version: 66.12
glider: 35
mission: 22
dive: 68
start: 4 3 114 13 9 55
data:
$ID,35
$MISSION,22
$DIVE,68
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,3600
$D_ABORT,5000
$D_NO_BLEED,500
$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,1200
$T_MISSION,1260
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$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,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-997867.81
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$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,1800
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-1038.2812
$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,2000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,030414,125756,3210.121,-6429.393,31,2.7,51,-15.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.1
$GPS2,030414,130931,3210.218,-6429.364,10,1.9,10,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.093,-0.072
$KALMAN_X,7656.8,0.0,0.0,-9631.6,5723.4
$KALMAN_Y,6577.1,0.0,0.0,-12219.4,4801.7
$MHEAD_RNG_PITCHd_Wd,247.7,1076,-38.9,-10.000,-40.39,576
$D_GRID,3600
$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,-1.49,-37.6,220,1783,871,1093,0.0,0.0,0,91,0.00,0.00,-72.28,0.000,16390,0.000,0.000,219,1783,2125,2137,2113,0,0,0,0,0,0,28.83,28.83,25.65
$GC,94,-1.49,-81.6,219,1783,2137,2112,2.1,-2.2,7,120,9.75,2.17,-8.73,0.000,18692,0.258,0.060,2558,3210,2276,2290,2263,0,0,0,0,0,0,24.94,25.82,25.65
$GC,346,-1.31,-81.6,2558,3211,2281,2262,31.8,-16.2,32,353,0.25,2.08,0.00,0.000,3078,0.236,0.052,2626,1791,2272,2281,2263,0,0,0,0,0,0,25.20,26.07,28.83
$GC,653,-1.21,-81.6,2626,1791,2279,2263,83.7,-16.9,63,662,0.12,2.03,0.00,0.000,2564,0.261,0.062,2664,426,2271,2279,2263,0,0,0,0,0,0,25.70,26.06,28.83
$GC,798,-1.12,-81.6,2664,426,2278,2262,106.3,-14.7,77,805,0.15,2.03,0.00,0.000,3078,0.251,0.052,2686,1821,2270,2278,2263,0,0,0,0,0,0,25.56,26.22,28.83
$GC,1105,-1.12,-81.6,2686,1822,2278,2263,149.5,-13.1,108,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1822,2270,2278,2263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1416,-1.12,-81.6,2686,1822,2278,2263,186.6,-10.8,124,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1822,2270,2278,2263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1715,-1.12,-91.5,2686,1822,2278,2263,211.0,-8.2,139,1722,0.00,2.10,-0.25,0.000,16900,0.000,0.060,2687,415,2321,2331,2311,0,0,0,0,0,0,28.83,26.17,24.00
$GC,1947,-1.12,-91.5,2686,415,2328,2312,234.6,-11.9,150,1954,0.00,2.00,0.00,0.000,1030,0.000,0.052,2677,1811,2320,2329,2312,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2255,-1.12,-91.5,2676,1811,2329,2311,273.3,-12.2,166,2261,0.00,2.08,0.00,0.000,516,0.000,0.062,2676,423,2320,2328,2312,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2473,-1.06,-91.5,2676,423,2328,2312,301.8,-13.9,177,2478,0.17,1.98,0.00,0.000,3078,0.233,0.052,2708,1802,2320,2329,2311,0,0,0,0,0,0,25.65,26.34,28.83
