version: 66.12
glider: 37
mission: 22
dive: 123
start: 2 4 116 13 3 28
data:
$ID,37
$MISSION,22
$DIVE,123
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$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,3750
$T_MISSION,4060
$T_ABORT,4120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78758
$MASS_COMP,9226.7002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,624.55353
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,256
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1788
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,1885
$C_ROLL_CLIMB,1663
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,87
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2350
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$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,-1069.0311
$PRESSURE_SLOPE,0.00091968128
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,60
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,040216,122734,2723.4443,-7704.8809,879,1.1,901,-8.5,0.6,321.7,9,54.4
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-60.8
$GPS2,040216,130302,2724.0498,-7705.4248,97,0.9,137,-8.5,1.6,3.1,8,23.8
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,RM75_30
$TGT_LATLONG,2630.000,-7530.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.112074,-0.143081
$KALMAN_X,-28376.074219,0.000000,0.000000,24896.144531,4044.476562
$KALMAN_Y,19841.541016,0.000000,0.000000,-25468.328125,9749.666016
$MHEAD_RNG_PITCHd_Wd,175.8,187174,-10.9,-5.333,-15.25,4133
$D_GRID,6000
$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
$STATE,14,begin dive
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$GC,194,-0.54,-146.6,176,1960,2708,2755,3.4,-4.9,17,216,11.80,2.47,-3.90,0.241,18948,0.283,0.057,2971,307,2857,2830,2884,0,0,0,0,0,0,25.54,26.20,25.76
$GC,290,-0.41,-146.6,2971,306,2830,2883,20.7,-11.3,25,301,0.15,2.17,0.00,0.000,3078,0.144,0.047,3016,1896,2856,2830,2883,0,0,0,0,0,0,26.19,26.58,26.26
$GC,610,-0.41,-146.6,3016,1896,2830,2883,44.9,-8.0,55,611,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1896,2856,2830,2882,0,0,0,0,0,0,27.05,27.08,27.06
$GC,910,-0.41,-146.6,3016,1896,2830,2882,67.6,-7.6,75,911,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1896,2856,2830,2882,0,0,0,0,0,0,27.08,27.10,27.10
$GC,1210,-0.41,-146.6,3015,1896,2830,2882,89.9,-7.0,95,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1896,2856,2830,2882,0,0,0,0,0,0,27.09,27.11,27.10
$GC,1510,-0.41,-146.6,3015,1896,2830,2882,112.1,-7.5,115,1514,0.00,2.33,0.00,0.000,516,0.000,0.060,3016,303,2855,2830,2881,0,0,0,0,0,0,27.09,26.63,27.10
$GC,1617,-0.41,-146.6,3016,304,2830,2881,119.3,-7.1,121,1627,0.00,2.17,0.00,0.000,1030,0.000,0.050,3007,1887,2855,2830,2881,0,0,0,0,0,0,26.79,26.77,26.81
