version: 66.04 glider: 512 mission: 1 dive: 989 start: 3 17 111 13 54 0 data: $ID,512 $MISSION,1 $DIVE,989 $D_SURF,3 $D_FLARE,3 $D_TGT,600 $D_ABORT,740 $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,208 $T_MISSION,400 $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,350 $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,-27278.34 $T_RSLEEP,3 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,54 $PITCH_MAX,3823 $C_PITCH,2880 $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,2640 $C_ROLL_CLIMB,2460 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,65 $R_STBD_OVSHOOT,45 $ROLL_AD_RATE,400 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,399 $VBD_MAX,3960 $C_VBD,2960 $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 $GPS1,134207,2254.467,-15806.715,39,1.4,40,10.1 $_CALLS,1 $_XMS_NAKs,3 $_XMS_TOUTs,0 $_SM_DEPTHo,1.47 $_SM_ANGLEo,-66.8 $GPS2,135308,2254.514,-15806.841,20,1.4,20,10.1 $SPEED_LIMITS,0.167,0.256 $TGT_NAME,WAY5 $TGT_LATLONG,2253.500,-15805.500 $TGT_RADIUS,2500.000 $KALMAN_CONTROL,0.255,0.028 $KALMAN_X,-379347.9,168.1,-260.7,386640.3,-1120.8 $KALMAN_Y,-652945.6,510.8,116.9,789815.1,-2025.6 $MHEAD_RNG_PITCHd_Wd,73.5,2960,-16.9,-9.615 $D_GRID,600 $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,17,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.83,0.000,2,0.000,0.000,43,2678,2920 $GC,79,-0.85,-146.0,3.4,-4.6,7,111,11.60,2.20,-12.05,0.000,4,0.249,0.038,2600,1244,3556 $GC,143,-0.85,-146.0,23.1,-27.4,16,151,0.00,2.28,0.00,0.000,6,0.000,0.058,2591,2612,3557 $GC,412,-0.85,-146.0,95.7,-24.4,43,416,0.00,2.10,0.00,0.000,4,0.000,0.059,2581,3896,3558 $GC,464,-0.85,-146.0,109.4,-23.3,47,471,0.00,1.85,0.00,0.000,6,0.000,0.023,2588,2651,3558 $GC,729,-0.85,-146.0,162.1,-19.3,72,733,0.00,2.08,0.00,0.000,4,0.000,0.025,2599,1229,3559 $GC,766,-0.85,-146.0,168.9,-17.5,75,771,0.00,2.33,0.00,0.000,6,0.000,0.054,2589,2644,3560 $GC,1027,-0.85,-146.0,216.0,-18.2,93,1030,0.00,2.05,0.00,0.000,4,0.000,0.061,2579,3898,3561 $GC,1079,-0.85,-146.0,224.8,-14.6,94,1083,0.00,1.85,0.00,0.000,6,0.000,0.022,2587,2624,3561 $GC,1366,-0.85,-146.0,269.6,-15.9,101,1370,0.00,2.03,0.00,0.000,4,0.000,0.025,2597,1236,3561 $GC,1385,-0.85,-146.0,272.8,-14.8,101,1389,0.00,2.25,0.00,0.000,6,0.000,0.050,2588,2647,3561 $GC,1661,-0.85,-146.0,312.5,-14.8,108,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3561 $GC,1903,-0.85,-146.0,344.4,-13.0,114,1906,0.00,2.05,0.00,0.000,4,0.000,0.061,2579,3896,3561 $GC,1944,-0.85,-146.0,350.0,-12.8,114,1950,0.00,1.88,0.00,0.000,6,0.000,0.023,2586,2632,3560 $GC,2198,-0.85,-146.0,379.9,-11.8,121,2202,0.00,2.12,0.00,0.000,4,0.000,0.063,2579,3890,3559 $GC,2252,-0.85,-146.0,386.1,-9.6,122,2255,0.00,1.83,0.00,0.000,6,0.000,0.023,2586,2640,3559 $GC,2538,-0.85,-146.0,416.0,-10.6,129,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2633,3557 $GC,2781,-0.85,-146.0,442.6,-11.0,135,2785,0.00,2.12,0.00,0.000,4,0.000,0.063,2578,3900,3555 $GC,2831,-0.85,-146.0,447.9,-10.7,136,2835,0.00,1.88,0.00,0.000,6,0.000,0.024,2585,2642,3555 $GC,3122,-0.85,-146.0,479.6,-10.8,143,3126,0.00,2.12,0.00,0.000,4,0.000,0.064,2577,3900,3552 $GC,3180,-0.85,-146.0,486.2,-10.8,144,3184,0.00,1.85,0.00,0.000,6,0.000,0.024,2585,2639,3551 $GC,3463,-0.85,-146.0,515.9,-10.6,151,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2633,3550 $GC,3705,-0.85,-146.0,540.9,-10.1,157,3709,0.00,2.12,0.00,0.000,4,0.000,0.064,2577,3891,3548 $GC,3740,-0.85,-146.0,544.9,-10.8,157,3744,0.00,1.85,0.00,0.000,6,0.000,0.025,2584,2641,3547 $GC,3998,-0.85,-146.0,571.0,-10.2,164,4002,0.00,2.12,0.00,0.000,4,0.000,0.063,2576,3894,3545 $GC,4028,-0.85,-146.0,574.4,-11.3,164,4031,0.00,1.88,0.00,0.000,6,0.000,0.025,2584,2629,3545 $STATE,4287,end dive,TARGET_DEPTH_EXCEEDED $STATE,4288,begin apogee $GC,4300,-0.32,0.0,602.0,10.7,171,4424,0.65,0.00,121.20,1.069,6,0.152,0.000,2769,2479,2960 $STATE,4425,end apogee,CONTROL_FINISHED_OK $STATE,4425,begin climb $GC,4430,0.85,146.0,608.7,0.0,174,4567,1.10,2.30,128.80,1.045,4,0.071,0.028,3162,1041,2364 $GC,4833,0.85,146.0,550.1,23.1,183,4837,0.00,2.30,0.00,0.000,6,0.000,0.047,3162,2466,2354 $GC,5118,0.85,146.0,481.1,23.7,190,5122,0.00,2.15,0.00,0.000,4,0.000,0.028,3171,1022,2350 $GC,5244,0.85,146.0,451.9,21.4,192,5249,0.00,2.30,0.00,0.000,6,0.000,0.044,3162,2458,2350 $GC,5497,0.85,146.0,394.2,22.6,198,5500,0.00,2.15,0.00,0.000,4,0.000,0.030,3172,1030,2349 $GC,5641,0.85,146.0,365.7,18.2,201,5645,0.00,2.30,0.00,0.000,6,0.000,0.045,3163,2463,2348 $GC,5921,0.85,146.0,314.9,17.6,208,5925,0.00,2.33,0.00,0.000,4,0.000,0.054,3162,3877,2346 $GC,6034,0.85,146.0,294.6,16.3,210,6038,0.00,2.17,0.00,0.000,6,0.000,0.028,3171,2450,2344 $GC,6293,0.85,146.0,254.8,15.9,217,6297,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1034,2343 $GC,6317,0.85,146.0,251.3,13.5,217,6321,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2466,2343 $GC,6580,0.85,146.0,218.4,13.1,224,6584,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1043,2342 $GC,6786,0.85,146.0,194.4,11.6,230,6791,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2457,2342 $GC,7051,0.85,146.0,162.7,12.6,254,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2457,2342 $GC,7318,0.88,169.6,136.6,8.6,279,7343,0.00,2.17,17.75,0.708,4,0.000,0.027,3184,1050,2267 $GC,7351,0.88,169.6,132.8,11.2,281,7358,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2465,2267 $GC,7616,0.88,169.6,100.5,12.5,306,7620,0.00,2.28,0.00,0.000,4,0.000,0.050,3176,3876,2265 $GC,7638,0.88,169.6,97.5,13.5,307,7642,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2451,2265 $GC,7911,0.88,169.6,62.2,10.7,332,7915,0.00,2.33,0.00,0.000,4,0.000,0.046,3176,3882,2265 $GC,8163,0.88,169.6,31.0,14.8,354,8171,0.00,2.15,0.00,0.000,6,0.000,0.025,3185,2459,2265 $STATE,8368,end climb,SURFACE_DEPTH_REACHED $STATE,8368,begin surface coast $FINISH,0.6,1.023976 $STATE,8391,end surface coast,CONTROL_FINISHED_OK $STATE,8391,begin surface $SM_CCo,8420,91.75,0.601,0,0,1532,350.04 $SM_GC,1.87,0.00,0.00,91.75,0.000,0.000,0.601,47,2686,1532,-8.85,1.30,350.04 $IRIDIUM_FIX,2244.02,-15808.88,100600,111119 $TT8_MAMPS,0.023777 $HUMID,1898 $INTERNAL_PRESSURE,9.06285 $TCM_TEMP,23.60 $XPDR_PINGS,2 $24V_AH,23.6,128.789 $10V_AH,10.6,77.559 $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,23.900,85.375,267.750,91.750,0.000,24.093,37.557,421.815,0.500,0.000,0.000,20.908,831.198,5499.622,419.476,1546.432,877.852,33.374,1040.505,0.000,1530.132,0.000,0.544,0.000 $DEVICE_MAMPS,249.275,63.661,1069.198,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil $SENSOR_SECS,267.257,640.851,657.291,148.784,611.722,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000 $DATA_FILE_SIZE,31865,395 $CAP_FILE_SIZE,74711,0 $CFSIZE,260165632,222081024 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,1 $GPS,170311,161745,2254.430,-15805.989,43,3.2,63,10.1