version: 66.12
glider: 35
mission: 26
dive: 71
start: 5 7 115 8 7 40
data:
$ID,35
$MISSION,26
$DIVE,71
$N_DIVES,0
$D_SURF,2
$D_FLARE,5
$D_TGT,5400
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,0
$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,3600
$T_MISSION,3660
$T_ABORT,3720
$T_TURN,540
$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,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77482
$MASS_COMP,9268.2998
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,12
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2248
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1037.27
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,3900
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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,0.004269524
$SEABIRD_T_H,0.00061604282
$SEABIRD_T_I,2.0033509e-05
$SEABIRD_T_J,1.8499288e-06
$SEABIRD_C_G,-9.6420546
$SEABIRD_C_H,1.1096923
$SEABIRD_C_I,-0.001213078
$SEABIRD_C_J,0.00016721067
$GPS1,070515,075653,3154.3794,-6413.0205,25,1.8,43,-15.5,0.9,153.7,8,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-58.2
$GPS2,070515,080713,3154.2856,-6412.9233,12,1.9,12,-15.5,0.4,151.6,8,13.9
$SPEED_LIMITS,0.050,0.191
$TGT_NAME,SS02
$TGT_LATLONG,3158.680,-6422.860
$TGT_RADIUS,12000.000
$KALMAN_CONTROL,-0.072327,0.037677
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,313.0,17604,-28.8,-5.000,-31.51,701
$D_GRID,5400
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.44,-23.0,220,2337,1298,1125,0.0,0.0,0,92,0.00,0.00,-71.78,0.092,16390,0.000,0.000,220,2337,2328,2345,2311,0,0,0,0,0,0,26.21,25.84,25.73
$GC,94,-1.44,-43.4,220,2337,2345,2311,2.9,-2.0,7,115,6.28,2.03,-4.00,0.132,18948,0.253,0.052,1787,947,2398,2417,2379,0,0,0,0,0,0,25.27,25.80,25.63
$GC,429,-1.30,-43.4,1787,947,2417,2376,57.5,-17.9,34,435,0.17,2.10,0.00,0.000,3078,0.206,0.052,1831,2375,2396,2417,2376,0,0,0,0,0,0,25.56,26.13,25.68
$GC,745,-1.23,-43.4,1832,2375,2417,2376,107.7,-15.2,55,746,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2375,2397,2418,2377,0,0,0,0,0,0,26.55,26.56,26.55
$GC,1060,-1.16,-43.4,1831,2375,2417,2376,156.9,-16.5,75,1062,0.15,0.00,0.00,0.000,2054,0.219,0.000,1874,2375,2396,2417,2376,0,0,0,0,0,0,25.83,26.08,25.99
$GC,1359,-1.16,-43.4,1874,2375,2417,2376,201.7,-14.9,85,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2375,2397,2417,2377,0,0,0,0,0,0,26.64,26.65,26.65
$GC,1659,-1.16,-43.4,1874,2375,2417,2376,245.9,-14.5,95,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,2375,2397,2418,2377,0,0,0,0,0,0,26.65,26.67,26.67
$GC,1959,-1.16,-43.4,1874,2375,2417,2377,287.1,-13.8,105,1964,0.00,2.10,0.00,0.000,516,0.000,0.055,1875,940,2397,2417,2377,0,0,0,0,0,0,26.67,26.30,26.68
$GC,2074,-1.16,-43.4,1874,940,2417,2377,299.9,-13.7,108,2083,0.00,2.10,0.00,0.000,1030,0.000,0.050,1865,2349,2397,2417,2377,0,0,0,0,0,0,26.36,26.34,26.38
$GC,2398,-1.16,-43.4,1864,2349,2417,2377,345.1,-13.1,116,2404,0.00,2.15,0.00,0.000,260,0.000,0.065,1854,3759,2397,2417,2377,0,0,0,0,0,0,26.68,26.27,26.69
$GC,2507,-1.16,-43.4,1853,3759,2417,2377,358.7,-13.8,118,2511,0.00,2.10,0.00,0.000,1030,0.000,0.047,1854,2326,2397,2417,2377,0,0,0,0,0,0,26.40,26.38,26.41
