version: 66.06 glider: 523 mission: 4 dive: 268 start: 5 23 113 6 31 40 data: $ID,523 $MISSION,4 $DIVE,268 $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,-41122.855 $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,21 $R_STBD_OVSHOOT,37 $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 $GPS1,062552,2105.368,-15743.152,40,1.0,40,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.39 $_SM_ANGLEo,-74.8 $GPS2,063123,2105.364,-15743.090,17,1.3,17,9.8 $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,210.5,18090,-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,-77.25,0.000,6,0.000,0.000,52,1974,3394,0,0,0,0,0,0 $GC,103,-0.74,-146.0,4.3,-7.1,13,118,9.52,2.28,0.00,0.000,4,0.234,0.045,2391,546,3395,0,0,0,0,0,0 $GC,356,-0.74,-146.0,63.6,-19.5,60,363,0.00,2.20,0.00,0.000,6,0.000,0.036,2383,1961,3398,0,0,0,0,0,0 $GC,687,-0.74,-146.0,110.8,-10.8,100,691,0.00,2.25,0.00,0.000,4,0.000,0.050,2383,542,3399,0,0,0,0,0,0 $GC,782,-0.74,-146.0,123.6,-14.4,108,786,0.00,2.17,0.00,0.000,6,0.000,0.034,2374,1971,3399,0,0,0,0,0,0 $GC,1109,-0.74,-146.0,165.3,-12.2,138,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1971,3400,0,0,0,0,0,0 $GC,1443,-0.74,-146.0,204.0,-9.3,168,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1971,3401,0,0,0,0,0,0 $GC,1753,-0.74,-146.0,233.8,-11.0,183,1757,0.00,2.20,0.00,0.000,4,0.000,0.052,2363,3365,3401,0,0,0,0,0,0 $GC,1848,-0.74,-146.0,244.1,-10.0,187,1853,0.15,2.22,0.00,0.000,6,0.146,0.043,2404,1953,3401,0,0,0,0,0,0 $GC,2164,-0.74,-146.0,264.7,-5.5,202,2168,0.00,2.22,0.00,0.000,4,0.000,0.054,2405,544,3401,0,0,0,0,0,0 $GC,2308,-0.74,-146.0,275.5,-7.8,208,2312,0.00,2.15,0.00,0.000,6,0.000,0.035,2397,1959,3401,0,0,0,0,0,0 $GC,2629,-0.74,-146.0,300.5,-8.4,223,2633,0.00,2.22,0.00,0.000,4,0.000,0.056,2387,3365,3401,0,0,0,0,0,0 $GC,2730,-0.74,-146.0,309.2,-7.9,225,2734,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1960,3401,0,0,0,0,0,0 $GC,3080,-0.74,-146.0,329.3,-5.1,234,3084,0.00,2.25,0.00,0.000,4,0.000,0.054,2377,3365,3400,0,0,0,0,0,0 $GC,3141,-0.74,-146.0,333.0,-6.1,235,3145,0.00,2.20,0.00,0.000,6,0.000,0.044,2377,1955,3400,0,0,0,0,0,0 $GC,3484,-0.74,-146.0,355.9,-6.7,244,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3399,0,0,0,0,0,0 $GC,3811,-0.74,-146.0,382.5,-8.7,252,3815,0.00,2.22,0.00,0.000,4,0.000,0.058,2377,551,3396,0,0,0,0,0,0 $GC,3924,-0.74,-146.0,392.7,-8.4,254,3929,0.12,2.15,0.00,0.000,6,0.162,0.040,2400,1958,3395,0,0,0,0,0,0 $GC,4264,-0.74,-146.0,415.1,-6.6,263,4268,0.00,2.22,0.00,0.000,4,0.000,0.060,2392,3370,3393,0,0,0,0,0,0 $GC,4353,-0.74,-146.0,421.3,-6.9,265,4357,0.00,2.22,0.00,0.000,6,0.000,0.046,2392,1962,3392,0,0,0,0,0,0 $GC,4672,-0.74,-146.0,444.3,-7.6,273,4676,0.00,2.28,0.00,0.000,4,0.000,0.058,2382,3372,3390,0,0,0,0,0,0 $STATE,4743,end dive,TARGET_DEPTH_EXCEEDED $STATE,4744,begin apogee $GC,4752,-0.17,0.0,450.2,8.1,274,4874,0.60,0.00,118.68,0.778,6,0.124,0.000,2578,1973,2799,0,0,0,0,0,0 $STATE,4875,end