version: 66.11
glider: 195
mission: 8
dive: 133
start: 11 24 113 8 27 16
data:
$ID,195
$MISSION,8
$DIVE,133
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,10
$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,59371
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5518.1797
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2207
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2618
$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,0
$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,-50.110214
$PRESSURE_SLOPE,0.0001168043
$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,700
$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,-0.77999997
$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,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,241113,081257,4732.475,-12525.918,34,0.8,39,16.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-55.0
$GPS2,241113,082649,4732.480,-12526.016,4,0.8,5,16.8
$SPEED_LIMITS,0.072,0.211
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4742.000,-12524.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.117,0.176
$KALMAN_X,-76795.2,0.0,0.0,44807.6,-3068.4
$KALMAN_Y,20026.1,0.0,0.0,12562.1,15.6
$MHEAD_RNG_PITCHd_Wd,16.8,17809,-10.0,-6.000,-15.88,3571
$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
$GC,15,-0.45,-146.6,173,2208,820,499,0.0,0.0,0,100,0.00,0.00,-81.95,0.000,16386,0.000,0.000,173,2208,2658,2672,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.45,-146.6,172,2208,2673,2646,3.1,-3.4,8,134,8.30,2.25,-17.65,0.000,18692,0.202,0.060,2384,3614,3218,3262,3174,0,0,0,0,0,0,25.48,25.88,26.29
$GC,297,-0.34,-146.6,2384,3615,3262,3177,20.7,-10.4,27,307,0.17,2.12,0.00,0.000,3078,0.117,0.028,2436,2196,3219,3262,3177,0,0,0,0,0,0,25.84,26.07,28.83
$GC,606,-0.34,-146.6,2436,2196,3263,3177,45.2,-7.1,58,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2196,3220,3263,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,907,-0.34,-146.6,2436,2196,3263,3176,62.7,-5.2,88,917,0.00,2.10,0.00,0.000,516,0.000,0.037,2436,818,3220,3263,3177,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1033,-0.34,-146.6,2436,818,3263,3177,71.7,-7.6,100,1041,0.00,2.15,0.00,0.000,1030,0.000,0.033,2432,2205,3220,3263,3177,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1340,-0.34,-146.6,2431,2204,3263,3176,90.5,-5.3,122,1346,0.00,2.20,0.00,0.000,260,0.000,0.045,2425,3616,3219,3263,3176,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1490,-0.34,-146.6,2425,3616,3263,3176,97.4,-5.0,129,1494,0.00,2.10,0.00,0.000,1030,0.000,0.026,2425,2195,3219,3263,3176,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1796,-0.34,-146.6,2424,2196,3263,3177,111.9,-4.4,144,1800,0.00,2.10,0.00,0.000,516,0.000,0.037,2425,809,3220,3263,3177,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1845,-0.34,-146.6,2425,809,3263,3177,113.7,-4.5,146,1853,0.00,2.15,0.00,0.000,1030,0.000,0.033,2418,2203,3220,3263,3177,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2152,-0.34,-146.6,2418,2203,3263,3176,127.1,-3.7,162,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2203,3220,3263,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2453,-0.34,-146.6,2418,2202,3263,3177,143.4,-6.0,177,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2203,3219,3263,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2753,-0.34,-146.6,2418,2203,3263,3177,160.8,-5.6,189,2758,0.00,2.10,0.00,0.000,516,0.000,0.037,2418