version: 66.11
glider: 194
mission: 7
dive: 292
start: 1 26 114 20 40 44
data:
$ID,194
$MISSION,7
$DIVE,292
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_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,550
$T_MISSION,660
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,58592
$MASS_COMP,3867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,12
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7197.5435
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,2842
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2233
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-53.385216
$PRESSURE_SLOPE,0.0001158091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.223
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0044109076
$SEABIRD_T_H,0.00064730842
$SEABIRD_T_I,2.664891e-05
$SEABIRD_T_J,3.309405e-06
$SEABIRD_C_G,-9.5383005
$SEABIRD_C_H,1.0995622
$SEABIRD_C_I,-0.0013844616
$SEABIRD_C_J,0.00017264462
$GPS1,260114,203128,4852.699,-12654.109,41,0.8,41,17.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-63.1
$GPS2,260114,204016,4852.716,-12654.135,4,1.7,4,17.3
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4903.000,-12657.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.030,0.213
$KALMAN_X,-98936.4,0.0,0.0,-24141.8,-2707.8
$KALMAN_Y,124010.9,0.0,0.0,60524.7,2155.1
$MHEAD_RNG_PITCHd_Wd,350.6,19360,-9.9,-6.000,-15.57,3650
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,73,-0.47,-146.6,113,2252,1919,1923,3.2,-1.9,5,122,9.62,2.22,-33.47,0.000,18692,0.194,0.058,2678,3613,2998,3069,2928,0,0,0,0,0,0,25.11,25.97,26.60
$GC,282,-0.34,-146.6,2678,3613,3071,2928,24.8,-13.0,26,293,0.17,2.10,0.00,0.000,3078,0.119,0.028,2730,2205,2999,3071,2928,0,0,0,0,0,0,25.91,26.26,28.83
$GC,593,-0.29,-146.6,2730,2204,3071,2928,51.8,-6.8,57,602,0.00,2.10,0.00,0.000,516,0.000,0.037,2730,825,2999,3071,2928,0,0,0,0,0,0,28.83,26.22,28.83
$GC,645,-0.23,-146.6,2730,825,3071,2928,55.7,-7.7,62,655,0.15,2.15,0.00,0.000,3078,0.116,0.032,2775,2227,2999,3071,2927,0,0,0,0,0,0,26.05,26.27,28.83
$GC,956,-0.23,-146.6,2775,2227,3071,2928,72.0,-5.3,93,964,0.00,2.15,0.00,0.000,516,0.000,0.037,2775,836,2999,3071,2928,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1007,-0.23,-146.6,2775,836,3071,2928,74.8,-5.5,98,1017,0.00,2.12,0.00,0.000,1030,0.000,0.032,2776,2234,2999,3071,2928,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1328,-0.23,-146.6,2775,2234,3071,2928,92.4,-5.2,119,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2234,2999,3071,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1627,-0.23,-146.6,2775,2234,3071,2928,108.6,-5.5,134,1633,0.00,2.15,0.00,0.000,516,0.000,0.037,2775,838,2999,3071,2928,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1750,-0.23,-146.6,2775,838,3071,2928,115.5,-5.5,140,1755,0.00,2.12,0.00,0.000,1030,0.000,0.033,2775,2235,2999,3071,2928,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2069,-0.28,-146.6,2775,2235,3071,2928,132.4,-5.4,156,2075,0.00,2.15,0.00,0.000,516,0.000,0.037,2775,839,2999,3071,2928,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2130,-0.28,-146.6,2775,839,3071,2927,135.9,-5.5,159,2136,0.00,2.12,0.00,0.000,1030,0.000,0.033,2775,2237,2999,3071,2928,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2440,-0.34,-146.6,2775,2237,3071,2928,152.6,-5.4,174,2446,0.12,2.15,0.00,0.000,4612,0.079,0.034,2665,841,2999,3071,2928,0,0,0,0,0,0,26.68,26.32,28.83
