version: 66.14
glider: 37
mission: 24
dive: 25
start: 6 7 119 11 37 9
data:
$ID,37
$MISSION,24
$DIVE,25
$N_DIVES,0
$STOP_T,6091919
$D_SURF,3
$D_FLARE,3
$D_TGT,5000
$D_ABORT,6050
$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,1600
$T_MISSION,1615
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79116.297
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2294
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,1786
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2.5
$VBD_BLEED_AD_RATE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.550753
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3500
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004395098
$SEABIRD_T_H,0.00063361513
$SEABIRD_T_I,2.5651329e-05
$SEABIRD_T_J,3.1717634e-06
$SEABIRD_C_G,-9.9017992
$SEABIRD_C_H,1.1589037
$SEABIRD_C_I,-0.0017859261
$SEABIRD_C_J,0.00021709637
$SEABIRD_C_Z,2927.29
$GPS1,070619,112506,3138.2598,-6406.0645,38,0.8,48,-14.9,0.6,260.5,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-64.9
$GPS2,070619,113631,3138.2629,-6406.1499,9,0.8,19,-14.9,0.4,61.9,10,4.9
$SPEED_LIMITS,0.180,0.233
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,337.1,6868,-27.9,-10.417,-30.00,1279
$D_GRID,5000
$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,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,70,-1.57,-87.4,123,2369,512,299,1.0,0.4,6,210,0.00,0.00,-133.77,0.107,16390,0.000,0.000,123,2370,2087,2173,2001,0,0,0,0,0,0,26.46,26.06,25.94,8.50,21.60
$GC,213,-1.59,-146.6,122,2369,2173,2001,3.2,-3.5,20,242,11.00,2.38,-9.45,0.124,18692,0.288,0.067,2718,3910,2291,2369,2214,0,0,0,0,0,0,25.54,25.96,25.74,8.67,21.45
$GC,718,-1.41,-146.6,2717,3910,2369,2213,104.1,-17.5,70,728,0.25,2.28,0.00,0.000,3078,0.231,0.055,2786,2309,2291,2369,2213,0,0,0,0,0,0,25.89,26.51,26.06,8.69,21.37
$GC,1028,-1.34,-146.6,2785,2309,2369,2213,151.2,-15.0,101,1031,0.10,0.00,0.00,0.000,2054,0.251,0.000,2812,2300,2290,2368,2213,0,0,0,0,0,0,26.21,26.46,26.39,8.68,21.41
$GC,1327,-1.34,-146.6,2811,2299,2368,2213,197.4,-15.7,116,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2299,2291,2369,2213,0,0,0,0,0,0,26.91,26.92,26.92,8.67,20.97
$GC,1627,-1.34,-146.6,2811,2299,2369,2213,246.0,-16.3,131,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2300,2291,2369,2213,0,0,0,0,0,0,26.96,26.97,26.97,8.67,21.49
$GC,1927,-1.34,-146.6,2810,2300,2369,2214,295.9,-16.9,146,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2300,2291,2369,2214,0,0,0,0,0,0,26.99,27.01,27.01,8.66,21.60
$GC,2238,-1.34,-146.6,2811,2299,2369,2213,348.5,-17.1,157,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2300,2291,2369,2213,0,0,0,0,0,0,27.03,27.04,27.03,8.65,21.45
$GC,2539,-1.34,-146.6,2811,2299,2369,2213,398.0,-16.4,167,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2299,2291,2369,2213,0,0,0,0,0,0,27.05,27.06,27.06,8.66,22.23
