version: 66.12
glider: 35
mission: 22
dive: 114
start: 5 9 114 3 41 57
data:
$ID,35
$MISSION,22
$DIVE,114
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$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,2500
$T_MISSION,2520
$T_ABORT,2550
$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,-998600.88
$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,72
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2200
$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,3500
$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
$GPS1,090514,032653,3155.669,-6418.021,32,1.1,49,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.1
$GPS2,090514,034130,3155.703,-6418.039,12,1.2,29,-15.5
$SPEED_LIMITS,0.072,0.219
$TGT_NAME,SS02
$TGT_LATLONG,3158.680,-6422.860
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.058,0.075
$KALMAN_X,-44356.8,0.0,0.0,59982.3,1323.2
$KALMAN_Y,-55355.9,0.0,0.0,22870.1,-5737.1
$MHEAD_RNG_PITCHd_Wd,337.7,9368,-35.3,-7.200,-37.25,580
$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,17,-1.36,-27.3,216,1790,589,680,0.0,0.0,0,110,0.00,0.00,-90.97,0.000,16386,0.000,0.000,216,1790,2110,2119,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.36,-48.4,216,1790,2118,2100,3.1,-3.5,9,141,10.00,2.10,-11.60,0.000,19204,0.266,0.057,2619,407,2365,2375,2356,0,0,0,0,0,0,25.10,26.14,25.95
$GC,367,-1.05,-48.4,2619,407,2357,2353,73.9,-31.0,34,375,0.43,2.03,-0.17,0.000,19462,0.246,0.050,2713,1820,2373,2368,2378,0,0,0,0,0,0,25.27,26.34,22.91
$GC,674,-0.88,-48.4,2712,1820,2369,2377,155.7,-26.6,64,681,0.20,2.03,0.00,0.000,2308,0.241,0.057,2754,3200,2372,2368,2377,0,0,0,0,0,0,25.63,26.28,28.83
$GC,908,-0.76,-48.4,2754,3200,2368,2376,209.0,-24.0,75,915,0.20,2.05,0.00,0.000,3078,0.226,0.052,2802,1789,2372,2368,2376,0,0,0,0,0,0,25.65,26.33,28.83
$GC,1215,-0.71,-48.4,2801,1789,2368,2375,280.1,-22.5,91,1221,0.00,2.03,0.00,0.000,516,0.000,0.062,2812,404,2372,2369,2376,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1448,-0.63,-48.4,2812,403,2367,2376,330.2,-23.9,100,1456,0.17,2.00,0.00,0.000,3078,0.226,0.052,2843,1799,2371,2367,2376,0,0,0,0,0,0,25.74,26.36,28.83
$GC,1756,-0.63,-48.4,2843,1799,2367,2376,402.0,-21.5,111,1761,0.00,2.08,0.00,0.000,516,0.000,0.060,2849,406,2371,2367,2375,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1918,-0.63,-48.4,2849,406,2366,2376,436.3,-23.1,116,1922,0.00,1.98,0.00,0.000,1030,0.000,0.050,2840,1793,2371,2366,2376,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2236,-0.63,-48.4,2839,1797,2366,2375,508.2,-21.5,127,2241,0.00,2.08,0.00,0.000,516,0.000,0.060,2840,414,2370,2366,2375,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2439,-0.63,-48.4,2840,414,2366,2376,549.8,-23.3,133,2446,0.00,2.00,0.00,0.000,1030,0.000,0.050,2830,1805,2370,2366,2375,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2747,-0.63,-48.4,2830,1805,2365,2375,621.7,-21.4,144,2750,0.00,2.08,0.00,0.000,516,0.000,0.060,2830,419,2370,2366,2375,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2911,-0.63,-48.4,2830,406,2365,2375,658.4,-24.6,149,2915,0.00,1.98,0.00,0.000,1030,0.000,0.050,2820,1794,2370,2365,2375,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3229,-0.63,-48.4,2819,1798,2365,2375,732.8,-22.1,160,3232,0.00,2.08,0.00,0.000,516,0.000,0.062,2820,415,2370,2365,2375,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3359,-0.63,-48.4,2819,403,2364,2375,761.3,-23.5,164,3364,0.15,2.00,0.00,0.000,3078,0.216,0.050,2845,1807,2369,2364,2375,0,0,0,0,0,0,25.86,26.36,28.83
