version: 66.14
glider: 46
mission: 5
dive: 97
start: 7 31 119 17 32 23
data:
$ID,46
$MISSION,5
$DIVE,97
$N_DIVES,0
$STOP_T,8071919
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$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,3000
$T_MISSION,3300
$T_ABORT,3360
$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,390
$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,12
$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,3045
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.73
$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,2215
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2280
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$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
$GPS1,310719,171658,3633.0269,-6203.4849,29,1.0,56,-16.1,0.9,185.0,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-50.7
$GPS2,310719,173126,3632.5872,-6203.3623,10,1.1,36,-16.1,1.0,166.2,8,5.0
$SPEED_LIMITS,0.104,0.205
$TGT_NAME,W
$TGT_LATLONG,3630.000,-6230.230
$TGT_RADIUS,20000.000
$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,308.1,40285,-14.0,-6.000,-18.02,3328
$D_GRID,5400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
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$GC,881,-0.93,-170.3,2744,834,2750,2992,42.0,-3.3,86,888,0.00,3.35,0.00,0.000,1030,0.000,0.055,2738,2218,2871,2750,2992,0,0,0,0,0,0,27.03,26.98,27.05,8.72,18.30
$GC,1189,-0.93,-170.3,2738,2217,2752,2993,52.0,-2.5,117,1199,0.00,3.50,0.00,0.000,516,0.000,0.072,2738,836,2873,2752,2994,0,0,0,0,0,0,27.32,26.87,27.33,8.71,17.78
$GC,1371,-0.93,-170.3,2738,836,2752,2994,58.3,-5.0,135,1381,0.00,3.33,0.00,0.000,1030,0.000,0.055,2724,2216,2873,2752,2995,0,0,0,0,0,0,27.09,27.04,27.10,8.71,18.26
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$GC,2087,-0.88,-170.3,2759,2198,2754,2995,82.6,-2.4,206,2096,0.00,3.58,0.00,0.000,260,0.000,0.072,2752,3607,2874,2754,2995,0,0,0,0,0,0,27.37,26.96,27.39,8.68,17.86
$GC,2543,-0.88,-170.3,2751,3607,2755,2995,98.1,-3.5,251,2550,0.00,3.30,0.00,0.000,1030,0.000,0.052,2752,2220,2875,2755,2995,0,0,0,0,0,0,27.19,27.16,27.20,8.66,18.49
$GC,2849,-0.88,-170.3,2751,2219,2755,2995,108.4,-5.7,282,2859,0.00,3.47,0.00,0.000,516,0.000,0.072,2752,844,2875,2755,2995,0,0,0,0,0,0,27.39,26.96,27.40,8.64,18.73
$GC,3014,-0.88,-170.3,2751,844,2755,2995,119.3,-6.8,298,3022,0.00,3.30,0.00,0.000,1030,0.000,0.055,2743,2214,2875,2755,2995,0,0,0,0,0,0,27.15,27.10,27.17,8.64,18.73
$GC,3323,-0.88,-170.3,2742,2214,2755,2995,135.1,-3.6,329,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2214,2875,2755,2995,0,0,0,0,0,0,27.39,27.41,27.41,8.62,18.53
$GC,3622,-0.88,-170.3,2741,2214,2755,2996,146.8,-3.8,359,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2214,2875,2755,2995,0,0,0,0,0,0,27.40,27.41,27.41,8.62,18.81
$GC,3922,-0.88,-170.3,2742,2214,2755,2995,162.7,-5.3,378,3928,0.00,3.47,0.00,0.000,516,0.000,0.072,2742,840,2875,2755,2995,0,0,0,0,0,0,27.40,26.98,27.41,8.60,19.01
$GC,4014,-0.88,-170.3,2741,840,2755,2995,167.8,-6.4,382,4024,0.10,3.33,0.00,0.000,3078,0.179,0.055,2760,2220,2875,2755,2995,0,0,0,0,0,0,26.85,27.10,26.97,8.60,18.97
$GC,4321,-0.88,-170.3,2760,2220,2755,2995,182.8,-4.5,398,4328,0.00,3.50,0.00,0.000,260,0.000,0.070,2752,3608,2875,2755,2995,0,0,0,0,0,0,27.41,27.00,27.41,8.59,19.20
