version: 66.06 glider: 523 mission: 4 dive: 244 start: 5 20 113 17 54 19 data: $ID,523 $MISSION,4 $DIVE,244 $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,-40673.074 $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,27 $R_STBD_OVSHOOT,27 $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 $GPS1,174505,2103.505,-15755.335,27,0.9,27,9.8 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.42 $_SM_ANGLEo,-77.0 $GPS2,175400,2103.558,-15755.359,15,1.0,15,9.8 $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,297.6,14574,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,16,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-77.57,0.000,6,0.000,0.000,38,1965,3396,0,0,0,0,0,0 $GC,103,-0.74,-146.0,3.8,-5.7,13,117,9.48,2.25,0.00,0.000,4,0.230,0.048,2391,551,3397,0,0,0,0,0,0 $GC,166,-0.74,-146.0,22.4,-20.5,24,174,0.00,2.20,0.00,0.000,6,0.000,0.037,2383,1960,3398,0,0,0,0,0,0 $GC,339,-0.74,-146.0,55.2,-17.0,55,344,0.00,2.30,0.00,0.000,4,0.000,0.054,2383,543,3399,0,0,0,0,0,0 $GC,486,-0.74,-146.0,79.4,-15.5,82,497,0.00,2.20,0.00,0.000,6,0.000,0.036,2373,1963,3399,0,0,0,0,0,0 $GC,814,-0.74,-146.0,126.2,-14.7,113,818,0.00,2.20,0.00,0.000,4,0.000,0.057,2363,3371,3400,0,0,0,0,0,0 $GC,899,-0.74,-146.0,138.4,-13.0,120,904,0.15,2.22,0.00,0.000,6,0.149,0.044,2403,1962,3400,0,0,0,0,0,0 $GC,1226,-0.74,-146.0,172.3,-9.7,150,1230,0.00,2.22,0.00,0.000,4,0.000,0.054,2404,540,3401,0,0,0,0,0,0 $GC,1301,-0.74,-146.0,181.3,-12.4,156,1309,0.00,2.17,0.00,0.000,6,0.000,0.036,2396,1961,3401,0,0,0,0,0,0 $GC,1622,-0.74,-146.0,212.9,-8.2,180,1626,0.00,2.17,0.00,0.000,4,0.000,0.055,2385,3358,3401,0,0,0,0,0,0 $GC,1644,-0.74,-146.0,214.9,-8.5,181,1649,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,1956,3401,0,0,0,0,0,0 $GC,1972,-0.74,-146.0,242.8,-8.7,197,1976,0.00,2.22,0.00,0.000,4,0.000,0.054,2385,548,3402,0,0,0,0,0,0 $GC,2157,-0.74,-146.0,259.5,-7.7,205,2161,0.00,2.15,0.00,0.000,6,0.000,0.037,2376,1958,3401,0,0,0,0,0,0 $GC,2481,-0.74,-146.0,286.7,-9.0,221,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1959,3401,0,0,0,0,0,0 $GC,2805,-0.74,-146.0,314.9,-8.6,233,2810,0.00,2.25,0.00,0.000,4,0.000,0.057,2376,551,3401,0,0,0,0,0,0 $GC,2925,-0.74,-146.0,326.9,-9.6,235,2929,0.12,2.15,0.00,0.000,6,0.164,0.039,2399,1959,3400,0,0,0,0,0,0 $GC,3265,-0.74,-146.0,349.8,-5.9,244,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1960,3399,0,0,0,0,0,0 $GC,3587,-0.74,-146.0,367.6,-5.5,252,3591,0.00,2.33,0.00,0.000,4,0.000,0.061,2400,543,3397,0,0,0,0,0,0 $GC,3627,-0.74,-146.0,370.4,-7.4,253,3632,0.00,2.20,0.00,0.000,6,0.000,0.042,2392,1965,3396,0,0,0,0,0,0 $GC,3954,-0.74,-146.0,394.6,-7.4,261,3959,0.00,2.20,0.00,0.000,4,0.000,0.056,2381,3374,3394,0,0,0,0,0,0 $GC,4026,-0.74,-146.0,400.5,-8.1,262,4031,0.00,2.25,0.00,0.000,6,0.000,0.046,2381,1951,3394,0,0,0,0,0,0 $GC,4366,-0.74,-146.0,426.3,-8.0,271,4370,0.00,2.22,0.00,0.000,4,0.000,0.061,2381,545,3392,0,0,0,0,0,0 $GC,4433,-0.74,-146.0,432.1,-8.3,272,4437,0.12,2.17,0.00,0.000,6,0.166,0.042,2404,1971,3390,0,0,0,0,0,0 $STATE,4728,end dive,TARGET_DEPTH_EXCEEDED $STATE,4728,begin apogee $GC,4734,-0.17,0.0,451.2,6.2,280,4856,0.55,0.00,118.38,0.783,6,0.121,0.000,2584,1971,2800,0,0,0,0,0,0 $STATE,4856,end apogee,CONTROL_FINISHED_OK $STATE,4857,begin climb $GC,4860,0.74,146.0,452.8,0.0,283,4992,0.82,0.00,125.72,0.752,6,0.081,0.000,2871,1971,2204,0,0,0,0,0,0 $GC,5307,0.74,146.0,394.4,14.9,294,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1971,2196,0,0,0,0,0,0 $GC,5631,0.74,146.0,347.8,14.1,302,5635,0.00,2.20,0.00,0.000,4,0.000,0.053,2871,3383,2194,0,0,0,0,0,0 $GC,5659,0.74,146.0,343.6,15.1,302,5663,0.00,2.25,0.00,0.000,6,0.000,0.043,2881,1964,2193,0,0,0,0,0,0 $GC,5990,0.74,146.0,297.7,13.5,310,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1964,2192,0,0,0,0,0,0 $GC,6300,0.74,146.0,258.4,12.4,325,6304,0.00,2.22,0.00,0.000,4,0.000,0.058,2891,564,2190,0,0,0,0,0,0 $GC,6411,0.74,146.0,244.5,11.8,330,6415,0.00,2.17,0.00,0.000,6,0.000,0.038,2892,1977,2189,0,0,0,0,0,0 $GC,6733,0.74,146.0,206.4,13.1,346,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1977,2189,0,0,0,0,0,0 $GC,7053,0.74,146.0,168.1,11.6,373,7057,0.00,2.17,0.00,0.000,4,0.000,0.051,2891,3380,2187,0,0,0,0,0,0 $GC,7139,0.74,146.0,157.5,11.8,380,7146,0.00,2.20,0.00,0.000,6,0.000,0.040,2901,1980,2187,0,0,0,0,0,0 $GC,7467,0.74,146.0,116.8,12.7,411,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1980,2187,0,0,0,0,0,0 $GC,7796,0.74,146.0,77.9,10.8,443,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1980,2187,0,0,0,0,0,0 $GC,8127,0.76,166.3,44.2,8.2,504,8151,0.00,2.30,15.65,0.482,4,0.000,0.054,2912,567,2120,0,0,0,0,0,0 $GC,8228,0.78,183.7,35.7,8.3,522,8251,0.00,2.17,15.73,0.470,6,0.000,0.035,2912,1976,2050,0,0,0,0,0,0 $STATE,8546,end climb,SURFACE_DEPTH_REACHED $STATE,8546,begin surface coast $FINISH,0.5,1.668793 $STATE,8575,end surface coast,CONTROL_FINISHED_OK $STATE,8575,begin surface $SM_CCo,8593,54.33,0.450,0,0,1575,300.24 $SM_GC,1.38,0.00,0.00,54.33,0.000,0.000,0.450,30,1976,1575,-8.16,0.48,300.24 $IRIDIUM_FIX,2050.21,-15757.78,140802,171749 $TT8_MAMPS,0.028379 $HUMID,63.46 $INTERNAL_PRESSURE,9.37261 $TCM_TEMP,23.70 $XPDR_PINGS,1 $24V_AH,24.7,20.075 $10V_AH,10.5,21.973 $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,18.625,62.000,275.475,54.325,0.000,57.051,66.573,212.501,19.000,0.000,15.886,1061.369,5346.717,381.789,1827.360,567.251,0.000,1027.581,0.000,1783.040,0.000,123.259,0.000 $DEVICE_MAMPS,230.100,60.593,783.107,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,399.739,329.380,1113.398,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355628 $DATA_FILE_SIZE,31860,587 $CAP_FILE_SIZE,90634,0 $CFSIZE,260165632,243601408 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,200513,201933,2104.397,-15756.098,27,0.8,27,9.8