$GC,2838,-1.34,-146.6,2811,2299,2369,2213,447.8,-16.8,177,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2299,2291,2369,2213,0,0,0,0,0,0,27.07,27.08,27.08,8.66,21.80
$GC,3137,-1.34,-146.6,2811,2299,2369,2213,497.8,-16.4,187,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2299,2291,2369,2213,0,0,0,0,0,0,27.08,27.09,27.09,8.66,22.59
$GC,3438,-1.34,-146.6,2811,2299,2369,2212,547.2,-16.3,197,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2300,2291,2369,2213,0,0,0,0,0,0,27.09,27.11,27.11,8.65,22.71
$GC,3737,-1.34,-146.6,2811,2299,2369,2211,596.7,-16.7,207,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2299,2290,2368,2212,0,0,0,0,0,0,27.10,27.12,27.12,8.64,23.14
$GC,4039,-1.34,-146.6,2811,2299,2369,2211,646.6,-17.0,217,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2299,2290,2369,2211,0,0,0,0,0,0,27.12,27.13,27.13,8.63,22.94
$GC,4337,-1.34,-146.6,2811,2300,2369,2211,697.2,-16.9,227,4344,0.00,2.42,0.00,0.000,260,0.000,0.070,2802,3911,2289,2369,2210,0,0,0,0,0,0,27.12,26.72,27.13,8.62,23.34
$GC,4473,-1.34,-146.6,2802,3911,2369,2210,719.0,-18.2,231,4479,0.00,2.22,0.00,0.000,1030,0.000,0.055,2802,2360,2289,2369,2210,0,0,0,0,0,0,26.91,26.87,26.93,8.61,23.10
$GC,4788,-1.34,-146.6,2802,2360,2369,2210,778.0,-18.2,242,4795,0.00,2.33,0.00,0.000,516,0.000,0.065,2802,786,2289,2369,2210,0,0,0,0,0,0,27.13,26.75,27.14,8.59,22.98
$GC,4871,-1.34,-146.6,2802,785,2369,2210,789.2,-18.2,244,4879,0.00,2.25,0.00,0.000,1030,0.000,0.057,2792,2360,2289,2369,2210,0,0,0,0,0,0,26.89,26.82,26.90,8.59,22.86
$GC,5179,-1.34,-146.6,2791,2360,2369,2209,850.6,-19.0,255,5186,0.00,2.28,0.00,0.000,260,0.000,0.072,2780,3895,2288,2369,2208,0,0,0,0,0,0,27.13,26.73,27.14,8.56,23.38
$GC,5261,-1.34,-146.6,2780,3896,2370,2208,862.1,-18.8,257,5270,0.12,2.22,0.00,0.000,3078,0.233,0.055,2813,2346,2288,2369,2208,0,0,0,0,0,0,26.34,26.87,26.56,8.55,23.73
$GC,5568,-1.34,-146.6,2812,2345,2369,2206,921.3,-18.4,268,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2345,2287,2369,2206,0,0,0,0,0,0,27.13,27.15,27.15,8.53,23.69
$GC,5869,-1.34,-146.6,2812,2345,2368,2203,979.1,-19.8,278,5875,0.00,2.33,0.00,0.000,516,0.000,0.065,2813,792,2286,2369,2203,0,0,0,0,0,0,27.13,26.74,27.15,8.50,24.60
$GC,5921,-1.34,-146.6,2812,792,2367,2204,985.0,-19.9,279,5929,0.00,2.28,0.00,0.000,1030,0.000,0.057,2804,2354,2284,2366,2203,0,0,0,0,0,0,26.87,26.80,26.89,8.50,24.32
$GC,6228,-1.34,-146.6,2804,2354,2366,2202,1052.3,-20.3,286,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2354,2284,2366,2202,0,0,0,0,0,0,27.13,27.15,27.15,8.48,24.56
$GC,6528,-1.34,-146.6,2804,2354,2365,2201,1114.4,-20.8,291,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2354,2283,2365,2201,0,0,0,0,0,0,27.14,27.15,27.15,8.46,24.71
$GC,6829,-1.34,-146.6,2804,2354,2364,2199,1172.7,-19.3,296,6835,0.00,2.38,0.00,0.000,260,0.000,0.074,2793,3900,2281,2364,2199,0,0,0,0,0,0,27.13,26.70,27.15,8.44,25.54