$GC,3677,-0.70,-48.4,2845,1807,2365,2374,834.2,-22.3,175,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1806,2369,2365,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3976,-0.77,-48.4,2845,1807,2363,2373,901.2,-22.4,185,3983,0.10,2.10,0.00,0.000,4612,0.132,0.060,2806,401,2368,2363,2373,0,0,0,0,0,0,26.44,26.27,28.83
$GC,4097,-0.77,-48.4,2805,400,2361,2373,932.0,-25.8,189,4103,0.00,1.98,0.00,0.000,1030,0.000,0.050,2795,1799,2367,2361,2373,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4426,-0.77,-48.4,2794,1799,2360,2372,1015.9,-25.4,199,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1799,2366,2360,2372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4726,-0.77,-48.4,2794,1798,2358,2371,1092.8,-25.7,204,4731,0.00,2.08,0.00,0.000,516,0.000,0.060,2795,405,2364,2358,2371,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4789,-0.77,-48.4,2795,405,2356,2371,1109.2,-26.1,205,4793,0.00,2.00,0.00,0.000,1030,0.000,0.050,2785,1800,2363,2356,2371,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5141,-0.77,-48.4,2785,1800,2355,2370,1204.0,-26.5,211,5145,0.00,2.08,0.00,0.000,516,0.000,0.062,2785,407,2363,2356,2370,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5225,-0.77,-48.4,2785,403,2353,2369,1221.4,-26.9,212,5229,0.00,2.03,0.00,0.000,1030,0.000,0.050,2775,1812,2361,2353,2370,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5558,-0.77,-48.4,2775,1812,2353,2367,1319.9,-27.7,218,5563,0.00,2.10,0.00,0.000,516,0.000,0.060,2775,407,2360,2353,2367,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5696,-0.77,-48.4,2775,407,2350,2367,1354.6,-28.4,220,5701,0.15,2.00,0.00,0.000,3078,0.209,0.050,2801,1799,2359,2350,2368,0,0,0,0,0,0,25.87,26.36,28.83
$GC,6034,-0.86,-48.4,2800,1800,2349,2365,1447.6,-25.5,226,6039,0.00,2.08,0.00,0.000,516,0.000,0.062,2801,410,2357,2349,2365,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6126,-0.94,-48.4,2801,410,2348,2365,1463.9,-25.8,227,6131,0.10,2.00,0.00,0.000,5126,0.122,0.050,2750,1800,2356,2348,2365,0,0,0,0,0,0,26.26,26.35,28.83
$GC,6449,-0.94,-48.4,2750,1801,2347,2362,1564.7,-28.6,233,6454,0.00,2.10,0.00,0.000,516,0.000,0.060,2750,415,2355,2347,2363,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6611,-0.94,-48.4,2750,415,2344,2363,1600.4,-29.0,235,6615,0.00,2.00,0.00,0.000,1030,0.000,0.050,2740,1797,2353,2344,2363,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6924,-0.94,-48.4,2740,1797,2344,2361,1700.7,-28.0,241,6928,0.00,2.10,0.00,0.000,516,0.000,0.060,2740,407,2352,2344,2360,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7059,-0.94,-48.4,2740,407,2341,2361,1735.8,-28.3,243,7063,0.00,2.03,0.00,0.000,1030,0.000,0.050,2729,1805,2350,2340,2361,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7400,-0.94,-48.4,2729,1805,2341,2358,1832.5,-26.9,249,7404,0.00,2.12,0.00,0.000,516,0.000,0.060,2729,415,2349,2341,2358,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7540,-0.94,-48.4,2729,408,2338,2359,1866.1,-27.2,251,7544,0.00,2.03,0.00,0.000,1030,0.000,0.050,2719,1804,2348,2338,2359,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7877,-0.94,-48.4,2719,1804,2338,2357,1960.9,-26.5,257,7880,0.00,2.10,0.00,0.000,516,0.000,0.060,2719,418,2347,2338,2357,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8012,-0.94,-48.4,2719,414,2336,2357,1994.8,-27.3,259,8017,0.15,2.03,0.00,0.000,3078,0.206,0.050,2745,1811,2346,2336,2357,0,0,0,0,0,0,25.84,26.34,28.83