$GC,4401,-0.88,-170.3,2752,3608,2755,2996,186.9,-5.0,402,4408,0.00,3.33,0.00,0.000,1030,0.000,0.052,2752,2213,2875,2755,2995,0,0,0,0,0,0,27.21,27.18,27.22,8.59,19.20
$GC,4721,-0.88,-170.3,2751,2213,2755,2995,202.2,-5.4,418,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2214,2875,2755,2995,0,0,0,0,0,0,27.41,27.42,27.41,8.59,19.08
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$GC,6223,-0.88,-170.3,2751,2213,2755,2990,291.3,-5.7,493,6229,0.00,3.53,0.00,0.000,260,0.000,0.072,2752,3602,2872,2755,2989,0,0,0,0,0,0,27.41,27.02,27.42,8.55,20.11
$GC,6303,-0.88,-170.3,2751,3602,2754,2988,295.7,-5.6,497,6309,0.00,3.30,0.00,0.000,1030,0.000,0.052,2752,2214,2872,2755,2989,0,0,0,0,0,0,27.20,27.19,27.21,8.55,20.07
$GC,6612,-0.88,-170.3,2751,2214,2755,2987,311.8,-5.4,509,6618,0.00,3.45,0.00,0.000,516,0.000,0.072,2752,842,2871,2754,2988,0,0,0,0,0,0,27.41,27.00,27.42,8.54,20.62
$GC,6724,-0.88,-170.3,2751,842,2754,2987,318.5,-7.1,512,6733,0.00,3.33,0.00,0.000,1030,0.000,0.052,2752,2218,2870,2754,2987,0,0,0,0,0,0,27.17,27.12,27.19,8.54,20.07
$GC,7031,-0.88,-170.3,2751,2218,2754,2986,343.0,-7.4,523,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2218,2870,2754,2986,0,0,0,0,0,0,27.41,27.43,27.42,8.53,20.30
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$GC,7999,-0.88,-170.3,2748,3607,2752,2985,416.5,-8.4,555,8005,0.00,3.35,0.00,0.000,1030,0.000,0.050,2748,2205,2868,2752,2985,0,0,0,0,0,0,27.22,27.19,27.23,8.50,20.19
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$GC,10807,-0.88,-170.3,2739,2217,2746,2978,649.4,-8.9,649,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2217,2862,2746,2978,0,0,0,0,0,0,27.42,27.43,27.43,8.39,21.56
$GC,11107,-0.88,-170.3,2739,2217,2746,2977,676.0,-8.7,659,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2217,2861,2745,2977,0,0,0,0,0,0,27.42,27.44,27.43,8.37,21.53
$GC,11407,-0.88,-170.3,2740,2217,2746,2977,702.1,-8.9,669,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2217,2861,2746,2977,0,0,0,0,0,0,27.42,27.43,27.43,8.35,22.16
$GC,11707,-0.88,-170.3,2739,2217,2745,2976,731.5,-10.1,679,11714,0.00,3.50,0.00,0.000,516,0.000,0.070,2740,831,2860,2745,2976,0,0,0,0,0,0,27.42,27.01,27.43,8.34,22.35
$GC,11760,-0.88,-170.3,2738,832,2744,2976,735.0,-10.5,680,11768,0.12,3.38,0.00,0.000,3078,0.171,0.052,2766,2216,2860,2744,2976,0,0,0,0,0,0,26.84,27.13,26.98,8.33,21.76
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$GC,45097,-1.25,-170.3,2631,839,2704,2935,3953.2,-9.5,1277,45103,0.00,3.47,0.00,0.000,1030,0.000,0.055,2619,2217,2819,2704,2935,0,0,0,0,0,0,26.94,26.86,26.96,7.96,24.32
$GC,45420,-1.25,-170.3,2618,2216,2704,2934,3987.2,-9.3,1283,45421,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2217,2819,2704,2934,0,0,0,0,0,0,27.41,27.42,27.42,7.97,24.71
$GC,45720,-1.25,-170.3,2618,2216,2704,2934,4014.6,-9.2,1288,45721,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2217,2819,2704,2934,0,0,0,0,0,0,27.41,27.42,27.42,7.96,24.60
$GC,46021,-1.25,-170.3,2618,2217,2704,2934,4041.7,-9.0,1293,46028,0.00,3.62,0.00,0.000,516,0.000,0.070,2618,834,2819,2704,2934,0,0,0,0,0,0,27.34,26.54,27.34,7.97,24.52