,818,3219,3263,3176,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2805,-0.34,-146.6,2418,818,3263,3177,162.5,-5.5,190,2812,0.00,2.10,0.00,0.000,1030,0.000,0.034,2418,2207,3219,3263,3176,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3113,-0.34,-146.6,2417,2207,3263,3176,179.6,-5.4,201,3118,0.00,2.17,0.00,0.000,260,0.000,0.045,2410,3613,3219,3263,3176,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3165,-0.34,-146.6,2410,3613,3263,3176,181.2,-5.6,202,3172,0.00,2.08,0.00,0.000,1030,0.000,0.027,2410,2202,3219,3263,3176,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3473,-0.34,-146.6,2410,2201,3263,3176,198.2,-4.7,213,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2202,3219,3263,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3772,-0.34,-146.6,2410,2201,3263,3176,210.8,-4.3,223,3776,0.00,2.10,0.00,0.000,516,0.000,0.037,2410,816,3219,3263,3176,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3846,-0.34,-146.6,2410,816,3263,3176,213.9,-4.6,225,3850,0.00,2.10,0.00,0.000,1030,0.000,0.034,2405,2209,3219,3262,3176,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4163,-0.34,-146.6,2405,2208,3263,3176,230.2,-5.1,236,4169,0.00,2.17,0.00,0.000,260,0.000,0.046,2399,3613,3219,3263,3176,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4246,-0.34,-146.6,2399,3613,3263,3176,233.4,-5.2,238,4254,0.12,2.08,0.00,0.000,3078,0.119,0.027,2439,2200,3219,3263,3176,0,0,0,0,0,0,26.34,26.53,28.83
$GC,4554,-0.41,-146.6,2438,2200,3263,3176,246.3,-3.7,249,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2200,3219,3263,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4854,-0.47,-146.6,2439,2200,3262,3175,257.7,-3.9,259,4860,0.12,2.10,0.00,0.000,4612,0.074,0.035,2345,813,3218,3262,3175,0,0,0,0,0,0,26.67,26.44,28.83
$GC,4896,-0.47,-146.6,2344,813,3262,3175,259.5,-4.3,260,4901,0.17,2.12,0.00,0.000,3078,0.124,0.034,2389,2220,3218,3262,3175,0,0,0,0,0,0,26.25,26.48,28.83
$GC,5213,-0.47,-146.6,2389,2220,3262,3175,275.1,-4.5,271,5219,0.00,2.17,0.00,0.000,260,0.000,0.046,2382,3623,3218,3263,3174,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5281,-0.47,-146.6,2382,3623,3262,3174,278.0,-4.5,273,5285,0.00,2.12,0.00,0.000,1030,0.000,0.027,2382,2211,3218,3262,3174,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5603,-0.47,-146.6,2382,2211,3262,3174,290.4,-3.1,284,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2211,3218,3262,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5933,-0.47,-146.6,2381,2211,3262,3173,303.8,-4.7,294,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2211,3217,3262,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6233,-0.47,-146.6,2382,2211,3262,3173,319.7,-5.5,299,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2211,3218,3263,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6533,-0.47,-146.6,2381,2211,3262,3173,336.3,-5.6,304,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2211,3217,3262,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6833,-0.47,-146.6,2382,2211,3262,3173,353.9,-5.8,309,6839,0.00,2.17,0.00,0.000,260,0.000,0.046,2372,3613,3217,3262,3172,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6898,-0.47,-146.6,2372,3613,3262,3172,357.4,-5.6,310,6902,0.00,2.08,0.00,0.000,1030,0.000,0.028,2372,2204,3217,3262,3172,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7249,-0.47,-146.6,2372,2204,3262,3172,375.1,-4.8,316,7255,0.00,2.20,0.00,0.000,260,0.000,0.046,2362,3618