version: 66.06 glider: 146 mission: 7 dive: 277 start: 7 5 112 8 35 0 data: $ID,146 $MISSION,7 $DIVE,277 $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,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,-297342.03 $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,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,28 $R_STBD_OVSHOOT,13 $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 $GPS1,082706,2154.733,-15809.443,28,1.1,28,9.9 $_CALLS,1 $_XMS_NAKs,9 $_XMS_TOUTs,6 $_SM_DEPTHo,0.26 $_SM_ANGLEo,-70.4 $GPS2,083407,2154.731,-15809.526,12,1.3,12,9.9 $SPEED_LIMITS,0.179,0.270 $TGT_NAME,KUHUKU2 $TGT_LATLONG,2148.000,-15802.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.215,-0.164 $KALMAN_X,-133493.5,404.7,-965.0,124133.1,-927.2 $KALMAN_Y,189630.1,238.6,-202.1,-274591.7,472.3 $MHEAD_RNG_PITCHd_Wd,117.4,17969,-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,-89.12,0.000,6,0.000,0.000,469,2093,3747,0,0,0,0,0,0 $GC,119,-1.54,-136.3,3.3,-7.1,10,140,12.85,2.47,0.00,0.000,4,0.176,0.036,2771,591,3747,0,0,0,0,0,0 $GC,151,-0.39,-136.3,18.6,-37.3,13,162,1.17,2.58,0.00,0.000,6,0.100,0.019,3023,2214,3748,0,0,0,0,0,0 $GC,455,-0.70,-136.3,41.8,-6.6,44,460,0.25,2.47,0.00,0.000,4,0.041,0.031,2936,3753,3749,0,0,0,0,0,0 $GC,479,-0.94,-136.3,43.8,-7.8,45,484,0.12,2.50,0.00,0.000,6,0.067,0.022,2886,2156,3749,0,0,0,0,0,0 $GC,746,-0.94,-136.3,78.9,-12.0,69,757,0.10,0.00,0.00,0.000,6,0.121,0.000,2908,2156,3751,0,0,0,0,0,0 $GC,1007,-1.04,-136.3,107.8,-10.5,94,1012,0.00,2.50,0.00,0.000,4,0.000,0.043,2907,608,3751,0,0,0,0,0,0 $GC,1043,-1.18,-136.3,111.5,-10.1,96,1052,0.17,2.45,0.00,0.000,6,0.029,0.025,2840,2175,3753,0,0,0,0,0,0 $GC,1311,-1.18,-136.3,146.8,-14.8,121,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2175,3752,0,0,0,0,0,0 $GC,1574,-1.18,-136.3,184.4,-13.0,146,1578,0.00,2.58,0.00,0.000,4,0.000,0.051,2825,602,3752,0,0,0,0,0,0 $GC,1621,-1.18,-136.3,191.5,-14.3,149,1627,0.00,2.45,0.00,0.000,6,0.000,0.025,2840,2179,3753,0,0,0,0,0,0 $GC,1897,-1.18,-136.3,223.4,-11.2,161,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2180,3753,0,0,0,0,0,0 $GC,2138,-1.21,-136.3,247.7,-9.3,167,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2180,3754,0,0,0,0,0,0 $GC,2384,-1.26,-136.3,269.4,-9.0,173,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2180,3754,0,0,0,0,0,0 $GC,2626,-1.32,-136.3,292.4,-9.6,179,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2180,3754,0,0,0,0,0,0 $GC,2870,-1.39,-136.3,315.3,-9.4,185,2875,0.12,2.70,0.00,0.000,4,0.066,0.063,2789,614,3753,0,0,0,0,0,0 $GC,2905,-1.34,-136.3,319.2,-11.6,185,2911,0.15,2.47,0.00,0.000,6,0.104,0.027,2821,2164,3753,0,0,0,0,0,0 $GC,3155,-1.38,-136.3,345.8,-10.7,192,3160,0.00,2.62,0.00,0.000,4,0.000,0.050,2818,3764,3753,0,0,0,0,0,0 $GC,3188,-1.45,-136.3,349.5,-10.9,192,3194,0.00,2.53,0.00,0.000,6,0.000,0.037,2821,2192,3753,0,0,0,0,0,0 $GC,3441,-1.50,-136.3,376.6,-10.9,199,3443,0.12,0.00,0.00,0.000,6,0.069,0.000,2771,2192,3751,0,0,0,0,0,0 $GC,3682,-1.46,-136.3,408.9,-13.4,205,3684,0.10,0.00,0.00,0.000,6,0.123,0.000,2794,2191,3750,0,0,0,0,0,0 $GC,3926,-1.46,-136.3,437.2,-11.3,211,3930,0.00,2.62,0.00,0.000,4,0.000,0.052,2794,3757,3750,0,0,0,0,0,0 $GC,3960,-1.46,-136.3,441.0,-11.0,211,3966,0.00,2.65,0.00,0.000,6,0.000,0.048,2793,2180,3749,0,0,0,0,0,0 $GC,4210,-1.46,-136.3,466.1,-9.8,218,4215,0.00,2.70,0.00,0.000,4,0.000,0.059,2794,3758,3747,0,0,0,0,0,0 $GC,4260,-1.50,-136.3,471.3,-10.4,219,4269,2.88,2.67,0.00,0.000,6,0.074,0.053,2878,2183,3747,10,0,0,0,0,0 $GC,4540,-2.85,-136.3,493.7,-10.0,226,4550,4.47,2.70,0.00,0.000,4,0.094,0.061,2480,3759,3744,0,0,0,0,0,0 $GC,4556,-3.48,-136.3,495.6,-9.8,226,4562,0.50,2.67,0.00,0.000,6,0.036,0.053,2345,2170,3744,0,0,0,0,0,0 $GC,4820,-2.78,-136.3,561.8,-27.1,233,4826,0.75,2.97,0.00,0.000,4,0.121,0.112,2499,595,3742,0,0,0,0,0,0 $STATE,4981,end dive,TARGET_DEPTH_EXCEEDED $STATE,4981,begin apogee $GC,4990,-0.31,0.0,600.2,21.9,236,5108,2.65,0.00,113.47,0.992,6,0.128,0.000,3041,2168,3190,0,0,0,0,0,0 $STATE,5109,end apogee,CONTROL_FINISHED_OK $STATE,5109,begin climb $GC,5114,1.54,136.3,605.7,0.0,239,5241,1.73,3.05,114.82,0.969,4,0.056,0.096,3450,3768,2633,0,0,0,0,0,0 $GC,5271,1.46,136.3,594.3,13.0,242,5276,0.00,2.85,0.00,0.000,6,0.000,0.074,3451,2175,2629,0,0,0,0,0,0 $GC,5521,1.40,143.5,563.5,12.1,248,5530,0.15,0.00,6.55,0.755,6,0.148,0.000,3422,2175,2604,0,0,0,0,0,0 $GC,5764,1.44,170.5,537.0,10.8,254,5795,0.00,2.83,24.73,0.913,4,0.000,0.065,3325,3769,2494,0,0,0,0,0,0 $GC,5830,1.46,188.9,529.9,11.4,255,5854,0.00,2.75,17.23,0.881,6,0.000,0.056,3422,2181,2419,0,0,0,0,0,0 $GC,6135,1.46,191.5,493.2,12.3,263,6140,0.00,2.70,0.00,0.000,4,0.000,0.054,3360,3777,2413,0,0,0,0,0,0 $GC,6237,1.46,191.5,479.0,14.4,265,6242,0.00,2.72,0.00,0.000,6,0.000,0.052,3422,2191,2412,0,0,0,0,0,0 $GC,6503,1.46,191.5,443.7,13.3,272,6507,0.00,2.65,0.00,0.000,4,0.000,0.051,3424,3773,2410,0,0,0,0,0,0 $GC,6563,1.46,191.5,435.0,14.3,273,6568,0.00,2.65,0.00,0.000,6,0.000,0.045,3423,2203,2410,0,0,0,0,0,0 $GC,6827,1.51,197.4,402.7,12.1,280,6836,0.00,0.00,7.32,0.749,6,0.000,0.000,3422,2203,2385,0,0,0,0,0,0 $GC,7068,1.56,197.4,372.1,12.5,286,7070,0.12,0.00,0.00,0.000,6,0.083,0.000,3455,2203,2383,0,0,0,0,0,0 $GC,7311,1.56,197.4,338.7,13.9,292,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2203,2382,0,0,0,0,0,0 $GC,7557,1.56,204.8,308.9,12.0,298,7571,0.00,2.65,7.75,0.714,4,0.000,0.041,3455,3769,2354,0,0,0,0,0,0 $GC,7611,1.56,204.8,301.9,13.1,299,7616,0.00,2.60,0.00,0.000,6,0.000,0.040,3455,2196,2353,0,0,0,0,0,0 $GC,7885,1.57,208.4,268.4,12.3,306,7895,0.00,2.78,4.55,0.569,4,0.000,0.067,3455,592,2340,0,0,0,0,0,0 $GC,7925,1.57,208.4,263.2,14.0,307,7930,0.00,2.62,0.00,0.000,6,0.000,0.030,3455,2222,2339,0,0,0,0,0,0 $GC,8208,1.57,208.4,225.7,13.2,314,8212,0.00,2.53,0.00,0.000,4,0.000,0.047,3430,3759,2339,0,0,0,0,0,0 $GC,8249,1.57,208.4,220.4,14.1,315,8253,0.00,2.58,0.00,0.000,6,0.000,0.037,3455,2181,2336,0,0,0,0,0,0 $GC,8508,1.68,265.4,193.3,9.0,325,8567,0.10,2.70,50.60,0.712,4,0.092,0.045,3394,3757,2107,0,0,0,0,0,0 $GC,8625,1.71,289.1,181.4,11.0,335,8653,0.00,2.55,21.62,0.674,6,0.000,0.030,3483,2205,2011,0,0,0,0,0,0 $GC,8914,1.71,289.1,144.0,13.4,362,8919,0.00,2.70,0.00,0.000,4,0.000,0.059,3481,593,2006,0,0,0,0,0,0 $GC,8939,1.71,289.1,140.6,14.8,363,8945,0.00,2.60,0.00,0.000,6,0.000,0.021,3483,2221,2005,0,0,0,0,0,0 $GC,9200,1.71,289.1,104.4,13.5,388,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,2221,2004,0,0,0,0,0,0 $GC,9462,1.79,305.8,71.1,11.5,412,9482,0.00,0.00,15.05,0.565,6,0.000,0.000,3483,2221,1943,0,0,0,0,0,0 $GC,9740,1.85,305.8,36.4,12.7,438,9751,0.15,0.00,0.00,0.000,6,0.071,0.000,3524,2221,1942,0,0,0,0,0,0 $STATE,9969,end climb,SURFACE_DEPTH_REACHED $STATE,9969,begin surface coast $FINISH,-0.4,1.023814 $STATE,10003,end surface coast,CONTROL_FINISHED_OK $STATE,10003,begin surface $SM_CCo,10027,59.97,0.528,0,0,1640,380.21 $SM_GC,0.28,0.00,0.00,59.97,0.000,0.000,0.528,469,2129,1640,-12.17,-1.41,380.21 $IRIDIUM_FIX,2148.09,-15811.05,290901,050531 $TT8_MAMPS,0.027612 $HUMID,64.09 $INTERNAL_PRESSURE,9.35583 $TCM_TEMP,20.90 $XPDR_PINGS,37 $24V_AH,23.4,39.773 $10V_AH,10.3,33.944 $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,41.075,100.675,383.700,59.975,0.000,27.413,36.034,212.928,9.250,0.000,15.096,941.926,6479.624,497.738,2005.781,582.859,33.364,1197.053,0.000,2022.559,0.000,0.534,0.000 $DEVICE_MAMPS,175.643,111.982,992.498,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,317.056,240.917,344.752,787.940,1255.707,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,355956 $DATA_FILE_SIZE,35038,469 $CAP_FILE_SIZE,109045,0 $CFSIZE,260165632,130551808 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0 $GPS,050712,112429,2154.499,-15808.742,37,1.7,41,9.9