version: 66.04 glider: 512 mission: 2 dive: 483 start: 9 28 111 15 53 57 data: $ID,512 $MISSION,2 $DIVE,483 $D_SURF,3 $D_FLARE,3 $D_TGT,900 $D_ABORT,1040 $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,300 $T_MISSION,640 $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,2 $FERRY_MAX,45 $KALMAN_USE,0 $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,-42546.09 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,54 $PITCH_MAX,3823 $C_PITCH,2490 $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,2480 $C_ROLL_CLIMB,2480 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,61 $R_STBD_OVSHOOT,34 $ROLL_AD_RATE,400 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,399 $VBD_MAX,3960 $C_VBD,3070 $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 $GPS1,154037,2315.097,-15758.003,32,1.1,32,10.1 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.52 $_SM_ANGLEo,-80.3 $GPS2,155256,2314.966,-15758.133,14,1.1,14,10.1 $SPEED_LIMITS,0.173,0.252 $TGT_NAME,right1 $TGT_LATLONG,2317.000,-15657.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.182,0.174 $KALMAN_X,-24167.9,482.8,330.6,31543.6,-4171.0 $KALMAN_Y,-17164.8,-82.2,-496.2,8913.0,-3161.8 $MHEAD_RNG_PITCHd_Wd,50.3,104067,-18.2,-10.000 $D_GRID,900 $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,15,begin dive $GC,20,-0.77,-136.3,0.0,0.0,0,91,0.00,0.00,-68.05,0.000,2,0.000,0.000,38,2461,3198 $GC,96,-0.77,-136.3,3.9,-6.2,9,122,8.43,2.08,-7.25,0.000,4,0.202,0.038,2245,1073,3628 $GC,155,-0.77,-136.3,30.7,-34.6,17,159,0.00,2.15,0.00,0.000,6,0.000,0.040,2237,2471,3629 $GC,426,-0.77,-136.3,98.1,-22.7,42,430,0.00,2.22,0.00,0.000,4,0.000,0.047,2225,3901,3629 $GC,455,-0.77,-136.3,105.0,-22.0,44,464,0.00,2.10,0.00,0.000,6,0.000,0.021,2230,2495,3629 $GC,721,-0.77,-136.3,155.1,-18.7,69,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2488,3630 $GC,1015,-0.77,-136.3,207.1,-16.8,94,1019,0.00,2.05,0.00,0.000,4,0.000,0.025,2229,1065,3630 $GC,1075,-0.77,-136.3,215.9,-13.5,95,1078,0.00,2.17,0.00,0.000,6,0.000,0.039,2221,2486,3631 $GC,1355,-0.77,-136.3,260.3,-16.1,102,1359,0.00,2.17,0.00,0.000,4,0.000,0.047,2210,3894,3631 $GC,1414,-0.77,-136.3,269.7,-14.5,103,1418,0.00,2.05,0.00,0.000,6,0.000,0.021,2212,2474,3631 $GC,1695,-0.77,-136.3,313.9,-16.2,110,1699,0.00,2.00,0.00,0.000,4,0.000,0.025,2218,1079,3630 $GC,1744,-0.77,-136.3,321.1,-13.3,111,1749,0.12,2.15,0.00,0.000,6,0.117,0.039,2247,2489,3630 $GC,2031,-0.77,-136.3,351.4,-10.3,118,2035,0.00,2.17,0.00,0.000,4,0.000,0.049,2238,3889,3629 $GC,2100,-0.77,-136.3,358.1,-8.7,119,2104,0.00,2.08,0.00,0.000,6,0.000,0.022,2238,2463,3629 $GC,2370,-0.77,-136.3,385.0,-10.2,126,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2455,3627 $GC,2614,-0.77,-136.3,406.3,-8.6,132,2618,0.00,2.28,0.00,0.000,4,0.000,0.051,2226,3894,3625 $GC,2657,-0.77,-136.3,410.0,-8.8,133,2661,0.00,2.08,0.00,0.000,6,0.000,0.023,2227,2472,3624 $GC,2949,-0.77,-136.3,439.2,-10.4,140,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2466,3622 $GC,3193,-0.77,-136.3,466.2,-11.2,146,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2465,3620 $GC,3437,-0.77,-136.3,494.8,-11.8,152,3441,0.00,2.28,0.00,0.000,4,0.000,0.052,2216,3893,3618 $GC,3495,-0.77,-136.3,502.1,-12.3,153,3499,0.00,2.08,0.00,0.000,6,0.000,0.025,2216,2482,3617 $GC,3771,-0.77,-136.3,534.8,-11.8,160,3774,0.00,2.05,0.00,0.000,4,0.000,0.029,2220,1080,3615 $GC,3801,-0.77,-136.3,538.5,-11.3,160,3804,0.00,2.17,0.00,0.000,6,0.000,0.042,2212,2485,3616 $GC,4065,-0.77,-136.3,567.4,-10.8,167,4069,0.00,2.22,0.00,0.000,4,0.000,0.053,2201,3895,3613 $GC,4089,-0.77,-136.3,570.2,-10.4,167,4094,0.12,2.10,0.00,0.000,6,0.116,0.025,2244,2476,3613 $GC,4353,-0.77,-136.3,590.5,-7.7,174,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2469,3611 $GC,4597,-0.77,-136.3,609.6,-7.8,180,4601,0.00,2.28,0.00,0.000,4,0.000,0.055,2235,3895,3608 $GC,4639,-0.77,-136.3,613.2,-8.0,180,4646,0.00,2.12,0.00,0.000,6,0.000,0.026,2236,2476,3608 $GC,4893,-0.77,-136.3,635.2,-8.9,187,4897,0.00,2.05,0.00,0.000,4,0.000,0.030,2235,1087,3607 $GC,4942,-0.77,-136.3,639.6,-8.8,188,4946,0.00,2.17,0.00,0.000,6,0.000,0.044,2226,2485,3607 $GC,5234,-0.77,-136.3,666.2,-8.8,195,5238,0.00,2.25,0.00,0.000,4,0.000,0.056,2214,3892,3605 $GC,5304,-0.77,-136.3,672.3,-8.9,196,5308,0.00,2.10,0.00,0.000,6,0.000,0.028,2214,2478,3603 $GC,5574,-0.77,-136.3,696.0,-8.7,203,5578,0.00,2.08,0.00,0.000,4,0.000,0.031,2220,1074,3602 $GC,5604,-0.77,-136.3,698.4,-7.9,203,5608,0.00,2.20,0.00,0.000,6,0.000,0.044,2212,2478,3601 $GC,5863,-0.77,-136.3,719.9,-8.6,210,5867,0.00,2.28,0.00,0.000,4,0.000,0.057,2201,3900,3600 $GC,5943,-0.77,-136.3,727.6,-9.1,211,5951,0.10,2.12,0.00,0.000,6,0.121,0.028,2239,2471,3599 $GC,6196,-0.77,-136.3,746.9,-7.7,218,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2469,3598 $GC,6441,-0.77,-136.3,767.0,-8.3,224,6445,0.00,2.33,0.00,0.000,4,0.000,0.059,2237,3905,3597 $GC,6465,-0.77,-136.3,769.3,-8.4,224,6469,0.00,2.15,0.00,0.000,6,0.000,0.029,2236,2470,3597 $GC,6737,-0.77,-136.3,792.8,-8.8,231,6741,0.00,2.05,0.00,0.000,4,0.000,0.031,2236,1083,3595 $GC,6773,-0.77,-136.3,796.2,-9.0,231,6777,0.00,2.20,0.00,0.000,6,0.000,0.047,2236,2482,3595 $GC,7032,-0.77,-136.3,818.3,-8.7,238,7036,0.00,2.28,0.00,0.000,4,0.000,0.060,2226,3895,3594 $GC,7090,-0.77,-136.3,823.7,-8.8,239,7094,0.00,2.12,0.00,0.000,6,0.000,0.030,2226,2476,3594 $GC,7372,-0.77,-136.3,848.9,-8.9,246,7376,0.00,2.08,0.00,0.000,4,0.000,0.032,2226,1079,3593 $GC,7403,-0.77,-136.3,851.8,-9.2,246,7407,0.00,2.22,0.00,0.000,6,0.000,0.048,2223,2484,3593 $GC,7662,-0.77,-136.3,874.4,-8.8,253,7666,0.00,2.28,0.00,0.000,4,0.000,0.059,2212,3894,3593 $GC,7737,-0.77,-136.3,881.3,-8.7,254,7741,0.00,2.12,0.00,0.000,6,0.000,0.030,2212,2479,3591 $STATE,7950,end dive,TARGET_DEPTH_EXCEEDED $STATE,7950,begin apogee $GC,7962,-0.27,0.0,901.6,9.4,260,8079,0.57,0.00,114.55,1.290,6,0.109,0.000,2399,2471,3070 $STATE,8080,end apogee,CONTROL_FINISHED_OK $STATE,8080,begin climb $GC,8085,0.77,136.3,907.6,0.0,263,8230,0.90,2.50,131.75,1.248,4,0.040,0.050,2742,3902,2515 $GC,8494,0.77,136.3,868.0,19.5,272,8498,0.00,2.17,0.00,0.000,6,0.000,0.028,2751,2477,2505 $GC,8774,0.77,136.3,818.4,17.1,279,8778,0.00,2.30,0.00,0.000,4,0.000,0.050,2751,3905,2503 $GC,8837,0.77,136.3,806.7,18.9,280,8841,0.00,2.15,0.00,0.000,6,0.000,0.029,2760,2482,2502 $GC,9113,0.77,136.3,758.5,17.2,287,9116,0.00,2.12,0.00,0.000,4,0.000,0.032,2771,1064,2500 $GC,9131,0.77,136.3,755.1,16.7,287,9136,0.00,2.22,0.00,0.000,6,0.000,0.041,2768,2492,2500 $GC,9400,0.77,136.3,713.7,15.5,294,9404,0.00,2.22,0.00,0.000,4,0.000,0.050,2767,3899,2499 $GC,9437,0.77,136.3,707.5,16.8,294,9442,0.15,2.12,0.00,0.000,6,0.227,0.027,2745,2471,2499 $GC,9690,0.77,136.3,672.7,13.2,300,9694,0.00,2.28,0.00,0.000,4,0.000,0.050,2742,3901,2497 $GC,9725,0.77,136.3,667.8,14.3,300,9729,0.00,2.12,0.00,0.000,6,0.000,0.028,2751,2474,2497 $GC,9983,0.77,136.3,633.3,13.5,307,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2469,2496 $GC,10227,0.77,136.3,603.0,12.3,313,10231,0.00,2.28,0.00,0.000,4,0.000,0.051,2751,3901,2496 $GC,10252,0.77,136.3,599.6,12.8,313,10256,0.00,2.12,0.00,0.000,6,0.000,0.028,2760,2476,2496 $GC,10516,0.77,136.3,567.1,12.3,320,10520,0.00,2.08,0.00,0.000,4,0.000,0.031,2770,1077,2496 $GC,10761,0.77,136.3,536.0,13.3,325,10765,0.00,2.17,0.00,0.000,6,0.000,0.041,2768,2483,2496 $GC,11036,0.77,136.3,502.1,11.9,332,11040,0.00,2.25,0.00,0.000,4,0.000,0.051,2767,3903,2495 $GC,11174,0.77,136.3,485.3,11.7,335,11179,0.15,2.12,0.00,0.000,6,0.222,0.029,2745,2480,2494 $GC,11455,0.79,146.7,457.8,9.5,342,11469,0.00,2.15,7.20,0.846,4,0.000,0.032,2753,1078,2472 $GC,11628,0.80,157.4,441.4,9.5,345,11645,0.00,2.17,11.65,0.911,6,0.000,0.041,2753,2480,2428 $GC,11928,0.80,157.4,405.8,12.4,353,11932,0.00,2.25,0.00,0.000,4,0.000,0.052,2753,3894,2425 $GC,11957,0.80,157.4,401.6,12.9,353,11961,0.00,2.12,0.00,0.000,6,0.000,0.028,2763,2467,2424 $GC,12216,0.80,159.3,374.8,9.9,360,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2463,2424 $GC,12461,0.80,159.3,349.9,10.2,366,12465,0.00,2.05,0.00,0.000,4,0.000,0.031,2773,1079,2423 $GC,12592,0.81,165.2,336.8,9.7,368,12607,0.00,2.17,8.27,0.793,6,0.000,0.040,2768,2487,2396 $GC,12890,0.81,165.2,306.0,10.1,376,12894,0.00,2.10,0.00,0.000,4,0.000,0.029,2776,1077,2394 $GC,13066,0.86,207.5,290.7,7.9,379,13109,0.00,2.17,37.97,0.869,6,0.000,0.040,2776,2486,2224 $GC,13362,0.86,207.5,246.3,16.6,387,13366,0.00,2.12,0.00,0.000,4,0.000,0.030,2785,1074,2219 $GC,13415,0.86,207.5,237.9,16.0,388,13419,0.00,2.20,0.00,0.000,6,0.000,0.039,2780,2482,2218 $GC,13700,0.86,207.5,194.6,14.8,395,13702,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2483,2217 $GC,13956,0.86,207.5,159.2,12.9,419,13959,0.00,2.10,0.00,0.000,4,0.000,0.028,2789,1070,2216 $GC,14148,0.89,231.9,140.3,8.8,435,14174,0.00,2.20,21.40,0.703,6,0.000,0.037,2781,2486,2123 $GC,14435,0.89,231.9,100.1,14.3,461,14438,0.00,2.20,0.00,0.000,4,0.000,0.047,2780,3889,2120 $GC,14598,0.89,231.9,75.9,15.0,475,14608,0.00,2.10,0.00,0.000,6,0.000,0.023,2789,2472,2120 $GC,14864,0.97,299.8,51.3,6.6,500,14930,0.00,2.10,57.33,0.638,4,0.000,0.025,2799,1093,1847 $GC,14970,0.97,299.8,39.2,16.1,508,14974,0.00,2.15,0.00,0.000,6,0.000,0.035,2793,2480,1844 $STATE,15167,end climb,SURFACE_DEPTH_REACHED $STATE,15167,begin surface coast $FINISH,0.3,1.023108 $STATE,15186,end surface coast,CONTROL_FINISHED_OK $STATE,15186,begin surface $SM_CCo,15211,50.55,0.587,0,0,1398,410.13 $SM_GC,1.64,0.00,0.00,50.55,0.000,0.000,0.587,38,2481,1398,-7.66,0.03,410.13 $IRIDIUM_FIX,2305.10,-15757.98,221200,151542 $TT8_MAMPS,0.023777 $HUMID,2055 $INTERNAL_PRESSURE,8.8187 $TCM_TEMP,24.30 $XPDR_PINGS,23 $24V_AH,23.0,57.273 $10V_AH,10.7,43.816 $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,17.775,155.750,390.125,50.550,0.000,59.447,77.844,339.565,5.750,0.000,0.000,14.711,1294.877,10981.816,496.876,2105.804,1125.120,33.351,1472.681,0.000,2081.123,0.000,0.543,0.000 $DEVICE_MAMPS,227.032,59.826,1290.094,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000 $SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil $SENSOR_SECS,367.500,674.659,696.093,123.224,559.599,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000 $DATA_FILE_SIZE,44636,542 $CAP_FILE_SIZE,124463,0 $CFSIZE,260165632,196935680 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0 $CURRENT,0.099,240.1,1 $GPS,280911,200937,2315.242,-15757.426,28,1.5,28,10.1