$GC,1926,-0.41,-146.6,3007,1887,2830,2880,142.9,-7.0,142,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1887,2855,2830,2880,0,0,0,0,0,0,27.09,27.11,27.11
$GC,2241,-0.41,-146.6,3007,1887,2830,2880,162.9,-5.7,156,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1887,2855,2830,2881,0,0,0,0,0,0,27.10,27.11,27.10
$GC,2541,-0.41,-146.6,3007,1887,2830,2880,180.9,-6.1,166,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1887,2855,2830,2880,0,0,0,0,0,0,27.10,27.11,27.11
$GC,2842,-0.41,-146.6,3007,1887,2830,2880,198.9,-6.0,176,2849,0.00,2.28,0.00,0.000,516,0.000,0.060,3007,312,2854,2830,2879,0,0,0,0,0,0,27.10,26.64,27.11
$GC,2921,-0.41,-146.6,3007,313,2830,2878,203.2,-6.2,178,2926,0.00,2.17,0.00,0.000,1030,0.000,0.047,2998,1893,2854,2830,2878,0,0,0,0,0,0,26.79,26.78,26.82
$GC,3236,-0.41,-146.6,2997,1893,2830,2878,224.4,-6.5,189,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1893,2854,2830,2878,0,0,0,0,0,0,27.10,27.11,27.11
$GC,3536,-0.41,-146.6,2997,1893,2830,2877,242.6,-6.3,199,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1894,2853,2830,2877,0,0,0,0,0,0,27.10,27.12,27.11
$GC,3836,-0.41,-146.6,2997,1893,2830,2877,263.7,-7.2,209,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1893,2853,2830,2876,0,0,0,0,0,0,27.10,27.12,27.11
$GC,4136,-0.41,-146.6,2997,1893,2830,2876,283.9,-6.6,219,4141,0.00,2.30,0.00,0.000,516,0.000,0.060,2998,310,2852,2830,2875,0,0,0,0,0,0,27.10,26.65,27.11
$GC,4205,-0.41,-146.6,2997,310,2830,2874,288.1,-6.6,221,4209,0.00,2.17,0.00,0.000,1030,0.000,0.047,2988,1885,2852,2830,2874,0,0,0,0,0,0,26.80,26.78,26.82
$GC,4514,-0.41,-146.6,2988,1885,2830,2873,309.0,-6.5,230,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1885,2852,2830,2874,0,0,0,0,0,0,27.10,27.12,27.11
$GC,4829,-0.41,-146.6,2988,1885,2830,2873,330.0,-6.7,237,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1885,2851,2830,2873,0,0,0,0,0,0,27.10,27.12,27.11
$GC,5145,-0.41,-146.6,2988,1885,2830,2872,351.7,-7.3,244,5150,0.00,2.28,0.00,0.000,516,0.000,0.060,2988,306,2851,2830,2872,0,0,0,0,0,0,27.10,26.63,27.11
$GC,5189,-0.41,-146.6,2988,306,2830,2871,354.5,-7.3,245,5195,0.10,2.12,0.00,0.000,3078,0.139,0.047,3020,1888,2850,2830,2871,0,0,0,0,0,0,26.48,26.77,26.53
$GC,5505,-0.41,-146.6,3019,1889,2830,2870,374.2,-6.1,252,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1889,2850,2830,2871,0,0,0,0,0,0,27.09,27.12,27.12
$GC,5819,-0.41,-146.6,3019,1888,2830,2870,392.1,-5.5,259,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1889,2849,2829,2869,0,0,0,0,0,0,27.10,27.12,27.11
$GC,6134,-0.41,-146.6,3019,1888,2830,2868,408.7,-5.2,266,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1889,2849,2830,2868,0,0,0,0,0,0,27.10,27.12,27.11
