version: 66.14
glider: 46
mission: 5
dive: 17
start: 6 1 119 17 43 9
data:
$ID,46
$MISSION,5
$DIVE,17
$N_DIVES,0
$STOP_T,6041919
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79912.602
$MASS_COMP,10878
$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,300
$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,5
$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,200
$PITCH_MAX,3820
$C_PITCH,3064
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15.8
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,1959
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,1793
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.768235
$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,1
$ALTIM_PING_DEPTH,3500
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,010619,173348,3139.2051,-6409.6582,24,1.0,42,-14.9,0.4,15.8,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-56.2
$GPS2,010619,174232,3139.2190,-6409.6973,8,0.9,25,-14.9,0.0,270.5,10,5.0
$SPEED_LIMITS,0.180,0.250
$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,38.5,1523,-27.9,-10.417,-30.00,1283
$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,-1.79,-87.3,147,1962,662,858,1.9,0.0,6,160,0.00,0.00,-84.82,0.149,16390,0.000,0.000,144,1962,2094,1998,2191,0,0,0,0,0,0,26.81,26.38,26.22,8.38,17.98
$GC,162,-1.81,-170.3,144,1961,1998,2191,2.9,-1.7,15,201,9.20,3.67,-18.35,0.169,19204,0.258,0.079,2476,565,2379,2267,2492,0,0,0,0,0,0,26.07,26.28,26.20,8.53,17.90
$GC,744,-1.75,-170.3,2475,565,2267,2493,55.4,-7.2,73,755,0.12,3.38,0.00,0.000,3078,0.204,0.055,2496,1958,2380,2267,2493,0,0,0,0,0,0,26.48,26.83,26.60,8.57,17.23
$GC,1054,-1.75,-170.3,2495,1958,2267,2493,76.8,-7.5,104,1064,0.00,3.62,0.00,0.000,516,0.000,0.079,2496,562,2380,2267,2493,0,0,0,0,0,0,27.17,26.78,27.17,8.57,16.80
$GC,1246,-1.75,-170.3,2496,562,2267,2493,92.0,-7.9,123,1256,0.00,3.40,0.00,0.000,1030,0.000,0.055,2480,1968,2380,2267,2493,0,0,0,0,0,0,27.01,26.96,27.01,8.56,17.31
$GC,1556,-1.75,-170.3,2480,1968,2268,2493,116.3,-8.5,154,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1968,2380,2268,2493,0,0,0,0,0,0,27.26,27.28,27.27,8.56,17.55
$GC,1856,-1.75,-170.3,2480,1968,2269,2493,141.8,-7.3,184,1866,0.00,3.62,0.00,0.000,516,0.000,0.079,2480,561,2381,2269,2493,0,0,0,0,0,0,27.30,26.91,27.32,8.55,17.08
$GC,1992,-1.69,-170.3,2480,561,2269,2494,153.6,-10.0,195,2000,0.20,3.38,0.00,0.000,3078,0.206,0.055,2520,1959,2381,2269,2494,0,0,0,0,0,0,26.70,27.08,26.90,8.54,17.12
$GC,2299,-1.69,-170.3,2520,1959,2269,2493,180.2,-8.4,211,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1959,2381,2269,2493,0,0,0,0,0,0,27.34,27.36,27.35,8.54,17.00
$GC,2598,-1.69,-170.3,2520,1959,2270,2493,210.1,-11.1,226,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1959,2381,2270,2493,0,0,0,0,0,0,27.37,27.39,27.39,8.53,17.08
$GC,2898,-1.69,-170.3,2519,1959,2269,2493,241.1,-10.5,241,2906,0.00,3.47,0.00,0.000,260,0.000,0.070,2505,3340,2382,2271,2493,0,0,0,0,0,0,27.39,27.06,27.40,8.53,17.35