$GC,2499,-0.34,-146.6,2664,841,3071,2928,157.8,-7.0,176,2506,0.25,2.12,0.00,0.000,3078,0.109,0.032,2734,2242,2999,3071,2927,0,0,0,0,0,0,25.98,26.34,28.83
$GC,2829,-0.34,-146.6,2734,2242,3071,2928,177.5,-5.4,187,2833,0.00,2.17,0.00,0.000,516,0.000,0.037,2734,835,2999,3071,2928,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2880,-0.34,-146.6,2734,833,3071,2927,179.2,-5.3,188,2884,0.00,2.12,0.00,0.000,1030,0.000,0.032,2732,2239,2999,3071,2928,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3186,-0.34,-146.6,2732,2239,3071,2927,194.5,-4.4,198,3189,0.00,2.15,0.00,0.000,516,0.000,0.036,2732,846,2999,3071,2928,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3250,-0.34,-146.6,2732,841,3071,2928,197.5,-4.6,200,3254,0.00,2.10,0.00,0.000,1030,0.000,0.032,2727,2232,2999,3071,2928,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3572,-0.34,-146.6,2727,2232,3071,2927,213.2,-5.2,211,3577,0.00,2.15,0.00,0.000,516,0.000,0.037,2727,837,2999,3071,2927,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3640,-0.34,-146.6,2727,837,3072,2927,216.8,-5.7,213,3644,0.00,2.12,0.00,0.000,1030,0.000,0.032,2721,2241,2999,3071,2928,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3956,-0.34,-146.6,2721,2241,3071,2928,237.5,-6.3,224,3962,0.00,2.17,0.00,0.000,516,0.000,0.037,2722,832,2999,3071,2927,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4055,-0.34,-146.6,2721,831,3071,2927,243.2,-6.3,227,4059,0.00,2.12,0.00,0.000,1030,0.000,0.033,2718,2236,2999,3071,2927,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4377,-0.34,-146.6,2717,2236,3071,2927,259.5,-4.5,238,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2236,2999,3071,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4677,-0.34,-146.6,2718,2236,3071,2927,273.1,-4.7,248,4683,0.00,2.15,0.00,0.000,516,0.000,0.036,2718,839,2998,3071,2926,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4790,-0.34,-146.6,2718,839,3071,2926,278.2,-5.4,251,4797,0.00,2.12,0.00,0.000,1030,0.000,0.033,2716,2232,2998,3071,2926,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5097,-0.34,-146.6,2716,2232,3071,2926,295.8,-5.7,262,5103,0.00,2.15,0.00,0.000,516,0.000,0.036,2716,835,2999,3072,2926,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5160,-0.34,-146.6,2716,835,3071,2926,299.7,-6.1,264,5164,0.00,2.12,0.00,0.000,1030,0.000,0.033,2716,2238,2998,3071,2926,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5489,-0.34,-146.6,2716,2238,3071,2926,319.5,-6.0,270,5495,0.00,2.12,0.00,0.000,516,0.000,0.036,2716,848,2998,3071,2925,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5580,-0.34,-146.6,2715,848,3071,2926,323.3,-6.0,271,5584,0.00,2.10,0.00,0.000,1030,0.000,0.033,2716,2232,2998,3071,2926,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5907,-0.34,-146.6,2716,2232,3070,2925,346.3,-6.4,277,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2232,2998,3071,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6207,-0.34,-146.6,2716,2232,3071,2925,365.4,-6.4,282,6211,0.00,2.15,0.00,0.000,516,0.000,0.037,2716,838,2998,3071,2925,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6325,-0.34,-146.6,2716,837,3071,2925,373.1,-6.6,284,6331,0.00,2.12,0.00,0.000,1030,0.000,0.034,2716,