$GC,6449,-0.46,-146.6,3019,1889,2830,2868,426.6,-5.7,273,6455,0.00,2.30,0.00,0.000,516,0.000,0.060,3020,308,2849,2830,2868,0,0,0,0,0,0,27.10,26.63,27.11
$GC,6507,-0.52,-146.6,3019,308,2830,2867,429.4,-5.8,274,6511,0.00,2.15,0.00,0.000,1030,0.000,0.047,3014,1872,2849,2830,2868,0,0,0,0,0,0,26.82,26.77,26.84
$GC,6855,-0.52,-146.6,3013,1893,2830,2867,451.6,-6.1,282,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1893,2848,2830,2867,0,0,0,0,0,0,27.10,27.12,27.11
$GC,7170,-0.52,-146.6,3013,1893,2830,2865,471.0,-6.2,289,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1893,2847,2830,2865,0,0,0,0,0,0,27.09,27.12,27.11
$GC,7486,-0.57,-146.6,3013,1893,2830,2864,489.9,-5.8,296,7487,0.00,0.00,0.00,0.000,4102,0.000,0.000,3014,1893,2847,2830,2864,0,0,0,0,0,0,27.11,27.12,27.12
$GC,7801,-0.62,-146.6,3013,1894,2830,2863,507.9,-5.6,303,7805,0.05,2.33,0.00,0.000,4612,0.176,0.060,2963,308,2846,2830,2863,0,0,0,0,0,0,26.89,26.62,26.90
$GC,7868,-0.62,-146.6,2963,308,2830,2862,511.7,-6.2,304,7874,0.00,2.15,0.00,0.000,1030,0.000,0.047,2954,1902,2845,2829,2862,0,0,0,0,0,0,26.82,26.77,26.84
$GC,8213,-0.62,-146.6,2954,1902,2830,2861,541.2,-7.9,312,8218,0.00,2.33,0.00,0.000,516,0.000,0.060,2954,309,2845,2830,2861,0,0,0,0,0,0,27.10,26.62,27.11
$GC,8280,-0.62,-146.6,2954,309,2830,2860,545.2,-8.0,313,8284,0.00,2.15,0.00,0.000,1030,0.000,0.047,2945,1889,2845,2830,2860,0,0,0,0,0,0,26.82,26.77,26.83
$GC,8614,-0.62,-146.6,2945,1890,2830,2859,573.8,-7.9,321,8619,0.00,2.22,0.00,0.000,260,0.000,0.062,2934,3427,2844,2830,2859,0,0,0,0,0,0,27.10,26.64,27.11
$GC,8666,-0.62,-146.6,2934,3427,2828,2859,577.6,-8.0,322,8671,0.00,2.15,0.00,0.000,1030,0.000,0.045,2934,1855,2843,2829,2858,0,0,0,0,0,0,26.86,26.82,26.87
$GC,8976,-0.57,-146.6,2934,1855,2829,2858,603.8,-8.3,329,8982,0.08,2.17,0.00,0.000,2564,0.184,0.057,2970,346,2843,2829,2858,0,0,0,0,0,0,26.67,26.62,26.69
$GC,9038,-0.57,-146.6,2970,345,2829,2858,607.6,-8.2,330,9042,0.00,2.10,0.00,0.000,1030,0.000,0.047,2964,1888,2843,2829,2858,0,0,0,0,0,0,26.82,26.77,26.83
$GC,9378,-0.57,-146.6,2964,1888,2829,2857,635.8,-8.1,338,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1888,2843,2829,2857,0,0,0,0,0,0,27.09,27.12,27.11
$GC,9692,-0.57,-146.6,2964,1888,2829,2856,662.4,-8.6,345,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1888,2842,2828,2856,0,0,0,0,0,0,27.09,27.12,27.10
$GC,10007,-0.57,-146.6,2964,1888,2826,2855,690.5,-8.9,352,10013,0.00,2.28,0.00,0.000,516,0.000,0.060,2964,344,2840,2826,2855,0,0,0,0,0,0,27.09,26.61,27.11
$GC,10054,-0.57,-146.6,2964,344,2826,2854,694.7,-9.0,353,10058,0.00,2.15,0.00,0.000,1030,0.000,0.047,2957,1876,2840,2826,2854,0,0,0,0,0,0,26.77,26.75,26.79
$GC,10368,-0.57,-146.6,2957,1876,2824,2854,723.0,-8.9,360,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1876,2839,2824,2854,0,0,0,0,0,0,27.09,27.11,27.10