$GC,2991,-1.69,-170.3,2504,3340,2271,2493,250.0,-11.3,245,2999,0.00,3.38,0.00,0.000,1030,0.000,0.055,2505,1945,2381,2270,2493,0,0,0,0,0,0,27.18,27.13,27.19,8.53,17.59
$GC,3298,-1.69,-170.3,2504,1945,2271,2493,285.6,-10.8,261,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1945,2382,2271,2493,0,0,0,0,0,0,27.41,27.43,27.42,8.53,17.75
$GC,3618,-1.69,-170.3,2505,1945,2271,2494,320.6,-11.0,274,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1944,2382,2271,2494,0,0,0,0,0,0,27.42,27.44,27.43,8.53,18.18
$GC,3918,-1.69,-170.3,2504,1945,2271,2493,356.2,-12.2,284,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1945,2382,2271,2494,0,0,0,0,0,0,27.43,27.45,27.45,8.52,17.98
$GC,4218,-1.69,-170.3,2504,1945,2271,2493,392.7,-11.9,294,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1945,2382,2271,2493,0,0,0,0,0,0,27.44,27.46,27.45,8.52,17.94
$GC,4518,-1.69,-170.3,2505,1945,2271,2494,428.9,-12.3,304,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1945,2382,2271,2493,0,0,0,0,0,0,27.45,27.47,27.46,8.52,18.18
$GC,4818,-1.69,-170.3,2505,1945,2272,2493,464.6,-11.9,314,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1945,2382,2271,2493,0,0,0,0,0,0,27.46,27.47,27.47,8.52,18.14
$GC,5118,-1.69,-170.3,2504,1945,2270,2493,500.4,-12.1,324,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1945,2381,2270,2493,0,0,0,0,0,0,27.46,27.48,27.48,8.52,18.93
$GC,5418,-1.69,-170.3,2504,1945,2270,2493,537.4,-12.4,334,5426,0.00,3.50,0.00,0.000,260,0.000,0.067,2487,3340,2382,2271,2493,0,0,0,0,0,0,27.47,27.14,27.48,8.52,18.34
$GC,5496,-1.69,-170.3,2487,3340,2270,2493,545.4,-13.1,336,5502,0.12,3.33,0.00,0.000,3078,0.211,0.055,2521,1959,2382,2271,2493,0,0,0,0,0,0,25.80,27.20,26.72,8.51,18.26
$GC,5803,-1.74,-170.3,2521,1959,2270,2493,587.1,-12.8,346,5810,0.00,3.45,0.00,0.000,260,0.000,0.067,2506,3340,2381,2270,2493,0,0,0,0,0,0,27.47,27.15,27.48,8.50,18.34
$GC,5863,-1.74,-170.3,2505,3340,2270,2493,595.4,-13.4,348,5870,0.00,3.33,0.00,0.000,1030,0.000,0.055,2506,1961,2382,2271,2493,0,0,0,0,0,0,27.25,27.20,27.27,8.51,18.30
$GC,6193,-1.74,-170.3,2505,1962,2270,2492,639.6,-13.4,359,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1962,2381,2270,2493,0,0,0,0,0,0,27.47,27.48,27.48,8.50,18.10
$GC,6493,-1.74,-170.3,2505,1962,2270,2492,678.5,-13.3,369,6500,0.00,3.47,0.00,0.000,260,0.000,0.067,2488,3345,2380,2270,2491,0,0,0,0,0,0,27.48,27.15,27.49,8.48,18.49
$GC,6525,-1.74,-170.3,2488,3345,2270,2492,682.8,-13.5,370,6530,0.00,3.35,0.00,0.000,1030,0.000,0.055,2488,1962,2381,2270,2492,0,0,0,0,0,0,27.26,27.21,27.27,8.48,17.94
$GC,6853,-1.74,-170.3,2488,1956,2270,2491,728.1,-14.1,381,6860,0.00,3.47,0.00,0.000,260,0.000,0.067,2471,3340,2380,2270,2491,0,0,0,0,0,0,27.48,27.15,27.49,8.46,18.30
$GC,7006,-1.74,-170.3,2471,3341,2270,2490,753.7,-17.2,386,7012,0.12,3.35,0.00,0.000,3078,0.206,0.055,2507,1953,2380,2270,2491,0,0,0,0,0,0,26.89,27.22,27.08,8.46,18.22