,3217,3262,3172,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7309,-0.47,-146.6,2362,3618,3262,3172,377.9,-4.7,317,7313,0.00,2.10,0.00,0.000,1030,0.000,0.028,2362,2205,3217,3262,3172,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7670,-0.47,-146.6,2362,2205,3262,3172,396.2,-5.1,323,7675,0.00,2.10,0.00,0.000,516,0.000,0.037,2362,814,3217,3262,3172,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7718,-0.47,-146.6,2362,814,3262,3172,396.2,-5.1,323,7722,0.12,2.10,0.00,0.000,3078,0.133,0.034,2390,2206,3217,3262,3172,0,0,0,0,0,0,26.32,26.50,28.83
$GC,8025,-0.47,-146.6,2390,2206,3262,3171,414.2,-5.0,328,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2206,3216,3261,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8325,-0.47,-146.6,2390,2206,3262,3171,427.4,-4.3,333,8330,0.00,2.20,0.00,0.000,260,0.000,0.047,2385,3623,3216,3262,3171,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8413,-0.47,-146.6,2384,3624,3262,3171,429.9,-4.1,334,8417,0.00,2.10,0.00,0.000,1030,0.000,0.028,2384,2203,3216,3262,3170,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8745,-0.47,-146.6,2384,2202,3262,3171,443.8,-3.9,340,8750,0.00,2.20,0.00,0.000,260,0.000,0.047,2376,3618,3216,3262,3170,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8788,-0.47,-146.6,2375,3618,3262,3170,443.8,-3.9,340,8791,0.00,2.10,0.00,0.000,1030,0.000,0.028,2376,2199,3216,3263,3170,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9105,-0.47,-146.6,2375,2199,3262,3170,455.2,-3.0,346,9109,0.00,2.10,0.00,0.000,516,0.000,0.038,2376,809,3216,3262,3170,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9194,-0.47,-146.6,2375,809,3262,3170,457.0,-2.9,347,9198,0.00,2.12,0.00,0.000,1030,0.000,0.034,2370,2213,3216,3262,3170,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9517,-0.47,-146.6,2370,2213,3262,3169,468.1,-3.3,353,9522,0.00,2.12,0.00,0.000,516,0.000,0.037,2370,813,3215,3262,3169,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9554,-0.47,-146.6,2370,813,3262,3169,468.1,-3.3,353,9558,0.00,2.12,0.00,0.000,1030,0.000,0.034,2365,2216,3216,3262,3170,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9871,-0.47,-146.6,2365,2216,3262,3169,483.7,-4.6,359,9875,0.00,2.17,0.00,0.000,260,0.000,0.047,2361,3616,3215,3262,3169,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9965,-0.47,-146.6,2361,3616,3262,3169,486.5,-4.8,360,9970,0.12,2.08,0.00,0.000,3078,0.119,0.028,2400,2206,3215,3262,3168,0,0,0,0,0,0,26.36,26.56,28.83
$GC,10282,-0.53,-146.6,2400,2205,3262,3169,501.1,-3.8,366,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2205,3215,3262,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10582,-0.60,-146.6,2400,2205,3262,3168,514.5,-4.6,371,10589,0.12,2.10,0.00,0.000,4612,0.075,0.037,2308,819,3214,3262,3167,0,0,0,0,0,0,26.72,26.43,28.83
$GC,10650,-0.60,-146.6,2307,819,3262,3167,519.1,-5.2,372,10655,0.17,2.10,0.00,0.000,3078,0.124,0.034,2351,2208,3214,3262,3167,0,0,0,0,0,0,26.25,26.48,28.83
