version: 66.06 glider: 523 mission: 4 dive: 536 start: 6 22 113 10 14 53 data: $ID,523 $MISSION,4 $DIVE,536 $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,-46680.547 $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,25 $R_STBD_OVSHOOT,21 $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 $GPS1,100804,2109.793,-15759.286,38,0.9,38,9.8 $_CALLS,1 $_XMS_NAKs,4 $_XMS_TOUTs,0 $_SM_DEPTHo,1.41 $_SM_ANGLEo,-70.8 $GPS2,101436,2109.821,-15759.375,16,1.4,16,9.8 $SPEED_LIMITS,0.157,0.252 $TGT_NAME,D_EAST $TGT_LATLONG,2105.814,-15742.918 $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,94.8,29387,-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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,17,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-79.28,0.000,6,0.000,0.000,38,1988,3396,0,0,0,0,0,0 $GC,106,-0.74,-146.0,3.7,-5.4,13,119,9.62,0.00,0.00,0.000,6,0.223,0.000,2395,1988,3397,0,0,0,0,0,0 $GC,280,-0.74,-146.0,37.3,-14.6,45,286,0.00,2.35,0.00,0.000,4,0.000,0.058,2396,540,3398,0,0,0,0,0,0 $GC,327,-0.74,-146.0,45.2,-16.9,53,332,0.00,2.20,0.00,0.000,6,0.000,0.036,2388,1971,3398,0,0,0,0,0,0 $GC,660,-0.74,-146.0,85.9,-8.8,108,664,0.00,2.28,0.00,0.000,4,0.000,0.054,2387,547,3400,0,0,0,0,0,0 $GC,896,-0.74,-146.0,113.1,-13.3,129,901,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1965,3400,0,0,0,0,0,0 $GC,1223,-0.74,-146.0,149.7,-9.6,159,1230,0.00,2.22,0.00,0.000,4,0.000,0.057,2368,3361,3400,0,0,0,0,0,0 $GC,1250,-0.74,-146.0,152.0,-8.9,161,1255,0.12,2.20,0.00,0.000,6,0.153,0.044,2400,1956,3400,0,0,0,0,0,0 $GC,1578,-0.74,-146.0,180.8,-9.4,191,1582,0.00,2.22,0.00,0.000,4,0.000,0.055,2400,544,3401,0,0,0,0,0,0 $GC,1753,-0.74,-146.0,196.2,-9.0,206,1757,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1960,3401,0,0,0,0,0,0 $GC,2087,-0.74,-146.0,222.6,-7.0,224,2091,0.00,2.25,0.00,0.000,4,0.000,0.056,2382,3369,3401,0,0,0,0,0,0 $GC,2190,-0.74,-146.0,230.1,-7.5,228,2195,0.00,2.22,0.00,0.000,6,0.000,0.044,2381,1958,3401,0,0,0,0,0,0 $GC,2507,-0.74,-146.0,251.9,-6.8,244,2511,0.00,2.25,0.00,0.000,4,0.000,0.056,2381,544,3401,0,0,0,0,0,0 $GC,2766,-0.74,-146.0,271.9,-7.5,255,2772,0.12,2.17,0.00,0.000,6,0.159,0.036,2405,1962,3401,0,0,0,0,0,0 $GC,3084,-0.74,-146.0,294.1,-7.1,271,3088,0.00,2.30,0.00,0.000,4,0.000,0.054,2405,540,3401,0,0,0,0,0,0 $GC,3164,-0.74,-146.0,299.7,-6.4,274,3171,0.00,2.17,0.00,0.000,6,0.000,0.037,2397,1959,3400,0,0,0,0,0,0 $GC,3496,-0.74,-146.0,323.1,-7.2,283,3500,0.00,2.20,0.00,0.000,4,0.000,0.057,2387,3362,3399,0,0,0,0,0,0 $GC,3544,-0.74,-146.0,326.2,-6.5,284,3548,0.00,2.22,0.00,0.000,6,0.000,0.044,2387,1956,3399,0,0,0,0,0,0 $GC,3869,-0.74,-146.0,341.2,-3.8,292,3873,0.00,2.28,0.00,0.000,4,0.000,0.059,2387,536,3397,0,0,0,0,0,0 $GC,4126,-0.74,-146.0,355.7,-6.8,297,4130,0.00,2.22,0.00,0.000,6,0.000,0.039,2377,1968,3395,0,0,0,0,0,0 $GC,4461,-0.74,-146.0,378.0,-7.4,305,4465,0.00,2.33,0.00,0.000,4,0.000,0.058,2377,544,3394,0,0,0,0,0,0 $GC,4680,-0.74,-146.0,400.6,-10.6,310,4684,0.12,2.20,0.00,0.000,6,0.160,0.040,2400,1956,3392,0,0,0,0,0,0 $GC,5007,-0.74,-146.0,427.2,-7.2,318,5011,0.00,2.25,0.00,0.000,4,0.000,0.059,2391,3362,3391,0,0,0,0,0,0 $GC,5051,-0.74,-146.0,430.5,-6.7,319,5055,0.00,2.22,0.00,0.000,6,0.000,0.046,2391,1953,3391,0,0,0,0,0,0 $STATE,5368,end dive,TARGET_DEPTH_EXCEEDED $STATE,5368,begin apogee $GC,5375,-0.17,0.0,450.0,5.6,327,5500,0.60,0.00,122.03,0.759,6,0.117,0.000,2583,1953,2800,0,0,0,0,0,0 $STATE,5501,end apogee,CONTROL_FINISHED_OK $STATE,5501,begin climb $GC,5504,0.74,146.0,448.9,0.0,330,5642,0.82,2.40,127.30,0.733,4,0.073,0.055,2872,3375,2201,0,0,0,0,0,0 $GC,5778,0.74,146.0,415.9,13.0,336,5782,0.00,2.25,0.00,0.000,6,0.000,0.044,2882,1974,2198,0,0,0,0,0,0 $GC,6126,0.74,146.0,366.9,14.8,345,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1974,2195,0,0,0,0,0,0 $GC,6451,0.74,146.0,325.6,11.8,353,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1975,2192,0,0,0,0,0,0 $GC,6756,0.74,146.0,293.2,10.6,362,6760,0.00,2.28,0.00,0.000,4,0.000,0.059,2882,3385,2192,0,0,0,0,0,0 $GC,6874,0.74,146.0,279.2,13.3,367,6878,0.00,2.25,0.00,0.000,6,0.000,0.048,2891,1981,2191,0,0,0,0,0,0 $GC,7195,0.74,146.0,238.9,13.9,383,7199,0.00,2.30,0.00,0.000,4,0.000,0.061,2891,3389,2190,0,0,0,0,0,0 $GC,7267,0.74,146.0,229.6,13.1,386,7271,0.00,2.28,0.00,0.000,6,0.000,0.051,2900,1978,2189,0,0,0,0,0,0 $GC,7585,0.74,146.0,197.4,9.3,402,7589,0.00,2.28,0.00,0.000,4,0.000,0.059,2911,558,2189,0,0,0,0,0,0 $GC,7629,0.74,146.0,192.8,10.2,405,7636,0.10,2.25,0.00,0.000,6,0.107,0.038,2876,1986,2188,0,0,0,0,0,0 $GC,7956,0.74,146.0,162.6,10.4,436,7960,0.00,2.22,0.00,0.000,4,0.000,0.052,2876,3393,2188,0,0,0,0,0,0 $GC,8096,0.74,146.0,147.6,10.1,448,8100,0.00,2.28,0.00,0.000,6,0.000,0.048,2882,1979,2188,0,0,0,0,0,0 $GC,8424,0.74,146.0,118.6,9.9,478,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1979,2187,0,0,0,0,0,0 $GC,8753,0.74,146.0,82.7,10.3,509,8757,0.00,2.28,0.00,0.000,4,0.000,0.056,2882,3389,2188,0,0,0,0,0,0 $GC,8826,0.74,146.0,75.1,9.9,519,8832,0.00,2.25,0.00,0.000,6,0.000,0.044,2891,1973,2188,0,0,0,0,0,0 $GC,9156,0.79,186.6,53.2,7.3,580,9197,0.00,0.00,32.80,0.482,6,0.000,0.000,2890,1973,2038,0,0,0,0,0,0 $GC,9525,0.89,270.0,26.4,5.6,647,9604,0.10,2.35,71.28,0.458,4,0.088,0.054,2977,3390,1698,0,0,0,0,0,0 $GC,9645,0.89,270.0,13.2,11.2,666,9654,0.17,2.30,0.00,0.000,6,0.110,0.045,2929,1985,1696,0,0,0,0,0,0 $STATE,9753,end climb,SURFACE_DEPTH_REACHED $STATE,9753,begin surface coast $FINISH,0.7,1.023314 $STATE,9788,end surface coast,CONTROL_FINISHED_OK $STATE,9789,begin surface $SM_CCo,9806,16.27,0.408,0,0,1575,300.24 $SM_GC,1.33,0.00,0.00,16.27,0.000,0.000,0.408,28,1980,1575,-8.16,0.65,300.24 $IRIDIUM_FIX,2106.38,-15800.33,160902,070702 $TT8_MAMPS,0.028379 $HUMID,65.63 $INTERNAL_PRESSURE,9.38238 $TCM_TEMP,24.50 $XPDR_PINGS,1 $24V_AH,24.4,45.538 $10V_AH,10.3,49.608 $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,19.225,81.025,353.400,16.275,0.000,32.273,37.845,182.453,19.000,0.000,17.037,1253.313,5698.776,389.353,2341.996,527.416,0.000,1238.052,0.000,2292.986,0.000,117.262,0.000 $DEVICE_MAMPS,223.197,60.593,759.330,408.044,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,469.124,388.953,1336.871,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355592 $DATA_FILE_SIZE,37988,692 $CAP_FILE_SIZE,105682,0 $CFSIZE,260165632,229232640 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,220613,125949,2110.046,-15759.436,33,0.9,33,9.8