$GC,7329,-1.74,-170.3,2506,1952,2270,2490,808.1,-16.3,397,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1952,2380,2270,2490,0,0,0,0,0,0,27.48,27.50,27.49,8.43,18.18
$GC,7629,-1.74,-170.3,2506,1952,2270,2489,857.0,-16.8,407,7636,0.00,3.47,0.00,0.000,260,0.000,0.067,2491,3339,2379,2270,2489,0,0,0,0,0,0,27.48,27.15,27.50,8.41,18.38
$GC,7811,-1.74,-170.3,2491,3339,2270,2488,890.8,-18.7,413,7816,0.00,3.33,0.00,0.000,1030,0.000,0.052,2491,1960,2379,2270,2488,0,0,0,0,0,0,27.27,27.22,27.29,8.39,18.77
$GC,8139,-1.74,-170.3,2491,1960,2270,2487,950.2,-18.0,424,8146,0.00,3.55,0.00,0.000,516,0.000,0.077,2491,570,2378,2270,2487,0,0,0,0,0,0,27.49,27.10,27.51,8.35,18.53
$GC,8203,-1.74,-170.3,2490,570,2269,2486,962.4,-18.9,426,8209,0.10,3.33,0.00,0.000,3078,0.226,0.055,2501,1955,2378,2270,2486,0,0,0,0,0,0,26.89,27.24,27.08,8.35,18.30
$GC,8526,-1.74,-170.3,2500,1955,2269,2484,1021.8,-17.7,435,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1956,2376,2269,2484,0,0,0,0,0,0,27.49,27.51,27.50,8.31,18.57
$GC,8826,-1.74,-170.3,2500,1955,2268,2484,1080.5,-19.8,440,8834,0.00,3.50,0.00,0.000,260,0.000,0.067,2485,3345,2376,2268,2484,0,0,0,0,0,0,27.49,27.16,27.51,8.28,19.36
$GC,8919,-1.74,-170.3,2484,3345,2268,2483,1093.5,-20.4,441,8924,0.00,3.35,0.00,0.000,1030,0.000,0.052,2484,1963,2375,2268,2483,0,0,0,0,0,0,27.28,27.22,27.29,8.28,18.93
$GC,9241,-1.74,-170.3,2484,1963,2267,2481,1170.9,-21.9,447,9249,0.00,3.58,0.00,0.000,516,0.000,0.077,2484,568,2374,2267,2481,0,0,0,0,0,0,27.50,27.11,27.51,8.24,19.12
$GC,9279,-1.74,-170.3,2484,567,2267,2481,1170.9,-21.9,447,9285,0.12,3.35,0.00,0.000,3078,0.223,0.052,2501,1957,2373,2266,2481,0,0,0,0,0,0,26.86,27.24,27.06,8.24,18.77
$GC,9597,-1.74,-170.3,2501,1957,2266,2479,1249.0,-21.6,453,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1957,2373,2266,2480,0,0,0,0,0,0,27.50,27.51,27.51,8.21,19.24
$GC,9897,-1.74,-170.3,2501,1958,2264,2478,1312.1,-21.1,458,9904,0.00,3.50,0.00,0.000,260,0.000,0.067,2485,3344,2370,2263,2478,0,0,0,0,0,0,27.50,27.16,27.51,8.19,19.56
$GC,9990,-1.74,-170.3,2485,3344,2263,2478,1326.1,-21.5,459,9995,0.00,3.38,0.00,0.000,1030,0.000,0.052,2485,1958,2370,2263,2478,0,0,0,0,0,0,27.28,27.22,27.30,8.18,19.36
$GC,10312,-1.74,-170.3,2484,1959,2261,2477,1406.9,-22.8,465,10319,0.00,3.58,0.00,0.000,516,0.000,0.077,2485,570,2369,2261,2477,0,0,0,0,0,0,27.51,27.10,27.52,8.17,19.75
$GC,10350,-1.74,-170.3,2485,570,2261,2477,1406.9,-22.8,465,10356,0.12,3.38,0.00,0.000,3078,0.223,0.052,2502,1961,2369,2261,2477,0,0,0,0,0,0,26.84,27.24,27.05,8.17,19.67
$GC,10673,-1.74,-170.3,2502,1961,2260,2475,1488.2,-22.1,471,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1961,2367,2260,2475,0,0,0,0,0,0,27.51,27.52,27.51,8.15,20.34
$GC,10973,-1.74,-170.3,2502,1961,2258,2473,1553.3,-21.6,476,10980,0.00,3.50,0.00,0.000,260,0.000,0.067,2486,3351,2366,2259,2473,0,0,0,0,0,0,27.51,27.17,27.52,8.13,19.99
