version: 66.06 glider: 146 mission: 7 dive: 15 start: 5 24 112 17 11 33 data: $ID,146 $MISSION,7 $DIVE,15 $D_SURF,4 $D_FLARE,3 $D_TGT,500 $D_ABORT,630 $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,350 $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,140 $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,-288060.44 $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,2850 $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,2100 $C_ROLL_CLIMB,2050 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,29 $R_STBD_OVSHOOT,22 $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,2880 $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 $GPS1,164725,2238.975,-15809.470,38,1.4,38,10.0 $_CALLS,4 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,-0.18 $_SM_ANGLEo,-67.6 $GPS2,171038,2238.773,-15809.645,14,1.1,14,10.0 $SPEED_LIMITS,0.143,0.252 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $KALMAN_CONTROL,0.242,0.071 $KALMAN_X,-24760.4,-547.2,-191.1,15392.7,-1082.1 $KALMAN_Y,-15190.0,-793.9,-517.3,13153.8,215.6 $MHEAD_RNG_PITCHd_Wd,63.5,20107,-18.2,-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,16,end surface,CONTROL_FINISHED_OK $STATE,16,begin dive $GC,19,-1.31,-136.3,0.0,0.0,0,123,0.00,0.00,-101.43,0.000,6,0.000,0.000,474,2085,3436,0,0,0,0,0,0 $GC,126,-1.31,-136.3,1.3,-3.7,13,142,11.62,2.60,0.00,0.000,4,0.176,0.033,2557,3710,3438,0,0,0,0,0,0 $GC,226,-0.64,-136.3,28.6,-28.0,27,235,0.73,2.60,0.00,0.000,6,0.141,0.022,2700,2089,3437,0,0,0,0,0,0 $GC,494,-0.21,-136.3,78.1,-16.5,52,499,0.47,2.60,0.00,0.000,4,0.125,0.028,2797,3703,3437,0,0,0,0,0,0 $GC,553,0.02,-136.3,86.7,-11.5,56,562,0.22,2.55,0.00,0.000,6,0.111,0.023,2846,2108,3437,0,0,0,0,0,0 $GC,822,0.15,-136.3,105.9,-7.2,81,827,0.15,0.00,0.00,0.000,6,0.130,0.000,2878,2108,3437,0,0,0,0,0,0 $GC,1086,0.21,-136.3,125.8,-8.6,106,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2108,3437,0,0,0,0,0,0 $GC,1353,0.25,-136.3,149.6,-9.6,131,1359,0.12,2.65,0.00,0.000,4,0.127,0.051,2903,523,3438,0,0,0,0,0,0 $GC,1371,0.25,-136.3,151.6,-8.8,132,1375,0.00,2.47,0.00,0.000,6,0.000,0.020,2903,2147,3437,0,0,0,0,0,0 $GC,1635,0.25,-136.3,174.8,-9.8,156,1639,0.00,2.40,0.00,0.000,4,0.000,0.041,2903,3664,3438,0,0,0,0,0,0 $GC,1710,0.25,-136.3,182.7,-10.0,162,1715,0.00,2.45,0.00,0.000,6,0.000,0.023,2903,2108,3438,0,0,0,0,0,0 $GC,1992,0.25,-136.3,208.2,-9.3,182,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2108,3438,0,0,0,0,0,0 $GC,2232,0.25,-136.3,226.9,-7.5,188,2237,0.00,2.47,0.00,0.000,4,0.000,0.035,2903,3658,3438,0,0,0,0,0,0 $GC,2285,0.20,-136.3,230.5,-7.5,189,2289,0.00,2.45,0.00,0.000,6,0.000,0.025,2903,2107,3437,0,0,0,0,0,0 $GC,2557,0.15,-136.3,246.3,-5.5,196,2561,0.00,2.62,0.00,0.000,4,0.000,0.062,2903,526,3437,0,0,0,0,0,0 $GC,2658,0.11,-136.3,252.5,-6.7,198,2663,0.12,2.42,0.00,0.000,6,0.072,0.020,2860,2093,3437,0,0,0,0,0,0 $GC,2926,0.11,-136.3,270.4,-6.6,205,2930,0.00,2.53,0.00,0.000,4,0.000,0.044,2860,3667,3436,0,0,0,0,0,0 $GC,2970,0.11,-136.3,273.6,-7.4,206,2974,0.00,2.45,0.00,0.000,6,0.000,0.031,2860,2110,3436,0,0,0,0,0,0 $GC,3249,0.11,-136.3,291.6,-6.4,213,3254,0.00,2.70,0.00,0.000,4,0.000,0.065,2860,516,3435,0,0,0,0,0,0 $GC,3317,0.15,-136.3,297.2,-8.0,214,3322,0.10,2.50,0.00,0.000,6,0.128,0.031,2880,2088,3435,0,0,0,0,0,0 $GC,3572,0.15,-136.3,311.6,-5.2,221,3577,0.00,2.60,0.00,0.000,4,0.000,0.049,2880,3678,3434,0,0,0,0,0,0 $GC,3732,0.15,-136.3,319.9,-4.6,224,3736,0.00,2.50,0.00,0.000,6,0.000,0.035,2880,2122,3433,0,0,0,0,0,0 $GC,3986,0.15,-136.3,330.9,-4.3,231,3991,0.00,2.78,0.00,0.000,4,0.000,0.078,2880,520,3432,0,0,0,0,0,0 $GC,4022,0.15,-136.3,332.7,-5.6,231,4028,0.00,2.53,0.00,0.000,6,0.000,0.028,2880,2115,3431,0,0,0,0,0,0 $GC,4273,0.10,-136.3,345.5,-5.1,238,4277,0.00,2.55,0.00,0.000,4,0.000,0.048,2880,3685,3430,0,0,0,0,0,0 $GC,4361,0.10,-136.3,350.4,-5.0,240,4366,0.00,2.53,0.00,0.000,6,0.000,0.031,2880,2128,3430,0,0,0,0,0,0 $GC,4642,0.06,-136.3,363.4,-4.5,247,4646,0.00,2.53,0.00,0.000,4,0.000,0.043,2880,3678,3428,0,0,0,0,0,0 $GC,4663,0.02,-136.3,364.4,-4.0,247,4669,0.12,2.53,0.00,0.000,6,0.083,0.033,2842,2130,3428,0,0,0,0,0,0 $GC,4921,0.02,-136.3,376.3,-4.6,254,4925,0.00,2.58,0.00,0.000,4,0.000,0.048,2842,3685,3427,0,0,0,0,0,0 $GC,4953,0.06,-136.3,378.0,-5.1,254,4960,0.10,2.55,0.00,0.000,6,0.133,0.041,2862,2129,3426,0,0,0,0,0,0 $GC,5203,0.06,-136.3,388.8,-4.2,261,5208,0.00,2.58,0.00,0.000,4,0.000,0.053,2862,3681,3425,0,0,0,0,0,0 $GC,5300,0.06,-136.3,393.5,-5.0,263,5304,0.00,2.50,0.00,0.000,6,0.000,0.039,2862,2150,3424,0,0,0,0,0,0 $GC,5571,0.06,-136.3,406.7,-5.0,270,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2150,3423,0,0,0,0,0,0 $GC,5815,0.06,-136.3,418.5,-4.8,276,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2150,3422,0,0,0,0,0,0 $GC,6061,0.06,-136.3,430.8,-5.1,282,6065,0.00,2.55,0.00,0.000,4,0.000,0.056,2862,3675,3420,0,0,0,0,0,0 $GC,6127,0.06,-136.3,434.8,-6.5,283,6131,0.00,2.55,0.00,0.000,6,0.000,0.044,2862,2144,3420,0,0,0,0,0,0 $GC,6382,0.06,-136.3,447.2,-4.5,290,6386,0.00,2.58,0.00,0.000,4,0.000,0.055,2862,3679,3418,0,0,0,0,0,0 $GC,6423,0.06,-136.3,449.1,-5.1,291,6427,0.00,2.53,0.00,0.000,6,0.000,0.043,2862,2154,3418,0,0,0,0,0,0 $GC,6706,0.06,-136.3,461.8,-4.5,298,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2154,3417,0,0,0,0,0,0 $GC,6950,0.06,-136.3,474.5,-5.5,304,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2154,3415,0,0,0,0,0,0 $GC,7195,0.06,-136.3,488.5,-5.8,310,7200,0.00,3.08,0.00,0.000,4,0.000,0.113,2862,510,3414,0,0,0,0,0,0 $GC,7239,0.06,-136.3,491.5,-6.5,311,7244,0.00,2.72,0.00,0.000,6,0.000,0.044,2862,2143,3414,0,0,0,0,0,0 $STATE,7393,end dive,TARGET_DEPTH_EXCEEDED $STATE,7393,begin apogee $GC,7400,-0.31,0.0,501.1,6.1,315,7509,0.35,0.00,106.82,0.954,6,0.051,0.000,2769,2039,2880,0,0,0,0,0,0 $STATE,7510,end apogee,CONTROL_FINISHED_OK $STATE,7510,begin climb $GC,7514,1.31,136.3,506.0,0.0,317,7642,1.67,2.97,115.90,0.923,4,0.104,0.091,3128,480,2323,0,0,0,0,0,0 $GC,7753,1.92,140.6,488.8,9.8,322,7764,0.60,2.65,4.25,0.584,6,0.057,0.043,3269,2057,2307,0,0,0,0,0,0 $GC,8014,2.31,199.8,469.6,7.1,329,8075,0.32,2.97,52.72,0.894,4,0.049,0.087,3360,480,2064,0,0,0,0,0,0 $GC,8124,2.37,199.8,457.8,12.7,331,8129,0.00,2.75,0.00,0.000,6,0.000,0.037,3360,2116,2060,0,0,0,0,0,0 $GC,8380,2.43,199.8,428.1,11.5,338,8384,0.00,2.58,0.00,0.000,4,0.000,0.056,3360,3638,2057,0,0,0,0,0,0 $GC,8407,2.49,199.8,425.0,11.5,338,8412,0.12,2.55,0.00,0.000,6,0.092,0.048,3394,2129,2056,0,0,0,0,0,0 $GC,8658,2.49,199.8,392.0,13.3,344,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2129,2055,0,0,0,0,0,0 $GC,8900,2.49,199.8,359.2,13.5,350,8904,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3650,2055,0,0,0,0,0,0 $GC,8932,2.49,199.8,354.3,15.0,350,8938,0.00,2.53,0.00,0.000,6,0.000,0.037,3394,2129,2054,0,0,0,0,0,0 $GC,9184,2.49,199.8,321.0,13.2,357,9188,0.00,2.50,0.00,0.000,4,0.000,0.043,3394,3642,2053,0,0,0,0,0,0 $GC,9199,2.49,199.8,318.6,13.0,357,9203,0.00,2.45,0.00,0.000,6,0.000,0.038,3394,2136,2052,0,0,0,0,0,0 $GC,9466,2.49,199.8,286.9,11.4,364,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2136,2052,0,0,0,0,0,0 $GC,9710,2.49,199.8,256.2,12.7,370,9714,0.00,2.45,0.00,0.000,4,0.000,0.038,3394,3642,2052,0,0,0,0,0,0 $GC,9752,2.54,199.8,251.1,13.6,371,9756,0.00,2.42,0.00,0.000,6,0.000,0.033,3394,2141,2051,0,0,0,0,0,0 $GC,10035,2.54,199.8,218.0,10.8,378,10040,0.00,2.88,0.00,0.000,4,0.000,0.067,3395,465,2051,0,0,0,0,0,0 $GC,10084,2.54,199.8,212.8,10.4,379,10088,0.00,2.70,0.00,0.000,6,0.000,0.021,3395,2162,2050,0,0,0,0,0,0 $GC,10343,2.60,199.8,185.8,11.6,393,10348,0.00,2.85,0.00,0.000,4,0.000,0.060,3394,469,2050,0,0,0,0,0,0 $GC,10365,2.64,199.8,183.5,12.0,394,10370,0.12,2.62,0.00,0.000,6,0.088,0.021,3425,2146,2050,0,0,0,0,0,0 $GC,10629,2.64,199.8,152.3,11.3,418,10634,0.00,2.40,0.00,0.000,4,0.000,0.041,3425,3648,2050,0,0,0,0,0,0 $GC,10705,2.64,199.8,142.9,11.4,424,10709,0.00,2.45,0.00,0.000,6,0.000,0.029,3425,2125,2050,0,0,0,0,0,0 $GC,10969,2.64,199.8,115.0,11.1,448,10973,0.00,2.45,0.00,0.000,4,0.000,0.039,3425,3644,2050,0,0,0,0,0,0 $GC,11099,2.70,199.8,99.0,12.7,458,11108,0.00,2.40,0.00,0.000,6,0.000,0.030,3425,2168,2050,0,0,0,0,0,0 $GC,11367,2.70,199.8,65.2,13.2,483,11371,0.00,2.85,0.00,0.000,4,0.000,0.054,3425,466,2050,0,0,0,0,0,0 $GC,11387,2.70,199.8,62.0,13.2,484,11391,0.00,2.70,0.00,0.000,6,0.000,0.019,3425,2197,2050,0,0,0,0,0,0 $GC,11656,2.74,199.8,30.6,11.3,508,11661,0.00,2.88,0.00,0.000,4,0.000,0.049,3425,459,2051,0,0,0,0,0,0 $GC,11678,2.74,199.8,27.5,11.2,510,11689,0.00,2.72,0.00,0.000,6,0.000,0.019,3425,2182,2051,0,0,0,0,0,0 $STATE,11896,end climb,SURFACE_DEPTH_REACHED $STATE,11896,begin surface coast $FINISH,-0.8,1.010617 $STATE,11938,end surface coast,CONTROL_FINISHED_OK $STATE,11939,begin surface $SM_CCo,11962,198.60,0.519,0,0,1044,450.13 $SM_GC,-0.16,0.00,0.00,198.60,0.000,0.000,0.519,472,2021,1044,-10.93,-2.23,450.13 $IRIDIUM_FIX,2227.67,-15806.28,180801,171705 $TT8_MAMPS,0.026078 $HUMID,58.03 $INTERNAL_PRESSURE,9.35583 $TCM_TEMP,21.90 $XPDR_PINGS,54 $24V_AH,23.3,3.002 $10V_AH,10.4,3.001 $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,28.875,150.775,279.700,198.600,0.000,115.873,135.313,786.637,13.500,0.000,15.875,1160.068,8341.634,591.459,2059.362,1404.019,33.347,1401.970,0.000,2058.152,0.000,0.535,0.000 $DEVICE_MAMPS,176.410,112.749,954.148,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,372.082,300.078,394.850,707.776,1070.316,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356332 $DATA_FILE_SIZE,41623,548 $CAP_FILE_SIZE,138001,0 $CFSIZE,260165632,146227200 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,240512,203536,2238.667,-15809.372,35,1.1,40,10.0