$GC,2851,-1.16,-43.4,1854,2326,2417,2377,405.8,-12.9,126,2856,0.00,2.17,0.00,0.000,260,0.000,0.062,1843,3752,2397,2417,2377,0,0,0,0,0,0,26.69,26.27,26.70
$GC,2924,-1.16,-43.4,1843,3752,2417,2377,412.4,-13.2,127,2928,0.12,2.03,0.00,0.000,3078,0.206,0.047,1879,2340,2396,2416,2377,0,0,0,0,0,0,25.89,26.38,26.06
$GC,3258,-1.16,-43.4,1878,2339,2417,2377,456.9,-12.1,135,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2340,2397,2417,2377,0,0,0,0,0,0,26.69,26.70,26.70
$GC,3572,-1.16,-43.4,1879,2340,2417,2376,498.6,-13.3,142,3578,0.00,2.17,0.00,0.000,260,0.000,0.062,1868,3753,2397,2417,2377,0,0,0,0,0,0,26.69,26.28,26.70
$GC,3593,-1.16,-43.4,1868,3753,2417,2377,498.6,-13.3,142,3598,0.00,2.03,0.00,0.000,1030,0.000,0.047,1869,2373,2396,2417,2376,0,0,0,0,0,0,26.41,26.38,26.42
$GC,3932,-1.16,-43.4,1868,2373,2417,2376,550.7,-14.5,150,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2374,2397,2417,2377,0,0,0,0,0,0,26.70,26.71,26.70
$GC,4248,-1.16,-43.4,1869,2373,2417,2376,597.3,-14.7,157,4253,0.00,2.10,0.00,0.000,260,0.000,0.065,1860,3749,2397,2417,2377,0,0,0,0,0,0,26.70,26.28,26.70
$GC,4338,-1.16,-43.4,1860,3749,2417,2377,612.1,-15.3,159,4344,0.00,2.00,0.00,0.000,1030,0.000,0.047,1860,2345,2397,2417,2377,0,0,0,0,0,0,26.40,26.37,26.42
$GC,4654,-1.16,-43.4,1860,2345,2417,2376,658.1,-14.2,166,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2345,2397,2417,2377,0,0,0,0,0,0,26.70,26.71,26.70
$GC,4969,-1.16,-43.4,1860,2345,2416,2376,702.4,-14.1,173,4974,0.00,2.17,0.00,0.000,260,0.000,0.065,1849,3750,2397,2417,2377,0,0,0,0,0,0,26.70,26.27,26.71
$GC,5014,-1.16,-43.4,1849,3750,2416,2377,709.2,-14.3,174,5019,0.00,2.03,0.00,0.000,1030,0.000,0.047,1850,2344,2396,2416,2377,0,0,0,0,0,0,26.41,26.38,26.41
$GC,5329,-1.16,-43.4,1850,2344,2416,2377,752.6,-13.7,181,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2344,2396,2416,2376,0,0,0,0,0,0,26.70,26.71,26.71
$GC,5644,-1.16,-43.4,1849,2344,2416,2376,795.7,-13.4,188,5649,0.00,1.98,0.00,0.000,516,0.000,0.055,1850,965,2395,2416,2375,0,0,0,0,0,0,26.70,26.32,26.71
$GC,5726,-1.16,-43.4,1849,965,2417,2374,802.1,-13.5,189,5736,0.12,2.08,0.00,0.000,3078,0.174,0.050,1879,2353,2395,2416,2374,0,0,0,0,0,0,25.93,26.34,26.01
$GC,6050,-1.21,-43.4,1879,2353,2416,2374,852.5,-14.0,197,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2353,2395,2416,2374,0,0,0,0,0,0,26.70,26.71,26.71
$GC,6365,-1.27,-43.4,1879,2353,2415,2373,897.4,-14.3,204,6371,0.05,2.10,0.00,0.000,4356,0.166,0.062,1825,3755,2394,2415,2373,0,0,0,0,0,0,26.50,26.27,26.52
$GC,6520,-1.27,-43.4,1824,3755,2414,2373,923.0,-17.7,207,6524,0.00,2.05,0.00,0.000,1030,0.000,0.047,1824,2354,2393,2414,2373,0,0,0,0,0,0,26.43,26.38,26.45
$GC,6864,-1.27,-43.4,1825,2350,2414,2372,990.0,-18.3,215,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2350,2393,2414,2372,0,0,0,0,0,0,26.70,26.72,26.71
$GC,7194,-1.27,-43.4,1825,2350,2413,2371,1049.7,-18.0,219,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2350,2391,2413,2370,0,0,0,0,0,0,26.70,26.72,26.71
$GC,7554,-1.27,-43.4,1825,2350,2412,2369,1117.9,-18.8,222,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2350,2391,2412,2370,0,0,0,0,0,0,26.70,26.72,26.71