$GC,2790,-1.06,-91.5,2707,1802,2329,2311,342.6,-12.7,188,2796,0.00,2.05,0.00,0.000,516,0.000,0.062,2708,424,2320,2329,2311,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2910,-1.06,-91.5,2708,424,2329,2312,360.5,-14.9,192,2914,0.00,1.98,0.00,0.000,1030,0.000,0.052,2698,1798,2320,2329,2311,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3236,-1.06,-91.5,2698,1799,2328,2312,407.6,-14.4,203,3240,0.00,2.05,0.00,0.000,516,0.000,0.062,2698,429,2320,2328,2312,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3456,-1.06,-91.5,2698,424,2328,2311,439.7,-15.1,210,3460,0.00,2.00,0.00,0.000,1030,0.000,0.052,2688,1801,2320,2328,2312,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3779,-1.06,-91.5,2688,1810,2329,2312,485.6,-14.0,221,3784,0.00,2.05,0.00,0.000,260,0.000,0.062,2677,3197,2320,2328,2312,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3821,-1.06,-91.5,2677,3197,2328,2312,490.1,-14.4,222,3826,0.15,2.03,0.00,0.000,3078,0.223,0.052,2712,1808,2320,2329,2312,0,0,0,0,0,0,25.76,26.34,28.83
$GC,4134,-1.12,-91.5,2712,1808,2328,2311,534.4,-13.6,233,4140,0.00,2.08,0.00,0.000,516,0.000,0.062,2713,415,2319,2328,2311,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4357,-1.12,-91.5,2712,415,2329,2311,567.1,-15.4,240,4361,0.00,2.00,0.00,0.000,1030,0.000,0.052,2702,1815,2320,2329,2312,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4669,-1.18,-91.5,2702,1815,2329,2311,615.9,-15.1,251,4675,0.00,2.10,0.00,0.000,516,0.000,0.062,2703,416,2320,2329,2311,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4792,-1.18,-91.5,2702,416,2329,2311,636.6,-17.3,255,4796,0.00,2.00,0.00,0.000,1030,0.000,0.052,2692,1798,2320,2329,2312,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5114,-1.23,-91.5,2692,1798,2329,2311,689.0,-16.2,266,5116,0.08,0.00,0.00,0.000,4102,0.151,0.000,2658,1798,2320,2329,2312,0,0,0,0,0,0,26.49,28.83,28.83
$GC,5414,-1.23,-91.5,2657,1798,2328,2311,743.8,-18.6,276,5417,0.00,2.08,0.00,0.000,516,0.000,0.062,2657,415,2319,2328,2311,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5644,-1.23,-91.5,2658,415,2326,2311,789.2,-21.6,283,5648,0.00,2.00,0.00,0.000,1030,0.000,0.052,2647,1802,2318,2326,2311,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5951,-1.23,-91.5,2646,1803,2326,2312,856.8,-20.9,293,5955,0.00,2.08,0.00,0.000,516,0.000,0.062,2647,414,2318,2326,2311,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6181,-1.23,-91.5,2647,413,2324,2312,905.9,-23.3,300,6185,0.00,2.03,0.00,0.000,1030,0.000,0.052,2637,1802,2318,2324,2312,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6494,-1.23,-91.5,2637,1805,2323,2311,979.0,-21.9,311,6499,0.00,2.10,0.00,0.000,516,0.000,0.062,2637,417,2317,2324,2311,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6691,-1.23,-91.5,2637,416,2323,2311,1021.4,-23.7,316,6696,0.00,2.03,0.00,0.000,1030,0.000,0.052,2626,1810,2317,2323,2311,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7029,-1.23,-91.5,2626,1810,2320,2311,1107.1,-24.3,322,7034,0.00,2.10,0.00,0.000,516,0.000,0.062,2626,406,2315,2320,2310,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7117,-1.23,-91.5,2626,406,2318,2311,1122.4,-24.6,323,7122,0.15,2.03,0.00,0.000,3078,0.226,0.052,2650,1795,2314,2318,2311,0,0,0,0,0,0,25.74,26.32,28.83
