version: 66.04 glider: 512 mission: 1 dive: 18 start: 12 15 110 11 59 6 data: $ID,512 $MISSION,1 $DIVE,18 $D_SURF,3 $D_FLARE,3 $D_TGT,300 $D_ABORT,350 $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,100 $T_MISSION,160 $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,150 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,51933 $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,500 $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,1 $CAPMAXSIZE,100000 $HEAPDBG,0 $T_GPS,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-3425.9436 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,54 $PITCH_MAX,3823 $C_PITCH,2737 $PITCH_DBAND,0.1 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $PITCH_GAIN,25 $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,2400 $C_ROLL_CLIMB,2300 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,43 $R_STBD_OVSHOOT,43 $ROLL_AD_RATE,400 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,399 $VBD_MAX,3960 $C_VBD,3347 $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,0.0043268236 $SEABIRD_T_H,0.00062176253 $SEABIRD_T_I,2.2895147e-05 $SEABIRD_T_J,2.4135268e-06 $SEABIRD_C_G,-9.7990599 $SEABIRD_C_H,1.0853468 $SEABIRD_C_I,-0.0020291714 $SEABIRD_C_J,0.00023101864 $GPS1,115322,2144.376,-15810.725,8,2.7,27,9.9 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.92 $_SM_ANGLEo,-77.4 $GPS2,115814,2144.378,-15810.718,19,1.9,19,9.9 $SPEED_LIMITS,0.173,0.260 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $KALMAN_CONTROL,0.038,0.257 $KALMAN_X,3076.4,3691.5,-777.6,-5468.9,1583.9 $KALMAN_Y,-6097.2,-2846.9,-477.3,17030.7,-2298.3 $MHEAD_RNG_PITCHd_Wd,358.5,113754,-17.5,-10.000 $D_GRID,300 $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,12,end surface,CONTROL_FINISHED_OK $STATE,12,begin dive $GC,14,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-70.38,0.000,2,0.000,0.000,43,2422,3166 $GC,88,-0.88,-146.0,3.4,-5.6,9,121,11.02,2.25,-13.57,0.000,4,0.276,0.078,2433,3789,3943 $GC,341,-0.88,-146.0,118.1,-34.1,35,345,0.00,2.05,0.00,0.000,6,0.000,0.030,2440,2402,3945 $GC,625,-0.88,-146.0,230.3,-38.0,56,629,0.00,2.25,0.00,0.000,4,0.000,0.066,2432,3795,3947 $GC,696,-0.88,-146.0,256.3,-32.6,57,700,0.00,2.08,0.00,0.000,6,0.000,0.028,2438,2400,3947 $STATE,868,end dive,TARGET_DEPTH_EXCEEDED $STATE,868,begin apogee $GC,872,-0.32,0.0,312.3,32.4,62,992,0.70,0.00,115.12,0.802,6,0.203,0.000,2628,2289,3347 $STATE,992,end apogee,CONTROL_FINISHED_OK $STATE,993,begin climb $GC,994,0.88,146.0,327.8,0.0,65,1119,1.27,2.38,116.90,0.796,4,0.143,0.054,3009,3694,2750 $GC,1309,1.23,431.3,344.0,-3.2,72,1547,0.28,2.10,230.23,0.795,6,0.076,0.027,3129,2286,1588 $GC,1788,1.23,431.3,200.4,37.9,84,1791,0.00,2.22,0.00,0.000,4,0.000,0.050,3124,3695,1582 $GC,1814,1.23,431.3,190.3,37.6,84,1819,0.00,2.08,0.00,0.000,6,0.000,0.030,3132,2326,1581 $GC,2077,1.23,431.3,95.5,34.9,108,2080,0.00,2.15,0.00,0.000,4,0.000,0.035,3144,886,1579 $GC,2200,1.23,431.3,59.8,27.5,119,2209,0.00,2.17,0.00,0.000,6,0.000,0.044,3136,2280,1577 $STATE,2397,end climb,SURFACE_DEPTH_REACHED $STATE,2397,begin surface coast $FINISH,-0.2,1.023400 $STATE,2406,end surface coast,CONTROL_FINISHED_OK $STATE,2406,begin surface $SM_CCo,2421,31.10,0.583,0,0,1307,500.16 $SM_GC,0.93,0.00,0.00,31.10,0.000,0.000,0.583,47,2414,1307,-8.41,0.37,500.16 $IRIDIUM_FIX,2136.49,-15809.76,100300,111149 $TT8_MAMPS,0.023777 $HUMID,1843 $INTERNAL_PRESSURE,9.12144 $TCM_TEMP,21.20 $XPDR_PINGS,0 $24V_AH,24.6,7.218 $10V_AH,10.8,3.483 $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,21.650,22.000,462.250,31.100,0.000,27.812,37.568,153.313,0.000,0.000,0.000,19.479,317.886,1037.951,467.718,679.033,261.695,33.304,806.449,0.000,669.885,0.000,0.543,0.000 $DEVICE_MAMPS,276.120,78.234,801.515,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil $SENSOR_SECS,97.909,276.586,284.123,67.882,298.918,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000 $DATA_FILE_SIZE,13091,148 $CAP_FILE_SIZE,31138,0 $CFSIZE,260165632,258912256 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,1 $GPS,151210,124107,2144.762,-15810.462,36,0.9,36,9.9