$GC,8355,-1.03,-48.4,2745,1811,2336,2356,2082.8,-24.2,265,8359,0.00,2.12,0.00,0.000,516,0.000,0.060,2746,412,2345,2336,2355,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8435,-1.12,-48.4,2745,406,2334,2356,2098.1,-24.2,266,8440,0.10,2.03,0.00,0.000,5126,0.124,0.050,2697,1799,2345,2334,2356,0,0,0,0,0,0,26.22,26.32,28.83
$GC,8772,-1.12,-48.4,2696,1800,2334,2354,2189.9,-25.7,272,8778,0.00,2.10,0.00,0.000,516,0.000,0.060,2697,416,2344,2334,2354,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8880,-1.12,-48.4,2696,415,2333,2355,2206.2,-26.0,273,8884,0.00,2.03,0.00,0.000,1030,0.000,0.050,2686,1810,2343,2332,2355,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9187,-1.12,-48.4,2686,1810,2333,2353,2298.3,-25.5,278,9193,0.00,2.12,0.00,0.000,516,0.000,0.060,2686,417,2343,2332,2354,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9311,-1.12,-48.4,2686,417,2331,2354,2330.9,-26.2,280,9314,0.00,2.03,0.00,0.000,1030,0.000,0.050,2676,1810,2342,2331,2354,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9662,-1.12,-48.4,2676,1810,2331,2353,2421.5,-25.4,286,9668,0.00,2.12,0.00,0.000,516,0.000,0.060,2676,417,2342,2331,2353,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9785,-1.12,-48.4,2676,417,2329,2353,2453.4,-25.9,288,9789,0.00,2.03,0.00,0.000,1030,0.000,0.050,2666,1806,2341,2329,2353,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10138,-1.12,-48.4,2665,1806,2330,2353,2541.8,-24.6,294,10141,0.00,2.12,0.00,0.000,516,0.000,0.060,2666,412,2341,2329,2353,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10243,-1.12,-48.4,2666,406,2328,2353,2557.8,-24.7,295,10248,0.15,2.03,0.00,0.000,3078,0.209,0.050,2692,1801,2340,2328,2353,0,0,0,0,0,0,25.78,26.31,28.83
$GC,10556,-1.21,-48.4,2692,1801,2328,2352,2640.4,-22.5,301,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1801,2340,2328,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10856,-1.30,-48.4,2692,1801,2328,2351,2706.6,-22.2,306,10862,0.12,2.10,0.00,0.000,4612,0.117,0.057,2630,404,2339,2327,2351,0,0,0,0,0,0,26.39,26.18,28.83
$GC,10939,-1.38,-48.4,2630,404,2326,2351,2722.2,-22.9,307,10943,0.00,2.05,0.00,0.000,1030,0.000,0.050,2620,1802,2338,2325,2351,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11275,-1.38,-48.4,2619,1803,2326,2350,2814.6,-25.4,313,11279,0.00,2.12,0.00,0.000,516,0.000,0.060,2620,419,2338,2326,2350,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11355,-1.38,-48.4,2619,412,2325,2350,2831.0,-25.5,314,11359,0.00,2.03,0.00,0.000,1030,0.000,0.050,2610,1801,2337,2325,2350,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11692,-1.38,-48.4,2609,1801,2325,2350,2921.5,-25.3,320,11698,0.00,2.10,0.00,0.000,516,0.000,0.060,2610,413,2338,2326,2350,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11785,-1.38,-48.4,2