version: 66.06 glider: 523 mission: 4 dive: 110 start: 5 6 113 17 4 27 data: $ID,523 $MISSION,4 $DIVE,110 $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,-38077.629 $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 $GPS1,165458,2107.383,-15759.811,39,0.9,39,9.8 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.28 $_SM_ANGLEo,-74.3 $GPS2,170411,2107.314,-15759.773,18,0.9,18,9.8 $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,85.6,29257,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.40,0.000,6,0.000,0.000,36,1944,3395,0,0,0,0,0,0 $GC,103,-0.74,-146.0,4.2,-7.9,13,118,9.40,2.22,0.00,0.000,4,0.232,0.048,2393,549,3396,0,0,0,0,0,0 $GC,282,-0.74,-146.0,44.0,-17.3,46,290,0.00,2.20,0.00,0.000,6,0.000,0.038,2385,1958,3398,0,0,0,0,0,0 $GC,616,-0.74,-146.0,93.7,-13.6,98,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1959,3399,0,0,0,0,0,0 $GC,935,-0.74,-146.0,140.1,-14.6,128,939,0.00,2.28,0.00,0.000,4,0.000,0.052,2385,550,3399,0,0,0,0,0,0 $GC,1045,-0.74,-146.0,156.5,-14.9,137,1052,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1967,3399,0,0,0,0,0,0 $GC,1372,-0.74,-146.0,194.0,-10.1,168,1376,0.00,2.25,0.00,0.000,4,0.000,0.051,2376,542,3400,0,0,0,0,0,0 $GC,1404,-0.74,-146.0,197.7,-10.9,170,1410,0.10,2.17,0.00,0.000,6,0.137,0.035,2399,1963,3400,0,0,0,0,0,0 $GC,1720,-0.74,-146.0,223.8,-7.6,187,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1963,3400,0,0,0,0,0,0 $GC,2030,-0.74,-146.0,247.8,-8.0,202,2034,0.00,2.22,0.00,0.000,4,0.000,0.053,2399,552,3401,0,0,0,0,0,0 $GC,2193,-0.74,-146.0,260.3,-8.0,209,2197,0.00,2.12,0.00,0.000,6,0.000,0.036,2393,1961,3401,0,0,0,0,0,0 $GC,2511,-0.74,-146.0,286.4,-8.6,224,2515,0.00,2.20,0.00,0.000,4,0.000,0.055,2381,3368,3401,0,0,0,0,0,0 $GC,2613,-0.74,-146.0,295.4,-8.4,228,2619,0.00,2.17,0.00,0.000,6,0.000,0.043,2381,1956,3401,0,0,0,0,0,0 $GC,2925,-0.74,-146.0,320.0,-7.4,238,2930,0.00,2.22,0.00,0.000,4,0.000,0.058,2381,549,3399,0,0,0,0,0,0 $GC,3016,-0.74,-146.0,327.1,-8.0,240,3021,0.10,2.15,0.00,0.000,6,0.173,0.040,2398,1957,3398,0,0,0,0,0,0 $GC,3342,-0.74,-146.0,350.8,-7.5,248,3346,0.00,2.17,0.00,0.000,4,0.000,0.055,2389,3365,3396,0,0,0,0,0,0 $GC,3376,-0.74,-146.0,353.9,-8.8,248,3381,0.00,2.17,0.00,0.000,6,0.000,0.043,2389,1952,3396,0,0,0,0,0,0 $GC,3709,-0.74,-146.0,383.8,-9.1,257,3713,0.00,2.20,0.00,0.000,4,0.000,0.059,2389,551,3394,0,0,0,0,0,0 $GC,3743,-0.74,-146.0,387.7,-11.0,257,3748,0.00,2.17,0.00,0.000,6,0.000,0.041,2379,1970,3394,0,0,0,0,0,0 $GC,4075,-0.74,-146.0,420.6,-9.4,266,4079,0.00,2.17,0.00,0.000,4,0.000,0.057,2369,3363,3391,0,0,0,0,0,0 $GC,4131,-0.74,-146.0,425.7,-8.9,267,4136,0.12,2.17,0.00,0.000,6,0.150,0.044,2403,1957,3391,0,0,0,0,0,0 $GC,4446,-0.74,-146.0,447.9,-7.0,275,4450,0.00,2.20,0.00,0.000,4,0.000,0.060,2404,554,3389,0,0,0,0,0,0 $STATE,4471,end dive,TARGET_DEPTH_EXCEEDED $STATE,4471,begin apogee $GC,4480,-0.17,0.0,450.2,7.6,275,4601,0.55,0.00,118.18,0.785,6,0.123,0.000,2578,1972,2800,0,0,0,0,0,0 $STATE,4602,end