2229,2997,3070,2925,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6684,-0.34,-146.6,2716,2229,3071,2925,394.6,-6.0,290,6690,0.00,2.15,0.00,0.000,516,0.000,0.037,2716,835,2997,3071,2924,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6766,-0.34,-146.6,2716,835,3071,2925,398.5,-6.2,291,6770,0.00,2.12,0.00,0.000,1030,0.000,0.034,2716,2236,2997,3071,2924,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7106,-0.34,-146.6,2716,2236,3071,2924,418.3,-5.3,297,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2236,2997,3071,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7405,-0.34,-146.6,2716,2236,3071,2923,431.5,-4.4,302,7410,0.00,2.15,0.00,0.000,516,0.000,0.037,2716,837,2996,3070,2923,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7507,-0.34,-146.6,2716,837,3071,2923,434.2,-4.3,303,7511,0.00,2.12,0.00,0.000,1030,0.000,0.034,2716,2232,2996,3071,2922,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7826,-0.34,-146.6,2716,2233,3071,2922,451.1,-4.7,309,7832,0.00,2.12,0.00,0.000,516,0.000,0.037,2716,849,2996,3071,2922,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7897,-0.34,-146.6,2716,849,3070,2922,454.4,-5.0,310,7901,0.00,2.12,0.00,0.000,1030,0.000,0.034,2716,2239,2996,3071,2922,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8239,-0.34,-146.6,2715,2240,3071,2922,474.4,-5.7,316,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2240,2996,3071,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8542,-0.34,-146.6,2716,2240,3071,2921,492.7,-6.1,321,8547,0.00,2.15,0.00,0.000,516,0.000,0.037,2716,843,2996,3071,2921,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8617,-0.34,-146.6,2716,844,3071,2921,496.6,-6.2,322,8621,0.00,2.12,0.00,0.000,1030,0.000,0.034,2716,2235,2996,3071,2921,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8960,-0.34,-146.6,2716,2235,3071,2920,515.1,-5.0,328,8965,0.00,2.15,0.00,0.000,516,0.000,0.037,2716,842,2995,3071,2920,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9043,-0.34,-146.6,2716,843,3071,2919,518.2,-4.9,329,9047,0.00,2.12,0.00,0.000,1030,0.000,0.034,2716,2233,2995,3071,2920,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9375,-0.39,-146.6,2716,2233,3071,2920,534.8,-4.7,335,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2233,2995,3071,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9675,-0.44,-146.6,2716,2233,3071,2919,549.3,-4.9,340,9681,0.00,2.15,0.00,0.000,516,0.000,0.037,2716,842,2995,3071,2919,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9759,-0.50,-146.6,2716,842,3071,2919,552.8,-5.1,341,9764,0.10,2.12,0.00,0.000,5126,0.089,0.034,2632,2238,2995,3071,2919,0,0,0,0,0,0,26.25,26.29,28.83
$GC,10093,-0.44,-146.6,2632,2238,3071,2919,581.0,-8.2,347,10099,0.17,2.15,0.00,0.000,2564,0.116,0.036,2694,846,2995,3071,2919,0,0,0,0,0,0,26.29,26.26,28.83