$GC,10683,-0.57,-146.6,2957,1876,2822,2854,750.3,-8.6,367,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1876,2838,2822,2854,0,0,0,0,0,0,27.09,27.11,27.10
$GC,10999,-0.57,-146.6,2957,1876,2821,2853,776.6,-8.3,374,11000,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1876,2837,2821,2853,0,0,0,0,0,0,27.09,27.11,27.10
$GC,11313,-0.57,-146.6,2957,1876,2821,2851,802.3,-8.0,381,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1876,2835,2821,2850,0,0,0,0,0,0,27.09,27.11,27.10
$GC,11628,-0.57,-146.6,2957,1876,2821,2849,828.0,-8.2,388,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1876,2835,2821,2849,0,0,0,0,0,0,27.09,27.11,27.10
$GC,11943,-0.57,-146.6,2957,1876,2820,2848,855.7,-9.0,395,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1876,2833,2819,2848,0,0,0,0,0,0,27.09,27.11,27.10
$GC,12259,-0.57,-146.6,2957,1876,2818,2848,884.1,-8.9,402,12264,0.00,2.25,0.00,0.000,516,0.000,0.062,2957,347,2833,2818,2848,0,0,0,0,0,0,27.08,26.58,27.10
$GC,12305,-0.57,-146.6,2957,347,2818,2847,888.2,-9.0,403,12309,0.00,2.17,0.00,0.000,1030,0.000,0.047,2950,1883,2832,2818,2847,0,0,0,0,0,0,26.75,26.72,26.77
$GC,12620,-0.57,-146.6,2950,1883,2817,2846,914.0,-7.9,410,12625,0.00,2.28,0.00,0.000,260,0.000,0.062,2939,3433,2831,2817,2846,0,0,0,0,0,0,27.08,26.58,27.10
$GC,12664,-0.57,-146.6,2938,3432,2816,2846,917.8,-7.9,411,12670,0.00,2.12,0.00,0.000,1030,0.000,0.045,2939,1872,2831,2816,2846,0,0,0,0,0,0,26.81,26.82,26.82
$GC,12980,-0.57,-146.6,2938,1872,2815,2846,944.7,-8.8,418,12985,0.00,2.20,0.00,0.000,516,0.000,0.062,2939,355,2830,2815,2845,0,0,0,0,0,0,27.08,26.55,27.10
$GC,13032,-0.57,-146.6,2938,355,2815,2845,948.8,-8.8,419,13037,0.12,2.12,0.00,0.000,3078,0.154,0.047,2976,1889,2830,2815,2846,0,0,0,0,0,0,26.37,26.71,26.47
$GC,13342,-0.57,-146.6,2977,1889,2815,2844,973.3,-7.6,426,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1889,2829,2815,2844,0,0,0,0,0,0,27.08,27.10,27.10
$GC,13656,-0.57,-146.6,2977,1890,2815,2841,997.2,-7.3,433,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1890,2828,2815,2842,0,0,0,0,0,0,27.08,27.10,27.10
$GC,14061,-0.57,-146.6,2977,1889,2812,2841,1022.9,-6.3,437,14062,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1889,2826,2811,2841,0,0,0,0,0,0,27.08,27.10,27.10
$GC,14421,-0.57,-146.6,2977,1889,2810,2840,1044.8,-6.1,440,14427,0.00,2.30,0.00,0.000,516,0.000,0.060,2978,349,2824,2810,2839,0,0,0,0,0,0,27.08,26.51,27.10
$GC,14508,-0.57,-146.6,2977,349,2810,2838,1044.8,-6.1,440,14512,0.00,2.15,0.00,0.000,1030,0.000,0.047,2973,1871,2824,2810,2838,0,0,0,0,0,0,26.74,26.69,26.76
$GC,14901,-0.57,-146.6,2973,1889,2810,2837,1078.5,-7.0,444,14907,0.00,2.30,0.00,0.000,516,0.000,0.062,2973,356,2822,2808,2837,0,0,0,0,0,0,27.08,26.51,27.10
