version: 66.12
glider: 35
mission: 22
dive: 69
start: 4 4 114 2 1 2
data:
$ID,35
$MISSION,22
$DIVE,69
$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,-997869.06
$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,52
$R_STBD_OVSHOOT,47
$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
$GPS1,040414,015154,3208.523,-6431.132,40,1.1,40,-15.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.9
$GPS2,040414,020037,3208.550,-6431.060,13,1.2,13,-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,-0.036
$KALMAN_X,11712.6,0.0,0.0,-16263.4,7215.7
$KALMAN_Y,8681.2,0.0,0.0,-17325.9,4741.0
$MHEAD_RNG_PITCHd_Wd,264.7,3158,-43.6,-10.000,-45.00,463
$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,-1.68,-30.2,240,1801,868,1099,0.0,0.0,0,90,0.00,0.00,-71.50,0.000,16390,0.000,0.000,239,1801,2103,2119,2087,0,0,0,0,0,0,28.83,28.83,25.67
$GC,93,-1.68,-64.5,239,1801,2118,2086,2.2,-2.4,7,115,9.52,2.15,-6.60,0.000,18692,0.263,0.060,2498,3210,2218,2238,2199,0,0,0,0,0,0,25.03,25.82,25.67
$GC,341,-1.54,-64.5,2498,3210,2230,2199,27.4,-12.1,31,349,0.20,2.12,0.00,0.000,3078,0.243,0.052,2551,1764,2214,2229,2199,0,0,0,0,0,0,25.30,26.07,28.83
$GC,649,-1.46,-64.5,2551,1764,2228,2199,64.5,-12.3,62,658,0.12,2.17,0.00,0.000,2308,0.261,0.060,2570,3206,2213,2228,2199,0,0,0,0,0,0,25.72,26.12,28.83
$GC,884,-1.38,-64.5,2570,3206,2228,2199,92.8,-12.4,85,891,0.00,2.05,0.00,0.000,1030,0.000,0.052,2580,1814,2213,2228,2199,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1191,-1.38,-64.5,2580,1813,2228,2199,131.7,-12.5,116,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1813,2213,2228,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1501,-1.38,-65.5,2580,1814,2228,2201,166.2,-9.8,139,1507,0.00,2.10,-0.10,0.000,16900,0.000,0.060,2584,404,2236,2249,2224,0,0,0,0,0,0,28.83,26.18,22.91
$GC,1734,-1.31,-65.5,2584,404,2249,2225,192.8,-12.2,150,1741,0.22,2.05,0.00,0.000,3078,0.231,0.052,2628,1827,2236,2249,2224,0,0,0,0,0,0,25.51,26.32,28.83
$GC,2041,-1.31,-73.4,2627,1827,2249,2224,224.7,-8.3,166,2047,0.00,2.12,-0.10,0.000,16900,0.000,0.060,2634,402,2263,2276,2251,0,0,0,0,0,0,28.83,26.20,22.88
$GC,2123,-1.31,-81.4,2634,402,2274,2251,231.3,-8.2,170,2129,0.00,1.98,-0.10,0.000,17414,0.000,0.052,2624,1804,2291,2302,2280,0,0,0,0,0,0,28.83,26.34,22.80
$GC,2441,-1.31,-81.4,2624,1804,2301,2280,263.8,-11.0,186,2446,0.00,2.05,0.00,0.000,260,0.000,0.062,2613,3190,2290,2301,2280,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2674,-1.31,-81.4,2613,3190,2301,2280,291.3,-12.2,197,2681,0.00,2.05,0.00,0.000,1030,0.000,0.052,2614,1793,2290,2301,2280,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2981,-1.31,-81.4,2614,1792,2301,2280,332.7,-13.1,209,2987,0.00,2.12,0.00,0.000,260,0.000,0.060,2603,3197,2290,2301,2280,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3145,-1.31,-81.4,2602,3197,2301,2280,353.1,-13.7,214,3148,0