$GC,7445,-1.30,-91.5,2650,1796,2316,2311,1208.0,-24.0,329,7450,0.00,2.08,0.00,0.000,516,0.000,0.062,2651,414,2313,2316,2311,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7603,-1.36,-91.5,2651,414,2313,2311,1238.1,-24.6,331,7607,0.00,2.05,0.00,0.000,1030,0.000,0.052,2641,1813,2312,2313,2311,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7920,-1.43,-91.5,2641,1813,2310,2311,1325.3,-24.5,337,7922,0.10,0.00,0.00,0.000,4102,0.129,0.000,2601,1813,2310,2310,2311,0,0,0,0,0,0,26.46,28.83,28.83
$GC,8220,-1.43,-91.5,2601,1814,2309,2311,1403.4,-26.0,342,8225,0.00,2.10,0.00,0.000,516,0.000,0.062,2602,417,2309,2308,2311,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8399,-1.43,-91.5,2601,417,2306,2311,1451.7,-26.8,345,8403,0.00,2.03,0.00,0.000,1030,0.000,0.052,2591,1797,2309,2307,2311,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8756,-1.43,-91.5,2591,1797,2304,2311,1542.5,-25.3,351,8761,0.00,2.10,0.00,0.000,516,0.000,0.062,2591,419,2307,2304,2311,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8854,-1.43,-91.5,2591,419,2302,2311,1558.7,-25.4,352,8858,0.00,2.05,0.00,0.000,1030,0.000,0.052,2581,1813,2306,2302,2311,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9171,-1.43,-91.5,2581,1812,2300,2309,1648.7,-25.0,358,9174,0.00,2.12,0.00,0.000,516,0.000,0.065,2581,410,2305,2300,2310,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9277,-1.43,-91.5,2581,410,2299,2310,1664.8,-25.2,359,9283,0.00,2.05,0.00,0.000,1030,0.000,0.052,2571,1802,2304,2298,2310,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9592,-1.43,-91.5,2571,1802,2298,2308,1757.0,-25.5,365,9596,0.00,2.10,0.00,0.000,516,0.000,0.062,2571,418,2303,2298,2308,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9766,-1.43,-91.5,2571,418,2296,2308,1790.0,-26.2,367,9773,0.00,2.05,0.00,0.000,1030,0.000,0.052,2561,1803,2302,2296,2308,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10073,-1.43,-91.5,2561,1803,2295,2307,1882.7,-25.2,373,10077,0.00,2.12,0.00,0.000,516,0.000,0.065,2561,408,2301,2295,2307,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10227,-1.43,-91.5,2561,408,2294,2307,1915.3,-26.1,375,10232,0.17,2.08,0.00,0.000,3078,0.216,0.052,2593,1825,2300,2294,2307,0,0,0,0,0,0,25.61,26.27,28.83
$GC,10558,-1.51,-91.5,2592,1825,2293,2306,2001.3,-23.4,381,10563,0.00,2.15,0.00,0.000,516,0.000,0.062,2593,415,2300,2293,2307,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10619,-1.59,-91.5,2593,415,2293,2306,2016.2,-23.6,382,10624,0.10,2.05,0.00,0.000,5126,0.127,0.052,2545,1802,2299,2293,2306,0,0,0,0,0,0,26.16,26.27,28.83
