version: 66.06 glider: 146 mission: 7 dive: 255 start: 7 2 112 16 11 1 data: $ID,146 $MISSION,7 $DIVE,255 $D_SURF,4 $D_FLARE,3 $D_TGT,600 $D_ABORT,720 $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,160 $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,665.4989 $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,-296462.03 $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,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,28 $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 $GPS1,155655,2205.328,-15807.342,10,2.0,10,9.9 $_CALLS,5 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.22 $_SM_ANGLEo,-70.7 $GPS2,161006,2205.261,-15807.606,29,1.2,29,9.9 $SPEED_LIMITS,0.179,0.270 $TGT_NAME,KUHUKU2 $TGT_LATLONG,2148.000,-15802.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.261,-0.070 $KALMAN_X,-86634.2,-606.7,273.5,80340.7,-2342.8 $KALMAN_Y,184251.8,-332.2,-167.7,-249176.7,137.3 $MHEAD_RNG_PITCHd_Wd,95.1,33390,-22.0,-12.500 $D_GRID,600 $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,-1.54,-136.3,0.0,0.0,0,114,0.00,0.00,-88.22,0.000,6,0.000,0.000,466,2121,3747,0,0,0,0,0,0 $GC,117,-1.54,-136.3,3.7,-8.1,10,138,12.68,2.53,0.00,0.000,4,0.173,0.036,2769,590,3747,0,0,0,0,0,0 $GC,199,-1.31,-136.3,30.5,-23.0,19,210,0.25,2.50,0.00,0.000,6,0.111,0.019,2821,2176,3748,0,0,0,0,0,0 $GC,466,-1.23,-136.3,80.6,-18.5,44,471,0.12,2.60,0.00,0.000,4,0.133,0.042,2846,593,3748,0,0,0,0,0,0 $GC,494,-1.16,-136.3,86.0,-16.5,45,500,0.30,2.42,0.00,0.000,6,0.100,0.017,2918,2179,3748,1,0,0,0,0,0 $GC,757,-1.30,-136.3,116.2,-9.9,70,759,0.35,0.00,0.00,0.000,6,0.038,0.000,2812,2179,3750,0,0,0,0,0,0 $GC,1010,-1.22,-136.3,150.8,-13.4,94,1015,0.15,2.50,0.00,0.000,4,0.109,0.034,2811,3755,3750,0,0,0,0,0,0 $GC,1028,-1.17,-136.3,153.0,-13.1,95,1032,0.00,2.50,0.00,0.000,6,0.000,0.021,2845,2155,3750,0,0,0,0,0,0 $GC,1289,-1.17,-136.3,181.4,-10.6,119,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2155,3750,0,0,0,0,0,0 $GC,1552,-1.17,-136.3,209.7,-11.2,138,1557,0.00,2.53,0.00,0.000,4,0.000,0.054,2773,609,3751,0,0,0,0,0,0 $GC,1563,-1.17,-136.3,211.3,-11.5,138,1567,0.00,2.40,0.00,0.000,6,0.000,0.018,2845,2192,3751,0,0,0,0,0,0 $GC,1829,-1.21,-136.3,241.4,-10.6,145,1834,0.00,2.45,0.00,0.000,4,0.000,0.034,2824,3737,3751,0,0,0,0,0,0 $GC,1904,-1.29,-136.3,249.4,-10.6,146,1909,0.00,2.42,0.00,0.000,6,0.000,0.025,2845,2193,3751,0,0,0,0,0,0 $GC,2155,-1.36,-136.3,276.6,-10.8,152,2160,0.12,2.67,0.00,0.000,4,0.073,0.061,2734,606,3751,0,0,0,0,0,0 $GC,2211,-1.31,-136.3,284.0,-13.3,153,2216,0.15,2.40,0.00,0.000,6,0.109,0.028,2829,2152,3751,0,0,0,0,0,0 $GC,2480,-1.36,-136.3,311.4,-9.9,160,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2152,3751,0,0,0,0,0,0 $GC,2722,-1.42,-136.3,334.9,-9.5,166,2727,0.10,2.62,0.00,0.000,4,0.081,0.044,2763,3751,3751,0,0,0,0,0,0 $GC,2790,-1.42,-136.3,342.6,-11.8,167,2795,0.00,2.53,0.00,0.000,6,0.000,0.037,2787,2178,3749,0,0,0,0,0,0 $GC,3046,-1.42,-136.3,374.5,-12.6,174,3050,0.00,2.60,0.00,0.000,4,0.000,0.044,2765,3751,3749,0,0,0,0,0,0 $GC,3078,-1.42,-136.3,378.6,-12.4,174,3084,0.00,2.58,0.00,0.000,6,0.000,0.040,2788,2181,3749,0,0,0,0,0,0 $GC,3330,-1.42,-136.3,408.3,-11.9,181,3335,0.00,2.85,0.00,0.000,4,0.000,0.097,2788,596,3748,0,0,0,0,0,0 $GC,3346,-1.42,-136.3,410.4,-11.2,181,3351,0.00,2.53,0.00,0.000,6,0.000,0.041,2788,2156,3747,0,0,0,0,0,0 $GC,3607,-1.42,-136.3,438.5,-10.4,188,3612,0.00,2.70,0.00,0.000,4,0.000,0.058,2757,3762,3746,0,0,0,0,0,0 $GC,3636,-1.42,-136.3,441.5,-11.1,188,3647,1.40,2.65,0.00,0.000,6,0.080,0.045,2945,2179,3746,5,0,0,0,0,0 $GC,3891,-2.18,-136.3,454.4,-5.8,195,3895,2.03,0.00,0.00,0.000,6,0.052,0.000,2632,2178,3744,0,0,0,0,0,0 $GC,4134,-1.91,-136.3,488.7,-15.4,201,4136,0.30,0.00,0.00,0.000,6,0.161,0.000,2694,2178,3742,0,0,0,0,0,0 $GC,4380,-1.75,-136.3,521.9,-13.7,207,4386,0.17,2.78,0.00,0.000,4,0.216,0.070,2697,3760,3740,0,0,0,0,0,0 $GC,4425,-1.66,-136.3,528.4,-13.5,208,4430,0.10,2.70,0.00,0.000,6,0.133,0.060,2752,2185,3740,0,0,0,0,0,0 $GC,4705,-1.60,-136.3,558.3,-10.2,215,4710,0.00,2.78,0.00,0.000,4,0.000,0.080,2723,3763,3738,0,0,0,0,0,0 $GC,4733,-1.56,-136.3,561.5,-10.9,215,4738,0.12,2.75,0.00,0.000,6,0.129,0.070,2775,2180,3738,0,0,0,0,0,0 $GC,4983,-1.56,-136.3,583.8,-8.9,221,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2180,3736,0,0,0,0,0,0 $STATE,5183,end dive,TARGET_DEPTH_EXCEEDED $STATE,5183,begin apogee $GC,5191,-0.31,0.0,602.8,9.4,226,5306,1.23,0.00,111.43,1.013,6,0.100,0.000,3045,2179,3190,0,0,0,0,0,0 $STATE,5307,end apogee,CONTROL_FINISHED_OK $STATE,5307,begin climb $GC,5309,1.54,136.3,605.4,0.0,229,5436,1.70,3.15,114.85,0.980,4,0.047,0.120,3449,594,2633,0,0,0,0,0,0 $GC,5449,1.45,136.3,594.5,12.8,232,5454,0.00,2.75,0.00,0.000,6,0.000,0.057,3421,2179,2630,0,0,0,0,0,0 $GC,5716,1.39,136.3,559.2,13.2,239,5721,0.15,2.80,0.00,0.000,4,0.125,0.078,3377,3770,2624,0,0,0,0,0,0 $GC,5766,1.39,137.6,552.6,12.4,240,5771,0.00,2.75,0.00,0.000,6,0.000,0.057,3397,2176,2623,0,0,0,0,0,0 $GC,6040,1.42,159.2,521.4,11.2,247,6065,0.00,2.78,19.52,0.906,4,0.000,0.061,3385,3768,2540,0,0,0,0,0,0 $GC,6087,1.42,165.1,515.5,12.1,248,6101,0.00,2.70,6.62,0.751,6,0.000,0.052,3420,2188,2517,0,0,0,0,0,0 $GC,6365,1.44,182.2,483.4,11.4,255,6386,0.00,2.72,15.90,0.877,4,0.000,0.052,3388,3776,2446,0,0,0,0,0,0 $GC,6409,1.45,188.9,477.8,12.1,256,6423,0.00,2.72,7.55,0.772,6,0.000,0.054,3420,2192,2419,0,0,0,0,0,0 $GC,6691,1.46,197.2,443.8,12.0,263,6701,0.00,0.00,8.23,0.790,6,0.000,0.000,3420,2192,2386,0,0,0,0,0,0 $GC,6936,1.48,211.6,415.2,11.6,269,6956,0.00,2.72,14.07,0.840,4,0.000,0.044,3391,3783,2327,0,0,0,0,0,0 $GC,6997,1.54,211.6,407.3,13.0,270,7002,0.12,2.67,0.00,0.000,6,0.082,0.048,3452,2201,2325,0,0,0,0,0,0 $GC,7265,1.54,211.6,373.7,12.7,277,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2201,2323,0,0,0,0,0,0 $GC,7507,1.54,211.6,342.2,13.2,283,7511,0.00,2.60,0.00,0.000,4,0.000,0.041,3402,3775,2324,0,0,0,0,0,0 $GC,7533,1.54,211.6,338.3,14.4,283,7538,0.00,2.60,0.00,0.000,6,0.000,0.035,3452,2203,2321,0,0,0,0,0,0 $GC,7784,1.54,211.6,305.7,12.8,289,7788,0.00,2.60,0.00,0.000,4,0.000,0.047,3412,3773,2320,0,0,0,0,0,0 $GC,7902,1.54,211.6,290.9,12.8,291,7907,0.00,2.55,0.00,0.000,6,0.000,0.035,3452,2219,2320,0,0,0,0,0,0 $GC,8152,1.59,249.5,264.6,10.2,297,8193,0.00,2.88,33.33,0.777,4,0.000,0.061,3419,596,2171,0,0,0,0,0,0 $GC,8211,1.59,249.5,257.3,13.6,298,8216,0.00,2.67,0.00,0.000,6,0.000,0.023,3452,2249,2169,0,0,0,0,0,0 $GC,8478,1.67,271.0,226.6,11.2,305,8504,0.12,2.55,19.10,0.719,4,0.078,0.044,3426,3774,2087,0,0,0,0,0,0 $GC,8585,1.67,271.0,212.0,14.3,307,8590,0.00,2.50,0.00,0.000,6,0.000,0.035,3489,2232,2082,0,0,0,0,0,0 $GC,8853,1.67,271.0,177.4,13.2,325,8857,0.00,2.75,0.00,0.000,4,0.000,0.053,3431,594,2081,0,0,0,0,0,0 $GC,8885,1.67,271.0,172.0,14.8,327,8896,0.00,2.67,0.00,0.000,6,0.000,0.021,3488,2262,2079,0,0,0,0,0,0 $GC,9146,1.67,271.0,135.9,13.4,352,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,2262,2079,0,0,0,0,0,0 $GC,9405,1.69,288.0,102.7,11.5,376,9429,0.00,2.55,15.62,0.597,4,0.000,0.035,3293,3780,2014,0,0,0,0,0,0 $GC,9446,1.69,288.0,97.7,12.9,379,9450,0.00,2.50,0.00,0.000,6,0.000,0.026,3488,2240,2013,0,0,0,0,0,0 $GC,9715,1.74,293.9,66.3,12.1,403,9731,0.00,2.78,6.40,0.490,4,0.000,0.048,3394,596,1991,0,0,0,0,0,0 $GC,9761,1.74,293.9,60.1,13.2,406,9766,0.00,2.62,0.00,0.000,6,0.000,0.021,3488,2272,1990,0,0,0,0,0,0 $GC,10044,1.78,293.9,23.5,13.0,433,10055,0.00,2.45,0.00,0.000,4,0.000,0.035,3168,3774,1990,0,0,0,0,0,0 $GC,10066,1.82,293.9,20.5,13.6,435,10077,0.00,2.50,0.00,0.000,6,0.000,0.027,3488,2231,1990,0,0,0,0,0,0 $STATE,10195,end climb,SURFACE_DEPTH_REACHED $STATE,10195,begin surface coast $FINISH,-0.5,1.023709 $STATE,10237,end surface coast,CONTROL_FINISHED_OK $STATE,10237,begin surface $SM_CCo,10259,295.98,0.521,0,0,477,665.50 $SM_GC,0.14,0.00,0.00,295.98,0.000,0.000,0.521,466,2147,477,-12.19,-0.93,665.50 $IRIDIUM_FIX,2157.39,-15809.32,260901,131331 $TT8_MAMPS,0.026845 $HUMID,58.66 $INTERNAL_PRESSURE,9.307 $TCM_TEMP,21.30 $XPDR_PINGS,46 $24V_AH,23.4,36.581 $10V_AH,10.2,31.642 $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,33.800,131.600,372.625,295.975,0.000,168.205,215.427,0.000,11.500,0.000,34.105,959.224,7033.524,740.961,1910.212,703.842,33.375,1458.991,0.000,1902.811,0.000,0.534,0.000 $DEVICE_MAMPS,216.294,121.953,1013.207,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,308.655,226.569,322.288,684.425,1091.724,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356004 $DATA_FILE_SIZE,35197,455 $CAP_FILE_SIZE,115098,0 $CFSIZE,260165632,131674112 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,0,0 $GPS,020712,190806,2205.254,-15807.590,9,1.4,26,9.9