version: 66.06 glider: 523 mission: 4 dive: 103 start: 5 5 113 23 25 16 data: $ID,523 $MISSION,4 $DIVE,103 $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,-37925.48 $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,30 $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 $GPS1,231436,2103.489,-15759.464,17,1.1,17,9.8 $_CALLS,2 $_XMS_NAKs,4 $_XMS_TOUTs,0 $_SM_DEPTHo,1.29 $_SM_ANGLEo,-71.0 $GPS2,232459,2103.571,-15759.552,17,1.0,17,9.8 $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,324.0,9832,-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,-78.12,0.000,6,0.000,0.000,35,1986,3395,0,0,0,0,0,0 $GC,103,-0.74,-146.0,3.7,-6.3,13,118,9.43,2.30,0.00,0.000,4,0.233,0.048,2394,550,3396,0,0,0,0,0,0 $GC,247,-0.74,-146.0,37.4,-17.4,39,252,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1966,3398,0,0,0,0,0,0 $GC,585,-0.74,-146.0,89.5,-14.4,95,590,0.00,2.33,0.00,0.000,4,0.000,0.054,2386,546,3398,0,0,0,0,0,0 $GC,674,-0.74,-146.0,102.1,-13.8,103,678,0.00,2.17,0.00,0.000,6,0.000,0.036,2377,1966,3398,0,0,0,0,0,0 $GC,1001,-0.74,-146.0,148.6,-12.8,133,1005,0.00,2.28,0.00,0.000,4,0.000,0.053,2377,540,3399,0,0,0,0,0,0 $GC,1163,-0.74,-146.0,171.0,-12.0,147,1168,0.12,2.15,0.00,0.000,6,0.170,0.035,2399,1963,3399,0,0,0,0,0,0 $GC,1492,-0.74,-146.0,205.3,-11.1,176,1496,0.00,2.30,0.00,0.000,4,0.000,0.052,2400,539,3400,0,0,0,0,0,0 $GC,1533,-0.74,-146.0,210.1,-11.8,178,1537,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1960,3400,0,0,0,0,0,0 $GC,1860,-0.74,-146.0,242.5,-8.7,194,1863,0.00,2.17,0.00,0.000,4,0.000,0.054,2381,3360,3400,0,0,0,0,0,0 $GC,2012,-0.74,-146.0,255.8,-8.7,201,2016,0.00,2.20,0.00,0.000,6,0.000,0.044,2381,1947,3400,0,0,0,0,0,0 $GC,2344,-0.74,-146.0,283.1,-7.3,217,2348,0.00,2.20,0.00,0.000,4,0.000,0.055,2381,546,3400,0,0,0,0,0,0 $GC,2452,-0.74,-146.0,293.0,-9.9,222,2457,0.12,2.15,0.00,0.000,6,0.165,0.038,2405,1962,3400,0,0,0,0,0,0 $GC,2798,-0.74,-146.0,322.0,-8.2,233,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1962,3400,0,0,0,0,0,0 $GC,3122,-0.74,-146.0,347.5,-7.5,241,3126,0.00,2.15,0.00,0.000,4,0.000,0.058,2397,3363,3397,0,0,0,0,0,0 $GC,3163,-0.74,-146.0,350.7,-8.0,242,3167,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1954,3397,0,0,0,0,0,0 $GC,3491,-0.74,-146.0,375.9,-7.9,250,3495,0.00,2.22,0.00,0.000,4,0.000,0.062,2397,555,3395,0,0,0,0,0,0 $GC,3564,-0.74,-146.0,383.1,-9.8,251,3568,0.00,2.15,0.00,0.000,6,0.000,0.041,2387,1957,3394,0,0,0,0,0,0 $GC,3898,-0.74,-146.0,412.7,-8.9,259,3902,0.00,2.15,0.00,0.000,4,0.000,0.056,2377,3366,3392,0,0,0,0,0,0 $GC,3948,-0.74,-146.0,417.4,-8.9,260,3953,0.00,2.17,0.00,0.000,6,0.000,0.043,2377,1962,3391,0,0,0,0,0,0 $GC,4265,-0.74,-146.0,442.6,-7.8,268,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1962,3390,0,0,0,0,0,0 $STATE,4381,end dive,TARGET_DEPTH_EXCEEDED $STATE,4381,begin apogee $GC,4388,-0.17,0.0,452.0,7.8,271,4509,0.62,0.00,118.03,0.783,6,0.121,0.000,2580,1962,2800,0,0,0,0,0,0 $STATE,4510,end apogee,CONTROL_FINISHED_OK $STATE,4510,begin climb $GC,4513,0.74,146.0,453.2,0.0,274,4647,0.82,2.38,125.15,0.752,4,0.077,0.054,2869,3377,2202,0,0,0,0,0,0 $GC,4698,0.74,146.0,432.1,14.6,278,4702,0.00,2.30,0.00,0.000,6,0.000,0.049,2879,1977,2198,0,0,0,0,0,0 $GC,5040,0.74,146.0,381.9,14.5,287,5044,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,559,2194,0,0,0,0,0,0 $GC,5134,0.74,146.0,367.6,14.5,289,5138,0.00,2.20,0.00,0.000,6,0.000,0.043,2890,1971,2192,0,0,0,0,0,0 $GC,5446,0.74,146.0,321.5,14.6,297,5450,0.00,2.20,0.00,0.000,4,0.000,0.054,2890,3384,2191,0,0,0,0,0,0 $GC,5480,0.74,146.0,316.4,15.5,297,5485,0.00,2.25,0.00,0.000,6,0.000,0.050,2897,1971,2190,0,0,0,0,0,0 $GC,5793,0.74,146.0,273.2,13.2,310,5797,0.00,2.20,0.00,0.000,4,0.000,0.061,2909,562,2189,0,0,0,0,0,0 $GC,5866,0.74,146.0,262.8,14.4,313,5871,0.12,2.17,0.00,0.000,6,0.152,0.043,2875,1979,2189,0,0,0,0,0,0 $GC,6181,0.74,146.0,225.7,12.2,328,6185,0.00,2.17,0.00,0.000,4,0.000,0.054,2875,3387,2188,0,0,0,0,0,0 $GC,6272,0.74,146.0,214.5,12.4,332,6276,0.00,2.22,0.00,0.000,6,0.000,0.048,2882,1972,2187,0,0,0,0,0,0 $GC,6597,0.74,146.0,180.1,10.5,356,6601,0.00,2.22,0.00,0.000,4,0.000,0.059,2893,564,2186,0,0,0,0,0,0 $GC,6680,0.74,146.0,170.9,11.2,363,6684,0.00,2.17,0.00,0.000,6,0.000,0.041,2893,1977,2185,0,0,0,0,0,0 $GC,7008,0.74,146.0,133.1,11.5,393,7012,0.00,2.17,0.00,0.000,4,0.000,0.053,2893,3386,2185,0,0,0,0,0,0 $GC,7048,0.74,146.0,127.9,12.4,396,7053,0.00,2.20,0.00,0.000,6,0.000,0.044,2901,1973,2185,0,0,0,0,0,0 $GC,7375,0.74,146.0,87.3,12.3,426,7379,0.00,2.20,0.00,0.000,4,0.000,0.058,2911,568,2185,0,0,0,0,0,0 $GC,7513,0.74,146.0,70.7,12.8,445,7519,0.12,2.15,0.00,0.000,6,0.146,0.039,2876,1976,2185,0,0,0,0,0,0 $GC,7845,0.74,146.0,37.2,10.0,506,7852,0.00,2.22,0.00,0.000,4,0.000,0.051,2876,3381,2186,0,0,0,0,0,0 $GC,7899,0.74,146.0,32.2,9.6,515,7904,0.00,2.20,0.00,0.000,6,0.000,0.040,2882,1965,2186,0,0,0,0,0,0 $GC,8222,0.77,169.2,7.3,8.1,576,8249,0.00,2.25,17.83,0.452,4,0.000,0.055,2892,572,2108,0,0,0,0,0,0 $STATE,8272,end climb,SURFACE_DEPTH_REACHED $STATE,8272,begin surface coast $FINISH,0.4,1.023279 $STATE,8307,end surface coast,CONTROL_FINISHED_OK $STATE,8307,begin surface $SM_CCo,8327,58.45,0.451,0,0,1575,300.24 $SM_GC,1.37,0.00,0.00,58.45,0.000,0.000,0.451,36,1983,1575,-8.14,0.65,300.24 $IRIDIUM_FIX,2050.21,-15802.06,300702,232316 $TT8_MAMPS,0.027612 $HUMID,61.93 $INTERNAL_PRESSURE,9.37261 $TCM_TEMP,23.90 $XPDR_PINGS,2 $24V_AH,24.6,8.797 $10V_AH,10.5,9.630 $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,18.625,83.975,261.000,58.450,0.000,53.281,65.526,298.071,19.250,0.000,17.646,1095.859,4932.949,375.953,1944.531,660.202,0.000,1055.647,0.000,1894.517,0.000,117.238,0.000 $DEVICE_MAMPS,233.168,62.127,783.107,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,401.485,335.580,1163.373,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355620 $DATA_FILE_SIZE,31883,590 $CAP_FILE_SIZE,97879,0 $CFSIZE,260165632,250224640 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,060513,014604,2104.615,-15800.505,23,0.8,23,9.8