$GC,10972,-1.59,-91.5,2545,1803,2292,2306,2105.6,-25.1,388,10977,0.00,2.12,0.00,0.000,516,0.000,0.062,2545,418,2299,2292,2306,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11029,-1.59,-91.5,2545,418,2292,2306,2105.6,-25.1,388,11037,0.00,2.05,0.00,0.000,1030,0.000,0.052,2534,1802,2299,2292,2306,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11335,-1.59,-91.5,2534,1802,2291,2305,2197.5,-25.0,394,11342,0.00,2.10,0.00,0.000,516,0.000,0.062,2535,419,2298,2291,2305,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11461,-1.59,-91.5,2534,419,2289,2305,2230.2,-25.4,396,11465,0.00,2.03,0.00,0.000,1030,0.000,0.055,2524,1802,2297,2290,2305,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11824,-1.59,-91.5,2524,1802,2290,2305,2319.1,-24.4,402,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1802,2297,2290,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12124,-1.59,-91.5,2524,1802,2288,2303,2390.7,-23.7,407,12129,0.00,2.12,0.00,0.000,516,0.000,0.062,2524,421,2295,2288,2303,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12302,-1.59,-91.5,2524,421,2286,2303,2421.4,-24.1,409,12310,0.00,2.05,0.00,0.000,1030,0.000,0.052,2514,1801,2295,2286,2304,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12610,-1.59,-91.5,2514,1801,2286,2302,2505.6,-22.9,415,12617,0.00,2.12,0.00,0.000,516,0.000,0.062,2514,420,2294,2285,2303,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12699,-1.59,-91.5,2514,420,2285,2302,2521.3,-23.1,416,12704,0.15,2.05,0.00,0.000,3078,0.216,0.052,2538,1801,2293,2285,2302,0,0,0,0,0,0,25.63,26.22,28.83
$GC,13034,-1.66,-91.5,2539,1801,2285,2302,2599.1,-21.4,422,13039,0.00,2.12,0.00,0.000,516,0.000,0.065,2539,421,2293,2284,2302,0,0,0,0,0,0,28.83,26.02,28.83
$GC,13100,-1.72,-91.5,2539,421,2284,2302,2613.7,-21.5,423,13105,0.00,2.03,0.00,0.000,1030,0.000,0.052,2530,1798,2293,2284,2302,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13464,-1.79,-91.5,2529,1798,2284,2302,2692.9,-21.4,429,13470,0.12,2.10,0.00,0.000,4612,0.122,0.062,2472,421,2293,2284,2302,0,0,0,0,0,0,26.35,26.01,28.83
$GC,13607,-1.79,-91.5,2472,421,2283,2302,2724.1,-23.0,431,13612,0.00,2.05,0.00,0.000,1030,0.000,0.052,2462,1812,2292,2283,2302,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13947,-1.79,-91.5,2462,1812,2283,2301,2807.9,-23.2,437,13954,0.00,2.15,0.00,0.000,516,0.000,0.062,2462,420,2292,2283,2301,0,0,0,0,0,0,28.83,26.00,28.83
$GC,14087,-1.79,-91.5,2462,420,2282,2302,2839.1,-23.9,439,14091,0.00,2.05,0.00,0.000,1030,0.000,0.052,2452,1799,2292,2282,2302,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14431,-1.79,-91.5,2451,1799,2282,2301,2920.1,-22.5,445,14436,0.00,2.12,0.00,0.000,516,0.000,0.065,2452,409,2291,2282,2301,0,0,0,0,0,0,28.83,25.98,28.83
$GC,14639,-1.79,-91.5,2452,409,2281,2301,2963.3,-23.1,448,14644,0.15,2.05,0.00,0.000,3078,0.228,0.052,2475,1802,2291,2281,2301,0,0,0,0,0,0,25.53,26.18,28.83