.00,2.05,0.00,0.000,1030,0.000,0.052,2603,1796,2290,2301,2280,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3457,-1.31,-81.4,2602,1796,2301,2280,398.3,-14.1,225,3462,0.00,2.05,0.00,0.000,516,0.000,0.062,2603,408,2290,2301,2280,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3690,-1.31,-81.4,2603,408,2301,2280,429.3,-14.5,232,3698,0.15,2.00,0.00,0.000,3078,0.228,0.052,2627,1798,2290,2301,2280,0,0,0,0,0,0,25.76,26.36,28.83
$GC,3998,-1.31,-81.4,2626,1798,2301,2280,474.9,-13.8,243,4003,0.00,2.05,0.00,0.000,516,0.000,0.062,2627,412,2290,2301,2280,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4231,-1.31,-81.4,2627,412,2301,2280,509.9,-16.9,250,4237,0.00,1.98,0.00,0.000,1030,0.000,0.052,2617,1800,2290,2301,2280,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4538,-1.31,-81.4,2617,1801,2301,2280,563.2,-16.4,261,4544,0.00,2.10,0.00,0.000,516,0.000,0.062,2621,407,2290,2301,2280,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4772,-1.31,-81.4,2621,407,2301,2280,600.5,-17.6,268,4779,0.00,2.00,0.00,0.000,1030,0.000,0.052,2611,1803,2290,2301,2280,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5080,-1.31,-81.4,2610,1803,2301,2280,661.0,-18.5,279,5085,0.00,2.10,0.00,0.000,516,0.000,0.062,2611,407,2290,2301,2280,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5192,-1.31,-81.4,2611,407,2301,2280,677.9,-18.8,282,5199,0.00,2.00,0.00,0.000,1030,0.000,0.052,2601,1808,2290,2301,2280,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5500,-1.31,-81.4,2600,1808,2301,2280,741.9,-19.3,293,5505,0.00,2.08,0.00,0.000,516,0.000,0.062,2601,412,2290,2301,2280,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5732,-1.31,-81.4,2601,412,2300,2280,783.6,-19.3,300,5740,0.17,1.98,0.00,0.000,3078,0.223,0.052,2632,1797,2290,2300,2281,0,0,0,0,0,0,25.70,26.36,28.83
$GC,6040,-1.40,-81.4,2632,1797,2300,2280,845.9,-19.2,311,6046,0.00,2.08,0.00,0.000,516,0.000,0.062,2633,408,2290,2300,2280,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6264,-1.45,-81.4,2633,409,2299,2280,890.6,-22.3,318,6268,0.08,2.00,0.00,0.000,5126,0.154,0.052,2596,1803,2289,2299,2280,0,0,0,0,0,0,26.23,26.35,28.83
$GC,6576,-1.52,-81.4,2596,1803,2298,2280,964.8,-23.1,329,6582,0.05,2.10,0.00,0.000,4612,0.204,0.060,2574,404,2289,2298,2280,0,0,0,0,0,0,26.51,26.22,28.83
$GC,6734,-1.52,-81.4,2574,404,2296,2280,1003.9,-26.0,334,6737,0.00,2.03,0.00,0.000,1030,0.000,0.052,2564,1809,2288,2296,2280,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7056,-1.52,-81.4,2564,1809,2294,2280,1089.4,-26.4,340,7060,0.00,2.10,0.00,0.000,516,0.000,0.062,2564,409,2287,2294,2280,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7267,-1.52,-81.4,2564,409,2292,2280,1140.7,-28.0,343,7271,0.00,2.03,0.00,0.000,1030,0.000,0.052,2554,1797,2286,2292,2280,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7594,-1.57,-81.4,2554,1797,2290,2280,1237.1,-27