$GC,46103,-1.25,-170.3,2618,834,2704,2934,4047.7,-9.2,1294,46110,0.12,3.50,0.00,0.000,3078,0.176,0.055,2641,2223,2819,2704,2934,0,0,0,0,0,0,26.42,26.86,26.53,7.97,24.28
$GC,46437,-1.25,-170.3,2641,2223,2704,2934,4077.1,-7.8,1300,46444,0.00,3.62,0.00,0.000,516,0.000,0.067,2642,837,2819,2704,2934,0,0,0,0,0,0,27.40,26.54,27.42,7.96,25.15
$GC,46489,-1.25,-170.3,2641,837,2704,2934,4077.1,-7.8,1300,46501,0.00,3.47,0.00,0.000,1030,0.000,0.052,2642,2218,2819,2704,2934,0,0,0,0,0,0,26.93,26.86,26.95,7.96,24.28
$GC,46797,-1.25,-170.3,2641,2218,2704,2934,4104.9,-7.4,1306,46798,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2218,2818,2704,2933,0,0,0,0,0,0,27.40,27.42,27.41,7.97,24.32
$GC,47097,-1.25,-170.3,2641,2218,2704,2934,4126.7,-7.2,1311,47098,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2218,2819,2704,2934,0,0,0,0,0,0,27.41,27.42,27.41,7.96,24.56
$GC,47397,-1.25,-170.3,2640,2218,2704,2934,4147.0,-6.6,1316,47405,0.00,3.60,0.00,0.000,516,0.000,0.070,2642,841,2819,2704,2934,0,0,0,0,0,0,27.41,26.53,27.41,7.96,24.56
$GC,47457,-1.25,-170.3,2641,841,2704,2934,4151.8,-6.9,1317,47465,0.00,3.47,0.00,0.000,1030,0.000,0.055,2642,2219,2818,2703,2934,0,0,0,0,0,0,26.92,26.85,26.94,7.97,24.68
$GC,47817,-1.25,-170.3,2641,2219,2704,2934,4176.8,-6.8,1323,47818,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2219,2819,2704,2934,0,0,0,0,0,0,27.41,27.41,27.42,7.97,24.28
$GC,48117,-1.25,-170.3,2641,2219,2704,2934,4196.9,-6.6,1328,48124,0.00,3.62,0.00,0.000,516,0.000,0.070,2642,838,2819,2704,2934,0,0,0,0,0,0,27.41,26.51,27.41,7.96,24.60
$GC,48187,-1.25,-170.3,2641,838,2703,2934,4201.5,-6.8,1329,48193,0.00,3.47,0.00,0.000,1030,0.000,0.055,2642,2216,2818,2703,2934,0,0,0,0,0,0,26.91,26.84,26.94,7.97,24.40
$GC,48535,-1.25,-170.3,2641,2216,2703,2934,4227.4,-7.3,1335,48537,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2216,2818,2703,2934,0,0,0,0,0,0,27.40,27.42,27.41,7.96,24.99
$GC,48835,-1.25,-170.3,2641,2217,2704,2934,4250.8,-7.8,1340,48836,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2216,2819,2704,2934,0,0,0,0,0,0,27.40,27.42,27.41,7.96,24.68
$GC,49135,-1.30,-170.3,2641,2216,2704,2934,4274.8,-8.1,1345,49143,0.00,3.60,0.00,0.000,516,0.000,0.070,2642,841,2819,2704,2934,0,0,0,0,0,0,27.41,26.51,27.41,7.96,24.44
$GC,49196,-1.30,-170.3,2641,841,2704,2934,4280.1,-8.2,1346,49203,0.00,3.45,0.00,0.000,1030,0.000,0.055,2642,2214,2818,2703,2934,0,0,0,0,0,0,26.87,26.84,26.89,7.97,24.16
$GC,49555,-1.35,-170.3,2641,2214,2703,2934,4308.8,-7.7,1352,49557,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2214,2818,2703,2934,0,0,0,0,0,0,27.40,27.41,27.41,7.97,24.36
$GC,49856,-1.40,-170.3,2641,2214,2704,2934,4331.9,-7.7,1357,49858,0.10,0.00,0.00,0.000,4102,0.122,0.000,2589,2215,2819,2704,2934,0,0,0,0,0,0,27.15,27.17,27.15,7.97,24.36
$GC,50155,-1.40,-170.3,2589,2214,2703,2934,4358.6,-9.0,1362,50156,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2214,2818,2703,2934,0,0,0,0,0,0,27.41,27.41,27.41,7.96,24.52
$GC,50455,-1.40,-170.3,2589,2214,2704,2934,4386.4,-9.2,1367,50456,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2214,2819,2704,2934,0,0,0,0,0,0,27.40,27.42,27.41,7.97,24.32
$GC,50755,-1.40,-170.3,2589,2214,2703,2934,4413.2,-8.9,1372,50762,0.00,3.60,0.00,0.000,516,0.000,0.070,2589,836,2819,2704,2934,0,0,0,0,0,0,27.41,26.50,27.41,7.97,24.60
