version: 66.06 glider: 139 mission: 8 dive: 61 start: 8 1 110 17 41 7 data: $ID,139 $MISSION,8 $DIVE,61 $D_SURF,3 $D_FLARE,3 $D_TGT,450 $D_ABORT,600 $D_NO_BLEED,90 $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,190 $T_MISSION,220 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,4 $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,70 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.027 $MASS,52108 $NAV_MODE,1 $FERRY_MAX,45 $KALMAN_USE,2 $HD_A,0.0038945 $HD_B,0.0099684997 $HD_C,2.576e-06 $HEADING,-1 $ESCAPE_HEADING,0 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,21.25 $TGT_DEFAULT_LON,-158 $TGT_AUTO_DEFAULT,0 $SM_CC,410 $N_FILEKB,8 $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,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-2151477 $T_RSLEEP,3 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,435 $PITCH_MAX,3724 $C_PITCH,3090 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,16 $PITCH_TIMEOUT,16 $PITCH_AD_RATE,155 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0.029999999 $PITCH_ADJ_DBAND,1 $ROLL_MIN,227 $ROLL_MAX,3931 $ROLL_DEG,40 $C_ROLL_DIVE,1690 $C_ROLL_CLIMB,1870 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,25 $R_STBD_OVSHOOT,25 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,2 $ROLL_ADJ_GAIN,0.029999999 $ROLL_ADJ_DBAND,1 $VBD_MIN,450 $VBD_MAX,3860 $C_VBD,2680 $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,3 $VBD_BLEED_AD_RATE,8 $UNCOM_BLEED,20 $VBD_MAXERRORS,1 $CF8_MAXERRORS,20 $AH0_24V,91.800003 $AH0_10V,100 $MINV_24V,19 $MINV_10V,8 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-14.705256 $PRESSURE_SLOPE,0.000116328 $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,30 $ALTIM_TOP_TURN_MARGIN,0 $ALTIM_TOP_MIN_OBSTACLE,1 $ALTIM_PING_DEPTH,100 $ALTIM_PING_DELTA,20 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,3 $XPDR_VALID,6 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,-1.4 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,35 $DEVICE4,-1 $DEVICE5,-1 $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,0.0043401681 $SEABIRD_T_H,0.00063043466 $SEABIRD_T_I,2.4021314e-05 $SEABIRD_T_J,2.5358199e-06 $SEABIRD_C_G,-9.8272314 $SEABIRD_C_H,1.0932546 $SEABIRD_C_I,-0.0012359815 $SEABIRD_C_J,0.00017717193 $GPS1,173036,2104.730,-15750.406,117,0.9,117,9.8 $_CALLS,2 $_XMS_NAKs,14 $_XMS_TOUTs,0 $_SM_DEPTHo,0.95 $_SM_ANGLEo,-70.4 $GPS2,174049,2104.794,-15750.581,14,1.4,19,9.8 $SPEED_LIMITS,0.137,0.172 $TGT_NAME,C_EAST $TGT_LATLONG,2105.814,-15742.918 $TGT_RADIUS,2000.000 $KALMAN_CONTROL,0.000,0.000 $KALMAN_X,0.0,0.0,0.0,0.0,0.0 $KALMAN_Y,0.0,0.0,0.0,0.0,0.0 $MHEAD_RNG_PITCHd_Wd,72.1,13375,-22.0,-7.895 $D_GRID,450 $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,12,end surface,CONTROL_FINISHED_OK $STATE,12,begin dive $GC,15,-1.46,-68.2,0.0,0.0,0,82,0.00,0.00,-64.40,0.000,2,0.000,0.000,428,1706,2811,0,0,0,0,0,0 $GC,85,-1.46,-68.2,3.1,-4.1,12,110,12.68,2.35,-2.70,0.000,4,0.138,0.036,2765,3101,2960,0,0,0,0,0,0 $GC,191,-1.46,-68.2,26.6,-12.6,34,198,0.00,2.42,0.00,0.000,6,0.000,0.033,2765,1687,2962,0,0,0,0,0,0 $GC,395,-1.35,-68.2,62.9,-19.3,53,400,0.15,2.35,0.00,0.000,4,0.110,0.023,2793,3101,2962,0,0,0,0,0,0 $GC,462,-1.44,-68.2,73.1,-13.8,58,467,0.00,2.40,0.00,0.000,6,0.000,0.031,2793,1681,2963,0,0,0,0,0,0 $GC,727,-1.44,-68.2,110.0,-12.0,79,731,0.00,2.33,0.00,0.000,4,0.000,0.023,2793,3101,2963,0,0,0,0,0,0 $GC,776,-1.58,-68.2,115.5,-10.3,82,783,0.17,2.40,0.00,0.000,6,0.028,0.031,2736,1686,2963,0,0,0,0,0,0 $GC,1037,-1.52,-68.2,151.3,-13.9,103,1039,0.10,0.00,0.00,0.000,6,0.115,0.000,2756,1686,2964,0,0,0,0,0,0 $GC,1289,-1.52,-68.2,181.5,-12.0,123,1293,0.00,2.38,0.00,0.000,4,0.000,0.047,2755,287,2965,0,0,0,0,0,0 $GC,1321,-1.46,-68.2,186.3,-14.6,125,1327,0.00,2.30,0.00,0.000,6,0.000,0.019,2755,1720,2965,0,0,0,0,0,0 $GC,1585,-1.46,-68.2,217.6,-11.4,142,1589,0.00,2.22,0.00,0.000,4,0.000,0.025,2756,3075,2965,0,0,0,0,0,0 $GC,1613,-1.54,-68.2,220.8,-11.9,143,1617,0.00,2.33,0.00,0.000,6,0.000,0.033,2756,1690,2964,0,0,0,0,0,0 $GC,1935,-1.59,-68.2,257.8,-11.6,159,1939,0.00,2.45,0.00,0.000,4,0.000,0.048,2755,282,2965,0,0,0,0,0,0 $GC,1963,-1.56,-68.2,261.5,-12.8,160,1968,0.00,2.25,0.00,0.000,6,0.000,0.021,2756,1702,2965,0,0,0,0,0,0 $GC,2284,-1.60,-68.2,298.0,-11.7,176,2288,0.00,2.47,0.00,0.000,4,0.000,0.050,2755,283,2964,0,0,0,0,0,0 $GC,2306,-1.60,-68.2,300.6,-12.7,177,2310,0.00,2.25,0.00,0.000,6,0.000,0.021,2755,1689,2964,0,0,0,0,0,0 $GC,2651,-1.67,-68.2,339.9,-11.1,186,2657,0.12,2.28,0.00,0.000,4,0.068,0.029,2717,3063,2963,0,0,0,0,0,0 $GC,2681,-1.71,-68.2,343.6,-12.7,186,2685,0.00,2.33,0.00,0.000,6,0.000,0.038,2717,1686,2963,0,0,0,0,0,0 $GC,3022,-1.71,-68.2,381.0,-10.7,195,3026,0.00,2.30,0.00,0.000,4,0.000,0.030,2717,3061,2961,0,0,0,0,0,0 $GC,3145,-1.76,-68.2,393.9,-9.7,197,3149,0.00,2.33,0.00,0.000,6,0.000,0.040,2716,1691,2960,0,0,0,0,0,0 $GC,3484,-1.76,-68.2,425.8,-9.7,206,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1691,2958,0,0,0,0,0,0 $STATE,3726,end dive,TARGET_DEPTH_EXCEEDED $STATE,3726,begin apogee $GC,3733,-0.31,0.0,450.1,10.2,212,3794,1.45,0.00,56.88,0.843,6,0.082,0.000,3020,1860,2680,0,0,0,0,0,0 $STATE,3794,end apogee,CONTROL_FINISHED_OK $STATE,3795,begin climb $GC,3797,1.46,68.2,451.2,0.0,213,3864,1.70,2.50,58.75,0.826,4,0.031,0.040,3418,3252,2402,0,0,0,0,0,0 $GC,3896,1.28,167.4,452.5,0.2,216,3993,0.25,2.40,87.65,0.829,6,0.111,0.038,3372,1866,1997,0,0,0,0,0,0 $GC,4308,1.11,167.4,401.5,14.0,226,4313,0.20,2.50,0.00,0.000,4,0.109,0.058,3334,460,1988,0,0,0,0,0,0 $GC,4365,0.92,167.4,393.0,15.3,227,4370,0.22,2.33,0.00,0.000,6,0.111,0.029,3292,1860,1984,0,0,0,0,0,0 $GC,4680,0.92,167.4,358.9,10.1,235,4684,0.00,2.50,0.00,0.000,4,0.000,0.056,3292,460,1982,0,0,0,0,0,0 $GC,4712,0.84,167.4,355.2,11.4,235,4717,0.00,2.35,0.00,0.000,6,0.000,0.030,3292,1878,1980,0,0,0,0,0,0 $GC,5043,0.84,167.4,323.5,9.6,243,5048,0.00,2.50,0.00,0.000,4,0.000,0.054,3292,460,1978,0,0,0,0,0,0 $GC,5096,0.77,167.4,317.9,10.0,244,5100,0.17,2.38,0.00,0.000,6,0.114,0.028,3259,1879,1977,0,0,0,0,0,0 $GC,5416,0.89,167.4,290.8,8.0,254,5421,0.10,2.50,0.00,0.000,4,0.083,0.053,3289,463,1976,0,0,0,0,0,0 $GC,5533,0.84,167.4,280.8,8.5,259,5537,0.00,2.35,0.00,0.000,6,0.000,0.028,3289,1879,1974,0,0,0,0,0,0 $GC,5864,0.90,174.4,256.0,7.4,275,5868,0.00,2.50,0.00,0.000,4,0.000,0.051,3289,455,1973,0,0,0,0,0,0 $GC,5943,0.90,174.4,248.8,9.5,278,5947,0.00,2.35,0.00,0.000,6,0.000,0.026,3289,1878,1971,0,0,0,0,0,0 $GC,6260,0.96,176.2,223.3,7.7,293,6266,0.00,0.00,4.20,0.481,6,0.000,0.000,3289,1883,1961,0,0,0,0,0,0 $GC,6568,1.05,191.0,201.8,6.8,308,6592,0.12,2.55,14.85,0.660,4,0.069,0.049,3326,467,1901,0,0,0,0,0,0 $GC,6762,0.96,191.0,182.8,9.7,322,6767,0.12,2.30,0.00,0.000,6,0.113,0.024,3303,1884,1896,0,0,0,0,0,0 $GC,7031,1.02,191.0,161.1,8.6,343,7035,0.00,2.47,0.00,0.000,4,0.000,0.047,3303,461,1896,0,0,0,0,0,0 $GC,7188,1.02,191.0,145.8,9.2,354,7195,0.00,2.33,0.00,0.000,6,0.000,0.023,3303,1878,1895,0,0,0,0,0,0 $GC,7450,1.13,216.2,129.0,5.9,375,7480,0.15,2.50,22.85,0.608,4,0.060,0.044,3347,458,1797,0,0,0,0,0,0 $GC,7500,1.05,216.2,124.6,9.9,378,7505,0.15,2.33,0.00,0.000,6,0.102,0.021,3318,1880,1794,0,0,0,0,0,0 $GC,7761,1.11,220.0,102.5,7.6,398,7770,0.00,2.47,4.30,0.404,4,0.000,0.045,3318,454,1782,0,0,0,0,0,0 $GC,7789,1.11,220.0,99.7,8.5,399,7793,0.00,2.28,0.00,0.000,6,0.000,0.021,3318,1879,1781,0,0,0,0,0,0 $GC,8051,1.18,220.0,78.5,8.3,419,8056,0.12,2.45,0.00,0.000,4,0.065,0.045,3358,460,1781,0,0,0,0,0,0 $GC,8317,1.11,220.0,49.9,8.7,438,8324,0.10,2.28,0.00,0.000,6,0.079,0.020,3334,1876,1779,0,0,0,0,0,0 $GC,8579,1.22,239.8,34.0,6.4,459,8608,0.00,2.25,18.55,0.514,4,0.000,0.024,3334,3233,1701,0,0,0,0,0,0 $GC,8628,1.34,251.4,30.5,7.0,462,8645,0.20,2.33,11.38,0.486,6,0.048,0.030,3392,1863,1653,0,0,0,0,0,0 $GC,8841,1.28,251.4,5.6,12.7,509,8848,0.12,2.42,0.00,0.000,4,0.110,0.041,3369,465,1650,0,0,0,0,0,0 $STATE,8857,end climb,SURFACE_DEPTH_REACHED $STATE,8857,begin surface coast $FINISH,0.4,1.023189 $STATE,8880,end surface coast,CONTROL_FINISHED_OK $STATE,8880,begin surface $SM_CCo,8905,88.32,0.505,0,0,1008,410.14 $SM_GC,1.06,0.00,0.00,88.32,0.000,0.000,0.505,430,1701,1008,-12.24,0.25,410.14 $IRIDIUM_FIX,2057.14,-15751.76,261099,171719 $TT8_MAMPS,0.029146 $HUMID,52.08 $INTERNAL_PRESSURE,9.26447 $TCM_TEMP,22.00 $XPDR_PINGS,0 $24V_AH,23.4,6.240 $10V_AH,10.5,3.883 $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,31.025,104.425,279.400,88.325,0.000,58.937,70.498,290.346,4.500,0.000,19.376,1021.280,5903.556,420.801,1599.726,662.307,0.000,1141.794,0.000,1579.976,0.000,29.262,0.000 $DEVICE_MAMPS,138.060,57.525,842.933,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,347.884,332.825,757.778,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355696 $DATA_FILE_SIZE,28611,517 $CAP_FILE_SIZE,107450,0 $CFSIZE,260165632,210247680 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,010810,201236,2104.965,-15750.066,57,0.9,57,9.8