version: 66.03 glider: 139 mission: 2 dive: 88 start: 4 19 108 15 55 0 data: $ID,139 $MISSION,2 $DIVE,88 $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,200 $T_MISSION,360 $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,38 $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,0 $CAPMAXSIZE,100000 $HEAPDBG,0 $T_GPS,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-1253836.8 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,435 $PITCH_MAX,3724 $C_PITCH,2770 $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,56 $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 $GPS1,153744,2106.844,-15752.443,25,1.6,32,9.8 $_CALLS,3 $_XMS_NAKs,41 $_XMS_TOUTs,1 $_SM_DEPTHo,0.69 $_SM_ANGLEo,-61.5 $GPS2,155409,2106.949,-15752.462,13,1.6,13,9.8 $SPEED_LIMITS,0.096,0.271 $TGT_NAME,WPT1 $TGT_LATLONG,2109.529,-15754.647 $TGT_RADIUS,1000.000 $KALMAN_CONTROL,-0.117,0.244 $KALMAN_X,-84452.2,-360.3,-722.7,85536.9,-525.9 $KALMAN_Y,-19329.0,-112.1,-114.5,4344.2,-491.2 $MHEAD_RNG_PITCHd_Wd,324.6,6090,-11.8,-7.500 $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,15,end surface,CONTROL_FINISHED_OK $STATE,16,begin dive $GC,17,-0.98,-194.6,0.0,0.0,0,74,0.00,0.00,-54.55,0.000,2,0.000,0.000,419,2158,2792 $GC,76,-0.98,-194.6,3.1,-7.4,10,111,12.27,2.45,-13.25,0.000,4,0.165,0.077,2549,3587,3461 $GC,257,-0.98,-194.6,27.0,-10.9,42,264,0.00,2.28,0.00,0.000,6,0.000,0.021,2549,2183,3462 $GC,584,-0.98,-194.6,69.8,-11.7,75,588,0.00,2.30,0.00,0.000,4,0.000,0.033,2548,801,3461 $GC,634,-0.98,-194.6,74.5,-8.7,79,638,0.00,2.25,0.00,0.000,6,0.000,0.019,2549,2205,3462 $GC,958,-0.98,-194.6,103.2,-10.2,109,962,0.00,2.35,0.00,0.000,4,0.000,0.033,2548,803,3462 $GC,990,-0.98,-194.6,106.9,-11.0,111,998,0.00,2.28,0.00,0.000,6,0.000,0.019,2549,2199,3462 $GC,1316,-0.98,-194.6,135.9,-9.0,142,1320,0.00,2.35,0.00,0.000,4,0.000,0.033,2548,797,3462 $GC,1388,-0.98,-194.6,143.4,-10.1,148,1392,0.00,2.28,0.00,0.000,6,0.000,0.019,2549,2212,3463 $GC,1711,-0.98,-194.6,172.1,-9.0,178,1715,0.00,2.30,0.00,0.000,4,0.000,0.035,2549,3588,3462 $GC,1745,-0.98,-194.6,175.5,-10.3,181,1749,0.00,2.25,0.00,0.000,6,0.000,0.020,2548,2195,3462 $GC,2083,-0.98,-194.6,203.6,-8.3,211,2087,0.00,2.33,0.00,0.000,4,0.000,0.034,2548,798,3463 $GC,2114,-0.98,-194.6,206.6,-9.0,212,2122,0.00,2.28,0.00,0.000,6,0.000,0.020,2548,2197,3463 $GC,2432,-0.98,-194.6,230.7,-6.7,228,2436,0.00,2.35,0.00,0.000,4,0.000,0.037,2549,3595,3463 $GC,2459,-0.98,-194.6,232.6,-6.0,229,2464,0.00,2.30,0.00,0.000,6,0.000,0.056,2548,2196,3463 $GC,2780,-0.98,-194.6,257.3,-9.4,245,2784,0.00,2.33,0.00,0.000,4,0.000,0.035,2548,803,3463 $GC,2812,-0.98,-194.6,260.2,-8.7,246,2819,0.00,2.28,0.00,0.000,6,0.000,0.023,2549,2189,3462 $GC,3127,-0.98,-194.6,277.1,-5.9,262,3131,0.00,2.33,0.00,0.000,4,0.000,0.036,2548,806,3461 $GC,3166,-0.98,-194.6,279.8,-7.1,264,3174,0.00,2.28,0.00,0.000,6,0.000,0.024,2549,2204,3461 $GC,3500,-0.98,-194.6,298.0,-4.9,280,3504,0.00,2.35,0.00,0.000,4,0.000,0.055,2549,3590,3460 $GC,3554,-0.98,-194.6,300.9,-5.5,282,3561,0.00,2.30,0.00,0.000,6,0.000,0.024,2549,2201,3459 $GC,3888,-0.98,-194.6,322.5,-6.9,291,3892,0.00,2.38,0.00,0.000,4,0.000,0.040,2548,3596,3458 $GC,3942,-0.98,-194.6,326.3,-6.8,292,3947,0.00,2.30,0.00,0.000,6,0.000,0.024,2549,2206,3458 $GC,4255,-0.98,-194.6,345.8,-6.5,300,4259,0.00,2.38,0.00,0.000,4,0.000,0.040,2548,805,3456 $GC,4315,-0.98,-194.6,349.1,-5.2,301,4320,0.00,2.30,0.00,0.000,6,0.000,0.026,2548,2187,3456 $GC,4665,-0.98,-194.6,370.3,-7.1,310,4669,0.00,2.40,0.00,0.000,4,0.000,0.043,2549,3594,3454 $GC,4713,-0.98,-194.6,374.3,-8.3,311,4718,0.00,2.33,0.00,0.000,6,0.000,0.025,2548,2204,3453 $GC,5032,-0.98,-194.6,393.6,-5.4,319,5036,0.00,2.38,0.00,0.000,4,0.000,0.041,2548,805,3451 $GC,5053,-0.98,-194.6,394.7,-5.4,319,5057,0.00,2.33,0.00,0.000,6,0.000,0.061,2548,2205,3451 $GC,5394,-0.98,-194.6,414.2,-6.5,328,5399,0.00,2.40,0.00,0.000,4,0.000,0.046,2549,3600,3449 $GC,5437,-0.98,-194.6,417.7,-8.3,329,5442,0.00,2.35,0.00,0.000,6,0.000,0.027,2548,2198,3449 $GC,5762,-0.98,-194.6,446.8,-9.6,337,5766,0.00,2.40,0.00,0.000,4,0.000,0.043,2549,796,3446 $STATE,5799,end dive,TARGET_DEPTH_EXCEEDED $STATE,5799,begin apogee $GC,5806,-0.31,0.0,450.6,10.7,338,5965,0.70,0.00,156.12,0.877,6,0.068,0.000,2700,2149,2664 $STATE,5965,end apogee,CONTROL_FINISHED_OK $STATE,5965,begin climb $GC,5967,0.98,194.6,462.8,0.0,342,6131,1.27,0.00,160.65,0.851,6,0.105,0.000,2984,2148,1870 $GC,6445,0.98,194.6,431.0,9.7,354,6449,0.00,2.45,0.00,0.000,4,0.000,0.045,2984,751,1860 $GC,6545,0.98,194.6,420.3,11.2,356,6550,0.00,2.38,0.00,0.000,6,0.000,0.029,2984,2146,1857 $GC,6858,0.98,194.6,387.5,11.1,364,6862,0.00,2.45,0.00,0.000,4,0.000,0.045,2984,3554,1857 $GC,6947,0.98,194.6,377.6,11.1,366,6951,0.00,2.35,0.00,0.000,6,0.000,0.028,2984,2155,1857 $GC,7264,0.98,194.6,352.1,7.5,374,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2154,1855 $GC,7589,0.99,205.4,328.2,7.2,382,7598,0.00,0.00,7.65,0.716,6,0.000,0.000,2984,2154,1826 $GC,7914,1.02,232.9,306.8,6.8,390,7944,0.00,2.47,25.60,0.789,4,0.000,0.074,2984,3552,1713 $GC,8021,1.02,232.9,298.5,7.7,392,8026,0.00,2.40,0.00,0.000,6,0.000,0.028,2984,2146,1712 $GC,8348,1.02,232.9,267.4,11.5,408,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2144,1708 $GC,8658,1.04,249.0,238.8,7.1,423,8680,0.00,2.45,14.25,0.713,4,0.000,0.044,2984,752,1647 $GC,8740,1.05,251.9,233.0,7.4,426,8747,0.00,2.38,0.00,0.000,6,0.000,0.034,2984,2155,1644 $GC,9055,1.05,251.9,201.3,12.0,442,9059,0.00,2.38,0.00,0.000,4,0.000,0.040,2984,3551,1643 $GC,9117,1.05,251.9,194.0,11.7,447,9121,0.00,2.35,0.00,0.000,6,0.000,0.035,2985,2138,1644 $GC,9441,1.08,276.0,170.3,6.9,477,9472,0.00,2.47,24.20,0.670,4,0.000,0.070,2984,3553,1537 $GC,9522,1.08,276.0,163.2,9.5,484,9529,0.00,2.35,0.00,0.000,6,0.000,0.044,2984,2155,1537 $GC,9849,1.10,298.0,136.8,6.9,515,9875,0.12,2.45,19.92,0.626,4,0.053,0.071,3021,763,1448 $GC,9897,1.10,298.0,132.3,9.7,519,9904,0.00,2.33,0.00,0.000,6,0.000,0.022,3021,2160,1446 $GC,10224,1.10,298.0,102.0,8.0,550,10228,0.00,2.40,0.00,0.000,4,0.000,0.058,3021,752,1444 $GC,10300,1.10,298.0,95.1,8.9,556,10308,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2150,1442 $GC,10627,1.10,298.0,64.8,10.1,587,10631,0.00,2.38,0.00,0.000,4,0.000,0.069,3021,751,1442 $GC,10703,1.10,298.0,56.5,10.6,593,10711,0.00,2.30,0.00,0.000,6,0.000,0.020,3021,2155,1442 $GC,11032,1.10,298.0,25.7,8.7,628,11038,0.00,2.05,0.00,0.000,4,0.000,0.071,3021,915,1443 $GC,11067,1.10,298.0,22.6,8.5,634,11073,0.00,1.98,0.00,0.000,6,0.000,0.020,3021,2159,1443 $STATE,11302,end climb,SURFACE_DEPTH_REACHED $STATE,11302,begin surface coast $FINISH,0.4,1.023269 $STATE,11337,end surface coast,CONTROL_FINISHED_OK $STATE,11337,begin surface $SM_CCo,11355,10.55,0.475,0,0,1400,310.06 $SM_GC,2.03,0.00,0.00,10.55,0.000,0.000,0.475,418,2162,1400,-10.82,-1.07,310.06 $IRIDIUM_FIX,2059.45,-15750.89,140797,151503 $TT8_MAMPS,0.029146 $HUMID,1802 $INTERNAL_PRESSURE,8.60003 $TCM_TEMP,22.10 $XPDR_PINGS,628 $24V_AH,23.6,15.001 $10V_AH,10.2,7.937 $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,25.525,121.450,408.400,10.550,0.000,83.190,95.607,578.346,166.000,0.000,0.000,16.007,1238.253,8102.241,564.174,1546.447,906.819,33.368,1311.195,0.000,1515.576,0.000,57.451 $DEVICE_MAMPS,164.905,76.700,876.681,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,458.716,436.061,763.840,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $DATA_FILE_SIZE,34838,682 $CAP_FILE_SIZE,110864,12 $CFSIZE,260165632,253861888 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,190408,190537,2108.262,-15753.730,36,1.3,36,9.8