version: 66.06 glider: 146 mission: 7 dive: 20 start: 5 25 112 9 33 4 data: $ID,146 $MISSION,7 $DIVE,20 $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,-288161.91 $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,64 $R_STBD_OVSHOOT,31 $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,2950 $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 $GPS1,092606,2239.120,-15809.669,13,1.1,23,10.0 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,-0.21 $_SM_ANGLEo,-64.6 $GPS2,093209,2239.066,-15809.719,14,1.2,14,10.0 $SPEED_LIMITS,0.143,0.252 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $KALMAN_CONTROL,0.204,0.148 $KALMAN_X,-35715.2,-184.9,-176.4,25836.5,-1175.6 $KALMAN_Y,-22317.5,196.1,296.2,19007.1,-914.0 $MHEAD_RNG_PITCHd_Wd,43.9,19907,-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,17,end surface,CONTROL_FINISHED_OK $STATE,17,begin dive $GC,20,-1.31,-136.3,0.0,0.0,0,124,0.00,0.00,-101.32,0.000,6,0.000,0.000,472,2050,3506,0,0,0,0,0,0 $GC,129,-1.31,-136.3,1.7,-4.2,13,146,11.68,2.65,0.00,0.000,4,0.178,0.033,2554,3695,3507,0,0,0,0,0,0 $GC,427,-0.65,-136.3,85.8,-26.5,43,433,0.77,2.50,0.00,0.000,6,0.141,0.023,2704,2118,3507,0,0,0,0,0,0 $GC,691,-0.27,-136.3,137.4,-18.9,68,696,0.40,2.53,0.00,0.000,4,0.127,0.033,2785,3685,3507,0,0,0,0,0,0 $GC,714,0.06,-136.3,141.1,-17.1,69,720,0.38,2.50,0.00,0.000,6,0.116,0.027,2860,2085,3507,0,0,0,0,0,0 $GC,979,0.12,-136.3,167.3,-9.2,93,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2085,3508,0,0,0,0,0,0 $GC,1244,0.16,-136.3,188.5,-7.5,118,1250,0.10,0.00,0.00,0.000,6,0.142,0.000,2881,2086,3508,0,0,0,0,0,0 $GC,1503,0.16,-136.3,206.3,-7.3,137,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2085,3508,0,0,0,0,0,0 $GC,1745,0.16,-136.3,224.8,-7.4,143,1750,0.00,2.60,0.00,0.000,4,0.000,0.043,2881,3685,3509,0,0,0,0,0,0 $GC,1852,0.16,-136.3,233.1,-7.0,145,1857,0.00,2.53,0.00,0.000,6,0.000,0.031,2881,2096,3509,0,0,0,0,0,0 $GC,2115,0.16,-136.3,251.6,-6.9,152,2119,0.00,2.60,0.00,0.000,4,0.000,0.041,2881,3689,3507,0,0,0,0,0,0 $GC,2136,0.16,-136.3,253.2,-6.5,152,2140,0.00,2.50,0.00,0.000,6,0.000,0.028,2881,2103,3508,0,0,0,0,0,0 $GC,2391,0.16,-136.3,271.0,-7.1,159,2395,0.00,2.55,0.00,0.000,4,0.000,0.039,2881,3681,3507,0,0,0,0,0,0 $GC,2450,0.12,-136.3,275.3,-7.7,160,2454,0.00,2.45,0.00,0.000,6,0.000,0.031,2881,2134,3507,0,0,0,0,0,0 $GC,2716,0.12,-136.3,293.9,-6.8,167,2721,0.00,2.75,0.00,0.000,4,0.000,0.068,2881,525,3506,0,0,0,0,0,0 $GC,2784,0.12,-136.3,299.1,-7.6,168,2788,0.00,2.58,0.00,0.000,6,0.000,0.031,2881,2129,3505,0,0,0,0,0,0 $GC,3039,0.08,-136.3,314.7,-5.8,175,3044,0.00,2.53,0.00,0.000,4,0.000,0.051,2881,3681,3504,0,0,0,0,0,0 $GC,3177,0.04,-136.3,322.3,-5.7,178,3182,0.00,2.45,0.00,0.000,6,0.000,0.030,2881,2145,3504,0,0,0,0,0,0 $GC,3456,-0.00,-136.3,334.8,-4.2,185,3461,0.15,2.85,0.00,0.000,4,0.071,0.081,2834,521,3502,0,0,0,0,0,0 $GC,3474,-0.00,-136.3,335.7,-4.0,185,3478,0.00,2.60,0.00,0.000,6,0.000,0.033,2834,2137,3502,0,0,0,0,0,0 $GC,3737,0.04,-136.3,350.0,-5.4,192,3742,0.12,2.55,0.00,0.000,4,0.125,0.047,2859,3685,3501,0,0,0,0,0,0 $GC,3769,0.04,-136.3,352.1,-5.8,192,3775,0.00,2.50,0.00,0.000,6,0.000,0.031,2859,2146,3500,0,0,0,0,0,0 $GC,4019,0.04,-136.3,368.4,-6.9,199,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2146,3499,0,0,0,0,0,0 $GC,4265,0.04,-136.3,386.0,-7.1,205,4270,0.00,2.92,0.00,0.000,4,0.000,0.087,2859,514,3498,0,0,0,0,0,0 $GC,4286,0.04,-136.3,387.8,-7.2,205,4291,0.00,2.62,0.00,0.000,6,0.000,0.036,2858,2129,3498,0,0,0,0,0,0 $GC,4542,0.04,-136.3,404.6,-6.5,212,4546,0.00,2.58,0.00,0.000,4,0.000,0.060,2858,3682,3496,0,0,0,0,0,0 $GC,4638,0.04,-136.3,410.8,-6.8,214,4643,0.00,2.55,0.00,0.000,6,0.000,0.045,2859,2146,3496,0,0,0,0,0,0 $GC,4910,0.04,-136.3,425.3,-5.1,221,4914,0.00,2.58,0.00,0.000,4,0.000,0.049,2859,3686,3494,0,0,0,0,0,0 $GC,4954,0.04,-136.3,427.5,-5.3,222,4958,0.00,2.58,0.00,0.000,6,0.000,0.047,2859,2143,3494,0,0,0,0,0,0 $GC,5233,0.04,-136.3,440.4,-4.6,229,5237,0.00,2.58,0.00,0.000,4,0.000,0.058,2859,3680,3492,0,0,0,0,0,0 $GC,5260,0.04,-136.3,441.8,-5.4,229,5264,0.00,2.55,0.00,0.000,6,0.000,0.044,2859,2154,3493,0,0,0,0,0,0 $GC,5510,0.04,-136.3,453.3,-4.6,235,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2154,3491,0,0,0,0,0,0 $GC,5754,0.04,-136.3,466.8,-5.8,241,5758,0.00,2.55,0.00,0.000,4,0.000,0.056,2859,3679,3490,0,0,0,0,0,0 $GC,5797,0.04,-136.3,470.0,-7.5,242,5802,0.00,2.58,0.00,0.000,6,0.000,0.053,2858,2146,3489,0,0,0,0,0,0 $GC,6075,0.04,-136.3,490.0,-7.4,249,6079,0.00,2.60,0.00,0.000,4,0.000,0.059,2859,3682,3488,0,0,0,0,0,0 $GC,6116,0.04,-136.3,493.2,-7.9,250,6120,0.00,2.60,0.00,0.000,6,0.000,0.056,2859,2146,3488,0,0,0,0,0,0 $STATE,6234,end dive,TARGET_DEPTH_EXCEEDED $STATE,6234,begin apogee $GC,6240,-0.31,0.0,502.1,7.2,253,6350,0.32,0.00,107.80,0.950,6,0.049,0.000,2771,2048,2950,0,0,0,0,0,0 $STATE,6351,end apogee,CONTROL_FINISHED_OK $STATE,6351,begin climb $GC,6355,1.31,136.3,507.8,0.0,255,6483,1.67,3.17,115.32,0.918,4,0.100,0.123,3126,475,2392,0,0,0,0,0,0 $GC,6523,1.95,180.3,499.8,7.9,259,6569,0.65,2.67,38.88,0.887,6,0.054,0.043,3279,2049,2214,0,0,0,0,0,0 $GC,6848,2.35,242.2,476.6,7.0,267,6909,0.30,2.97,54.25,0.890,4,0.053,0.086,3367,460,1961,0,0,0,0,0,0 $GC,6936,2.35,242.2,467.4,13.0,269,6941,0.00,2.75,0.00,0.000,6,0.000,0.041,3366,2096,1958,0,0,0,0,0,0 $GC,7209,2.39,242.2,437.9,10.5,276,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2096,1955,0,0,0,0,0,0 $GC,7453,2.43,242.2,412.8,10.4,282,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2097,1954,0,0,0,0,0,0 $GC,7698,2.47,242.2,384.9,11.7,288,7703,0.00,2.60,0.00,0.000,4,0.000,0.048,3367,3652,1953,0,0,0,0,0,0 $GC,7714,2.52,242.2,382.5,12.2,288,7720,0.12,2.62,0.00,0.000,6,0.094,0.036,3398,2072,1951,0,0,0,0,0,0 $GC,7975,2.52,242.2,346.4,13.8,295,7980,0.00,2.85,0.00,0.000,4,0.000,0.076,3398,464,1951,0,0,0,0,0,0 $GC,7993,2.48,242.2,344.0,13.6,295,7997,0.00,2.65,0.00,0.000,6,0.000,0.025,3399,2104,1950,0,0,0,0,0,0 $GC,8253,2.48,242.2,311.9,11.7,302,8257,0.00,2.55,0.00,0.000,4,0.000,0.048,3398,3652,1949,0,0,0,0,0,0 $GC,8274,2.48,242.2,309.3,11.6,302,8278,0.00,2.60,0.00,0.000,6,0.000,0.033,3398,2064,1949,0,0,0,0,0,0 $GC,8529,2.48,242.2,282.7,10.2,309,8534,0.00,2.62,0.00,0.000,4,0.000,0.040,3398,3655,1948,0,0,0,0,0,0 $GC,8586,2.53,242.2,276.6,11.2,310,8591,0.00,2.55,0.00,0.000,6,0.000,0.035,3398,2105,1948,0,0,0,0,0,0 $GC,8853,2.53,242.2,245.1,12.2,317,8857,0.00,2.83,0.00,0.000,4,0.000,0.070,3398,464,1949,0,0,0,0,0,0 $GC,8891,2.53,242.2,240.0,13.6,318,8896,0.00,2.67,0.00,0.000,6,0.000,0.022,3398,2139,1948,0,0,0,0,0,0 $GC,9176,2.53,242.2,207.0,11.3,325,9180,0.00,2.42,0.00,0.000,4,0.000,0.041,3398,3648,1947,0,0,0,0,0,0 $GC,9215,2.58,242.2,202.2,11.9,326,9220,0.00,2.47,0.00,0.000,6,0.000,0.037,3398,2121,1947,0,0,0,0,0,0 $GC,9481,2.58,242.2,174.5,10.3,348,9486,0.00,2.80,0.00,0.000,4,0.000,0.061,3398,467,1947,0,0,0,0,0,0 $GC,9503,2.58,242.2,172.1,10.9,349,9508,0.00,2.65,0.00,0.000,6,0.000,0.027,3398,2157,1947,0,0,0,0,0,0 $GC,9772,2.63,242.2,143.2,11.0,373,9777,0.10,2.85,0.00,0.000,4,0.095,0.053,3424,465,1947,0,0,0,0,0,0 $GC,9805,2.63,242.2,138.9,12.8,375,9810,0.00,2.65,0.00,0.000,6,0.000,0.021,3424,2146,1947,0,0,0,0,0,0 $GC,10071,2.63,242.2,104.2,13.1,399,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2147,1947,0,0,0,0,0,0 $GC,10338,2.63,242.2,72.4,11.4,424,10342,0.00,2.83,0.00,0.000,4,0.000,0.050,3424,457,1947,0,0,0,0,0,0 $GC,10370,2.63,242.2,68.5,12.1,426,10374,0.00,2.67,0.00,0.000,6,0.000,0.026,3424,2164,1947,0,0,0,0,0,0 $GC,10639,2.66,242.2,37.3,11.7,450,10644,0.00,2.35,0.00,0.000,4,0.000,0.033,3424,3651,1948,0,0,0,0,0,0 $GC,10686,2.72,242.2,31.4,11.9,453,10690,0.00,2.40,0.00,0.000,6,0.000,0.029,3424,2140,1949,0,0,0,0,0,0 $STATE,10919,end climb,SURFACE_DEPTH_REACHED $STATE,10919,begin surface coast $FINISH,-0.8,1.023686 $STATE,10956,end surface coast,CONTROL_FINISHED_OK $STATE,10956,begin surface $SM_CCo,10977,165.27,0.524,0,0,1115,450.13 $SM_GC,-0.15,0.00,0.00,165.27,0.000,0.000,0.524,475,2029,1115,-10.93,-2.01,450.13 $IRIDIUM_FIX,2230.01,-15811.48,190801,060635 $TT8_MAMPS,0.026078 $HUMID,58.50 $INTERNAL_PRESSURE,9.34606 $TCM_TEMP,21.70 $XPDR_PINGS,54 $24V_AH,23.3,3.617 $10V_AH,10.4,3.538 $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,28.650,141.950,316.250,165.275,0.000,23.218,32.346,164.427,13.500,0.000,16.070,1048.935,7515.293,575.551,1840.542,527.892,33.351,1321.224,0.000,1833.574,0.000,0.534,0.000 $DEVICE_MAMPS,177.944,123.487,950.313,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,333.041,255.679,345.270,603.898,913.350,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356048 $DATA_FILE_SIZE,38298,490 $CAP_FILE_SIZE,114251,0 $CFSIZE,260165632,145973248 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,250512,124006,2239.210,-15809.563,38,1.5,38,10.0