$GC,14974,-1.79,-91.5,2475,1802,2281,2301,3037.7,-20.4,454,14981,0.00,2.12,0.00,0.000,516,0.000,0.065,2475,413,2291,2281,2301,0,0,0,0,0,0,28.83,25.96,28.83
$GC,15068,-1.79,-91.5,2475,413,2281,2301,3052.1,-20.6,455,15072,0.00,2.08,0.00,0.000,1030,0.000,0.052,2465,1808,2290,2280,2301,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15399,-1.79,-91.5,2465,1807,2280,2301,3126.0,-20.7,461,15404,0.00,2.12,0.00,0.000,516,0.000,0.062,2466,421,2290,2280,2301,0,0,0,0,0,0,28.83,25.95,28.83
$GC,15585,-1.79,-91.5,2465,422,2280,2301,3166.6,-21.4,464,15589,0.00,2.05,0.00,0.000,1030,0.000,0.055,2455,1797,2290,2280,2301,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15938,-1.79,-91.5,2455,1797,2280,2300,3238.4,-19.9,470,15943,0.00,2.15,0.00,0.000,516,0.000,0.065,2456,411,2290,2280,2300,0,0,0,0,0,0,28.83,25.92,28.83
$GC,16081,-1.79,-91.5,2455,411,2279,2300,3264.2,-20.2,472,16085,0.00,2.05,0.00,0.000,1030,0.000,0.052,2446,1801,2289,2279,2300,0,0,0,0,0,0,28.83,26.16,28.83
$GC,16422,-1.79,-91.5,2445,1801,2279,2300,3332.5,-19.0,478,16427,0.00,2.15,0.00,0.000,516,0.000,0.062,2446,414,2289,2279,2300,0,0,0,0,0,0,28.83,25.92,28.83
$GC,16549,-1.79,-91.5,2445,414,2278,2300,3358.0,-19.5,480,16554,0.12,2.10,0.00,0.000,3078,0.216,0.052,2469,1804,2289,2278,2300,0,0,0,0,0,0,25.41,26.15,28.83
$GC,16907,-1.86,-91.5,2469,1804,2278,2300,3421.0,-17.3,486,16913,0.00,2.15,0.00,0.000,516,0.000,0.065,2470,419,2289,2278,2300,0,0,0,0,0,0,28.83,25.90,28.83
$GC,17080,-1.92,-91.5,2469,419,2277,2299,3442.8,-17.6,488,17087,0.00,2.08,0.00,0.000,1030,0.000,0.052,2460,1810,2288,2277,2300,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,17265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,17265,begin apogee
$GC,17271,-0.19,0.0,2456,2299,2277,2300,3483.8,-17.1,492,17354,1.85,0.00,77.95,3.263,10246,0.189,0.000,2983,2300,2000,1968,2032,0,0,0,0,0,0,24.48,28.83,20.85
$STATE,17355,end apogee,CONTROL_FINISHED_OK
$STATE,17356,begin climb
$GC,17357,1.49,91.5,2983,2300,1968,2032,3486.1,0.0,493,17458,1.58,2.58,91.25,3.188,10500,0.062,0.079,3562,3692,1690,1641,1740,0,0,0,0,0,0,23.54,22.94,20.57
$GC,17610,1.49,91.5,3562,3692,1641,1738,3451.2,18.6,497,17615,0.20,2.20,0.00,0.000,5126,0.253,0.052,3530,2307,1689,1641,1738,0,0,0,0,0,0,24.48,24.96,28.83
$GC,17919,1.37,91.5,3530,2306,1641,1738,3372.7,21.3,502,17921,0.17,0.00,0.00,0.000,4102,0.248,0.000,3491,2305,1689,1641,1738,0,0,0,0,0,0,25.40,28.83,28.83
$GC,18218,1.29,91.5,3491,2305,1641,1738,3314.3,19.4,507,18224,0.00,2.22,0.00,0.000,260,0.000,0.067,3491,3697,1689,1641,1738,0,0,0,0,0,0,28.83,25.99,28.83
$GC,18322,1.20,91.5,3491,3697,1641,1738,3302.3,19.4,508,18327,0.28,2.12,0.00,0.000,5126,0.236,0.052,3435,2295,1689,1641,1738,0,0,0,0,0,0,25.44,26.13,28.83
$GC,18634,1.20,91.5,3435,2295,1641,1738,3240.0,16.8,514,18640,0.00,2.25,0.00,0.000,260,0.000,0.067,3435,3702,1689,1641,1738,0,0,0,0,0,0,28.83,26.08,28.83
$GC,18727,1.20,91.5,3435,3702,1641,1738,3229.5,16.7,515,18731,0.00,2.10,0.00,0.000,1030,0.000,0.052,3445,2296,1689,1641,1737,0,0,0,0,0,0,28.83,26.22,28.83