$GC,10997,-0.60,-146.6,2350,2208,3262,3167,545.2,-7.6,378,11001,0.00,2.20,0.00,0.000,260,0.000,0.047,2343,3624,3214,3262,3167,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11126,-0.60,-146.6,2343,3624,3262,3166,554.4,-7.9,380,11130,0.00,2.10,0.00,0.000,1030,0.000,0.028,2344,2207,3214,3262,3166,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11468,-0.60,-146.6,2343,2207,3262,3166,578.1,-6.3,386,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2208,3214,3262,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11768,-0.60,-146.6,2343,2207,3262,3166,590.9,-4.1,391,11772,0.00,2.10,0.00,0.000,516,0.000,0.039,2344,821,3214,3262,3166,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11832,-0.60,-146.6,2343,821,3262,3166,593.3,-4.0,392,11836,0.00,2.10,0.00,0.000,1030,0.000,0.035,2338,2209,3214,3262,3166,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12184,-0.60,-146.6,2337,2209,3261,3165,610.4,-5.0,398,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2209,3213,3261,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12484,-0.60,-146.6,2337,2209,3262,3165,626.1,-5.2,403,12490,0.00,2.20,0.00,0.000,260,0.000,0.047,2330,3621,3213,3262,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12577,-0.60,-146.6,2330,3621,3261,3164,629.2,-5.2,404,12581,0.00,2.10,0.00,0.000,1030,0.000,0.029,2330,2208,3212,3261,3164,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12903,-0.60,-146.6,2330,2208,3261,3164,650.6,-6.1,410,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2208,3213,3262,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13203,-0.60,-146.6,2330,2208,3261,3164,669.5,-6.3,415,13208,0.00,2.20,0.00,0.000,260,0.000,0.047,2320,3613,3212,3261,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13282,-0.60,-146.6,2320,3613,3262,3164,673.2,-6.5,416,13287,0.08,2.12,0.00,0.000,3078,0.106,0.029,2365,2208,3212,3261,3164,0,0,0,0,0,0,26.27,26.54,28.83
$GC,13620,-0.60,-146.6,2365,2208,3261,3164,691.5,-4.8,422,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2208,3213,3262,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13921,-0.60,-146.6,2365,2208,3261,3164,701.2,-3.1,427,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2208,3212,3261,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14221,-0.65,-146.6,2365,2208,3261,3163,711.7,-3.7,432,14227,0.00,2.10,0.00,0.000,516,0.000,0.040,2365,818,3212,3261,3163,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14288,-0.70,-146.6,2365,818,3262,3163,714.2,-4.0,433,14293,0.15,2.10,0.00,0.000,5126,0.066,0.035,2274,2208,3212,3261,3163,0,0,0,0,0,0,26.48,26.46,28.83
$GC,14636,-0.63,-146.6,2273,2208,3261,3162,738.2,-7.1,439,14642,0.20,2.20,0.00,0.000,2308,0.116,0.046,2334,3615,3211,3261,3162,0,0,0,0,0,0,26.33,26.34,28.83
$GC,14749,-0.57,-146.6,2333,3615,3261,3161,742.2,-7.1,440,14757,0.00,2.15,0.00,0.000,1030,0.000,0.030,2334,2201,3211,3261,3161,0,0,0,0,0,0,28.83,26.53,28.83
$GC,15055,-0.57,-146.6,2334,2201,3261,3161,765.6,-6.6,446,15056,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2201,3211,3261,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15355,-0.57,-146.6,2333,2201,3261,3160,784.6,-6.0,451,15356,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2201,3211,3261,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15656,-0.57,-146.6,2334,2201,3261,3160,794.5,-2.9,456,15661,0.00,2.12,0.00,0.000,516,0.000,0.040,2334,806,3210,3261,3160,0,0,0,0,0,0,28.83,26.37,28.83
$GC,15718,-0.57,-146.6,2334,806,3261,3161,796.1,-2.7,457,15722,0.00,2.17,0.00,0.000,1030,0.000,0.036,2334,2202,3210,3261,3160,0,0,0,0,0,0,28.83,26.45,28.83
$GC,16076,-0.57,-146.6,2333,2202,3261,3159,804.1,-2.3,463,16081,0.00,2.22,0.00,0.000,260,0.000,0.048,2327,3624,3210,3261,3159,0,0,0,0,0,0,28.83,26.33,28.83
$GC,16128,-0.57,-146.6,2327,3624,3261,3159,804.1,-2.3,463,16136,0.12,2.12,0.00,0.000,3078,0.120,0.029,2365,2194,3210,3261,3159,0,0,0,0,0,0,26.32,26.52,28.83