609,413,2324,2350,2937.8,-25.6,321,11788,0.00,2.03,0.00,0.000,1030,0.000,0.050,2599,1800,2337,2324,2350,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12107,-1.38,-48.4,2599,1800,2324,2349,3028.6,-25.3,327,12113,0.00,2.10,0.00,0.000,516,0.000,0.060,2599,412,2336,2324,2349,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12185,-1.38,-48.4,2599,413,2323,2349,3044.6,-25.4,328,12189,0.00,2.03,0.00,0.000,1030,0.000,0.050,2590,1799,2336,2323,2350,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12522,-1.38,-48.4,2589,1800,2323,2349,3134.3,-25.1,334,12527,0.00,2.10,0.00,0.000,516,0.000,0.060,2589,406,2336,2323,2349,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12643,-1.38,-48.4,2589,406,2323,2349,3166.7,-26.1,336,12649,0.00,2.03,0.00,0.000,1030,0.000,0.050,2579,1807,2336,2323,2349,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13002,-1.38,-48.4,2579,1807,2323,2349,3257.8,-25.1,342,13007,0.00,2.15,0.00,0.000,516,0.000,0.060,2579,405,2336,2323,2349,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13131,-1.38,-48.4,2579,406,2323,2349,3288.8,-25.4,344,13136,0.15,2.05,0.00,0.000,3078,0.211,0.050,2605,1811,2336,2323,2349,0,0,0,0,0,0,25.73,26.28,28.83
$GC,13479,-1.43,-48.4,2605,1811,2323,2348,3370.0,-22.3,350,13483,0.00,2.12,0.00,0.000,516,0.000,0.060,2606,413,2335,2323,2348,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13549,-1.49,-48.4,2605,411,2322,2348,3384.4,-22.6,351,13553,0.00,2.03,0.00,0.000,1030,0.000,0.050,2596,1797,2336,2323,2349,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13896,-1.54,-48.4,2596,1797,2322,2348,3462.9,-21.9,357,13902,0.10,2.12,0.00,0.000,4612,0.122,0.057,2550,406,2335,2322,2348,0,0,0,0,0,0,26.44,26.13,28.83
$GC,13984,-1.54,-48.4,2550,406,2322,2348,3477.8,-22.4,358,13988,0.00,2.05,0.00,0.000,1030,0.000,0.050,2540,1809,2335,2322,2348,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14313,-1.54,-48.4,2540,1809,2322,2348,3563.0,-23.8,364,14317,0.00,2.12,0.00,0.000,516,0.000,0.060,2540,411,2335,2322,2348,0,0,0,0,0,0,28.83,26.12,28.83
$GC,14424,-1.54,-48.4,2540,410,2322,2348,3578.8,-23.9,365,14428,0.00,2.08,0.00,0.000,1030,0.000,0.050,2529,1824,2335,2322,2348,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14738,-1.54,-48.4,2529,1824,2322,2348,3664.1,-23.1,371,14742,0.00,2.17,0.00,0.000,516,0.000,0.060,2530,409,2334,2321,2348,0,0,0,0,0,0,28.83,26.11,28.83
$GC,14868,-1.54,-48.4,2529,409,2321,2348,3694.5,-23.9,373,14873,0.15,2.05,0.00,0.000,3078,0.216,0.050,2554,1812,2334,2321,2348,0,0,0,0,0,0,25.67,26.26,28.83
$GC,15217,-1.54,-48.4,2553,1812,2321,2348,3769.4,-20.7,379,15224,0.00,2.15,0.00,0.000,516,0.000,0.060,2554,415,2334,2321,2348,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15300,-1.54,-48.4,2554,415,2320,2348,3783.8,-20.9,380,15304,0.00,2.05,0.00,0.000,1030,0.000,0.050,2545,1810,2334,2320,2348,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15646,-1.54,-48.4,2545,1810,2320,2348,3858.1,-20.4,386,15651,0.00,2.15,0.00,0.000,516,0.000,0.060,2544,413,2334,2320,2348,0,0,0,0,0,0,28.83,26.09,28.83
