version: 66.06 glider: 523 mission: 4 dive: 661 start: 7 7 113 10 23 30 data: $ID,523 $MISSION,4 $DIVE,661 $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,-49321.613 $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,25 $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 $GPS1,101634,2106.059,-15744.728,31,0.8,31,9.8 $_CALLS,1 $_XMS_NAKs,4 $_XMS_TOUTs,0 $_SM_DEPTHo,1.45 $_SM_ANGLEo,-74.9 $GPS2,102312,2105.982,-15744.769,19,0.8,19,9.8 $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,85.8,3212,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-78.68,0.000,6,0.000,0.000,33,1943,3394,0,0,0,0,0,0 $GC,103,-0.74,-146.0,3.4,-4.7,13,117,9.60,2.25,0.00,0.000,4,0.220,0.057,2395,536,3395,0,0,0,0,0,0 $GC,184,-0.74,-146.0,21.0,-16.0,27,191,0.00,2.22,0.00,0.000,6,0.000,0.039,2387,1950,3396,0,0,0,0,0,0 $GC,352,-0.74,-146.0,43.1,-11.3,58,359,0.00,2.33,0.00,0.000,4,0.000,0.063,2387,546,3396,0,0,0,0,0,0 $GC,546,-0.74,-146.0,68.6,-13.6,93,551,0.00,2.20,0.00,0.000,6,0.000,0.040,2377,1962,3397,0,0,0,0,0,0 $GC,882,-0.74,-146.0,105.5,-11.7,134,886,0.00,2.30,0.00,0.000,4,0.000,0.061,2377,536,3398,0,0,0,0,0,0 $GC,1132,-0.74,-146.0,134.1,-9.9,156,1139,0.10,2.22,0.00,0.000,6,0.144,0.041,2399,1955,3399,0,0,0,0,0,0 $GC,1460,-0.74,-146.0,161.2,-10.6,187,1464,0.00,2.28,0.00,0.000,4,0.000,0.061,2399,548,3400,0,0,0,0,0,0 $GC,1715,-0.74,-146.0,188.4,-8.6,210,1720,0.00,2.17,0.00,0.000,6,0.000,0.040,2392,1959,3400,0,0,0,0,0,0 $GC,2047,-0.74,-146.0,210.5,-6.1,233,2051,0.00,2.30,0.00,0.000,4,0.000,0.061,2391,545,3401,0,0,0,0,0,0 $GC,2205,-0.74,-146.0,222.6,-7.2,240,2209,0.00,2.17,0.00,0.000,6,0.000,0.040,2382,1958,3401,0,0,0,0,0,0 $GC,2534,-0.74,-146.0,245.0,-7.0,256,2539,0.00,2.30,0.00,0.000,4,0.000,0.061,2382,541,3401,0,0,0,0,0,0 $GC,2685,-0.74,-146.0,257.4,-8.3,262,2690,0.00,2.20,0.00,0.000,6,0.000,0.040,2372,1970,3401,0,0,0,0,0,0 $GC,3003,-0.74,-146.0,279.6,-6.9,278,3010,0.10,2.35,0.00,0.000,4,0.165,0.061,2399,542,3401,0,0,0,0,0,0 $GC,3146,-0.74,-146.0,288.5,-5.7,284,3149,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1957,3401,0,0,0,0,0,0 $GC,3493,-0.74,-146.0,308.9,-6.6,298,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1957,3401,0,0,0,0,0,0 $GC,3819,-0.74,-146.0,335.1,-7.8,306,3823,0.00,2.33,0.00,0.000,4,0.000,0.060,2391,546,3400,0,0,0,0,0,0 $GC,3974,-0.74,-146.0,343.8,-5.4,309,3978,0.00,2.20,0.00,0.000,6,0.000,0.041,2381,1964,3399,0,0,0,0,0,0 $GC,4318,-0.74,-146.0,358.4,-4.3,318,4322,0.00,2.35,0.00,0.000,4,0.000,0.061,2381,538,3397,0,0,0,0,0,0 $GC,4385,-0.74,-146.0,362.0,-5.6,319,4390,0.12,2.20,0.00,0.000,6,0.153,0.041,2405,1957,3396,0,0,0,0,0,0 $GC,4723,-0.74,-146.0,380.4,-6.2,328,4727,0.00,2.35,0.00,0.000,4,0.000,0.061,2406,543,3396,0,0,0,0,0,0 $GC,4859,-0.74,-146.0,391.3,-8.3,331,4863,0.00,2.20,0.00,0.000,6,0.000,0.041,2398,1962,3395,0,0,0,0,0,0 $GC,5179,-0.74,-146.0,413.4,-6.4,339,5183,0.00,2.35,0.00,0.000,4,0.000,0.061,2398,540,3393,0,0,0,0,0,0 $GC,5400,-0.74,-146.0,425.1,-5.1,344,5404,0.00,2.22,0.00,0.000,6,0.000,0.043,2389,1962,3392,0,0,0,0,0,0 $STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED $STATE,5408,begin apogee $GC,5414,-0.17,0.0,425.8,5.0,344,5540,0.57,0.00,122.53,0.729,6,0.115,0.000,2578,1962,2800,0,0,0,0,0,0 $STATE,5541,end