$GC,11035,-1.74,-170.3,2486,3351,2259,2472,1567.0,-21.8,477,11040,0.00,3.40,0.00,0.000,1030,0.000,0.052,2486,1960,2365,2259,2472,0,0,0,0,0,0,27.28,27.22,27.29,8.13,20.50
$GC,11392,-1.74,-170.3,2485,1960,2257,2471,1646.0,-21.8,483,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1960,2364,2257,2471,0,0,0,0,0,0,27.51,27.53,27.52,8.12,20.66
$GC,11693,-1.74,-170.3,2485,1960,2255,2469,1711.3,-21.7,488,11700,0.00,3.53,0.00,0.000,260,0.000,0.067,2469,3349,2362,2256,2469,0,0,0,0,0,0,27.51,27.16,27.52,8.11,21.29
$GC,11755,-1.74,-170.3,2468,3349,2256,2468,1725.0,-22.0,489,11761,0.12,3.40,0.00,0.000,3078,0.216,0.052,2503,1959,2362,2256,2468,0,0,0,0,0,0,26.83,27.23,27.03,8.11,21.45
$GC,12108,-1.74,-170.3,2503,1959,2254,2468,1799.1,-20.6,495,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1959,2361,2254,2468,0,0,0,0,0,0,27.51,27.53,27.52,8.10,21.01
$GC,12409,-1.74,-170.3,2503,1959,2253,2467,1860.0,-20.3,500,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1959,2360,2253,2467,0,0,0,0,0,0,27.51,27.53,27.52,8.10,21.09
$GC,12708,-1.74,-170.3,2502,1959,2252,2465,1921.0,-20.4,505,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1959,2358,2252,2465,0,0,0,0,0,0,27.51,27.53,27.53,8.08,21.21
$GC,13009,-1.79,-170.3,2503,1960,2251,2464,1983.0,-20.8,510,13016,0.00,3.53,0.00,0.000,260,0.000,0.067,2488,3344,2357,2251,2464,0,0,0,0,0,0,27.51,27.15,27.53,8.08,21.64
$GC,13062,-1.84,-170.3,2487,3344,2250,2464,1983.0,-20.8,510,13069,0.00,3.40,0.00,0.000,1030,0.000,0.052,2488,1958,2357,2250,2464,0,0,0,0,0,0,27.27,27.22,27.29,8.08,21.21
$GC,13368,-1.84,-170.3,2487,1958,2250,2463,2058.3,-20.7,516,13369,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1958,2356,2250,2463,0,0,0,0,0,0,27.51,27.53,27.52,8.07,21.56
$GC,13669,-1.84,-170.3,2487,1958,2249,2462,2119.4,-20.4,521,13670,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1958,2356,2249,2463,0,0,0,0,0,0,27.51,27.53,27.53,8.07,22.04
$GC,13968,-1.84,-170.3,2487,1958,2248,2462,2179.2,-19.8,526,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1958,2355,2248,2462,0,0,0,0,0,0,27.51,27.53,27.53,8.06,21.41
$GC,14268,-1.84,-170.3,2487,1958,2248,2462,2239.1,-20.0,531,14276,0.00,3.53,0.00,0.000,260,0.000,0.067,2471,3344,2355,2248,2462,0,0,0,0,0,0,27.51,27.13,27.53,8.06,21.56
$GC,14317,-1.84,-170.3,2470,3344,2248,2462,2239.1,-20.0,531,14322,0.00,3.40,0.00,0.000,1030,0.000,0.052,2470,1958,2355,2248,2462,0,0,0,0,0,0,27.27,27.22,27.29,8.06,21.88
$GC,14623,-1.84,-170.3,2470,1958,2247,2461,2312.6,-20.6,536,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1958,2353,2246,2461,0,0,0,0,0,0,27.51,27.53,27.53,8.06,21.64
$GC,14923,-1.84,-170.3,2470,1958,2246,2460,2374.2,-20.6,541,14932,0.00,3.55,0.00,0.000,260,0.000,0.067,2453,3356,2353,2246,2460,0,0,0,0,0,0,27.51,27.13,27.53,8.05,21.29
