version: 66.14
glider: 46
mission: 5
dive: 22
start: 6 5 119 18 8 41
data:
$ID,46
$MISSION,5
$DIVE,22
$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,1.0275
$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,47
$R_STBD_OVSHOOT,46
$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
$GPS1,050619,175743,3139.6074,-6408.4082,29,0.8,41,-14.9,0.5,256.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-54.4
$GPS2,050619,180803,3139.5872,-6408.5020,9,0.8,26,-14.9,0.3,242.8,10,4.9
$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,323.9,2482,-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,-87.3,175,1933,668,856,1.9,0.2,6,160,0.00,0.00,-82.85,0.151,16390,0.000,0.000,174,1933,2094,1996,2192,0,0,0,0,0,0,26.80,26.37,26.21,8.40,18.10
$GC,162,-1.80,-146.0,174,1933,1996,2192,3.0,-2.5,15,192,9.05,3.65,-12.65,0.179,18692,0.256,0.065,2458,3352,2295,2181,2410,0,0,0,0,0,0,26.03,26.28,26.18,8.54,17.98
$GC,524,-1.80,-146.0,2458,3352,2181,2410,28.6,-9.1,51,534,0.00,3.40,0.00,0.000,1030,0.000,0.055,2458,1963,2295,2181,2410,0,0,0,0,0,0,26.77,26.72,26.78,8.57,17.51
$GC,834,-1.80,-146.0,2458,1963,2181,2410,46.1,-1.7,82,844,0.00,3.60,0.00,0.000,516,0.000,0.077,2458,571,2296,2182,2410,0,0,0,0,0,0,27.11,26.74,27.13,8.58,17.23
$GC,927,-1.72,-146.0,2458,571,2182,2410,47.7,-1.8,91,938,0.22,3.35,0.00,0.000,3078,0.201,0.052,2507,1967,2296,2182,2410,0,0,0,0,0,0,26.50,26.91,26.63,8.58,17.08
$GC,1236,-1.72,-146.0,2506,1967,2182,2410,53.2,-1.8,122,1247,0.00,3.45,0.00,0.000,260,0.000,0.067,2492,3339,2296,2183,2410,0,0,0,0,0,0,27.21,26.89,27.22,8.58,17.39
$GC,1602,-1.72,-146.0,2491,3339,2184,2410,62.4,-3.0,158,1610,0.00,3.35,0.00,0.000,1030,0.000,0.055,2492,1952,2297,2184,2410,0,0,0,0,0,0,27.06,27.02,27.08,8.58,17.47
$GC,1909,-1.72,-146.0,2491,1952,2185,2410,71.6,-2.5,189,1919,0.00,3.47,0.00,0.000,260,0.000,0.067,2475,3339,2297,2185,2410,0,0,0,0,0,0,27.32,26.99,27.32,8.58,17.15
$GC,2404,-1.72,-146.0,2474,3339,2186,2410,92.2,-4.9,238,2412,0.12,3.33,0.00,0.000,3078,0.209,0.055,2510,1961,2298,2186,2410,0,0,0,0,0,0,26.77,27.10,26.96,8.58,17.39
$GC,2711,-1.72,-146.0,2509,1961,2186,2410,105.3,-3.8,269,2721,0.00,3.45,0.00,0.000,260,0.000,0.067,2494,3339,2298,2187,2410,0,0,0,0,0,0,27.38,27.05,27.39,8.57,17.31
$GC,3024,-1.72,-146.0,2494,3339,2187,2410,118.6,-4.8,300,3034,0.00,3.33,0.00,0.000,1030,0.000,0.055,2494,1949,2298,2187,2410,0,0,0,0,0,0,27.15,27.13,27.17,8.57,17.82
$GC,3334,-1.72,-146.0,2493,1949,2187,2410,135.3,-5.5,331,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1949,2298,2187,2410,0,0,0,0,0,0,27.41,27.42,27.42,8.57,17.71
$GC,3644,-1.72,-146.0,2493,1949,2187,2410,157.8,-7.3,357,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1949,2299,2188,2410,0,0,0,0,0,0,27.43,27.43,27.43,8.56,17.23
