version: 66.03 glider: 148 mission: 6 dive: 77 start: 8 22 108 23 2 35 data: $ID,148 $MISSION,6 $DIVE,77 $D_SURF,3 $D_FLARE,3 $D_TGT,510 $D_ABORT,700 $D_NO_BLEED,80 $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,300 $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,140 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,52629 $NAV_MODE,1 $FERRY_MAX,45 $KALMAN_USE,1 $HD_A,0.003 $HD_B,0.0099999998 $HD_C,9.9999997e-06 $HEADING,-1 $ESCAPE_HEADING,180 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2200 $TGT_DEFAULT_LON,-15800 $TGT_AUTO_DEFAULT,0 $SM_CC,548.98138 $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,5 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-7784.269 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,420 $PITCH_MAX,3705 $C_PITCH,2990 $PITCH_DBAND,0.1 $PITCH_CNV,0.0046000001 $P_OVSHOOT,0.039999999 $PITCH_GAIN,16 $PITCH_TIMEOUT,15 $PITCH_AD_RATE,160 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,160 $ROLL_MAX,3940 $ROLL_DEG,40 $C_ROLL_DIVE,1670 $C_ROLL_CLIMB,1660 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,30 $R_STBD_OVSHOOT,32 $ROLL_AD_RATE,400 $ROLL_MAXERRORS,2 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,511 $VBD_MAX,3949 $C_VBD,2749 $VBD_DBAND,2 $VBD_CNV,-0.24529999 $VBD_TIMEOUT,360 $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,-11.792777 $PRESSURE_SLOPE,0.00011637 $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,2 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,0 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,53 $DEVICE4,35 $DEVICE5,87 $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,0.0043992815 $SEABIRD_T_H,0.00064238382 $SEABIRD_T_I,2.7016365e-05 $SEABIRD_T_J,3.0340441e-06 $SEABIRD_C_G,-10.010528 $SEABIRD_C_H,1.1459081 $SEABIRD_C_I,-0.0015769247 $SEABIRD_C_J,0.00021306775 $GPS1,224647,2247.969,-15748.225,9,2.3,28,10.1 $_CALLS,5 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.38 $_SM_ANGLEo,-63.0 $GPS2,230141,2248.024,-15748.303,11,2.2,30,10.1 $SPEED_LIMITS,0.147,0.238 $TGT_NAME,WPT4 $TGT_LATLONG,2248.000,-15749.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.056,0.136 $KALMAN_X,-70288.8,-77.1,-115.8,85264.5,-692.6 $KALMAN_Y,38287.0,255.8,508.7,-39178.6,-1244.8 $MHEAD_RNG_PITCHd_Wd,327.7,1192,-27.0,-8.500 $D_GRID,510 $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,18,-1.75,-49.4,0.0,0.0,0,83,0.00,0.00,-62.33,0.000,2,0.000,0.000,411,1661,2736 $GC,85,-1.80,-88.4,3.3,-4.0,8,110,11.55,2.35,-8.60,0.000,4,0.160,0.048,2591,3082,3112 $GC,273,-1.80,-88.4,36.7,-18.0,38,283,0.00,2.28,0.00,0.000,6,0.000,0.028,2591,1664,3112 $GC,537,-1.80,-88.4,75.6,-11.7,63,541,0.00,2.28,0.00,0.000,4,0.000,0.037,2591,3083,3113 $GC,619,-1.80,-88.4,86.6,-12.2,70,628,0.00,2.25,0.00,0.000,6,0.000,0.028,2591,1672,3113 $GC,884,-1.80,-88.4,119.7,-13.1,95,888,0.00,2.25,0.00,0.000,4,0.000,0.035,2591,3079,3114 $GC,945,-1.80,-88.4,128.7,-13.7,100,949,0.00,2.22,0.00,0.000,6,0.000,0.028,2591,1668,3114 $GC,1207,-1.80,-88.4,164.3,-13.8,124,1211,0.00,2.25,0.00,0.000,4,0.000,0.035,2591,3078,3114 $GC,1282,-1.80,-88.4,174.7,-13.7,130,1286,0.00,2.22,0.00,0.000,6,0.000,0.027,2591,1666,3114 $GC,1560,-1.80,-88.4,211.7,-13.2,150,1564,0.00,2.28,0.00,0.000,4,0.000,0.035,2591,3086,3114 $GC,1625,-1.80,-88.4,219.9,-11.0,151,1630,0.00,2.28,0.00,0.000,6,0.000,0.027,2590,1665,3114 $GC,1886,-1.80,-88.4,246.9,-10.2,158,1890,0.00,2.28,0.00,0.000,4,0.000,0.041,2591,3085,3114 $GC,1952,-1.80,-88.4,253.9,-10.2,159,1957,0.00,2.25,0.00,0.000,6,0.000,0.028,2591,1673,3114 $GC,2214,-1.80,-88.4,278.7,-9.4,166,2217,0.00,2.25,0.00,0.000,4,0.000,0.042,2591,3078,3114 $GC,2408,-1.80,-88.4,297.8,-10.3,170,2413,0.00,2.25,0.00,0.000,6,0.000,0.037,2591,1677,3115 $GC,2675,-1.80,-88.4,323.9,-9.7,177,2679,0.00,2.30,0.00,0.000,4,0.000,0.059,2591,269,3114 $GC,2718,-1.80,-88.4,328.6,-10.9,178,2723,0.00,2.22,0.00,0.000,6,0.000,0.037,2591,1665,3115 $GC,3002,-1.80,-88.4,355.7,-9.4,185,3006,0.00,2.28,0.00,0.000,4,0.000,0.049,2591,3076,3113 $GC,3135,-1.81,-103.1,365.7,-6.8,188,3139,0.00,2.25,0.00,0.000,6,0.000,0.032,2591,1664,3113 $GC,3418,-1.82,-105.7,387.4,-8.2,195,3422,0.00,2.33,0.00,0.000,4,0.000,0.046,2591,3078,3112 $GC,3658,-1.82,-105.7,409.9,-8.7,200,3663,0.00,2.28,0.00,0.000,6,0.000,0.035,2591,1675,3111 $GC,3925,-1.82,-105.8,432.8,-8.5,207,3929,0.00,2.33,0.00,0.000,4,0.000,0.058,2591,3074,3109 $GC,4003,-1.82,-109.5,439.1,-8.1,208,4009,0.00,2.28,0.00,0.000,6,0.000,0.041,2591,1663,3109 $GC,4252,-1.83,-115.4,458.4,-7.8,215,4256,0.00,2.33,0.00,0.000,4,0.000,0.054,2591,3067,3107 $GC,4312,-1.84,-121.6,463.2,-7.8,216,4317,0.00,2.28,0.00,0.000,6,0.000,0.035,2591,1678,3107 $GC,4579,-1.84,-123.7,485.1,-8.2,223,4583,0.00,2.30,0.00,0.000,4,0.000,0.050,2591,3067,3105 $GC,4662,-1.85,-131.8,492.1,-7.6,225,4666,0.00,2.28,0.00,0.000,6,0.000,0.043,2591,1667,3104 $STATE,4903,end dive,TARGET_DEPTH_EXCEEDED $STATE,4903,begin apogee $GC,4907,-0.31,0.0,511.2,7.8,231,4985,1.50,0.00,72.03,0.907,6,0.096,0.000,2918,1667,2749 $STATE,4986,end apogee,CONTROL_FINISHED_OK $STATE,4986,begin climb $GC,4988,1.85,131.8,512.0,0.0,233,5111,1.95,2.50,109.70,0.887,4,0.036,0.061,3396,259,2209 $GC,5362,1.85,131.8,442.6,22.1,241,5367,0.00,2.30,0.00,0.000,6,0.000,0.042,3396,1643,2200 $GC,5623,1.85,131.8,388.4,20.6,248,5627,0.00,2.35,0.00,0.000,4,0.000,0.059,3396,249,2197 $GC,5717,1.85,131.8,369.2,20.4,250,5722,0.00,2.33,0.00,0.000,6,0.000,0.042,3396,1653,2195 $GC,6000,1.85,131.8,317.1,17.1,257,6005,0.00,2.35,0.00,0.000,4,0.000,0.054,3396,258,2192 $GC,6229,1.85,131.8,278.8,14.7,262,6234,0.00,2.30,0.00,0.000,6,0.000,0.040,3397,1663,2190 $GC,6507,1.85,131.8,236.9,15.8,269,6511,0.00,2.38,0.00,0.000,4,0.000,0.059,3396,3068,2188 $GC,6708,1.85,131.8,206.5,14.9,273,6712,0.00,2.30,0.00,0.000,6,0.000,0.035,3396,1663,2187 $GC,6968,1.85,131.8,173.5,12.0,294,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1663,2186 $GC,7223,1.85,131.8,140.9,12.5,318,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1663,2186 $GC,7477,1.85,131.8,104.9,14.6,342,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1662,2186 $GC,7735,1.85,131.8,70.2,13.0,366,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1663,2186 $GC,7989,1.88,156.5,44.6,5.7,390,8016,0.00,2.35,17.73,0.539,4,0.000,0.047,3396,255,2109 $GC,8062,1.88,156.5,39.2,9.4,396,8066,0.00,2.25,0.00,0.000,6,0.000,0.026,3396,1679,2108 $GC,8333,1.88,156.5,10.9,11.3,435,8341,0.00,2.30,0.00,0.000,4,0.000,0.058,3396,3055,2107 $GC,8349,1.88,156.5,8.9,11.8,437,8357,0.00,2.28,0.00,0.000,6,0.000,0.036,3396,1649,2108 $STATE,8403,end climb,SURFACE_DEPTH_REACHED $STATE,8403,begin surface coast $FINISH,0.5,1.022945 $STATE,8434,end surface coast,CONTROL_FINISHED_OK $STATE,8434,begin surface $SM_CCo,8453,215.77,0.503,0,0,511,548.98 $SM_GC,1.33,0.00,0.00,215.77,0.000,0.000,0.503,405,1644,511,-11.89,-0.74,548.98 $IRIDIUM_FIX,2237.01,-15747.62,161197,232328 $TT8_MAMPS,0.026845 $HUMID,1606 $INTERNAL_PRESSURE,8.85776 $TCM_TEMP,22.70 $XPDR_PINGS,120 $24V_AH,23.8,20.245 $10V_AH,10.1,18.193 $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,27.225,87.075,199.450,215.775,0.000,140.553,402.934,0.000,30.000,0.000,0.000,32.392,935.821,5622.369,505.780,1810.777,690.669,33.354,1200.557,0.000,1815.696,0.000,0.468 $DEVICE_MAMPS,160.303,61.360,907.361,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000 $SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil $SENSOR_SECS,331.287,286.899,517.936,409.862,839.044,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000 $DATA_FILE_SIZE,35026,451 $CAP_FILE_SIZE,184527,0 $CFSIZE,260165632,253145088 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,230808,012808,2248.832,-15748.518,28,1.1,28,10.1