$GC,14977,-1.84,-170.3,2453,3357,2246,2460,2374.2,-20.6,541,14985,0.00,3.45,0.00,0.000,1030,0.000,0.052,2453,1953,2352,2246,2459,0,0,0,0,0,0,27.27,27.21,27.29,8.06,21.88
$GC,15285,-1.84,-170.3,2452,1953,2245,2459,2452.3,-21.5,547,15286,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1953,2352,2245,2459,0,0,0,0,0,0,27.51,27.53,27.53,8.05,21.53
$GC,15584,-1.84,-170.3,2453,1953,2245,2458,2516.3,-21.3,552,15591,0.00,3.55,0.00,0.000,260,0.000,0.067,2436,3344,2351,2245,2458,0,0,0,0,0,0,27.51,27.13,27.52,8.04,21.80
$GC,15622,-1.84,-170.3,2436,3344,2245,2458,2516.3,-21.3,552,15628,0.12,3.40,0.00,0.000,3078,0.216,0.052,2470,1957,2351,2245,2458,0,0,0,0,0,0,26.76,27.21,26.96,8.05,21.25
$GC,15940,-1.84,-170.3,2469,1957,2244,2457,2590.3,-20.6,558,15941,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1957,2350,2244,2457,0,0,0,0,0,0,27.51,27.53,27.52,8.04,21.60
$GC,16240,-1.89,-170.3,2469,1957,2243,2457,2650.5,-20.1,563,16242,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1957,2350,2243,2457,0,0,0,0,0,0,27.51,27.53,27.53,8.03,21.60
$GC,16541,-1.95,-170.3,2469,1956,2242,2456,2710.1,-19.8,568,16542,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1957,2349,2242,2456,0,0,0,0,0,0,27.51,27.53,27.52,8.03,21.80
$GC,16841,-2.01,-170.3,2469,1957,2242,2456,2769.3,-19.7,573,16843,0.10,0.00,0.00,0.000,4102,0.124,0.000,2423,1957,2349,2242,2456,0,0,0,0,0,0,27.24,27.29,27.27,8.03,21.68
$GC,17140,-2.01,-170.3,2421,1957,2242,2455,2832.9,-21.3,578,17141,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1957,2348,2242,2455,0,0,0,0,0,0,27.51,27.53,27.53,8.03,21.80
$GC,17440,-2.01,-170.3,2422,1957,2242,2455,2897.3,-21.4,583,17441,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1957,2348,2242,2455,0,0,0,0,0,0,27.51,27.53,27.53,8.02,21.88
$GC,17740,-2.01,-170.3,2422,1957,2242,2455,2961.5,-21.5,588,17741,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1957,2348,2242,2455,0,0,0,0,0,0,27.51,27.53,27.53,8.02,21.92
$GC,18041,-2.01,-170.3,2422,1957,2242,2455,3024.3,-20.7,593,18042,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1957,2348,2242,2455,0,0,0,0,0,0,27.51,27.53,27.53,8.01,21.96
$GC,18340,-2.01,-170.3,2422,1957,2241,2455,3085.0,-20.2,598,18341,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1957,2348,2241,2455,0,0,0,0,0,0,27.51,27.53,27.53,8.02,22.27
$GC,18640,-2.01,-170.3,2422,1957,2241,2455,3144.5,-19.7,603,18641,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1957,2348,2241,2455,0,0,0,0,0,0,27.51,27.53,27.53,8.01,22.16
$GC,18940,-2.01,-170.3,2422,1957,2241,2455,3202.3,-19.2,608,18941,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1957,2347,2241,2454,0,0,0,0,0,0,27.51,27.53,27.53,8.01,21.92
$GC,19241,-2.01,-170.3,2422,1957,2241,2454,3259.9,-19.2,613,19242,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1957,2347,2241,2454,0,0,0,0,0,0,27.51,27.53,27.53,8.01,21.92
$GC,19540,-2.01,-170.3,2422,1957,2240,2454,3316.5,-18.9,618,19547,0.00,3.55,0.00,0.000,260,0.000,0.067,2405,3344,2346,2240,2453,0,0,0,0,0,0,27.51,27.07,27.53,8.00,22.59
