25,2.50,0.00,0.000,4,0.047,0.038,2969,3579,3319,0,0,0,0,0,0 $GC,548,-0.63,-116.8,22.6,-6.0,70,558,0.00,2.47,0.00,0.000,6,0.000,0.023,2969,2021,3319,0,0,0,0,0,0 $GC,845,-0.77,-116.8,41.2,-5.5,103,850,0.15,2.53,0.00,0.000,4,0.063,0.034,2915,3584,3319,0,0,0,0,0,0 $GC,994,-0.82,-116.8,55.0,-9.7,114,1003,0.00,2.42,0.00,0.000,6,0.000,0.024,2915,2057,3318,0,0,0,0,0,0 $GC,1262,-0.86,-116.8,74.0,-6.9,139,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2056,3319,0,0,0,0,0,0 $GC,1527,-0.89,-116.8,91.0,-6.3,164,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2057,3319,0,0,0,0,0,0 $GC,1795,-0.94,-116.8,107.4,-5.9,189,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2057,3319,0,0,0,0,0,0 $GC,2058,-0.99,-116.8,123.5,-6.6,214,2060,0.12,0.00,0.00,0.000,6,0.074,0.000,2869,2057,3319,0,0,0,0,0,0 $GC,2314,-0.99,-116.8,144.4,-9.4,238,2318,0.00,2.45,0.00,0.000,4,0.000,0.036,2869,3595,3319,0,0,0,0,0,0 $GC,2405,-0.99,-116.8,154.2,-10.2,245,2409,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,2053,3319,0,0,0,0,0,0 $GC,2669,-0.99,-116.8,180.7,-9.6,269,2674,0.00,2.65,0.00,0.000,4,0.000,0.056,2869,442,3319,0,0,0,0,0,0 $GC,2702,-0.99,-116.8,183.9,-9.9,271,2707,0.00,2.45,0.00,0.000,6,0.000,0.018,2868,2046,3318,0,0,0,0,0,0 $GC,2984,-0.99,-116.8,205.7,-6.7,291,2988,0.00,2.65,0.00,0.000,4,0.000,0.053,2868,450,3318,0,0,0,0,0,0 $GC,2994,-0.99,-116.8,206.8,-6.6,291,2998,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2033,3318,0,0,0,0,0,0 $GC,3260,-0.99,-116.8,220.0,-4.6,298,3264,0.00,2.45,0.00,0.000,4,0.000,0.040,2868,3590,3318,0,0,0,0,0,0 $GC,3335,-0.99,-116.8,223.8,-5.3,299,3339,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2042,3317,0,0,0,0,0,0 $GC,3585,-0.99,-116.8,237.5,-5.5,305,3590,0.00,2.65,0.00,0.000,4,0.000,0.061,2868,446,3318,0,0,0,0,0,0 $GC,3647,-0.99,-116.8,241.2,-6.0,306,3652,0.00,2.45,0.00,0.000,6,0.000,0.024,2869,2036,3317,0,0,0,0,0,0 $GC,3909,-0.99,-116.8,255.7,-5.6,313,3913,0.00,2.45,0.00,0.000,4,0.000,0.040,2868,3584,3317,0,0,0,0,0,0 $GC,4009,-0.99,-116.8,261.2,-5.3,315,4013,0.00,2.42,0.00,0.000,6,0.000,0.032,2868,2048,3317,0,0,0,0,0,0 $GC,4277,-0.99,-116.8,273.8,-4.5,322,4281,0.00,2.45,0.00,0.000,4,0.000,0.036,2869,3584,3316,0,0,0,0,0,0 $GC,4326,-0.99,-116.8,276.4,-4.7,323,4330,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2051,3315,0,0,0,0,0,0 $GC,4599,-0.99,-116.8,287.2,-4.1,330,4603,0.00,2.72,0.00,0.000,4,0.000,0.064,2869,446,3314,0,0,0,0,0,0 $GC,4644,-0.99,-116.8,289.3,-5.0,331,4649,0.00,2.53,0.00,0.000,6,0.000,0.025,2868,2048,3314,0,0,0,0,0,0 $STATE,4878,end dive,TARGET_DEPTH_EXCEEDED $STATE,4878,begin apogee $GC,4884,-0.31,0.0,302.4,5.8,337,4979,0.73,0.00,91.38,0.737,6,0.080,0.000,3034,1876,2841,0,0,0,0,0,0 $STATE,4980,end apogee,CONTROL_FINISHED_OK $STATE,4980,begin climb $GC,4984,1.38,116.8,304.6,0.0,339,5091,1.55,2.72,95.78,0.718,4,0.058,0.063,3394,348,2363,0,0,0,0,0,0 $GC,5108,1.38,116.8,296.6,10.1,342,5113,0.00,2.50,0.00,0.000,6,0.000,0.031,3394,1896,2361,0,0,0,0,0,0 $GC,5393,1.48,143.8,272.1,8.4,349,5423,0.12,2.67,23.12,0.679,4,0.087,0.046,3425,3475,2253,0,0,0,0,0,0 $GC,5473,1.48,143.8,263.8,10.5,350,5479,0.00,2.55,0.00,0.000,6,0.000,0.039,3425,1922,2251,0,0,0,0,0,0 $GC,5725,1.48,143.8,235.6,11.6,357,5729,0.00,2.55,0.00,0.000,4,0.000,0.044,3425,3476,2249,0,0,0,0,0,0 $GC,5893,1.53,143.8,214.3,12.7,360,5898,0.00,2.50,0.00,0.000,6,0.000,0.038,3425,1945,2247,0,0,0,0,0,0 $GC,6155,1.58,143.8,180.9,12.6,376,6159,0.00,2.47,0.00,0.000,4,0.000,0.037,3424,3484,2246,0,0,0,0,0,0 $GC,6295,1.63,143.8,164.1,10.9,387,6304,0.08,2.47,0.00,0.000,6,0.061,0.035,3453,1973,2245,0,0,0,0,0,0 $GC,6558,1.63,143.8,135.6,10.1,412,6562,0.00,2.42,0.00,0.000,4,0.000,0.035,3452,3479,2245,0,0,0,0,0,0 $GC,6663,1.63,143.8,124.3,10.6,420,6673,0.00,2.40,0.00,0.000,6,0.000,0.038,3452,2002,2244,0,0,0,0,0,0 $GC,6929,1.63,143.8,99.1,10.0,445,6934,0.00,2.38,0.00,0.000,4,0.000,0.040,3453,3482,2244,0,0,0,0,0,0 $GC,7012,1.63,143.8,90.4,10.8,451,7016,0.00,2.33,0.00,0.000,6,0.000,0.031,3453,2026,2244,0,0,0,0,0,0 $GC,7280,1.63,143.8,61.0,11.8,475,7284,0.00,2.33,0.00,0.000,4,0.000,0.041,3452,3489,2244,0,0,0,0,0,0 $GC,7340,1.67,143.8,53.4,11.7,479,7344,0.00,2.30,0.00,0.000,6,0.000,0.035,3453,2036,2243,0,0,0,0,0,0 $GC,7614,1.67,143.8,25.0,11.0,506,7624,0.00,2.33,0.00,0.000,4,0.000,0.041,3453,3473,2244,0,0,0,0,0,0 $GC,7725,1.67,143.8,15.1,10.3,521,7735,0.00,2.30,0.00,0.000,6,0.000,0.032,3452,2056,2243,0,0,0,0,0,0 $STATE,7823,end climb,SURFACE_DEPTH_REACHED $STATE,7824,begin surface coast $FINISH,-0.7,1.023676 $STATE,7869,end surface coast,CONTROL_FINISHED_OK $STATE,7869,begin surface $SM_CCo,7891,239.23,0.504,0,0,1005,450.13 $SM_GC,-0.17,0.00,0.00,239.23,0.000,0.000,0.504,476,2052,1005,-12.07,0.90,450.13 $IRIDIUM_FIX,2227.67,-15809.31,170801,151513 $TT8_MAMPS,0.026078 $HUMID,57.12 $INTERNAL_PRESSURE,9.45349 $TCM_TEMP,22.70 $XPDR_PINGS,36 $24V_AH,23.5,1.900 $10V_AH,10.5,2.026 $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,28.875,94.500,210.275,239.225,0.000,86.785,97.924,631.352,9.000,0.000,43.198,1027.548,4128.646,543.620,2435.627,1188.138,33.328,1242.697,0.000,2427.115,0.000,0.537,0.000 $DEVICE_MAMPS,169.507,64.428,737.087,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,366.204,341.361,491.759,1108.115,1698.698,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356080 $DATA_FILE_SIZE,41502,541 $CAP_FILE_SIZE,105893,0 $CFSIZE,260165632,146718720 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,230512,182336,2239.000,-15807.034,8,1.3,25,10.0