$GC,6876,-1.34,-146.6,2792,3900,2364,2198,1172.7,-19.3,296,6881,0.00,2.30,0.00,0.000,1030,0.000,0.057,2793,2356,2281,2364,2198,0,0,0,0,0,0,26.91,26.85,26.92,8.43,25.42
$GC,7184,-1.34,-146.6,2792,2355,2362,2197,1241.3,-19.3,301,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2355,2280,2362,2198,0,0,0,0,0,0,27.14,27.16,27.15,8.42,26.13
$GC,7483,-1.34,-146.6,2792,2355,2361,2196,1300.6,-19.8,306,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2355,2278,2360,2196,0,0,0,0,0,0,27.14,27.16,27.15,8.40,29.28
$GC,7783,-1.34,-146.6,2792,2355,2359,2194,1360.6,-20.0,311,7790,0.00,2.42,0.00,0.000,516,0.000,0.070,2793,778,2277,2359,2195,0,0,0,0,0,0,27.14,26.70,27.15,8.38,31.41
$GC,7826,-1.34,-146.6,2792,778,2358,2195,1360.6,-20.0,311,7832,0.12,2.35,0.00,0.000,3078,0.263,0.062,2811,2338,2276,2358,2195,0,0,0,0,0,0,26.19,26.76,26.46,8.38,30.90
$GC,8145,-1.41,-146.6,2811,2339,2357,2193,1427.8,-18.1,317,8149,0.00,2.45,0.00,0.000,260,0.000,0.077,2802,3919,2274,2357,2192,0,0,0,0,0,0,27.14,26.65,27.15,8.37,32.00
$GC,8191,-1.48,-146.6,2802,3919,2357,2192,1427.8,-18.1,317,8195,0.00,2.38,0.00,0.000,1030,0.000,0.060,2802,2350,2274,2357,2192,0,0,0,0,0,0,26.89,26.82,26.90,8.36,31.33
$GC,8503,-1.55,-146.6,2801,2349,2356,2191,1493.9,-18.4,323,8505,0.10,0.00,0.00,0.000,4102,0.199,0.000,2767,2348,2273,2355,2191,0,0,0,0,0,0,26.63,26.79,26.73,8.34,31.49
$GC,8803,-1.55,-146.6,2767,2347,2353,2190,1554.2,-20.1,328,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2347,2271,2353,2190,0,0,0,0,0,0,27.13,27.16,27.15,8.34,32.04
$GC,9102,-1.55,-146.6,2767,2347,2352,2188,1615.2,-20.4,333,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2347,2270,2352,2188,0,0,0,0,0,0,27.14,27.16,27.15,8.34,31.96
$GC,9403,-1.60,-146.6,2767,2347,2351,2187,1674.9,-19.9,338,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2347,2268,2350,2187,0,0,0,0,0,0,27.14,27.16,27.15,8.33,32.08
$GC,9704,-1.66,-146.6,2767,2344,2350,2187,1733.4,-19.5,343,9706,0.10,0.00,0.00,0.000,4102,0.211,0.000,2735,2344,2268,2350,2187,0,0,0,0,0,0,26.58,26.75,26.69,8.33,32.59
$GC,10003,-1.66,-146.6,2735,2344,2349,2186,1794.8,-20.4,348,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2344,2267,2349,2186,0,0,0,0,0,0,27.14,27.16,27.15,8.33,32.51
$GC,10302,-1.66,-146.6,2734,2342,2348,2185,1853.2,-19.4,353,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2343,2266,2348,2185,0,0,0,0,0,0,27.14,27.16,27.15,8.32,32.59
$GC,10602,-1.66,-146.6,2735,2342,2347,2185,1908.6,-18.4,358,10609,0.00,2.47,0.00,0.000,260,0.000,0.079,2723,3912,2266,2347,2185,0,0,0,0,0,0,27.14,26.59,27.15,8.32,32.00
$GC,10640,-1.66,-146.6,2722,3913,2347,2185,1908.6,-18.4,358,10645,0.00,2.40,0.00,0.000,1030,0.000,0.062,2723,2349,2265,2347,2184,0,0,0,0,0,0,26.85,26.77,26.87,8.31,32.71
$GC,10959,-1.66,-146.6,2722,2349,2346,2184,1976.2,-19.0,364,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2349,2265,2346,2184,0,0,0,0,0,0,27.14,27.15,27.15,8.31,32.59