$GC,16436,-0.65,-146.6,2364,2194,3261,3159,812.5,-2.1,469,16442,0.00,2.10,0.00,0.000,516,0.000,0.040,2365,815,3210,3261,3159,0,0,0,0,0,0,28.83,26.37,28.83
$GC,16496,-0.72,-146.6,2365,815,3261,3159,813.7,-2.0,470,16502,0.15,2.12,0.00,0.000,5126,0.066,0.036,2275,2208,3210,3261,3159,0,0,0,0,0,0,26.46,26.44,28.83
$GC,16859,-0.66,-146.6,2274,2207,3261,3159,833.3,-5.7,476,16865,0.15,2.20,0.00,0.000,2308,0.123,0.046,2318,3616,3209,3261,3158,0,0,0,0,0,0,26.39,26.33,28.83
$GC,16940,-0.66,-146.6,2318,3616,3262,3158,836.0,-5.5,477,16944,0.00,2.15,0.00,0.000,1030,0.000,0.029,2318,2206,3209,3261,3158,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17280,-0.66,-146.6,2318,2206,3261,3158,853.0,-4.9,483,17281,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2206,3209,3261,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17577,-0.66,-146.6,2318,2206,3261,3158,870.3,-5.7,488,17578,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2206,3209,3261,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17877,-0.66,-146.6,2318,2206,3261,3157,886.1,-5.2,493,17878,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2206,3209,3261,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18177,-0.66,-146.6,2318,2206,3261,3157,901.9,-5.3,498,18178,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2206,3209,3261,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18477,-0.66,-146.6,2318,2205,3261,3157,917.8,-5.3,503,18478,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2206,3209,3261,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18777,-0.66,-146.6,2318,2206,3261,3157,934.3,-5.5,508,18778,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2205,3209,3261,3157,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,18896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,18896,begin apogee
$GC,18900,-0.23,0.0,2318,2014,3261,3157,940.3,-5.3,510,19021,0.40,0.00,116.50,1.197,10246,0.056,0.000,2483,2014,2617,2711,2524,0,0,0,0,0,0,26.48,28.83,23.87
$STATE,19023,end apogee,CONTROL_FINISHED_OK
$STATE,19023,begin climb
$GC,19024,0.45,146.6,2483,2014,2711,2524,940.1,0.0,512,19152,0.55,0.00,124.07,1.165,10246,0.039,0.000,2710,2014,2019,2160,1878,0,0,0,0,0,0,24.87,28.83,23.27
$GC,19433,0.31,146.6,2710,2014,2159,1866,908.3,9.3,519,19439,0.20,2.33,0.00,0.000,4356,0.117,0.044,2645,3429,2012,2159,1866,0,0,0,0,0,0,25.14,25.26,28.83
$GC,19485,0.17,146.6,2644,3429,2159,1865,908.3,9.3,519,19493,0.17,2.20,0.00,0.000,5126,0.112,0.031,2596,2034,2012,2159,1865,0,0,0,0,0,0,25.26,25.41,28.83
$GC,19792,0.17,204.9,2595,2035,2159,1863,890.3,4.3,525,19846,0.00,2.33,48.15,1.143,8708,0.000,0.043,2596,634,1781,1931,1632,0,0,0,0,0,0,28.83,24.90,24.06
$GC,19891,0.17,263.1,2595,634,1929,1628,890.3,4.3,525,19947,0.00,2.25,49.75,1.128,9222,0.000,0.032,2595,2039,1544,1693,1396,0,0,0,0,0,0,28.83,25.26,23.82
$GC,20265,0.23,304.7,2595,2039,1689,1385,867.3,4.8,532,20307,0.00,2.38,35.58,1.107,8452,0.000,0.044,2595,3431,1374,1526,1222,0,0,0,0,0,0,28.83,24.97,24.13
$GC,20327,0.29,333.7,2595,3430,1526,1221,863.8,5.2,533,20361,0.15,2.25,26.40,1.088,11270,0.064,0.030,2687,2017,1255,1409,1102,0,0,0,0,0,0,25.20,25.18,23.97
$GC,20685,0.24,333.7,2686,2017,1408,1092,827.6,10.3,539,20691,0.17,2.25,0.00,0.000,4612,0.109,0.043,2632,628,1250,1408,1092,0,0,0,0,0,0,25.60,25.64,28.83
$GC,20733,0.19,333.7,2632,628,1408,1091,827.6,10.3,539,20738,0.00,2.20,0.00,0.000,1030,0.000,0.033,2632,2037,1249,1408,1091,0,0,0,0,0,0,28.83,25.75,28.83