$GC,7914,-1.27,-43.4,1825,2350,2411,2367,1186.0,-19.0,225,7919,0.00,2.20,0.00,0.000,260,0.000,0.062,1815,3753,2388,2410,2367,0,0,0,0,0,0,26.70,26.26,26.72
$GC,7945,-1.27,-43.4,1814,3753,2410,2367,1186.0,-19.0,225,7949,0.00,2.10,0.00,0.000,1030,0.000,0.047,1815,2337,2388,2409,2367,0,0,0,0,0,0,26.39,26.38,26.42
$GC,8274,-1.27,-43.4,1814,2337,2409,2366,1256.8,-19.5,228,8280,0.00,1.98,0.00,0.000,516,0.000,0.055,1814,970,2387,2409,2365,0,0,0,0,0,0,26.70,26.31,26.71
$GC,8335,-1.27,-43.4,1814,969,2409,2364,1256.8,-19.5,228,8340,0.10,2.08,0.00,0.000,3078,0.181,0.052,1838,2350,2386,2409,2363,0,0,0,0,0,0,25.95,26.34,26.13
$GC,8754,-1.27,-43.4,1837,2350,2406,2363,1345.4,-18.4,232,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2351,2384,2406,2363,0,0,0,0,0,0,26.70,26.72,26.71
$GC,9115,-1.33,-43.4,1837,2350,2405,2361,1409.7,-17.9,235,9120,0.00,2.12,0.00,0.000,260,0.000,0.062,1826,3745,2383,2405,2362,0,0,0,0,0,0,26.70,26.25,26.71
$GC,9191,-1.39,-43.4,1827,3745,2404,2362,1409.7,-17.9,235,9195,0.00,2.05,0.00,0.000,1030,0.000,0.047,1827,2360,2383,2404,2362,0,0,0,0,0,0,26.41,26.35,26.43
$GC,9590,-1.45,-43.4,1827,2360,2404,2359,1496.4,-18.2,239,9591,0.08,0.00,0.00,0.000,4102,0.129,0.000,1776,2357,2381,2404,2359,0,0,0,0,0,0,26.48,26.51,26.49
$GC,9949,-1.45,-43.4,1776,2357,2402,2356,1571.2,-20.3,242,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2357,2379,2401,2357,0,0,0,0,0,0,26.70,26.72,26.71
$GC,10309,-1.45,-43.4,1776,2357,2401,2355,1644.8,-20.6,245,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2357,2378,2401,2355,0,0,0,0,0,0,26.70,26.72,26.71
$GC,10669,-1.45,-43.4,1776,2356,2400,2354,1718.0,-20.3,248,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2356,2376,2399,2354,0,0,0,0,0,0,26.70,26.72,26.71
$GC,11029,-1.45,-43.4,1776,2357,2399,2352,1791.1,-20.4,251,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2356,2375,2399,2352,0,0,0,0,0,0,26.70,26.72,26.71
$GC,11389,-1.45,-43.4,1776,2356,2398,2350,1862.6,-19.9,254,11394,0.00,2.17,0.00,0.000,260,0.000,0.065,1772,3742,2374,2397,2351,0,0,0,0,0,0,26.70,26.18,26.71
$GC,11430,-1.45,-43.4,1771,3742,2396,2351,1862.6,-19.9,254,11434,0.00,2.10,0.00,0.000,1030,0.000,0.047,1772,2348,2373,2396,2351,0,0,0,0,0,0,26.36,26.34,26.38
$GC,11749,-1.45,-43.4,1771,2347,2396,2350,1933.0,-19.6,257,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,2347,2373,2397,2350,0,0,0,0,0,0,26.70,26.71,26.71
$GC,12109,-1.45,-43.4,1772,2347,2395,2348,2001.5,-19.0,260,12114,0.00,2.20,0.00,0.000,260,0.000,0.062,1762,3752,2371,2394,2348,0,0,0,0,0,0,26.70,26.19,26.71
$GC,12150,-1.45,-43.4,1761,3752,2394,2348,2001.5,-19.0,260,12154,0.00,2.12,0.00,0.000,1030,0.000,0.047,1761,2345,2371,2394,2348,0,0,0,0,0,0,26.37,26.33,26.37
$GC,12469,-1.45,-43.4,1761,2344,2394,2347,2072.9,-19.7,263,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,2344,2370,2394,2347,0,0,0,0,0,0,26.70,26.71,26.70
$GC,12829,-1.45,-43.4,1762,2344,2393,2346,2144.0,-19.7,266,12834,0.00,2.20,0.00,0.000,260,0.000,0.062,1757,3744,2370,2393,2347,0,0,0,0,0,0,26.70,26.17,26.71
$GC,12885,-1.45,-43.4,1757,3744,2393,2347,2144.0,-19.7,266,12889,0.00,2.10,0.00,0.000,1030,0.000,0.047,1758,2333,2370,2393,2347,0,0,0,0,0,0,26.36,26.31,26.39