$GC,11257,-1.66,-146.6,2722,2349,2346,2184,2033.5,-19.0,369,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2349,2264,2345,2184,0,0,0,0,0,0,27.14,27.15,27.15,8.31,32.39
$GC,11558,-1.66,-146.6,2723,2349,2345,2183,2088.8,-18.4,374,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2349,2264,2345,2183,0,0,0,0,0,0,27.14,27.15,27.15,8.30,32.63
$GC,11857,-1.66,-146.6,2722,2348,2344,2182,2142.9,-18.1,379,11863,0.00,2.45,0.00,0.000,516,0.000,0.070,2723,774,2263,2344,2182,0,0,0,0,0,0,27.14,26.60,27.15,8.30,32.43
$GC,11895,-1.66,-146.6,2722,774,2343,2182,2142.9,-18.1,379,11900,0.00,2.40,0.00,0.000,1030,0.000,0.065,2712,2354,2262,2343,2182,0,0,0,0,0,0,26.78,26.67,26.81,8.30,33.30
$GC,12214,-1.66,-146.6,2712,2355,2343,2181,2207.1,-18.0,385,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2355,2262,2343,2181,0,0,0,0,0,0,27.14,27.15,27.15,8.29,33.18
$GC,12512,-1.66,-146.6,2712,2355,2343,2180,2260.2,-17.6,390,12519,0.00,2.42,0.00,0.000,260,0.000,0.082,2700,3911,2261,2343,2179,0,0,0,0,0,0,27.13,26.54,27.15,8.29,32.35
$GC,12565,-1.66,-146.6,2699,3911,2343,2180,2260.2,-17.6,390,12573,0.00,2.40,0.00,0.000,1030,0.000,0.062,2700,2351,2261,2343,2180,0,0,0,0,0,0,26.82,26.75,26.85,8.29,32.94
$GC,12872,-1.66,-146.6,2699,2351,2342,2180,2326.3,-18.2,396,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2351,2261,2342,2180,0,0,0,0,0,0,27.13,27.15,27.15,8.28,33.02
$GC,13173,-1.66,-146.6,2699,2350,2342,2178,2379.8,-17.8,401,13179,0.00,2.42,0.00,0.000,516,0.000,0.072,2700,778,2260,2341,2179,0,0,0,0,0,0,27.13,26.55,27.15,8.28,32.35
$GC,13211,-1.66,-146.6,2699,778,2341,2180,2379.8,-17.8,401,13215,0.00,2.40,0.00,0.000,1030,0.000,0.065,2689,2355,2260,2341,2180,0,0,0,0,0,0,26.75,26.65,26.79,8.29,32.75
$GC,13528,-1.66,-146.6,2689,2355,2341,2178,2443.4,-17.8,407,13529,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2355,2260,2341,2179,0,0,0,0,0,0,27.13,27.15,27.15,8.29,32.51
$GC,13828,-1.71,-146.6,2688,2355,2341,2178,2495.7,-17.4,412,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2355,2260,2342,2178,0,0,0,0,0,0,27.13,27.15,27.15,8.28,32.28
$GC,14128,-1.76,-146.6,2688,2355,2341,2177,2547.3,-17.2,417,14135,0.00,2.45,0.00,0.000,260,0.000,0.082,2677,3918,2258,2341,2176,0,0,0,0,0,0,27.13,26.50,27.15,8.28,33.02
$GC,14171,-1.82,-146.6,2676,3918,2340,2176,2547.3,-17.2,417,14175,0.00,2.42,0.00,0.000,1030,0.000,0.062,2677,2347,2258,2341,2176,0,0,0,0,0,0,26.80,26.72,26.82,8.27,32.67
$GC,14488,-1.87,-146.6,2676,2347,2341,2176,2609.4,-16.9,423,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2347,2258,2341,2176,0,0,0,0,0,0,27.13,27.15,27.15,8.28,32.79
$GC,14789,-1.92,-146.6,2676,2347,2340,2176,2660.0,-16.9,428,14795,0.10,2.47,0.00,0.000,4356,0.231,0.079,2630,3905,2258,2340,2176,0,0,0,0,0,0,26.42,26.48,26.48,8.28,32.24
$GC,14831,-1.98,-146.6,2629,3905,2340,2175,2660.0,-16.9,428,14835,0.00,2.42,0.00,0.000,1030,0.000,0.065,2630,2337,2258,2340,2176,0,0,0,0,0,0,26.78,26.70,26.82,8.28,32.91