$GC,19049,1.20,91.5,3445,2296,1641,1737,3172.5,15.5,521,19051,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2295,1689,1641,1738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19349,1.20,91.5,3445,2295,1641,1737,3126.0,15.3,526,19350,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2295,1689,1641,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19649,1.20,91.5,3445,2295,1641,1737,3081.3,14.9,531,19650,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2295,1689,1641,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19949,1.20,91.5,3445,2295,1641,1737,3038.3,14.3,536,19955,0.00,2.22,0.00,0.000,260,0.000,0.067,3446,3693,1688,1641,1736,0,0,0,0,0,0,28.83,26.12,28.83
$GC,20131,1.20,91.5,3445,3693,1641,1736,3011.6,14.7,539,20136,0.00,2.12,0.00,0.000,1030,0.000,0.052,3456,2300,1689,1642,1736,0,0,0,0,0,0,28.83,26.29,28.83
$GC,20489,1.20,91.5,3456,2300,1641,1736,2962.9,13.4,545,20491,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2300,1688,1641,1736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20789,1.20,91.5,3456,2300,1642,1735,2923.5,13.0,550,20794,0.00,2.12,0.00,0.000,516,0.000,0.062,3467,900,1688,1641,1736,0,0,0,0,0,0,28.83,26.17,28.83
$GC,20862,1.20,91.5,3466,900,1641,1736,2916.0,12.8,551,20866,0.00,2.12,0.00,0.000,1030,0.000,0.057,3466,2303,1688,1641,1736,0,0,0,0,0,0,28.83,26.20,28.83
$GC,21204,1.20,91.5,3466,2304,1641,1736,2871.2,12.7,557,21206,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2304,1688,1641,1736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21504,1.20,91.5,3466,2304,1641,1736,2834.5,12.3,562,21505,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2304,1688,1641,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21804,1.20,91.5,3466,2303,1641,1736,2799.2,11.6,567,21809,0.00,2.15,0.00,0.000,516,0.000,0.060,3476,904,1688,1641,1736,0,0,0,0,0,0,28.83,26.15,28.83
$GC,21907,1.20,91.5,3476,904,1641,1736,2792.1,11.6,568,21912,0.17,2.12,0.00,0.000,5126,0.228,0.057,3436,2306,1688,1641,1736,0,0,0,0,0,0,25.52,26.17,28.83
$GC,22220,1.20,91.5,3436,2306,1641,1736,2754.4,10.4,574,22223,0.00,2.20,0.00,0.000,260,0.000,0.070,3435,3705,1688,1641,1736,0,0,0,0,0,0,28.83,26.06,28.83
$GC,22319,1.20,91.5,3435,3706,1641,1735,2747.9,10.3,575,22323,0.00,2.10,0.00,0.000,1030,0.000,0.052,3446,2301,1688,1641,1735,0,0,0,0,0,0,28.83,26.26,28.83
$GC,22642,1.20,93.0,3446,2301,1641,1735,2712.3,9.7,581,22643,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2301,1688,1641,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22941,1.20,95.6,3446,2301,1641,1735,2683.3,9.5,586,22948,0.00,0.00,5.12,1.818,8198,0.000,0.000,3446,2301,1676,1631,1721,0,0,0,0,0,0,28.83,28.83,23.19
$GC,23241,1.20,98.1,3446,2301,1631,1721,2654.8,9.6,591,23247,0.00,0.00,4.35,1.626,8198,0.000,0.000,3446,2301,1667,1623,1711,0,0,0,0,0,0,28.83,28.83,23.28