$GC,50829,-1.40,-170.3,2588,836,2703,2934,4418.8,-9.0,1373,50837,0.00,3.47,0.00,0.000,1030,0.000,0.055,2575,2214,2819,2704,2934,0,0,0,0,0,0,26.91,26.84,26.94,7.97,24.68
$GC,51176,-1.40,-170.3,2574,2214,2703,2933,4448.9,-8.1,1379,51177,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2214,2818,2703,2933,0,0,0,0,0,0,27.40,27.41,27.41,7.97,24.36
$GC,51475,-1.40,-170.3,2574,2214,2703,2934,4472.8,-8.0,1384,51482,0.00,3.60,0.00,0.000,516,0.000,0.070,2574,840,2818,2703,2934,0,0,0,0,0,0,27.40,26.50,27.41,7.97,24.16
$GC,51558,-1.40,-170.3,2574,840,2703,2933,4477.9,-8.1,1385,51564,0.10,3.47,0.00,0.000,3078,0.189,0.052,2589,2218,2818,2703,2933,0,0,0,0,0,0,26.45,26.84,26.54,7.97,24.12
$GC,51892,-1.40,-170.3,2589,2218,2703,2934,4501.7,-6.4,1391,51894,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2218,2818,2703,2933,0,0,0,0,0,0,27.32,27.34,27.34,7.97,24.20
$GC,52194,-1.40,-170.3,2589,2218,2702,2933,4522.0,-6.7,1396,52200,0.00,3.62,0.00,0.000,516,0.000,0.070,2590,834,2817,2702,2933,0,0,0,0,0,0,27.35,26.49,27.36,7.96,24.44
$GC,52261,-1.40,-170.3,2589,834,2703,2934,4526.8,-7.0,1397,52266,0.00,3.47,0.00,0.000,1030,0.000,0.052,2578,2215,2818,2703,2933,0,0,0,0,0,0,26.91,26.84,26.93,7.96,24.64
$GC,52608,-1.40,-170.3,2577,2215,2703,2933,4553.0,-6.9,1403,52609,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2215,2818,2703,2933,0,0,0,0,0,0,27.40,27.41,27.41,7.97,24.44
$GC,52908,-1.40,-170.3,2577,2215,2702,2933,4572.9,-6.7,1408,52909,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2215,2818,2703,2933,0,0,0,0,0,0,27.40,27.42,27.41,7.97,24.44
$GC,53209,-1.40,-170.3,2577,2215,2703,2933,4593.4,-6.9,1413,53215,0.00,3.62,0.00,0.000,516,0.000,0.070,2578,834,2818,2703,2933,0,0,0,0,0,0,27.40,26.49,27.41,7.97,24.32
$GC,53276,-1.40,-170.3,2577,834,2703,2933,4597.7,-6.9,1414,53282,0.00,3.47,0.00,0.000,1030,0.000,0.055,2574,2215,2818,2703,2934,0,0,0,0,0,0,26.90,26.83,26.92,7.97,24.60
$GC,53624,-1.40,-170.3,2574,2215,2703,2933,4627.1,-8.6,1420,53625,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2215,2818,2703,2933,0,0,0,0,0,0,27.40,27.41,27.41,7.97,24.99
$GC,53924,-1.40,-170.3,2574,2215,2703,2933,4646.5,-6.4,1425,53925,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2215,2818,2703,2933,0,0,0,0,0,0,27.40,27.41,27.41,7.97,24.99
$GC,54224,-1.40,-170.3,2573,2215,2703,2933,4668.9,-7.5,1430,54225,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2215,2818,2703,2933,0,0,0,0,0,0,27.40,27.42,27.41,7.97,24.05
$GC,54524,-1.40,-170.3,2573,2215,2703,2933,4692.4,-8.0,1435,54531,0.00,3.60,0.00,0.000,516,0.000,0.070,2574,839,2818,2703,2933,0,0,0,0,0,0,27.40,26.48,27.41,7.97,24.68
$GC,54596,-1.40,-170.3,2573,838,2703,2933,4697.8,-8.1,1436,54603,0.10,3.47,0.00,0.000,3078,0.186,0.055,2590,2215,2818,2703,2933,0,0,0,0,0,0,26.45,26.82,26.54,7.97,24.91
$GC,54942,-1.40,-170.3,2589,2215,2703,2933,4723.6,-7.0,1442,54943,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2215,2818,2703,2933,0,0,0,0,0,0,27.35,27.36,27.36,7.97,24.48
$GC,55241,-1.40,-170.3,2589,2215,2703,2933,4743.4,-6.5,1447,55243,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2215,2818,2703,2933,0,0,0,0,0,0,27.34,27.35,27.35,7.97,24.32