$GC,14957,-0.57,-146.6,2973,356,2810,2836,1078.5,-7.0,444,14961,0.00,2.17,0.00,0.000,1030,0.000,0.047,2968,1904,2822,2809,2836,0,0,0,0,0,0,26.74,26.68,26.75
$GC,15382,-0.57,-146.6,2968,1905,2808,2836,1115.2,-7.7,448,15383,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1905,2822,2808,2836,0,0,0,0,0,0,27.08,27.10,27.10
$GC,15741,-0.57,-146.6,2968,1905,2807,2836,1140.3,-7.1,451,15746,0.00,2.33,0.00,0.000,516,0.000,0.060,2968,355,2821,2806,2836,0,0,0,0,0,0,27.08,26.46,27.10
$GC,15821,-0.57,-146.6,2968,355,2806,2834,1140.3,-7.1,451,15825,0.00,2.15,0.00,0.000,1030,0.000,0.047,2963,1891,2820,2806,2834,0,0,0,0,0,0,26.72,26.65,26.74
$GC,16225,-0.57,-146.6,2962,1891,2805,2832,1172.2,-6.6,455,16226,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1891,2818,2805,2832,0,0,0,0,0,0,27.08,27.10,27.09
$GC,16585,-0.66,-146.6,2962,1897,2803,2831,1182.4,-3.9,458,16590,0.00,2.28,0.00,0.000,260,0.000,0.055,2962,3435,2817,2804,2831,0,0,0,0,0,0,27.07,26.54,27.09
$GC,16884,-0.79,-146.6,2962,3435,2802,2831,1182.4,-0.3,460,16889,0.05,2.15,0.00,0.000,5126,0.189,0.050,2925,1909,2816,2802,2831,0,0,0,0,0,0,26.51,26.66,26.57
$STATE,17061,end dive,NO_VERTICAL_VELOCITY
$STATE,17061,begin apogee
$GC,17066,-0.23,0.0,2925,1672,2801,2831,1182.3,0.0,462,17183,0.43,0.00,108.85,1.495,10246,0.094,0.000,3094,1672,2349,2324,2375,0,0,0,0,0,0,26.34,24.20,23.28
$STATE,17184,end apogee,CONTROL_FINISHED_OK
$STATE,17184,begin climb
$GC,17186,0.54,146.6,3093,1671,2324,2374,1183.1,0.0,463,17312,0.45,2.28,118.20,1.467,10756,0.107,0.070,3273,274,1844,1809,1880,0,0,0,0,0,0,25.22,23.65,22.75
$GC,17605,0.54,146.6,3274,274,1810,1879,1182.3,0.4,466,17610,0.12,1.98,0.00,0.000,3078,0.127,0.047,3330,1659,1844,1810,1878,0,0,0,0,0,0,26.36,26.51,26.45
$GC,18025,0.82,362.4,3330,1659,1809,1878,1182.4,-0.0,470,18206,0.08,2.35,170.88,1.482,10756,0.149,0.070,3396,264,1101,1040,1163,0,0,0,0,0,0,26.69,24.18,22.92
$GC,18319,0.94,522.8,3396,264,1040,1162,1173.8,1.4,472,18469,0.00,2.03,142.32,1.450,11270,0.000,0.045,3396,1666,550,487,613,0,0,0,0,0,0,26.20,26.12,22.98
$GC,18870,0.84,522.8,3396,1666,487,613,1094.9,13.9,477,18876,0.00,2.30,0.00,0.000,260,0.000,0.060,3396,3222,550,487,613,0,0,0,0,0,0,26.87,26.53,26.89
$GC,18946,0.74,522.8,3396,3222,487,613,1094.9,13.9,477,18951,0.00,2.25,0.00,0.000,1030,0.000,0.047,3407,1666,550,487,613,0,0,0,0,0,0,26.70,26.64,26.71
$GC,19346,0.63,522.8,3406,1666,487,613,1033.8,12.7,481,19352,0.15,2.08,0.00,0.000,4612,0.166,0.060,3358,260,550,487,613,0,0,0,0,0,0,26.38,26.52,26.46
$GC,19448,0.52,522.8,3358,260,487,613,1033.8,12.7,481,19453,0.12,1.98,0.00,0.000,5126,0.151,0.047,3313,1674,550,487,613,0,0,0,0,0,0,26.41,26.68,26.53
