version: 66.06 glider: 146 mission: 7 dive: 25 start: 5 26 112 1 18 59 data: $ID,146 $MISSION,7 $DIVE,25 $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,-288258.19 $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,2150 $C_ROLL_CLIMB,2100 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,27 $R_STBD_OVSHOOT,18 $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 $GPS1,011119,2240.200,-15808.574,9,1.9,26,10.0 $_CALLS,1 $_XMS_NAKs,3 $_XMS_TOUTs,1 $_SM_DEPTHo,-0.11 $_SM_ANGLEo,-67.4 $GPS2,011804,2240.171,-15808.627,12,2.2,31,10.0 $SPEED_LIMITS,0.143,0.252 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $KALMAN_CONTROL,0.207,0.143 $KALMAN_X,-44517.1,-131.6,-39.8,36310.8,-1224.4 $KALMAN_Y,-26155.0,-199.0,65.2,25523.4,-917.9 $MHEAD_RNG_PITCHd_Wd,45.3,17236,-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,-101.18,0.000,6,0.000,0.000,469,2108,3506,0,0,0,0,0,0 $GC,128,-1.31,-136.3,1.8,-5.5,13,145,11.62,2.65,0.00,0.000,4,0.176,0.029,2555,3758,3507,0,0,0,0,0,0 $GC,407,-0.66,-136.3,86.4,-28.5,42,413,0.75,2.58,0.00,0.000,6,0.138,0.031,2701,2140,3507,0,0,0,0,0,0 $GC,671,-0.26,-136.3,135.8,-16.7,66,677,0.40,2.58,0.00,0.000,4,0.123,0.028,2783,3755,3508,0,0,0,0,0,0 $GC,694,0.06,-136.3,139.2,-15.8,67,700,0.38,2.50,0.00,0.000,6,0.116,0.025,2859,2161,3508,0,0,0,0,0,0 $GC,963,0.14,-136.3,162.4,-7.8,91,968,0.10,0.00,0.00,0.000,6,0.145,0.000,2878,2161,3508,0,0,0,0,0,0 $GC,1226,0.14,-136.3,180.2,-7.0,116,1230,0.00,2.62,0.00,0.000,4,0.000,0.058,2878,576,3509,0,0,0,0,0,0 $GC,1249,0.18,-136.3,182.2,-8.1,117,1259,0.00,2.55,0.00,0.000,6,0.000,0.025,2878,2201,3509,0,0,0,0,0,0 $GC,1509,0.18,-136.3,204.6,-8.9,139,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2201,3509,0,0,0,0,0,0 $GC,1752,0.18,-136.3,223.3,-7.5,145,1757,0.00,2.72,0.00,0.000,4,0.000,0.057,2878,573,3509,0,0,0,0,0,0 $GC,1776,0.18,-136.3,225.0,-7.2,145,1780,0.00,2.55,0.00,0.000,6,0.000,0.019,2878,2220,3508,0,0,0,0,0,0 $GC,2031,0.18,-136.3,243.3,-7.2,152,2035,0.00,2.75,0.00,0.000,4,0.000,0.059,2879,572,3508,0,0,0,0,0,0 $GC,2058,0.18,-136.3,245.5,-8.0,152,2062,0.00,2.60,0.00,0.000,6,0.000,0.028,2878,2222,3508,0,0,0,0,0,0 $GC,2310,0.18,-136.3,263.5,-7.4,158,2314,0.00,2.75,0.00,0.000,4,0.000,0.055,2878,580,3507,0,0,0,0,0,0 $GC,2325,0.18,-136.3,265.0,-7.6,158,2330,0.00,2.60,0.00,0.000,6,0.000,0.024,2878,2225,3507,0,0,0,0,0,0 $GC,2586,0.18,-136.3,285.1,-7.9,165,2591,0.00,2.78,0.00,0.000,4,0.000,0.064,2878,582,3507,0,0,0,0,0,0 $GC,2660,0.18,-136.3,290.9,-7.7,166,2665,0.00,2.58,0.00,0.000,6,0.000,0.030,2878,2196,3507,0,0,0,0,0,0 $GC,2910,0.18,-136.3,308.7,-6.9,172,2914,0.00,2.50,0.00,0.000,4,0.000,0.044,2878,3729,3506,0,0,0,0,0,0 $GC,2937,0.18,-136.3,310.8,-7.7,172,2941,0.00,2.47,0.00,0.000,6,0.000,0.034,2878,2188,3506,0,0,0,0,0,0 $GC,3189,0.18,-136.3,331.3,-8.4,178,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2188,3504,0,0,0,0,0,0 $GC,3431,0.14,-136.3,352.4,-8.6,184,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2188,3503,0,0,0,0,0,0 $GC,3675,0.10,-136.3,370.6,-7.2,190,3679,0.00,2.55,0.00,0.000,4,0.000,0.050,2878,3728,3501,0,0,0,0,0,0 $GC,3692,0.06,-136.3,371.7,-6.1,190,3697,0.00,2.47,0.00,0.000,6,0.000,0.037,2878,2199,3502,0,0,0,0,0,0 $GC,3954,0.01,-136.3,385.1,-4.8,197,3959,0.10,2.92,0.00,0.000,4,0.090,0.087,2842,559,3501,0,0,0,0,0,0 $GC,3970,0.01,-136.3,386.0,-4.8,197,3975,0.00,2.67,0.00,0.000,6,0.000,0.035,2842,2196,3500,0,0,0,0,0,0 $GC,4233,0.01,-136.3,399.9,-5.2,204,4237,0.00,2.58,0.00,0.000,4,0.000,0.061,2843,3737,3499,0,0,0,0,0,0 $GC,4265,0.01,-136.3,401.8,-5.8,204,4271,0.00,2.55,0.00,0.000,6,0.000,0.043,2842,2188,3499,0,0,0,0,0,0 $GC,4515,0.01,-136.3,415.9,-6.0,211,4520,0.00,2.62,0.00,0.000,4,0.000,0.050,2842,3744,3497,0,0,0,0,0,0 $GC,4601,0.01,-136.3,422.1,-7.4,213,4606,0.00,2.53,0.00,0.000,6,0.000,0.043,2843,2209,3497,0,0,0,0,0,0 $GC,4885,0.01,-136.3,442.6,-7.2,220,4889,0.00,2.58,0.00,0.000,4,0.000,0.058,2843,3742,3495,0,0,0,0,0,0 $GC,4901,0.01,-136.3,443.8,-7.4,220,4905,0.00,2.53,0.00,0.000,6,0.000,0.048,2842,2217,3495,0,0,0,0,0,0 $GC,5163,0.01,-136.3,462.0,-6.6,227,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2217,3493,0,0,0,0,0,0 $GC,5405,0.01,-136.3,477.7,-6.4,233,5410,0.00,2.60,0.00,0.000,4,0.000,0.061,2842,3736,3493,0,0,0,0,0,0 $GC,5511,0.01,-136.3,485.6,-7.7,235,5516,0.00,2.53,0.00,0.000,6,0.000,0.057,2843,2230,3492,0,0,0,0,0,0 $STATE,5729,end dive,TARGET_DEPTH_EXCEEDED $STATE,5729,begin apogee $GC,5735,-0.31,0.0,501.2,7.0,241,5846,0.25,0.00,108.10,0.940,6,0.057,0.000,2773,2092,2950,0,0,0,0,0,0 $STATE,5847,end apogee,CONTROL_FINISHED_OK $STATE,5847,begin climb $GC,5849,1.31,136.3,506.6,0.0,243,5978,1.65,2.88,114.68,0.907,4,0.106,0.066,3125,3677,2392,0,0,0,0,0,0 $GC,6019,1.94,158.2,496.8,9.0,247,6046,0.65,2.72,20.00,0.846,6,0.054,0.051,3278,2103,2305,0,0,0,0,0,0 $GC,6305,2.22,201.5,474.0,7.9,254,6350,0.22,3.12,38.10,0.875,4,0.058,0.112,3338,506,2128,0,0,0,0,0,0 $GC,6435,2.30,201.5,459.0,11.7,257,6440,0.00,2.65,0.00,0.000,6,0.000,0.044,3338,2087,2124,0,0,0,0,0,0 $GC,6720,2.39,201.5,427.6,10.9,264,6726,0.12,2.75,0.00,0.000,4,0.089,0.057,3370,3701,2122,0,0,0,0,0,0 $GC,6765,2.44,201.5,421.6,13.5,265,6769,0.00,2.72,0.00,0.000,6,0.000,0.048,3370,2090,2120,0,0,0,0,0,0 $GC,7042,2.44,201.5,387.8,12.2,272,7046,0.00,2.67,0.00,0.000,4,0.000,0.047,3370,3692,2119,0,0,0,0,0,0 $GC,7087,2.50,201.5,382.5,12.5,273,7093,0.10,2.67,0.00,0.000,6,0.102,0.044,3397,2093,2118,0,0,0,0,0,0 $GC,7367,2.50,201.5,346.0,12.9,280,7371,0.00,2.65,0.00,0.000,4,0.000,0.044,3396,3699,2118,0,0,0,0,0,0 $GC,7401,2.50,201.5,341.4,13.6,280,7407,0.00,2.65,0.00,0.000,6,0.000,0.038,3396,2099,2117,0,0,0,0,0,0 $GC,7650,2.50,201.5,309.8,12.7,287,7655,0.00,2.65,0.00,0.000,4,0.000,0.046,3396,3697,2116,0,0,0,0,0,0 $GC,7666,2.50,201.5,307.6,12.8,287,7670,0.00,2.60,0.00,0.000,6,0.000,0.035,3396,2105,2116,0,0,0,0,0,0 $GC,7926,2.50,201.5,276.2,12.0,294,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2105,2115,0,0,0,0,0,0 $GC,8172,2.50,201.5,247.0,11.9,300,8176,0.00,2.60,0.00,0.000,4,0.000,0.044,3397,3697,2116,0,0,0,0,0,0 $GC,8204,2.50,201.5,242.8,12.1,300,8210,0.00,2.55,0.00,0.000,6,0.000,0.037,3396,2123,2115,0,0,0,0,0,0 $GC,8454,2.50,201.5,214.5,11.3,307,8459,0.00,2.72,0.00,0.000,4,0.000,0.061,3397,518,2114,0,0,0,0,0,0 $GC,8495,2.50,201.5,209.8,12.2,308,8499,0.00,2.58,0.00,0.000,6,0.000,0.022,3397,2137,2114,0,0,0,0,0,0 $GC,8753,2.50,201.5,180.4,10.7,324,8758,0.00,2.72,0.00,0.000,4,0.000,0.052,3396,516,2114,0,0,0,0,0,0 $GC,8781,2.50,201.5,177.3,10.9,326,8786,0.00,2.53,0.00,0.000,6,0.000,0.023,3397,2116,2114,0,0,0,0,0,0 $GC,9046,2.57,222.2,153.3,9.0,350,9070,0.00,2.55,16.95,0.637,4,0.000,0.041,3397,3678,2043,0,0,0,0,0,0 $GC,9093,2.63,222.2,148.3,10.1,354,9098,0.10,2.58,0.00,0.000,6,0.096,0.030,3421,2100,2042,0,0,0,0,0,0 $GC,9353,2.63,222.2,119.0,12.0,378,9358,0.00,2.58,0.00,0.000,4,0.000,0.042,3421,3672,2041,0,0,0,0,0,0 $GC,9399,2.63,222.2,113.8,13.2,381,9403,0.00,2.53,0.00,0.000,6,0.000,0.037,3421,2115,2041,0,0,0,0,0,0 $GC,9666,2.63,222.2,81.1,12.4,405,9671,0.00,2.65,0.00,0.000,4,0.000,0.052,3421,518,2041,0,0,0,0,0,0 $GC,9712,2.63,222.2,74.8,13.0,408,9716,0.00,2.50,0.00,0.000,6,0.000,0.025,3421,2111,2040,0,0,0,0,0,0 $GC,9980,2.63,222.2,45.7,10.2,432,9984,0.00,2.53,0.00,0.000,4,0.000,0.035,3421,3679,2041,0,0,0,0,0,0 $GC,10015,2.67,222.2,41.5,10.0,434,10023,0.00,2.53,0.00,0.000,6,0.000,0.028,3421,2122,2041,0,0,0,0,0,0 $GC,10316,2.75,248.5,12.8,8.7,472,10350,0.12,2.60,23.58,0.512,4,0.084,0.043,3458,3673,1936,0,0,0,0,0,0 $STATE,10378,end climb,SURFACE_DEPTH_REACHED $STATE,10378,begin surface coast $FINISH,-0.7,1.023593 $STATE,10415,end surface coast,CONTROL_FINISHED_OK $STATE,10416,begin surface $SM_CCo,10440,161.73,0.510,0,0,1114,450.13 $SM_GC,-0.20,0.00,0.00,161.73,0.000,0.000,0.510,474,2129,1114,-10.93,-0.59,450.13 $IRIDIUM_FIX,2232.34,-15806.28,190801,222203 $TT8_MAMPS,0.026078 $HUMID,56.45 $INTERNAL_PRESSURE,9.37536 $TCM_TEMP,22.20 $XPDR_PINGS,55 $24V_AH,23.4,4.241 $10V_AH,10.4,4.067 $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,28.625,147.100,321.400,161.725,0.000,29.281,38.668,175.355,13.750,0.000,33.725,1014.721,7064.984,571.109,1807.925,550.646,33.355,1306.044,0.000,1783.799,0.000,0.534,0.000 $DEVICE_MAMPS,176.410,111.982,939.575,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,328.419,257.529,354.965,634.600,960.622,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356060 $DATA_FILE_SIZE,38521,485 $CAP_FILE_SIZE,111549,0 $CFSIZE,260165632,145707008 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,260512,041707,2240.565,-15808.748,44,1.1,44,10.0