version: 66.06 glider: 146 mission: 7 dive: 192 start: 6 24 112 5 6 31 data: $ID,146 $MISSION,7 $DIVE,192 $D_SURF,4 $D_FLARE,3 $D_TGT,550 $D_ABORT,650 $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,180 $T_MISSION,400 $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,-293658.38 $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,3144 $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,2180 $C_ROLL_CLIMB,2180 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,15 $R_STBD_OVSHOOT,19 $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 $GPS1,050131,2228.635,-15801.307,7,1.6,12,10.0 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,-0.10 $_SM_ANGLEo,-63.1 $GPS2,050538,2228.665,-15801.319,11,1.5,11,10.0 $SPEED_LIMITS,0.145,0.253 $TGT_NAME,KUHUKU $TGT_LATLONG,2200.000,-15758.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.000,-0.253 $KALMAN_X,12627.8,129.7,240.4,-8896.0,70.8 $KALMAN_Y,93599.2,279.3,43.9,-116019.5,2090.8 $MHEAD_RNG_PITCHd_Wd,170.0,53393,-18.5,-10.185 $D_GRID,550 $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,15,end surface,CONTROL_FINISHED_OK $STATE,15,begin dive $GC,18,-1.32,-136.3,0.0,0.0,0,160,0.00,0.00,-132.62,0.000,6,0.000,0.000,479,2183,3748,0,0,0,0,0,0 $GC,165,-1.32,-136.3,4.6,-13.1,18,183,13.02,2.60,0.00,0.000,4,0.175,0.036,2846,583,3748,0,0,0,0,0,0 $GC,266,-1.13,-136.3,33.0,-16.8,31,271,0.22,2.55,0.00,0.000,6,0.117,0.029,2892,2209,3749,0,0,0,0,0,0 $GC,534,-1.05,-136.3,68.4,-13.3,55,539,0.10,2.67,0.00,0.000,4,0.131,0.050,2914,584,3749,0,0,0,0,0,0 $GC,569,-1.02,-136.3,73.0,-11.8,57,574,0.00,2.45,0.00,0.000,6,0.000,0.018,2914,2182,3748,0,0,0,0,0,0 $GC,838,-1.02,-136.3,98.7,-8.3,81,842,0.00,2.50,0.00,0.000,4,0.000,0.033,2902,3751,3748,0,0,0,0,0,0 $GC,871,-1.02,-136.3,101.6,-7.9,83,875,0.00,2.50,0.00,0.000,6,0.000,0.023,2915,2152,3748,0,0,0,0,0,0 $GC,1139,-1.02,-136.3,123.5,-8.8,107,1144,0.00,2.55,0.00,0.000,4,0.000,0.049,2853,600,3748,0,0,0,0,0,0 $GC,1163,-1.02,-136.3,126.3,-9.3,108,1172,0.00,2.45,0.00,0.000,6,0.000,0.023,2915,2174,3748,0,0,0,0,0,0 $GC,1429,-1.02,-136.3,150.8,-9.2,133,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2174,3748,0,0,0,0,0,0 $GC,1690,-1.02,-136.3,176.3,-9.6,158,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2174,3748,0,0,0,0,0,0 $GC,1945,-1.02,-136.3,200.5,-9.2,182,1949,0.00,2.58,0.00,0.000,4,0.000,0.053,2914,600,3747,0,0,0,0,0,0 $GC,1981,-1.02,-136.3,203.9,-9.6,182,1986,0.00,2.42,0.00,0.000,6,0.000,0.025,2914,2178,3747,0,0,0,0,0,0 $GC,2231,-1.02,-136.3,226.3,-8.8,189,2235,0.00,2.47,0.00,0.000,4,0.000,0.034,2914,3751,3746,0,0,0,0,0,0 $GC,2258,-1.07,-136.3,228.8,-8.9,189,2262,0.00,2.45,0.00,0.000,6,0.000,0.020,2910,2169,3747,0,0,0,0,0,0 $GC,2510,-1.13,-136.3,251.5,-9.5,195,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2168,3746,0,0,0,0,0,0 $GC,2752,-1.21,-136.3,271.3,-8.1,201,2754,0.15,0.00,0.00,0.000,6,0.061,0.000,2856,2168,3746,0,0,0,0,0,0 $GC,2995,-1.21,-136.3,294.4,-9.5,207,2997,0.10,0.00,0.00,0.000,6,0.120,0.000,2880,2169,3745,0,0,0,0,0,0 $GC,3241,-1.21,-136.3,316.5,-9.0,213,3245,0.00,2.55,0.00,0.000,4,0.000,0.041,2880,3753,3745,0,0,0,0,0,0 $GC,3285,-1.26,-136.3,320.8,-9.0,214,3290,0.00,2.47,0.00,0.000,6,0.000,0.034,2880,2192,3745,0,0,0,0,0,0 $GC,3564,-1.31,-136.3,342.4,-7.6,221,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2192,3744,0,0,0,0,0,0 $GC,3810,-1.37,-136.3,361.0,-7.7,227,3811,0.15,0.00,0.00,0.000,6,0.063,0.000,2826,2192,3743,0,0,0,0,0,0 $GC,4051,-1.32,-136.3,386.6,-10.7,233,4056,0.12,2.55,0.00,0.000,4,0.112,0.044,2853,3747,3741,0,0,0,0,0,0 $GC,4073,-1.32,-136.3,388.8,-9.4,233,4077,0.00,2.55,0.00,0.000,6,0.000,0.041,2853,2178,3741,0,0,0,0,0,0 $GC,4330,-1.32,-136.3,408.5,-7.2,240,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2178,3739,0,0,0,0,0,0 $GC,4571,-1.32,-136.3,425.9,-7.4,246,4576,0.00,2.83,0.00,0.000,4,0.000,0.097,2853,597,3738,0,0,0,0,0,0 $GC,4600,-1.32,-136.3,428.5,-8.6,246,4604,0.00,2.50,0.00,0.000,6,0.000,0.037,2853,2142,3738,0,0,0,0,0,0 $GC,4852,-1.32,-136.3,449.4,-8.2,252,4856,0.00,2.72,0.00,0.000,4,0.000,0.067,2834,3761,3735,0,0,0,0,0,0 $GC,4884,-1.32,-136.3,452.4,-9.1,252,4890,0.00,2.65,0.00,0.000,6,0.000,0.055,2853,2169,3735,0,0,0,0,0,0 $GC,5135,-1.32,-136.3,471.3,-7.3,259,5139,0.00,2.70,0.00,0.000,4,0.000,0.057,2847,3768,3733,0,0,0,0,0,0 $GC,5208,-1.32,-136.3,477.0,-7.9,260,5213,0.00,2.65,0.00,0.000,6,0.000,0.053,2853,2182,3732,0,0,0,0,0,0 $GC,5459,-1.32,-136.3,494.7,-7.0,266,5463,0.00,2.95,0.00,0.000,4,0.000,0.114,2853,588,3731,0,0,0,0,0,0 $GC,5503,-1.32,-136.3,498.0,-7.5,267,5507,0.00,2.62,0.00,0.000,6,0.000,0.047,2853,2174,3731,0,0,0,0,0,0 $GC,5782,-1.32,-136.3,515.4,-5.8,274,5787,0.00,2.85,0.00,0.000,4,0.000,0.091,2853,590,3728,0,0,0,0,0,0 $GC,5803,-1.32,-136.3,517.0,-6.5,274,5808,0.00,2.62,0.00,0.000,6,0.000,0.046,2853,2186,3728,0,0,0,0,0,0 $GC,6059,-1.32,-136.3,533.0,-6.4,281,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2186,3726,0,0,0,0,0,0 $GC,6305,-1.36,-136.3,550.0,-7.1,287,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2186,3724,0,0,0,0,0,0 $STATE,6340,end dive,TARGET_DEPTH_EXCEEDED $STATE,6340,begin apogee $GC,6346,-0.31,0.0,553.0,7.2,288,6458,0.98,0.00,108.62,0.965,6,0.076,0.000,3078,2186,3190,0,0,0,0,0,0 $STATE,6459,end apogee,CONTROL_FINISHED_OK $STATE,6459,begin climb $GC,6461,1.32,136.3,554.6,0.0,290,6591,1.48,2.83,114.60,0.932,4,0.052,0.077,3432,3764,2633,0,0,0,0,0,0 $GC,6619,1.18,136.3,543.1,12.9,294,6624,0.15,2.72,0.00,0.000,6,0.136,0.054,3401,2182,2630,0,0,0,0,0,0 $GC,6875,1.11,136.3,515.8,10.7,301,6879,0.00,2.67,0.00,0.000,4,0.000,0.053,3390,3764,2625,0,0,0,0,0,0 $GC,6911,1.02,136.3,512.0,12.1,301,6917,0.20,2.72,0.00,0.000,6,0.120,0.057,3365,2178,2625,0,0,0,0,0,0 $GC,7161,1.07,177.7,490.1,8.1,308,7200,0.00,0.00,35.60,0.895,6,0.000,0.000,3366,2178,2464,0,0,0,0,0,0 $GC,7445,1.12,218.5,466.4,8.1,315,7484,0.00,0.00,36.55,0.884,6,0.000,0.000,3365,2178,2299,0,0,0,0,0,0 $GC,7731,1.20,252.0,442.7,8.5,322,7767,0.17,2.70,29.77,0.867,4,0.067,0.045,3394,3769,2161,0,0,0,0,0,0 $GC,7819,1.20,252.0,431.9,13.1,323,7823,0.00,2.65,0.00,0.000,6,0.000,0.048,3410,2185,2158,0,0,0,0,0,0 $GC,8098,1.20,252.0,396.8,12.7,330,8102,0.00,2.85,0.00,0.000,4,0.000,0.084,3410,591,2155,0,0,0,0,0,0 $GC,8147,1.20,252.0,389.8,13.7,331,8151,0.00,2.60,0.00,0.000,6,0.000,0.025,3397,2200,2153,0,0,0,0,0,0 $GC,8419,1.20,252.0,355.6,12.6,338,8423,0.00,2.58,0.00,0.000,4,0.000,0.042,3388,3764,2152,0,0,0,0,0,0 $GC,8442,1.20,252.0,352.8,12.7,338,8450,1.73,2.62,0.00,0.000,6,0.067,0.036,3551,2169,2152,6,0,0,0,0,0 $GC,8702,0.62,252.0,279.7,28.9,345,8711,2.58,2.65,0.00,0.000,4,0.122,0.047,3285,3757,2154,0,0,0,0,0,0 $GC,8775,1.06,334.2,272.6,6.0,346,8865,8.95,2.55,69.97,0.766,6,0.440,0.034,3840,2183,1829,32,0,0,0,0,0 $GC,9124,0.52,334.2,170.2,31.9,361,9134,2.80,2.60,0.00,0.000,4,0.120,0.035,3159,3754,1819,0,0,0,0,0,0 $GC,9164,0.79,357.5,163.3,9.0,364,9189,0.22,2.50,19.98,0.660,6,0.051,0.025,3324,2203,1732,0,0,0,0,0,0 $GC,9445,1.06,387.4,141.3,8.7,390,9484,0.20,2.78,26.23,0.634,4,0.052,0.057,3063,604,1608,0,0,0,0,0,0 $GC,9564,1.21,387.4,126.0,13.4,399,9570,0.10,2.55,0.00,0.000,6,0.087,0.026,3414,2219,1605,0,0,0,0,0,0 $GC,9829,1.27,387.4,87.1,14.5,424,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2220,1604,0,0,0,0,0,0 $GC,10094,1.36,387.4,51.1,12.7,449,10099,0.10,2.72,0.00,0.000,4,0.087,0.048,3446,595,1607,0,0,0,0,0,0 $GC,10165,1.43,387.4,39.9,14.6,454,10174,0.00,2.53,0.00,0.000,6,0.000,0.019,3446,2190,1602,0,0,0,0,0,0 $STATE,10441,end climb,SURFACE_DEPTH_REACHED $STATE,10441,begin surface coast $FINISH,-0.3,1.022922 $STATE,10476,end surface coast,CONTROL_FINISHED_OK $STATE,10476,begin surface $SM_CCo,10557,0.00,0.000,0,0,1598,390.76 $SM_GC,0.35,11.90,0.00,0.00,0.023,0.000,0.000,471,2193,1598,-12.19,0.37,390.76 $IRIDIUM_FIX,2220.67,-15800.66,180901,050530 $TT8_MAMPS,0.027612 $HUMID,65.90 $INTERNAL_PRESSURE,9.39489 $TCM_TEMP,21.20 $XPDR_PINGS,41 $24V_AH,23.5,27.329 $10V_AH,10.3,24.740 $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,45.425,115.250,441.325,0.000,0.000,0.000,0.000,0.000,10.250,0.000,13.307,993.762,7064.740,549.814,1782.909,237.263,33.365,1266.318,0.000,1790.779,0.000,0.536,0.000 $DEVICE_MAMPS,440.258,113.516,964.886,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,334.895,268.147,367.281,683.788,1034.207,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356012 $DATA_FILE_SIZE,38566,496 $CAP_FILE_SIZE,147798,0 $CFSIZE,260165632,135045120 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,38,0,0,0 $GPS,240612,080337,2228.207,-15801.201,29,1.5,29,10.0