version: 66.06 glider: 523 mission: 4 dive: 192 start: 5 15 113 6 43 3 data: $ID,523 $MISSION,4 $DIVE,192 $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,-39699.012 $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,28 $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 $GPS1,063652,2100.135,-15748.067,39,0.9,39,9.8 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.41 $_SM_ANGLEo,-72.2 $GPS2,064247,2100.139,-15748.113,23,0.9,23,9.8 $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,206.5,5103,-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,-77.35,0.000,6,0.000,0.000,30,1982,3397,0,0,0,0,0,0 $GC,103,-0.74,-146.0,4.0,-6.6,13,118,9.45,2.17,0.00,0.000,4,0.229,0.044,2385,3382,3398,0,0,0,0,0,0 $GC,288,-0.74,-146.0,48.1,-18.4,47,294,0.00,2.25,0.00,0.000,6,0.000,0.041,2385,1955,3401,0,0,0,0,0,0 $GC,619,-0.74,-146.0,102.1,-14.0,94,623,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,551,3401,0,0,0,0,0,0 $GC,869,-0.74,-146.0,139.5,-13.5,116,877,0.00,2.15,0.00,0.000,6,0.000,0.034,2375,1965,3402,0,0,0,0,0,0 $GC,1197,-0.74,-146.0,180.9,-12.0,147,1201,0.00,2.28,0.00,0.000,4,0.000,0.052,2376,541,3402,0,0,0,0,0,0 $GC,1357,-0.74,-146.0,201.2,-12.5,161,1361,0.12,2.12,0.00,0.000,6,0.165,0.034,2399,1966,3403,0,0,0,0,0,0 $GC,1678,-0.74,-146.0,230.6,-8.6,177,1682,0.00,2.15,0.00,0.000,4,0.000,0.053,2390,3357,3403,0,0,0,0,0,0 $GC,1798,-0.74,-146.0,242.1,-10.1,182,1802,0.00,2.20,0.00,0.000,6,0.000,0.042,2390,1955,3403,0,0,0,0,0,0 $GC,2117,-0.74,-146.0,269.8,-8.1,197,2122,0.00,2.22,0.00,0.000,4,0.000,0.056,2391,551,3403,0,0,0,0,0,0 $GC,2256,-0.74,-146.0,283.3,-9.0,203,2260,0.00,2.12,0.00,0.000,6,0.000,0.036,2380,1958,3403,0,0,0,0,0,0 $GC,2601,-0.74,-146.0,310.8,-8.6,217,2605,0.00,2.20,0.00,0.000,4,0.000,0.054,2370,3366,3403,0,0,0,0,0,0 $GC,2708,-0.74,-146.0,318.8,-6.9,219,2712,0.12,2.20,0.00,0.000,6,0.154,0.043,2404,1957,3403,0,0,0,0,0,0 $GC,3052,-0.74,-146.0,343.4,-7.7,228,3056,0.00,2.22,0.00,0.000,4,0.000,0.062,2404,553,3401,0,0,0,0,0,0 $GC,3311,-0.74,-146.0,365.7,-8.2,233,3317,0.00,2.12,0.00,0.000,6,0.000,0.041,2397,1955,3399,0,0,0,0,0,0 $GC,3643,-0.74,-146.0,388.8,-7.1,242,3647,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,3370,3397,0,0,0,0,0,0 $GC,3738,-0.74,-146.0,395.7,-7.2,244,3742,0.00,2.20,0.00,0.000,6,0.000,0.043,2386,1953,3396,0,0,0,0,0,0 $GC,4063,-0.74,-146.0,418.3,-6.7,252,4067,0.00,2.25,0.00,0.000,4,0.000,0.065,2385,546,3394,0,0,0,0,0,0 $GC,4096,-0.74,-146.0,420.9,-7.9,252,4101,0.00,2.20,0.00,0.000,6,0.000,0.044,2376,1969,3394,0,0,0,0,0,0 $GC,4427,-0.74,-146.0,443.0,-6.7,261,4431,0.00,2.30,0.00,0.000,4,0.000,0.064,2376,554,3392,0,0,0,0,0,0 $STATE,4520,end dive,TARGET_DEPTH_EXCEEDED $STATE,4520,begin apogee $GC,4529,-0.17,0.0,450.4,7.3,263,4651,0.65,0.00,117.97,0.785,6,0.130,0.000,2578,1984,2800,0,0,0,0,0,0 $STATE,4651,end apogee,CONTROL_FINISHED_OK $STATE,4651,begin climb $GC,4654,0.74,146.0,453.0,0.0,266,4784,0.88,0.00,126.10,0.755,6,0.081,0.000,2872,1984,2203,0,0,0,0,0,0 $GC,5091,0.74,146.0,397.5,14.3,277,5095,0.00,2.35,0.00,0.000,4,0.000,0.066,2882,569,2195,0,0,0,0,0,0 $GC,5175,0.74,146.0,385.0,14.8,279,5179,0.00,2.22,0.00,0.000,6,0.000,0.044,2882,1989,2194,0,0,0,0,0,0 $GC,5499,0.74,146.0,340.1,13.2,287,5504,0.00,2.33,0.00,0.000,4,0.000,0.068,2892,565,2192,0,0,0,0,0,0 $GC,5533,0.74,146.0,335.3,14.8,287,5538,0.00,2.20,0.00,0.000,6,0.000,0.041,2892,1981,2192,0,0,0,0,0,0 $GC,5845,0.74,146.0,291.6,13.7,296,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1982,2190,0,0,0,0,0,0 $GC,6153,0.74,146.0,248.2,13.2,311,6157,0.00,2.17,0.00,0.000,4,0.000,0.055,2892,3389,2189,0,0,0,0,0,0 $GC,6226,0.74,146.0,238.1,13.9,314,6230,0.00,2.25,0.00,0.000,6,0.000,0.051,2900,1979,2188,0,0,0,0,0,0 $GC,6544,0.74,146.0,196.0,12.5,330,6548,0.00,2.22,0.00,0.000,4,0.000,0.058,2901,3388,2187,0,0,0,0,0,0 $GC,6575,0.74,146.0,192.5,12.9,332,6580,0.12,2.25,0.00,0.000,6,0.159,0.048,2876,1961,2187,0,0,0,0,0,0 $GC,6902,0.74,146.0,166.2,9.3,362,6905,0.00,2.17,0.00,0.000,4,0.000,0.060,2885,566,2186,0,0,0,0,0,0 $GC,6955,0.74,146.0,160.2,10.9,366,6963,0.00,2.20,0.00,0.000,6,0.000,0.041,2885,1980,2186,0,0,0,0,0,0 $GC,7282,0.74,146.0,127.7,9.5,397,7286,0.00,2.15,0.00,0.000,4,0.000,0.054,2885,3384,2186,0,0,0,0,0,0 $GC,7336,0.74,146.0,121.8,11.0,401,7343,0.00,2.25,0.00,0.000,6,0.000,0.047,2894,1971,2186,0,0,0,0,0,0 $GC,7663,0.74,146.0,87.8,10.8,432,7667,0.00,2.20,0.00,0.000,4,0.000,0.054,2893,3388,2186,0,0,0,0,0,0 $GC,7694,0.74,146.0,83.9,10.9,434,7702,0.00,2.20,0.00,0.000,6,0.000,0.041,2895,1974,2186,0,0,0,0,0,0 $GC,8024,0.74,146.0,46.6,10.3,492,8032,0.00,2.22,0.00,0.000,4,0.000,0.055,2906,562,2186,0,0,0,0,0,0 $GC,8164,0.74,146.0,31.4,10.5,517,8170,0.00,2.15,0.00,0.000,6,0.000,0.038,2906,1987,2186,0,0,0,0,0,0 $STATE,8463,end climb,SURFACE_DEPTH_REACHED $STATE,8463,begin surface coast $FINISH,0.7,1.023287 $STATE,8497,end surface coast,CONTROL_FINISHED_OK $STATE,8498,begin surface $SM_CCo,8515,66.60,0.449,0,0,1574,300.24 $SM_GC,1.51,0.00,0.00,66.60,0.000,0.000,0.449,38,1999,1574,-8.13,1.13,300.24 $IRIDIUM_FIX,2059.45,-15753.90,090802,040457 $TT8_MAMPS,0.028379 $HUMID,62.16 $INTERNAL_PRESSURE,9.36285 $TCM_TEMP,24.00 $XPDR_PINGS,1 $ALTIM_BOTTOM_PING,432.2,56.8 $24V_AH,24.7,15.893 $10V_AH,10.4,17.414 $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,18.575,79.600,244.075,66.600,0.000,26.389,35.337,156.624,18.250,0.000,23.517,1091.429,5030.315,404.369,1961.857,448.226,0.000,1072.262,0.000,1908.838,0.000,115.965,0.000 $DEVICE_MAMPS,229.333,68.263,785.408,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,394.521,330.814,1140.322,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355668 $DATA_FILE_SIZE,31828,580 $CAP_FILE_SIZE,92180,0 $CFSIZE,260165632,246071296 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,150513,090659,2059.466,-15748.346,15,1.1,15,9.8