$GC,55542,-1.40,-170.3,2590,2215,2703,2933,4763.0,-6.4,1452,55543,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2215,2818,2703,2933,0,0,0,0,0,0,27.35,27.36,27.36,7.97,23.97
$GC,55841,-1.40,-170.3,2590,2216,2703,2933,4782.7,-6.6,1457,55842,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2215,2818,2703,2933,0,0,0,0,0,0,27.32,27.34,27.34,7.97,24.20
$GC,56143,-1.40,-170.3,2589,2215,2703,2933,4803.2,-6.8,1462,56149,0.00,3.60,0.00,0.000,516,0.000,0.070,2590,841,2818,2703,2933,0,0,0,0,0,0,27.35,26.46,27.36,7.97,24.28
$GC,56214,-1.40,-170.3,2590,841,2703,2933,4807.8,-6.9,1463,56220,0.00,3.47,0.00,0.000,1030,0.000,0.055,2577,2219,2818,2703,2933,0,0,0,0,0,0,26.89,26.82,26.91,7.97,24.40
$GC,56557,-1.40,-170.3,2576,2219,2703,2933,4833.2,-7.0,1469,56558,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2219,2818,2703,2933,0,0,0,0,0,0,27.40,27.41,27.41,7.97,24.36
$GC,56857,-1.40,-170.3,2576,2219,2703,2933,4854.8,-7.1,1474,56858,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2219,2818,2703,2934,0,0,0,0,0,0,27.40,27.42,27.41,7.97,24.44
$GC,57157,-1.40,-170.3,2576,2219,2703,2933,4876.9,-7.4,1479,57164,0.00,3.62,0.00,0.000,516,0.000,0.070,2577,835,2818,2703,2933,0,0,0,0,0,0,27.40,26.46,27.41,7.98,24.40
$GC,57210,-1.40,-170.3,2576,835,2703,2933,4876.9,-7.4,1479,57222,0.00,3.47,0.00,0.000,1030,0.000,0.052,2565,2218,2818,2703,2933,0,0,0,0,0,0,26.89,26.83,26.91,7.97,24.28
$STATE,57516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,57516,begin apogee
$GC,57520,-0.68,0.0,2565,2218,2703,2933,4904.1,-7.3,1485,57699,0.82,0.00,176.25,4.045,10246,0.139,0.000,2823,2218,2280,2162,2399,0,0,0,0,0,0,25.76,22.76,20.62,7.97,24.20
$STATE,57700,end apogee,CONTROL_FINISHED_OK
$STATE,57700,begin climb
$GC,57702,0.99,170.3,2823,2218,2161,2397,4908.1,0.0,1488,57897,1.75,0.00,191.23,3.958,10246,0.114,0.000,3346,2217,1693,1579,1807,0,0,0,0,0,0,23.37,22.78,20.79,7.97,24.20
$GC,58177,0.86,170.3,3346,2218,1577,1806,4858.7,12.5,1496,58178,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2217,1691,1577,1806,0,0,0,0,0,0,26.06,26.06,26.06,7.92,23.49
$GC,58477,0.72,170.3,3346,2218,1577,1807,4821.9,12.1,1501,58485,0.20,3.80,0.00,0.000,4612,0.164,0.072,3298,793,1691,1577,1806,0,0,0,0,0,0,26.28,26.42,26.36,7.91,23.02
$GC,58537,0.59,170.3,3298,793,1577,1806,4814.9,12.1,1502,58546,0.20,3.50,0.00,0.000,5126,0.146,0.055,3235,2169,1691,1577,1806,0,0,0,0,0,0,26.35,26.59,26.44,7.91,23.34
$GC,58898,0.59,170.3,3234,2169,1577,1806,4781.7,9.1,1508,58899,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2169,1691,1577,1806,0,0,0,0,0,0,27.08,27.10,27.10,7.90,23.73
$GC,59198,0.59,170.3,3234,2169,1577,1806,4755.1,9.0,1513,59205,0.00,3.65,0.00,0.000,260,0.000,0.070,3235,3566,1691,1577,1806,0,0,0,0,0,0,27.17,26.81,27.18,7.89,23.69
$GC,59260,0.59,170.3,3234,3566,1577,1807,4749.1,9.2,1514,59266,0.00,3.45,0.00,0.000,1030,0.000,0.052,3248,2178,1691,1577,1806,0,0,0,0,0,0,26.97,26.91,26.98,7.89,23.34
$GC,59618,0.59,170.3,3247,2178,1577,1806,4716.1,9.2,1520,59619,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2178,1691,1577,1806,0,0,0,0,0,0,27.24,27.26,27.25,7.89,23.81
$GC,59918,0.59,170.3,3247,2178,1577,1806,4688.5,9.1,1525,59919,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2178,1691,1577,1806,0,0,0,0,0,0,27.27,27.29,27.28,7.88,23.77
