version: 66.06 glider: 523 mission: 4 dive: 18 start: 4 27 113 1 42 26 data: $ID,523 $MISSION,4 $DIVE,18 $D_SURF,3 $D_FLARE,3 $D_TGT,450 $D_ABORT,520 $D_NO_BLEED,200 $D_BOOST,0 $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,157 $T_MISSION,170 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,5 $T_NO_W,120 $T_LOITER,0 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,1 $APOGEE_PITCH,-5 $MAX_BUOY,150 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,51859 $NAV_MODE,1 $FERRY_MAX,45 $KALMAN_USE,2 $HD_A,0.0038360001 $HD_B,0.010078 $HD_C,9.8500004e-06 $HEADING,-1 $ESCAPE_HEADING,0 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2118.95 $TGT_DEFAULT_LON,-15758 $TGT_AUTO_DEFAULT,0 $SM_CC,300 $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,-36268.441 $T_RSLEEP,1 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,70 $PITCH_MAX,3840 $C_PITCH,2665 $PITCH_DBAND,0.1 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $PITCH_GAIN,30 $PITCH_TIMEOUT,16 $PITCH_AD_RATE,175 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,217 $ROLL_MAX,3847 $ROLL_DEG,40 $C_ROLL_DIVE,1970 $C_ROLL_CLIMB,1980 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,25 $R_STBD_OVSHOOT,25 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,440 $VBD_MAX,3960 $C_VBD,2800 $VBD_DBAND,2 $VBD_CNV,-0.245296 $VBD_TIMEOUT,720 $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,150 $AH0_10V,100 $MINV_24V,19 $MINV_10V,8 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-44.423622 $PRESSURE_SLOPE,0.00011597706 $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,80 $ALTIM_PING_DELTA,5 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,4 $XPDR_VALID,2 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,0.30000001 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,83 $DEVICE4,-1 $DEVICE5,-1 $DEVICE6,-1 $LOGGERS,0 $LOGGERDEVICE1,-1 $LOGGERDEVICE2,-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,0.0042940481 $SEABIRD_T_H,0.00062789384 $SEABIRD_T_I,2.2877364e-05 $SEABIRD_T_J,2.3382993e-06 $SEABIRD_C_G,-10.032345 $SEABIRD_C_H,1.1112347 $SEABIRD_C_I,0.0036120038 $SEABIRD_C_J,-0.00017978948 $GPS1,013640,2108.152,-15801.678,49,0.7,49,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.13 $_SM_ANGLEo,-72.6 $GPS2,014208,2108.143,-15801.728,18,0.9,18,9.8 $SPEED_LIMITS,0.165,0.256 $TGT_NAME,D_EAST $TGT_LATLONG,2105.814,-15742.918 $TGT_RADIUS,2000.000 $KALMAN_CONTROL,0.000,0.000 $KALMAN_X,0.0,0.0,0.0,0.0,0.0 $KALMAN_Y,0.0,0.0,0.0,0.0,0.0 $MHEAD_RNG_PITCHd_Wd,87.8,32785,-17.6,-9.554 $D_GRID,450 $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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors $STATE,12,end surface,CONTROL_FINISHED_OK $STATE,12,begin dive $GC,15,-0.76,-146.0,0.0,0.0,0,94,0.00,0.00,-76.00,0.000,2,0.000,0.000,41,1964,3345,0,0,0,0,0,0 $GC,97,-0.76,-146.0,3.0,-4.8,12,119,9.45,2.30,-1.12,0.000,4,0.232,0.066,2401,3385,3399,0,0,0,0,0,0 $GC,134,-0.76,-146.0,14.4,-30.2,17,141,0.00,2.25,0.00,0.000,6,0.000,0.044,2401,1974,3400,0,0,0,0,0,0 $GC,304,-0.76,-146.0,47.1,-17.5,48,311,0.00,2.28,0.00,0.000,4,0.000,0.059,2401,563,3400,0,0,0,0,0,0 $GC,358,-0.76,-146.0,56.1,-16.6,57,363,0.00,2.17,0.00,0.000,6,0.000,0.039,2392,1979,3400,0,0,0,0,0,0 $GC,687,-0.76,-146.0,100.6,-12.6,103,691,0.00,2.25,0.00,0.000,4,0.000,0.054,2391,558,3402,0,0,0,0,0,0 $GC,738,-0.76,-146.0,107.9,-15.3,107,743,0.12,2.15,0.00,0.000,6,0.166,0.036,2415,1987,3402,0,0,0,0,0,0 $GC,1065,-0.76,-146.0,142.0,-9.1,137,1069,0.00,2.28,0.00,0.000,4,0.000,0.054,2415,558,3403,0,0,0,0,0,0 $GC,1108,-0.76,-146.0,146.7,-10.3,140,1116,0.00,2.17,0.00,0.000,6,0.000,0.038,2407,1968,3403,0,0,0,0,0,0 $GC,1436,-0.76,-146.0,180.6,-9.4,171,1440,0.00,2.17,0.00,0.000,4,0.000,0.056,2397,3380,3404,0,0,0,0,0,0 $GC,1556,-0.76,-146.0,191.3,-8.7,181,1560,0.00,2.20,0.00,0.000,6,0.000,0.041,2397,1958,3404,0,0,0,0,0,0 $GC,1879,-0.76,-146.0,222.1,-9.5,201,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1958,3405,0,0,0,0,0,0 $GC,2191,-0.76,-146.0,251.2,-8.7,216,2195,0.00,2.20,0.00,0.000,4,0.000,0.053,2388,3373,3405,0,0,0,0,0,0 $GC,2264,-0.76,-146.0,258.4,-9.6,219,2269,0.10,2.15,0.00,0.000,6,0.157,0.043,2414,1968,3405,0,0,0,0,0,0 $GC,2580,-0.76,-146.0,286.5,-9.1,234,2584,0.00,2.17,0.00,0.000,4,0.000,0.058,2415,561,3404,0,0,0,0,0,0 $GC,2839,-0.76,-146.0,308.8,-7.5,243,2844,0.00,2.17,0.00,0.000,6,0.000,0.041,2407,1976,3405,0,0,0,0,0,0 $GC,3172,-0.76,-146.0,329.9,-7.8,252,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1976,3404,0,0,0,0,0,0 $GC,3496,-0.76,-146.0,360.0,-8.6,260,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1976,3403,0,0,0,0,0,0 $GC,3822,-0.76,-146.0,385.7,-7.5,268,3826,0.00,2.28,0.00,0.000,4,0.000,0.061,2407,565,3401,0,0,0,0,0,0 $GC,4007,-0.76,-146.0,400.8,-7.3,272,4011,0.00,2.17,0.00,0.000,6,0.000,0.047,2398,1981,3400,0,0,0,0,0,0 $GC,4321,-0.76,-146.0,419.1,-5.6,280,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1981,3399,0,0,0,0,0,0 $GC,4647,-0.76,-146.0,441.9,-7.6,288,4651,0.00,2.30,0.00,0.000,4,0.000,0.063,2398,559,3397,0,0,0,0,0,0 $GC,4719,-0.76,-146.0,448.6,-9.0,289,4724,0.00,2.17,0.00,0.000,6,0.000,0.048,2390,1969,3396,0,0,0,0,0,0 $STATE,4764,end dive,TARGET_DEPTH_EXCEEDED $STATE,4764,begin apogee $GC,4771,-0.17,0.0,452.5,8.6,290,4893,0.68,0.00,119.12,0.797,6,0.122,0.000,2609,1969,2800,0,0,0,0,0,0 $STATE,4894,end apogee,CONTROL_FINISHED_OK $STATE,4894,begin climb $GC,4896,0.76,146.0,454.5,0.0,293,5026,0.88,0.00,126.12,0.763,6,0.090,0.000,2913,1969,2204,0,0,0,0,0,0 $GC,5371,0.76,146.0,391.5,14.3,305,5375,0.00,2.28,0.00,0.000,4,0.000,0.066,2923,579,2195,0,0,0,0,0,0 $GC,5398,0.76,146.0,387.3,14.1,305,5402,0.00,2.25,0.00,0.000,6,0.000,0.048,2922,1991,2195,0,0,0,0,0,0 $GC,5729,0.76,146.0,339.1,14.7,313,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1991,2193,0,0,0,0,0,0 $GC,6034,0.76,146.0,291.9,14.4,321,6038,0.00,2.30,0.00,0.000,4,0.000,0.067,2932,578,2191,0,0,0,0,0,0 $GC,6066,0.76,146.0,286.9,15.2,322,6072,0.00,2.22,0.00,0.000,6,0.000,0.048,2932,1986,2191,0,0,0,0,0,0 $GC,6382,0.76,146.0,238.1,16.9,338,6386,0.00,2.28,0.00,0.000,4,0.000,0.067,2941,570,2190,0,0,0,0,0,0 $GC,6471,0.76,146.0,224.1,14.9,342,6475,0.00,2.22,0.00,0.000,6,0.000,0.048,2941,1985,2189,0,0,0,0,0,0 $GC,6797,0.76,146.0,183.9,15.9,363,6801,0.00,2.22,0.00,0.000,4,0.000,0.065,2941,3388,2189,0,0,0,0,0,0 $GC,6923,0.76,146.0,163.7,13.8,374,6928,0.15,2.17,0.00,0.000,6,0.156,0.042,2909,1978,2189,0,0,0,0,0,0 $GC,7250,0.76,146.0,122.4,14.0,404,7254,0.00,2.17,0.00,0.000,4,0.000,0.058,2916,575,2188,0,0,0,0,0,0 $GC,7413,0.76,146.0,101.5,14.1,418,7421,0.00,2.17,0.00,0.000,6,0.000,0.040,2916,1982,2187,0,0,0,0,0,0 $GC,7743,0.76,146.0,60.4,12.7,465,7748,0.00,2.20,0.00,0.000,4,0.000,0.055,2925,574,2187,0,0,0,0,0,0 $GC,7821,0.76,146.0,50.8,12.0,479,7827,0.00,2.15,0.00,0.000,6,0.000,0.038,2925,1986,2188,0,0,0,0,0,0 $GC,8150,0.76,146.0,15.0,10.1,540,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1988,2188,0,0,0,0,0,0 $STATE,8263,end climb,SURFACE_DEPTH_REACHED $STATE,8263,begin surface coast $FINISH,0.4,1.023728 $STATE,8303,end surface coast,CONTROL_FINISHED_OK $STATE,8303,begin surface $SM_CCo,8321,65.30,0.471,0,0,1576,300.24 $SM_GC,1.16,0.00,0.00,65.30,0.000,0.000,0.471,29,1992,1576,-8.24,0.62,300.24 $IRIDIUM_FIX,2059.45,-15806.34,210702,232346 $TT8_MAMPS,0.028379 $HUMID,63.11 $INTERNAL_PRESSURE,9.33355 $TCM_TEMP,22.60 $XPDR_PINGS,2 $24V_AH,24.6,2.020 $10V_AH,10.6,2.167 $FG_AHR_24Vo,0.000 $FG_AHR_10Vo,0.000 $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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2 $DEVICE_SECS,18.675,66.500,245.250,65.300,0.000,25.472,39.381,140.543,19.250,0.000,19.087,1042.946,5029.976,403.821,1826.839,413.800,0.000,1016.223,0.000,1780.884,0.000,119.237,0.000 $DEVICE_MAMPS,232.401,67.496,796.913,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,387.360,322.958,1114.073,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355672 $DATA_FILE_SIZE,31836,568 $CAP_FILE_SIZE,87273,0 $CFSIZE,260165632,254242816 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,270413,040312,2108.038,-15800.664,21,1.6,21,9.8