$GC,19822,0.52,522.8,3313,1674,487,613,990.8,8.9,485,19828,0.00,2.30,0.00,0.000,260,0.000,0.060,3313,3229,550,487,613,0,0,0,0,0,0,27.03,26.61,27.05
$GC,19932,0.52,522.8,3312,3229,487,613,982.6,8.7,487,19936,0.00,2.25,0.00,0.000,1030,0.000,0.047,3321,1655,549,486,613,0,0,0,0,0,0,26.77,26.72,26.79
$GC,20270,0.52,522.8,3321,1656,487,613,951.2,8.7,495,20271,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1656,549,486,613,0,0,0,0,0,0,27.04,27.06,27.05
$GC,20585,0.52,522.8,3321,1656,487,613,924.3,8.5,502,20586,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1656,550,487,613,0,0,0,0,0,0,27.04,27.07,27.06
$GC,20900,0.52,522.8,3321,1656,487,613,898.1,8.4,509,20906,0.00,2.33,0.00,0.000,260,0.000,0.057,3321,3228,550,487,613,0,0,0,0,0,0,27.05,26.58,27.06
$GC,20945,0.52,522.8,3321,3227,487,613,894.2,8.5,510,20951,0.00,2.20,0.00,0.000,1030,0.000,0.047,3328,1664,550,487,613,0,0,0,0,0,0,26.74,26.71,26.75
$GC,21260,0.52,522.8,3327,1664,487,613,867.5,8.4,517,21262,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1664,550,487,613,0,0,0,0,0,0,27.05,27.07,27.06
$GC,21576,0.52,522.8,3328,1664,487,613,842.2,8.0,524,21577,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1664,550,487,613,0,0,0,0,0,0,27.05,27.08,27.07
$GC,21890,0.52,522.8,3328,1664,487,613,816.8,8.1,531,21891,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1664,550,487,613,0,0,0,0,0,0,27.05,27.08,27.07
$GC,22205,0.52,522.8,3328,1664,487,613,789.3,8.9,538,22211,0.00,2.30,0.00,0.000,260,0.000,0.057,3328,3228,550,487,613,0,0,0,0,0,0,27.05,26.55,27.07
$GC,22250,0.52,522.8,3328,3228,487,613,784.9,9.1,539,22255,0.00,2.22,0.00,0.000,1030,0.000,0.047,3336,1654,549,486,613,0,0,0,0,0,0,26.74,26.68,26.76
$GC,22569,0.52,522.8,3336,1654,487,613,754.8,9.3,546,22575,0.00,2.00,0.00,0.000,516,0.000,0.062,3346,277,550,487,613,0,0,0,0,0,0,27.05,26.51,27.07
$GC,22605,0.52,522.8,3345,277,487,613,754.8,9.3,546,22613,0.00,1.98,0.00,0.000,1030,0.000,0.045,3346,1666,550,487,613,0,0,0,0,0,0,26.70,26.68,26.72
$GC,22929,0.52,522.8,3345,1666,487,613,723.0,8.7,554,22935,0.00,2.30,0.00,0.000,260,0.000,0.057,3346,3223,550,487,613,0,0,0,0,0,0,27.05,26.53,27.07
$GC,22981,0.52,522.8,3345,3223,487,613,718.9,8.7,555,22986,0.12,2.25,0.00,0.000,5126,0.151,0.045,3308,1653,550,487,613,0,0,0,0,0,0,26.33,26.68,26.43
$GC,23330,0.59,522.8,3307,1653,486,613,693.0,7.1,563,23332,0.00,0.00,0.00,0.000,2054,0.000,0.000,3308,1653,550,487,613,0,0,0,0,0,0,27.07,27.08,27.08
$GC,23645,0.66,522.8,3307,1653,487,613,670.4,7.2,570,23647,0.00,0.00,0.00,0.000,2054,0.000,0.000,3307,1653,550,487,613,0,0,0,0,0,0,27.07,27.08,27.08
$GC,23961,0.73,522.8,3307,1653,487,613,648.7,6.8,577,23967,0.08,2.30,0.00,0.000,2308,0.134,0.055,3377,3231,550,487,613,0,0,0,0,0,0,26.79,26.52,26.82