$GC,19583,-2.01,-170.3,2404,3344,2240,2453,3316.5,-18.9,618,19588,0.00,3.40,0.00,0.000,1030,0.000,0.052,2405,1959,2347,2241,2454,0,0,0,0,0,0,27.24,27.18,27.26,8.00,21.64
$GC,19895,-2.01,-170.3,2404,1959,2240,2453,3383.4,-18.8,624,19896,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1959,2346,2240,2453,0,0,0,0,0,0,27.51,27.53,27.52,8.00,21.84
$GC,20195,-2.01,-170.3,2404,1959,2240,2453,3439.3,-18.7,629,20196,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1959,2346,2240,2453,0,0,0,0,0,0,27.51,27.53,27.52,7.99,22.23
$GC,20495,-2.01,-170.3,2404,1960,2239,2453,3494.0,-18.2,634,20496,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1959,2346,2240,2453,0,0,0,0,0,0,27.51,27.53,27.52,8.00,22.00
$GC,20797,-2.01,-170.3,2404,1959,2239,2453,3548.7,-18.3,639,20798,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1959,2346,2239,2453,0,0,0,0,0,0,27.46,27.49,27.48,8.00,22.08
$GC,21097,-2.01,-170.3,2404,1959,2239,2452,3602.0,-17.7,644,21098,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1959,2346,2239,2453,0,0,0,0,0,0,27.46,27.48,27.47,8.00,21.80
$GC,21395,-2.01,-170.3,2404,1959,2238,2453,3654.1,-17.3,649,21396,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1959,2345,2239,2452,0,0,0,0,0,0,27.50,27.52,27.51,7.99,22.31
$GC,21698,-2.01,-170.3,2404,1960,2238,2452,3706.1,-17.3,654,21699,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1959,2345,2238,2452,0,0,0,0,0,0,27.47,27.49,27.48,7.99,22.63
$GC,21996,-2.01,-170.3,2404,1959,2238,2451,3757.2,-17.1,659,21997,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1959,2345,2238,2452,0,0,0,0,0,0,27.50,27.52,27.51,7.99,22.08
$GC,22297,-2.06,-170.3,2404,1959,2237,2452,3807.2,-16.6,664,22303,0.00,3.62,0.00,0.000,516,0.000,0.079,2404,572,2344,2237,2451,0,0,0,0,0,0,27.46,26.93,27.47,7.99,22.19
$GC,22349,-2.11,-170.3,2404,571,2237,2451,3807.2,-16.6,664,22356,0.00,3.40,0.00,0.000,1030,0.000,0.052,2387,1955,2344,2237,2451,0,0,0,0,0,0,27.24,27.17,27.25,7.99,21.76
$GC,22656,-2.11,-170.3,2386,1955,2237,2451,3869.0,-16.7,670,22657,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1955,2344,2237,2451,0,0,0,0,0,0,27.45,27.46,27.46,7.99,22.16
$GC,22955,-2.11,-170.3,2386,1955,2237,2451,3918.7,-16.5,675,22956,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1955,2344,2237,2451,0,0,0,0,0,0,27.49,27.51,27.51,7.99,22.19
$GC,23257,-2.11,-170.3,2386,1955,2237,2450,3967.9,-16.5,680,23258,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1955,2343,2237,2450,0,0,0,0,0,0,27.46,27.47,27.46,7.99,22.08
$GC,23555,-2.11,-170.3,2387,1955,2237,2450,4016.5,-16.1,685,23562,0.00,3.62,0.00,0.000,516,0.000,0.077,2387,569,2343,2237,2450,0,0,0,0,0,0,27.49,26.91,27.51,7.99,22.16
$GC,23624,-2.11,-170.3,2386,568,2237,2450,4027.2,-16.5,686,23629,0.00,3.42,0.00,0.000,1030,0.000,0.052,2370,1962,2343,2237,2450,0,0,0,0,0,0,27.22,27.17,27.24,7.99,22.19
