version: 66.06 glider: 523 mission: 4 dive: 70 start: 5 2 113 11 19 27 data: $ID,523 $MISSION,4 $DIVE,70 $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,166 $T_MISSION,180 $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,-37261.695 $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,2640 $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,1960 $C_ROLL_CLIMB,1975 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,28 $R_STBD_OVSHOOT,31 $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 $GPS1,111323,2107.256,-15753.025,40,0.9,40,9.8 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.29 $_SM_ANGLEo,-74.4 $GPS2,111911,2107.333,-15753.003,18,1.1,18,9.8 $SPEED_LIMITS,0.157,0.252 $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,89.4,17650,-16.7,-9.036 $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,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.80,0.000,6,0.000,0.000,28,1934,3394,0,0,0,0,0,0 $GC,103,-0.74,-146.0,3.9,-6.4,13,118,9.32,2.25,0.00,0.000,4,0.229,0.048,2381,3371,3395,0,0,0,0,0,0 $GC,193,-0.74,-146.0,28.0,-18.2,29,201,0.00,2.28,0.00,0.000,6,0.000,0.047,2381,1957,3397,0,0,0,0,0,0 $GC,365,-0.74,-146.0,57.3,-14.7,60,372,0.00,2.28,0.00,0.000,4,0.000,0.058,2371,3364,3398,0,0,0,0,0,0 $GC,386,-0.74,-146.0,60.4,-14.0,63,392,0.12,2.22,0.00,0.000,6,0.157,0.048,2403,1961,3398,0,0,0,0,0,0 $GC,721,-0.74,-146.0,104.0,-12.9,107,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1961,3399,0,0,0,0,0,0 $GC,1039,-0.74,-146.0,143.0,-11.3,137,1043,0.00,2.25,0.00,0.000,4,0.000,0.054,2404,540,3400,0,0,0,0,0,0 $GC,1080,-0.74,-146.0,147.6,-11.9,140,1084,0.00,2.15,0.00,0.000,6,0.000,0.035,2395,1966,3401,0,0,0,0,0,0 $GC,1407,-0.74,-146.0,183.7,-9.8,170,1411,0.00,2.20,0.00,0.000,4,0.000,0.058,2385,3360,3401,0,0,0,0,0,0 $GC,1430,-0.74,-146.0,186.2,-9.6,171,1437,0.00,2.22,0.00,0.000,6,0.000,0.045,2385,1956,3401,0,0,0,0,0,0 $GC,1760,-0.74,-146.0,217.5,-8.2,194,1764,0.00,2.17,0.00,0.000,4,0.000,0.051,2384,548,3401,0,0,0,0,0,0 $GC,1922,-0.74,-146.0,232.1,-8.5,201,1927,0.00,2.12,0.00,0.000,6,0.000,0.035,2375,1964,3401,0,0,0,0,0,0 $GC,2244,-0.74,-146.0,265.6,-10.6,217,2248,0.00,2.25,0.00,0.000,4,0.000,0.053,2375,549,3401,0,0,0,0,0,0 $GC,2468,-0.74,-146.0,291.8,-10.5,227,2473,0.12,2.12,0.00,0.000,6,0.170,0.038,2398,1962,3401,0,0,0,0,0,0 $GC,2789,-0.74,-146.0,316.9,-8.0,238,2793,0.00,2.20,0.00,0.000,4,0.000,0.055,2389,3364,3401,0,0,0,0,0,0 $GC,2920,-0.74,-146.0,326.7,-7.4,241,2924,0.00,2.20,0.00,0.000,6,0.000,0.043,2389,1951,3401,0,0,0,0,0,0 $GC,3248,-0.74,-146.0,350.8,-7.6,249,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1951,3400,0,0,0,0,0,0 $GC,3570,-0.74,-146.0,374.3,-6.7,257,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1951,3398,0,0,0,0,0,0 $GC,3895,-0.74,-146.0,399.0,-7.8,265,3899,0.00,2.22,0.00,0.000,4,0.000,0.063,2389,550,3395,0,0,0,0,0,0 $GC,3950,-0.74,-146.0,403.8,-8.4,266,3954,0.00,2.17,0.00,0.000,6,0.000,0.043,2379,1967,3395,0,0,0,0,0,0 $GC,4301,-0.74,-146.0,429.6,-7.5,275,4305,0.00,2.28,0.00,0.000,4,0.000,0.062,2379,546,3393,0,0,0,0,0,0 $GC,4334,-0.74,-146.0,432.4,-8.2,275,4338,0.12,2.17,0.00,0.000,6,0.175,0.045,2403,1960,3393,0,0,0,0,0,0 $STATE,4622,end dive,TARGET_DEPTH_EXCEEDED $STATE,4622,begin apogee $GC,4628,-0.17,0.0,452.7,7.0,282,4750,0.55,0.00,118.35,0.788,6,0.116,0.000,2588,1960,2800,0,0,0,0,0,0 $STATE,4751,end apogee,CONTROL_FINISHED_OK $STATE,4751,begin climb $GC,4754,0.74,146.0,453.4,0.0,285,4890,0.80,2.45,125.40,0.757,4,0.074,0.064,2879,574,2202,0,0,0,0,0,0 $GC,4920,0.74,146.0,434.9,14.3,289,4924,0.00,2.28,0.00,0.000,6,0.000,0.041,2879,1975,2200,0,0,0,0,0,0 $GC,5244,0.74,146.0,389.9,13.6,297,5248,0.00,2.30,0.00,0.000,4,0.000,0.067,2888,568,2195,0,0,0,0,0,0 $GC,5276,0.74,146.0,385.1,13.9,297,5282,0.00,2.22,0.00,0.000,6,0.000,0.044,2888,1976,2195,0,0,0,0,0,0 $GC,5608,0.74,146.0,338.9,13.8,306,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1976,2193,0,0,0,0,0,0 $GC,5932,0.74,146.0,297.1,12.5,314,5936,0.00,2.22,0.00,0.000,4,0.000,0.054,2888,3389,2191,0,0,0,0,0,0 $GC,5994,0.74,146.0,289.0,12.7,316,5999,0.00,2.20,0.00,0.000,6,0.000,0.043,2897,1977,2191,0,0,0,0,0,0 $GC,6309,0.74,146.0,249.1,13.1,332,6313,0.00,2.22,0.00,0.000,4,0.000,0.062,2908,564,2190,0,0,0,0,0,0 $GC,6415,0.74,146.0,235.3,13.0,336,6422,0.12,2.20,0.00,0.000,6,0.150,0.044,2874,1978,2188,0,0,0,0,0,0 $GC,6731,0.74,146.0,200.5,11.1,352,6735,0.00,2.25,0.00,0.000,4,0.000,0.064,2881,568,2188,0,0,0,0,0,0 $GC,6763,0.74,146.0,196.9,10.7,354,6771,0.00,2.22,0.00,0.000,6,0.000,0.044,2881,1982,2188,0,0,0,0,0,0 $GC,7090,0.74,146.0,163.0,10.5,385,7094,0.00,2.17,0.00,0.000,4,0.000,0.055,2882,3384,2188,0,0,0,0,0,0 $GC,7184,0.74,146.0,152.8,11.5,393,7188,0.00,2.22,0.00,0.000,6,0.000,0.048,2892,1969,2187,0,0,0,0,0,0 $GC,7511,0.74,146.0,120.0,10.1,423,7515,0.00,2.20,0.00,0.000,4,0.000,0.060,2902,559,2187,0,0,0,0,0,0 $GC,7573,0.74,146.0,113.1,11.0,428,7577,0.00,2.20,0.00,0.000,6,0.000,0.041,2902,1992,2187,0,0,0,0,0,0 $GC,7900,0.74,146.0,81.3,9.9,458,7904,0.00,2.15,0.00,0.000,4,0.000,0.054,2901,3384,2187,0,0,0,0,0,0 $GC,7962,0.74,146.0,74.0,12.3,467,7968,0.12,2.20,0.00,0.000,6,0.151,0.044,2874,1974,2187,0,0,0,0,0,0 $GC,8295,0.75,160.3,41.9,8.4,528,8315,0.00,2.25,10.75,0.466,4,0.000,0.058,2883,567,2144,0,0,0,0,0,0 $GC,8405,0.77,172.6,32.9,8.5,547,8422,0.00,2.15,11.75,0.460,6,0.000,0.038,2883,1975,2095,0,0,0,0,0,0 $STATE,8728,end climb,SURFACE_DEPTH_REACHED $STATE,8728,begin surface coast $FINISH,0.7,1.023339 $STATE,8762,end surface coast,CONTROL_FINISHED_OK $STATE,8762,begin surface $SM_CCo,8780,56.60,0.453,0,0,1575,300.24 $SM_GC,1.24,0.00,0.00,56.60,0.000,0.000,0.453,24,1979,1575,-8.18,0.54,300.24 $IRIDIUM_FIX,2101.76,-15753.03,270702,080855 $TT8_MAMPS,0.029146 $HUMID,61.65 $INTERNAL_PRESSURE,9.36285 $TCM_TEMP,23.90 $XPDR_PINGS,2 $24V_AH,24.6,6.140 $10V_AH,10.6,6.713 $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,18.500,79.900,266.250,56.600,0.000,25.188,42.775,154.476,19.250,0.000,19.260,1119.130,5241.114,383.793,1990.889,449.477,0.000,1074.914,0.000,1944.384,0.000,119.135,0.000 $DEVICE_MAMPS,228.566,66.729,788.476,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,418.892,348.129,1222.683,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355644 $DATA_FILE_SIZE,35016,615 $CAP_FILE_SIZE,94716,0 $CFSIZE,260165632,251781120 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,020513,134742,2107.208,-15751.973,19,1.0,19,9.8