$GC,15143,-1.98,-146.6,2629,2337,2340,2175,2725.9,-18.5,434,15149,0.00,2.42,0.00,0.000,516,0.000,0.077,2629,769,2257,2340,2175,0,0,0,0,0,0,27.13,26.51,27.14,8.27,32.98
$GC,15185,-1.98,-146.6,2629,769,2339,2176,2725.9,-18.5,434,15190,0.00,2.42,0.00,0.000,1030,0.000,0.067,2619,2359,2257,2339,2176,0,0,0,0,0,0,26.71,26.60,26.74,8.28,32.79
$GC,15498,-1.98,-146.6,2618,2359,2339,2175,2789.8,-17.8,440,15499,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2359,2257,2339,2175,0,0,0,0,0,0,27.13,27.15,27.14,8.27,32.08
$GC,15798,-1.98,-146.6,2618,2359,2339,2175,2843.5,-17.9,445,15799,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2360,2256,2337,2175,0,0,0,0,0,0,27.13,27.15,27.14,8.27,32.83
$GC,16099,-1.98,-146.6,2618,2359,2339,2174,2896.9,-17.7,450,16100,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2360,2257,2339,2175,0,0,0,0,0,0,27.13,27.15,27.15,8.27,32.75
$GC,16398,-1.98,-146.6,2618,2359,2338,2174,2951.0,-17.9,455,16402,0.00,2.53,0.00,0.000,516,0.000,0.077,2619,764,2257,2339,2175,0,0,0,0,0,0,27.13,26.48,27.15,8.27,32.75
$GC,16448,-1.98,-146.6,2618,764,2338,2175,2951.0,-17.9,455,16452,0.00,2.42,0.00,0.000,1030,0.000,0.067,2608,2351,2256,2338,2175,0,0,0,0,0,0,26.69,26.58,26.73,8.26,33.06
$GC,16755,-1.98,-146.6,2607,2352,2338,2174,3014.4,-17.5,460,16756,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2351,2256,2338,2174,0,0,0,0,0,0,27.13,27.15,27.14,8.26,32.63
$GC,17055,-1.98,-146.6,2607,2352,2338,2174,3066.2,-17.2,465,17057,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2352,2256,2338,2174,0,0,0,0,0,0,27.13,27.15,27.14,8.26,32.94
$GC,17356,-1.98,-146.6,2607,2352,2338,2174,3117.0,-16.9,470,17358,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2351,2256,2338,2174,0,0,0,0,0,0,27.13,27.15,27.14,8.26,32.71
$GC,17655,-1.98,-146.6,2607,2352,2337,2174,3166.7,-16.5,475,17656,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2352,2256,2338,2174,0,0,0,0,0,0,27.13,27.15,27.15,8.26,32.55
$GC,17955,-1.98,-146.6,2608,2352,2338,2174,3214.6,-16.0,480,17960,0.00,2.45,0.00,0.000,260,0.000,0.084,2596,3920,2255,2337,2174,0,0,0,0,0,0,27.13,26.40,27.15,8.26,33.69
$GC,18001,-1.98,-146.6,2595,3920,2338,2173,3214.6,-16.0,480,18005,0.00,2.42,0.00,0.000,1030,0.000,0.065,2596,2343,2255,2337,2173,0,0,0,0,0,0,26.74,26.67,26.77,8.26,32.47
$GC,18313,-1.98,-146.6,2595,2343,2338,2173,3272.6,-16.1,486,18314,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2343,2255,2338,2173,0,0,0,0,0,0,27.13,27.15,27.14,8.25,32.47
$GC,18613,-1.98,-146.6,2595,2342,2337,2173,3320.7,-16.0,491,18614,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2342,2255,2338,2173,0,0,0,0,0,0,27.13,27.15,27.14,8.26,32.39
$GC,18913,-1.98,-146.6,2595,2342,2337,2173,3367.6,-15.6,496,18914,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2343,2255,2337,2173,0,0,0,0,0,0,27.13,27.15,27.14,8.26,33.38