apogee,CONTROL_FINISHED_OK $STATE,5541,begin climb $GC,5544,0.74,146.0,425.3,0.0,347,5678,0.85,0.00,127.10,0.707,6,0.083,0.000,2872,1962,2204,0,0,0,0,0,0 $GC,5991,0.74,146.0,376.8,10.1,358,5995,0.00,2.30,0.00,0.000,4,0.000,0.064,2872,3389,2197,0,0,0,0,0,0 $GC,6080,0.74,146.0,367.6,10.0,360,6084,0.00,2.28,0.00,0.000,6,0.000,0.048,2881,1969,2196,0,0,0,0,0,0 $GC,6399,0.74,146.0,339.8,9.2,368,6403,0.00,2.30,0.00,0.000,4,0.000,0.059,2881,3396,2195,0,0,0,0,0,0 $GC,6494,0.74,146.0,327.8,13.4,370,6498,0.00,2.28,0.00,0.000,6,0.000,0.047,2891,1979,2193,0,0,0,0,0,0 $GC,6808,0.74,146.0,290.0,11.3,380,6813,0.00,2.30,0.00,0.000,4,0.000,0.061,2891,3389,2193,0,0,0,0,0,0 $GC,6871,0.74,146.0,282.6,11.8,383,6875,0.00,2.25,0.00,0.000,6,0.000,0.049,2899,1981,2192,0,0,0,0,0,0 $GC,7203,0.74,146.0,249.4,10.2,399,7207,0.00,2.28,0.00,0.000,4,0.000,0.061,2899,3387,2192,0,0,0,0,0,0 $GC,7333,0.74,146.0,233.9,11.5,404,7339,0.12,2.25,0.00,0.000,6,0.142,0.048,2873,1982,2191,0,0,0,0,0,0 $GC,7648,0.76,161.3,208.9,8.4,420,7669,0.00,2.35,12.45,0.570,4,0.000,0.062,2873,3386,2140,0,0,0,0,0,0 $GC,7738,0.76,161.3,200.9,9.3,424,7742,0.00,2.28,0.00,0.000,6,0.000,0.050,2880,1973,2139,0,0,0,0,0,0 $GC,8066,0.82,213.0,175.7,6.9,454,8117,0.00,2.33,45.60,0.581,4,0.000,0.061,2879,3392,1929,0,0,0,0,0,0 $GC,8169,0.86,243.9,168.5,7.8,462,8202,0.00,2.33,28.08,0.554,6,0.000,0.052,2887,1982,1805,0,0,0,0,0,0 $GC,8531,0.86,243.9,144.1,9.0,496,8535,0.00,2.30,0.00,0.000,4,0.000,0.061,2894,555,1803,0,0,0,0,0,0 $GC,8561,0.86,243.9,141.1,9.4,498,8565,0.00,2.25,0.00,0.000,6,0.000,0.038,2894,1997,1802,0,0,0,0,0,0 $GC,8888,0.87,250.5,110.3,8.8,528,8901,0.00,2.30,6.40,0.431,4,0.000,0.056,2901,560,1780,0,0,0,0,0,0 $GC,8927,0.87,252.2,106.8,9.0,531,8931,0.00,2.20,0.00,0.000,6,0.000,0.038,2901,1992,1780,0,0,0,0,0,0 $GC,9254,0.92,298.4,79.9,7.1,561,9306,0.10,2.25,43.05,0.492,4,0.086,0.052,2974,3386,1581,0,0,0,0,0,0 $GC,9396,0.92,298.4,64.8,11.4,586,9404,0.12,2.28,0.00,0.000,6,0.109,0.045,2940,1980,1580,0,0,0,0,0,0 $GC,9734,0.92,298.4,33.7,9.8,647,9739,0.00,2.28,0.00,0.000,4,0.000,0.058,2949,560,1580,0,0,0,0,0,0 $GC,9759,0.92,298.4,31.4,9.2,651,9764,0.00,2.25,0.00,0.000,6,0.000,0.043,2949,1992,1580,0,0,0,0,0,0 $STATE,10056,end climb,SURFACE_DEPTH_REACHED $STATE,10056,begin surface coast $FINISH,0.6,1.009774 $STATE,10089,end surface coast,CONTROL_FINISHED_OK $STATE,10089,begin surface $SM_CCo,10108,-0.28,0.000,0,0,1576,300.24 $SM_GC,2.11,0.00,0.00,-0.28,0.000,0.000,0.000,50,1914,1576,-8.10,-1.22,300.24 $IRIDIUM_FIX,2104.07,-15753.03,011002,070742 $TT8_MAMPS,0.028379 $HUMID,67.56 $INTERNAL_PRESSURE,9.39215 $TCM_TEMP,24.20 $XPDR_PINGS,3 $24V_AH,24.4,56.758 $10V_AH,10.1,62.535 $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,19.150,95.350,385.200,0.000,0.000,38.414,37.026,180.155,18.250,0.000,20.006,1303.147,5788.822,403.687,2462.309,546.273,0.000,1291.383,0.000,2406.437,0.000,109.517,0.000 $DEVICE_MAMPS,220.129,102.778,728.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,483.536,416.743,1411.800,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355576 $DATA_FILE_SIZE,41254,712 $CAP_FILE_SIZE,111965,0 $CFSIZE,260165632,222556160 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2 $GPS,070713,131255,2105.173,-15745.133,16,0.9,17,9.8