version: 66.06 glider: 523 mission: 4 dive: 428 start: 6 9 113 14 15 52 data: $ID,523 $MISSION,4 $DIVE,428 $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,-44470.957 $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,1957 $C_ROLL_CLIMB,1980 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,20 $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 $GPS1,140959,2103.127,-15758.820,40,1.0,40,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.36 $_SM_ANGLEo,-71.8 $GPS2,141535,2103.133,-15758.903,14,1.6,14,9.8 $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,320.6,11072,-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,-77.68,0.000,6,0.000,0.000,46,1975,3395,0,0,0,0,0,0 $GC,103,-0.74,-146.0,4.0,-6.5,13,118,9.55,2.22,0.00,0.000,4,0.228,0.050,2382,3368,3396,0,0,0,0,0,0 $GC,238,-0.74,-146.0,33.8,-18.2,37,244,0.00,2.28,0.00,0.000,6,0.000,0.045,2383,1954,3397,0,0,0,0,0,0 $GC,568,-0.74,-146.0,88.1,-15.2,93,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1954,3399,0,0,0,0,0,0 $GC,886,-0.74,-146.0,124.5,-10.3,123,893,0.00,2.28,0.00,0.000,4,0.000,0.056,2382,540,3400,0,0,0,0,0,0 $GC,1145,-0.74,-146.0,155.2,-11.3,146,1150,0.00,2.17,0.00,0.000,6,0.000,0.032,2373,1974,3401,0,0,0,0,0,0 $GC,1473,-0.74,-146.0,187.4,-9.3,176,1477,0.00,2.33,0.00,0.000,4,0.000,0.052,2373,534,3402,0,0,0,0,0,0 $GC,1549,-0.74,-146.0,194.5,-8.3,182,1557,0.08,2.17,0.00,0.000,6,0.150,0.033,2387,1952,3401,0,0,0,0,0,0 $GC,1866,-0.74,-146.0,223.9,-9.5,201,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1952,3402,0,0,0,0,0,0 $GC,2176,-0.74,-146.0,249.9,-8.4,216,2183,0.00,2.28,0.00,0.000,4,0.000,0.052,2388,543,3402,0,0,0,0,0,0 $GC,2224,-0.74,-146.0,254.2,-8.9,218,2228,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1958,3402,0,0,0,0,0,0 $GC,2557,-0.74,-146.0,282.1,-9.6,234,2561,0.00,2.30,0.00,0.000,4,0.000,0.053,2380,534,3402,0,0,0,0,0,0 $GC,2619,-0.74,-146.0,288.5,-9.1,237,2624,0.12,2.17,0.00,0.000,6,0.166,0.035,2403,1959,3402,0,0,0,0,0,0 $GC,2946,-0.74,-146.0,312.7,-7.5,249,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1959,3402,0,0,0,0,0,0 $GC,3269,-0.74,-146.0,333.5,-6.4,257,3273,0.00,2.30,0.00,0.000,4,0.000,0.054,2403,547,3401,0,0,0,0,0,0 $GC,3416,-0.74,-146.0,345.9,-8.8,260,3420,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1962,3400,0,0,0,0,0,0 $GC,3765,-0.74,-146.0,372.9,-8.0,269,3768,0.00,2.30,0.00,0.000,4,0.000,0.056,2395,536,3398,0,0,0,0,0,0 $GC,4024,-0.74,-146.0,394.8,-8.4,274,4029,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1959,3397,0,0,0,0,0,0 $GC,4363,-0.74,-146.0,420.0,-7.3,283,4367,0.00,2.30,0.00,0.000,4,0.000,0.058,2385,547,3395,0,0,0,0,0,0 $GC,4621,-0.74,-146.0,434.9,-5.6,288,4629,0.00,2.17,0.00,0.000,6,0.000,0.039,2376,1957,3393,0,0,0,0,0,0 $STATE,4911,end dive,TARGET_DEPTH_EXCEEDED $STATE,4911,begin apogee $GC,4917,-0.17,0.0,450.9,5.9,296,5041,0.65,0.00,120.70,0.765,6,0.122,0.000,2581,1958,2799,0,0,0,0,0,0 $STATE,5042,end apogee,CONTROL_FINISHED_OK $STATE,5042,begin climb $GC,5045,0.74,146.0,452.8,0.0,299,5183,0.85,2.45,126.47,0.737,4,0.079,0.056,2876,3383,2202,0,0,0,0,0,0 $GC,5347,0.74,146.0,416.4,12.9,306,5351,0.00,2.28,0.00,0.000,6,0.000,0.046,2884,1981,2198,0,0,0,0,0,0 $GC,5671,0.74,146.0,374.8,13.2,314,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1981,2195,0,0,0,0,0,0 $GC,5996,0.74,146.0,332.5,12.8,322,6000,0.00,2.30,0.00,0.000,4,0.000,0.060,2895,562,2193,0,0,0,0,0,0 $GC,6017,0.74,146.0,329.4,13.6,322,6022,0.00,2.22,0.00,0.000,6,0.000,0.040,2895,1981,2193,0,0,0,0,0,0 $GC,6341,0.74,146.0,283.9,12.8,333,6345,0.00,2.22,0.00,0.000,4,0.000,0.051,2895,3397,2191,0,0,0,0,0,0 $GC,6449,0.74,146.0,269.8,13.3,338,6453,0.00,2.25,0.00,0.000,6,0.000,0.041,2905,1972,2191,0,0,0,0,0,0 $GC,6775,0.74,146.0,229.6,12.6,354,6779,0.00,2.25,0.00,0.000,4,0.000,0.051,2905,3390,2190,0,0,0,0,0,0 $GC,6831,0.74,146.0,222.6,12.3,356,6837,0.15,2.22,0.00,0.000,6,0.142,0.041,2872,1976,2190,0,0,0,0,0,0 $GC,7152,0.74,148.7,190.9,8.9,376,7156,0.00,2.22,0.00,0.000,4,0.000,0.060,2882,570,2189,0,0,0,0,0,0 $GC,7203,0.74,148.7,186.1,9.7,380,7208,0.00,2.17,0.00,0.000,6,0.000,0.038,2882,1989,2188,0,0,0,0,0,0 $GC,7530,0.74,148.7,153.4,10.1,410,7534,0.00,2.17,0.00,0.000,4,0.000,0.051,2882,3394,2188,0,0,0,0,0,0 $GC,7625,0.74,148.7,142.5,12.1,418,7629,0.00,2.20,0.00,0.000,6,0.000,0.041,2891,1976,2187,0,0,0,0,0,0 $GC,7952,0.74,148.7,107.7,11.5,448,7956,0.00,2.22,0.00,0.000,4,0.000,0.050,2891,3385,2188,0,0,0,0,0,0 $GC,7993,0.74,148.7,102.6,12.8,451,7997,0.00,2.20,0.00,0.000,6,0.000,0.040,2901,1976,2187,0,0,0,0,0,0 $GC,8321,0.76,164.1,68.2,8.4,492,8340,0.00,2.20,14.27,0.479,4,0.000,0.049,2901,3385,2129,0,0,0,0,0,0 $GC,8355,0.76,164.1,65.1,9.8,497,8360,0.00,2.22,0.00,0.000,6,0.000,0.047,2908,1979,2128,0,0,0,0,0,0 $GC,8685,0.77,175.0,34.0,8.6,558,8704,0.00,0.00,10.65,0.437,6,0.000,0.000,2908,1979,2084,0,0,0,0,0,0 $GC,9024,0.84,227.4,4.5,6.9,621,9045,0.00,0.00,19.15,0.433,2,0.000,0.000,2908,1979,1987,0,0,0,0,0,0 $STATE,9046,end climb,SURFACE_DEPTH_REACHED $STATE,9046,begin surface coast $FINISH,0.6,1.015891 $STATE,9083,end surface coast,CONTROL_FINISHED_OK $STATE,9083,begin surface $SM_CCo,9101,47.15,0.433,0,0,1575,300.24 $SM_GC,1.30,0.00,0.00,47.15,0.000,0.000,0.433,33,1965,1575,-8.15,0.23,300.24 $IRIDIUM_FIX,2057.14,-15802.06,030902,111140 $TT8_MAMPS,0.027612 $HUMID,63.82 $INTERNAL_PRESSURE,9.37261 $TCM_TEMP,24.30 $XPDR_PINGS,1 $24V_AH,24.5,35.286 $10V_AH,10.4,38.762 $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,18.775,71.575,291.250,47.150,0.000,32.862,33.612,140.241,19.000,0.000,15.013,1164.329,5366.419,383.950,2122.849,445.621,0.000,1129.389,0.000,2076.234,0.000,125.812,0.000 $DEVICE_MAMPS,227.799,59.826,764.699,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,429.204,366.876,1241.957,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355676 $DATA_FILE_SIZE,34942,631 $CAP_FILE_SIZE,96916,0 $CFSIZE,260165632,234725376 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,090613,164918,2104.042,-15800.144,18,1.6,18,9.8