$GC,23541,1.20,98.1,3446,2301,1623,1711,2624.9,10.1,596,23547,0.00,2.12,0.00,0.000,516,0.000,0.060,3457,905,1667,1623,1711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,23670,1.20,98.1,3456,905,1623,1711,2613.0,10.0,598,23674,0.00,2.12,0.00,0.000,1030,0.000,0.057,3457,2307,1667,1623,1712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,24017,1.20,99.9,3457,2307,1622,1711,2578.1,9.7,604,24021,0.00,2.15,0.00,0.000,516,0.000,0.060,3468,899,1667,1623,1711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,24062,1.20,101.7,3467,900,1623,1712,2578.1,9.7,604,24072,0.12,2.12,4.95,1.743,13318,0.236,0.057,3439,2309,1655,1612,1698,0,0,0,0,0,0,25.67,26.13,23.37
$GC,24374,1.20,101.9,3438,2309,1613,1698,2543.1,10.0,609,24379,0.00,2.20,0.00,0.000,260,0.000,0.067,3438,3709,1655,1612,1698,0,0,0,0,0,0,28.83,26.01,28.83
$GC,24586,1.20,101.9,3438,3709,1613,1698,2524.1,10.5,612,24590,0.00,2.12,0.00,0.000,1030,0.000,0.052,3449,2301,1655,1613,1698,0,0,0,0,0,0,28.83,26.19,28.83
$GC,24909,1.20,107.0,3449,2301,1612,1698,2491.0,9.1,618,24918,0.00,0.00,6.65,1.979,8198,0.000,0.000,3449,2301,1637,1595,1679,0,0,0,0,0,0,28.83,28.83,23.39
$GC,25209,1.20,108.9,3449,2301,1595,1680,2462.3,9.7,623,25214,0.00,2.25,0.00,0.000,260,0.000,0.067,3449,3701,1637,1595,1679,0,0,0,0,0,0,28.83,25.98,28.83
$GC,25342,1.20,108.9,3449,3701,1595,1678,2449.5,10.2,625,25346,0.00,2.10,0.00,0.000,1030,0.000,0.052,3459,2298,1637,1595,1679,0,0,0,0,0,0,28.83,26.17,28.83
$GC,25685,1.20,115.5,3458,2298,1595,1679,2416.9,8.8,631,25701,0.00,2.20,9.12,2.160,8708,0.000,0.067,3470,900,1607,1565,1649,0,0,0,0,0,0,28.83,25.86,23.32
$GC,25806,1.20,120.6,3470,900,1564,1650,2405.4,9.1,633,25818,0.10,2.12,6.32,1.914,13318,0.221,0.057,3441,2304,1591,1549,1633,0,0,0,0,0,0,25.51,25.94,23.25
$GC,26164,1.26,120.6,3441,2304,1549,1633,2368.4,10.5,639,26165,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2304,1591,1549,1633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26461,1.32,121.6,3441,2304,1549,1633,2338.6,9.8,644,26466,0.00,2.15,0.00,0.000,516,0.000,0.060,3451,905,1591,1550,1633,0,0,0,0,0,0,28.83,26.06,28.83
$GC,26549,1.37,123.7,3451,905,1549,1633,2332.7,9.6,645,26559,0.08,2.12,4.65,1.597,11270,0.159,0.057,3477,2302,1580,1540,1621,0,0,0,0,0,0,26.02,26.10,23.48
$GC,26877,1.37,123.7,3477,2303,1539,1621,2294.8,10.8,651,26878,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2302,1580,1539,1621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27177,1.37,123.7,3477,2302,1539,1621,2263.7,10.3,656,27181,0.00,2.22,0.00,0.000,260,0.000,0.070,3477,3701,1580,1539,1621,0,0,0,0,0,0,28.83,26.06,28.83
$GC,27300,1.37,123.7,3476,3706,1539,1621,2250.6,10.6,658,27305,0.00,2.10,0.00,0.000,1030,0.000,0.052,3487,2304,1580,1540,1620,0,0,0,0,0,0,28.83,26.22,28.83
$GC,27658,1.37,125.9,3487,2305,1540,1621,2215.3,9.6,664,27662,0.00,2.12,0.00,0.000,516,0.000,0.060,3498,898,1580,1539,1621,0,0,0,0,0,0,28.83,26.15,28.83
$GC,27782,1.37,127.8,3498,897,1539,1621,2203.4,9.7,666,27792,0.00,2.10,5.20,1.669,9222,0.000,0.057,3497,2300,1567,1527,1607,0,0,0,0,0,0,28.83,26.17,23.59