$GC,23979,-2.11,-170.3,2369,1963,2237,2450,4087.1,-16.4,692,23980,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1963,2343,2237,2450,0,0,0,0,0,0,27.46,27.48,27.47,7.99,22.71
$GC,24276,-2.11,-170.3,2369,1962,2237,2450,4135.4,-16.1,697,24283,0.00,3.62,0.00,0.000,516,0.000,0.074,2370,571,2343,2237,2450,0,0,0,0,0,0,27.49,26.90,27.50,7.99,22.04
$GC,24337,-2.11,-170.3,2369,571,2237,2450,4146.4,-16.5,698,24345,0.10,3.40,0.00,0.000,3078,0.221,0.055,2379,1959,2343,2237,2450,0,0,0,0,0,0,26.60,27.17,26.70,7.99,22.35
$GC,24699,-2.17,-170.3,2378,1959,2237,2450,4201.8,-15.2,704,24700,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1959,2343,2237,2449,0,0,0,0,0,0,27.46,27.47,27.46,7.99,21.88
$GC,24998,-2.22,-170.3,2378,1960,2237,2449,4246.9,-14.9,709,24999,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1960,2343,2237,2449,0,0,0,0,0,0,27.45,27.46,27.46,7.99,22.27
$GC,25297,-2.28,-170.3,2378,1960,2236,2449,4291.0,-14.6,714,25305,0.10,3.62,0.00,0.000,4612,0.132,0.074,2328,573,2342,2236,2449,0,0,0,0,0,0,27.17,26.89,27.18,7.98,21.88
$GC,25380,-2.28,-170.3,2327,573,2236,2449,4301.9,-15.3,715,25386,0.00,3.40,0.00,0.000,1030,0.000,0.055,2311,1960,2342,2236,2449,0,0,0,0,0,0,27.21,27.16,27.23,7.99,21.80
$GC,25720,-2.28,-170.3,2310,1960,2236,2449,4361.5,-16.3,721,25721,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1960,2342,2236,2449,0,0,0,0,0,0,27.45,27.47,27.46,7.99,22.35
$GC,26018,-2.28,-170.3,2310,1960,2236,2448,4410.3,-16.1,726,26019,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1959,2342,2236,2448,0,0,0,0,0,0,27.48,27.50,27.49,7.99,22.27
$GC,26318,-2.28,-170.3,2310,1960,2236,2448,4457.9,-15.8,731,26325,0.00,3.62,0.00,0.000,516,0.000,0.074,2310,573,2342,2237,2448,0,0,0,0,0,0,27.48,26.88,27.50,7.99,22.19
$GC,26391,-2.28,-170.3,2310,573,2236,2448,4468.5,-16.2,732,26397,0.12,3.40,0.00,0.000,3078,0.231,0.052,2326,1961,2342,2236,2448,0,0,0,0,0,0,26.54,27.15,26.74,7.99,21.88
$GC,26734,-2.28,-170.3,2324,1961,2236,2448,4523.6,-15.0,738,26735,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1961,2342,2236,2448,0,0,0,0,0,0,27.48,27.51,27.50,8.00,22.43
$STATE,26914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,26914,begin apogee
$GC,26917,-0.63,0.0,2325,1961,2236,2448,4550.4,-15.0,741,27078,1.80,0.00,156.15,3.849,10246,0.189,0.000,2856,1961,1792,1670,1915,0,0,0,0,0,0,26.29,23.28,21.85,7.99,22.19
$STATE,27079,end apogee,CONTROL_FINISHED_OK
$STATE,27079,begin climb
$GC,27080,1.81,170.3,2856,1962,1670,1915,4553.9,0.0,743,27258,2.53,0.00,172.45,3.779,10246,0.122,0.000,3629,1962,1205,1097,1314,0,0,0,0,0,0,23.77,23.25,21.87,7.97,22.04
$GC,27515,1.73,170.3,3629,1962,1097,1314,4474.5,22.4,751,27516,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1962,1206,1098,1314,0,0,0,0,0,0,25.92,25.94,25.94,7.92,21.92
$GC,27815,1.65,170.3,3628,1962,1098,1314,4409.2,21.7,756,27822,0.10,3.85,0.00,0.000,4612,0.246,0.077,3618,542,1205,1097,1314,0,0,0,0,0,0,26.01,26.18,26.13,7.92,20.93