$GC,3944,-1.72,-146.0,2494,1949,2187,2410,179.5,-7.3,372,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1949,2298,2187,2410,0,0,0,0,0,0,27.43,27.44,27.44,8.55,17.75
$GC,4245,-1.72,-146.0,2494,1948,2187,2410,201.9,-7.6,387,4252,0.00,3.45,0.00,0.000,260,0.000,0.067,2476,3331,2299,2188,2410,0,0,0,0,0,0,27.43,27.13,27.45,8.55,17.75
$GC,4326,-1.72,-146.0,2476,3331,2187,2410,208.4,-7.9,391,4333,0.10,3.28,0.00,0.000,3078,0.199,0.055,2505,1959,2299,2188,2410,0,0,0,0,0,0,26.86,27.19,27.01,8.55,18.14
$GC,4645,-1.72,-146.0,2505,1959,2187,2409,235.1,-9.1,407,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1959,2298,2187,2410,0,0,0,0,0,0,27.45,27.46,27.46,8.55,17.63
$GC,4945,-1.72,-146.0,2505,1959,2188,2410,259.7,-8.3,422,4952,0.00,3.42,0.00,0.000,260,0.000,0.067,2490,3335,2299,2188,2410,0,0,0,0,0,0,27.46,27.13,27.46,8.55,18.06
$GC,5038,-1.72,-146.0,2489,3335,2188,2410,267.3,-9.5,426,5046,0.00,3.30,0.00,0.000,1030,0.000,0.052,2490,1960,2299,2188,2410,0,0,0,0,0,0,27.24,27.20,27.25,8.54,17.94
$GC,5345,-1.72,-146.0,2488,1960,2188,2410,297.0,-9.5,442,5352,0.00,3.42,0.00,0.000,260,0.000,0.067,2472,3333,2298,2187,2410,0,0,0,0,0,0,27.46,27.14,27.47,8.54,18.18
$GC,5489,-1.72,-146.0,2472,3334,2188,2410,309.0,-10.0,447,5497,0.12,3.30,0.00,0.000,3078,0.209,0.055,2508,1956,2299,2188,2410,0,0,0,0,0,0,26.86,27.20,27.05,8.54,18.73
$GC,5796,-1.72,-146.0,2508,1957,2187,2410,338.1,-8.7,458,5803,0.00,3.53,0.00,0.000,516,0.000,0.077,2508,573,2299,2188,2410,0,0,0,0,0,0,27.46,27.08,27.47,8.54,18.49
$GC,5879,-1.72,-146.0,2508,574,2187,2410,344.0,-9.1,460,5887,0.00,3.30,0.00,0.000,1030,0.000,0.052,2493,1959,2298,2187,2410,0,0,0,0,0,0,27.26,27.22,27.27,8.53,18.26
$GC,6186,-1.72,-146.0,2492,1959,2188,2410,373.8,-9.0,471,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1959,2298,2187,2410,0,0,0,0,0,0,27.46,27.48,27.48,8.53,18.97
$GC,6486,-1.72,-146.0,2492,1959,2187,2410,401.9,-9.7,481,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1959,2298,2187,2410,0,0,0,0,0,0,27.47,27.48,27.48,8.53,18.49
$GC,6786,-1.72,-146.0,2492,1959,2187,2410,432.7,-10.5,491,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1959,2298,2187,2410,0,0,0,0,0,0,27.47,27.48,27.48,8.53,18.41
$GC,7086,-1.72,-146.0,2492,1959,2187,2410,466.7,-11.3,501,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1958,2298,2187,2410,0,0,0,0,0,0,27.48,27.48,27.48,8.53,18.61
$GC,7388,-1.72,-146.0,2492,1959,2187,2409,499.6,-10.6,511,7394,0.00,3.53,0.00,0.000,516,0.000,0.077,2492,573,2298,2188,2409,0,0,0,0,0,0,27.48,27.10,27.48,8.52,18.61
$GC,7448,-1.72,-146.0,2492,574,2187,2409,507.1,-11.4,513,7454,0.12,3.30,0.00,0.000,3078,0.214,0.055,2511,1957,2298,2187,2409,0,0,0,0,0,0,26.87,27.24,27.06,8.53,19.08
$GC,7771,-1.72,-146.0,2510,1957,2187,2409,542.0,-10.9,524,7778,0.00,3.47,0.00,0.000,260,0.000,0.067,2496,3345,2298,2187,2409,0,0,0,0,0,0,27.48,27.15,27.49,8.52,18.97