$GC,13309,-1.45,-43.4,1757,2331,2393,2345,2239.2,-19.8,270,13310,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,2332,2369,2393,2345,0,0,0,0,0,0,26.70,26.71,26.71
$GC,13669,-1.45,-43.4,1757,2331,2393,2344,2308.0,-19.3,273,13674,0.00,2.22,0.00,0.000,260,0.000,0.062,1747,3756,2368,2393,2344,0,0,0,0,0,0,26.70,26.15,26.70
$GC,13725,-1.45,-43.4,1747,3756,2392,2345,2308.0,-19.3,273,13730,0.10,2.12,0.00,0.000,3078,0.176,0.047,1789,2341,2368,2392,2345,0,0,0,0,0,0,25.77,26.31,25.91
$GC,14150,-1.53,-43.4,1789,2340,2392,2343,2393.1,-17.6,277,14155,0.00,2.22,0.00,0.000,260,0.000,0.062,1786,3746,2367,2392,2342,0,0,0,0,0,0,26.69,26.13,26.70
$GC,14196,-1.61,-43.4,1785,3746,2391,2343,2393.1,-17.6,277,14200,0.10,2.05,0.00,0.000,5126,0.109,0.047,1729,2365,2367,2391,2343,0,0,0,0,0,0,26.19,26.27,26.25
$GC,14505,-1.67,-43.4,1729,2365,2391,2342,2464.4,-19.5,280,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,2365,2366,2391,2342,0,0,0,0,0,0,26.69,26.71,26.70
$GC,14864,-1.67,-43.4,1728,2364,2391,2342,2537.2,-20.2,283,14865,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,2365,2366,2391,2342,0,0,0,0,0,0,26.70,26.70,26.70
$GC,15224,-1.67,-43.4,1728,2365,2391,2342,2606.7,-19.5,286,15230,0.00,2.17,0.00,0.000,260,0.000,0.062,1721,3744,2366,2390,2342,0,0,0,0,0,0,26.70,26.10,26.70
$GC,15275,-1.67,-43.4,1721,3743,2390,2341,2606.7,-19.5,286,15279,0.00,2.12,0.00,0.000,1030,0.000,0.047,1721,2343,2366,2390,2342,0,0,0,0,0,0,26.32,26.29,26.33
$GC,15584,-1.67,-43.4,1721,2343,2390,2341,2673.6,-18.7,289,15586,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2343,2365,2389,2341,0,0,0,0,0,0,26.69,26.70,26.70
$GC,15944,-1.67,-43.4,1721,2343,2389,2340,2737.4,-17.8,292,15950,0.00,2.22,0.00,0.000,260,0.000,0.062,1713,3745,2364,2389,2340,0,0,0,0,0,0,26.69,26.09,26.70
$GC,15995,-1.67,-43.4,1712,3745,2388,2340,2737.4,-17.8,292,16000,0.00,2.12,0.00,0.000,1030,0.000,0.047,1713,2337,2364,2388,2340,0,0,0,0,0,0,26.36,26.29,26.38
$GC,16305,-1.67,-43.4,1712,2337,2388,2340,2800.1,-17.5,295,16306,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,2336,2364,2388,2340,0,0,0,0,0,0,26.69,26.70,26.70
$GC,16664,-1.67,-43.4,1712,2337,2388,2340,2859.5,-16.6,298,16670,0.00,2.22,0.00,0.000,260,0.000,0.062,1707,3754,2364,2388,2340,0,0,0,0,0,0,26.69,26.07,26.70
$GC,16725,-1.67,-43.4,1707,3754,2388,2340,2859.5,-16.6,298,16730,0.00,2.12,0.00,0.000,1030,0.000,0.047,1707,2351,2364,2388,2340,0,0,0,0,0,0,26.29,26.27,26.32
$GC,17144,-1.67,-43.4,1707,2350,2388,2340,2939.9,-16.7,302,17145,0.00,0.00,0.00,0.000,6,0.000,0.000,1707,2350,2363,2388,2339,0,0,0,0,0,0,26.69,26.70,26.70
$GC,17504,-1.67,-43.4,1707,2350,2388,2339,2998.1,-16.3,305,17505,0.00,0.00,0.00,0.000,6,0.000,0.000,1707,2350,2363,2388,2339,0,0,0,0,0,0,26.69,26.70,26.70
$GC,17865,-1.72,-43.4,1707,2350,2388,2338,3055.1,-15.9,308,17870,0.00,2.22,0.00,0.000,260,0.000,0.062,1705,3753,2363,2388,2339,0,0,0,0,0,0,26.68,26.04,26.70
$GC,17921,-1.77,-43.4,1705,3753,2387,2339,3055.1,-15.9,308,17925,0.00,2.10,0.00,0.000,1030,0.000,0.047,1705,2346,2362,2387,2338,0,0,0,0,0,0,26.31,26.26,26.33
$GC,18340,-1.83,-43.4,1705,2345,2387,2339,3129.4,-15.6,312,18346,0.08,2.20,0.00,0.000,4356,0.132,0.060,1639,3750,2362,2387,2338,0,0,0,0,0,0,26.44,26.03,26.44
