version: 66.06 glider: 523 mission: 4 dive: 286 start: 5 25 113 3 55 4 data: $ID,523 $MISSION,4 $DIVE,286 $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,-41481.164 $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,32 $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 $GPS1,034917,2103.515,-15756.244,21,1.1,21,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.40 $_SM_ANGLEo,-71.4 $GPS2,035447,2103.552,-15756.296,18,1.0,18,9.8 $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,301.8,13331,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.75,0.000,6,0.000,0.000,36,1982,3396,0,0,0,0,0,0 $GC,97,-0.74,-146.0,3.7,-6.1,12,112,9.43,2.17,0.00,0.000,4,0.225,0.046,2382,3371,3397,0,0,0,0,0,0 $GC,293,-0.74,-146.0,45.2,-14.9,47,298,0.00,2.22,0.00,0.000,6,0.000,0.041,2382,1954,3400,0,0,0,0,0,0 $GC,623,-0.74,-146.0,95.7,-16.4,99,627,0.00,2.22,0.00,0.000,4,0.000,0.054,2382,542,3401,0,0,0,0,0,0 $GC,873,-0.74,-146.0,133.0,-12.3,121,880,0.08,2.17,0.00,0.000,6,0.149,0.034,2396,1968,3401,0,0,0,0,0,0 $GC,1201,-0.74,-146.0,170.7,-10.1,152,1205,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,547,3402,0,0,0,0,0,0 $GC,1457,-0.74,-146.0,198.4,-9.7,175,1461,0.00,2.12,0.00,0.000,6,0.000,0.033,2389,1974,3403,0,0,0,0,0,0 $GC,1784,-0.74,-146.0,230.0,-10.2,191,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1974,3403,0,0,0,0,0,0 $GC,2093,-0.74,-146.0,254.0,-7.3,206,2097,0.00,2.28,0.00,0.000,4,0.000,0.050,2388,542,3403,0,0,0,0,0,0 $GC,2350,-0.74,-146.0,277.7,-9.7,217,2356,0.00,2.15,0.00,0.000,6,0.000,0.034,2379,1969,3403,0,0,0,0,0,0 $GC,2690,-0.74,-146.0,307.6,-8.9,232,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1969,3403,0,0,0,0,0,0 $GC,3011,-0.74,-146.0,330.4,-6.6,240,3015,0.00,2.30,0.00,0.000,4,0.000,0.053,2379,551,3402,0,0,0,0,0,0 $GC,3270,-0.74,-146.0,351.1,-7.6,245,3276,0.12,2.12,0.00,0.000,6,0.169,0.037,2403,1958,3402,0,0,0,0,0,0 $GC,3603,-0.74,-146.0,374.6,-7.0,254,3607,0.00,2.28,0.00,0.000,4,0.000,0.055,2403,549,3400,0,0,0,0,0,0 $GC,3806,-0.74,-146.0,390.8,-8.3,258,3810,0.00,2.17,0.00,0.000,6,0.000,0.039,2395,1966,3399,0,0,0,0,0,0 $GC,4152,-0.74,-146.0,416.3,-7.3,267,4156,0.00,2.20,0.00,0.000,4,0.000,0.060,2384,3366,3396,0,0,0,0,0,0 $GC,4327,-0.74,-146.0,429.1,-7.1,271,4332,0.00,2.22,0.00,0.000,6,0.000,0.044,2384,1948,3396,0,0,0,0,0,0 $STATE,4652,end dive,TARGET_DEPTH_EXCEEDED $STATE,4652,begin apogee $GC,4658,-0.17,0.0,452.4,6.7,279,4781,0.62,0.00,119.35,0.772,6,0.123,0.000,2585,1948,2800,0,0,0,0,0,0 $STATE,4782,end apogee,CONTROL_FINISHED_OK $STATE,4782,begin climb $GC,4785,0.74,146.0,453.1,0.0,282,4918,0.85,2.42,125.95,0.743,4,0.074,0.055,2877,3376,2202,0,0,0,0,0,0 $GC,4937,0.74,146.0,435.9,15.4,286,4941,0.00,2.33,0.00,0.000,6,0.000,0.046,2886,1981,2200,0,0,0,0,0,0 $GC,5256,0.74,146.0,389.7,13.9,294,5260,0.00,2.28,0.00,0.000,4,0.000,0.061,2886,3376,2196,0,0,0,0,0,0 $GC,5300,0.74,146.0,382.9,15.7,295,5304,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1967,2194,0,0,0,0,0,0 $GC,5618,0.74,146.0,335.9,14.6,303,5622,0.00,2.20,0.00,0.000,4,0.000,0.055,2906,565,2193,0,0,0,0,0,0 $GC,5692,0.74,146.0,325.0,14.8,304,5696,0.00,2.17,0.00,0.000,6,0.000,0.035,2906,1982,2192,0,0,0,0,0,0 $GC,6005,0.74,146.0,275.9,15.4,315,6008,0.00,2.17,0.00,0.000,4,0.000,0.052,2906,3380,2191,0,0,0,0,0,0 $GC,6122,0.74,146.0,256.3,16.1,320,6127,0.15,2.17,0.00,0.000,6,0.153,0.038,2874,1972,2190,0,0,0,0,0,0 $GC,6438,0.74,146.0,223.3,10.3,335,6442,0.00,2.22,0.00,0.000,4,0.000,0.054,2883,564,2189,0,0,0,0,0,0 $GC,6505,0.74,146.0,216.0,11.1,338,6508,0.00,2.15,0.00,0.000,6,0.000,0.035,2883,1977,2188,0,0,0,0,0,0 $GC,6829,0.74,146.0,180.4,11.3,361,6833,0.00,2.20,0.00,0.000,4,0.000,0.051,2883,3382,2187,0,0,0,0,0,0 $GC,6982,0.74,146.0,162.2,12.5,374,6989,0.00,2.20,0.00,0.000,6,0.000,0.038,2893,1979,2187,0,0,0,0,0,0 $GC,7309,0.74,146.0,124.5,10.2,405,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1979,2186,0,0,0,0,0,0 $GC,7629,0.74,146.0,89.5,11.7,435,7633,0.00,2.17,0.00,0.000,4,0.000,0.051,2901,567,2187,0,0,0,0,0,0 $GC,7693,0.74,146.0,81.7,11.5,440,7697,0.00,2.15,0.00,0.000,6,0.000,0.033,2901,1988,2187,0,0,0,0,0,0 $GC,8027,0.74,146.0,45.3,12.0,499,8032,0.00,2.17,0.00,0.000,4,0.000,0.051,2901,3384,2187,0,0,0,0,0,0 $GC,8127,0.74,146.0,33.2,12.2,517,8133,0.12,2.22,0.00,0.000,6,0.146,0.047,2874,1973,2187,0,0,0,0,0,0 $GC,8448,0.82,213.6,10.4,6.2,578,8507,0.00,0.00,53.53,0.463,6,0.000,0.000,2874,1973,1929,0,0,0,0,0,0 $STATE,8549,end climb,SURFACE_DEPTH_REACHED $STATE,8550,begin surface coast $FINISH,0.5,1.023218 $STATE,8590,end surface coast,CONTROL_FINISHED_OK $STATE,8590,begin surface $SM_CCo,8607,40.78,0.439,0,0,1575,300.24 $SM_GC,1.46,0.00,0.00,40.78,0.000,0.000,0.439,34,1959,1575,-8.15,-0.03,300.24 $IRIDIUM_FIX,2047.91,-15815.34,190802,010145 $TT8_MAMPS,0.028379 $HUMID,63.03 $INTERNAL_PRESSURE,9.38238 $TCM_TEMP,24.10 $XPDR_PINGS,3 $24V_AH,24.7,23.415 $10V_AH,10.5,25.696 $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,18.675,66.375,298.825,40.775,0.000,28.675,32.165,140.877,19.500,0.000,18.489,1119.033,4966.391,382.552,2083.279,427.433,0.000,1102.637,0.000,2031.811,0.000,123.311,0.000 $DEVICE_MAMPS,225.498,60.593,771.602,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,408.864,344.156,1188.548,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355652 $DATA_FILE_SIZE,34938,602 $CAP_FILE_SIZE,92893,0 $CFSIZE,260165632,241618944 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2 $GPS,250513,062059,2104.042,-15757.182,67,1.0,67,9.8