$GC,15709,-1.54,-48.4,2545,413,2320,2348,3872.4,-20.5,387,15716,0.00,2.03,0.00,0.000,1030,0.000,0.050,2535,1798,2334,2320,2348,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16074,-1.54,-48.4,2534,1798,2320,2348,3945.6,-19.9,393,16075,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1798,2333,2320,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16374,-1.54,-48.4,2534,1798,2320,2347,4004.5,-19.6,398,16379,0.00,2.10,0.00,0.000,516,0.000,0.060,2534,417,2333,2320,2347,0,0,0,0,0,0,28.83,26.08,28.83
$GC,16472,-1.54,-48.4,2534,417,2318,2347,4017.8,-19.8,399,16476,0.12,2.03,0.00,0.000,3078,0.214,0.050,2552,1802,2333,2319,2347,0,0,0,0,0,0,25.77,26.25,28.83
$GC,16798,-1.61,-48.4,2552,1803,2318,2347,4084.5,-18.3,405,16799,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1802,2332,2318,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17096,-1.69,-48.4,2552,1803,2319,2347,4137.7,-17.6,410,17098,0.10,0.00,0.00,0.000,4102,0.124,0.000,2511,1802,2333,2319,2347,0,0,0,0,0,0,26.41,28.83,28.83
$GC,17395,-1.69,-48.4,2511,1803,2319,2347,4194.3,-18.9,415,17399,0.00,2.12,0.00,0.000,516,0.000,0.060,2511,407,2333,2319,2347,0,0,0,0,0,0,28.83,26.06,28.83
$GC,17471,-1.69,-48.4,2511,407,2318,2347,4206.8,-19.0,416,17475,0.00,2.05,0.00,0.000,1030,0.000,0.050,2501,1806,2332,2318,2347,0,0,0,0,0,0,28.83,26.23,28.83
$GC,17814,-1.69,-48.4,2500,1806,2318,2347,4273.3,-18.5,422,17815,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1806,2332,2317,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18115,-1.69,-48.4,2500,1806,2318,2346,4327.1,-17.8,427,18120,0.00,2.15,0.00,0.000,516,0.000,0.060,2501,412,2332,2317,2347,0,0,0,0,0,0,28.83,26.06,28.83
$GC,18213,-1.69,-48.4,2501,412,2317,2346,4339.4,-18.0,428,18218,0.00,2.05,0.00,0.000,1030,0.000,0.050,2491,1812,2332,2317,2347,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,18354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,18354,begin apogee
$GC,18360,-0.19,0.0,2487,2298,2317,2346,4371.4,-18.2,431,18402,1.73,0.00,37.12,3.816,10246,0.184,0.000,2983,2298,2200,2176,2225,0,0,0,0,0,0,24.83,28.83,21.40
$STATE,18403,end apogee,CONTROL_FINISHED_OK
$STATE,18404,begin climb
$GC,18405,1.36,48.4,2983,2298,2176,2225,4371.4,0.0,431,18464,1.38,2.53,50.70,3.749,10500,0.062,0.079,3518,3682,2035,1997,2073,0,0,0,0,0,0,24.51,22.68,19.82
$GC,18514,1.36,48.4,3518,3683,1998,2072,4373.6,-0.1,433,18519,0.20,2.25,0.00,0.000,5126,0.261,0.047,3490,2313,2035,1998,2072,0,0,0,0,0,0,23.75,24.25,28.83
$GC,18832,1.21,113.1,3489,2312,1998,2072,4391.8,-4.2,439,18903,0.17,2.50,63.20,3.834,12804,0.194,0.074,3448,910,1816,1771,1862,0,0,0,0,0,0,25.80,22.96,20.35
$GC,19133,1.26,153.7,3448,909,1770,1862,4391.5,0.1,444,19179,0.00,2.10,40.72,3.784,9222,0.000,0.052,3448,2294,1679,1632,1726,0,0,0,0,0,0,28.83,25.80,20.97
$GC,19488,1.14,153.7,3448,2294,1632,1725,4339.1,19.2,450,19494,0.12,2.10,0.00,0.000,4612,0.246,0.055,3427,895,1678,1632,1725,0,0,0,0,0,0,25.72,26.06,28.83
$GC,19681,1.04,153.7,3427,895,1633,1724,4306.4,18.2,453,19686,0.17,2.12,0.00,0.000,5126,0.231,0.055,3383,2309,1678,1632,1725,0,0,0,0,0,0,25.75,26.25,28.83