$GC,10135,-0.39,-146.6,2694,846,3071,2919,581.0,-8.2,347,10139,0.00,2.12,0.00,0.000,1030,0.000,0.034,2694,2232,2995,3071,2919,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10449,-0.39,-146.6,2694,2232,3071,2918,600.2,-5.0,353,10454,0.00,2.12,0.00,0.000,516,0.000,0.037,2694,850,2994,3071,2918,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10495,-0.39,-146.6,2694,850,3070,2918,600.2,-5.0,353,10499,0.00,2.12,0.00,0.000,1030,0.000,0.034,2694,2234,2994,3071,2918,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10807,-0.39,-146.6,2694,2234,3070,2918,616.3,-4.3,359,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2235,2994,3070,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11108,-0.39,-146.6,2693,2235,3071,2918,631.0,-5.0,364,11113,0.00,2.15,0.00,0.000,516,0.000,0.037,2694,841,2994,3071,2918,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11200,-0.39,-146.6,2694,841,3071,2918,634.2,-5.1,365,11204,0.00,2.15,0.00,0.000,1030,0.000,0.034,2694,2244,2994,3071,2918,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11523,-0.39,-146.6,2694,2244,3071,2917,652.2,-5.1,371,11528,0.00,2.15,0.00,0.000,516,0.000,0.038,2694,848,2994,3071,2918,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11570,-0.39,-146.6,2694,848,3071,2917,652.2,-5.1,371,11574,0.00,2.12,0.00,0.000,1030,0.000,0.034,2694,2234,2994,3070,2918,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11878,-0.39,-146.6,2693,2235,3071,2917,672.1,-5.6,376,11879,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2235,2994,3071,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12178,-0.39,-146.6,2694,2235,3070,2917,689.1,-5.6,381,12184,0.00,2.15,0.00,0.000,516,0.000,0.037,2694,840,2994,3071,2917,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12275,-0.39,-146.6,2694,839,3071,2917,692.4,-5.6,382,12279,0.00,2.15,0.00,0.000,1030,0.000,0.034,2694,2239,2993,3070,2917,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12593,-0.44,-146.6,2694,2239,3070,2916,709.5,-4.7,388,12598,0.00,2.17,0.00,0.000,516,0.000,0.038,2694,840,2993,3071,2916,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12640,-0.49,-146.6,2694,840,3070,2916,709.5,-4.7,388,12645,0.00,2.15,0.00,0.000,1030,0.000,0.034,2694,2245,2993,3070,2916,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12949,-0.54,-146.6,2693,2245,3071,2916,726.2,-4.8,393,12954,0.00,2.17,0.00,0.000,516,0.000,0.038,2694,837,2993,3071,2916,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12991,-0.59,-146.6,2693,837,3071,2916,726.2,-4.8,393,12995,0.12,2.15,0.00,0.000,5126,0.073,0.034,2599,2244,2992,3070,2915,0,0,0,0,0,0,26.24,26.24,28.83
$GC,13304,-0.53,-146.6,2598,2244,3070,2915,755.3,-8.9,399,13310,0.20,2.17,0.00,0.000,2564,0.115,0.036,2668,845,2993,3071,2915,0,0,0,0,0,0,26.22,26.20,28.83
$GC,13402,-0.48,-146.6,2668,845,3071,2915,759.7,-8.7,400,13406,0.00,2.12,0.00,0.000,1030,0.000,0.034,2668,2231,2993,3071,2915,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13719,-0.48,-146.6,2667,2231,3071,2915,782.5,-6.4,406,13720,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2231,2993,3071,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14019,-0.48,-146.6,2667,2231,3071,2915,802.0,-6.5,411,14025,0.00,2.17,0.00,0.000,516,0.000,0.038,2668,834,2993,3071,2915,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14091,-0.48,-146.6,2667,834,3071,2914,806.0,-6.5,412,14095,0.00,2.15,0.00,0.000,1030,0.000,0.034,2667,2233,2992,3070,2914,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14438,-0.48,-146.6,2666,2233,3070,2914,825.9,-5.4,418,14444,0.00,2.17,0.00,0.000,516,0.000,0.037,2666,836,2992,3071,2914,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14518,-0.48,-146.6,2666,835,3070,2914,829.5,-5.5,419,14522,0.00,2.15,0.00,0.000,1030,0.000,0.034,2666,2238,2992,3071,2914,