version: 66.04 glider: 512 mission: 2 dive: 213 start: 8 31 111 21 15 15 data: $ID,512 $MISSION,2 $DIVE,213 $D_SURF,3 $D_FLARE,3 $D_TGT,200 $D_ABORT,300 $D_NO_BLEED,500 $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,66 $T_MISSION,140 $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,-8 $MAX_BUOY,140 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,52072 $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,0 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2143 $TGT_DEFAULT_LON,-15810 $TGT_AUTO_DEFAULT,0 $SM_CC,410 $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,-36982.938 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,54 $PITCH_MAX,3823 $C_PITCH,2570 $PITCH_DBAND,0.1 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $PITCH_GAIN,30 $PITCH_TIMEOUT,17 $PITCH_AD_RATE,175 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,184 $ROLL_MAX,3899 $ROLL_DEG,40 $C_ROLL_DIVE,2490 $C_ROLL_CLIMB,2480 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,68 $R_STBD_OVSHOOT,35 $ROLL_AD_RATE,400 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,399 $VBD_MAX,3960 $C_VBD,2860 $VBD_DBAND,2 $VBD_CNV,-0.245296 $VBD_TIMEOUT,720 $PITCH_VBD_SHIFT,0.0012300001 $VBD_PUMP_AD_RATE_SURFACE,5 $VBD_PUMP_AD_RATE_APOGEE,4 $VBD_BLEED_AD_RATE,8 $UNCOM_BLEED,20 $VBD_MAXERRORS,1 $CF8_MAXERRORS,20 $AH0_24V,150 $AH0_10V,100 $PHONE_SUPPLY,2 $PRESSURE_YINT,-61.916836 $PRESSURE_SLOPE,0.00011360509 $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,6 $ALTIM_TOP_TURN_MARGIN,0 $ALTIM_TOP_MIN_OBSTACLE,1 $ALTIM_PING_DEPTH,0 $ALTIM_PING_DELTA,5 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,2 $XPDR_VALID,1 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,0 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,83 $DEVICE3,101 $DEVICE4,20 $DEVICE5,38 $DEVICE6,-1 $SMARTS,0 $SMARTDEVICE1,-1 $SMARTDEVICE2,-1 $COMPASS_DEVICE,33 $COMPASS2_DEVICE,-1 $PHONE_DEVICE,48 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0043565552 $SEABIRD_T_H,0.00063178345 $SEABIRD_T_I,2.466659e-05 $SEABIRD_T_J,2.7195788e-06 $SEABIRD_C_G,-9.9023848 $SEABIRD_C_H,1.1413758 $SEABIRD_C_I,-0.0018185935 $SEABIRD_C_J,0.00022361503 $GPS1,210738,2250.474,-15758.925,10,1.5,10,10.1 $_CALLS,1 $_XMS_NAKs,4 $_XMS_TOUTs,0 $_SM_DEPTHo,1.29 $_SM_ANGLEo,-78.0 $GPS2,211420,2250.559,-15758.972,17,1.5,17,10.1 $SPEED_LIMITS,0.175,0.253 $TGT_NAME,bowp4 $TGT_LATLONG,2300.000,-15705.