$GC,18416,-1.88,-43.4,1639,3750,2387,2338,3129.4,-15.6,312,18420,0.00,2.10,0.00,0.000,1030,0.000,0.047,1639,2356,2362,2387,2338,0,0,0,0,0,0,26.32,26.27,26.34
$GC,18815,-1.88,-43.4,1639,2355,2387,2338,3214.2,-17.8,316,18816,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2355,2362,2387,2338,0,0,0,0,0,0,26.68,26.70,26.70
$GC,19175,-1.88,-43.4,1639,2355,2387,2338,3278.6,-17.9,319,19180,0.00,2.20,0.00,0.000,260,0.000,0.060,1629,3744,2362,2387,2338,0,0,0,0,0,0,26.68,26.03,26.70
$GC,19236,-1.88,-43.4,1629,3744,2386,2338,3278.6,-17.9,319,19240,0.00,2.12,0.00,0.000,1030,0.000,0.047,1629,2350,2362,2386,2338,0,0,0,0,0,0,26.29,26.27,26.30
$GC,19655,-1.88,-43.4,1629,2350,2386,2337,3363.5,-17.6,323,19656,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2350,2362,2386,2338,0,0,0,0,0,0,26.68,26.70,26.70
$GC,20015,-1.88,-43.4,1629,2349,2386,2337,3424.9,-17.1,326,20016,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2350,2361,2386,2337,0,0,0,0,0,0,26.68,26.70,26.70
$GC,20374,-1.88,-43.4,1629,2350,2386,2337,3483.6,-16.5,329,20380,0.00,2.22,0.00,0.000,260,0.000,0.060,1620,3748,2361,2386,2337,0,0,0,0,0,0,26.68,26.00,26.70
$GC,20431,-1.88,-43.4,1620,3748,2385,2337,3483.6,-16.5,329,20435,0.00,2.12,0.00,0.000,1030,0.000,0.047,1620,2355,2361,2385,2337,0,0,0,0,0,0,26.27,26.25,26.29
$GC,20855,-1.88,-43.4,1620,2355,2385,2337,3559.7,-15.8,333,20856,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2355,2361,2385,2337,0,0,0,0,0,0,26.68,26.70,26.70
$GC,21214,-1.88,-43.4,1620,2355,2385,2337,3614.9,-15.4,336,21216,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2355,2361,2385,2337,0,0,0,0,0,0,26.68,26.70,26.69
$GC,21574,-1.88,-43.4,1620,2354,2385,2336,3668.0,-14.8,339,21576,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2354,2360,2385,2336,0,0,0,0,0,0,26.68,26.70,26.69
$GC,21934,-1.88,-43.4,1620,2354,2385,2336,3718.9,-14.2,342,21936,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2354,2361,2386,2336,0,0,0,0,0,0,26.68,26.70,26.69
$GC,22295,-1.88,-43.4,1620,2354,2385,2336,3768.9,-13.9,345,22296,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2354,2360,2385,2336,0,0,0,0,0,0,26.68,26.70,26.70
$GC,22654,-1.88,-43.4,1620,2353,2385,2335,3817.9,-13.7,348,22660,0.00,2.10,0.00,0.000,516,0.000,0.055,1620,964,2360,2385,2335,0,0,0,0,0,0,26.68,26.03,26.69
$GC,22706,-1.88,-43.4,1620,964,2385,2335,3817.9,-13.7,348,22710,0.10,2.12,0.00,0.000,3078,0.176,0.050,1650,2348,2360,2385,2335,0,0,0,0,0,0,25.56,26.10,25.67
$GC,23015,-1.88,-43.4,1649,2348,2385,2335,3862.4,-12.6,351,23016,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2348,2359,2385,2334,0,0,0,0,0,0,26.67,26.70,26.69
$GC,23376,-1.94,-43.4,1649,2348,2385,2335,3905.7,-12.1,354,23382,0.00,2.22,0.00,0.000,260,0.000,0.062,1639,3755,2360,2385,2335,0,0,0,0,0,0,26.63,25.94,26.65
$GC,23437,-2.00,-43.4,1639,3755,2384,2335,3905.7,-12.1,354,23441,0.00,2.12,0.00,0.000,1030,0.000,0.047,1639,2346,2359,2384,2335,0,0,0,0,0,0,26.26,26.20,26.27
$GC,23852,-2.05,-43.4,1639,2346,2384,2335,3964.3,-12.3,358,23854,0.08,0.00,0.00,0.000,4102,0.129,0.000,1593,2344,2359,2384,2335,0,0,0,0,0,0,26.41,26.43,26.41