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14855,-0.48,-146.6,2665,2238,3071,2913,847.4,-5.0,425,14861,0.00,2.15,0.00,0.000,516,0.000,0.038,2666,848,2992,3071,2914,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14909,-0.48,-146.6,2666,848,3071,2914,847.4,-5.0,425,14917,0.00,2.12,0.00,0.000,1030,0.000,0.034,2666,2235,2991,3070,2913,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15216,-0.48,-146.6,2665,2235,3071,2913,868.7,-6.0,431,15217,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2235,2991,3070,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15516,-0.48,-146.6,2666,2235,3070,2913,885.8,-5.6,436,15521,0.00,2.15,0.00,0.000,516,0.000,0.037,2666,841,2992,3071,2913,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15609,-0.48,-146.6,2665,841,3071,2913,889.4,-5.7,437,15613,0.00,2.15,0.00,0.000,1030,0.000,0.034,2666,2238,2991,3070,2913,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15930,-0.48,-146.6,2666,2239,3071,2912,909.7,-5.6,443,15936,0.00,2.17,0.00,0.000,516,0.000,0.038,2666,843,2991,3070,2912,0,0,0,0,0,0,28.83,26.18,28.83
$GC,15993,-0.48,-146.6,2666,844,3070,2912,912.8,-5.5,444,15997,0.00,2.15,0.00,0.000,1030,0.000,0.034,2666,2243,2991,3070,2913,0,0,0,0,0,0,28.83,26.21,28.83
$GC,16345,-0.48,-146.6,2666,2243,3070,2912,930.2,-5.0,450,16351,0.00,2.20,0.00,0.000,516,0.000,0.039,2666,833,2991,3071,2912,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16384,-0.48,-146.6,2666,833,3071,2912,930.2,-5.0,450,16388,0.00,2.15,0.00,0.000,1030,0.000,0.034,2665,2234,2991,3071,2912,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,16639,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,16639,begin apogee
$GC,16644,-0.24,0.0,2665,2000,3071,2912,944.9,-5.0,455,16772,0.28,0.00,122.12,1.206,10246,0.093,0.000,2765,2000,2399,2464,2335,0,0,0,0,0,0,26.18,28.83,22.56
$STATE,16774,end apogee,CONTROL_FINISHED_OK
$STATE,16774,begin climb
$GC,16776,0.47,146.6,2764,2000,2464,2335,948.5,0.0,457,16912,0.65,0.00,132.73,1.164,10246,0.060,0.000,2993,2000,1801,1861,1742,0,0,0,0,0,0,24.34,28.83,21.85
$GC,17181,0.42,166.3,2993,2000,1851,1737,931.6,5.4,464,17204,0.00,2.28,17.15,1.081,8708,0.000,0.041,2999,620,1721,1778,1664,0,0,0,0,0,0,28.83,25.22,23.44
$GC,17314,0.42,175.4,2998,619,1775,1660,924.6,5.7,466,17329,0.00,2.17,9.23,0.969,9222,0.000,0.033,2999,2007,1683,1741,1625,0,0,0,0,0,0,28.83,25.76,23.70
$GC,17657,0.42,188.0,2999,2007,1738,1624,903.9,5.6,472,17674,0.00,2.28,11.98,1.050,8452,0.000,0.044,2999,3432,1632,1691,1574,0,0,0,0,0,0,28.83,25.91,24.06
$GC,17705,0.42,200.6,2999,3432,1691,1575,903.9,5.6,472,17723,0.00,2.20,12.00,1.045,9222,0.000,0.030,3007,2003,1582,1641,1523,0,0,0,0,0,0,28.83,26.03,23.97
$GC,18078,0.37,202.4,3007,2003,1640,1519,879.6,6.0,479,18084,0.12,2.20,0.00,0.000,4356,0.128,0.042,2964,3403,1579,1640,1519,0,0,0,0,0,0,26.22,26.15,28.83
$GC,18125,0.31,204.1,2963,3403,1640,1519,879.6,6.0,479,18137,0.00,2.15,4.28,0.682,9222,0.000,0.031,2968,1988,1566,1627,1505,0,0,0,0,0,0,28.83,26.28,24.11
$GC,18437,0.31,258.7,2968,1988,1627,1504,863.4,4.5,485,18490,0.00,2.33,47.55,1.147,8452,0.000,0.041,2968,3401,1344,1412,1276,0,0,0,0,0,0,28.83,25.32,23.76
$GC,18515,0.31,313.3,2968,3401,1411,1274,863.4,4.5,485,18569,0.00,2.20,48.12,1.135,9222,0.000,0.030,2972,2000,1121,1198,1045,0,0,0,0,0,0,28.83,25.61,23.26
