version: 66.06 glider: 523 mission: 4 dive: 596 start: 6 29 113 16 47 48 data: $ID,523 $MISSION,4 $DIVE,596 $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,-47942.68 $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,23 $R_STBD_OVSHOOT,30 $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 $GPS1,164105,2107.236,-15744.289,29,0.9,29,9.8 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.40 $_SM_ANGLEo,-74.2 $GPS2,164729,2107.206,-15744.330,14,1.7,14,9.8 $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,126.8,3549,-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,-75.97,0.000,2,0.000,0.000,28,1950,3357,0,0,0,0,0,0 $GC,98,-0.74,-146.0,3.3,-4.7,12,114,9.62,2.35,-0.85,0.000,4,0.221,0.073,2395,539,3398,0,0,0,0,0,0 $GC,345,-0.74,-146.0,47.7,-15.5,57,350,0.00,2.20,0.00,0.000,6,0.000,0.038,2388,1955,3400,0,0,0,0,0,0 $GC,677,-0.74,-146.0,83.3,-9.7,115,681,0.00,2.28,0.00,0.000,4,0.000,0.058,2387,549,3401,0,0,0,0,0,0 $GC,927,-0.74,-146.0,112.5,-10.5,137,934,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1962,3402,0,0,0,0,0,0 $GC,1255,-0.74,-146.0,140.9,-9.9,168,1259,0.00,2.30,0.00,0.000,4,0.000,0.057,2378,548,3403,0,0,0,0,0,0 $GC,1495,-0.74,-146.0,170.6,-11.6,189,1503,0.10,2.17,0.00,0.000,6,0.137,0.038,2400,1952,3403,0,0,0,0,0,0 $GC,1823,-0.74,-146.0,200.4,-10.0,220,1827,0.00,2.25,0.00,0.000,4,0.000,0.058,2401,548,3404,0,0,0,0,0,0 $GC,2080,-0.74,-146.0,224.3,-7.7,231,2086,0.00,2.17,0.00,0.000,6,0.000,0.038,2392,1957,3404,0,0,0,0,0,0 $GC,2400,-0.74,-146.0,245.5,-6.3,247,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1957,3404,0,0,0,0,0,0 $GC,2706,-0.74,-146.0,264.7,-5.9,262,2713,0.00,2.33,0.00,0.000,4,0.000,0.058,2393,544,3404,0,0,0,0,0,0 $GC,2815,-0.74,-146.0,272.6,-7.9,266,2820,0.00,2.20,0.00,0.000,6,0.000,0.039,2383,1960,3404,0,0,0,0,0,0 $GC,3133,-0.74,-146.0,292.7,-5.9,282,3136,0.00,2.28,0.00,0.000,4,0.000,0.060,2373,3363,3404,0,0,0,0,0,0 $GC,3253,-0.74,-146.0,302.3,-8.3,287,3257,0.00,2.28,0.00,0.000,6,0.000,0.048,2373,1948,3403,0,0,0,0,0,0 $GC,3592,-0.74,-146.0,332.8,-8.6,296,3596,0.00,2.30,0.00,0.000,4,0.000,0.064,2373,540,3404,0,0,0,0,0,0 $GC,3851,-0.74,-146.0,351.8,-6.9,301,3857,0.15,2.20,0.00,0.000,6,0.148,0.040,2404,1959,3402,0,0,0,0,0,0 $GC,4184,-0.74,-146.0,368.3,-4.9,310,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1959,3400,0,0,0,0,0,0 $GC,4507,-0.74,-146.0,384.9,-5.4,318,4512,0.00,2.30,0.00,0.000,4,0.000,0.061,2405,548,3399,0,0,0,0,0,0 $GC,4765,-0.74,-146.0,402.7,-7.6,323,4769,0.00,2.17,0.00,0.000,6,0.000,0.041,2397,1958,3397,0,0,0,0,0,0 $GC,5098,-0.74,-146.0,425.1,-6.5,331,5102,0.00,2.30,0.00,0.000,4,0.000,0.061,2397,546,3395,0,0,0,0,0,0 $GC,5357,-0.74,-146.0,444.8,-8.1,336,5364,0.00,2.22,0.00,0.000,6,0.000,0.044,2387,1959,3393,0,0,0,0,0,0 $STATE,5442,end dive,TARGET_DEPTH_EXCEEDED $STATE,5443,begin apogee $GC,5450,-0.17,0.0,451.6,7.6,339,5576,0.60,0.00,123.20,0.755,6,0.114,0.000,2580,1959,2800,0,0,0,0,0,0 $STATE,5577,end apogee,CONTROL_FINISHED_OK $STATE,5577,begin climb $GC,5579,0.74,146.0,454.4,0.0,342,5717,0.85,2.40,127.53,0.732,4,0.071,0.062,2879,3385,2202,0,0,0,0,0,0 $GC,5785,0.74,146.0,434.8,12.4,346,5791,0.00,2.30,0.00,0.000,6,0.000,0.049,2889,1981,2199,0,0,0,0,0,0 $GC,6117,0.74,146.0,395.5,12.0,355,6121,0.00,2.33,0.00,0.000,4,0.000,0.060,2889,3393,2196,0,0,0,0,0,0 $GC,6172,0.74,146.0,387.6,14.0,356,6176,0.00,2.30,0.00,0.000,6,0.000,0.049,2899,1973,2194,0,0,0,0,0,0 $GC,6521,0.74,146.0,341.6,13.7,365,6525,0.00,2.30,0.00,0.000,4,0.000,0.061,2900,3385,2193,0,0,0,0,0,0 $GC,6599,0.74,146.0,329.6,15.0,366,6605,0.12,2.30,0.00,0.000,6,0.150,0.051,2874,1974,2193,0,0,0,0,0,0 $GC,6912,0.74,146.0,295.5,10.4,375,6916,0.00,2.30,0.00,0.000,4,0.000,0.062,2873,3392,2191,0,0,0,0,0,0 $GC,6961,0.74,146.0,289.4,12.3,377,6965,0.00,2.30,0.00,0.000,6,0.000,0.052,2882,1975,2191,0,0,0,0,0,0 $GC,7277,0.74,146.0,256.6,9.4,392,7281,0.00,2.30,0.00,0.000,4,0.000,0.063,2882,3392,2189,0,0,0,0,0,0 $GC,7444,0.74,146.0,238.7,10.4,399,7450,0.00,2.30,0.00,0.000,6,0.000,0.053,2892,1976,2188,0,0,0,0,0,0 $GC,7760,0.74,146.0,209.6,9.5,415,7764,0.00,2.30,0.00,0.000,4,0.000,0.063,2892,3393,2187,0,0,0,0,0,0 $GC,7968,0.74,146.0,187.3,10.8,429,7972,0.00,2.28,0.00,0.000,6,0.000,0.054,2901,1980,2187,0,0,0,0,0,0 $GC,8295,0.74,146.0,156.5,9.5,459,8299,0.00,2.30,0.00,0.000,4,0.000,0.063,2901,3386,2186,0,0,0,0,0,0 $GC,8349,0.74,146.0,150.8,10.7,463,8356,0.08,2.30,0.00,0.000,6,0.125,0.054,2882,1982,2186,0,0,0,0,0,0 $GC,8676,0.83,225.2,125.0,5.7,494,8745,0.00,0.00,65.93,0.548,6,0.000,0.000,2882,1982,1881,0,0,0,0,0,0 $GC,9065,0.87,256.8,99.5,7.7,531,9099,0.12,2.33,28.48,0.503,4,0.072,0.061,2967,3385,1751,0,0,0,0,0,0 $GC,9159,0.87,256.8,87.9,14.0,539,9164,0.20,2.30,0.00,0.000,6,0.132,0.054,2919,1979,1750,0,0,0,0,0,0 $GC,9490,0.88,266.1,58.5,8.6,592,9510,0.00,2.35,9.35,0.426,4,0.000,0.061,2918,3388,1714,0,0,0,0,0,0 $GC,9590,0.88,266.1,49.4,9.9,609,9595,0.00,2.28,0.00,0.000,6,0.000,0.052,2924,1978,1713,0,0,0,0,0,0 $GC,9921,0.90,275.9,22.7,8.6,670,9936,0.00,2.28,9.93,0.407,4,0.000,0.059,2935,559,1675,0,0,0,0,0,0 $GC,9975,0.90,278.9,18.1,8.9,679,9990,0.00,2.22,4.45,0.325,6,0.000,0.036,2935,1980,1661,0,0,0,0,0,0 $STATE,10129,end climb,SURFACE_DEPTH_REACHED $STATE,10129,begin surface coast $FINISH,0.6,1.023207 $STATE,10156,end surface coast,CONTROL_FINISHED_OK $STATE,10156,begin surface $SM_CCo,10174,11.75,0.397,0,0,1576,300.24 $SM_GC,1.27,0.00,0.00,11.75,0.000,0.000,0.397,31,1984,1576,-8.16,0.76,300.24 $IRIDIUM_FIX,2057.14,-15741.46,230902,131350 $TT8_MAMPS,0.027612 $HUMID,66.14 $INTERNAL_PRESSURE,9.39215 $TCM_TEMP,24.70 $XPDR_PINGS,1 $24V_AH,24.4,50.945 $10V_AH,10.2,55.762 $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,19.225,86.550,368.850,11.750,0.000,27.190,35.432,175.486,19.000,0.000,14.581,1311.965,5845.362,412.996,2470.686,526.354,0.000,1303.500,0.000,2422.829,0.000,117.276,0.000 $DEVICE_MAMPS,220.896,72.865,754.728,396.539,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,483.201,413.490,1381.130,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355556 $DATA_FILE_SIZE,38155,712 $CAP_FILE_SIZE,110623,0 $CFSIZE,260165632,226066432 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,290613,193830,2106.733,-15743.613,16,1.7,16,9.8