apogee,CONTROL_FINISHED_OK $STATE,4602,begin climb $GC,4605,0.74,146.0,452.1,0.0,278,4739,0.85,2.33,124.55,0.755,4,0.079,0.052,2870,3384,2203,0,0,0,0,0,0 $GC,4778,0.74,146.0,433.9,14.0,282,4783,0.00,2.30,0.00,0.000,6,0.000,0.049,2879,1983,2200,0,0,0,0,0,0 $GC,5092,0.74,146.0,391.8,13.5,290,5096,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,564,2195,0,0,0,0,0,0 $GC,5147,0.74,146.0,384.0,13.6,291,5151,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1983,2194,0,0,0,0,0,0 $GC,5495,0.74,146.0,334.2,14.3,300,5499,0.00,2.15,0.00,0.000,4,0.000,0.053,2890,3382,2192,0,0,0,0,0,0 $GC,5523,0.74,146.0,329.9,14.9,300,5527,0.00,2.20,0.00,0.000,6,0.000,0.048,2900,1968,2192,0,0,0,0,0,0 $GC,5835,0.74,146.0,284.6,14.1,310,5839,0.00,2.22,0.00,0.000,4,0.000,0.061,2910,568,2191,0,0,0,0,0,0 $GC,5908,0.74,146.0,273.5,14.7,313,5913,0.12,2.15,0.00,0.000,6,0.153,0.041,2877,1977,2190,0,0,0,0,0,0 $GC,6224,0.74,146.0,234.2,11.3,328,6228,0.00,2.17,0.00,0.000,4,0.000,0.054,2876,3381,2189,0,0,0,0,0,0 $GC,6296,0.74,146.0,225.5,12.1,331,6300,0.00,2.20,0.00,0.000,6,0.000,0.048,2885,1974,2188,0,0,0,0,0,0 $GC,6621,0.74,146.0,191.3,10.8,350,6625,0.00,2.20,0.00,0.000,4,0.000,0.061,2895,564,2188,0,0,0,0,0,0 $GC,6727,0.74,146.0,180.5,10.3,359,6735,0.00,2.20,0.00,0.000,6,0.000,0.041,2895,1978,2187,0,0,0,0,0,0 $GC,7055,0.74,146.0,143.6,11.3,390,7059,0.00,2.25,0.00,0.000,4,0.000,0.063,2904,566,2186,0,0,0,0,0,0 $GC,7074,0.74,146.0,141.3,11.5,391,7078,0.00,2.20,0.00,0.000,6,0.000,0.045,2905,1983,2186,0,0,0,0,0,0 $GC,7401,0.74,146.0,99.8,11.9,421,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1984,2186,0,0,0,0,0,0 $GC,7720,0.74,146.0,61.0,12.4,464,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1984,2186,0,0,0,0,0,0 $GC,8054,0.74,146.0,26.1,9.3,525,8061,0.00,2.28,0.00,0.000,4,0.000,0.059,2913,571,2187,0,0,0,0,0,0 $GC,8188,0.74,146.0,14.1,9.4,550,8196,0.10,2.17,0.00,0.000,6,0.110,0.041,2876,1971,2187,0,0,0,0,0,0 $STATE,8328,end climb,SURFACE_DEPTH_REACHED $STATE,8329,begin surface coast $FINISH,0.4,1.004812 $STATE,8366,end surface coast,CONTROL_FINISHED_OK $STATE,8366,begin surface $SM_CCo,8384,67.78,0.459,0,0,1574,300.24 $SM_GC,1.23,0.00,0.00,67.78,0.000,0.000,0.459,28,1974,1574,-8.16,0.40,300.24 $IRIDIUM_FIX,2057.14,-15753.90,310702,171742 $TT8_MAMPS,0.028379 $HUMID,61.85 $INTERNAL_PRESSURE,9.36285 $TCM_TEMP,23.60 $XPDR_PINGS,1 $24V_AH,24.6,9.364 $10V_AH,10.5,10.242 $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,18.575,79.425,242.725,67.775,0.000,59.641,69.570,227.088,19.000,0.000,19.003,1069.885,5090.752,377.179,1883.721,583.537,0.000,1042.204,0.000,1832.622,0.000,119.121,0.000 $DEVICE_MAMPS,231.634,62.894,784.641,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,396.769,337.130,1132.411,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355628 $DATA_FILE_SIZE,31879,583 $CAP_FILE_SIZE,95314,0 $CFSIZE,260165632,249896960 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,060513,192612,2107.232,-15758.569,14,1.0,14,9.8