$GC,18913,0.31,325.9,2972,2000,1193,1034,838.3,5.6,492,18929,0.00,2.33,10.93,1.005,8708,0.000,0.044,2973,600,1070,1150,990,0,0,0,0,0,0,28.83,25.83,24.04
$GC,18965,0.31,338.4,2972,600,1150,989,838.3,5.6,492,18984,0.00,2.17,12.25,1.024,9222,0.000,0.032,2973,2003,1019,1102,937,0,0,0,0,0,0,28.83,25.97,23.99
$GC,19333,0.31,357.8,2973,2003,1102,931,815.3,5.5,499,19356,0.00,2.28,17.58,1.066,8708,0.000,0.042,2973,604,941,1027,855,0,0,0,0,0,0,28.83,25.81,24.15
$GC,19396,0.31,370.3,2972,604,1027,852,811.9,5.6,500,19415,0.00,2.17,12.48,1.011,9222,0.000,0.032,2972,2005,889,978,801,0,0,0,0,0,0,28.83,25.98,24.02
$GC,19749,0.37,411.4,2973,2005,978,795,793.6,4.8,506,19790,0.00,2.38,35.97,1.105,8708,0.000,0.044,2973,603,721,817,626,0,0,0,0,0,0,28.83,25.44,23.94
$GC,19827,0.44,455.8,2972,603,817,624,790.9,4.8,507,19871,0.00,2.17,39.67,1.088,9222,0.000,0.031,2973,1999,540,646,435,0,0,0,0,0,0,28.83,25.75,23.58
$GC,20224,0.53,491.3,2972,1998,645,426,770.7,5.0,514,20241,0.12,2.33,9.23,0.936,10756,0.080,0.044,3070,605,499,608,390,0,0,0,0,0,0,26.32,25.93,24.14
$GC,20303,0.59,500.4,3071,605,608,389,765.4,5.7,515,20308,0.15,2.17,0.00,0.000,5126,0.111,0.032,3023,2007,498,608,389,0,0,0,0,0,0,25.95,26.09,28.83
$GC,20641,0.59,500.4,3022,2007,608,386,739.7,6.8,521,20647,0.00,2.25,0.00,0.000,516,0.000,0.044,3031,601,497,608,386,0,0,0,0,0,0,28.83,26.20,28.83
$GC,20678,0.59,500.4,3030,601,608,386,739.7,6.8,521,20682,0.00,2.15,0.00,0.000,1030,0.000,0.031,3030,2007,497,608,386,0,0,0,0,0,0,28.83,26.32,28.83
$GC,21000,0.59,500.4,3030,2008,608,385,715.6,6.8,527,21006,0.00,2.25,0.00,0.000,516,0.000,0.044,3033,598,496,608,385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,21053,0.59,500.4,3033,598,608,385,715.6,6.8,527,21060,0.00,2.15,0.00,0.000,1030,0.000,0.032,3033,2011,496,608,385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,21360,0.59,500.4,3033,2011,608,384,692.7,6.3,533,21366,0.00,2.25,0.00,0.000,516,0.000,0.044,3041,600,496,608,384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,21420,0.59,500.4,3041,600,608,384,688.4,6.5,534,21424,0.00,2.15,0.00,0.000,1030,0.000,0.032,3042,2011,495,607,384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,21776,0.59,500.4,3041,2011,608,384,663.5,7.0,540,21782,0.00,2.25,0.00,0.000,516,0.000,0.044,3044,600,496,608,384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,21804,0.59,500.4,3044,600,608,384,663.5,7.0,540,21809,0.00,2.17,0.00,0.000,1030,0.000,0.032,3043,2001,496,608,384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,22136,0.59,500.4,3044,2001,608,384,633.0,8.7,546,22142,0.00,2.25,0.00,0.000,516,0.000,0.044,3044,601,495,608,383,0,0,0,0,0,0,28.83,26.29,28.83
$GC,22175,0.59,500.4,3043,601,608,384,633.0,8.7,546,22179,0.00,2.15,0.00,0.000,1030,0.000,0.032,3044,2013,496,608,384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,22491,0.59,500.4,3043,2013,608,384,605.1,7.7,552,22497,0.00,2.25,0.00,0.000,516,0.000,0.044,3044,601,496,608,384,0,0,0,0,0,0,28.83,26.28,28.83