$GC,60218,0.59,170.3,3247,2178,1577,1806,4661.3,9.1,1530,60219,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2178,1691,1577,1806,0,0,0,0,0,0,27.29,27.31,27.31,7.89,23.93
$GC,60518,0.59,170.3,3247,2178,1577,1805,4634.7,8.9,1535,60525,0.00,3.62,0.00,0.000,260,0.000,0.070,3248,3566,1691,1577,1806,0,0,0,0,0,0,27.31,26.91,27.32,7.88,23.73
$GC,60571,0.59,170.3,3247,3566,1577,1806,4634.7,8.9,1535,60580,0.00,3.50,0.00,0.000,1030,0.000,0.050,3264,2165,1692,1577,1807,0,0,0,0,0,0,27.09,27.03,27.10,7.88,23.77
$GC,60878,0.59,170.3,3264,2164,1577,1806,4599.7,9.6,1541,60879,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2165,1691,1577,1806,0,0,0,0,0,0,27.33,27.34,27.34,7.88,24.48
$GC,61178,0.59,170.3,3264,2165,1577,1806,4572.1,9.1,1546,61179,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2165,1691,1577,1806,0,0,0,0,0,0,27.34,27.35,27.34,7.88,23.89
$GC,61478,0.59,170.3,3264,2165,1576,1806,4545.5,8.8,1551,61479,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2164,1691,1576,1806,0,0,0,0,0,0,27.34,27.36,27.36,7.87,24.01
$GC,61778,0.59,170.3,3263,2164,1576,1806,4518.5,9.1,1556,61780,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2164,1691,1576,1806,0,0,0,0,0,0,27.36,27.36,27.36,7.87,23.81
$GC,62078,0.59,170.3,3264,2164,1576,1806,4491.4,8.9,1561,62085,0.00,3.65,0.00,0.000,260,0.000,0.070,3264,3566,1691,1576,1806,0,0,0,0,0,0,27.36,26.94,27.37,7.86,24.16
$GC,62131,0.59,170.3,3264,3567,1576,1806,4491.4,8.9,1561,62140,0.15,3.47,0.00,0.000,5126,0.161,0.050,3236,2169,1691,1576,1806,0,0,0,0,0,0,26.74,27.07,26.89,7.87,24.08
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$GC,118731,1.11,315.9,3425,2166,1071,1307,1119.0,5.8,2502,118732,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2166,1189,1071,1307,0,0,0,0,0,0,27.40,27.41,27.41,7.83,22.86
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$GC,120230,1.11,315.9,3425,2166,1072,1307,1017.2,7.0,2527,120231,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2166,1190,1073,1307,0,0,0,0,0,0,27.40,27.42,27.41,7.84,23.06
$GC,120530,1.11,315.9,3426,2166,1072,1307,999.7,5.7,2532,120538,0.00,3.62,0.00,0.000,260,0.000,0.067,3426,3562,1189,1072,1307,0,0,0,0,0,0,27.40,26.80,27.41,7.85,23.18
$GC,120603,1.11,315.9,3425,3562,1072,1307,995.4,6.2,2534,120609,0.12,3.45,0.00,0.000,5126,0.166,0.050,3403,2169,1189,1072,1307,0,0,0,0,0,0,26.65,27.04,26.76,7.85,22.94
$GC,120916,1.11,315.9,3403,2169,1072,1307,976.2,6.0,2545,120917,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2169,1189,1072,1307,0,0,0,0,0,0,27.41,27.41,27.41,7.86,22.79
$GC,121216,1.11,315.9,3403,2169,1072,1307,956.2,6.9,2555,121217,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2169,1189,1072,1307,0,0,0,0,0,0,27.39,27.41,27.41,7.86,23.14
$GC,121516,1.11,315.9,3402,2169,1072,1307,935.2,6.7,2565,121517,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2169,1190,1072,1308,0,0,0,0,0,0,27.40,27.42,27.41,7.87,22.94
$GC,121816,1.11,315.9,3403,2169,1073,1307,915.6,6.7,2575,121817,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2169,1189,1072,1307,0,0,0,0,0,0,27.40,27.42,27.41,7.88,23.06
$GC,122116,1.11,315.9,3402,2169,1072,1307,895.4,6.7,2585,122117,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2169,1189,1072,1307,0,0,0,0,0,0,27.41,27.42,27.41,7.89,23.45