$GC,20023,1.04,153.7,3384,2308,1632,1725,4248.3,16.0,459,20024,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2309,1678,1632,1725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20323,1.04,153.7,3384,2309,1632,1724,4202.0,15.4,464,20324,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2309,1678,1632,1725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20623,1.04,153.7,3385,2309,1632,1725,4157.8,14.7,469,20624,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2308,1678,1632,1724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20924,1.04,153.7,3384,2309,1632,1724,4115.7,14.0,474,20925,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2308,1678,1633,1724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21223,1.04,153.7,3384,2309,1632,1724,4074.9,13.5,479,21229,0.00,2.15,0.00,0.000,516,0.000,0.057,3394,900,1678,1632,1724,0,0,0,0,0,0,28.83,26.25,28.83
$GC,21271,1.04,153.7,3394,900,1632,1724,4074.9,13.5,479,21275,0.00,2.10,0.00,0.000,1030,0.000,0.055,3394,2307,1678,1632,1724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,21584,1.04,153.7,3394,2307,1632,1724,4027.0,13.2,485,21585,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2307,1678,1632,1724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21883,1.04,153.7,3394,2307,1632,1724,3989.1,12.6,490,21884,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2307,1678,1632,1724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22183,1.04,153.7,3394,2307,1632,1724,3953.2,12.0,495,22189,0.00,2.12,0.00,0.000,516,0.000,0.057,3405,898,1677,1632,1723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,22272,1.04,153.7,3404,899,1632,1724,3946.2,12.0,496,22276,0.00,2.10,0.00,0.000,1030,0.000,0.052,3401,2298,1678,1632,1724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,22598,1.04,153.7,3400,2298,1632,1723,3905.2,11.4,502,22599,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2298,1677,1632,1723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22898,1.04,153.7,3401,2298,1632,1723,3872.3,10.9,507,22899,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2298,1677,1632,1723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23198,1.04,153.7,3400,2298,1632,1723,3841.1,10.4,512,23204,0.00,2.12,0.00,0.000,516,0.000,0.057,3411,893,1677,1632,1723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,23272,1.04,153.7,3411,893,1632,1723,3835.0,10.3,513,23276,0.00,2.12,0.00,0.000,1030,0.000,0.052,3410,2306,1677,1632,1723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,23613,1.04,153.7,3410,2306,1632,1723,3800.0,9.8,519,23614,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2306,1677,1632,1723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23913,1.04,153.7,3410,2306,1632,1722,3770.9,9.6,524,23914,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2306,1677,1632,1722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24214,1.04,153.7,3411,2306,1632,1722,3744.1,9.0,529,24218,0.00,2.12,0.00,0.000,516,0.000,0.057,3421,911,1677,1632,1722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,24388,1.04,153.7,3421,903,1632,1723,3733.5,8.6,531,24395,0.15,2.12,0.00,0.000,5126,0.226,0.052,3387,2315,1677,1632,1722,0,0,0,0,0,0,25.67,26.25,28.83
$GC,24696,1.04,153.7,3387,2315,1632,1722,3705.3,7.6,537,24699,0.00,2.15,0.00,0.000,516,0.000,0.057,3397,908,1677,1632,1722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,24821,1.04,153.7,3397,897,1633,1722,3696.3,7.4,539,24825,0.00,2.10,0.00,0.000,1030,0.000,0.052,3397,2299,1676,1631,1722,0,0,0,0,0,0,28.83,26.23,28.83