$GC,7834,-1.72,-146.0,2495,3345,2187,2409,549.1,-11.3,526,7839,0.00,3.33,0.00,0.000,1030,0.000,0.052,2495,1961,2298,2187,2409,0,0,0,0,0,0,27.26,27.21,27.28,8.52,18.22
$GC,8156,-1.72,-146.0,2495,1961,2187,2409,587.9,-11.4,537,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1961,2298,2187,2409,0,0,0,0,0,0,27.48,27.49,27.49,8.51,18.65
$GC,8457,-1.72,-146.0,2495,1961,2187,2408,622.8,-11.5,547,8463,0.00,3.45,0.00,0.000,260,0.000,0.067,2478,3340,2297,2187,2408,0,0,0,0,0,0,27.48,27.15,27.49,8.50,18.69
$GC,8595,-1.72,-146.0,2478,3340,2187,2408,637.6,-12.4,551,8601,0.10,3.33,0.00,0.000,3078,0.214,0.052,2506,1955,2297,2187,2408,0,0,0,0,0,0,26.90,27.22,27.08,8.50,18.34
$GC,8901,-1.72,-146.0,2505,1955,2187,2407,678.1,-12.9,561,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1955,2297,2187,2407,0,0,0,0,0,0,27.48,27.50,27.49,8.47,19.12
$GC,9201,-1.72,-146.0,2505,1955,2187,2406,718.4,-13.6,571,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1955,2297,2187,2407,0,0,0,0,0,0,27.48,27.50,27.50,8.47,19.20
$GC,9501,-1.72,-146.0,2505,1955,2186,2406,756.5,-12.7,581,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1955,2296,2187,2406,0,0,0,0,0,0,27.48,27.51,27.50,8.46,18.53
$GC,9801,-1.72,-146.0,2505,1955,2186,2405,798.2,-14.3,591,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1956,2295,2186,2405,0,0,0,0,0,0,27.49,27.51,27.50,8.43,18.81
$GC,10101,-1.72,-146.0,2505,1955,2185,2404,843.1,-15.2,601,10108,0.00,3.47,0.00,0.000,260,0.000,0.067,2490,3340,2295,2186,2404,0,0,0,0,0,0,27.49,27.16,27.50,8.41,18.77
$GC,10225,-1.72,-146.0,2489,3340,2186,2404,863.1,-16.7,605,10230,0.00,3.33,0.00,0.000,1030,0.000,0.052,2490,1958,2294,2185,2404,0,0,0,0,0,0,27.27,27.22,27.29,8.40,19.12
$GC,10547,-1.72,-146.0,2489,1958,2185,2403,914.0,-15.3,616,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1958,2294,2185,2403,0,0,0,0,0,0,27.49,27.51,27.51,8.38,18.93
$GC,10848,-1.72,-146.0,2490,1958,2184,2401,960.2,-16.0,626,10854,0.00,3.55,0.00,0.000,516,0.000,0.077,2490,568,2292,2183,2401,0,0,0,0,0,0,27.49,27.10,27.51,8.34,19.16
$GC,10969,-1.72,-146.0,2489,568,2184,2401,984.0,-19.7,630,10976,0.10,3.33,0.00,0.000,3078,0.211,0.055,2502,1957,2292,2184,2401,0,0,0,0,0,0,26.87,27.25,26.98,8.33,18.93
$GC,11298,-1.72,-146.0,2501,1958,2183,2399,1045.3,-18.9,637,11305,0.00,3.47,0.00,0.000,260,0.000,0.067,2486,3345,2291,2183,2399,0,0,0,0,0,0,27.50,27.17,27.51,8.29,18.97
$GC,11465,-1.72,-146.0,2486,3344,2183,2399,1069.6,-19.5,639,11471,0.00,3.35,0.00,0.000,1030,0.000,0.052,2486,1960,2291,2183,2399,0,0,0,0,0,0,27.28,27.23,27.29,8.29,18.85
$GC,11773,-1.72,-146.0,2485,1960,2181,2397,1138.8,-19.6,644,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1960,2290,2181,2399,0,0,0,0,0,0,27.50,27.51,27.51,8.25,19.52