$GC,19214,-1.98,-146.6,2595,2341,2337,2173,3413.5,-15.3,501,19215,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2341,2255,2337,2173,0,0,0,0,0,0,26.89,26.94,26.92,8.25,32.87
$GC,19513,-2.03,-146.6,2595,2340,2337,2172,3458.6,-15.0,506,19514,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2340,2254,2337,2172,0,0,0,0,0,0,27.08,27.10,27.09,8.25,32.63
$GC,19826,-2.09,-146.6,2595,2339,2337,2172,3502.6,-14.6,511,19832,0.00,2.45,0.00,0.000,516,0.000,0.074,2596,770,2255,2337,2173,0,0,0,0,0,0,27.08,26.38,27.10,8.26,32.91
$GC,19885,-2.15,-146.6,2595,769,2336,2172,3513.4,-14.7,512,19891,0.00,2.42,0.00,0.000,1030,0.000,0.067,2585,2355,2254,2336,2173,0,0,0,0,0,0,26.54,26.49,26.58,8.25,32.55
$GC,20257,-2.20,-146.6,2584,2355,2336,2172,3565.9,-14.5,518,20259,0.08,0.00,0.00,0.000,4102,0.266,0.000,2564,2356,2254,2336,2172,0,0,0,0,0,0,26.48,26.60,26.55,8.25,32.91
$GC,20544,-2.20,-146.6,2564,2356,2336,2172,3609.4,-14.6,523,20546,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2356,2254,2336,2172,0,0,0,0,0,0,27.08,27.10,27.10,8.25,32.31
$GC,20845,-2.20,-146.6,2564,2356,2336,2172,3651.2,-13.8,528,20846,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2356,2254,2336,2172,0,0,0,0,0,0,27.08,27.10,27.10,8.25,33.46
$GC,21146,-2.20,-146.6,2564,2356,2336,2172,3692.0,-13.6,533,21147,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2356,2254,2336,2172,0,0,0,0,0,0,27.08,27.10,27.10,8.25,33.18
$GC,21446,-2.26,-146.6,2563,2356,2336,2172,3732.0,-13.3,538,21452,0.08,2.53,0.00,0.000,4612,0.266,0.074,2545,773,2254,2336,2172,0,0,0,0,0,0,26.49,26.32,26.53,8.25,33.57
$GC,21520,-2.26,-146.6,2544,773,2335,2172,3740.9,-13.5,539,21524,0.00,2.42,0.00,0.000,1030,0.000,0.070,2535,2350,2253,2335,2172,0,0,0,0,0,0,26.56,26.44,26.60,8.25,32.87
$GC,21878,-2.26,-146.6,2534,2350,2335,2172,3793.3,-13.8,545,21879,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2350,2253,2335,2172,0,0,0,0,0,0,27.08,27.10,27.10,8.26,33.14
$GC,22179,-2.26,-146.6,2534,2350,2336,2172,3833.6,-13.4,550,22180,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2350,2253,2335,2172,0,0,0,0,0,0,27.08,27.10,27.10,8.25,32.71
$GC,22479,-2.26,-146.6,2534,2350,2335,2172,3873.1,-13.1,555,22485,0.00,2.47,0.00,0.000,516,0.000,0.077,2535,778,2253,2335,2172,0,0,0,0,0,0,27.08,26.29,27.10,8.24,33.06
$GC,22526,-2.26,-146.6,2534,778,2335,2172,3873.1,-13.1,555,22530,0.00,2.42,0.00,0.000,1030,0.000,0.070,2524,2356,2253,2335,2172,0,0,0,0,0,0,26.55,26.43,26.59,8.25,33.18
$GC,22846,-2.26,-146.6,2523,2356,2335,2172,3920.7,-13.3,560,22847,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2356,2253,2335,2172,0,0,0,0,0,0,27.05,27.08,27.08,8.25,32.55
$GC,23146,-2.26,-146.6,2523,2355,2335,2172,3960.1,-13.2,565,23147,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2356,2253,2335,2172,0,0,0,0,0,0,27.06,27.08,27.08,8.25,32.91
$GC,23433,-2.26,-146.6,2523,2356,2335,2172,3999.1,-13.1,570,23440,0.00,2.53,0.00,0.000,516,0.000,0.077,2524,773,2253,2335,2172,0,0,0,0,0,0,27.08,26.28,27.10,8.25,32.43
