version: 66.06 glider: 523 mission: 4 dive: 96 start: 5 5 113 5 34 40 data: $ID,523 $MISSION,4 $DIVE,96 $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,-37764.613 $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,26 $R_STBD_OVSHOOT,29 $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 $GPS1,052858,2059.445,-15751.746,36,0.8,36,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.31 $_SM_ANGLEo,-77.2 $GPS2,053423,2059.492,-15751.712,17,0.9,17,9.8 $SPEED_LIMITS,0.157,0.252 $TGT_NAME,D_WEST $TGT_LATLONG,2108.334,-15802.064 $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,302.7,24248,-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,-77.32,0.000,6,0.000,0.000,51,1989,3395,0,0,0,0,0,0 $GC,103,-0.74,-146.0,4.3,-7.4,13,118,9.38,2.28,0.00,0.000,4,0.233,0.043,2390,541,3397,0,0,0,0,0,0 $GC,355,-0.74,-146.0,60.2,-19.3,60,362,0.00,2.20,0.00,0.000,6,0.000,0.035,2381,1970,3399,0,0,0,0,0,0 $GC,687,-0.74,-146.0,110.5,-15.0,102,691,0.00,2.25,0.00,0.000,4,0.000,0.053,2381,549,3400,0,0,0,0,0,0 $GC,938,-0.74,-146.0,147.9,-14.5,124,946,0.00,2.15,0.00,0.000,6,0.000,0.034,2372,1962,3400,0,0,0,0,0,0 $GC,1266,-0.74,-146.0,185.6,-10.9,155,1273,0.10,0.00,0.00,0.000,6,0.170,0.000,2398,1962,3401,0,0,0,0,0,0 $GC,1586,-0.74,-146.0,213.4,-8.6,178,1590,0.00,2.25,0.00,0.000,4,0.000,0.049,2398,542,3402,0,0,0,0,0,0 $GC,1698,-0.74,-146.0,224.1,-10.4,183,1702,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1961,3402,0,0,0,0,0,0 $GC,2027,-0.74,-146.0,252.9,-7.5,199,2031,0.00,2.15,0.00,0.000,4,0.000,0.054,2379,3363,3402,0,0,0,0,0,0 $GC,2055,-0.74,-146.0,255.5,-8.5,200,2059,0.00,2.20,0.00,0.000,6,0.000,0.042,2379,1948,3402,0,0,0,0,0,0 $GC,2379,-0.74,-146.0,282.2,-7.8,216,2383,0.00,2.20,0.00,0.000,4,0.000,0.056,2379,550,3402,0,0,0,0,0,0 $GC,2586,-0.74,-146.0,300.8,-8.0,225,2591,0.12,2.15,0.00,0.000,6,0.173,0.038,2404,1969,3402,0,0,0,0,0,0 $GC,2918,-0.74,-146.0,321.3,-6.5,233,2922,0.00,2.17,0.00,0.000,4,0.000,0.057,2394,3373,3401,0,0,0,0,0,0 $GC,3082,-0.74,-146.0,335.3,-8.7,236,3086,0.00,2.17,0.00,0.000,6,0.000,0.041,2394,1961,3401,0,0,0,0,0,0 $GC,3419,-0.74,-146.0,359.5,-6.7,245,3424,0.00,2.25,0.00,0.000,4,0.000,0.064,2394,553,3398,0,0,0,0,0,0 $GC,3544,-0.74,-146.0,369.7,-8.0,247,3549,0.00,2.15,0.00,0.000,6,0.000,0.044,2384,1956,3397,0,0,0,0,0,0 $GC,3881,-0.74,-146.0,394.9,-6.9,256,3885,0.00,2.20,0.00,0.000,4,0.000,0.057,2374,3377,3395,0,0,0,0,0,0 $GC,3936,-0.74,-146.0,398.9,-7.2,257,3940,0.00,2.22,0.00,0.000,6,0.000,0.044,2374,1950,3395,0,0,0,0,0,0 $GC,4250,-0.74,-146.0,421.7,-7.5,265,4254,0.00,2.22,0.00,0.000,4,0.000,0.058,2365,3367,3392,0,0,0,0,0,0 $GC,4369,-0.74,-146.0,432.3,-8.9,267,4374,0.12,2.20,0.00,0.000,6,0.150,0.047,2398,1954,3391,0,0,0,0,0,0 $STATE,4623,end dive,TARGET_DEPTH_EXCEEDED $STATE,4623,begin apogee $GC,4629,-0.17,0.0,452.5,8.0,274,4751,0.55,0.00,118.60,0.795,6,0.118,0.000,2581,1955,2799,0,0,0,0,0,0 $STATE,4751,end apogee,CONTROL_FINISHED_OK $STATE,4752,begin climb $GC,4754,0.74,146.0,455.9,0.0,277,4891,0.85,2.50,125.40,0.765,4,0.077,0.055,2876,3387,2202,0,0,0,0,0,0 $GC,4925,0.74,146.0,439.5,14.7,281,4929,0.00,2.35,0.00,0.000,6,0.000,0.050,2885,1978,2199,0,0,0,0,0,0 $GC,5243,0.74,146.0,396.4,13.9,289,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1978,2195,0,0,0,0,0,0 $GC,5568,0.74,146.0,352.4,13.3,297,5572,0.00,2.25,0.00,0.000,4,0.000,0.061,2895,555,2193,0,0,0,0,0,0 $GC,5589,0.74,146.0,349.4,13.2,297,5593,0.00,2.20,0.00,0.000,6,0.000,0.041,2895,1979,2192,0,0,0,0,0,0 $GC,5931,0.74,146.0,301.4,14.2,306,5935,0.00,2.17,0.00,0.000,4,0.000,0.055,2895,3380,2190,0,0,0,0,0,0 $GC,5992,0.74,146.0,291.4,16.3,307,5998,0.00,2.22,0.00,0.000,6,0.000,0.047,2905,1964,2190,0,0,0,0,0,0 $GC,6308,0.74,146.0,246.1,13.7,323,6312,0.00,2.20,0.00,0.000,4,0.000,0.061,2915,569,2189,0,0,0,0,0,0 $GC,6436,0.74,146.0,227.8,13.8,328,6443,0.12,2.20,0.00,0.000,6,0.151,0.045,2881,1980,2187,0,0,0,0,0,0 $GC,6756,0.74,146.0,192.1,11.1,347,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1979,2187,0,0,0,0,0,0 $GC,7076,0.74,146.0,160.9,9.2,377,7080,0.00,2.17,0.00,0.000,4,0.000,0.054,2881,3383,2186,0,0,0,0,0,0 $GC,7140,0.74,146.0,153.3,11.4,382,7148,0.00,2.22,0.00,0.000,6,0.000,0.047,2887,1976,2186,0,0,0,0,0,0 $GC,7467,0.74,146.0,121.7,9.7,413,7471,0.00,2.22,0.00,0.000,4,0.000,0.059,2898,557,2185,0,0,0,0,0,0 $GC,7518,0.74,146.0,116.6,10.1,417,7522,0.00,2.20,0.00,0.000,6,0.000,0.041,2898,1989,2185,0,0,0,0,0,0 $GC,7846,0.74,146.0,83.6,10.5,447,7850,0.00,2.25,0.00,0.000,4,0.000,0.062,2907,563,2185,0,0,0,0,0,0 $GC,7892,0.74,146.0,78.4,11.1,451,7898,0.00,2.17,0.00,0.000,6,0.000,0.043,2907,1969,2185,0,0,0,0,0,0 $GC,8222,0.74,146.0,43.5,9.1,512,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1970,2185,0,0,0,0,0,0 $GC,8551,0.74,152.4,13.9,8.8,573,8559,0.00,2.28,3.55,0.314,4,0.000,0.056,2908,560,2180,0,0,0,0,0,0 $STATE,8680,end climb,SURFACE_DEPTH_REACHED $STATE,8680,begin surface coast $FINISH,2.2,1.023165 $STATE,8687,end surface coast,CONTROL_FINISHED_OK $STATE,8687,begin surface $SM_CCo,8707,73.03,0.456,0,0,1574,300.24 $SM_GC,1.35,0.00,0.00,73.03,0.000,0.000,0.456,32,1979,1574,-8.16,0.54,300.24 $IRIDIUM_FIX,2050.21,-15759.92,300702,030349 $TT8_MAMPS,0.027612 $HUMID,60.43 $INTERNAL_PRESSURE,9.36285 $TCM_TEMP,24.10 $XPDR_PINGS,1 $24V_AH,24.6,8.230 $10V_AH,10.4,9.011 $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,18.825,75.400,247.550,73.025,0.000,27.260,32.823,142.011,19.000,0.000,18.015,1108.772,5187.208,383.842,2007.158,420.021,0.000,1085.134,0.000,1954.587,0.000,117.252,0.000 $DEVICE_MAMPS,233.168,64.428,795.379,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,407.347,340.525,1173.259,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355668 $DATA_FILE_SIZE,31837,598 $CAP_FILE_SIZE,93476,0 $CFSIZE,260165632,250560512 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,050513,080154,2059.701,-15752.890,14,1.2,14,9.8