$GC,12073,-1.72,-146.0,2485,1960,2181,2396,1198.3,-19.9,649,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1960,2288,2181,2396,0,0,0,0,0,0,27.50,27.51,27.51,8.23,19.79
$GC,12373,-1.72,-146.0,2486,1960,2179,2395,1257.5,-19.8,654,12380,0.00,3.50,0.00,0.000,260,0.000,0.065,2469,3344,2286,2179,2394,0,0,0,0,0,0,27.50,27.16,27.51,8.22,20.19
$GC,12421,-1.72,-146.0,2469,3344,2179,2395,1257.5,-19.8,654,12427,0.12,3.35,0.00,0.000,3078,0.209,0.052,2504,1957,2287,2180,2394,0,0,0,0,0,0,26.85,27.24,27.05,8.21,20.03
$GC,12728,-1.72,-146.0,2503,1957,2177,2393,1328.4,-19.6,659,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1957,2285,2177,2393,0,0,0,0,0,0,27.50,27.52,27.51,8.19,20.46
$GC,13028,-1.72,-146.0,2503,1957,2176,2391,1388.4,-20.0,664,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1957,2284,2177,2391,0,0,0,0,0,0,27.51,27.52,27.52,8.17,20.54
$GC,13328,-1.72,-146.0,2503,1956,2174,2390,1449.0,-20.1,669,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1957,2282,2174,2390,0,0,0,0,0,0,27.51,27.52,27.52,8.16,20.66
$GC,13628,-1.72,-146.0,2503,1957,2173,2388,1509.3,-20.0,674,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1957,2280,2173,2388,0,0,0,0,0,0,27.51,27.53,27.52,8.14,20.82
$GC,13928,-1.72,-146.0,2503,1957,2172,2387,1568.9,-19.9,679,13935,0.00,3.53,0.00,0.000,260,0.000,0.065,2488,3344,2279,2172,2387,0,0,0,0,0,0,27.51,27.15,27.52,8.13,20.97
$GC,13990,-1.72,-146.0,2488,3344,2172,2386,1581.8,-20.2,680,13996,0.00,3.38,0.00,0.000,1030,0.000,0.052,2488,1957,2279,2172,2387,0,0,0,0,0,0,27.29,27.24,27.30,8.13,21.60
$GC,14348,-1.72,-146.0,2488,1957,2171,2385,1657.4,-21.1,686,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1957,2277,2170,2385,0,0,0,0,0,0,27.51,27.52,27.52,8.12,20.97
$GC,14648,-1.72,-146.0,2487,1957,2169,2383,1720.6,-21.1,691,14650,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1957,2276,2169,2384,0,0,0,0,0,0,27.51,27.52,27.52,8.11,21.29
$GC,14948,-1.72,-146.0,2488,1957,2168,2382,1784.2,-21.2,696,14955,0.00,3.50,0.00,0.000,260,0.000,0.065,2471,3339,2274,2168,2381,0,0,0,0,0,0,27.51,27.15,27.52,8.10,21.56
$GC,15017,-1.72,-146.0,2471,3339,2168,2381,1797.7,-21.5,697,15025,0.12,3.38,0.00,0.000,3078,0.209,0.052,2505,1954,2274,2168,2381,0,0,0,0,0,0,26.82,27.23,27.01,8.10,21.41
$GC,15368,-1.78,-146.0,2505,1954,2168,2381,1871.5,-20.4,703,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1954,2274,2167,2381,0,0,0,0,0,0,27.51,27.52,27.52,8.08,21.88
$GC,15668,-1.83,-146.0,2505,1954,2166,2381,1931.7,-19.9,708,15676,0.00,3.53,0.00,0.000,260,0.000,0.067,2490,3343,2273,2166,2380,0,0,0,0,0,0,27.51,27.14,27.52,8.08,21.49
$GC,15716,-1.88,-146.0,2490,3343,2166,2380,1931.7,-19.9,708,15722,0.00,3.38,0.00,0.000,1030,0.000,0.052,2490,1963,2273,2167,2380,0,0,0,0,0,0,27.27,27.22,27.29,8.09,21.56