$GC,23486,-2.26,-146.6,2523,774,2334,2172,3999.1,-13.1,570,23506,0.00,2.45,0.00,0.000,1030,0.000,0.070,2513,2360,2253,2335,2172,0,0,0,0,0,0,26.53,26.41,26.58,8.25,32.63
$GC,23805,-2.26,-146.6,2512,2360,2334,2172,4046.7,-13.0,576,23806,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2361,2253,2334,2172,0,0,0,0,0,0,27.05,27.08,27.07,8.25,32.47
$GC,24107,-2.26,-146.6,2513,2360,2335,2172,4085.6,-12.9,581,24108,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2361,2253,2334,2172,0,0,0,0,0,0,27.06,27.08,27.08,8.25,33.42
$GC,24406,-2.26,-146.6,2513,2361,2334,2171,4124.1,-12.8,586,24412,0.00,2.50,0.00,0.000,516,0.000,0.077,2514,778,2253,2335,2172,0,0,0,0,0,0,27.06,26.26,27.08,8.25,33.54
$GC,24482,-2.26,-146.6,2512,778,2334,2172,4133.7,-12.9,587,24487,0.00,2.42,0.00,0.000,1030,0.000,0.067,2502,2353,2253,2335,2172,0,0,0,0,0,0,26.52,26.40,26.56,8.25,32.94
$GC,24832,-2.26,-146.6,2501,2352,2334,2172,4180.6,-13.1,593,24833,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2353,2253,2334,2172,0,0,0,0,0,0,27.05,27.07,27.07,8.25,32.39
$GC,25119,-2.26,-146.6,2502,2352,2334,2171,4219.3,-12.9,598,25121,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2353,2253,2334,2172,0,0,0,0,0,0,27.08,27.10,27.10,8.25,32.71
$GC,25420,-2.26,-146.6,2501,2352,2334,2172,4257.6,-12.8,603,25425,0.00,2.53,0.00,0.000,516,0.000,0.077,2502,767,2252,2334,2171,0,0,0,0,0,0,27.08,26.23,27.09,8.25,32.94
$GC,25475,-2.26,-146.6,2502,767,2334,2172,4257.6,-12.8,603,25497,0.15,2.45,0.00,0.000,3078,0.313,0.070,2521,2358,2252,2333,2172,0,0,0,0,0,0,25.34,26.39,25.65,8.25,32.63
$GC,25796,-2.32,-146.6,2521,2359,2334,2171,4300.1,-11.3,609,25797,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2358,2253,2334,2172,0,0,0,0,0,0,27.05,27.07,27.07,8.25,33.57
$GC,26083,-2.39,-146.6,2521,2358,2334,2171,4333.5,-11.1,614,26085,0.08,0.00,0.00,0.000,4102,0.271,0.000,2504,2359,2253,2334,2172,0,0,0,0,0,0,26.46,26.55,26.51,8.25,32.24
$GC,26383,-2.44,-146.6,2503,2359,2334,2171,4368.2,-11.5,619,26385,0.08,0.00,0.00,0.000,4102,0.268,0.000,2484,2360,2252,2334,2171,0,0,0,0,0,0,26.47,26.56,26.51,8.25,32.79
$GC,26696,-2.44,-146.6,2483,2360,2334,2171,4403.6,-11.8,624,26701,0.00,2.55,0.00,0.000,516,0.000,0.077,2484,764,2252,2334,2171,0,0,0,0,0,0,27.05,26.21,27.07,8.25,32.75
$GC,26758,-2.44,-146.6,2483,764,2334,2171,4412.9,-12.0,625,26763,0.00,2.45,0.00,0.000,1030,0.000,0.070,2474,2355,2252,2334,2171,0,0,0,0,0,0,26.49,26.37,26.53,8.25,32.94
$GC,27121,-2.44,-146.6,2473,2355,2334,2171,4455.3,-11.6,631,27122,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2355,2252,2334,2171,0,0,0,0,0,0,27.07,27.09,27.09,8.25,33.34
$GC,27421,-2.44,-146.6,2473,2355,2334,2171,4489.3,-11.3,636,27427,0.00,2.50,0.00,0.000,516,0.000,0.079,2474,776,2252,2334,2171,0,0,0,0,0,0,27.08,26.20,27.09,8.25,33.30
