version: 66.06 glider: 139 mission: 8 dive: 510 start: 9 22 110 16 43 34 data: $ID,139 $MISSION,8 $DIVE,510 $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,120 $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,-2161776 $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,3050 $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 $GPS1,163737,2103.441,-15750.699,29,1.3,29,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.68 $_SM_ANGLEo,-73.9 $GPS2,164314,2103.445,-15750.728,16,1.3,16,9.8 $SPEED_LIMITS,0.137,0.221 $TGT_NAME,D_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,62.2,14189,-16.6,-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,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,426,1708,2716,0,0,0,0,0,0 $GC,86,-1.18,-116.8,3.3,-3.0,12,116,12.60,2.50,-7.45,0.000,4,0.132,0.058,2785,296,3110,0,0,0,0,0,0 $GC,137,-0.42,-116.8,18.2,-27.9,21,145,0.77,2.35,0.00,0.000,6,0.080,0.019,2951,1735,3112,0,0,0,0,0,0 $GC,342,-0.61,-116.8,38.0,-7.7,52,347,0.15,2.50,0.00,0.000,4,0.054,0.044,2898,292,3113,0,0,0,0,0,0 $GC,411,-0.65,-116.8,44.9,-9.4,57,415,0.00,2.28,0.00,0.000,6,0.000,0.018,2898,1715,3113,0,0,0,0,0,0 $GC,676,-0.72,-116.8,72.4,-10.5,78,681,0.00,2.45,0.00,0.000,4,0.000,0.045,2898,293,3114,0,0,0,0,0,0 $GC,737,-0.77,-116.8,79.8,-12.4,82,743,0.00,2.25,0.00,0.000,6,0.000,0.018,2898,1704,3114,0,0,0,0,0,0 $GC,999,-0.91,-116.8,105.4,-7.4,103,1004,0.20,2.42,0.00,0.000,4,0.044,0.043,2832,290,3114,0,0,0,0,0,0 $GC,1040,-0.86,-116.8,109.0,-9.6,106,1045,0.15,2.22,0.00,0.000,6,0.086,0.018,2865,1707,3114,0,0,0,0,0,0 $GC,1308,-0.94,-116.8,126.4,-6.4,127,1312,0.00,2.45,0.00,0.000,4,0.000,0.044,2865,286,3115,0,0,0,0,0,0 $GC,1348,-0.99,-116.8,129.4,-7.9,130,1353,0.12,2.22,0.00,0.000,6,0.061,0.018,2819,1707,3116,0,0,0,0,0,0 $GC,1615,-0.99,-116.8,154.7,-9.6,151,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1713,3116,0,0,0,0,0,0 $GC,1867,-0.99,-116.8,183.5,-12.8,171,1871,0.00,2.42,0.00,0.000,4,0.000,0.047,2819,291,3116,0,0,0,0,0,0 $GC,1950,-0.94,-116.8,194.9,-13.0,177,1955,0.12,2.20,0.00,0.000,6,0.095,0.019,2846,1698,3116,0,0,0,0,0,0 $GC,2217,-1.01,-116.8,218.9,-7.9,191,2221,0.00,2.42,0.00,0.000,4,0.000,0.047,2846,294,3116,0,0,0,0,0,0 $GC,2278,-1.08,-116.8,224.0,-7.2,193,2283,0.15,2.20,0.00,0.000,6,0.054,0.019,2795,1694,3116,0,0,0,0,0,0 $GC,2597,-1.05,-116.8,250.1,-8.1,208,2601,0.12,2.45,0.00,0.000,4,0.093,0.048,2823,290,3116,0,0,0,0,0,0 $GC,2630,-1.05,-116.8,253.2,-8.2,209,2634,0.00,2.22,0.00,0.000,6,0.000,0.020,2823,1699,3116,0,0,0,0,0,0 $GC,2946,-1.10,-116.8,280.6,-9.9,224,2950,0.00,2.42,0.00,0.000,4,0.000,0.048,2823,290,3116,0,0,0,0,0,0 $GC,3036,-1.10,-116.8,290.2,-10.7,228,3041,0.00,2.22,0.00,0.000,6,0.000,0.021,2823,1697,3115,0,0,0,0,0,0 $GC,3385,-1.16,-116.8,320.3,-8.0,239,3390,0.12,2.45,0.00,0.000,4,0.064,0.051,2779,290,3114,0,0,0,0,0,0 $GC,3453,-1.08,-116.8,327.4,-10.7,240,3458,0.17,2.25,0.00,0.000,6,0.084,0.021,2818,1698,3115,0,0,0,0,0,0 $GC,3800,-1.12,-116.8,360.4,-9.9,249,3804,0.00,2.42,0.00,0.000,4,0.000,0.052,2818,296,3114,0,0,0,0,0,0 $GC,3814,-1.15,-116.8,362.3,-10.2,249,3819,0.00,2.25,0.00,0.000,6,0.000,0.023,2818,1704,3113,0,0,0,0,0,0 $GC,4167,-1.22,-116.8,394.5,-8.3,258,4172,0.15,2.47,0.00,0.000,4,0.058,0.054,2770,296,3111,0,0,0,0,0,0 $GC,4263,-1.14,-116.8,404.7,-11.6,260,4268,0.15,2.28,0.00,0.000,6,0.091,0.024,2803,1693,3111,0,0,0,0,0,0 $GC,4590,-1.17,-116.8,431.4,-7.6,268,4594,0.00,2.47,0.00,0.000,4,0.000,0.055,2802,290,3108,0,0,0,0,0,0 $GC,4638,-1.17,-116.8,435.4,-8.3,269,4642,0.00,2.30,0.00,0.000,6,0.000,0.025,2802,1700,3108,0,0,0,0,0,0 $STATE,4836,end dive,TARGET_DEPTH_EXCEEDED $STATE,4836,begin apogee $GC,4843,-0.31,0.0,450.2,7.2,274,4943,0.82,0.00,96.62,0.828,6,0.064,0.000,2982,1705,2630,0,0,0,0,0,0 $STATE,4944,end apogee,CONTROL_FINISHED_OK $STATE,4944,begin climb $GC,4947,1.18,116.8,451.8,0.0,276,5060,1.40,2.47,100.15,0.811,4,0.037,0.033,3309,3089,2152,0,0,0,0,0,0 $GC,5195,1.00,116.8,439.4,9.0,281,5200,0.20,2.42,0.00,0.000,6,0.099,0.041,3270,1701,2148,0,0,0,0,0,0 $GC,5538,0.93,143.7,413.7,6.7,290,5563,0.00,0.00,22.65,0.774,6,0.000,0.000,3270,1701,2044,0,0,0,0,0,0 $GC,5904,0.89,181.3,390.4,6.2,299,5947,0.12,2.60,33.75,0.788,4,0.112,0.058,3246,294,1889,0,0,0,0,0,0 $GC,5974,0.76,181.3,385.6,8.2,300,5979,0.15,2.35,0.00,0.000,6,0.107,0.027,3217,1705,1885,0,0,0,0,0,0 $GC,6320,0.82,197.4,362.3,7.2,309,6340,0.00,2.60,14.30,0.732,4,0.000,0.057,3217,298,1824,0,0,0,0,0,0 $GC,6438,0.82,197.4,350.2,10.6,311,6442,0.00,2.33,0.00,0.000,6,0.000,0.028,3217,1702,1820,0,0,0,0,0,0 $GC,6783,0.88,197.4,319.4,8.6,320,6788,0.10,2.53,0.00,0.000,4,0.081,0.057,3246,296,1818,0,0,0,0,0,0 $GC,6864,0.79,197.4,311.4,10.5,321,6869,0.12,2.33,0.00,0.000,6,0.110,0.027,3223,1707,1816,0,0,0,0,0,0 $GC,7178,0.90,244.3,290.4,5.8,332,7225,0.10,2.60,41.08,0.741,4,0.080,0.056,3254,290,1634,0,0,0,0,0,0 $GC,7291,0.83,244.3,281.2,9.7,337,7296,0.12,2.35,0.00,0.000,6,0.109,0.027,3230,1708,1628,0,0,0,0,0,0 $GC,7625,0.89,244.3,255.9,8.1,353,7629,0.00,2.53,0.00,0.000,4,0.000,0.054,3230,293,1626,0,0,0,0,0,0 $GC,7855,0.89,244.3,232.7,11.4,363,7860,0.00,2.30,0.00,0.000,6,0.000,0.025,3230,1702,1622,0,0,0,0,0,0 $GC,8188,0.96,244.3,202.3,8.6,379,8193,0.12,2.45,0.00,0.000,4,0.067,0.052,3268,296,1622,0,0,0,0,0,0 $GC,8294,0.88,244.3,190.8,11.1,386,8301,0.10,2.33,0.00,0.000,6,0.077,0.023,3244,1708,1620,0,0,0,0,0,0 $GC,8558,0.94,250.6,170.0,7.6,407,8571,0.00,2.50,4.90,0.466,4,0.000,0.050,3243,294,1606,0,0,0,0,0,0 $GC,8673,0.94,250.6,159.2,10.2,415,8678,0.00,2.28,0.00,0.000,6,0.000,0.022,3244,1710,1605,0,0,0,0,0,0 $GC,8939,1.01,250.6,136.5,8.5,436,8944,0.10,2.50,0.00,0.000,4,0.075,0.050,3279,294,1605,0,0,0,0,0,0 $GC,8979,0.92,250.6,132.2,10.9,439,8984,0.15,2.25,0.00,0.000,6,0.093,0.021,3249,1706,1606,0,0,0,0,0,0 $GC,9246,1.09,312.8,114.7,5.1,460,9307,0.17,2.55,53.90,0.581,4,0.052,0.048,3301,301,1354,0,0,0,0,0,0 $GC,9420,1.02,312.8,97.6,11.9,472,9427,0.12,2.28,0.00,0.000,6,0.069,0.021,3271,1704,1348,0,0,0,0,0,0 $GC,9682,1.12,312.8,75.1,8.1,493,9687,0.10,2.50,0.00,0.000,4,0.073,0.048,3307,288,1348,0,0,0,0,0,0 $GC,9779,1.06,312.8,64.2,11.6,500,9784,0.12,2.25,0.00,0.000,6,0.094,0.019,3281,1714,1346,0,0,0,0,0,0 $GC,10047,1.16,327.1,43.8,7.3,521,10065,0.00,2.53,12.15,0.472,4,0.000,0.046,3281,297,1295,0,0,0,0,0,0 $GC,10191,1.16,327.1,30.4,9.7,531,10198,0.00,2.25,0.00,0.000,6,0.000,0.019,3281,1703,1292,0,0,0,0,0,0 $GC,10455,1.25,336.0,10.4,7.5,590,10473,0.17,2.53,8.70,0.420,4,0.049,0.047,3339,290,1259,0,0,0,0,0,0 $STATE,10514,end climb,SURFACE_DEPTH_REACHED $STATE,10514,begin surface coast $FINISH,0.8,1.011822 $STATE,10538,end surface coast,CONTROL_FINISHED_OK $STATE,10539,begin surface $SM_CCo,10564,44.42,0.472,0,0,957,410.14 $SM_GC,1.63,0.00,0.00,44.42,0.000,0.000,0.472,426,1710,957,-12.07,0.28,410.14 $IRIDIUM_FIX,2054.83,-15751.76,171299,131339 $TT8_MAMPS,0.028379 $HUMID,56.69 $INTERNAL_PRESSURE,9.30354 $TCM_TEMP,22.60 $XPDR_PINGS,0 $24V_AH,23.4,45.007 $10V_AH,10.1,37.394 $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,31.775,123.975,388.200,44.425,0.000,27.476,31.007,147.442,4.500,0.000,16.209,1225.471,6766.008,467.620,1974.716,509.570,0.000,1363.467,0.000,1949.555,0.000,29.254,0.000 $DEVICE_MAMPS,131.924,58.292,828.360,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,408.010,395.633,895.009,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355644 $DATA_FILE_SIZE,34954,607 $CAP_FILE_SIZE,124864,0 $CFSIZE,260165632,186417152 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,220910,194137,2103.514,-15750.162,35,0.9,35,9.8