version: 66.06 glider: 139 mission: 8 dive: 377 start: 9 6 110 15 15 44 data: $ID,139 $MISSION,8 $DIVE,377 $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,-2158848.5 $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,1700 $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 $GPS1,151007,2056.145,-15751.881,14,1.9,31,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.57 $_SM_ANGLEo,-71.9 $GPS2,151528,2056.077,-15751.914,15,5.6,34,9.8 $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,31.0,23808,-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,12,end surface,CONTROL_FINISHED_OK $STATE,12,begin dive $GC,15,-1.56,-58.4,0.0,0.0,0,81,0.00,0.00,-64.07,0.000,2,0.000,0.000,427,1713,2724,0,0,0,0,0,0 $GC,85,-1.56,-58.4,3.1,-3.1,12,109,12.38,2.38,-2.92,0.000,4,0.130,0.037,2753,3111,2872,0,0,0,0,0,0 $GC,208,-1.60,-58.4,29.2,-17.6,38,214,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1700,2873,0,0,0,0,0,0 $GC,405,-1.51,-58.4,64.9,-18.1,54,409,0.00,2.35,0.00,0.000,4,0.000,0.022,2753,3112,2874,0,0,0,0,0,0 $GC,433,-1.51,-58.4,70.0,-16.4,56,437,0.00,2.40,0.00,0.000,6,0.000,0.033,2753,1690,2874,0,0,0,0,0,0 $GC,693,-1.48,-58.4,108.2,-10.7,76,698,0.12,2.35,0.00,0.000,4,0.110,0.021,2778,3113,2875,0,0,0,0,0,0 $GC,721,-1.56,-58.4,111.6,-10.1,78,726,0.00,2.38,0.00,0.000,6,0.000,0.031,2777,1697,2875,0,0,0,0,0,0 $GC,983,-1.65,-58.4,133.8,-9.4,98,985,0.17,0.00,0.00,0.000,6,0.051,0.000,2724,1697,2876,0,0,0,0,0,0 $GC,1232,-1.65,-58.4,166.9,-14.9,118,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1697,2877,0,0,0,0,0,0 $GC,1486,-1.65,-58.4,200.0,-12.6,138,1491,0.00,2.35,0.00,0.000,4,0.000,0.024,2723,3113,2877,0,0,0,0,0,0 $GC,1569,-1.70,-58.4,210.2,-11.1,141,1575,0.00,2.38,0.00,0.000,6,0.000,0.032,2723,1700,2877,0,0,0,0,0,0 $GC,1887,-1.70,-58.4,245.6,-11.3,157,1891,0.00,2.35,0.00,0.000,4,0.000,0.025,2723,3110,2877,0,0,0,0,0,0 $GC,1993,-1.77,-58.4,257.0,-9.1,161,1997,0.00,2.35,0.00,0.000,6,0.000,0.033,2723,1701,2877,0,0,0,0,0,0 $GC,2311,-1.77,-58.4,287.2,-9.3,176,2315,0.00,2.33,0.00,0.000,4,0.000,0.025,2723,3109,2876,0,0,0,0,0,0 $GC,2333,-1.81,-58.4,289.4,-10.0,177,2338,0.00,2.38,0.00,0.000,6,0.000,0.035,2723,1698,2876,0,0,0,0,0,0 $GC,2680,-1.85,-58.4,327.9,-10.8,188,2685,0.12,2.38,0.00,0.000,4,0.064,0.027,2684,3115,2875,0,0,0,0,0,0 $GC,2724,-1.85,-58.4,333.0,-12.1,189,2729,0.00,2.40,0.00,0.000,6,0.000,0.037,2683,1696,2875,0,0,0,0,0,0 $GC,3053,-1.80,-58.4,366.6,-10.1,197,3058,0.12,2.40,0.00,0.000,4,0.109,0.029,2707,3109,2874,0,0,0,0,0,0 $GC,3190,-1.85,-58.4,381.5,-11.4,200,3194,0.00,2.40,0.00,0.000,6,0.000,0.038,2707,1692,2873,0,0,0,0,0,0 $GC,3517,-1.85,-58.4,418.3,-11.1,208,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1692,2871,0,0,0,0,0,0 $STATE,3799,end dive,TARGET_DEPTH_EXCEEDED $STATE,3799,begin apogee $GC,3806,-0.31,0.0,450.4,11.4,215,3859,1.55,0.00,49.08,0.826,6,0.079,0.000,3032,1692,2630,0,0,0,0,0,0 $STATE,3860,end apogee,CONTROL_FINISHED_OK $STATE,3860,begin climb $GC,3862,1.56,58.4,451.9,0.0,216,3920,1.75,2.50,50.22,0.811,4,0.028,0.053,3451,294,2391,0,0,0,0,0,0 $GC,3929,1.34,156.7,452.0,-1.0,217,4025,0.30,2.38,86.53,0.811,6,0.107,0.025,3395,1728,1990,0,0,0,0,0,0 $GC,4358,1.19,156.7,398.2,14.7,228,4360,0.17,0.00,0.00,0.000,6,0.107,0.000,3362,1728,1980,0,0,0,0,0,0 $GC,4682,1.11,156.7,358.5,11.6,236,4686,0.00,2.53,0.00,0.000,4,0.000,0.055,3361,295,1977,0,0,0,0,0,0 $GC,4696,0.98,156.7,356.6,11.0,236,4702,0.25,2.33,0.00,0.000,6,0.100,0.027,3314,1710,1974,0,0,0,0,0,0 $GC,5048,1.01,156.7,325.7,8.1,245,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1715,1973,0,0,0,0,0,0 $GC,5374,1.05,156.8,301.2,7.9,253,5378,0.00,2.53,0.00,0.000,4,0.000,0.054,3313,290,1971,0,0,0,0,0,0 $GC,5402,0.99,156.8,298.0,11.4,253,5406,0.00,2.33,0.00,0.000,6,0.000,0.027,3313,1700,1969,0,0,0,0,0,0 $GC,5729,1.04,156.8,265.6,10.6,269,5733,0.00,2.50,0.00,0.000,4,0.000,0.054,3313,290,1969,0,0,0,0,0,0 $GC,5837,1.01,156.8,253.0,11.9,273,5843,0.00,2.30,0.00,0.000,6,0.000,0.026,3314,1707,1966,0,0,0,0,0,0 $GC,6155,1.07,156.8,223.6,9.7,289,6159,0.00,2.47,0.00,0.000,4,0.000,0.051,3313,289,1966,0,0,0,0,0,0 $GC,6210,1.07,156.8,217.2,12.2,291,6214,0.00,2.33,0.00,0.000,6,0.000,0.025,3313,1707,1964,0,0,0,0,0,0 $GC,6531,1.13,157.7,189.4,7.8,310,6533,0.15,0.00,0.00,0.000,6,0.060,0.000,3357,1712,1964,0,0,0,0,0,0 $GC,6780,1.13,157.7,165.7,8.8,330,6784,0.00,2.47,0.00,0.000,4,0.000,0.049,3357,291,1964,0,0,0,0,0,0 $GC,6804,1.04,157.7,163.5,9.9,332,6809,0.15,2.28,0.00,0.000,6,0.103,0.024,3328,1710,1963,0,0,0,0,0,0 $GC,7072,1.12,169.3,141.1,6.9,353,7086,0.00,2.50,7.18,0.528,4,0.000,0.048,3328,286,1939,0,0,0,0,0,0 $GC,7212,1.13,182.2,131.7,6.7,363,7231,0.00,2.30,12.75,0.576,6,0.000,0.021,3328,1718,1887,0,0,0,0,0,0 $GC,7493,1.22,182.2,108.7,9.6,385,7498,0.17,2.47,0.00,0.000,4,0.052,0.048,3379,294,1885,0,0,0,0,0,0 $GC,7759,1.13,184.4,81.2,7.7,404,7766,0.12,2.25,0.00,0.000,6,0.079,0.021,3350,1703,1883,0,0,0,0,0,0 $GC,8022,1.30,242.4,73.4,2.7,425,8083,0.15,2.53,52.67,0.552,4,0.057,0.045,3396,298,1640,0,0,0,0,0,0 $GC,8220,1.20,242.4,50.8,16.7,439,8225,0.17,2.20,0.00,0.000,6,0.095,0.019,3361,1700,1635,0,0,0,0,0,0 $GC,8482,1.27,242.4,21.9,10.2,471,8489,0.00,2.47,0.00,0.000,4,0.000,0.046,3361,294,1634,0,0,0,0,0,0 $GC,8544,1.27,242.4,14.4,12.7,484,8550,0.00,2.25,0.00,0.000,6,0.000,0.019,3361,1704,1633,0,0,0,0,0,0 $STATE,8637,end climb,SURFACE_DEPTH_REACHED $STATE,8637,begin surface coast $FINISH,0.9,1.023341 $STATE,8666,end surface coast,CONTROL_FINISHED_OK $STATE,8666,begin surface $SM_CCo,8688,93.47,0.483,0,0,957,410.14 $SM_GC,1.56,0.00,0.00,93.47,0.000,0.000,0.483,422,1707,957,-12.32,0.20,410.14 $IRIDIUM_FIX,2047.91,-15750.49,011299,121224 $TT8_MAMPS,0.029146 $HUMID,54.33 $INTERNAL_PRESSURE,9.28401 $TCM_TEMP,22.20 $XPDR_PINGS,1 $24V_AH,23.5,32.555 $10V_AH,10.2,27.167 $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,30.350,85.875,258.425,93.475,0.000,27.557,27.776,120.222,4.750,0.000,35.093,993.919,5742.752,393.635,1562.743,407.902,0.000,1075.949,0.000,1521.518,0.000,29.255,0.000 $DEVICE_MAMPS,130.390,55.224,826.059,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,343.836,328.959,755.242,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355644 $DATA_FILE_SIZE,28691,511 $CAP_FILE_SIZE,94613,0 $CFSIZE,260165632,193851392 $ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,060910,174257,2056.173,-15751.331,12,2.0,12,9.8