version: 66.03 glider: 139 mission: 2 dive: 31 start: 4 12 108 15 50 31 data: $ID,139 $MISSION,2 $DIVE,31 $D_SURF,3 $D_FLARE,3 $D_TGT,450 $D_ABORT,600 $D_NO_BLEED,200 $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,150 $T_MISSION,330 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,5 $T_NO_W,120 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,1 $APOGEE_PITCH,-5 $MAX_BUOY,200 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,51851 $NAV_MODE,1 $FERRY_MAX,45 $KALMAN_USE,1 $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,47.599998 $TGT_DEFAULT_LON,-122.3 $TGT_AUTO_DEFAULT,0 $SM_CC,310 $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,1 $CAPMAXSIZE,100000 $HEAPDBG,0 $T_GPS,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-1252679.2 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,435 $PITCH_MAX,3724 $C_PITCH,2780 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,16 $PITCH_TIMEOUT,15 $PITCH_AD_RATE,170 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,227 $ROLL_MAX,3931 $ROLL_DEG,40 $C_ROLL_DIVE,2200 $C_ROLL_CLIMB,2150 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,37 $R_STBD_OVSHOOT,48 $ROLL_AD_RATE,400 $ROLL_MAXERRORS,2 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,450 $VBD_MAX,3860 $C_VBD,2664 $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,91.800003 $AH0_10V,61.200001 $PRESSURE_YINT,-14.036633 $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,10 $ALTIM_TOP_TURN_MARGIN,0 $ALTIM_TOP_MIN_OBSTACLE,1 $ALTIM_PING_DEPTH,100 $ALTIM_PING_DELTA,10 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,1 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,-2.25 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,35 $DEVICE4,-1 $DEVICE5,-1 $DEVICE6,-1 $SMARTS,0 $SMARTDEVICE1,-1 $SMARTDEVICE2,-1 $COMPASS_DEVICE,33 $PHONE_DEVICE,48 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0043412433 $SEABIRD_T_H,0.00063263031 $SEABIRD_T_I,2.551855e-05 $SEABIRD_T_J,2.8651004e-06 $SEABIRD_C_G,-9.8929949 $SEABIRD_C_H,1.093717 $SEABIRD_C_I,-0.0013470891 $SEABIRD_C_J,0.00018459925 $GPS1,153857,2107.498,-15753.744,48,3.7,67,9.8 $_CALLS,2 $_XMS_NAKs,25 $_XMS_TOUTs,1 $_SM_DEPTHo,0.90 $_SM_ANGLEo,-61.0 $GPS2,154939,2107.434,-15753.867,14,1.5,14,9.8 $SPEED_LIMITS,0.173,0.300 $TGT_NAME,WPT1 $TGT_LATLONG,2109.529,-15754.647 $TGT_RADIUS,1000.000 $KALMAN_CONTROL,0.146,0.262 $KALMAN_X,-24639.6,-41.1,338.3,21930.4,-1912.0 $KALMAN_Y,-6564.3,-14.5,-117.2,-7612.7,-647.9 $MHEAD_RNG_PITCHd_Wd,19.3,4108,-15.6,-10.000 $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 $STATE,14,end surface,CONTROL_FINISHED_OK $STATE,15,begin dive $GC,16,-1.21,-194.6,0.0,0.0,0,73,0.00,0.00,-54.72,0.000,2,0.000,0.000,424,2160,2969 $GC,75,-1.21,-194.6,3.6,-9.1,10,105,12.00,2.42,-9.18,0.000,4,0.166,0.080,2506,3586,3460 $GC,200,-1.21,-194.6,27.7,-15.4,32,206,0.00,2.28,0.00,0.000,6,0.000,0.029,2505,2195,3462 $GC,525,-1.21,-194.6,72.4,-13.3,64,529,0.00,2.35,0.00,0.000,4,0.000,0.036,2505,793,3462 $GC,563,-1.21,-194.6,77.7,-13.7,67,567,0.00,2.28,0.00,0.000,6,0.000,0.021,2505,2203,3462 $GC,887,-1.21,-194.6,116.7,-12.1,97,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2206,3463 $GC,1205,-1.21,-194.6,154.3,-11.7,127,1209,0.00,2.33,0.00,0.000,4,0.000,0.035,2506,3594,3463 $GC,1260,-1.21,-194.6,160.8,-11.3,131,1267,0.00,2.30,0.00,0.000,6,0.000,0.021,2506,2196,3464 $GC,1585,-1.21,-194.6,194.2,-8.8,162,1589,0.00,2.33,0.00,0.000,4,0.000,0.035,2506,803,3464 $GC,1617,-1.21,-194.6,197.1,-8.9,164,1624,0.00,2.28,0.00,0.000,6,0.000,0.021,2505,2191,3465 $GC,1944,-1.21,-194.6,225.0,-8.6,182,1948,0.00,2.35,0.00,0.000,4,0.000,0.038,2506,3589,3465 $GC,2015,-1.21,-194.6,232.5,-10.9,185,2019,0.00,2.25,0.00,0.000,6,0.000,0.051,2506,2202,3465 $GC,2337,-1.21,-194.6,264.5,-9.2,201,2341,0.00,2.38,0.00,0.000,4,0.000,0.039,2506,3598,3464 $GC,2376,-1.21,-194.6,268.0,-8.9,203,2380,0.00,2.30,0.00,0.000,6,0.000,0.025,2506,2195,3465 $GC,2702,-1.21,-194.6,299.0,-9.8,219,2706,0.00,2.38,0.00,0.000,4,0.000,0.076,2505,3587,3464 $GC,2773,-1.21,-194.6,306.3,-10.5,221,2778,0.00,2.30,0.00,0.000,6,0.000,0.025,2506,2208,3463 $GC,3117,-1.21,-194.6,336.3,-8.5,230,3121,0.00,2.40,0.00,0.000,4,0.000,0.074,2505,796,3462 $GC,3171,-1.21,-194.6,341.3,-9.5,231,3175,0.00,2.33,0.00,0.000,6,0.000,0.028,2506,2185,3462 $GC,3484,-1.21,-194.6,366.1,-7.9,239,3488,0.00,2.35,0.00,0.000,4,0.000,0.041,2505,805,3459 $GC,3533,-1.21,-194.6,370.6,-9.1,240,3537,0.00,2.33,0.00,0.000,6,0.000,0.028,2506,2206,3459 $GC,3851,-1.21,-194.6,399.2,-9.0,248,3855,0.00,2.40,0.00,0.000,4,0.000,0.047,2506,3603,3457 $GC,3906,-1.21,-194.6,404.5,-9.7,249,3910,0.00,2.35,0.00,0.000,6,0.000,0.028,2505,2208,3457 $GC,4219,-1.21,-194.6,433.7,-9.1,257,4223,0.00,2.40,0.00,0.000,4,0.000,0.048,2506,3595,3455 $GC,4261,-1.21,-194.6,437.5,-8.6,258,4266,0.00,2.35,0.00,0.000,6,0.000,0.048,2506,2204,3455 $STATE,4422,end dive,TARGET_DEPTH_EXCEEDED $STATE,4422,begin apogee $GC,4426,-0.31,0.0,450.3,7.7,262,4588,0.95,0.00,157.93,0.858,6,0.072,0.000,2709,2131,2664 $STATE,4588,end apogee,CONTROL_FINISHED_OK $STATE,4588,begin climb $GC,4590,1.21,194.6,456.0,0.0,266,4761,1.48,2.60,160.02,0.833,4,0.041,0.058,3044,3553,1870 $GC,4832,1.21,194.6,436.0,14.9,271,4839,0.00,2.40,0.00,0.000,6,0.000,0.064,3044,2164,1865 $GC,5163,1.21,194.6,393.3,12.2,280,5167,0.00,2.42,0.00,0.000,4,0.000,0.046,3044,3547,1860 $GC,5234,1.21,194.6,384.4,13.0,281,5239,0.00,2.40,0.00,0.000,6,0.000,0.064,3044,2151,1860 $GC,5571,1.21,194.6,344.8,11.4,290,5575,0.00,2.45,0.00,0.000,4,0.000,0.046,3044,741,1856 $GC,5766,1.21,194.6,321.1,12.5,294,5771,0.00,2.38,0.00,0.000,6,0.000,0.074,3044,2141,1853 $GC,6096,1.21,194.6,285.4,10.3,305,6100,0.00,2.45,0.00,0.000,4,0.000,0.046,3044,3554,1853 $GC,6202,1.21,194.6,273.8,11.8,310,6206,0.00,2.38,0.00,0.000,6,0.000,0.064,3044,2139,1853 $GC,6527,1.21,194.6,239.8,11.3,326,6531,0.00,2.45,0.00,0.000,4,0.000,0.044,3044,3552,1852 $GC,6643,1.21,194.6,227.1,10.4,331,6648,0.00,2.38,0.00,0.000,6,0.000,0.062,3044,2150,1852 $GC,6965,1.31,269.6,199.7,7.4,347,7033,0.00,2.47,62.38,0.706,4,0.000,0.043,3044,3558,1563 $GC,7117,1.31,269.6,182.8,11.6,360,7124,0.00,2.35,0.00,0.000,6,0.000,0.028,3044,2149,1560 $GC,7442,1.31,269.6,143.1,12.7,391,7446,0.00,2.40,0.00,0.000,4,0.000,0.041,3044,750,1554 $GC,7492,1.31,269.6,136.5,13.4,395,7496,0.00,2.33,0.00,0.000,6,0.000,0.059,3044,2157,1551 $GC,7816,1.33,291.0,105.0,9.3,425,7837,0.12,0.00,17.80,0.597,6,0.057,0.000,3080,2162,1477 $GC,8154,1.33,291.0,65.6,11.6,457,8158,0.00,2.40,0.00,0.000,4,0.000,0.038,3080,747,1473 $GC,8191,1.33,291.0,60.7,12.8,460,8199,0.00,2.33,0.00,0.000,6,0.000,0.058,3080,2151,1471 $GC,8520,1.33,291.0,21.0,11.7,497,8526,0.00,2.38,0.00,0.000,4,0.000,0.038,3080,741,1471 $GC,8582,1.33,291.0,12.7,13.8,508,8588,0.00,2.28,0.00,0.000,6,0.000,0.058,3080,2154,1471 $STATE,8660,end climb,SURFACE_DEPTH_REACHED $STATE,8660,begin surface coast $FINISH,0.5,1.023618 $STATE,8684,end surface coast,CONTROL_FINISHED_OK $STATE,8684,begin surface $SM_CCo,8701,16.27,0.500,0,0,1400,310.06 $SM_GC,0.91,0.00,0.00,16.27,0.000,0.000,0.500,427,2156,1400,-10.82,-1.24,310.06 $IRIDIUM_FIX,2059.45,-15756.04,070797,151502 $TT8_MAMPS,0.029146 $HUMID,1837 $INTERNAL_PRESSURE,8.5512 $TCM_TEMP,21.90 $XPDR_PINGS,524 $24V_AH,23.6,7.773 $10V_AH,10.2,3.906 $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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder $DEVICE_SECS,26.100,94.700,398.125,16.275,0.000,56.788,61.414,377.168,140.000,0.000,0.000,16.418,980.182,6011.815,485.791,1305.672,588.350,33.349,1141.583,0.000,1273.525,0.000,57.844 $DEVICE_MAMPS,165.672,79.768,858.273,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,353.441,345.671,595.954,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $DATA_FILE_SIZE,25362,526 $CAP_FILE_SIZE,88415,8 $CFSIZE,260165632,256532480 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0 $GPS,120408,181701,2108.386,-15754.023,37,1.5,37,9.8