.1,349,7599,0.00,2.10,0.00,0.000,516,0.000,0.062,2554,412,2285,2290,2280,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7756,-1.57,-81.4,2554,412,2287,2280,1272.4,-28.3,351,7760,0.00,2.03,0.00,0.000,1030,0.000,0.052,2544,1800,2283,2287,2280,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8069,-1.63,-81.4,2545,1800,2285,2280,1372.5,-27.9,357,8072,0.00,2.08,0.00,0.000,516,0.000,0.065,2544,413,2282,2285,2280,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8298,-1.63,-81.4,2544,413,2282,2280,1425.9,-29.1,360,8302,0.00,2.05,0.00,0.000,1030,0.000,0.052,2534,1809,2281,2282,2280,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8605,-1.69,-81.4,2533,1810,2280,2280,1528.5,-28.8,365,8609,0.00,2.12,0.00,0.000,516,0.000,0.062,2534,406,2280,2280,2280,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8829,-1.69,-81.4,2534,402,2277,2280,1583.6,-30.1,368,8833,0.00,2.08,0.00,0.000,1030,0.000,0.052,2524,1810,2278,2277,2280,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9142,-1.76,-81.4,2523,1810,2275,2280,1686.0,-28.4,374,9148,0.08,2.12,0.00,0.000,4612,0.156,0.060,2496,400,2277,2274,2280,0,0,0,0,0,0,26.48,26.18,28.83
$GC,9304,-1.76,-81.4,2496,401,2273,2280,1722.7,-29.5,376,9308,0.00,2.05,0.00,0.000,1030,0.000,0.052,2485,1808,2276,2273,2280,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9617,-1.76,-81.4,2485,1808,2273,2277,1827.2,-29.2,382,9620,0.00,2.12,0.00,0.000,516,0.000,0.062,2487,411,2275,2273,2277,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9846,-1.76,-81.4,2486,411,2270,2278,1881.5,-29.7,385,9850,0.00,2.05,0.00,0.000,1030,0.000,0.052,2477,1800,2274,2270,2278,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10153,-1.76,-81.4,2477,1800,2270,2276,1983.7,-28.4,390,10157,0.00,2.10,0.00,0.000,516,0.000,0.062,2477,405,2273,2270,2276,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10319,-1.76,-81.4,2477,404,2268,2276,2019.8,-29.0,392,10323,0.00,2.08,0.00,0.000,1030,0.000,0.052,2466,1808,2272,2268,2276,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10634,-1.76,-81.4,2466,1808,2268,2275,2120.2,-27.6,398,10639,0.00,2.12,0.00,0.000,516,0.000,0.062,2466,414,2271,2268,2274,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10836,-1.76,-81.4,2466,414,2266,2275,2173.7,-28.6,401,10839,0.00,2.05,0.00,0.000,1030,0.000,0.052,2456,1800,2270,2266,2275,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11175,-1.76,-81.4,2456,1800,2265,2274,2269.8,-26.8,407,11182,0.00,2.12,0.00,0.000,516,0.000,0.062,2457,406,2269,2265,2274,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11374,-1.76,-81.4,2456,406,2264,2274,2322.3,-27.9,410,11379,0.17,2.05,0.00,0.000,3078,0.228,0.052,2487,1802,2268,2263,2274,0,0,0,0,0,0,25.53,26.27,28.83
