version: 66.06 glider: 146 mission: 7 dive: 292 start: 7 7 112 7 4 54 data: $ID,146 $MISSION,7 $DIVE,292 $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,-297643.78 $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,52 $R_STBD_OVSHOOT,20 $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 $GPS1,065405,2149.249,-15804.099,29,1.2,29,9.9 $_CALLS,2 $_XMS_NAKs,3 $_XMS_TOUTs,0 $_SM_DEPTHo,0.24 $_SM_ANGLEo,-67.5 $GPS2,070401,2149.212,-15804.272,13,1.3,13,9.9 $SPEED_LIMITS,0.179,0.270 $TGT_NAME,KUHUKU2 $TGT_LATLONG,2148.000,-15802.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.259,-0.076 $KALMAN_X,-156046.5,461.6,-283.7,154932.4,-1866.7 $KALMAN_Y,195747.1,261.1,-467.3,-290692.3,377.1 $MHEAD_RNG_PITCHd_Wd,96.6,4507,-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,-136.3,0.0,0.0,0,123,0.00,0.00,-96.05,0.000,6,0.000,0.000,474,2145,3745,0,0,0,0,0,0 $GC,126,-1.54,-136.3,4.3,-9.5,11,147,12.70,2.65,0.00,0.000,4,0.174,0.036,2685,3769,3746,0,0,0,0,0,0 $GC,168,-0.67,-136.3,21.4,-40.8,15,180,0.93,2.55,0.00,0.000,6,0.107,0.026,2964,2190,3747,0,0,0,0,0,0 $GC,451,-0.85,-136.3,53.6,-9.5,42,456,0.15,2.62,0.00,0.000,4,0.060,0.047,2909,605,3747,0,0,0,0,0,0 $GC,475,-0.97,-136.3,56.2,-9.5,43,480,0.00,2.47,0.00,0.000,6,0.000,0.017,2910,2206,3747,0,0,0,0,0,0 $GC,743,-1.09,-136.3,83.2,-9.6,67,748,0.15,0.00,0.00,0.000,6,0.060,0.000,2855,2206,3748,0,0,0,0,0,0 $GC,1004,-1.09,-136.3,113.1,-11.8,92,1009,0.10,2.65,0.00,0.000,4,0.117,0.050,2877,604,3749,0,0,0,0,0,0 $GC,1042,-1.15,-136.3,117.2,-11.2,94,1052,0.00,2.45,0.00,0.000,6,0.000,0.024,2877,2164,3749,0,0,0,0,0,0 $GC,1309,-1.23,-136.3,141.0,-9.9,119,1314,0.12,2.55,0.00,0.000,4,0.067,0.039,2808,3751,3750,0,0,0,0,0,0 $GC,1343,-1.23,-136.3,145.1,-12.9,121,1349,0.25,2.47,0.00,0.000,6,0.083,0.029,2875,2178,3750,0,0,0,0,0,0 $GC,1612,-1.35,-136.3,168.1,-7.4,145,1617,0.25,2.60,0.00,0.000,4,0.044,0.048,2766,596,3750,0,0,0,0,0,0 $GC,1657,-1.26,-136.3,173.4,-12.7,148,1662,0.17,2.45,0.00,0.000,6,0.103,0.023,2838,2196,3751,0,0,0,0,0,0 $GC,1928,-1.26,-136.3,205.9,-12.2,170,1932,0.00,2.65,0.00,0.000,4,0.000,0.047,2838,594,3751,0,0,0,0,0,0 $GC,1943,-1.26,-136.3,208.3,-12.5,170,1947,0.00,2.42,0.00,0.000,6,0.000,0.024,2838,2176,3750,0,0,0,0,0,0 $GC,2205,-1.31,-136.3,236.2,-10.2,177,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2176,3751,0,0,0,0,0,0 $GC,2449,-1.37,-136.3,259.5,-9.5,183,2453,0.00,2.62,0.00,0.000,4,0.000,0.056,2838,604,3751,0,0,0,0,0,0 $GC,2491,-1.43,-136.3,263.2,-9.3,184,2496,0.15,2.45,0.00,0.000,6,0.059,0.021,2783,2176,3751,0,0,0,0,0,0 $GC,2774,-1.43,-136.3,291.8,-9.7,191,2779,0.00,2.55,0.00,0.000,4,0.000,0.039,2760,3758,3752,0,0,0,0,0,0 $GC,2861,-1.43,-136.3,301.6,-10.6,193,2866,0.00,2.47,0.00,0.000,6,0.000,0.031,2783,2195,3750,0,0,0,0,0,0 $GC,3144,-1.43,-136.3,333.8,-11.3,200,3149,0.00,2.58,0.00,0.000,4,0.000,0.042,2760,3755,3749,0,0,0,0,0,0 $GC,3161,-1.43,-136.3,336.0,-11.1,200,3165,0.00,2.55,0.00,0.000,6,0.000,0.031,2783,2178,3749,0,0,0,0,0,0 $GC,3423,-1.43,-136.3,364.9,-10.9,207,3428,0.00,2.60,0.00,0.000,4,0.000,0.044,2757,3750,3748,0,0,0,0,0,0 $GC,3456,-1.43,-136.3,369.1,-11.4,207,3462,0.00,2.55,0.00,0.000,6,0.000,0.034,2783,2189,3748,0,0,0,0,0,0 $GC,3706,-1.43,-136.3,397.7,-11.7,214,3710,0.00,2.62,0.00,0.000,4,0.000,0.054,2754,3757,3747,0,0,0,0,0,0 $GC,3757,-1.43,-136.3,404.1,-13.2,215,3762,0.00,2.60,0.00,0.000,6,0.000,0.044,2783,2190,3747,0,0,0,0,0,0 $GC,4029,-1.43,-136.3,438.0,-12.7,222,4030,0.10,0.00,0.00,0.000,6,0.123,0.000,2807,2190,3745,0,0,0,0,0,0 $GC,4273,-1.47,-136.3,467.4,-11.9,228,4278,0.00,2.65,0.00,0.000,4,0.000,0.064,2740,3746,3743,0,0,0,0,0,0 $GC,4309,-1.51,-136.3,471.5,-12.0,228,4319,2.05,2.62,0.00,0.000,6,0.076,0.050,2898,2195,3743,7,0,0,0,0,0 $GC,4605,-2.40,-136.3,486.8,-5.1,236,4614,3.12,2.67,0.00,0.000,4,0.084,0.057,2530,3744,3740,0,0,0,0,0,0 $GC,4868,-2.06,-136.3,529.6,-16.9,241,4874,0.38,2.72,0.00,0.000,6,0.110,0.064,2665,2161,3738,0,0,0,0,0,0 $GC,5120,-1.85,-136.3,560.2,-11.9,248,5126,0.22,2.78,0.00,0.000,4,0.196,0.071,2687,3749,3737,0,0,0,0,0,0 $GC,5379,-1.72,-136.3,589.7,-10.9,253,5385,0.15,2.78,0.00,0.000,6,0.130,0.074,2738,2176,3735,0,0,0,0,0,0 $STATE,5504,end dive,TARGET_DEPTH_EXCEEDED $STATE,5504,begin apogee $GC,5512,-0.31,0.0,608.0,13.7,257,5627,1.27,0.00,111.62,1.014,6,0.034,0.000,3060,2177,3190,0,0,0,0,0,0 $STATE,5628,end apogee,CONTROL_FINISHED_OK $STATE,5628,begin climb $GC,5631,1.54,136.3,608.3,0.0,260,5760,1.65,3.22,114.72,0.988,4,0.043,0.124,3453,591,2631,0,0,0,0,0,0 $GC,5829,1.49,261.0,599.4,4.8,264,5948,0.00,2.72,108.28,0.973,6,0.000,0.056,3453,2165,2126,0,0,0,0,0,0 $GC,6215,1.43,261.0,564.6,14.3,274,6221,0.12,2.83,0.00,0.000,4,0.130,0.076,3393,3764,2118,0,0,0,0,0,0 $GC,6271,1.50,261.0,555.5,15.7,275,6276,0.00,2.70,0.00,0.000,6,0.000,0.061,3429,2196,2117,0,0,0,0,0,0 $GC,6539,1.50,261.0,515.4,15.2,282,6544,0.00,2.70,0.00,0.000,4,0.000,0.058,3365,3773,2115,0,0,0,0,0,0 $GC,6560,1.50,261.0,511.7,15.2,282,6582,15.60,2.70,0.00,0.000,6,0.489,0.056,3251,2203,2114,56,1,0,0,0,0 $GC,6863,1.01,261.0,421.9,30.7,290,6872,2.42,2.65,0.00,0.000,4,0.123,0.044,3220,3768,2112,0,0,0,0,0,0 $GC,6954,1.36,330.4,409.7,8.2,292,7024,0.30,2.58,61.15,0.874,6,0.047,0.042,3415,2209,1842,0,0,0,0,0,0 $GC,7283,1.45,330.4,366.4,13.6,300,7288,0.00,2.85,0.00,0.000,4,0.000,0.075,3415,592,1836,0,0,0,0,0,0 $GC,7344,1.58,330.4,357.2,13.9,301,7350,0.38,2.65,0.00,0.000,6,0.048,0.025,3516,2229,1834,1,0,0,0,0,0 $GC,7608,1.50,330.4,305.9,19.8,308,7613,0.32,2.53,0.00,0.000,4,0.154,0.041,3402,3763,1833,0,0,0,0,0,0 $GC,7637,1.50,330.4,300.7,17.8,308,7642,0.00,2.55,0.00,0.000,6,0.000,0.037,3445,2211,1833,0,0,0,0,0,0 $GC,7887,1.55,330.4,262.8,15.0,314,7892,0.00,2.78,0.00,0.000,4,0.000,0.069,3445,595,1832,0,0,0,0,0,0 $GC,7903,1.55,330.4,260.2,14.5,314,7908,0.00,2.60,0.00,0.000,6,0.000,0.029,3435,2232,1831,0,0,0,0,0,0 $GC,8167,1.62,330.4,221.6,15.1,321,8172,0.00,2.78,0.00,0.000,4,0.000,0.061,3445,592,1831,0,0,0,0,0,0 $GC,8233,1.74,330.4,211.2,14.8,322,8239,0.47,2.60,0.00,0.000,6,0.044,0.028,3569,2217,1830,1,0,0,0,0,0 $GC,8501,1.61,330.4,157.5,21.0,341,8506,0.47,0.00,0.00,0.000,6,0.111,0.000,3469,2217,1829,0,0,0,0,0,0 $GC,8761,1.67,330.4,118.5,13.5,366,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2217,1830,0,0,0,0,0,0 $GC,9020,1.75,330.4,83.8,13.0,390,9030,0.12,0.00,0.00,0.000,6,0.079,0.000,3505,2216,1830,0,0,0,0,0,0 $GC,9287,1.75,330.4,44.3,15.7,415,9292,0.00,2.70,0.00,0.000,4,0.000,0.051,3482,590,1829,0,0,0,0,0,0 $GC,9335,1.75,330.4,36.3,16.7,418,9340,0.00,2.55,0.00,0.000,6,0.000,0.021,3506,2221,1830,0,0,0,0,0,0 $STATE,9539,end climb,SURFACE_DEPTH_REACHED $STATE,9539,begin surface coast $FINISH,-0.5,1.012430 $STATE,9573,end surface coast,CONTROL_FINISHED_OK $STATE,9573,begin surface $SM_CCo,9597,38.03,0.536,0,0,1640,380.21 $SM_GC,0.27,0.00,0.00,38.03,0.000,0.000,0.536,470,2145,1640,-12.17,-0.99,380.21 $IRIDIUM_FIX,2141.13,-15806.74,011001,070715 $TT8_MAMPS,0.027612 $HUMID,67.64 $INTERNAL_PRESSURE,9.3363 $TCM_TEMP,19.80 $XPDR_PINGS,45 $24V_AH,23.4,41.886 $10V_AH,10.1,35.638 $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,56.350,121.125,395.775,38.025,0.000,60.964,81.084,235.571,11.250,0.000,15.244,951.413,5995.283,508.830,2068.756,704.462,33.368,1269.413,0.000,2065.526,0.000,0.534,0.000 $DEVICE_MAMPS,488.579,124.254,1013.974,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,301.568,230.893,327.229,722.991,1159.156,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $MEM,356040 $DATA_FILE_SIZE,35275,445 $CAP_FILE_SIZE,118128,8 $CFSIZE,260165632,129728512 $ERRORS,0,0,0,0,0,0,0,0,1,0,0,65,0,0,0 $GPS,070712,094635,2149.214,-15803.883,9,1.5,25,9.9