$GC,16023,-1.88,-146.0,2490,1962,2166,2379,2003.1,-19.9,713,16024,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1962,2272,2166,2379,0,0,0,0,0,0,27.51,27.52,27.52,8.07,21.68
$GC,16323,-1.88,-146.0,2490,1962,2164,2379,2063.1,-19.9,718,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1963,2271,2164,2379,0,0,0,0,0,0,27.51,27.53,27.51,8.07,21.76
$GC,16623,-1.88,-146.0,2490,1962,2163,2378,2122.1,-19.7,723,16630,0.00,3.53,0.00,0.000,260,0.000,0.065,2473,3342,2270,2162,2378,0,0,0,0,0,0,27.51,27.13,27.52,8.07,21.80
$GC,16716,-1.88,-146.0,2473,3342,2163,2378,2134.8,-19.9,724,16722,0.00,3.40,0.00,0.000,1030,0.000,0.052,2473,1954,2270,2163,2378,0,0,0,0,0,0,27.27,27.22,27.29,8.06,22.27
$GC,17039,-1.88,-146.0,2472,1955,2161,2377,2206.4,-19.9,730,17040,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1956,2269,2161,2377,0,0,0,0,0,0,27.51,27.52,27.51,8.06,21.88
$GC,17339,-1.88,-146.0,2473,1955,2161,2376,2266.9,-20.2,735,17340,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1955,2268,2161,2376,0,0,0,0,0,0,27.51,27.53,27.52,8.05,21.88
$GC,17639,-1.88,-146.0,2473,1956,2160,2375,2327.0,-20.0,740,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1955,2268,2161,2375,0,0,0,0,0,0,27.51,27.52,27.51,8.05,21.88
$GC,17939,-1.88,-146.0,2473,1955,2160,2375,2386.3,-19.7,745,17946,0.00,3.53,0.00,0.000,260,0.000,0.065,2457,3342,2267,2160,2375,0,0,0,0,0,0,27.51,27.12,27.52,8.05,22.00
$GC,18001,-1.88,-146.0,2456,3342,2160,2374,2398.8,-19.8,746,18006,0.00,3.38,0.00,0.000,1030,0.000,0.052,2457,1966,2267,2160,2374,0,0,0,0,0,0,27.27,27.21,27.28,8.05,21.84
$GC,18359,-1.88,-146.0,2456,1962,2160,2374,2468.8,-19.2,752,18360,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1962,2266,2159,2374,0,0,0,0,0,0,27.51,27.52,27.51,8.04,21.96
$GC,18659,-1.88,-146.0,2456,1962,2159,2373,2525.1,-18.8,757,18660,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1962,2266,2159,2373,0,0,0,0,0,0,27.51,27.52,27.52,8.04,22.16
$GC,18959,-1.88,-146.0,2456,1962,2159,2373,2581.7,-18.8,762,18960,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1962,2266,2159,2373,0,0,0,0,0,0,27.51,27.52,27.52,8.03,22.04
$GC,19259,-1.88,-146.0,2456,1962,2158,2372,2637.7,-18.6,767,19266,0.00,3.50,0.00,0.000,260,0.000,0.067,2440,3341,2265,2158,2372,0,0,0,0,0,0,27.51,27.10,27.52,8.02,22.47
$GC,19311,-1.88,-146.0,2440,3341,2158,2372,2637.7,-18.6,767,19320,0.00,3.40,0.00,0.000,1030,0.000,0.052,2440,1953,2265,2158,2372,0,0,0,0,0,0,27.25,27.20,27.27,8.02,22.16
$GC,19619,-1.88,-146.0,2439,1953,2157,2372,2707.4,-19.3,773,19620,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1953,2264,2157,2372,0,0,0,0,0,0,27.51,27.52,27.51,8.03,22.31
$GC,19919,-1.88,-146.0,2439,1953,2156,2372,2765.7,-19.4,778,19920,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1953,2264,2156,2372,0,0,0,0,0,0,27.51,27.52,27.51,8.03,21.92
