version: 66.06 glider: 523 mission: 4 dive: 188 start: 5 14 113 20 35 49 data: $ID,523 $MISSION,4 $DIVE,188 $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,-39610.551 $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,30 $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 $GPS1,202913,2102.400,-15746.850,16,1.3,16,9.8 $_CALLS,1 $_XMS_NAKs,6 $_XMS_TOUTs,0 $_SM_DEPTHo,1.37 $_SM_ANGLEo,-74.5 $GPS2,203533,2102.467,-15746.894,28,0.7,28,9.8 $SPEED_LIMITS,0.157,0.252 $TGT_NAME,D_SOUTH $TGT_LATLONG,2057.918,-15749.860 $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,201.5,9865,-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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.20,0.000,2,0.000,0.000,24,1990,3372,0,0,0,0,0,0 $GC,99,-0.74,-146.0,3.1,-4.1,12,115,9.40,2.30,-0.50,0.000,4,0.226,0.064,2395,547,3397,0,0,0,0,0,0 $GC,316,-0.74,-146.0,49.4,-19.9,51,321,0.00,2.17,0.00,0.000,6,0.000,0.035,2387,1966,3398,0,0,0,0,0,0 $GC,648,-0.74,-146.0,106.4,-16.0,98,652,0.00,2.25,0.00,0.000,4,0.000,0.054,2387,554,3399,0,0,0,0,0,0 $GC,854,-0.74,-146.0,136.0,-13.4,116,858,0.00,2.12,0.00,0.000,6,0.000,0.032,2377,1967,3400,0,0,0,0,0,0 $GC,1181,-0.74,-146.0,176.9,-12.6,146,1186,0.00,2.25,0.00,0.000,4,0.000,0.051,2378,544,3401,0,0,0,0,0,0 $GC,1234,-0.74,-146.0,183.2,-12.0,150,1238,0.12,2.15,0.00,0.000,6,0.169,0.033,2399,1974,3401,0,0,0,0,0,0 $GC,1565,-0.74,-146.0,214.6,-8.7,173,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1974,3402,0,0,0,0,0,0 $GC,1878,-0.74,-146.0,241.6,-7.8,188,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1974,3402,0,0,0,0,0,0 $GC,2183,-0.74,-146.0,266.9,-7.5,203,2187,0.00,2.17,0.00,0.000,4,0.000,0.052,2391,3356,3402,0,0,0,0,0,0 $GC,2315,-0.74,-146.0,276.6,-8.0,209,2319,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1954,3402,0,0,0,0,0,0 $GC,2661,-0.74,-146.0,309.4,-10.2,224,2665,0.00,2.22,0.00,0.000,4,0.000,0.057,2391,551,3402,0,0,0,0,0,0 $GC,2874,-0.74,-146.0,328.4,-8.4,228,2879,0.00,2.15,0.00,0.000,6,0.000,0.037,2381,1967,3401,0,0,0,0,0,0 $GC,3208,-0.74,-146.0,352.5,-7.5,237,3212,0.00,2.17,0.00,0.000,4,0.000,0.054,2371,3362,3399,0,0,0,0,0,0 $GC,3281,-0.74,-146.0,358.6,-8.4,238,3286,0.12,2.15,0.00,0.000,6,0.151,0.039,2404,1953,3399,0,0,0,0,0,0 $GC,3616,-0.74,-146.0,381.6,-6.6,246,3620,0.00,2.25,0.00,0.000,4,0.000,0.054,2396,3366,3397,0,0,0,0,0,0 $GC,3712,-0.74,-146.0,387.6,-5.9,248,3716,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1951,3397,0,0,0,0,0,0 $GC,4024,-0.74,-146.0,408.0,-6.8,256,4028,0.00,2.20,0.00,0.000,4,0.000,0.061,2396,547,3394,0,0,0,0,0,0 $GC,4249,-0.74,-146.0,424.8,-7.7,261,4254,0.00,2.15,0.00,0.000,6,0.000,0.041,2386,1962,3392,0,0,0,0,0,0 $GC,4576,-0.74,-146.0,447.0,-6.6,269,4580,0.00,2.25,0.00,0.000,4,0.000,0.058,2386,548,3391,0,0,0,0,0,0 $STATE,4612,end dive,TARGET_DEPTH_EXCEEDED $STATE,4612,begin apogee $GC,4621,-0.17,0.0,450.5,8.4,269,4742,0.62,0.00,118.07,0.786,6,0.125,0.000,2581,1980,2800,0,0,0,0,0,0 $STATE,4743,end apogee,CONTROL_FINISHED_OK $STATE,4743,begin climb $GC,4746,0.74,146.0,453.0,0.0,272,4876,0.85,0.00,125.95,0.755,6,0.080,0.000,2872,1979,2204,0,0,0,0,0,0 $GC,5194,0.74,146.0,397.3,12.8,283,5199,0.00,2.30,0.00,0.000,4,0.000,0.062,2882,572,2195,0,0,0,0,0,0 $GC,5268,0.74,146.0,387.1,13.1,284,5272,0.00,2.17,0.00,0.000,6,0.000,0.042,2882,1974,2194,0,0,0,0,0,0 $GC,5599,0.74,146.0,340.4,13.9,292,5603,0.00,2.22,0.00,0.000,4,0.000,0.054,2882,3388,2192,0,0,0,0,0,0 $GC,5711,0.74,146.0,324.2,15.1,294,5715,0.00,2.25,0.00,0.000,6,0.000,0.049,2891,1973,2190,0,0,0,0,0,0 $GC,6041,0.74,146.0,277.4,13.9,306,6045,0.00,2.25,0.00,0.000,4,0.000,0.060,2902,554,2189,0,0,0,0,0,0 $GC,6131,0.74,146.0,263.9,15.2,310,6135,0.00,2.22,0.00,0.000,6,0.000,0.042,2902,1984,2188,0,0,0,0,0,0 $GC,6452,0.74,146.0,219.7,13.6,326,6456,0.00,2.17,0.00,0.000,4,0.000,0.054,2902,3385,2188,0,0,0,0,0,0 $GC,6575,0.74,146.0,201.0,14.0,331,6581,0.12,2.25,0.00,0.000,6,0.160,0.051,2877,1965,2187,0,0,0,0,0,0 $GC,6901,0.74,146.0,167.2,10.2,361,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1965,2187,0,0,0,0,0,0 $GC,7222,0.74,146.0,135.5,9.8,391,7225,0.00,2.22,0.00,0.000,4,0.000,0.058,2886,559,2186,0,0,0,0,0,0 $GC,7306,0.74,146.0,125.9,11.2,398,7310,0.00,2.17,0.00,0.000,6,0.000,0.042,2886,1981,2186,0,0,0,0,0,0 $GC,7633,0.74,146.0,90.5,9.3,428,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1981,2186,0,0,0,0,0,0 $GC,7954,0.81,203.7,64.9,6.6,476,8007,0.00,0.00,45.58,0.515,6,0.000,0.000,2886,1981,1969,0,0,0,0,0,0 $GC,8337,0.81,203.7,28.7,10.4,545,8345,0.00,2.35,0.00,0.000,4,0.000,0.058,2895,562,1966,0,0,0,0,0,0 $GC,8384,0.81,203.7,23.7,10.3,553,8392,0.00,2.20,0.00,0.000,6,0.000,0.039,2895,1966,1966,0,0,0,0,0,0 $GC,8554,0.81,203.7,8.1,9.1,584,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1966,1966,0,0,0,0,0,0 $STATE,8612,end climb,SURFACE_DEPTH_REACHED $STATE,8612,begin surface coast $FINISH,0.7,1.023208 $STATE,8650,end surface coast,CONTROL_FINISHED_OK $STATE,8650,begin surface $SM_CCo,8668,48.03,0.446,0,0,1575,300.24 $SM_GC,1.43,0.00,0.00,48.03,0.000,0.000,0.446,51,1976,1575,-8.09,0.48,300.24 $IRIDIUM_FIX,2052.52,-15742.34,080802,181819 $TT8_MAMPS,0.026845 $HUMID,62.12 $INTERNAL_PRESSURE,9.38238 $TCM_TEMP,24.30 $XPDR_PINGS,2 $24V_AH,24.7,15.566 $10V_AH,10.5,17.056 $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,18.500,66.375,289.600,48.025,0.000,28.946,34.519,179.127,19.250,0.000,28.619,1106.167,5103.441,398.936,2022.145,464.386,0.000,1084.128,0.000,1960.920,0.000,121.065,0.000 $DEVICE_MAMPS,226.265,63.661,786.175,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,409.170,338.125,1176.582,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355668 $DATA_FILE_SIZE,31912,602 $CAP_FILE_SIZE,92687,0 $CFSIZE,260165632,246263808 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,140513,230159,2101.967,-15746.941,15,1.2,15,9.8