$GC,25173,1.04,153.7,3396,2299,1632,1722,3669.9,7.4,545,25177,0.00,2.12,0.00,0.000,516,0.000,0.057,3407,900,1676,1631,1722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,25268,1.04,153.7,3407,900,1632,1722,3665.6,7.2,546,25272,0.00,2.10,0.00,0.000,1030,0.000,0.052,3407,2300,1677,1632,1722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,25590,1.04,153.7,3407,2300,1632,1722,3639.8,7.3,552,25591,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2300,1676,1632,1721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25890,1.04,153.7,3406,2300,1632,1722,3618.0,7.3,557,25894,0.00,2.12,0.00,0.000,516,0.000,0.057,3417,904,1677,1632,1722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,26071,1.04,154.1,3417,896,1632,1722,3605.0,7.1,560,26078,0.15,2.12,0.00,0.000,5126,0.223,0.052,3380,2311,1677,1632,1722,0,0,0,0,0,0,25.65,26.22,28.83
$GC,26432,1.04,159.4,3380,2311,1632,1722,3582.0,6.3,566,26443,0.00,2.17,6.50,2.490,8708,0.000,0.065,3390,902,1660,1618,1702,0,0,0,0,0,0,28.83,25.92,23.04
$GC,26600,1.04,163.9,3390,899,1618,1702,3574.0,6.4,568,26612,0.00,2.10,6.28,2.458,9222,0.000,0.052,3388,2309,1643,1602,1685,0,0,0,0,0,0,28.83,26.15,23.05
$GC,26912,1.04,163.9,3388,2309,1601,1685,3546.1,7.8,574,26913,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2309,1643,1602,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27212,1.04,163.9,3388,2309,1602,1685,3523.1,7.7,579,27217,0.00,2.12,0.00,0.000,516,0.000,0.057,3399,903,1643,1602,1685,0,0,0,0,0,0,28.83,26.19,28.83
$GC,27336,1.04,163.9,3398,903,1602,1685,3514.5,7.3,581,27340,0.00,2.10,0.00,0.000,1030,0.000,0.052,3398,2301,1644,1602,1686,0,0,0,0,0,0,28.83,26.22,28.83
$GC,27688,1.04,165.3,3398,2301,1602,1685,3489.8,7.0,587,27689,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2301,1643,1602,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27988,1.04,168.7,3398,2301,1602,1685,3469.9,6.6,592,28000,0.00,2.20,5.88,2.349,8708,0.000,0.062,3408,899,1628,1586,1670,0,0,0,0,0,0,28.83,26.05,23.19
$GC,28147,1.04,171.0,3408,898,1586,1670,3461.4,6.8,594,28156,0.00,2.10,4.45,1.989,9222,0.000,0.052,3408,2305,1620,1579,1661,0,0,0,0,0,0,28.83,26.17,23.05
$GC,28469,1.04,171.0,3408,2305,1579,1661,3433.7,7.8,600,28470,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2304,1619,1578,1661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28769,1.04,171.0,3408,2305,1579,1661,3411.0,7.5,605,28775,0.00,2.12,0.00,0.000,516,0.000,0.057,3418,901,1619,1578,1661,0,0,0,0,0,0,28.83,26.20,28.83
$GC,28937,1.04,171.0,3418,900,1579,1661,3402.0,7.6,607,28941,0.15,2.08,0.00,0.000,5126,0.219,0.052,3383,2302,1620,1579,1661,0,0,0,0,0,0,25.70,26.24,28.83
$GC,29245,1.04,173.8,3383,2302,1579,1661,3377.7,6.7,612,29250,0.00,0.00,4.00,1.798,8198,0.000,0.000,3383,2302,1611,1570,1653,0,0,0,0,0,0,28.83,28.83,23.30
$GC,29544,1.09,175.5,3383,2302,1570,1653,3357.3,6.9,617,29550,0.00,2.12,0.00,0.000,516,0.000,0.057,3393,900,1611,1570,1653,0,0,0,0,0,0,28.83,26.17,28.83
$GC,29688,1.09,178.6,3393,900,1570,1653,3349.5,6.7,619,29700,0.00,2.10,6.35,2.384,9222,0.000,0.052,3393,2309,1595,1554,1637,0,0,0,0,0,0,28.83,26.22,23.20
$GC,30024,1.09,178.6,3393,2309,1554,1636,3323.5,7.3,625,30029,0.00,2.12,0.00,0.000,516,0.000,0.057,3404,902,1595,1553,1637,0,0,0,0,0,0,28.83,26.18,28.83