$GC,20219,-1.88,-146.0,2439,1953,2156,2371,2823.3,-19.1,783,20226,0.00,3.53,0.00,0.000,260,0.000,0.065,2423,3341,2264,2156,2372,0,0,0,0,0,0,27.51,27.09,27.52,8.02,22.16
$GC,20282,-1.88,-146.0,2422,3341,2156,2371,2835.5,-19.3,784,20288,0.12,3.40,0.00,0.000,3078,0.211,0.052,2457,1953,2263,2156,2371,0,0,0,0,0,0,26.72,27.19,26.91,8.02,22.19
$GC,20636,-1.94,-146.0,2456,1953,2156,2371,2900.5,-18.1,790,20637,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1953,2263,2156,2371,0,0,0,0,0,0,27.50,27.52,27.51,8.02,21.96
$GC,20936,-2.00,-146.0,2456,1953,2155,2371,2955.1,-18.2,795,20937,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1953,2263,2155,2371,0,0,0,0,0,0,27.51,27.52,27.52,8.01,22.27
$GC,21236,-2.06,-146.0,2456,1953,2155,2371,3008.8,-17.9,800,21238,0.12,0.00,0.00,0.000,4102,0.112,0.000,2400,1953,2263,2155,2371,0,0,0,0,0,0,27.22,27.27,27.24,8.01,22.16
$GC,21535,-2.06,-146.0,2399,1953,2155,2371,3065.8,-19.1,805,21543,0.00,3.55,0.00,0.000,260,0.000,0.065,2382,3341,2262,2155,2370,0,0,0,0,0,0,27.51,27.08,27.52,8.01,22.94
$GC,21604,-2.06,-146.0,2381,3341,2155,2371,3077.8,-19.2,806,21609,0.00,3.40,0.00,0.000,1030,0.000,0.052,2381,1954,2262,2155,2370,0,0,0,0,0,0,27.24,27.18,27.25,8.01,22.43
$GC,21951,-2.06,-146.0,2381,1954,2155,2370,3146.9,-19.4,812,21952,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1954,2262,2155,2370,0,0,0,0,0,0,27.50,27.52,27.51,8.00,22.19
$GC,22251,-2.06,-146.0,2381,1955,2155,2369,3204.9,-19.3,817,22252,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1954,2262,2155,2369,0,0,0,0,0,0,27.51,27.52,27.52,8.00,22.67
$GC,22551,-2.06,-146.0,2381,1954,2155,2369,3261.2,-18.8,822,22552,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1954,2262,2155,2369,0,0,0,0,0,0,27.51,27.52,27.51,8.00,22.27
$GC,22851,-2.06,-146.0,2381,1954,2155,2368,3318.1,-18.9,827,22852,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1954,2261,2155,2368,0,0,0,0,0,0,27.50,27.52,27.51,8.00,22.35
$GC,23151,-2.06,-146.0,2381,1954,2154,2368,3374.2,-18.6,832,23152,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1954,2261,2154,2368,0,0,0,0,0,0,27.51,27.52,27.51,7.99,22.31
$GC,23451,-2.06,-146.0,2381,1955,2154,2368,3428.5,-18.0,837,23458,0.00,3.58,0.00,0.000,260,0.000,0.065,2364,3353,2261,2154,2368,0,0,0,0,0,0,27.51,27.05,27.51,7.99,22.19
$GC,23514,-2.06,-146.0,2363,3353,2155,2368,3439.9,-18.2,838,23520,0.12,3.42,0.00,0.000,3078,0.219,0.052,2397,1957,2260,2154,2367,0,0,0,0,0,0,26.65,27.17,26.83,8.00,22.47
$GC,23870,-2.06,-146.0,2396,1957,2155,2368,3500.6,-16.9,844,23872,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1957,2260,2154,2367,0,0,0,0,0,0,27.47,27.48,27.48,7.99,22.67
