version: 66.06 glider: 139 mission: 8 dive: 283 start: 8 26 110 21 17 33 data: $ID,139 $MISSION,8 $DIVE,283 $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,60 $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,-2156617 $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,3100 $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,1700 $C_ROLL_CLIMB,1740 $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,2630 $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 $GPS1,210837,2105.577,-15755.005,36,0.9,36,9.8 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.53 $_SM_ANGLEo,-69.8 $GPS2,211713,2105.486,-15755.040,14,0.9,14,9.8 $SPEED_LIMITS,0.137,0.159 $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,78.5,20953,-23.8,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.50,0.000,2,0.000,0.000,426,1686,2758,0,0,0,0,0,0 $GC,86,-1.56,-58.4,3.2,-3.2,12,111,12.45,2.42,-2.12,0.000,4,0.133,0.054,2753,293,2872,0,0,0,0,0,0 $GC,119,-0.36,-58.4,15.2,-26.3,17,126,1.25,2.35,0.00,0.000,6,0.087,0.019,3019,1740,2874,0,0,0,0,0,0 $GC,322,-0.92,-58.4,24.4,-3.5,63,329,0.50,2.50,0.00,0.000,4,0.029,0.042,2882,291,2875,0,0,0,0,0,0 $GC,393,-1.11,-58.4,30.6,-10.1,78,397,0.12,2.22,0.00,0.000,6,0.061,0.018,2838,1723,2875,0,0,0,0,0,0 $GC,661,-1.23,-58.4,63.7,-12.3,99,665,0.00,2.47,0.00,0.000,4,0.000,0.046,2838,294,2875,0,0,0,0,0,0 $GC,694,-1.28,-58.4,68.4,-13.9,101,701,0.00,2.20,0.00,0.000,6,0.000,0.018,2838,1686,2875,0,0,0,0,0,0 $GC,953,-1.44,-58.4,94.3,-6.8,122,958,0.22,2.38,0.00,0.000,4,0.042,0.042,2771,294,2875,0,0,0,0,0,0 $GC,1068,-1.40,-58.4,108.6,-13.7,130,1076,0.08,2.22,0.00,0.000,6,0.082,0.018,2790,1690,2876,0,0,0,0,0,0 $GC,1330,-1.50,-58.4,141.9,-13.9,151,1334,0.00,2.25,0.00,0.000,4,0.000,0.022,2790,3076,2877,0,0,0,0,0,0 $GC,1445,-1.68,-58.4,154.5,-9.6,159,1450,0.25,2.33,0.00,0.000,6,0.041,0.031,2718,1687,2877,0,0,0,0,0,0 $GC,1709,-1.68,-58.4,187.0,-12.9,180,1713,0.00,2.35,0.00,0.000,4,0.000,0.045,2717,299,2878,0,0,0,0,0,0 $GC,1742,-1.59,-58.4,191.4,-14.3,182,1748,0.12,2.22,0.00,0.000,6,0.080,0.018,2747,1699,2878,0,0,0,0,0,0 $GC,2012,-1.64,-58.4,220.8,-11.2,198,2016,0.00,2.22,0.00,0.000,4,0.000,0.024,2748,3074,2878,0,0,0,0,0,0 $GC,2045,-1.75,-58.4,224.6,-10.1,199,2050,0.12,2.28,0.00,0.000,6,0.064,0.031,2706,1701,2878,0,0,0,0,0,0 $GC,2360,-1.75,-58.4,264.1,-12.7,214,2364,0.00,2.30,0.00,0.000,4,0.000,0.025,2706,3078,2878,0,0,0,0,0,0 $GC,2407,-1.79,-58.4,269.7,-12.2,216,2411,0.00,2.30,0.00,0.000,6,0.000,0.033,2706,1698,2878,0,0,0,0,0,0 $GC,2731,-1.79,-58.4,304.8,-10.0,231,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1698,2878,0,0,0,0,0,0 $GC,3055,-1.79,-58.4,345.7,-12.7,239,3060,0.00,2.28,0.00,0.000,4,0.000,0.026,2706,3068,2877,0,0,0,0,0,0 $GC,3193,-1.85,-58.4,361.0,-11.4,242,3197,0.00,2.30,0.00,0.000,6,0.000,0.036,2706,1702,2876,0,0,0,0,0,0 $GC,3520,-1.85,-58.4,395.3,-10.6,250,3524,0.00,2.45,0.00,0.000,4,0.000,0.053,2706,297,2874,0,0,0,0,0,0 $GC,3569,-1.80,-58.4,400.6,-11.1,251,3573,0.00,2.25,0.00,0.000,6,0.000,0.025,2706,1685,2873,0,0,0,0,0,0 $GC,3896,-1.80,-58.4,435.1,-10.5,259,3900,0.00,2.35,0.00,0.000,4,0.000,0.032,2706,3085,2871,0,0,0,0,0,0 $STATE,4023,end dive,TARGET_DEPTH_EXCEEDED $STATE,4023,begin apogee $GC,4032,-0.31,0.0,450.0,11.9,261,4085,1.52,0.00,49.50,0.829,6,0.082,0.000,3028,1745,2629,0,0,0,0,0,0 $STATE,4086,end apogee,CONTROL_FINISHED_OK $STATE,4086,begin climb $GC,4088,1.56,58.4,452.0,0.0,263,4143,1.77,0.00,50.38,0.815,6,0.030,0.000,3452,1745,2391,0,0,0,0,0,0 $GC,4459,1.31,107.9,444.7,3.4,272,4505,0.30,0.00,43.15,0.820,6,0.108,0.000,3389,1745,2189,0,0,0,0,0,0 $GC,4828,1.14,107.9,413.6,9.0,281,4833,0.20,2.38,0.00,0.000,4,0.107,0.032,3351,3119,2181,0,0,0,0,0,0 $GC,4934,1.09,110.7,406.4,7.6,283,4938,0.00,2.38,0.00,0.000,6,0.000,0.040,3351,1741,2181,0,0,0,0,0,0 $GC,5248,1.03,121.8,384.1,6.9,291,5265,0.15,2.42,11.35,0.739,4,0.114,0.034,3323,3128,2133,0,0,0,0,0,0 $GC,5281,1.05,143.3,382.0,6.0,291,5309,0.00,2.40,21.17,0.778,6,0.000,0.039,3323,1740,2045,0,0,0,0,0,0 $GC,5620,1.05,143.3,354.7,8.4,300,5624,0.00,2.53,0.00,0.000,4,0.000,0.056,3323,329,2039,0,0,0,0,0,0 $GC,5723,0.96,143.3,344.1,9.7,302,5727,0.00,2.35,0.00,0.000,6,0.000,0.027,3323,1735,2035,0,0,0,0,0,0 $GC,6036,0.96,143.3,313.3,9.6,310,6041,0.00,2.47,0.00,0.000,4,0.000,0.054,3324,325,2034,0,0,0,0,0,0 $GC,6083,0.86,143.3,308.0,11.6,311,6088,0.17,2.35,0.00,0.000,6,0.110,0.027,3290,1744,2032,0,0,0,0,0,0 $GC,6413,0.94,143.3,276.9,9.4,324,6417,0.00,2.33,0.00,0.000,4,0.000,0.032,3290,3135,2032,0,0,0,0,0,0 $GC,6603,1.09,161.5,263.5,6.3,332,6625,0.20,2.40,15.48,0.708,6,0.055,0.038,3343,1739,1970,0,0,0,0,0,0 $GC,6957,1.09,161.5,232.0,9.3,349,6962,0.00,2.47,0.00,0.000,4,0.000,0.053,3342,328,1966,0,0,0,0,0,0 $GC,7042,0.99,161.5,223.8,9.3,352,7049,0.10,2.38,0.00,0.000,6,0.088,0.025,3320,1744,1964,0,0,0,0,0,0 $GC,7358,1.07,177.3,201.4,6.5,368,7381,0.00,2.55,14.20,0.653,4,0.000,0.050,3319,334,1906,0,0,0,0,0,0 $GC,7403,1.07,177.3,197.9,8.4,371,7407,0.00,2.35,0.00,0.000,6,0.000,0.024,3320,1746,1904,0,0,0,0,0,0 $GC,7668,1.15,177.3,174.6,9.0,392,7670,0.12,0.00,0.00,0.000,6,0.068,0.000,3357,1746,1903,0,0,0,0,0,0 $GC,7920,1.15,177.3,150.5,9.5,412,7924,0.00,2.45,0.00,0.000,4,0.000,0.048,3356,328,1903,0,0,0,0,0,0 $GC,8028,1.06,177.3,139.2,11.0,420,8033,0.12,2.33,0.00,0.000,6,0.110,0.021,3333,1752,1901,0,0,0,0,0,0 $GC,8296,1.15,193.2,119.9,6.5,441,8317,0.00,2.35,14.57,0.578,4,0.000,0.025,3333,3127,1842,0,0,0,0,0,0 $GC,8338,1.29,218.0,117.1,5.7,444,8369,0.22,2.35,23.33,0.588,6,0.047,0.031,3393,1733,1740,0,0,0,0,0,0 $GC,8634,1.29,218.0,87.6,9.3,467,8638,0.00,2.40,0.00,0.000,4,0.000,0.044,3393,335,1737,0,0,0,0,0,0 $GC,8880,1.22,218.0,62.9,9.1,485,8885,0.12,2.25,0.00,0.000,6,0.108,0.019,3369,1749,1734,0,0,0,0,0,0 $GC,9147,1.29,218.0,40.5,8.8,506,9151,0.00,2.25,0.00,0.000,4,0.000,0.022,3369,3126,1733,0,0,0,0,0,0 $GC,9169,1.39,218.0,38.3,8.3,507,9177,0.10,2.35,0.00,0.000,6,0.035,0.030,3410,1738,1733,0,0,0,0,0,0 $GC,9433,1.39,218.0,9.2,13.5,554,9440,0.00,2.30,0.00,0.000,4,0.000,0.021,3410,3122,1733,0,0,0,0,0,0 $GC,9473,1.39,218.0,3.7,14.3,562,9480,0.00,2.35,0.00,0.000,6,0.000,0.029,3410,1734,1733,0,0,0,0,0,0 $STATE,9485,end climb,SURFACE_DEPTH_REACHED $STATE,9485,begin surface coast $FINISH,0.9,1.012084 $STATE,9508,end surface coast,CONTROL_FINISHED_OK $STATE,9508,begin surface $SM_CCo,9530,109.80,0.491,0,0,957,410.14 $SM_GC,1.57,0.00,0.00,109.80,0.000,0.000,0.491,428,1729,957,-12.30,0.82,410.14 $IRIDIUM_FIX,2059.45,-15756.04,201199,212121 $TT8_MAMPS,0.029146 $HUMID,54.13 $INTERNAL_PRESSURE,9.28401 $TCM_TEMP,22.20 $XPDR_PINGS,1 $24V_AH,23.5,24.831 $10V_AH,10.4,20.267 $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,33.225,108.125,243.125,109.800,0.000,58.294,61.458,205.447,4.750,0.000,14.234,1131.837,6186.216,424.115,1812.235,602.971,0.000,1214.969,0.000,1790.658,0.000,29.258,0.000 $DEVICE_MAMPS,132.691,55.991,829.127,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,382.664,366.052,864.249,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355664 $DATA_FILE_SIZE,31714,569 $CAP_FILE_SIZE,114322,0 $CFSIZE,260165632,198742016 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,260810,235921,2105.372,-15754.688,10,2.1,29,9.8