version: 66.06 glider: 146 mission: 7 dive: 310 start: 7 9 112 6 0 40 data: $ID,146 $MISSION,7 $DIVE,310 $D_SURF,4 $D_FLARE,3 $D_TGT,250 $D_ABORT,300 $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,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,380 $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,-298531.25 $T_RSLEEP,3 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,485 $PITCH_MAX,3757 $C_PITCH,3115 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,16 $PITCH_TIMEOUT,17 $PITCH_AD_RATE,175 $PITCH_MAXERRORS,2 $PITCH_ADJ_GAIN,0.029999999 $PITCH_ADJ_DBAND,1.2 $ROLL_MIN,160 $ROLL_MAX,3941 $ROLL_DEG,45 $C_ROLL_DIVE,2180 $C_ROLL_CLIMB,2180 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,31 $R_STBD_OVSHOOT,46 $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,3190 $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 $GPS1,055405,2139.969,-15807.720,33,1.4,38,9.9 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.17 $_SM_ANGLEo,-71.6 $GPS2,055949,2139.946,-15807.794,13,1.5,13,9.9 $SPEED_LIMITS,0.119,0.238 $TGT_NAME,Mile4 $TGT_LATLONG,2139.500,-15808.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.090,-0.162 $KALMAN_X,-171500.1,226.8,400.4,163908.1,-889.8 $KALMAN_Y,199868.8,198.2,-170.7,-312214.0,156.3 $MHEAD_RNG_PITCHd_Wd,140.9,899,-20.6,-8.333 $D_GRID,250 $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,-1.39,-79.6,0.0,0.0,0,104,0.00,0.00,-80.68,0.000,6,0.000,0.000,463,2172,3514,0,0,0,0,0,0 $GC,107,-1.46,-136.3,1.9,-2.6,9,135,12.82,2.62,-4.68,0.000,4,0.170,0.058,2789,598,3748,0,0,0,0,0,0 $GC,222,-1.23,-136.3,28.2,-19.3,22,231,0.22,2.50,0.00,0.000,6,0.107,0.018,2838,2182,3748,0,0,0,0,0,0 $GC,491,-1.12,-136.3,73.3,-15.2,47,496,0.15,2.62,0.00,0.000,4,0.123,0.044,2869,594,3749,0,0,0,0,0,0 $GC,528,-1.05,-136.3,78.7,-13.5,49,532,0.00,2.47,0.00,0.000,6,0.000,0.017,2869,2194,3748,0,0,0,0,0,0 $GC,795,-1.05,-136.3,108.0,-12.8,73,799,0.00,2.47,0.00,0.000,4,0.000,0.035,2828,3752,3748,0,0,0,0,0,0 $GC,840,-1.05,-136.3,115.0,-13.4,76,851,0.00,2.50,0.00,0.000,6,0.000,0.022,2869,2176,3749,0,0,0,0,0,0 $GC,1108,-1.05,-136.3,147.3,-11.1,101,1112,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,601,3749,0,0,0,0,0,0 $GC,1214,-1.09,-136.3,159.8,-10.7,109,1220,0.00,2.45,0.00,0.000,6,0.000,0.019,2869,2189,3749,0,0,0,0,0,0 $GC,1476,-1.09,-136.3,181.9,-7.6,134,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2189,3750,0,0,0,0,0,0 $GC,1732,-1.09,-136.3,200.3,-7.6,158,1737,0.00,2.60,0.00,0.000,4,0.000,0.054,2837,601,3750,0,0,0,0,0,0 $GC,1767,-1.09,-136.3,203.2,-8.7,158,1775,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2175,3749,0,0,0,0,0,0 $GC,2018,-1.13,-136.3,221.5,-7.6,165,2022,0.00,2.60,0.00,0.000,4,0.000,0.050,2819,608,3749,0,0,0,0,0,0 $GC,2038,-1.13,-136.3,223.5,-8.6,165,2043,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2184,3749,0,0,0,0,0,0 $GC,2297,-1.53,-136.3,227.8,0.1,172,2302,0.32,2.50,0.00,0.000,4,0.038,0.036,2722,3746,3749,0,0,0,0,0,0 $STATE,2373,end dive,NO_VERTICAL_VELOCITY $STATE,2373,begin apogee $GC,2381,-0.31,0.0,227.8,0.0,173,2492,1.17,0.00,107.38,0.663,6,0.047,0.000,3049,2175,3190,0,0,0,0,0,0 $STATE,2493,end apogee,CONTROL_FINISHED_OK $STATE,2493,begin climb $GC,2497,1.46,136.3,227.6,0.0,176,2610,1.60,0.00,106.50,0.654,6,0.044,0.000,3434,2175,2634,0,0,0,0,0,0 $GC,2860,1.46,136.3,198.2,9.5,185,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2175,2629,0,0,0,0,0,0 $GC,3119,1.46,136.3,175.4,9.3,209,3123,0.00,2.62,0.00,0.000,4,0.000,0.054,3433,601,2627,0,0,0,0,0,0 $GC,3151,1.46,136.3,172.3,9.8,211,3156,0.00,2.50,0.00,0.000,6,0.000,0.028,3433,2184,2627,0,0,0,0,0,0 $GC,3419,1.52,136.8,147.7,8.3,235,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2184,2626,0,0,0,0,0,0 $GC,3679,1.63,176.6,129.1,5.5,260,3720,0.15,2.72,32.60,0.601,4,0.068,0.050,3478,577,2465,0,0,0,0,0,0 $GC,3786,1.63,176.6,120.3,9.2,268,3796,0.00,2.55,0.00,0.000,6,0.000,0.021,3477,2174,2464,0,0,0,0,0,0 $GC,4054,1.63,176.6,97.6,10.0,293,4058,0.00,2.60,0.00,0.000,4,0.000,0.046,3477,600,2463,0,0,0,0,0,0 $GC,4086,1.63,176.6,94.1,10.1,295,4091,0.00,2.50,0.00,0.000,6,0.000,0.021,3477,2186,2462,0,0,0,0,0,0 $GC,4354,1.64,182.4,70.3,7.9,319,4370,0.00,2.58,5.07,0.431,4,0.000,0.038,3173,3747,2445,0,0,0,0,0,0 $GC,4593,1.65,192.4,50.7,7.6,336,4609,0.00,2.50,10.15,0.504,6,0.000,0.028,3477,2188,2404,0,0,0,0,0,0 $GC,4865,1.65,192.4,29.3,8.5,361,4876,0.00,2.65,0.00,0.000,4,0.000,0.051,3477,603,2402,0,0,0,0,0,0 $GC,5002,1.65,194.3,17.6,8.2,377,5013,0.00,2.50,0.00,0.000,6,0.000,0.020,3477,2186,2401,0,0,0,0,0,0 $STATE,5151,end climb,SURFACE_DEPTH_REACHED $STATE,5151,begin surface coast $FINISH,-0.5,1.023707 $STATE,5209,end surface coast,CONTROL_FINISHED_OK $STATE,5209,begin surface $SM_CCo,5233,148.62,0.505,0,0,1639,380.21 $SM_GC,0.23,0.00,0.00,148.62,0.000,0.000,0.505,468,2188,1639,-12.18,0.23,380.21 $IRIDIUM_FIX,2129.53,-15808.47,031001,040403 $TT8_MAMPS,0.027612 $HUMID,60.86 $INTERNAL_PRESSURE,9.49255 $TCM_TEMP,21.60 $XPDR_PINGS,18 $24V_AH,23.7,44.292 $10V_AH,10.4,37.887 $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,28.525,60.975,261.700,148.625,0.000,30.412,33.584,143.018,4.500,0.000,15.483,736.779,2177.271,452.216,1915.967,444.348,33.352,979.568,0.000,1937.407,0.000,0.537,0.000 $DEVICE_MAMPS,169.507,57.525,663.455,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,271.905,272.177,388.460,910.548,1454.721,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355968 $DATA_FILE_SIZE,32090,402 $CAP_FILE_SIZE,72405,0 $CFSIZE,260165632,128933888 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,090712,073130,2139.502,-15807.600,9,1.8,26,9.9