$GC,21039,0.19,339.9,2632,2037,1408,1088,805.9,5.8,544,21046,0.00,0.00,5.18,0.790,8198,0.000,0.000,2632,2037,1232,1390,1074,0,0,0,0,0,0,28.83,28.83,24.82
$GC,21339,0.19,339.9,2632,2037,1389,1073,786.4,6.6,549,21340,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2036,1231,1389,1073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21639,0.19,339.9,2632,2036,1389,1072,764.4,7.3,554,21640,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2036,1230,1389,1072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21939,0.19,339.9,2632,2037,1389,1072,745.0,6.4,559,21940,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2037,1230,1389,1071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22239,0.19,361.9,2632,2036,1389,1071,728.6,5.4,564,22266,0.00,2.33,20.02,1.022,8708,0.000,0.044,2632,627,1141,1299,983,0,0,0,0,0,0,28.83,25.86,25.01
$GC,22307,0.19,371.6,2632,628,1298,980,724.7,5.7,565,22321,0.00,2.17,9.15,0.921,9222,0.000,0.033,2632,2034,1103,1262,945,0,0,0,0,0,0,28.83,25.95,24.87
$GC,22660,0.25,392.7,2632,2033,1262,940,703.9,5.4,571,22681,0.00,0.00,19.52,1.003,8198,0.000,0.000,2632,2034,1016,1176,857,0,0,0,0,0,0,28.83,28.83,24.78
$GC,22959,0.32,392.7,2632,2034,1176,852,684.9,6.5,576,22960,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2034,1014,1176,852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23259,0.40,398.7,2632,2034,1176,850,666.9,5.8,581,23268,0.12,0.00,6.10,0.758,10758,0.081,0.000,2728,2034,991,1152,830,0,0,0,0,0,0,26.18,28.83,25.00
$GC,23615,0.32,398.7,2728,2033,1152,829,625.9,11.9,587,23618,0.25,0.00,0.00,0.000,4102,0.101,0.000,2647,2034,990,1152,829,0,0,0,0,0,0,26.03,28.83,28.83
$GC,23916,0.38,422.2,2646,2033,1152,828,609.4,5.3,592,23943,0.00,2.30,20.95,0.969,8708,0.000,0.044,2647,631,895,1057,734,0,0,0,0,0,0,28.83,25.82,24.98
$GC,23989,0.45,432.6,2647,631,1057,733,605.5,5.7,593,24005,0.12,2.17,9.98,0.881,11270,0.076,0.032,2728,2037,853,1015,692,0,0,0,0,0,0,25.91,25.91,24.87
$GC,24332,0.39,432.6,2728,2037,1014,689,564.7,11.7,599,24334,0.20,0.00,0.00,0.000,4102,0.103,0.000,2665,2037,851,1014,689,0,0,0,0,0,0,25.92,28.83,28.83
$GC,24632,0.45,432.6,2664,2037,1015,687,541.4,7.4,604,24637,0.00,2.22,0.00,0.000,516,0.000,0.044,2664,626,850,1014,687,0,0,0,0,0,0,28.83,26.08,28.83
$GC,24666,0.51,432.6,2664,626,1014,687,541.4,7.4,604,24671,0.15,2.15,0.00,0.000,3078,0.067,0.032,2757,2033,851,1015,687,0,0,0,0,0,0,26.17,26.16,28.83
$GC,24988,0.41,432.6,2757,2033,1015,687,496.4,13.5,610,24995,0.22,2.20,0.00,0.000,4612,0.109,0.042,2686,632,850,1014,687,0,0,0,0,0,0,26.10,26.17,28.83
$GC,25027,0.32,432.6,2686,632,1015,686,496.4,13.5,610,25032,0.12,2.12,0.00,0.000,5126,0.112,0.032,2643,2023,850,1015,686,0,0,0,0,0,0,26.14,26.25,28.83
$GC,25344,0.50,432.6,2643,2024,1014,685,468.2,8.6,616,25350,0.15,2.17,0.00,0.000,2564,0.086,0.042,2717,635,850,1015,685,0,0,0,0,0,0,26.33,26.22,28.83
$GC,25644,0.74,432.6,2716,635,1015,684,436.6,10.5,621,25650,0.20,2.15,0.00,0.000,3078,0.073,0.034,2796,2039,849,1015,684,0,0,0,0,0,0,26.30,26.34,28.83
$GC,26003,0.74,432.6,2795,2039,1014,684,401.8,9.6,627,26008,0.00,2.17,0.00,0.000,260,0.000,0.044,2796,3437,849,1014,684,0,0,0,0,0,0,28.83,26.31,28.83
$GC,26052,0.74,432.6,2796,3438,1014,684,401.8,9.6,627,26060,0.00,2.17,0.00,0.000,1030,0.000,0.031,2798,2023,849,1015,684,0,0,0,0,0,0,28.83,26.38,28.83
$GC,26361,0.59,432.6,2798,2023,1014,684,348.3,16.2,633,26367,0.17,2.17,0.00,0.000,4612,0.126,0.042,2745,624,849,1014,684,0,0,0,0,0,0,26.25,26.32,28.83