$GC,24212,-2.05,-43.4,1593,2344,2384,2335,4012.5,-13.1,361,24213,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2344,2359,2384,2335,0,0,0,0,0,0,26.62,26.64,26.64
$GC,24572,-2.05,-43.4,1593,2344,2384,2334,4060.0,-13.2,364,24573,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2344,2359,2384,2335,0,0,0,0,0,0,26.63,26.64,26.63
$GC,24932,-2.05,-43.4,1593,2343,2384,2334,4105.8,-12.8,367,24933,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2343,2359,2384,2335,0,0,0,0,0,0,26.62,26.64,26.63
$GC,25292,-2.05,-43.4,1593,2343,2384,2334,4150.3,-12.4,370,25293,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2344,2359,2384,2334,0,0,0,0,0,0,26.62,26.63,26.63
$GC,25652,-2.05,-43.4,1593,2343,2384,2334,4192.8,-11.9,373,25653,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2343,2359,2384,2334,0,0,0,0,0,0,26.62,26.63,26.63
$GC,26012,-2.05,-43.4,1593,2344,2384,2334,4233.9,-11.4,376,26013,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2344,2359,2384,2334,0,0,0,0,0,0,26.62,26.63,26.63
$GC,26372,-2.05,-43.4,1593,2343,2384,2334,4273.3,-11.0,379,26373,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2343,2359,2384,2334,0,0,0,0,0,0,26.62,26.63,26.63
$GC,26732,-2.05,-43.4,1593,2343,2384,2334,4311.1,-10.6,382,26733,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2343,2359,2385,2334,0,0,0,0,0,0,26.62,26.63,26.63
$GC,27092,-2.05,-43.4,1593,2343,2384,2334,4348.4,-10.3,385,27093,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2344,2359,2384,2334,0,0,0,0,0,0,26.62,26.63,26.63
$GC,27452,-2.05,-43.4,1593,2343,2384,2334,4385.3,-10.2,388,27453,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2343,2358,2384,2333,0,0,0,0,0,0,26.61,26.63,26.63
$GC,27813,-2.05,-43.4,1593,2343,2384,2334,4421.5,-10.1,391,27815,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2344,2359,2384,2334,0,0,0,0,0,0,26.61,26.63,26.62
$GC,28170,-2.05,-43.4,1593,2343,2384,2333,4456.1,-9.7,394,28172,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2343,2359,2384,2334,0,0,0,0,0,0,26.67,26.69,26.67
$STATE,28409,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,28409,begin apogee
$GC,28413,-0.25,0.0,1593,2343,2384,2333,4479.0,-9.6,396,28449,1.92,0.00,31.40,3.918,10246,0.154,0.000,2173,2342,2248,2282,2214,0,0,0,0,0,0,24.57,24.23,22.40
$STATE,28450,end apogee,CONTROL_FINISHED_OK
$STATE,28450,begin climb
$GC,28451,1.44,43.4,2173,2341,2282,2214,4479.0,0.0,396,28500,1.42,0.00,44.78,3.901,10246,0.067,0.000,2711,2341,2098,2142,2055,0,0,0,0,0,0,24.66,22.72,21.06
$GC,28770,1.44,43.4,2711,2342,2142,2055,4455.8,8.1,399,28771,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2342,2098,2142,2055,0,0,0,0,0,0,25.56,25.57,25.57
$GC,29131,1.12,43.4,2711,2342,2142,2055,4427.3,8.0,402,29137,0.38,2.10,0.00,0.000,4612,0.251,0.052,2622,955,2098,2142,2055,0,0,0,0,0,0,25.02,25.38,25.22
$GC,29373,0.83,43.4,2622,955,2142,2055,4411.1,7.2,404,29379,0.38,2.15,0.00,0.000,5126,0.228,0.052,2521,2344,2098,2142,2055,0,0,0,0,0,0,25.15,25.89,25.34
$GC,29733,0.64,43.4,2521,2344,2142,2055,4391.8,5.6,407,29739,0.20,2.08,0.00,0.000,4612,0.223,0.052,2471,968,2098,2142,2055,0,0,0,0,0,0,25.39,25.65,25.53