$GC,11718,-1.84,-81.4,2486,1802,2264,2272,2411.3,-24.7,416,11722,0.00,2.10,0.00,0.000,516,0.000,0.062,2487,415,2268,2264,2273,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11849,-1.91,-81.4,2487,416,2262,2273,2443.5,-25.1,418,11854,0.10,2.05,0.00,0.000,5126,0.124,0.052,2439,1801,2267,2262,2273,0,0,0,0,0,0,26.15,26.26,28.83
$GC,12197,-1.91,-81.4,2438,1801,2262,2272,2534.7,-25.6,424,12202,0.00,2.12,0.00,0.000,516,0.000,0.062,2440,415,2267,2262,2272,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12337,-1.91,-81.4,2440,416,2261,2271,2567.2,-25.9,426,12341,0.00,2.05,0.00,0.000,1030,0.000,0.052,2430,1812,2266,2261,2272,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12677,-1.91,-81.4,2430,1813,2260,2271,2655.4,-24.6,432,12682,0.00,2.12,0.00,0.000,516,0.000,0.062,2433,416,2265,2261,2270,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12875,-1.91,-81.4,2432,415,2258,2271,2703.0,-25.5,435,12878,0.00,2.05,0.00,0.000,1030,0.000,0.052,2423,1801,2264,2258,2271,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13220,-1.97,-81.4,2423,1800,2258,2270,2788.7,-23.9,441,13227,0.00,2.12,0.00,0.000,516,0.000,0.062,2423,413,2264,2258,2270,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13441,-1.97,-81.4,2423,413,2258,2270,2835.7,-24.7,444,13444,0.00,2.08,0.00,0.000,1030,0.000,0.052,2412,1808,2264,2258,2270,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13766,-1.97,-81.4,2412,1808,2258,2269,2918.1,-22.8,450,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1808,2264,2258,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14064,-2.02,-81.4,2412,1808,2258,2269,2985.5,-22.4,455,14069,0.00,2.12,0.00,0.000,516,0.000,0.062,2412,415,2263,2258,2269,0,0,0,0,0,0,28.83,26.03,28.83
$GC,14298,-2.02,-81.4,2412,415,2257,2269,3028.3,-22.7,458,14302,0.00,2.08,0.00,0.000,1030,0.000,0.052,2402,1811,2263,2257,2269,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14605,-2.02,-81.4,2401,1810,2257,2269,3103.9,-20.8,463,14610,0.00,2.15,0.00,0.000,516,0.000,0.062,2402,415,2263,2257,2269,0,0,0,0,0,0,28.83,26.02,28.83
$GC,14750,-2.02,-81.4,2402,415,2255,2269,3131.6,-21.7,465,14754,0.00,2.08,0.00,0.000,1030,0.000,0.052,2391,1806,2262,2255,2269,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15085,-2.02,-81.4,2391,1806,2255,2269,3209.6,-21.8,471,15090,0.00,2.15,0.00,0.000,516,0.000,0.062,2391,412,2262,2255,2269,0,0,0,0,0,0,28.83,26.01,28.83
$GC,15243,-2.02,-81.4,2391,413,2255,2269,3237.5,-21.9,473,15247,0.00,2.05,0.00,0.000,1030,0.000,0.055,2381,1804,2262,2255,2269,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15569,-2.02,-81.4,2381,1804,2255,2269,3313.7,-21.2,479,15573,0.00,2.15,0.00,0.000,516,0.000,0.062,2381,411,2261,2254,2269,0,0,0,0,0,0,28.83,25.99,28.83
$GC,15802,-2.02,-81.4,2381,411,2254,2269,3355.0,-21.9,482,15806,0.00,2.08,0.00,0.000,1030,0.000,0.052,2371,1803,2261,2254,2269,0,0,0,0,0,0,28.83,26.18,28.83
$GC,16108,-2.02,-81.4,2370,1804,2254,2268,3425.7,-19.5,487,16115,0.12,2.12,0.00,0.000,2564,0.236,0.060,2408,413,2261,2254,2268,0,0,0,0,0,0,25.89,25.97,28.83