$GC,24024,0.73,522.8,3377,3231,487,613,644.0,7.4,578,24028,0.00,2.22,0.00,0.000,1030,0.000,0.045,3389,1650,550,487,613,0,0,0,0,0,0,26.72,26.67,26.74
$GC,24363,0.67,522.8,3387,1650,487,613,600.5,12.1,586,24364,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1650,550,487,613,0,0,0,0,0,0,27.05,27.08,27.07
$GC,24678,0.61,522.8,3388,1650,487,613,562.5,12.1,593,24680,0.15,0.00,0.00,0.000,4102,0.154,0.000,3335,1650,550,487,613,0,0,0,0,0,0,26.44,26.55,26.51
$GC,24992,0.61,522.8,3335,1650,487,614,535.0,8.6,600,24994,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1650,550,487,613,0,0,0,0,0,0,27.05,27.08,27.08
$GC,25307,0.61,522.8,3335,1650,487,613,507.1,8.9,607,25308,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1650,550,487,613,0,0,0,0,0,0,27.05,27.08,27.07
$GC,25623,0.61,522.8,3335,1650,487,613,479.1,9.0,614,25624,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1650,550,487,613,0,0,0,0,0,0,27.05,27.08,27.08
$GC,25937,0.61,522.8,3335,1650,487,613,451.1,8.9,621,25938,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1650,550,487,613,0,0,0,0,0,0,27.06,27.08,27.08
$GC,26252,0.61,522.8,3335,1650,487,613,423.2,8.8,628,26253,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1650,550,488,613,0,0,0,0,0,0,27.05,27.08,27.08
$GC,26567,0.61,522.8,3335,1650,490,613,396.2,8.5,635,26573,0.00,2.30,0.00,0.000,260,0.000,0.057,3335,3224,551,490,613,0,0,0,0,0,0,27.06,26.51,27.07
$GC,26614,0.61,522.8,3335,3225,490,613,392.3,8.6,636,26619,0.00,2.25,0.00,0.000,1030,0.000,0.045,3336,1653,552,490,614,0,0,0,0,0,0,26.71,26.67,26.72
$GC,26929,0.61,522.8,3335,1653,492,613,364.9,8.4,643,26930,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1653,553,492,614,0,0,0,0,0,0,27.06,27.08,27.08
$GC,27244,0.61,522.8,3336,1653,494,613,339.1,8.0,650,27250,0.00,2.28,0.00,0.000,260,0.000,0.057,3336,3229,553,494,613,0,0,0,0,0,0,27.06,26.52,27.08
$GC,27275,0.61,522.8,3335,3229,494,613,339.1,8.0,650,27279,0.00,2.20,0.00,0.000,1030,0.000,0.047,3336,1652,553,494,613,0,0,0,0,0,0,26.74,26.69,26.76
$GC,27605,0.67,522.8,3335,1651,495,613,310.1,8.0,658,27606,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1651,554,495,614,0,0,0,0,0,0,27.06,27.08,27.08
$GC,27919,0.72,522.8,3336,1651,496,614,285.0,8.2,667,27925,0.00,2.28,0.00,0.000,2308,0.000,0.057,3336,3231,554,496,613,0,0,0,0,0,0,27.08,26.52,27.08
$GC,27961,0.78,522.8,3336,3231,496,614,282.7,8.2,668,27966,0.05,2.20,0.00,0.000,3078,0.174,0.047,3397,1656,555,496,614,0,0,0,0,0,0,26.57,26.70,26.63
$GC,28275,0.78,522.8,3397,1656,497,614,244.0,12.0,679,28276,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1656,555,497,614,0,0,0,0,0,0,27.07,27.08,27.08
$GC,28577,0.78,522.8,3396,1656,499,614,208.0,12.0,689,28582,0.00,1.98,0.00,0.000,516,0.000,0.060,3406,275,556,499,614,0,0,0,0,0,0,27.07,26.50,27.08