$GC,122418,1.11,315.9,3403,2169,1074,1307,876.6,6.0,2595,122419,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2169,1190,1073,1307,0,0,0,0,0,0,27.40,27.42,27.41,7.89,23.10
$GC,122716,1.11,315.9,3402,2169,1073,1307,855.1,7.9,2605,122717,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2169,1190,1073,1307,0,0,0,0,0,0,27.40,27.41,27.41,7.90,23.06
$GC,123016,1.11,315.9,3403,2169,1074,1307,833.8,6.4,2615,123023,0.00,3.62,0.00,0.000,260,0.000,0.067,3403,3566,1190,1074,1307,0,0,0,0,0,0,27.40,26.79,27.41,7.92,22.90
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$GC,124336,1.11,315.9,3416,2168,1075,1307,732.2,8.6,2659,124337,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2168,1191,1076,1307,0,0,0,0,0,0,27.40,27.41,27.41,7.97,22.82
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$GC,124936,1.11,315.9,3416,2168,1077,1308,675.9,9.4,2679,124944,0.00,3.60,0.00,0.000,260,0.000,0.067,3416,3565,1192,1077,1308,0,0,0,0,0,0,27.40,26.82,27.41,8.01,22.59
$GC,125020,1.11,315.9,3416,3565,1077,1307,669.6,9.7,2681,125028,0.10,3.45,0.00,0.000,5126,0.176,0.050,3402,2162,1192,1077,1307,0,0,0,0,0,0,26.71,27.05,26.80,8.02,22.75
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$GC,125626,1.11,315.9,3401,2162,1078,1307,613.5,8.8,2702,125627,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2163,1193,1079,1307,0,0,0,0,0,0,27.40,27.41,27.41,8.05,22.94
$GC,125926,1.11,315.9,3401,2162,1080,1308,586.5,9.2,2712,125927,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2162,1194,1080,1308,0,0,0,0,0,0,27.40,27.41,27.41,8.07,22.35
$GC,126226,1.11,315.9,3401,2162,1080,1309,558.5,9.2,2722,126227,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2162,1194,1080,1309,0,0,0,0,0,0,27.39,27.41,27.41,8.09,22.63
$GC,126528,1.11,315.9,3401,2162,1081,1310,530.4,9.4,2732,126529,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2162,1195,1081,1310,0,0,0,0,0,0,27.40,27.41,27.41,8.11,22.04
$GC,126826,1.11,315.9,3401,2162,1082,1310,502.6,9.0,2742,126827,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2162,1196,1082,1310,0,0,0,0,0,0,27.39,27.41,27.41,8.13,21.92
$GC,127126,1.11,315.9,3401,2163,1083,1311,471.5,10.9,2752,127127,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2162,1197,1083,1311,0,0,0,0,0,0,27.39,27.41,27.41,8.15,21.76
$GC,127426,1.11,315.9,3401,2162,1083,1312,437.7,11.3,2762,127433,0.00,3.60,0.00,0.000,260,0.000,0.067,3402,3570,1197,1083,1312,0,0,0,0,0,0,27.39,26.84,27.41,8.17,21.56
$GC,127469,1.11,315.9,3401,3570,1084,1312,434.0,11.7,2763,127475,0.00,3.42,0.00,0.000,1030,0.000,0.050,3416,2169,1198,1084,1312,0,0,0,0,0,0,27.10,27.06,27.13,8.17,21.64
$GC,127782,1.06,315.9,3415,2169,1085,1312,391.3,13.6,2774,127784,0.10,0.00,0.00,0.000,4102,0.179,0.000,3384,2169,1198,1085,1312,0,0,0,0,0,0,26.93,27.01,26.98,8.19,22.16
$GC,128082,1.06,315.9,3384,2168,1086,1313,354.5,11.9,2784,128083,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2168,1199,1086,1313,0,0,0,0,0,0,27.39,27.41,27.41,8.21,21.37
$GC,128382,1.06,315.9,3383,2168,1087,1314,319.0,11.9,2794,128387,0.00,0.00,3.90,0.613,8198,0.000,0.000,3384,2169,1191,1076,1306,0,0,0,0,0,0,27.39,25.72,24.25,8.22,21.01