$GC,16202,-2.02,-81.4,2408,413,2253,2268,3437.8,-19.5,488,16206,0.00,2.08,0.00,0.000,1030,0.000,0.052,2398,1802,2260,2253,2268,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,16402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,16402,begin apogee
$GC,16408,-0.19,0.0,2394,2310,2253,2268,3481.7,-18.6,492,16483,2.10,0.00,69.68,3.243,10246,0.194,0.000,2985,2311,2000,1970,2030,0,0,0,0,0,0,24.53,28.83,21.08
$STATE,16484,end apogee,CONTROL_FINISHED_OK
$STATE,16484,begin climb
$GC,16486,1.68,81.4,2985,2311,1970,2030,3484.1,0.0,493,16579,1.70,2.53,80.80,3.191,10500,0.065,0.079,3603,3684,1724,1675,1774,0,0,0,0,0,0,23.75,22.96,20.60
$GC,16695,1.68,81.4,3603,3685,1676,1772,3462.1,16.0,496,16702,0.00,2.20,0.00,0.000,1030,0.000,0.050,3613,2311,1724,1676,1772,0,0,0,0,0,0,28.83,24.79,28.83
$GC,17002,1.58,81.4,3613,2311,1676,1772,3384.3,21.2,502,17004,0.22,0.00,0.00,0.000,4102,0.251,0.000,3562,2310,1724,1676,1772,0,0,0,0,0,0,25.29,28.83,28.83
$GC,17302,1.53,81.4,3561,2310,1676,1771,3327.7,18.7,507,17308,0.00,2.20,0.00,0.000,260,0.000,0.067,3560,3693,1723,1675,1771,0,0,0,0,0,0,28.83,26.00,28.83
$GC,17505,1.44,81.4,3559,3693,1677,1770,3293.4,18.9,510,17510,0.25,2.12,0.00,0.000,5126,0.248,0.052,3511,2290,1723,1677,1770,0,0,0,0,0,0,25.44,26.17,28.83
$GC,17837,1.44,81.4,3511,2290,1677,1770,3234.8,16.2,516,17838,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2290,1723,1677,1770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18138,1.44,81.4,3511,2290,1677,1770,3188.6,15.5,521,18143,0.00,2.10,0.00,0.000,516,0.000,0.062,3522,893,1723,1677,1770,0,0,0,0,0,0,28.83,26.18,28.83
$GC,18190,1.44,81.4,3522,893,1676,1770,3188.6,15.5,521,18197,0.00,2.12,0.00,0.000,1030,0.000,0.057,3520,2298,1723,1676,1770,0,0,0,0,0,0,28.83,26.20,28.83
$GC,18497,1.44,81.4,3520,2298,1676,1770,3137.1,14.2,527,18499,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2298,1723,1676,1770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18797,1.44,81.4,3521,2298,1676,1770,3094.9,14.2,532,18803,0.00,2.22,0.00,0.000,260,0.000,0.067,3521,3710,1722,1676,1769,0,0,0,0,0,0,28.83,26.15,28.83
$GC,19030,1.44,81.4,3520,3710,1677,1768,3067.8,14.8,535,19037,0.00,2.12,0.00,0.000,1030,0.000,0.052,3532,2297,1722,1677,1768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,19338,1.44,81.4,3531,2296,1677,1768,3019.8,12.9,541,19339,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2296,1722,1677,1768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19637,1.44,81.4,3531,2297,1677,1768,2982.7,12.2,546,19641,0.00,2.22,0.00,0.000,260,0.000,0.067,3531,3698,1722,1677,1768,0,0,0,0,0,0,28.83,26.13,28.83
$GC,19712,1.44,81.4,3531,3705,1677,1768,2975.0,12.2,547,19716,0.00,2.12,0.00,0.000,1030,0.000,0.052,3542,2291,1722,1677,1767,0,0,0,0,0,0,28.83,26.29,28.83