$GC,29897,0.48,43.4,2470,969,2142,2055,4386.0,5.2,408,29901,0.22,2.15,0.00,0.000,5126,0.209,0.052,2407,2352,2098,2142,2055,0,0,0,0,0,0,25.39,26.03,25.64
$GC,30211,0.41,43.4,2406,2352,2141,2054,4372.0,4.1,411,30212,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2352,2098,2141,2055,0,0,0,0,0,0,26.49,26.51,26.50
$GC,30570,0.41,43.4,2406,2352,2141,2055,4360.1,3.4,414,30571,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2351,2098,2142,2055,0,0,0,0,0,0,26.53,26.55,26.54
$GC,30930,0.41,43.4,2407,2352,2141,2055,4348.8,3.1,417,30936,0.00,2.10,0.00,0.000,516,0.000,0.055,2417,956,2098,2142,2055,0,0,0,0,0,0,26.56,26.14,26.58
$GC,31117,0.41,43.4,2416,956,2141,2055,4345.2,3.1,418,31122,0.10,2.15,0.00,0.000,5126,0.201,0.050,2387,2347,2098,2141,2055,0,0,0,0,0,0,25.69,26.13,25.89
$GC,31532,0.41,59.0,2387,2346,2141,2055,4332.1,2.7,422,31553,0.00,2.22,15.73,3.598,8708,0.000,0.070,2397,956,2044,2090,1999,0,0,0,0,0,0,26.60,25.03,23.22
$GC,31654,0.41,73.3,2397,957,2090,1998,4327.5,2.9,423,31674,0.00,2.20,14.93,3.523,9222,0.000,0.052,2397,2355,1995,2043,1948,0,0,0,0,0,0,25.65,25.58,22.80
$GC,32003,0.41,73.3,2396,2354,2043,1948,4299.9,7.0,426,32004,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2354,1995,2042,1948,0,0,0,0,0,0,26.08,26.10,26.09
$GC,32363,0.41,73.3,2397,2354,2042,1948,4272.6,7.7,429,32368,0.00,2.12,0.00,0.000,516,0.000,0.055,2407,958,1995,2042,1948,0,0,0,0,0,0,26.32,25.98,26.33
$GC,32474,0.41,73.3,2407,959,2043,1948,4272.6,7.7,429,32483,0.00,2.20,0.00,0.000,1030,0.000,0.052,2408,2353,1995,2042,1948,0,0,0,0,0,0,26.03,26.00,26.06
$GC,32843,0.41,73.3,2407,2353,2042,1948,4238.8,7.0,433,32844,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2353,1995,2042,1948,0,0,0,0,0,0,26.46,26.47,26.46
$GC,33203,0.41,73.3,2407,2353,2042,1948,4215.1,6.6,436,33208,0.00,2.10,0.00,0.000,516,0.000,0.055,2418,961,1995,2043,1948,0,0,0,0,0,0,26.51,26.15,26.52
$GC,33325,0.41,73.3,2417,961,2043,1948,4207.7,6.5,437,33331,0.10,2.10,0.00,0.000,5126,0.189,0.052,2387,2358,1995,2043,1948,0,0,0,0,0,0,25.75,26.14,25.85
$GC,33685,0.41,73.3,2387,2358,2042,1948,4185.5,6.2,440,33686,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2358,1995,2042,1948,0,0,0,0,0,0,26.56,26.58,26.58
$GC,34045,0.41,73.3,2387,2358,2042,1948,4164.9,5.8,443,34046,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2358,1995,2042,1948,0,0,0,0,0,0,26.59,26.60,26.60
$GC,34405,0.41,73.3,2387,2358,2042,1948,4145.9,5.4,446,34410,0.00,2.12,0.00,0.000,516,0.000,0.055,2397,961,1995,2042,1948,0,0,0,0,0,0,26.60,26.20,26.62
$GC,34501,0.41,73.3,2397,960,2043,1947,4145.9,5.4,446,34505,0.00,2.15,0.00,0.000,1030,0.000,0.050,2397,2350,1995,2042,1948,0,0,0,0,0,0,26.22,26.20,26.25
$GC,34885,0.41,73.3,2397,2350,2042,1948,4120.2,5.3,450,34886,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2350,1994,2042,1947,0,0,0,0,0,0,26.62,26.63,26.63
$GC,35245,0.41,73.3,2397,2350,2042,1948,4102.2,5.1,453,35250,0.00,2.10,0.00,0.000,516,0.000,0.055,2408,957,1994,2042,1947,0,0,0,0,0,0,26.63,26.22,26.64
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$GC,103194,1.29,237.0,2685,940,1513,1351,871.0,7.9,1040,103198,0.00,2.15,0.00,0.000,1030,0.000,0.052,2685,2350,1431,1511,1351,0,0,0,0,0,0,26.27,26.20,26.29