$GC,22560,0.59,500.4,3043,601,608,384,600.8,7.6,553,22564,0.00,2.15,0.00,0.000,1030,0.000,0.032,3043,2003,496,608,384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,22907,0.59,500.4,3043,2003,608,384,574.1,7.6,559,22912,0.00,2.22,0.00,0.000,516,0.000,0.044,3044,607,496,608,384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,22959,0.59,500.4,3043,607,608,384,574.1,7.6,559,22967,0.00,2.12,0.00,0.000,1030,0.000,0.031,3044,2010,496,608,384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,23267,0.59,500.4,3043,2009,607,384,546.9,7.5,565,23272,0.00,2.25,0.00,0.000,516,0.000,0.044,3043,605,496,608,384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,23326,0.59,500.4,3043,605,608,384,542.3,7.5,566,23331,0.00,2.12,0.00,0.000,1030,0.000,0.031,3044,2004,495,608,383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,23683,0.59,500.4,3044,2004,608,383,513.1,8.4,572,23688,0.00,2.22,0.00,0.000,516,0.000,0.044,3044,607,496,608,384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,23735,0.59,500.4,3044,607,608,383,513.1,8.4,572,23743,0.00,2.12,0.00,0.000,1030,0.000,0.031,3044,2011,496,608,384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,24043,0.59,500.4,3044,2011,608,384,481.4,8.9,578,24048,0.00,2.25,0.00,0.000,516,0.000,0.044,3044,598,495,608,383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,24095,0.59,500.4,3044,598,608,383,481.4,8.9,578,24103,0.00,2.12,0.00,0.000,1030,0.000,0.031,3044,2001,496,608,384,0,0,0,0,0,0,28.83,26.40,28.83
$GC,24403,0.59,500.4,3044,2001,608,383,449.7,8.8,584,24409,0.00,2.22,0.00,0.000,516,0.000,0.044,3044,605,495,608,383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,24457,0.59,500.4,3044,605,608,384,449.7,8.8,584,24464,0.00,2.15,0.00,0.000,1030,0.000,0.031,3044,1996,496,608,384,0,0,0,0,0,0,28.83,26.39,28.83
$GC,24763,0.59,500.4,3044,1995,608,383,418.3,8.7,590,24769,0.00,2.22,0.00,0.000,516,0.000,0.044,3044,606,495,608,383,0,0,0,0,0,0,28.83,26.24,28.83
$GC,24817,0.59,500.4,3044,606,607,383,418.3,8.7,590,24824,0.00,2.12,0.00,0.000,1030,0.000,0.031,3044,2010,495,608,383,0,0,0,0,0,0,28.83,26.39,28.83
$GC,25123,0.59,500.4,3044,2009,608,383,385.8,9.0,596,25129,0.00,2.25,0.00,0.000,516,0.000,0.044,3044,597,496,608,384,0,0,0,0,0,0,28.83,26.23,28.83
$GC,25161,0.59,500.4,3044,597,608,383,385.8,9.0,596,25165,0.00,2.12,0.00,0.000,1030,0.000,0.031,3044,1997,495,608,383,0,0,0,0,0,0,28.83,26.39,28.83
$GC,25483,0.59,500.4,3044,1997,608,384,355.4,8.4,602,25488,0.00,2.22,0.00,0.000,516,0.000,0.044,3044,602,496,608,384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,25525,0.59,500.4,3044,602,608,384,355.4,8.4,602,25530,0.00,2.15,0.00,0.000,1030,0.000,0.031,3044,2012,496,608,384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,25843,0.64,500.4,3044,2012,608,384,326.6,7.8,608,25849,0.00,2.25,0.00,0.000,516,0.000,0.044,3044,595,496,608,384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,25911,0.70,500.4,3044,596,608,384,321.8,7.7,609,25915,0.00,2.15,0.00,0.000,1030,0.000,0.031,3044,2000,496,608,384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,26258,0.77,500.4,3044,2000,608,384,295.7,7.3,615,26264,0.12,2.22,0.00,0.000,2564,0.081,0.042,3150,600,495,608,383,0,0,0,0,0,0,26.67,26.20,28.83
$GC,26320,0.77,500.4,3149,599,608,383,288.5,8.6,617,26325,0.12,2.17,0.00,0.000,5126,0.095,0.031,3087,1997,496,608,384,0,0,0,0,0,0,26.06,26.36,28.83
