version: 66.06 glider: 146 mission: 7 dive: 291 start: 7 7 112 4 5 42 data: $ID,146 $MISSION,7 $DIVE,291 $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,-297627.91 $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,54 $R_STBD_OVSHOOT,28 $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 $GPS1,034533,2149.237,-15804.229,9,4.4,28,9.9 $_CALLS,3 $_XMS_NAKs,4 $_XMS_TOUTs,0 $_SM_DEPTHo,0.19 $_SM_ANGLEo,-67.5 $GPS2,040449,2149.181,-15804.446,12,1.6,12,9.9 $SPEED_LIMITS,0.179,0.270 $TGT_NAME,KUHUKU2 $TGT_LATLONG,2148.000,-15802.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.270,0.011 $KALMAN_X,-154665.8,244.5,813.6,152381.0,-1563.5 $KALMAN_Y,195035.7,259.6,329.1,-290829.4,-645.4 $MHEAD_RNG_PITCHd_Wd,77.7,4741,-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,-136.3,0.0,0.0,0,113,0.00,0.00,-85.78,0.000,6,0.000,0.000,472,2149,3745,0,0,0,0,0,0 $GC,116,-1.54,-136.3,4.7,-11.5,10,135,12.73,2.62,0.00,0.000,4,0.173,0.031,2768,3771,3747,0,0,0,0,0,0 $GC,234,-1.35,-136.3,36.8,-19.0,22,239,0.25,2.50,0.00,0.000,6,0.123,0.024,2816,2195,3748,0,0,0,0,0,0 $GC,495,-1.25,-136.3,81.6,-14.9,46,497,0.12,0.00,0.00,0.000,6,0.134,0.000,2839,2195,3748,0,0,0,0,0,0 $GC,750,-1.25,-136.3,116.2,-11.2,70,755,0.00,2.60,0.00,0.000,4,0.000,0.051,2840,604,3749,0,0,0,0,0,0 $GC,772,-1.20,-136.3,118.2,-11.2,71,777,0.00,2.45,0.00,0.000,6,0.000,0.017,2840,2208,3749,0,0,0,0,0,0 $GC,1040,-1.20,-136.3,149.0,-11.2,95,1044,0.00,2.62,0.00,0.000,4,0.000,0.046,2840,605,3749,0,0,0,0,0,0 $GC,1072,-1.20,-136.3,152.7,-11.7,97,1077,0.00,2.40,0.00,0.000,6,0.000,0.021,2840,2163,3749,0,0,0,0,0,0 $GC,1338,-1.20,-136.3,180.9,-9.9,121,1343,0.00,2.55,0.00,0.000,4,0.000,0.046,2818,605,3750,0,0,0,0,0,0 $GC,1360,-1.20,-136.3,183.7,-10.2,122,1365,0.00,2.38,0.00,0.000,6,0.000,0.021,2840,2147,3750,0,0,0,0,0,0 $GC,1651,-1.20,-136.3,212.9,-9.9,141,1655,0.00,2.55,0.00,0.000,4,0.000,0.035,2820,3740,3750,0,0,0,0,0,0 $GC,1729,-1.25,-136.3,220.8,-9.3,142,1735,0.00,2.47,0.00,0.000,6,0.000,0.021,2840,2152,3750,0,0,0,0,0,0 $GC,1981,-1.30,-136.3,244.1,-9.5,149,1986,0.00,2.55,0.00,0.000,4,0.000,0.061,2840,613,3750,0,0,0,0,0,0 $GC,2048,-1.36,-136.3,252.0,-11.7,150,2052,0.00,2.38,0.00,0.000,6,0.000,0.021,2840,2134,3750,0,0,0,0,0,0 $GC,2304,-1.42,-136.3,277.1,-9.4,157,2309,0.15,2.62,0.00,0.000,4,0.061,0.045,2755,3749,3749,0,0,0,0,0,0 $GC,2395,-1.38,-136.3,285.9,-9.7,159,2400,0.22,2.50,0.00,0.000,6,0.094,0.029,2829,2167,3749,0,0,0,0,0,0 $GC,2679,-1.45,-136.3,307.9,-7.5,166,2684,0.12,2.58,0.00,0.000,4,0.067,0.046,2759,3748,3749,0,0,0,0,0,0 $GC,2705,-1.45,-136.3,310.0,-9.3,166,2710,0.10,2.55,0.00,0.000,6,0.119,0.033,2801,2160,3749,0,0,0,0,0,0 $GC,2960,-1.45,-136.3,337.3,-10.8,173,2965,0.00,2.60,0.00,0.000,4,0.000,0.044,2780,3753,3745,0,0,0,0,0,0 $GC,3000,-1.45,-136.3,342.2,-12.4,174,3005,0.00,2.55,0.00,0.000,6,0.000,0.038,2801,2173,3747,0,0,0,0,0,0 $GC,3285,-1.45,-136.3,376.5,-11.9,181,3290,0.00,2.62,0.00,0.000,4,0.000,0.054,2771,3751,3746,0,0,0,0,0,0 $GC,3318,-1.45,-136.3,380.7,-11.7,181,3324,0.00,2.55,0.00,0.000,6,0.000,0.039,2800,2191,3746,0,0,0,0,0,0 $GC,3568,-1.45,-136.3,407.1,-10.5,188,3572,0.00,2.60,0.00,0.000,4,0.000,0.050,2750,3751,3744,0,0,0,0,0,0 $GC,3597,-1.45,-136.3,409.9,-10.1,188,3601,0.00,2.58,0.00,0.000,6,0.000,0.048,2776,2190,3744,0,0,0,0,0,0 $GC,3847,-1.45,-136.3,435.0,-10.0,194,3851,0.00,2.60,0.00,0.000,4,0.000,0.054,2737,3744,3741,0,0,0,0,0,0 $GC,3874,-1.45,-136.3,437.9,-10.2,194,3878,0.00,2.58,0.00,0.000,6,0.000,0.049,2800,2198,3742,0,0,0,0,0,0 $GC,4126,-1.48,-136.3,464.9,-10.9,200,4131,0.00,2.60,0.00,0.000,4,0.000,0.060,2762,3744,3740,0,0,0,0,0,0 $GC,4154,-1.52,-136.3,468.0,-9.9,200,4158,0.00,2.60,0.00,0.000,6,0.000,0.054,2800,2200,3739,0,0,0,0,0,0 $GC,4406,-1.56,-136.3,493.9,-10.5,206,4412,0.12,3.03,0.00,0.000,4,0.070,0.111,2756,593,3738,0,0,0,0,0,0 $GC,4440,-1.49,-136.3,498.4,-12.7,206,4449,3.08,2.62,0.00,0.000,6,0.079,0.044,2874,2166,3737,11,0,0,0,0,0 $GC,4736,-3.13,-136.3,520.1,-8.3,214,4746,4.68,2.80,0.00,0.000,4,0.082,0.073,2408,3772,3735,0,0,0,0,0,0 $GC,4999,-2.54,-136.3,572.1,-24.0,220,5005,0.62,2.75,0.00,0.000,6,0.134,0.067,2555,2196,3732,0,0,0,0,0,0 $STATE,5159,end dive,TARGET_DEPTH_EXCEEDED $STATE,5159,begin apogee $GC,5167,-0.31,0.0,604.5,19.6,224,5283,2.38,0.00,111.05,1.008,6,0.122,0.000,3042,2196,3191,0,0,0,0,0,0 $STATE,5284,end apogee,CONTROL_FINISHED_OK $STATE,5284,begin climb $GC,5286,1.54,136.3,611.9,0.0,227,5416,1.75,3.17,114.90,0.983,4,0.045,0.114,3453,595,2632,0,0,0,0,0,0 $GC,5552,1.45,136.3,586.1,12.5,233,5557,0.00,2.75,0.00,0.000,6,0.000,0.058,3425,2183,2627,0,0,0,0,0,0 $GC,5830,1.38,136.3,546.4,15.8,240,5835,0.20,2.80,0.00,0.000,4,0.144,0.071,3370,3766,2623,0,0,0,0,0,0 $GC,5865,1.38,136.3,541.3,14.6,240,5870,0.00,2.72,0.00,0.000,6,0.000,0.055,3415,2180,2622,0,0,0,0,0,0 $GC,6115,1.39,150.7,511.4,11.6,247,6134,0.00,2.83,12.07,0.867,4,0.000,0.060,3269,3769,2574,0,0,0,0,0,0 $GC,6228,1.41,161.1,498.8,11.9,249,6244,0.00,2.67,10.43,0.841,6,0.000,0.053,3415,2206,2533,0,0,0,0,0,0 $GC,6488,1.46,203.3,472.1,9.9,255,6532,0.00,3.15,37.88,0.908,4,0.000,0.107,3415,592,2361,0,0,0,0,0,0 $GC,6563,1.46,203.3,463.3,13.0,256,6568,0.00,2.72,0.00,0.000,6,0.000,0.042,3415,2215,2355,0,0,0,0,0,0 $GC,6814,1.55,233.7,436.2,10.6,262,6848,0.15,2.70,27.27,0.878,4,0.074,0.058,3454,3760,2238,0,0,0,0,0,0 $GC,6882,1.55,233.7,427.3,13.5,263,6886,0.00,2.65,0.00,0.000,6,0.000,0.048,3454,2202,2235,0,0,0,0,0,0 $GC,7141,1.55,238.3,395.5,12.2,270,7151,0.00,2.62,5.25,0.667,4,0.000,0.047,3415,3768,2217,0,0,0,0,0,0 $GC,7195,1.55,238.3,387.4,13.6,271,7200,0.00,2.60,0.00,0.000,6,0.000,0.042,3454,2210,2216,0,0,0,0,0,0 $GC,7462,1.55,238.3,350.4,14.4,278,7466,0.00,2.58,0.00,0.000,4,0.000,0.043,3381,3768,2214,0,0,0,0,0,0 $GC,7496,1.55,238.3,345.3,14.9,278,7501,0.00,2.58,0.00,0.000,6,0.000,0.035,3455,2218,2214,0,0,0,0,0,0 $GC,7747,1.55,238.3,310.3,13.6,285,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2218,2214,0,0,0,0,0,0 $GC,7989,1.55,238.3,279.2,12.6,291,7993,0.00,2.60,0.00,0.000,4,0.000,0.048,3397,3775,2213,0,0,0,0,0,0 $GC,8041,1.59,238.3,272.3,13.9,292,8045,0.00,2.58,0.00,0.000,6,0.000,0.038,3453,2203,2212,0,0,0,0,0,0 $GC,8312,1.59,238.3,236.7,13.3,299,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2203,2212,0,0,0,0,0,0 $GC,8556,1.66,256.9,208.0,11.4,305,8576,0.10,0.00,16.95,0.716,6,0.088,0.000,3482,2203,2141,0,0,0,0,0,0 $GC,8809,1.68,274.5,179.5,11.4,323,8835,0.00,2.67,16.48,0.685,4,0.000,0.044,3337,3771,2068,0,0,0,0,0,0 $GC,8841,1.70,284.9,175.4,11.9,325,8873,11.48,2.55,10.38,0.638,6,0.482,0.028,3418,2210,2027,41,0,0,0,0,0 $GC,9124,1.26,284.9,99.2,28.0,352,9139,2.12,2.65,0.00,0.000,4,0.113,0.038,3251,3775,2023,0,0,0,0,0,0 $GC,9145,1.04,284.9,94.2,25.1,353,9151,0.22,2.53,0.00,0.000,6,0.162,0.028,3345,2220,2023,0,0,0,0,0,0 $GC,9413,1.48,379.1,75.1,6.7,378,9501,0.35,2.80,80.82,0.611,4,0.041,0.052,3407,592,1642,0,0,0,0,0,0 $GC,9536,1.59,379.1,60.0,15.1,386,9540,0.00,2.62,0.00,0.000,6,0.000,0.020,3443,2239,1639,0,0,0,0,0,0 $GC,9820,1.87,379.1,22.9,12.9,413,9831,0.28,2.80,0.00,0.000,4,0.047,0.049,3524,596,1634,0,0,0,0,0,0 $GC,9843,2.12,422.7,20.7,9.8,415,9891,0.17,2.62,36.28,0.545,6,0.041,0.021,3578,2233,1463,0,0,0,0,0,0 $STATE,9924,end climb,SURFACE_DEPTH_REACHED $STATE,9925,begin surface coast $FINISH,-0.5,1.023434 $STATE,9951,end surface coast,CONTROL_FINISHED_OK $STATE,9951,begin surface $SM_CCo,10036,0.00,0.000,0,0,1456,425.35 $SM_GC,0.41,12.62,0.00,0.00,0.025,0.000,0.000,475,2145,1456,-12.04,-0.99,425.35 $IRIDIUM_FIX,2141.13,-15806.74,011001,040424 $TT8_MAMPS,0.027612 $HUMID,67.12 $INTERNAL_PRESSURE,9.307 $TCM_TEMP,19.60 $XPDR_PINGS,47 $24V_AH,23.4,41.747 $10V_AH,10.3,35.522 $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,54.025,142.475,479.750,0.000,0.000,89.158,109.605,669.216,11.750,0.000,13.756,928.271,6662.198,506.484,1879.787,1211.614,33.370,1312.717,0.000,1879.446,0.000,0.536,0.000 $DEVICE_MAMPS,482.443,114.283,1007.838,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,288.236,209.547,298.748,627.645,997.555,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356184 $DATA_FILE_SIZE,32003,427 $CAP_FILE_SIZE,128568,0 $CFSIZE,260165632,129777664 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,52,0,0,0 $GPS,070712,065405,2149.249,-15804.099,29,1.2,29,9.9