$GC,24168,-2.06,-146.0,2397,1957,2153,2368,3550.6,-16.7,849,24169,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2261,2154,2368,0,0,0,0,0,0,27.50,27.51,27.51,7.99,22.51
$GC,24467,-2.06,-146.0,2397,1957,2153,2367,3599.3,-16.2,854,24469,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2260,2153,2368,0,0,0,0,0,0,27.49,27.51,27.51,7.99,22.63
$GC,24769,-2.06,-146.0,2396,1957,2153,2367,3647.5,-16.2,859,24770,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2260,2153,2367,0,0,0,0,0,0,27.45,27.46,27.46,7.99,22.67
$GC,25067,-2.06,-146.0,2397,1957,2153,2367,3695.3,-15.9,864,25069,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2260,2153,2367,0,0,0,0,0,0,27.49,27.51,27.51,7.99,22.59
$GC,25369,-2.06,-146.0,2397,1957,2153,2367,3742.6,-15.7,869,25370,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2260,2153,2367,0,0,0,0,0,0,27.45,27.47,27.46,7.99,22.55
$GC,25668,-2.06,-146.0,2397,1957,2152,2367,3789.3,-15.6,874,25669,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2259,2152,2367,0,0,0,0,0,0,27.49,27.51,27.50,7.99,22.90
$GC,25968,-2.06,-146.0,2397,1957,2153,2366,3836.3,-15.6,879,25969,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2259,2152,2366,0,0,0,0,0,0,27.49,27.51,27.51,7.98,22.51
$GC,26269,-2.11,-146.0,2396,1957,2152,2366,3882.3,-15.2,884,26270,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2259,2152,2366,0,0,0,0,0,0,27.44,27.46,27.46,7.99,22.75
$GC,26570,-2.17,-146.0,2396,1957,2151,2366,3927.7,-15.0,889,26571,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1957,2259,2152,2366,0,0,0,0,0,0,27.45,27.47,27.46,7.99,22.35
$GC,26868,-2.22,-146.0,2396,1957,2151,2366,3972.6,-15.0,894,26870,0.10,0.00,0.00,0.000,4102,0.124,0.000,2356,1957,2259,2152,2366,0,0,0,0,0,0,27.21,27.25,27.23,7.98,22.71
$GC,27169,-2.22,-146.0,2356,1957,2152,2365,4020.1,-15.9,899,27170,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1957,2258,2152,2365,0,0,0,0,0,0,27.43,27.46,27.45,7.98,22.27
$GC,27470,-2.22,-146.0,2356,1957,2151,2365,4066.9,-15.5,904,27471,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1957,2258,2152,2365,0,0,0,0,0,0,27.45,27.47,27.46,7.98,22.55
$GC,27768,-2.22,-146.0,2356,1957,2151,2365,4112.8,-15.2,909,27769,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1957,2258,2151,2365,0,0,0,0,0,0,27.48,27.50,27.50,7.98,22.63
$GC,28067,-2.22,-146.0,2356,1957,2152,2365,4157.7,-14.9,914,28075,0.00,3.62,0.00,0.000,516,0.000,0.074,2357,572,2258,2151,2365,0,0,0,0,0,0,27.48,26.86,27.50,7.99,22.59
$GC,28121,-2.22,-146.0,2356,572,2151,2365,4157.7,-14.9,914,28134,0.00,3.40,0.00,0.000,1030,0.000,0.052,2340,1957,2258,2151,2365,0,0,0,0,0,0,27.21,27.16,27.22,7.99,22.51
$GC,28427,-2.22,-146.0,2339,1957,2151,2365,4213.1,-15.1,920,28429,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1957,2258,2152,2365,0,0,0,0,0,0,27.48,27.50,27.49,7.99,22.59
