version: 66.03 glider: 139 mission: 2 dive: 124 start: 4 24 108 18 20 58 data: $ID,139 $MISSION,2 $DIVE,124 $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,210 $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,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,0 $CAPMAXSIZE,50000 $HEAPDBG,0 $T_GPS,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-1254441.1 $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,38 $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,0 $ALTIM_TOP_TURN_MARGIN,0 $ALTIM_TOP_MIN_OBSTACLE,1 $ALTIM_PING_DEPTH,0 $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 $GPS1,180808,2103.653,-15747.888,34,1.6,34,9.8 $_CALLS,3 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.74 $_SM_ANGLEo,-68.4 $GPS2,182008,2103.714,-15747.937,10,1.8,10,9.8 $SPEED_LIMITS,0.124,0.266 $TGT_NAME,WPT2 $TGT_LATLONG,2102.306,-15746.945 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.208,-0.166 $KALMAN_X,-124713.8,-385.7,-466.9,133367.3,-968.3 $KALMAN_Y,-55534.0,-23.9,-338.9,34692.6,-419.2 $MHEAD_RNG_PITCHd_Wd,118.8,3119,-11.2,-7.143 $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,-0.94,-194.6,0.0,0.0,0,69,0.00,0.00,-49.45,0.000,2,0.000,0.000,429,2163,2876 $GC,71,-0.94,-194.6,3.8,-8.0,9,100,12.25,2.30,-10.77,0.000,4,0.163,0.048,2557,796,3460 $GC,297,-0.94,-194.6,35.1,-10.6,45,301,0.00,2.25,0.00,0.000,6,0.000,0.058,2558,2195,3461 $GC,621,-0.94,-194.6,73.4,-12.0,75,625,0.00,2.33,0.00,0.000,4,0.000,0.032,2558,3591,3461 $GC,672,-0.94,-194.6,79.3,-10.8,79,676,0.00,2.28,0.00,0.000,6,0.000,0.056,2558,2192,3462 $GC,996,-0.94,-194.6,108.1,-9.0,109,1000,0.00,2.35,0.00,0.000,4,0.000,0.032,2558,3596,3462 $GC,1028,-0.94,-194.6,111.2,-9.4,111,1035,0.00,2.30,0.00,0.000,6,0.000,0.019,2558,2194,3462 $GC,1354,-0.94,-194.6,139.7,-8.7,142,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2192,3463 $GC,1673,-0.94,-194.6,167.1,-8.4,172,1677,0.00,2.33,0.00,0.000,4,0.000,0.070,2558,803,3463 $GC,1728,-0.94,-194.6,172.8,-10.6,176,1735,0.00,2.28,0.00,0.000,6,0.000,0.020,2558,2199,3464 $GC,2065,-0.94,-194.6,201.7,-7.8,207,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2202,3464 $GC,2372,-0.94,-194.6,223.4,-7.0,222,2376,0.00,2.33,0.00,0.000,4,0.000,0.035,2557,807,3463 $GC,2403,-0.94,-194.6,225.7,-7.4,223,2410,0.00,2.28,0.00,0.000,6,0.000,0.021,2558,2196,3463 $GC,2720,-0.94,-194.6,245.1,-6.3,239,2724,0.00,2.35,0.00,0.000,4,0.000,0.038,2558,3593,3463 $GC,2796,-0.94,-194.6,250.4,-6.9,242,2803,0.00,2.30,0.00,0.000,6,0.000,0.021,2558,2194,3462 $GC,3112,-0.94,-194.6,267.3,-4.9,258,3116,0.00,2.33,0.00,0.000,4,0.000,0.036,2557,808,3463 $GC,3160,-0.94,-194.6,270.0,-5.5,260,3165,0.00,2.30,0.00,0.000,6,0.000,0.023,2558,2198,3462 $GC,3482,-0.94,-194.6,285.8,-5.6,276,3486,0.00,2.38,0.00,0.000,4,0.000,0.041,2558,3596,3461 $GC,3525,-0.94,-194.6,288.8,-6.9,278,3529,0.00,2.30,0.00,0.000,6,0.000,0.058,2558,2208,3461 $GC,3869,-0.94,-194.6,313.4,-7.5,291,3873,0.00,2.38,0.00,0.000,4,0.000,0.038,2558,807,3459 $GC,3918,-0.94,-194.6,317.6,-8.2,292,3923,0.00,2.33,0.00,0.000,6,0.000,0.026,2557,2198,3459 $GC,4238,-0.94,-194.6,337.9,-5.6,300,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3457 $GC,4562,-0.94,-194.6,354.6,-5.1,308,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3455 $GC,4887,-0.94,-194.6,370.5,-4.7,316,4891,0.00,2.38,0.00,0.000,4,0.000,0.041,2557,806,3453 $GC,4908,-0.94,-194.6,371.7,-5.3,316,4913,0.00,2.33,0.00,0.000,6,0.000,0.028,2558,2190,3452 $GC,5256,-0.94,-194.6,392.9,-6.2,325,5260,0.00,2.42,0.00,0.000,4,0.000,0.047,2557,3597,3450 $GC,5289,-0.94,-194.6,395.1,-6.6,325,5295,0.00,2.33,0.00,0.000,6,0.000,0.032,2558,2197,3449 $GC,5620,-0.94,-194.6,415.9,-6.9,334,5624,0.00,2.38,0.00,0.000,4,0.000,0.041,2558,803,3448 $GC,5640,-0.94,-194.6,417.9,-8.6,334,5645,0.00,2.35,0.00,0.000,6,0.000,0.029,2558,2196,3447 $GC,5983,-0.94,-194.6,439.3,-5.8,343,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2196,3445 $STATE,6184,end dive,TARGET_DEPTH_EXCEEDED $STATE,6184,begin apogee $GC,6189,-0.31,0.0,450.6,5.5,348,6347,0.65,0.00,155.85,0.897,6,0.064,0.000,2700,2196,2664 $STATE,6348,end apogee,CONTROL_FINISHED_OK $STATE,6348,begin climb $GC,6350,0.94,194.6,457.6,0.0,352,6518,1.20,2.58,159.85,0.867,4,0.047,0.050,2972,755,1868 $GC,6602,0.94,194.6,445.0,8.4,358,6606,0.00,2.38,0.00,0.000,6,0.000,0.066,2972,2139,1859 $GC,6926,0.94,194.6,419.1,7.9,366,6930,0.00,2.42,0.00,0.000,4,0.000,0.079,2972,755,1856 $GC,6958,0.94,194.6,416.1,9.3,366,6965,0.00,2.40,0.00,0.000,6,0.000,0.063,2972,2153,1855 $GC,7289,0.94,194.6,387.6,8.8,375,7293,0.00,2.45,0.00,0.000,4,0.000,0.048,2972,3554,1854 $GC,7327,0.94,194.6,384.0,10.0,376,7331,0.00,2.33,0.00,0.000,6,0.000,0.064,2972,2150,1854 $GC,7650,0.94,194.6,355.3,9.1,384,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2148,1853 $GC,7974,0.94,194.6,326.3,8.7,392,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2148,1851 $GC,8300,0.94,194.6,301.3,7.4,400,8304,0.00,2.45,0.00,0.000,4,0.000,0.078,2972,3556,1851 $GC,8343,0.94,194.6,297.1,9.6,401,8347,0.00,2.40,0.00,0.000,6,0.000,0.063,2971,2144,1851 $GC,8670,0.94,194.6,270.1,7.6,417,8674,0.00,2.42,0.00,0.000,4,0.000,0.080,2972,3549,1850 $GC,8715,0.94,194.6,266.6,8.2,419,8719,0.00,2.35,0.00,0.000,6,0.000,0.032,2972,2148,1850 $GC,9040,0.94,194.6,238.7,8.8,435,9044,0.00,2.42,0.00,0.000,4,0.000,0.077,2972,744,1848 $GC,9117,0.94,194.6,231.9,8.4,438,9125,0.00,2.38,0.00,0.000,6,0.000,0.062,2972,2150,1846 $GC,9433,0.94,194.6,207.7,7.2,454,9437,0.00,2.40,0.00,0.000,4,0.000,0.042,2972,3547,1846 $GC,9561,0.94,194.6,198.3,8.3,460,9565,0.00,2.33,0.00,0.000,6,0.000,0.027,2972,2146,1847 $GC,9886,0.99,234.5,176.9,6.2,490,9922,0.00,2.42,31.75,0.703,4,0.000,0.051,2972,753,1705 $GC,10039,1.01,253.2,166.8,6.7,503,10061,0.00,2.33,16.60,0.665,6,0.000,0.025,2972,2155,1631 $GC,10379,1.01,253.2,144.1,7.4,535,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2160,1627 $GC,10698,1.01,253.2,119.5,7.4,565,10702,0.00,2.40,0.00,0.000,4,0.000,0.038,2972,752,1627 $GC,10827,1.02,260.7,109.6,7.0,576,10839,0.00,2.30,7.03,0.543,6,0.000,0.023,2972,2162,1601 $GC,11156,1.11,336.2,91.8,5.3,607,11227,0.17,0.00,66.18,0.606,6,0.044,0.000,3021,2167,1292 $GC,11544,1.11,336.2,59.5,9.1,644,11546,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2167,1286 $GC,11863,1.11,336.2,30.8,8.5,674,11867,0.00,2.40,0.00,0.000,4,0.000,0.035,3021,750,1286 $GC,12009,1.11,336.2,16.2,10.5,699,12015,0.00,2.28,0.00,0.000,6,0.000,0.025,3021,2164,1282 $STATE,12155,end climb,SURFACE_DEPTH_REACHED $STATE,12155,begin surface coast $FINISH,0.1,1.010467 $STATE,12190,end surface coast,CONTROL_FINISHED_OK $STATE,12190,begin surface $SM_CCo,12269,0.00,0.000,0,0,1281,339.50 $SM_GC,0.88,11.23,0.00,0.00,0.039,0.000,0.000,432,2169,1281,-10.69,-0.88,339.50 $IRIDIUM_FIX,2054.83,-15746.61,190797,181813 $TT8_MAMPS,0.029146 $HUMID,1808 $INTERNAL_PRESSURE,8.59026 $TCM_TEMP,22.60 $XPDR_PINGS,643 $24V_AH,23.6,19.942 $10V_AH,10.2,10.766 $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,25.500,103.650,437.250,0.000,0.000,83.607,93.330,309.938,160.750,0.000,0.000,12.024,1269.894,8956.676,505.178,1601.150,648.031,33.377,1299.504,0.000,1597.375,0.000,0.471 $DEVICE_MAMPS,163.371,79.768,897.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,492.537,482.677,815.849,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $DATA_FILE_SIZE,38027,731 $CAP_FILE_SIZE,100214,7 $CFSIZE,260165632,252092416 $ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0 $GPS,240408,214638,2102.949,-15746.936,37,0.9,37,9.8