apogee,CONTROL_FINISHED_OK $STATE,4875,begin climb $GC,4878,0.74,146.0,452.9,0.0,277,5007,0.85,0.00,126.10,0.750,6,0.076,0.000,2874,1973,2203,0,0,0,0,0,0 $GC,5329,0.74,146.0,396.6,13.8,289,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1973,2196,0,0,0,0,0,0 $GC,5654,0.74,146.0,350.0,14.5,297,5658,0.00,2.25,0.00,0.000,4,0.000,0.059,2884,559,2193,0,0,0,0,0,0 $GC,5739,0.74,146.0,338.3,12.8,299,5743,0.00,2.20,0.00,0.000,6,0.000,0.038,2884,1978,2193,0,0,0,0,0,0 $GC,6063,0.74,146.0,295.6,13.2,307,6067,0.00,2.17,0.00,0.000,4,0.000,0.052,2883,3380,2191,0,0,0,0,0,0 $GC,6115,0.74,146.0,288.6,13.7,309,6119,0.00,2.25,0.00,0.000,6,0.000,0.050,2892,1977,2190,0,0,0,0,0,0 $GC,6436,0.74,146.0,247.5,12.9,325,6440,0.00,2.25,0.00,0.000,4,0.000,0.060,2902,562,2189,0,0,0,0,0,0 $GC,6543,0.74,146.0,234.6,11.2,330,6547,0.00,2.20,0.00,0.000,6,0.000,0.043,2902,1972,2189,0,0,0,0,0,0 $GC,6862,0.74,146.0,196.2,11.7,347,6866,0.00,2.20,0.00,0.000,4,0.000,0.051,2902,3389,2188,0,0,0,0,0,0 $GC,6969,0.74,146.0,182.3,12.4,356,6977,0.10,2.22,0.00,0.000,6,0.133,0.040,2878,1976,2187,0,0,0,0,0,0 $GC,7296,0.74,146.0,148.6,10.9,387,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1976,2187,0,0,0,0,0,0 $GC,7616,0.74,146.0,116.4,10.0,417,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1976,2187,0,0,0,0,0,0 $GC,7947,0.77,171.4,87.3,8.0,448,7971,0.00,2.22,19.45,0.522,4,0.000,0.053,2887,559,2101,0,0,0,0,0,0 $GC,8080,0.78,180.5,76.6,8.7,463,8097,0.00,2.15,9.43,0.469,6,0.000,0.035,2887,1981,2062,0,0,0,0,0,0 $GC,8425,0.81,201.8,44.0,8.2,526,8449,0.00,2.25,19.23,0.475,4,0.000,0.049,2888,3381,1976,0,0,0,0,0,0 $GC,8469,0.83,223.7,40.2,8.1,533,8494,0.00,2.22,19.70,0.466,6,0.000,0.040,2895,1968,1886,0,0,0,0,0,0 $GC,8815,0.83,223.7,7.5,9.8,597,8823,0.00,2.33,0.00,0.000,4,0.000,0.058,2896,3379,1884,0,0,0,0,0,0 $GC,8839,0.83,224.8,5.4,9.0,600,8846,0.00,2.25,0.00,0.000,6,0.000,0.044,2903,1975,1884,0,0,0,0,0,0 $STATE,8863,end climb,SURFACE_DEPTH_REACHED $STATE,8863,begin surface coast $FINISH,0.5,1.023072 $STATE,8895,end surface coast,CONTROL_FINISHED_OK $STATE,8895,begin surface $SM_CCo,8913,36.25,0.436,0,0,1575,300.24 $SM_GC,1.39,0.00,0.00,36.25,0.000,0.000,0.436,39,1971,1575,-8.13,0.31,300.24 $IRIDIUM_FIX,2101.76,-15743.60,170802,040446 $TT8_MAMPS,0.028379 $HUMID,62.36 $INTERNAL_PRESSURE,9.39215 $TCM_TEMP,24.80 $XPDR_PINGS,2 $24V_AH,24.7,21.995 $10V_AH,10.4,24.095 $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,18.675,71.100,312.575,36.250,0.000,29.327,31.796,141.346,19.250,0.000,17.808,1118.255,5365.576,414.305,1950.757,431.012,0.000,1088.936,0.000,1906.003,0.000,117.239,0.000 $DEVICE_MAMPS,233.935,59.826,777.738,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,414.087,343.804,1183.132,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355592 $DATA_FILE_SIZE,34927,610 $CAP_FILE_SIZE,92587,0 $CFSIZE,260165632,242470912 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,230513,090143,2104.570,-15743.284,14,1.3,14,9.8