$GC,128682,1.06,315.9,3383,2168,1079,1307,284.0,11.3,2806,128683,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2168,1193,1079,1307,0,0,0,0,0,0,27.36,27.38,27.37,8.23,20.97
$GC,128982,1.06,315.9,3383,2168,1080,1308,249.9,11.1,2821,128983,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2168,1194,1080,1308,0,0,0,0,0,0,27.38,27.39,27.39,8.25,21.05
$GC,129284,1.06,315.9,3383,2168,1081,1309,216.4,10.8,2836,129285,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2168,1195,1081,1309,0,0,0,0,0,0,27.39,27.40,27.39,8.26,20.82
$GC,129582,1.06,315.9,3383,2168,1083,1310,182.4,11.4,2851,129589,0.00,3.58,0.00,0.000,260,0.000,0.067,3384,3568,1196,1082,1310,0,0,0,0,0,0,27.39,26.88,27.40,8.27,20.50
$GC,129614,1.06,315.9,3383,3568,1083,1310,179.9,11.8,2852,129622,0.00,3.40,0.00,0.000,1030,0.000,0.050,3399,2165,1196,1083,1310,0,0,0,0,0,0,27.12,27.08,27.14,8.27,20.30
$GC,129922,1.06,315.9,3398,2166,1083,1311,140.8,12.1,2871,129932,0.00,3.50,0.00,0.000,516,0.000,0.072,3415,793,1197,1083,1312,0,0,0,0,0,0,27.39,26.83,27.40,8.28,20.86
$GC,129954,1.06,315.9,3415,793,1083,1312,136.8,12.4,2874,129964,0.00,3.38,0.00,0.000,1030,0.000,0.052,3415,2172,1197,1083,1312,0,0,0,0,0,0,27.10,27.05,27.12,8.28,20.78
$GC,130264,1.06,315.9,3414,2172,1084,1312,96.2,14.2,2905,130275,0.00,3.55,0.00,0.000,260,0.000,0.070,3415,3568,1198,1084,1312,0,0,0,0,0,0,27.39,26.89,27.40,8.30,20.34
$GC,130300,0.99,315.9,3414,3568,1084,1312,91.3,14.9,2908,130308,0.20,3.40,0.00,0.000,5126,0.149,0.050,3365,2165,1198,1084,1312,0,0,0,0,0,0,26.66,27.08,26.79,8.30,20.11
$GC,130607,0.99,315.9,3364,2165,1084,1312,58.7,10.0,2939,130608,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2165,1198,1084,1312,0,0,0,0,0,0,27.39,27.41,27.40,8.32,20.50
$GC,130907,0.99,315.9,3364,2165,1084,1312,30.8,10.0,2969,130908,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2165,1198,1084,1312,0,0,0,0,0,0,27.39,27.41,27.40,8.36,20.50
$GC,131207,0.99,315.9,3364,2165,1084,1312,6.1,9.2,2999,131208,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2165,1198,1084,1312,0,0,0,0,0,0,27.39,27.41,27.40,8.41,21.13
$STATE,131245,end climb,SURFACE_DEPTH_REACHED
$STATE,131245,begin surface coast
$FINISH,0.8,1.023630
$STATE,131278,end surface coast,CONTROL_FINISHED_OK
$STATE,131278,begin surface
$SM_CCo,131294,55.88,0.869,0,0,937,390.14
$SM_GC,1.48,8.25,0.08,55.88,0.067,0.129,0.869,176,2229,937,-8.87,-1.10,390.14,0,0,0,0,0,0,26.94,27.21,24.99
$IRIDIUM_FIX,3625.21,-6150.30,300719,051610
$TT8_MAMPS,0.021721,0.178262
$HUMID,20.74
$INTERNAL_PRESSURE,8.36051
$TCM_TEMP,23.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4881.4,36.3
$24V_AH,20.62,40.419
$10V_AH,10.30,19.675
$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,24.825,745.075,508.675,55.875,110.550,38.410,22.600,585.950,12.000,0.000,37.261,10245.074,112344.117,1418.171,7698.508,461.259,0.000,5399.825,0.000,6834.455,0.000,97.409,0.000
$DEVICE_MAMPS,243.334,129.116,4044.807,869.050,211.055,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2096.174,3923.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318608
$DATA_FILE_SIZE,207725,3006
$CAP_FILE_SIZE,701905,0
$CFSIZE,2046525440,2021588992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,33873.01,0x213b2e,0,24
$CURRENT,0.101,181.48,1
$GPS,020819,060310,3630.183,-6223.646,37,0.9,52,-16.0,0.9,163.6,10,5.0