version: 66.03 glider: 139 mission: 2 dive: 185 start: 5 3 108 19 50 18 data: $ID,139 $MISSION,2 $DIVE,185 $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,220 $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,180 $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,-1255462.6 $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,42 $R_STBD_OVSHOOT,57 $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 $GPS1,194208,2103.228,-15746.718,26,1.0,26,9.8 $_CALLS,1 $_XMS_NAKs,13 $_XMS_TOUTs,1 $_SM_DEPTHo,1.07 $_SM_ANGLEo,-64.7 $GPS2,194926,2103.240,-15746.689,13,1.0,13,9.8 $SPEED_LIMITS,0.118,0.250 $TGT_NAME,WPT2 $TGT_LATLONG,2102.306,-15746.945 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.073,-0.094 $KALMAN_X,-215129.1,-13.5,542.6,224544.0,-1396.2 $KALMAN_Y,-77576.1,2.9,453.1,55034.6,-482.1 $MHEAD_RNG_PITCHd_Wd,132.3,1786,-27.2,-6.818 $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,16,end surface,CONTROL_FINISHED_OK $STATE,16,begin dive $GC,19,-1.74,-35.6,0.0,0.0,0,64,0.00,0.00,-43.80,0.000,2,0.000,0.000,430,2167,2656 $GC,67,-1.76,-48.0,3.1,-5.2,8,91,11.15,2.35,-4.50,0.000,4,0.161,0.047,2380,803,2863 $GC,208,-1.76,-48.0,32.0,-20.1,32,215,0.00,2.28,0.00,0.000,6,0.000,0.020,2380,2192,2865 $GC,533,-1.76,-48.0,87.2,-15.7,63,537,0.00,2.35,0.00,0.000,4,0.000,0.033,2380,3601,2866 $GC,656,-1.76,-48.0,106.4,-16.3,74,661,0.00,2.30,0.00,0.000,6,0.000,0.020,2380,2186,2866 $GC,981,-1.76,-48.0,152.8,-15.4,104,985,0.00,2.38,0.00,0.000,4,0.000,0.033,2380,3601,2867 $GC,1238,-1.76,-48.0,189.5,-11.5,126,1245,0.00,2.30,0.00,0.000,6,0.000,0.020,2380,2199,2868 $GC,1567,-1.76,-48.0,226.2,-11.7,147,1571,0.00,2.35,0.00,0.000,4,0.000,0.034,2380,3594,2869 $GC,1823,-1.76,-48.0,257.5,-12.1,158,1830,0.00,2.30,0.00,0.000,6,0.000,0.056,2380,2204,2869 $GC,2139,-1.76,-48.0,292.5,-11.5,174,2143,0.00,2.35,0.00,0.000,4,0.000,0.035,2380,804,2868 $GC,2318,-1.76,-48.0,316.6,-13.8,180,2322,0.00,2.28,0.00,0.000,6,0.000,0.023,2380,2200,2868 $GC,2635,-1.76,-48.0,347.3,-9.0,188,2639,0.00,2.38,0.00,0.000,4,0.000,0.040,2380,3597,2867 $GC,2875,-1.76,-48.0,371.0,-9.8,193,2880,0.00,2.33,0.00,0.000,6,0.000,0.060,2380,2210,2866 $GC,3223,-1.76,-48.0,402.7,-9.3,202,3227,0.00,2.38,0.00,0.000,4,0.000,0.042,2380,3590,2865 $GC,3317,-1.76,-48.0,411.7,-9.1,204,3322,0.00,2.33,0.00,0.000,6,0.000,0.031,2380,2208,2864 $GC,3636,-1.76,-48.0,439.6,-9.0,212,3640,0.00,2.40,0.00,0.000,4,0.000,0.044,2380,3597,2861 $STATE,3751,end dive,TARGET_DEPTH_EXCEEDED $STATE,3751,begin apogee $GC,3758,-0.31,0.0,450.2,9.8,214,3803,1.52,0.00,40.75,0.864,6,0.090,0.000,2696,2149,2663 $STATE,3803,end apogee,CONTROL_FINISHED_OK $STATE,3804,begin climb $GC,3806,1.76,48.0,451.3,0.0,215,3855,2.00,2.53,40.03,0.841,4,0.044,0.042,3156,750,2467 $GC,4029,1.77,59.8,440.0,5.3,220,4044,0.00,2.35,10.88,0.770,6,0.000,0.029,3156,2146,2420 $GC,4386,1.78,67.4,418.5,5.8,229,4400,0.00,2.53,7.22,0.720,4,0.000,0.052,3156,742,2389 $GC,4412,1.78,67.4,416.6,7.4,229,4416,0.00,2.40,0.00,0.000,6,0.000,0.029,3156,2149,2388 $GC,4754,1.78,67.4,388.9,7.9,238,4758,0.00,2.45,0.00,0.000,4,0.000,0.048,3156,3555,2386 $GC,5011,1.78,67.4,369.5,7.7,243,5018,0.00,2.40,0.00,0.000,6,0.000,0.048,3157,2149,2384 $GC,5343,1.79,74.1,346.0,6.0,252,5350,0.00,0.00,6.38,0.704,6,0.000,0.000,3156,2146,2360 $GC,5668,1.82,101.0,332.6,3.4,260,5696,0.00,2.53,22.95,0.815,4,0.000,0.051,3156,3545,2251 $GC,5950,1.82,101.0,310.6,8.3,266,5954,0.00,2.35,0.00,0.000,6,0.000,0.030,3156,2150,2249 $GC,6265,1.82,101.0,282.8,9.2,278,6269,0.00,2.42,0.00,0.000,4,0.000,0.061,3156,3549,2247 $GC,6522,1.82,101.0,256.3,9.8,289,6529,0.00,2.38,0.00,0.000,6,0.000,0.039,3156,2151,2247 $GC,6839,1.82,101.0,228.5,8.9,305,6843,0.00,2.42,0.00,0.000,4,0.000,0.041,3156,3559,2246 $GC,7095,1.83,104.0,210.0,6.4,316,7102,0.00,2.40,0.00,0.000,6,0.000,0.031,3156,2141,2245 $GC,7413,1.85,124.9,196.4,4.2,336,7438,0.00,2.47,19.65,0.698,4,0.000,0.074,3156,3552,2155 $GC,7647,1.85,124.9,178.1,9.1,357,7652,0.00,2.35,0.00,0.000,6,0.000,0.026,3156,2145,2155 $GC,7973,1.86,129.4,156.3,6.2,387,7984,0.00,2.40,5.35,0.544,4,0.000,0.038,3156,743,2134 $GC,8238,1.87,141.0,138.9,5.3,410,8255,0.00,2.33,10.98,0.604,6,0.000,0.023,3156,2172,2089 $GC,8573,1.87,141.0,117.6,7.6,442,8577,0.00,2.30,0.00,0.000,4,0.000,0.036,3156,3542,2088 $GC,8607,1.87,141.0,115.1,8.0,445,8611,0.00,2.30,0.00,0.000,6,0.000,0.021,3156,2138,2088 $GC,8932,1.87,141.0,89.4,8.5,475,8936,0.00,2.38,0.00,0.000,4,0.000,0.053,3156,3542,2088 $GC,9188,1.88,144.1,68.9,6.4,497,9198,0.00,2.30,4.90,0.439,6,0.000,0.039,3156,2148,2075 $GC,9523,1.88,144.1,43.6,8.0,529,9528,0.10,2.33,0.00,0.000,4,0.056,0.033,3188,759,2075 $GC,9781,1.88,144.1,22.7,7.0,559,9787,0.00,2.25,0.00,0.000,6,0.000,0.043,3187,2165,2076 $GC,10126,1.90,160.1,5.6,4.8,620,10149,0.00,2.42,14.80,0.500,4,0.000,0.044,3187,762,2008 $STATE,10165,end climb,SURFACE_DEPTH_REACHED $STATE,10165,begin surface coast $FINISH,0.4,1.010423 $STATE,10211,end surface coast,CONTROL_FINISHED_OK $STATE,10211,begin surface $SM_CCo,10234,120.05,0.518,0,0,1399,310.06 $SM_GC,1.10,0.00,0.00,120.05,0.000,0.000,0.518,429,2212,1399,-10.77,0.34,310.06 $IRIDIUM_FIX,2054.83,-15709.31,280797,161635 $TT8_MAMPS,0.029146 $HUMID,1753 $INTERNAL_PRESSURE,8.60979 $TCM_TEMP,22.80 $XPDR_PINGS,673 $24V_AH,23.7,27.790 $10V_AH,10.2,15.660 $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,26.775,94.850,183.875,120.050,0.000,31.394,26.824,256.370,168.250,0.000,0.000,14.996,1208.117,6861.931,397.459,1829.979,483.799,33.371,1238.661,0.000,1814.920,0.000,0.470 $DEVICE_MAMPS,161.070,73.632,864.409,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000 $SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil $SENSOR_SECS,427.881,421.103,741.943,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $DATA_FILE_SIZE,31772,635 $CAP_FILE_SIZE,96142,10 $CFSIZE,260165632,248958976 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,030508,224408,2103.031,-15746.423,39,0.8,39,9.8