$GC,20054,1.44,81.4,3542,2291,1677,1768,2932.8,11.7,553,20059,0.00,2.10,0.00,0.000,516,0.000,0.060,3553,903,1722,1677,1768,0,0,0,0,0,0,28.83,26.19,28.83
$GC,20167,1.44,81.4,3552,903,1676,1768,2925.5,11.7,554,20174,0.15,2.12,0.00,0.000,5126,0.243,0.057,3515,2308,1722,1676,1768,0,0,0,0,0,0,25.60,26.21,28.83
$GC,20474,1.44,81.4,3515,2308,1677,1768,2886.6,10.8,560,20479,0.00,2.20,0.00,0.000,260,0.000,0.067,3505,3705,1722,1677,1768,0,0,0,0,0,0,28.83,26.10,28.83
$GC,20656,1.44,81.4,3505,3705,1677,1768,2866.4,11.1,563,20660,0.00,2.12,0.00,0.000,1030,0.000,0.052,3515,2295,1722,1677,1768,0,0,0,0,0,0,28.83,26.28,28.83
$GC,21009,1.44,81.6,3515,2294,1677,1768,2830.3,9.9,569,21010,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2294,1722,1677,1768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21309,1.44,84.5,3515,2294,1677,1768,2802.3,9.4,574,21315,0.00,0.00,4.62,1.748,8198,0.000,0.000,3515,2294,1713,1667,1759,0,0,0,0,0,0,28.83,28.83,23.18
$GC,21609,1.44,86.8,3515,2294,1667,1759,2774.1,9.5,579,21617,0.00,2.10,3.78,1.475,8708,0.000,0.060,3526,904,1706,1661,1751,0,0,0,0,0,0,28.83,26.11,23.28
$GC,21720,1.44,89.1,3526,904,1661,1751,2768.7,9.5,580,21730,0.00,2.12,3.95,1.542,9222,0.000,0.057,3520,2301,1697,1653,1742,0,0,0,0,0,0,28.83,26.10,23.27
$GC,22088,1.44,89.8,3520,2301,1653,1742,2726.5,9.8,587,22090,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2301,1697,1653,1742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22388,1.44,92.6,3520,2301,1653,1742,2697.9,9.4,592,22399,0.00,2.20,4.90,1.788,8708,0.000,0.062,3531,904,1686,1642,1731,0,0,0,0,0,0,28.83,26.07,23.39
$GC,22430,1.44,95.3,3531,904,1641,1731,2697.9,9.4,592,22439,0.00,2.12,4.12,1.582,9222,0.000,0.057,3531,2301,1677,1634,1720,0,0,0,0,0,0,28.83,26.08,23.31
$GC,22747,1.44,95.3,3530,2301,1634,1720,2661.4,10.2,598,22748,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2301,1676,1633,1720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23048,1.44,97.3,3530,2302,1634,1721,2632.3,9.6,603,23049,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2302,1677,1634,1720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23347,1.44,104.3,3530,2301,1634,1720,2606.6,8.5,608,23363,0.00,2.22,9.62,2.289,8708,0.000,0.067,3541,902,1646,1602,1690,0,0,0,0,0,0,28.83,25.84,23.30
$GC,23481,1.44,107.9,3541,902,1600,1690,2594.6,9.2,610,23490,0.00,2.15,4.88,1.753,9222,0.000,0.057,3536,2309,1634,1590,1678,0,0,0,0,0,0,28.83,25.96,23.25
$GC,23823,1.44,107.9,3536,2309,1590,1678,2556.4,10.8,616,23827,0.00,2.20,0.00,0.000,260,0.000,0.067,3535,3690,1633,1589,1678,0,0,0,0,0,0,28.83,25.98,28.83
$GC,23929,1.44,107.9,3534,3709,1590,1678,2549.7,10.7,617,23934,0.15,2.12,0.00,0.000,5126,0.248,0.052,3512,2295,1633,1589,1678,0,0,0,0,0,0,25.53,26.13,28.83
$GC,24242,1.50,109.4,3512,2295,1589,1678,2514.4,9.7,623,24243,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2295,1633,1589,1678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24542,1.57,111.2,3512,2295,1590,1678,2485.3,9.6,628,24554,0.08,2.17,4.75,1.681,10756,0.161,0.062,3548,898,1623,1580,1666,0,0,0,0,0,0,26.36,26.09,23.50