$GC,26420,0.47,432.6,2745,623,1014,684,341.8,15.0,634,26426,0.17,2.15,0.00,0.000,5126,0.105,0.032,2688,2034,849,1014,684,0,0,0,0,0,0,26.26,26.40,28.83
$GC,26781,0.54,480.2,2688,2034,1014,684,324.6,4.6,640,26827,0.00,2.33,39.00,0.822,8708,0.000,0.043,2688,625,659,820,498,0,0,0,0,0,0,28.83,25.78,25.08
$GC,26853,0.62,526.6,2687,624,820,496,321.8,4.7,641,26893,0.17,2.17,32.83,0.798,11270,0.060,0.030,2788,2034,498,651,346,0,0,0,0,0,0,25.91,25.88,24.70
$GC,27202,0.53,526.6,2788,2034,650,340,275.3,14.5,649,27208,0.20,2.20,0.00,0.000,4612,0.112,0.041,2727,638,495,650,340,0,0,0,0,0,0,25.78,25.85,28.83
$GC,27245,0.46,526.6,2726,638,650,339,271.7,14.1,650,27250,0.12,2.15,0.00,0.000,5126,0.105,0.031,2685,2033,494,650,339,0,0,0,0,0,0,25.85,25.94,28.83
$GC,27558,0.68,526.6,2684,2032,650,337,236.2,13.6,661,27564,0.20,2.17,0.00,0.000,2308,0.064,0.042,2787,3421,493,650,337,0,0,0,0,0,0,26.15,26.03,28.83
$GC,27635,0.87,526.6,2787,3422,650,337,228.6,13.3,663,27640,0.12,2.12,0.00,0.000,3078,0.080,0.029,2850,2016,493,650,337,0,0,0,0,0,0,26.09,26.13,28.83
$GC,27943,0.93,526.6,2850,2017,650,337,191.3,11.4,673,27949,0.00,2.22,0.00,0.000,260,0.000,0.043,2850,3429,493,650,337,0,0,0,0,0,0,28.83,26.15,28.83
$GC,27980,0.99,526.6,2850,3429,649,337,187.8,11.6,674,27984,0.00,2.12,0.00,0.000,1030,0.000,0.028,2856,2017,493,649,337,0,0,0,0,0,0,28.83,26.23,28.83
$GC,28288,0.77,526.6,2856,2017,650,337,116.0,23.7,687,28294,0.20,2.12,0.00,0.000,4612,0.133,0.040,2802,637,493,650,337,0,0,0,0,0,0,26.07,26.21,28.83
$GC,28322,0.56,526.6,2802,637,649,336,111.5,23.4,688,28330,0.20,2.15,0.00,0.000,5126,0.096,0.032,2721,2016,493,650,337,0,0,0,0,0,0,26.09,26.29,28.83
$GC,28627,0.66,526.6,2719,2016,649,335,86.3,7.8,704,28629,0.12,0.00,0.00,0.000,2054,0.081,0.000,2785,2016,492,649,336,0,0,0,0,0,0,26.41,28.83,28.83
$GC,28928,0.90,526.6,2784,2016,650,335,50.1,12.5,730,28938,0.12,2.15,0.00,0.000,2564,0.090,0.041,2853,635,492,650,335,0,0,0,0,0,0,26.44,26.29,28.83
$GC,29002,0.98,526.6,2852,635,650,334,42.2,10.5,737,29011,0.00,2.12,0.00,0.000,1030,0.000,0.031,2853,2044,492,650,335,0,0,0,0,0,0,28.83,26.37,28.83
$GC,29311,1.06,526.6,2853,2044,649,335,10.3,10.1,768,29322,0.10,2.15,0.00,0.000,2308,0.094,0.041,2930,3429,491,649,334,0,0,0,0,0,0,26.51,26.33,28.83
$STATE,29372,end climb,SURFACE_DEPTH_REACHED
$STATE,29372,begin surface coast
$FINISH,0.6,1.024839
$STATE,29386,end surface coast,CONTROL_FINISHED_OK
$STATE,29386,begin surface
$SM_CCo,29462,0.00,0.000,0,0,491,521.75
$SM_GC,1.35,7.05,1.90,0.00,0.027,0.028,0.000,175,2198,491,-7.27,1.24,521.75,0,0,0,0,0,0,26.46,26.42,28.83
$IRIDIUM_FIX,4716.56,-12524.85,241113,080825
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.43
$INTERNAL_PRESSURE,8.77115
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,853.0,97.1
$24V_AH,23.3,17.757
$10V_AH,10.2,13.133
$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,22.475,202.975,563.175,0.000,0.000,0.000,0.000,659.575,4.250,0.000,5.971,2439.065,23726.242,674.256,3289.315,160.482,0.388,2779.055,0.000,2573.305,0.000,32.936,0.000
$DEVICE_MAMPS,201.960,59.670,1197.225,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.515,1026.494,472.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313788
$DATA_FILE_SIZE,53834,775
$CAP_FILE_SIZE,234675,0
$CFSIZE,2097872896,2078670848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241113,163928,4735.234,-12524.912,36,1.1,36,16.8