$GC,26648,0.77,500.4,3087,1997,608,384,255.1,9.7,628,26649,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1997,496,608,384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26948,0.77,500.4,3087,1997,608,384,227.7,8.8,638,26954,0.00,2.22,0.00,0.000,516,0.000,0.043,3093,598,496,608,384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,27021,0.77,500.4,3093,599,608,384,222.4,8.7,640,27025,0.00,2.12,0.00,0.000,1030,0.000,0.031,3093,2003,495,608,383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,27338,0.77,500.4,3093,2004,608,384,191.4,9.6,651,27343,0.00,2.22,0.00,0.000,516,0.000,0.044,3097,604,496,608,384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,27381,0.77,500.4,3097,604,607,384,188.5,9.5,652,27385,0.00,2.12,0.00,0.000,1030,0.000,0.031,3097,2002,496,608,384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,27698,0.77,500.4,3097,2002,608,384,158.4,9.1,663,27703,0.00,2.22,0.00,0.000,516,0.000,0.043,3097,604,495,608,383,0,0,0,0,0,0,28.83,26.20,28.83
$GC,27766,0.77,500.4,3097,604,608,383,152.9,9.3,665,27770,0.00,2.12,0.00,0.000,1030,0.000,0.031,3097,2013,496,609,383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,28073,0.77,500.4,3097,2013,608,384,123.1,9.4,680,28079,0.00,2.25,0.00,0.000,516,0.000,0.043,3097,598,496,608,384,0,0,0,0,0,0,28.83,26.19,28.83
$GC,28126,0.77,500.4,3097,598,608,384,119.1,9.6,682,28135,0.00,2.17,0.00,0.000,1030,0.000,0.031,3097,1998,496,609,383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,28433,0.77,500.4,3097,1998,608,384,90.9,9.1,698,28439,0.00,2.22,0.00,0.000,516,0.000,0.043,3097,598,496,608,384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,28487,0.77,500.4,3097,598,608,384,87.2,9.1,700,28495,0.00,2.15,0.00,0.000,1030,0.000,0.031,3097,1996,496,608,384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,28796,0.77,500.4,3097,1996,608,384,61.3,6.5,728,28806,0.00,2.20,0.00,0.000,516,0.000,0.043,3097,602,496,608,384,0,0,0,0,0,0,28.83,26.19,28.83
$GC,28841,0.82,500.4,3097,602,608,384,58.4,6.6,732,28849,0.00,2.15,0.00,0.000,1030,0.000,0.030,3097,1996,495,608,383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,29149,0.90,515.3,3097,1996,608,384,38.5,5.6,763,29158,0.00,2.22,0.00,0.000,516,0.000,0.043,3097,605,496,608,384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,29201,0.98,529.6,3097,605,608,384,35.6,5.6,768,29212,0.17,2.10,0.00,0.000,3078,0.060,0.029,3213,2007,496,608,384,0,0,0,0,0,0,26.37,26.37,28.83
$STATE,29470,end climb,SURFACE_DEPTH_REACHED
$STATE,29470,begin surface coast
$FINISH,1.5,1.008102
$STATE,29491,end surface coast,CONTROL_FINISHED_OK
$STATE,29491,begin surface
$SM_CCo,29567,0.00,0.000,0,0,495,467.30
$SM_GC,2.45,7.85,0.32,0.00,0.028,0.053,0.000,140,2244,495,-8.24,-1.33,467.30,0,0,0,0,0,0,26.55,26.51,28.83
$IRIDIUM_FIX,4840.32,-12654.16,260114,111117
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.51
$INTERNAL_PRESSURE,8.83071
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,882.5,71.4
$24V_AH,21.9,45.985
$10V_AH,10.0,31.462
$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,20.525,282.850,543.250,0.000,0.000,0.000,0.000,434.175,15.500,0.000,6.296,2587.823,23111.014,687.142,3461.303,239.040,0.387,2793.226,0.000,2922.494,0.000,114.273,0.000
$DEVICE_MAMPS,194.310,58.140,1206.405,0.000,0.000,0.000,0.000,83.385,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.370,1056.006,495.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300324
$DATA_FILE_SIZE,56952,797
$CAP_FILE_SIZE,255669,0
$CFSIZE,2097872896,2056388608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270114,045435,4856.642,-12654.579,29,0.9,29,17.3