$GC,24662,1.62,112.1,3548,897,1580,1667,2473.0,9.8,630,24666,0.00,2.12,0.00,0.000,1030,0.000,0.057,3548,2304,1623,1579,1667,0,0,0,0,0,0,28.83,26.10,28.83
$GC,25023,1.62,112.1,3547,2304,1580,1667,2436.1,10.0,636,25029,0.00,2.20,0.00,0.000,260,0.000,0.067,3548,3697,1623,1580,1667,0,0,0,0,0,0,28.83,26.08,28.83
$GC,25116,1.62,112.1,3547,3696,1580,1666,2429.7,10.2,637,25120,0.00,2.12,0.00,0.000,1030,0.000,0.052,3558,2292,1623,1580,1667,0,0,0,0,0,0,28.83,26.22,28.83
$GC,25438,1.62,112.1,3558,2292,1580,1666,2392.6,10.3,643,25443,0.00,2.08,0.00,0.000,516,0.000,0.060,3569,904,1623,1579,1667,0,0,0,0,0,0,28.83,26.16,28.83
$GC,25527,1.62,112.1,3569,904,1580,1667,2386.4,10.3,644,25531,0.00,2.12,0.00,0.000,1030,0.000,0.057,3562,2308,1623,1580,1667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,25854,1.62,112.2,3562,2308,1580,1666,2350.3,10.0,650,25860,0.00,2.12,0.00,0.000,516,0.000,0.060,3572,905,1623,1580,1666,0,0,0,0,0,0,28.83,26.17,28.83
$GC,25916,1.62,112.3,3573,904,1579,1666,2344.1,10.0,651,25920,0.00,2.10,0.00,0.000,1030,0.000,0.057,3572,2302,1623,1580,1667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,26269,1.62,114.3,3572,2302,1580,1666,2309.4,9.6,657,26280,0.00,2.20,4.57,1.579,8708,0.000,0.062,3582,899,1612,1569,1656,0,0,0,0,0,0,28.83,26.17,23.61
$GC,26338,1.62,116.4,3582,899,1568,1657,2303.6,9.5,658,26347,0.00,2.12,3.72,1.328,9222,0.000,0.057,3580,2300,1605,1562,1648,0,0,0,0,0,0,28.83,26.16,23.54
$GC,26684,1.62,116.4,3579,2300,1562,1648,2266.6,10.3,664,26688,0.00,2.20,0.00,0.000,260,0.000,0.067,3579,3696,1605,1562,1648,0,0,0,0,0,0,28.83,26.06,28.83
$GC,26914,1.62,116.4,3579,3702,1562,1648,2246.1,11.2,667,26918,0.00,2.12,0.00,0.000,1030,0.000,0.052,3590,2292,1605,1562,1648,0,0,0,0,0,0,28.83,26.22,28.83
$GC,27221,1.62,116.4,3590,2292,1562,1647,2209.0,10.1,672,27225,0.00,2.10,0.00,0.000,516,0.000,0.060,3601,901,1605,1562,1648,0,0,0,0,0,0,28.83,26.14,28.83
$GC,27335,1.62,116.4,3600,901,1562,1648,2202.6,10.2,673,27343,0.15,2.12,0.00,0.000,5126,0.241,0.057,3567,2307,1605,1562,1648,0,0,0,0,0,0,25.60,26.18,28.83
$GC,27643,1.62,119.4,3567,2307,1562,1648,2168.5,9.3,679,27653,0.00,2.20,4.30,1.462,8708,0.000,0.062,3577,904,1595,1553,1638,0,0,0,0,0,0,28.83,26.16,23.65
$GC,27866,1.62,121.6,3577,904,1552,1638,2151.2,9.5,682,27876,0.00,2.12,3.97,1.361,9222,0.000,0.057,3576,2303,1588,1545,1631,0,0,0,0,0,0,28.83,26.15,23.62
$GC,28184,1.62,122.0,3576,2304,1545,1631,2115.5,9.9,688,28190,0.00,2.20,0.00,0.000,260,0.000,0.067,3576,3698,1588,1545,1631,0,0,0,0,0,0,28.83,26.06,28.83
$GC,28286,1.62,122.1,3576,3698,1545,1630,2109.2,10.0,689,28291,0.00,2.12,0.00,0.000,1030,0.000,0.052,3586,2296,1588,1545,1631,0,0,0,0,0,0,28.83,26.20,28.83