$GC,27508,-2.44,-146.6,2473,776,2334,2171,4496.6,-11.4,637,27513,0.00,2.42,0.00,0.000,1030,0.000,0.070,2464,2350,2252,2334,2171,0,0,0,0,0,0,26.48,26.36,26.52,8.25,32.55
$STATE,27839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,27839,begin apogee
$GC,27845,-0.56,0.0,2463,2285,2334,2171,4537.3,-11.3,643,27995,2.45,0.00,145.07,3.846,10246,0.261,0.000,3062,2274,1786,1871,1701,0,0,0,0,0,0,24.92,22.85,21.18,8.26,32.55
$STATE,27996,end apogee,CONTROL_FINISHED_OK
$STATE,27996,begin climb
$GC,27998,1.59,146.6,3062,2274,1871,1701,4536.6,0.0,645,28162,2.30,0.00,159.07,3.772,10246,0.154,0.000,3756,2274,1280,1371,1190,0,0,0,0,0,0,23.46,22.87,21.28,8.23,32.63
$GC,28441,1.25,146.6,3756,2274,1371,1189,4409.3,33.4,653,28448,0.52,2.53,0.00,0.000,4612,0.370,0.074,3674,718,1280,1371,1190,0,0,0,0,0,0,25.06,25.45,25.30,8.18,32.16
$GC,28771,0.98,146.6,3673,717,1371,1190,4317.2,30.3,658,28780,0.52,2.47,0.00,0.000,5126,0.358,0.067,3571,2302,1280,1371,1190,0,0,0,0,0,0,25.45,26.06,25.87,8.18,31.84
$GC,29103,0.79,146.6,3570,2302,1371,1189,4223.2,25.4,664,29109,0.28,2.53,0.00,0.000,4612,0.360,0.077,3525,720,1280,1371,1189,0,0,0,0,0,0,25.60,26.04,25.86,8.17,32.04
$GC,29246,0.63,146.6,3525,720,1370,1189,4194.2,24.7,666,29251,0.32,2.42,0.00,0.000,5126,0.345,0.067,3460,2302,1279,1370,1189,0,0,0,0,0,0,25.65,26.30,26.07,8.16,33.10
$GC,29579,0.56,146.6,3460,2303,1370,1189,4118.8,20.8,672,29586,0.10,2.50,0.00,0.000,4612,0.365,0.077,3450,719,1279,1370,1189,0,0,0,0,0,0,25.83,26.20,26.03,8.16,32.39
$GC,29678,0.49,146.6,3449,720,1370,1189,4106.9,20.6,673,29683,0.17,2.42,0.00,0.000,5126,0.340,0.070,3416,2299,1279,1370,1189,0,0,0,0,0,0,25.72,26.40,26.14,8.15,32.24
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$STATE,64060,end climb,SURFACE_DEPTH_REACHED
$STATE,64060,begin surface coast
$FINISH,0.4,1.025134
$STATE,64071,end surface coast,CONTROL_FINISHED_OK
$STATE,64071,begin surface
$SM_CCo,64092,108.50,0.688,0,0,408,400.02
$SM_GC,0.88,9.43,2.42,108.50,0.092,0.055,0.688,148,2362,408,-9.65,-1.70,400.02,0,0,0,0,0,0,26.44,26.74,24.76
$IRIDIUM_FIX,3138.79,-6411.40,060619,173831
$TT8_MAMPS,0.02247,0.257656
$HUMID,23.18
$INTERNAL_PRESSURE,8.40731
$TCM_TEMP,22.90
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.1,18.3
$ALTIM_BOTTOM_PING,4503.6,52.7
$24V_AH,21.18,29.073
$10V_AH,10.36,14.509
$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,30.225,315.750,412.850,108.500,143.225,59.263,53.600,348.613,87.000,0.000,21.399,5230.442,53243.680,958.232,5014.409,413.129,0.000,3193.381,0.000,3882.228,0.000,847.350,0.000
$DEVICE_MAMPS,369.967,114.218,3846.167,687.791,124.150,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.966,1874.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319952
$DATA_FILE_SIZE,100567,1415
$CAP_FILE_SIZE,410604,0
$CFSIZE,2047311872,2036989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.095,232.65,1
$GPS,080619,052846,3143.365,-6414.719,38,1.0,52,-14.9,0.4,335.3,9,4.9