version: 66.06 glider: 523 mission: 4 dive: 728 start: 7 16 113 13 20 0 data: $ID,523 $MISSION,4 $DIVE,728 $D_SURF,3 $D_FLARE,3 $D_TGT,450 $D_ABORT,600 $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,200 $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,-50694.301 $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,2630 $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,1952 $C_ROLL_CLIMB,1984 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,24 $R_STBD_OVSHOOT,23 $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 $GPS1,131305,2111.535,-15754.770,38,0.8,38,9.8 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.42 $_SM_ANGLEo,-73.5 $GPS2,131941,2111.534,-15754.839,17,0.9,17,9.8 $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,107.4,23162,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-85.72,0.000,6,0.000,0.000,49,1983,3395,0,0,0,0,0,0 $GC,110,-0.74,-146.0,3.4,-4.2,14,125,9.62,2.40,0.00,0.000,4,0.222,0.058,2381,535,3396,0,0,0,0,0,0 $GC,184,-0.74,-146.0,18.9,-15.0,27,192,0.00,2.28,0.00,0.000,6,0.000,0.043,2373,1953,3397,0,0,0,0,0,0 $GC,355,-0.74,-146.0,40.8,-13.3,58,362,0.00,2.38,0.00,0.000,4,0.000,0.064,2373,543,3398,0,0,0,0,0,0 $GC,431,-0.74,-146.0,51.4,-14.3,71,436,0.00,2.22,0.00,0.000,6,0.000,0.044,2363,1954,3398,0,0,0,0,0,0 $GC,772,-0.74,-146.0,83.9,-8.5,129,776,0.00,2.30,0.00,0.000,4,0.000,0.063,2363,548,3398,0,0,0,0,0,0 $GC,955,-0.74,-146.0,102.7,-10.3,145,960,0.15,2.20,0.00,0.000,6,0.156,0.043,2393,1960,3399,0,0,0,0,0,0 $GC,1283,-0.74,-146.0,127.6,-8.2,175,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1960,3400,0,0,0,0,0,0 $GC,1601,-0.74,-146.0,155.9,-8.5,205,1605,0.00,2.33,0.00,0.000,4,0.000,0.064,2394,536,3400,0,0,0,0,0,0 $GC,1853,-0.74,-146.0,177.3,-8.0,227,1861,0.00,2.25,0.00,0.000,6,0.000,0.042,2386,1951,3400,0,0,0,0,0,0 $GC,2180,-0.74,-146.0,197.5,-5.7,258,2184,0.00,2.33,0.00,0.000,4,0.000,0.064,2386,544,3400,0,0,0,0,0,0 $GC,2293,-0.74,-146.0,204.4,-6.3,265,2297,0.00,2.22,0.00,0.000,6,0.000,0.042,2376,1963,3400,0,0,0,0,0,0 $GC,2619,-0.74,-146.0,225.4,-6.8,281,2623,0.00,2.35,0.00,0.000,4,0.000,0.062,2377,541,3400,0,0,0,0,0,0 $GC,2827,-0.74,-146.0,240.0,-6.4,290,2831,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1954,3400,0,0,0,0,0,0 $GC,3146,-0.74,-146.0,259.8,-6.2,305,3150,0.00,2.30,0.00,0.000,4,0.000,0.064,2357,3366,3400,0,0,0,0,0,0 $GC,3196,-0.74,-146.0,263.3,-6.1,307,3201,0.12,2.22,0.00,0.000,6,0.146,0.048,2390,1957,3400,0,0,0,0,0,0 $GC,3520,-0.74,-146.0,277.9,-4.7,323,3524,0.00,2.30,0.00,0.000,4,0.000,0.065,2390,539,3400,0,0,0,0,0,0 $GC,3617,-0.74,-146.0,283.8,-5.9,327,3621,0.00,2.20,0.00,0.000,6,0.000,0.041,2382,1955,3400,0,0,0,0,0,0 $GC,3961,-0.74,-146.0,306.3,-7.0,342,3965,0.00,2.28,0.00,0.000,4,0.000,0.064,2372,3357,3399,0,0,0,0,0,0 $GC,4046,-0.74,-146.0,313.1,-8.1,344,4050,0.00,2.22,0.00,0.000,6,0.000,0.048,2372,1951,3399,0,0,0,0,0,0 $GC,4374,-0.74,-146.0,335.5,-6.5,352,4378,0.00,2.28,0.00,0.000,4,0.000,0.064,2372,539,3397,0,0,0,0,0,0 $GC,4632,-0.74,-146.0,352.2,-5.7,357,4637,0.00,2.22,0.00,0.000,6,0.000,0.041,2363,1962,3395,0,0,0,0,0,0 $GC,4963,-0.74,-146.0,367.9,-4.7,366,4967,0.00,2.33,0.00,0.000,4,0.000,0.061,2362,539,3394,0,0,0,0,0,0 $GC,5222,-0.74,-146.0,383.7,-6.4,371,5229,0.15,2.22,0.00,0.000,6,0.150,0.042,2393,1957,3393,0,0,0,0,0,0 $GC,5556,-0.74,-146.0,400.9,-5.0,380,5560,0.00,2.28,0.00,0.000,4,0.000,0.065,2386,3360,3391,0,0,0,0,0,0 $GC,5591,-0.74,-146.0,402.7,-5.1,380,5596,0.00,2.28,0.00,0.000,6,0.000,0.051,2385,1948,3391,0,0,0,0,0,0 $GC,5923,-0.74,-146.0,420.2,-5.4,389,5927,0.00,2.28,0.00,0.000,4,0.000,0.065,2385,538,3390,0,0,0,0,0,0 $STATE,6005,end dive,HALF_MISSION_TIME_EXCEEDED $STATE,6005,begin apogee $GC,6015,-0.17,0.0,425.5,6.6,391,6141,0.62,0.00,123.05,0.733,6,0.117,0.000,2573,1991,2800,0,0,0,0,0,0 $STATE,6142,end apogee,CONTROL_FINISHED_OK $STATE,6142,begin climb $GC,6145,0.74,146.0,426.5,0.0,394,6283,0.82,2.38,127.70,0.709,4,0.073,0.063,2863,3385,2202,0,0,0,0,0,0 $GC,6420,0.74,146.0,399.1,10.9,400,6424,0.00,2.28,0.00,0.000,6,0.000,0.046,2871,1978,2199,0,0,0,0,0,0 $GC,6768,0.74,146.0,363.3,10.0,409,6773,0.00,2.30,0.00,0.000,4,0.000,0.058,2871,3392,2196,0,0,0,0,0,0 $GC,6943,0.74,146.0,344.7,10.7,413,6947,0.00,2.25,0.00,0.000,6,0.000,0.048,2880,1981,2195,0,0,0,0,0,0 $GC,7267,0.77,171.7,317.7,8.0,421,7296,0.00,2.38,22.08,0.656,4,0.000,0.061,2880,3398,2098,0,0,0,0,0,0 $GC,7443,0.77,171.7,300.2,10.2,425,7447,0.00,2.28,0.00,0.000,6,0.000,0.049,2890,1982,2095,0,0,0,0,0,0 $GC,7771,0.77,171.7,267.9,9.6,440,7775,0.00,2.30,0.00,0.000,4,0.000,0.064,2890,3388,2094,0,0,0,0,0,0 $GC,7908,0.77,175.5,255.4,8.9,446,7918,0.00,2.25,4.18,0.443,6,0.000,0.051,2898,1987,2083,0,0,0,0,0,0 $GC,8235,0.79,189.9,225.5,8.4,462,8256,0.00,2.30,14.38,0.590,4,0.000,0.064,2898,3398,2024,0,0,0,0,0,0 $GC,8354,0.79,189.9,215.2,9.5,467,8358,0.00,2.28,0.00,0.000,6,0.000,0.052,2906,1982,2022,0,0,0,0,0,0 $GC,8681,0.79,189.9,182.7,10.4,490,8685,0.00,2.33,0.00,0.000,4,0.000,0.064,2906,3396,2021,0,0,0,0,0,0 $GC,8777,0.79,189.9,172.2,11.1,498,8781,0.00,2.28,0.00,0.000,6,0.000,0.054,2914,1985,2020,0,0,0,0,0,0 $GC,9104,0.79,189.9,139.3,10.2,528,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1985,2020,0,0,0,0,0,0 $GC,9425,0.79,189.9,107.8,9.7,558,9429,0.00,2.30,0.00,0.000,4,0.000,0.065,2914,3398,2020,0,0,0,0,0,0 $GC,9530,0.79,189.9,96.4,10.1,567,9535,0.15,2.25,0.00,0.000,6,0.129,0.049,2878,1978,2021,0,0,0,0,0,0 $GC,9859,0.85,236.7,70.8,7.1,607,9906,0.00,2.22,41.17,0.498,4,0.000,0.055,2878,576,1833,0,0,0,0,0,0 $GC,9924,0.90,275.1,65.6,7.4,618,9967,0.08,2.22,34.38,0.483,6,0.048,0.035,2938,1992,1678,0,0,0,0,0,0 $GC,10296,0.92,299.0,32.6,8.0,685,10324,0.00,2.25,21.70,0.449,4,0.000,0.053,2938,3385,1579,0,0,0,0,0,0 $GC,10427,0.95,323.1,22.9,8.0,709,10455,0.00,2.25,21.70,0.439,6,0.000,0.042,2947,1980,1481,0,0,0,0,0,0 $GC,10614,0.95,323.1,7.6,9.3,743,10622,0.00,2.28,0.00,0.000,4,0.000,0.056,2956,574,1479,0,0,0,0,0,0 $STATE,10660,end climb,SURFACE_DEPTH_REACHED $STATE,10660,begin surface coast $FINISH,0.8,1.023366 $STATE,10688,end surface coast,CONTROL_FINISHED_OK $STATE,10688,begin surface $SM_CCo,10769,0.00,0.000,0,0,1476,324.77 $SM_GC,1.54,7.45,0.00,0.00,0.022,0.000,0.000,49,1955,1476,-7.95,0.14,324.77 $IRIDIUM_FIX,2059.45,-15756.04,101002,101018 $TT8_MAMPS,0.027612 $HUMID,69.68 $INTERNAL_PRESSURE,9.34332 $TCM_TEMP,22.40 $XPDR_PINGS,1 $24V_AH,24.3,63.188 $10V_AH,10.0,70.032 $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,19.175,104.700,410.325,0.000,0.000,26.106,35.422,181.753,17.750,0.000,17.973,1382.276,6134.616,430.565,2643.086,566.944,0.000,1396.463,0.000,2597.578,0.000,111.507,0.000 $DEVICE_MAMPS,222.430,65.195,733.252,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,512.631,445.662,1478.962,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355592 $DATA_FILE_SIZE,41229,756 $CAP_FILE_SIZE,120128,0 $CFSIZE,260165632,218505216 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,160713,162033,2111.846,-15754.060,28,0.8,28,9.8