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$GC,46644,1.42,246.9,3534,892,1292,1435,2130.6,7.6,901,46649,0.12,2.10,0.00,0.000,5126,0.223,0.052,3507,2304,1363,1292,1435,0,0,0,0,0,0,25.75,26.21,28.83
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$GC,47593,1.47,249.5,3527,908,1281,1426,2061.4,7.6,917,47597,0.00,2.08,0.00,0.000,1030,0.000,0.052,3525,2303,1353,1281,1426,0,0,0,0,0,0,28.83,26.20,28.83
$GC,47910,1.47,250.8,3524,2303,1281,1426,2036.5,7.0,923,47914,0.00,2.12,0.00,0.000,516,0.000,0.057,3535,903,1353,1281,1426,0,0,0,0,0,0,28.83,26.15,28.83
$GC,48075,1.47,253.6,3535,903,1281,1426,2028.4,6.7,925,48085,0.00,2.10,5.25,1.624,9222,0.000,0.052,3535,2313,1341,1268,1414,0,0,0,0,0,0,28.83,26.19,23.56
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$GC,67199,1.81,291.0,3629,3693,1132,1298,364.3,20.5,1329,67205,0.00,2.03,0.00,0.000,1030,0.000,0.050,3640,2305,1215,1132,1298,0,0,0,0,0,0,28.83,26.27,28.83
$GC,67529,1.81,291.0,3639,2305,1132,1297,296.9,20.8,1340,67530,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,2305,1215,1132,1298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67829,1.81,291.0,3639,2304,1133,1298,233.7,20.8,1355,67835,0.00,2.17,0.00,0.000,260,0.000,0.065,3640,3696,1216,1134,1298,0,0,0,0,0,0,28.83,26.07,28.83
$GC,67937,1.81,291.0,3639,3696,1135,1298,211.3,22.8,1360,67941,0.00,2.05,0.00,0.000,1030,0.000,0.047,3650,2290,1216,1135,1298,0,0,0,0,0,0,28.83,26.29,28.83
$GC,68244,1.81,291.0,3650,2290,1135,1298,145.0,20.8,1376,68252,0.00,2.17,0.00,0.000,260,0.000,0.065,3650,3702,1217,1136,1298,0,0,0,0,0,0,28.83,26.08,28.83
$GC,68428,1.81,291.0,3650,3702,1137,1297,104.3,22.9,1394,68436,0.15,2.10,0.00,0.000,5126,0.226,0.050,3627,2295,1217,1137,1298,0,0,0,0,0,0,25.66,26.29,28.83
$GC,68736,1.91,291.0,3627,2295,1137,1298,45.2,16.9,1425,68746,0.08,2.17,0.00,0.000,2308,0.159,0.062,3656,3695,1217,1137,1298,0,0,0,0,0,0,26.43,26.08,28.83
$GC,68879,1.91,291.0,3656,3695,1139,1298,15.8,22.7,1439,68883,0.00,2.03,0.00,0.000,1030,0.000,0.050,3666,2301,1218,1139,1298,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,68942,end climb,SURFACE_DEPTH_REACHED
$STATE,68942,begin surface coast
$FINISH,-0.1,1.025561
$STATE,68954,end surface coast,CONTROL_FINISHED_OK
$STATE,68954,begin surface
$SM_CCo,68972,9.43,0.859,0,0,1183,300.22
$SM_GC,3.37,8.65,0.68,9.43,0.050,0.055,0.859,235,1791,1183,-8.71,2.09,300.22,0,0,0,0,0,0,26.19,26.33,24.04
$IRIDIUM_FIX,3127.82,-6423.82,080514,010105
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.73
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,22.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,4339.4,52.1
$24V_AH,19.8,71.531
$10V_AH,10.1,19.005
$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,27.800,482.125,387.625,9.425,0.000,28.151,16.043,589.758,22.250,0.000,32.263,5142.819,55382.773,670.780,7779.133,792.065,0.384,4410.128,0.000,6889.862,0.000,162.348,0.000
$DEVICE_MAMPS,265.681,79.456,3833.752,859.118,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.066,1910.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,93417,1446
$CAP_FILE_SIZE,551542,0
$CFSIZE,260165632,226377728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090514,225326,3201.455,-6419.633,43,2.4,63,-15.5