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.072,-0.242 $KALMAN_X,-113826.1,123.1,428.1,107402.3,-1082.2 $KALMAN_Y,-39549.7,-748.9,791.0,127135.1,807.9 $MHEAD_RNG_PITCHd_Wd,153.3,93657,-18.3,-10.101 $D_GRID,200 $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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,18,-0.78,-136.3,0.0,0.0,0,96,0.00,0.00,-75.55,0.000,2,0.000,0.000,40,2502,3210 $GC,102,-0.78,-136.3,3.6,-6.6,10,120,8.20,2.05,-3.80,0.000,4,0.195,0.039,2322,1088,3420 $GC,141,-0.78,-136.3,21.7,-44.7,15,150,0.00,2.12,0.00,0.000,6,0.000,0.038,2313,2478,3420 $GC,417,-0.78,-136.3,74.4,-18.4,43,420,0.00,2.15,0.00,0.000,4,0.000,0.044,2302,3897,3421 $GC,476,-0.78,-136.3,82.8,-10.4,48,480,0.00,2.03,0.00,0.000,6,0.000,0.019,2302,2479,3421 $GC,749,-0.78,-136.3,117.5,-12.3,73,752,0.00,1.95,0.00,0.000,4,0.000,0.024,2308,1097,3422 $GC,786,-0.78,-136.3,121.8,-9.7,76,790,0.00,2.08,0.00,0.000,6,0.000,0.035,2306,2492,3422 $GC,1057,-0.78,-136.3,149.6,-10.3,101,1061,0.00,2.12,0.00,0.000,4,0.000,0.044,2295,3896,3422 $GC,1099,-0.78,-136.3,154.0,-9.3,104,1106,0.00,2.03,0.00,0.000,6,0.000,0.019,2295,2485,3422 $GC,1363,-0.78,-136.3,178.5,-8.6,129,1367,0.00,1.98,0.00,0.000,4,0.000,0.024,2295,1090,3422 $GC,1390,-0.78,-136.3,180.6,-8.7,131,1394,0.00,2.10,0.00,0.000,6,0.000,0.036,2291,2501,3421 $STATE,1613,end dive,TARGET_DEPTH_EXCEEDED $STATE,1613,begin apogee $GC,1624,-0.27,0.0,201.1,9.8,152,1735,0.57,0.00,105.72,0.686,6,0.103,0.000,2484,2501,2859 $STATE,1735,end apogee,CONTROL_FINISHED_OK $STATE,1735,begin climb $GC,1740,0.78,136.3,205.7,0.0,155,1858,0.85,2.17,110.78,0.678,4,0.031,0.037,2848,3905,2303 $GC,2112,0.78,136.3,150.8,21.1,176,2120,0.12,2.08,0.00,0.000,6,0.223,0.020,2827,2497,2297 $GC,2383,0.78,136.3,100.7,18.0,201,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2490,2295 $GC,2649,0.78,140.1,66.2,9.9,226,2653,0.00,2.03,0.00,0.000,4,0.000,0.023,2836,1061,2294 $GC,2833,0.91,239.1,53.4,5.2,242,2924,0.00,2.10,79.43,0.598,6,0.000,0.030,2835,2505,1884 $STATE,3110,end climb,SURFACE_DEPTH_REACHED $STATE,3110,begin surface coast $FINISH,0.4,0.999537 $STATE,3123,end surface coast,CONTROL_FINISHED_OK $STATE,3123,begin surface $SM_CCo,3147,74.05,0.560,0,0,1187,410.13 $SM_GC,1.17,0.00,0.00,74.05,0.000,0.000,0.560,39,2508,1187,-7.91,0.51,410.13 $IRIDIUM_FIX,2241.69,-15806.70,241100,202022 $TT8_MAMPS,0.02301 $HUMID,2170 $INTERNAL_PRESSURE,8.99449 $TCM_TEMP,24.40 $XPDR_PINGS,10 $24V_AH,25.0,24.893 $10V_AH,10.9,18.973 $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,Compass2 $DEVICE_SECS,16.925,28.975,295.925,74.050,0.000,27.898,50.529,164.790,2.500,0.000,0.000,17.888,517.463,1197.506,379.851,1051.466,487.607,33.339,760.567,0.000,1056.046,0.000,0.546,0.000 $DEVICE_MAMPS,223.197,44.486,686.465,559.910,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil $SENSOR_SECS,186.767,616.009,632.440,136.606,626.009,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000 $DATA_FILE_SIZE,22479,279 $CAP_FILE_SIZE,37747,0 $CFSIZE,260165632,208879616 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,1 $GPS,310811,220956,2250.512,-15759.108,11,1.8,11,10.1