version: 66.06 glider: 523 mission: 4 dive: 480 start: 6 15 113 14 33 30 data: $ID,523 $MISSION,4 $DIVE,480 $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,-45594.875 $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,22 $R_STBD_OVSHOOT,31 $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 $GPS1,142235,2105.034,-15800.945,33,0.9,33,9.8 $_CALLS,2 $_XMS_NAKs,14 $_XMS_TOUTs,0 $_SM_DEPTHo,1.38 $_SM_ANGLEo,-73.9 $GPS2,143311,2105.091,-15801.024,18,1.1,18,9.8 $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,333.5,6268,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.07,0.000,2,0.000,0.000,39,1974,3388,0,0,0,0,0,0 $GC,98,-0.74,-146.0,3.4,-5.2,12,113,9.55,2.20,0.00,0.000,4,0.225,0.046,2383,3362,3389,0,0,0,0,0,0 $GC,215,-0.74,-146.0,27.1,-15.5,33,223,0.00,2.28,0.00,0.000,6,0.000,0.042,2383,1950,3391,0,0,0,0,0,0 $GC,387,-0.74,-146.0,55.4,-18.3,64,394,0.00,2.28,0.00,0.000,4,0.000,0.053,2383,547,3391,0,0,0,0,0,0 $GC,400,-0.74,-146.0,58.5,-18.5,66,408,0.00,2.20,0.00,0.000,6,0.000,0.037,2374,1961,3391,0,0,0,0,0,0 $GC,739,-0.74,-146.0,104.1,-13.2,111,746,0.00,2.28,0.00,0.000,4,0.000,0.052,2374,535,3392,0,0,0,0,0,0 $GC,993,-0.74,-146.0,131.8,-10.0,134,997,0.15,2.17,0.00,0.000,6,0.162,0.032,2403,1977,3393,0,0,0,0,0,0 $GC,1320,-0.74,-146.0,154.6,-8.2,164,1327,0.00,2.30,0.00,0.000,4,0.000,0.051,2403,544,3394,0,0,0,0,0,0 $GC,1477,-0.74,-146.0,171.1,-10.6,178,1481,0.00,2.15,0.00,0.000,6,0.000,0.033,2395,1960,3394,0,0,0,0,0,0 $GC,1813,-0.74,-146.0,202.1,-8.6,208,1817,0.00,2.28,0.00,0.000,4,0.000,0.050,2395,537,3394,0,0,0,0,0,0 $GC,1986,-0.74,-146.0,217.4,-8.7,215,1991,0.00,2.12,0.00,0.000,6,0.000,0.032,2385,1959,3394,0,0,0,0,0,0 $GC,2305,-0.74,-146.0,245.8,-9.0,231,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1959,3394,0,0,0,0,0,0 $GC,2611,-0.74,-146.0,274.2,-8.6,246,2615,0.00,2.28,0.00,0.000,4,0.000,0.051,2385,544,3394,0,0,0,0,0,0 $GC,2802,-0.74,-146.0,288.0,-5.9,254,2807,0.00,2.12,0.00,0.000,6,0.000,0.033,2376,1962,3394,0,0,0,0,0,0 $GC,3118,-0.74,-146.0,306.1,-6.3,268,3122,0.00,2.17,0.00,0.000,4,0.000,0.054,2366,3354,3394,0,0,0,0,0,0 $GC,3196,-0.74,-146.0,312.3,-7.9,269,3202,0.12,2.20,0.00,0.000,6,0.148,0.041,2398,1946,3393,0,0,0,0,0,0 $GC,3532,-0.74,-146.0,336.1,-7.0,278,3536,0.00,2.25,0.00,0.000,4,0.000,0.054,2399,539,3392,0,0,0,0,0,0 $GC,3790,-0.74,-146.0,356.3,-9.3,283,3796,0.00,2.17,0.00,0.000,6,0.000,0.035,2391,1962,3390,0,0,0,0,0,0 $GC,4122,-0.74,-146.0,384.1,-8.2,292,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1962,3388,0,0,0,0,0,0 $GC,4447,-0.74,-146.0,408.7,-7.0,300,4451,0.00,2.30,0.00,0.000,4,0.000,0.055,2390,544,3387,0,0,0,0,0,0 $GC,4705,-0.74,-146.0,426.8,-7.1,305,4710,0.00,2.20,0.00,0.000,6,0.000,0.039,2380,1965,3385,0,0,0,0,0,0 $GC,5039,-0.74,-146.0,447.4,-6.3,314,5043,0.00,2.33,0.00,0.000,4,0.000,0.058,2380,545,3382,0,0,0,0,0,0 $STATE,5071,end dive,TARGET_DEPTH_EXCEEDED $STATE,5071,begin apogee $GC,5080,-0.17,0.0,450.0,6.9,314,5206,0.65,0.00,119.07,0.756,6,0.123,0.000,2579,1987,2799,0,0,0,0,0,0 $STATE,5207,end apogee,CONTROL_FINISHED_OK $STATE,5207,begin climb $GC,5210,0.74,146.0,451.6,0.0,318,5348,0.88,2.38,126.50,0.732,4,0.074,0.054,2879,3383,2202,0,0,0,0,0,0 $GC,5426,0.74,146.0,427.7,14.6,323,5430,0.00,2.28,0.00,0.000,6,0.000,0.043,2888,1983,2199,0,0,0,0,0,0 $GC,5740,0.74,146.0,384.6,13.5,331,5744,0.00,2.30,0.00,0.000,4,0.000,0.060,2898,565,2195,0,0,0,0,0,0 $GC,5767,0.74,146.0,380.9,13.3,331,5771,0.00,2.22,0.00,0.000,6,0.000,0.040,2899,1979,2195,0,0,0,0,0,0 $GC,6098,0.74,146.0,336.0,13.8,339,6102,0.00,2.22,0.00,0.000,4,0.000,0.053,2899,3393,2193,0,0,0,0,0,0 $GC,6193,0.74,146.0,322.5,13.8,341,6197,0.00,2.25,0.00,0.000,6,0.000,0.047,2907,1980,2192,0,0,0,0,0,0 $GC,6513,0.74,146.0,282.4,12.5,352,6517,0.00,2.28,0.00,0.000,4,0.000,0.059,2917,570,2192,0,0,0,0,0,0 $GC,6575,0.74,146.0,274.4,12.9,355,6580,0.15,2.22,0.00,0.000,6,0.139,0.040,2875,1995,2190,0,0,0,0,0,0 $GC,6904,0.75,156.8,242.6,8.6,371,6918,0.00,2.22,8.18,0.571,4,0.000,0.052,2875,3389,2159,0,0,0,0,0,0 $GC,6981,0.75,156.8,233.9,11.9,374,6986,0.00,2.20,0.00,0.000,6,0.000,0.040,2883,1973,2158,0,0,0,0,0,0 $GC,7297,0.75,156.8,199.3,10.3,389,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1973,2157,0,0,0,0,0,0 $GC,7621,0.75,156.8,165.8,10.3,419,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1973,2156,0,0,0,0,0,0 $GC,7950,0.75,156.8,133.7,10.2,450,7955,0.00,2.28,0.00,0.000,4,0.000,0.058,2883,3382,2156,0,0,0,0,0,0 $GC,8014,0.75,156.8,126.5,11.3,455,8018,0.00,2.22,0.00,0.000,6,0.000,0.045,2892,1972,2156,0,0,0,0,0,0 $GC,8341,0.75,156.8,91.3,9.9,485,8345,0.00,2.22,0.00,0.000,4,0.000,0.058,2902,572,2156,0,0,0,0,0,0 $GC,8381,0.75,156.8,87.1,10.5,488,8385,0.00,2.17,0.00,0.000,6,0.000,0.040,2902,1978,2155,0,0,0,0,0,0 $GC,8711,0.79,187.3,58.0,7.8,542,8746,0.00,2.35,26.42,0.486,4,0.000,0.059,2907,565,2035,0,0,0,0,0,0 $GC,8769,0.82,215.5,53.5,7.9,552,8800,0.00,2.22,25.05,0.476,6,0.000,0.038,2907,1977,1920,0,0,0,0,0,0 $GC,9128,0.87,257.4,25.8,7.3,617,9175,0.00,2.28,36.50,0.456,4,0.000,0.052,2907,3387,1749,0,0,0,0,0,0 $GC,9257,0.91,283.3,14.7,8.0,639,9291,0.00,2.25,23.15,0.435,6,0.000,0.038,2909,1983,1644,0,0,0,0,0,0 $STATE,9402,end climb,SURFACE_DEPTH_REACHED $STATE,9402,begin surface coast $FINISH,0.7,1.020247 $STATE,9431,end surface coast,CONTROL_FINISHED_OK $STATE,9432,begin surface $SM_CCo,9450,9.70,0.390,0,0,1575,300.24 $SM_GC,1.09,0.00,0.00,9.70,0.000,0.000,0.390,25,1979,1575,-8.17,0.65,300.24 $IRIDIUM_FIX,2052.52,-15756.91,090902,141428 $TT8_MAMPS,0.028379 $HUMID,66.46 $INTERNAL_PRESSURE,9.38238 $TCM_TEMP,24.50 $XPDR_PINGS,2 $24V_AH,24.5,39.833 $10V_AH,10.3,43.836 $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,18.875,85.125,364.875,9.700,0.000,52.517,67.768,305.644,19.250,0.000,18.432,1222.535,5494.959,409.548,2261.694,706.168,0.000,1228.017,0.000,2211.639,0.000,119.657,0.000 $DEVICE_MAMPS,225.498,59.826,756.262,389.636,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,453.744,388.690,1328.173,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355560 $DATA_FILE_SIZE,38190,670 $CAP_FILE_SIZE,108815,0 $CFSIZE,260165632,232091648 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $GPS,150613,171218,2106.021,-15801.946,28,0.7,28,9.8