$GC,28599,1.62,123.9,3586,2295,1545,1631,2074.2,9.6,695,28605,0.00,0.00,3.88,1.304,8198,0.000,0.000,3586,2296,1580,1538,1623,0,0,0,0,0,0,28.83,28.83,23.66
$GC,28898,1.62,123.9,3586,2295,1538,1622,2044.6,10.0,700,28899,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2296,1580,1538,1622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29199,1.62,124.9,3586,2296,1538,1623,2015.5,9.8,705,29204,0.00,2.12,0.00,0.000,516,0.000,0.060,3597,897,1580,1538,1622,0,0,0,0,0,0,28.83,26.15,28.83
$GC,29366,1.62,126.7,3597,897,1538,1623,2003.9,9.6,707,29379,0.00,2.12,4.22,1.378,9222,0.000,0.055,3594,2302,1571,1530,1612,0,0,0,0,0,0,28.83,26.19,23.70
$GC,29679,1.62,129.4,3593,2302,1529,1612,1969.9,9.4,713,29688,0.00,2.25,4.20,1.368,8452,0.000,0.067,3593,3697,1560,1519,1602,0,0,0,0,0,0,28.83,26.09,23.66
$GC,29770,1.62,132.1,3593,3698,1519,1601,1964.2,9.4,714,29780,0.15,2.12,4.03,1.309,13318,0.238,0.052,3571,2295,1552,1511,1594,0,0,0,0,0,0,25.60,26.17,23.61
$GC,30092,1.68,132.1,3570,2295,1510,1594,1928.1,10.0,720,30098,0.00,2.12,0.00,0.000,516,0.000,0.060,3581,900,1552,1510,1594,0,0,0,0,0,0,28.83,26.08,28.83
$GC,30218,1.73,133.4,3580,900,1510,1594,1916.5,9.7,722,30223,0.00,2.12,0.00,0.000,1030,0.000,0.057,3574,2303,1552,1510,1594,0,0,0,0,0,0,28.83,26.13,28.83
$GC,30573,1.79,135.9,3574,2303,1510,1594,1882.6,9.4,728,30585,0.10,2.22,5.00,1.502,10500,0.144,0.067,3601,3693,1539,1496,1582,0,0,0,0,0,0,26.31,26.08,23.68
$GC,30813,1.79,135.9,3601,3693,1496,1581,1856.0,11.1,732,30818,0.00,2.10,0.00,0.000,1030,0.000,0.052,3611,2301,1539,1496,1582,0,0,0,0,0,0,28.83,26.17,28.83
$GC,31173,1.79,135.9,3610,2301,1495,1582,1817.2,10.6,738,31176,0.00,2.22,0.00,0.000,260,0.000,0.067,3611,3683,1539,1496,1582,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,44959,end climb,SURFACE_DEPTH_REACHED
$STATE,44959,begin surface coast
$FINISH,-0.3,1.025070
$STATE,44967,end surface coast,CONTROL_FINISHED_OK
$STATE,44967,begin surface
$SM_CCo,44985,100.90,0.961,0,0,983,300.22
$SM_GC,1.03,8.85,0.70,100.90,0.055,0.052,0.961,241,1752,983,-8.71,1.67,300.22,0,0,0,0,0,0,26.15,26.39,23.80
$IRIDIUM_FIX,3158.24,-6432.09,030414,131350
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.14
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,21.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,3379.0,129.1
$24V_AH,20.6,51.870
$10V_AH,10.2,11.016
$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
$DEVICE_SECS,25.775,336.050,277.075,100.900,0.000,56.850,29.665,258.345,35.250,0.000,15.614,3867.401,34748.812,605.912,5835.841,518.573,0.386,3368.165,0.000,5235.063,0.000,258.916,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.617,1455.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329592
$DATA_FILE_SIZE,70306,1102
$CAP_FILE_SIZE,395950,0
$CFSIZE,260165632,234188800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040414,143336,3207.900,-6432.467,25,1.3,25,-15.5