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$GC,104208,1.29,237.0,2667,2343,1513,1352,761.0,11.9,1063,104212,0.00,2.08,0.00,0.000,516,0.000,0.055,2678,960,1433,1513,1353,0,0,0,0,0,0,26.65,26.19,26.66
$GC,104403,1.29,237.0,2678,949,1513,1353,738.6,12.0,1067,104407,0.00,2.10,0.00,0.000,1030,0.000,0.052,2674,2357,1433,1514,1353,0,0,0,0,0,0,26.28,26.21,26.31
$GC,104751,1.29,237.0,2674,2357,1514,1353,691.9,13.3,1075,104752,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2357,1434,1514,1354,0,0,0,0,0,0,26.66,26.67,26.67
$GC,105066,1.29,237.0,2674,2357,1514,1355,650.9,13.0,1082,105072,0.00,2.10,0.00,0.000,516,0.000,0.055,2684,947,1434,1514,1355,0,0,0,0,0,0,26.66,26.22,26.67
$GC,105129,1.29,237.0,2684,947,1515,1354,645.4,12.8,1083,105133,0.00,2.12,0.00,0.000,1030,0.000,0.052,2684,2361,1434,1515,1354,0,0,0,0,0,0,26.29,26.22,26.32
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$GC,105840,1.29,237.0,2684,3750,1515,1357,543.0,15.6,1099,105845,0.10,2.10,0.00,0.000,5126,0.206,0.047,2666,2357,1436,1515,1357,0,0,0,0,0,0,25.79,26.32,25.86
$GC,106149,1.29,237.0,2666,2357,1515,1356,491.3,16.7,1106,106152,0.00,2.08,0.00,0.000,516,0.000,0.055,2676,964,1436,1516,1357,0,0,0,0,0,0,26.67,26.22,26.68
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$GC,106759,1.29,237.0,2685,949,1518,1358,387.4,18.1,1119,106763,0.00,2.12,0.00,0.000,1030,0.000,0.052,2685,2350,1438,1518,1358,0,0,0,0,0,0,26.27,26.22,26.29
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$GC,108696,1.35,237.0,2665,2348,1514,1355,26.9,17.1,1203,108707,0.00,2.05,0.00,0.000,516,0.000,0.055,2676,947,1434,1514,1354,0,0,0,0,0,0,26.66,26.26,26.67
$GC,108768,1.42,237.0,2676,947,1515,1355,14.8,17.8,1209,108777,0.00,2.12,0.00,0.000,1030,0.000,0.052,2675,2354,1434,1515,1354,0,0,0,0,0,0,26.29,26.27,26.32
$STATE,108846,end climb,SURFACE_DEPTH_REACHED
$STATE,108846,begin surface coast
$FINISH,0.6,0.999756
$STATE,108857,end surface coast,CONTROL_FINISHED_OK
$STATE,108857,begin surface
$SM_CCo,108870,48.42,1.224,0,0,1215,300.09
$SM_GC,1.93,6.15,0.00,48.42,0.047,0.000,1.224,181,2354,1215,-6.28,0.11,300.09,0,0,0,0,0,0,26.36,26.66,24.39
$IRIDIUM_FIX,3140.47,-6416.05,020308,212557
$TT8_MAMPS,0.020223,0.020223
$HUMID,58.78
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,20.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4421.5,85.0
$24V_AH,21.06,33.691
$10V_AH,10.04,26.379
$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,21.825,552.800,268.500,48.425,75.775,59.906,89.300,266.683,10.000,0.000,14.899,5507.334,90254.086,671.895,12543.955,498.225,0.528,5660.358,0.000,11801.187,0.000,72.733,0.000
$DEVICE_MAMPS,253.266,74.490,3918.174,1224.119,131.599,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
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$SENSOR_SECS,853.106,3975.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353600
$DATA_FILE_SIZE,80381,1218
$CAP_FILE_SIZE,694507,0
$CFSIZE,1024409600,995475456
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,132028.41,0x238a9a,7,5
$INTR,1,28410.96,0x238a9a,2,5
$INTR,2,108860.15,0x238a9a,7,5
$GPS,080515,142423,3155.522,-6417.086,40,1.3,40,-15.5,0.3,22.0,6,9.7