$GC,28727,-2.22,-146.0,2339,1957,2151,2364,4258.1,-15.0,925,28729,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1957,2257,2151,2364,0,0,0,0,0,0,27.48,27.51,27.49,7.98,22.94
$GC,29028,-2.22,-146.0,2339,1957,2151,2364,4302.4,-14.9,930,29029,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1957,2257,2151,2364,0,0,0,0,0,0,27.48,27.51,27.50,7.98,22.82
$GC,29327,-2.22,-146.0,2339,1957,2151,2364,4346.2,-14.5,935,29329,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1957,2257,2151,2364,0,0,0,0,0,0,27.48,27.51,27.51,7.98,22.35
$GC,29627,-2.22,-146.0,2339,1957,2152,2364,4389.0,-14.2,940,29629,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1957,2257,2151,2364,0,0,0,0,0,0,27.49,27.51,27.50,7.98,22.55
$GC,29927,-2.22,-146.0,2339,1957,2151,2364,4430.8,-13.9,945,29935,0.00,3.62,0.00,0.000,516,0.000,0.074,2340,571,2257,2151,2363,0,0,0,0,0,0,27.49,26.86,27.51,7.98,23.14
$GC,29990,-2.22,-146.0,2339,571,2151,2364,4440.1,-14.2,946,29996,0.00,3.42,0.00,0.000,1030,0.000,0.052,2323,1964,2257,2151,2363,0,0,0,0,0,0,27.20,27.15,27.22,7.99,22.47
$STATE,30042,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,30042,begin apogee
$GC,30045,-0.63,0.0,2323,1964,2151,2364,4448.2,-14.5,947,30180,1.80,0.00,130.43,3.789,10246,0.184,0.000,2855,1964,1793,1671,1915,0,0,0,0,0,0,26.22,23.37,21.92,7.98,22.27
$STATE,30181,end apogee,CONTROL_FINISHED_OK
$STATE,30181,begin climb
$GC,30182,1.80,146.0,2855,1964,1671,1915,4451.4,0.0,949,30335,2.50,0.00,147.10,3.712,10246,0.114,0.000,3632,1964,1289,1178,1401,0,0,0,0,0,0,23.84,23.30,21.93,7.97,22.47
$GC,30583,1.73,146.0,3631,1964,1179,1401,4384.5,20.3,956,30584,0.00,0.00,0.00,0.000,6,0.000,0.000,3632,1964,1290,1179,1401,0,0,0,0,0,0,25.94,25.95,25.95,7.93,21.80
$GC,30884,1.65,146.0,3632,1964,1179,1401,4324.8,19.9,961,30886,0.12,0.00,0.00,0.000,4102,0.216,0.000,3602,1964,1290,1179,1401,0,0,0,0,0,0,26.03,26.27,26.21,7.92,21.41
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$STATE,67544,begin surface coast
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$ALTIM_TOP_PING,19.5,17.0
$ALTIM_BOTTOM_PING,4166.9,299.6
$24V_AH,21.92,14.244
$10V_AH,10.43,7.323
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.625,360.300,331.350,71.075,95.500,24.447,46.822,392.927,9.250,0.000,27.170,5882.846,56590.254,884.563,4672.625,202.533,0.000,3165.878,0.000,4068.808,0.000,74.008,0.000
$DEVICE_MAMPS,255.749,79.456,3789.058,943.540,178.776,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1204.091,2263.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319952
$DATA_FILE_SIZE,124637,1734
$CAP_FILE_SIZE,384099,0
$CFSIZE,2046525440,2037710848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.124,262.66,1
$GPS,060619,125743,3144.522,-6421.142,40,0.9,59,-14.9,0.0,254.6,9,4.9