$GC,28619,0.78,522.8,3406,275,500,613,204.3,12.0,690,28628,0.00,1.95,3.88,0.497,9222,0.000,0.045,3407,1676,550,494,606,0,0,0,0,0,0,26.72,26.70,23.70
$GC,28938,0.78,522.8,3406,1676,494,605,163.5,12.1,701,28939,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1676,550,494,606,0,0,0,0,0,0,27.05,27.08,27.08
$GC,29239,0.78,522.8,3406,1676,494,605,129.0,11.3,717,29245,0.00,2.22,0.00,0.000,260,0.000,0.057,3407,3220,550,494,606,0,0,0,0,0,0,27.07,26.53,27.08
$GC,29287,0.78,522.8,3406,3220,494,606,123.4,11.6,720,29291,0.00,2.17,0.00,0.000,1030,0.000,0.047,3416,1651,550,494,606,0,0,0,0,0,0,26.75,26.70,26.77
$GC,29606,0.78,522.8,3416,1650,495,606,86.9,10.4,741,29612,0.00,2.00,0.00,0.000,516,0.000,0.062,3426,269,550,495,606,0,0,0,0,0,0,27.07,26.51,27.08
$GC,29639,0.78,522.8,3425,269,495,606,83.8,10.0,743,29644,0.00,1.90,0.00,0.000,1030,0.000,0.045,3426,1676,551,496,606,0,0,0,0,0,0,26.75,26.71,26.76
$GC,29955,0.78,522.8,3426,1676,496,606,49.0,11.2,764,29959,0.00,2.22,0.00,0.000,260,0.000,0.057,3426,3218,551,496,606,0,0,0,0,0,0,27.07,26.53,27.09
$GC,29991,0.78,522.8,3426,3218,496,606,44.8,11.4,766,29997,0.10,2.12,0.00,0.000,5126,0.149,0.047,3397,1666,551,496,606,0,0,0,0,0,0,26.34,26.72,26.39
$GC,30307,0.78,522.8,3397,1666,498,606,16.1,8.3,796,30317,0.00,1.98,0.00,0.000,516,0.000,0.062,3407,277,553,500,606,0,0,0,0,0,0,27.07,26.52,27.08
$GC,30342,0.78,522.8,3407,277,500,606,12.9,8.7,799,30347,0.00,1.88,0.00,0.000,1030,0.000,0.045,3407,1666,552,499,606,0,0,0,0,0,0,26.78,26.74,26.80
$STATE,30465,end climb,SURFACE_DEPTH_REACHED
$STATE,30465,begin surface coast
$FINISH,-0.6,1.024647
$STATE,30487,end surface coast,CONTROL_FINISHED_OK
$STATE,30487,begin surface
$SM_CCo,30503,69.97,0.638,0,0,200,624.55
$SM_GC,-0.15,7.85,0.25,69.97,0.055,0.070,0.638,181,1955,200,-9.20,-2.09,624.55,0,0,0,0,0,0,26.44,26.84,24.66
$IRIDIUM_FIX,2612.58,-7546.74,041108,121359
$TT8_MAMPS,0.020972,0.020972
$HUMID,71.34
$INTERNAL_PRESSURE,9.17216
$TCM_TEMP,24.30
$XPDR_PINGS,20
$ALTIM_TOP_PING,59.2,0.0
$24V_AH,22.75,56.252
$10V_AH,10.16,42.117
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.050,158.275,544.125,69.975,176.800,660.905,104.178,0.000,5.250,0.000,138.765,2602.901,24139.246,734.308,4795.105,430.221,0.000,2114.644,0.000,3811.275,0.000,3.349,0.000
$DEVICE_MAMPS,283.062,69.524,1494.766,638.131,240.851,14.900,160.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.323,2653.294,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353388
$DATA_FILE_SIZE,50340,813
$CAP_FILE_SIZE,208770,0
$CFSIZE,1024409600,938590208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7868.16,0x235806,0,24
$CURRENT,0.371,327.25,1
$GPS,040216,213807,2724.761,-7707.738,229,1.0,270,-8.4,0.0,0.0,7,18.5