$GC,27867,1.58,170.3,3618,542,1097,1314,4409.2,21.7,756,27876,0.17,3.53,0.00,0.000,5126,0.231,0.052,3574,1925,1205,1097,1314,0,0,0,0,0,0,26.05,26.33,26.25,7.92,21.29
$GC,28175,1.58,170.3,3574,1925,1098,1314,4337.1,19.4,762,28176,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1925,1206,1098,1314,0,0,0,0,0,0,26.82,26.83,26.83,7.91,21.13
$GC,28474,1.58,170.3,3574,1925,1098,1314,4279.6,19.1,767,28475,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1925,1205,1097,1314,0,0,0,0,0,0,26.96,26.98,26.98,7.91,21.96
$GC,28774,1.58,170.3,3574,1925,1098,1314,4223.8,18.7,772,28775,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1925,1206,1098,1314,0,0,0,0,0,0,27.06,27.08,27.07,7.90,21.49
$GC,29074,1.58,170.3,3574,1925,1097,1314,4168.9,18.3,777,29075,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1925,1205,1097,1314,0,0,0,0,0,0,27.13,27.15,27.15,7.89,21.72
$GC,29375,1.58,170.3,3574,1925,1097,1314,4115.5,17.8,782,29381,0.00,3.65,0.00,0.000,516,0.000,0.079,3589,546,1206,1098,1314,0,0,0,0,0,0,27.18,26.82,27.20,7.88,21.76
$GC,29427,1.58,170.3,3589,546,1097,1314,4115.5,17.8,782,29436,0.00,3.45,0.00,0.000,1030,0.000,0.055,3590,1928,1205,1097,1314,0,0,0,0,0,0,26.98,26.94,27.00,7.89,22.19
$GC,29734,1.58,170.3,3589,1928,1097,1314,4049.4,18.1,788,29735,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1927,1205,1097,1314,0,0,0,0,0,0,27.22,27.24,27.24,7.88,21.53
$GC,30034,1.58,170.3,3589,1928,1097,1314,3995.2,18.1,793,30035,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1927,1205,1097,1314,0,0,0,0,0,0,27.26,27.27,27.27,7.88,22.12
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$STATE,62260,end climb,SURFACE_DEPTH_REACHED
$STATE,62260,begin surface coast
$FINISH,1.2,1.019921
$STATE,62271,end surface coast,CONTROL_FINISHED_OK
$STATE,62271,begin surface
$SM_CCo,62287,55.97,0.936,0,0,759,300.09
$SM_GC,1.83,9.10,0.00,55.97,0.072,0.000,0.936,185,1931,759,-8.92,-0.79,300.09,0,0,0,0,0,0,27.05,27.45,25.46
$IRIDIUM_FIX,3145.84,-6412.58,310519,234145
$TT8_MAMPS,0.020972,0.182756
$HUMID,19.87
$INTERNAL_PRESSURE,8.27261
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.0,16.5
$ALTIM_BOTTOM_PING,4429.5,136.2
$24V_AH,21.85,12.214
$10V_AH,10.40,6.494
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.175,371.400,377.600,55.975,103.175,25.716,22.239,335.022,12.750,0.000,26.365,5175.313,52282.461,900.386,4301.809,188.393,0.000,3033.862,0.000,3765.922,0.000,102.667,0.000
$DEVICE_MAMPS,258.232,81.939,3848.650,936.091,168.844,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.720,1931.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319996
$DATA_FILE_SIZE,107451,1480
$CAP_FILE_SIZE,358674,0
$CFSIZE,2046525440,2038792192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,14927.69,0x236d44,0,24
$CURRENT,0.144,257.37,1
$GPS,020619,110342,3145.888,-6410.771,37,0.8,49,-14.9,0.2,17.5,10,5.0