$GC,28140,1.37,127.8,3497,2301,1527,1607,2167.5,10.1,672,28146,0.00,2.22,0.00,0.000,260,0.000,0.067,3497,3705,1566,1527,1606,0,0,0,0,0,0,28.83,26.05,28.83
$GC,28283,1.37,127.8,3497,3705,1527,1606,2154.3,10.4,674,28287,0.00,2.12,0.00,0.000,1030,0.000,0.052,3508,2298,1566,1527,1606,0,0,0,0,0,0,28.83,26.21,28.83
$GC,28615,1.37,130.4,3507,2298,1527,1607,2119.3,9.5,680,28621,0.00,0.00,3.90,1.331,8198,0.000,0.000,3508,2298,1558,1518,1598,0,0,0,0,0,0,28.83,28.83,23.65
$GC,28916,1.37,132.2,3507,2298,1518,1598,2090.3,9.7,685,28921,0.00,2.22,0.00,0.000,260,0.000,0.067,3507,3702,1558,1518,1598,0,0,0,0,0,0,28.83,26.06,28.83
$GC,29039,1.37,132.2,3507,3702,1518,1597,2077.5,10.1,687,29043,0.00,2.10,0.00,0.000,1030,0.000,0.052,3517,2298,1558,1519,1598,0,0,0,0,0,0,28.83,26.22,28.83
$GC,29391,1.37,134.5,3517,2298,1518,1598,2043.2,9.6,693,29402,0.00,2.15,5.55,1.656,8708,0.000,0.065,3528,905,1544,1502,1586,0,0,0,0,0,0,28.83,26.10,23.63
$GC,29619,1.37,134.5,3528,905,1501,1586,2024.3,10.3,696,29624,0.15,2.12,0.00,0.000,5126,0.231,0.057,3494,2302,1543,1501,1586,0,0,0,0,0,0,25.59,26.10,28.83
$GC,29926,1.37,134.5,3494,2302,1501,1586,1987.4,10.3,701,29931,0.00,2.22,0.00,0.000,260,0.000,0.067,3494,3706,1543,1501,1586,0,0,0,0,0,0,28.83,26.04,28.83
$GC,30029,1.37,134.5,3493,3706,1501,1586,1980.7,10.5,702,30033,0.00,2.12,0.00,0.000,1030,0.000,0.052,3504,2299,1543,1501,1586,0,0,0,0,0,0,28.83,26.21,28.83
$GC,30341,1.37,134.5,3504,2300,1501,1586,1943.5,10.4,708,30345,0.00,2.10,0.00,0.000,516,0.000,0.062,3515,904,1543,1501,1586,0,0,0,0,0,0,28.83,26.13,28.83
$GC,30402,1.37,134.5,3514,903,1501,1586,1936.9,10.4,709,30408,0.00,2.12,0.00,0.000,1030,0.000,0.057,3512,2308,1543,1501,1586,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,45506,end climb,SURFACE_DEPTH_REACHED
$STATE,45506,begin surface coast
$FINISH,-0.1,0.998799
$STATE,45517,end surface coast,CONTROL_FINISHED_OK
$STATE,45517,begin surface
$SM_CCo,45537,98.75,0.958,0,0,982,300.22
$SM_GC,1.00,8.60,2.85,98.75,0.052,0.050,0.958,242,1808,982,-8.71,1.84,300.22,0,0,0,0,0,0,26.13,26.25,23.81
$IRIDIUM_FIX,3158.24,-6429.79,030414,131357
$TT8_MAMPS,0.020223,0.020223
$HUMID,37.55
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,21.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,3400.4,104.4
$24V_AH,20.6,51.628
$10V_AH,10.2,10.863
$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
$DEVICE_SECS,26.200,344.625,279.325,98.750,0.000,86.419,120.350,283.009,36.250,0.000,13.443,3854.449,35580.359,589.570,5734.290,543.446,0.385,3278.553,0.000,4986.728,0.000,272.530,0.000
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$SENSOR_SECS,771.293,1462.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,70308,1107
$CAP_FILE_SIZE,394575,0
$CFSIZE,260165632,234336256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040414,015154,3208.523,-6431.132,40,1.1,40,-15.5