version: 66.11
glider: 195
mission: 8
dive: 136
start: 11 25 113 10 15 2
data:
$ID,195
$MISSION,8
$DIVE,136
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,10
$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,550
$T_MISSION,660
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59371
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5521.96
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2207
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.110214
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,700
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,251113,100604,4740.134,-12521.424,29,1.0,29,16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-47.0
$GPS2,251113,101435,4740.156,-12521.506,4,0.9,5,16.8
$SPEED_LIMITS,0.072,0.211
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4748.000,-12524.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.042,0.207
$KALMAN_X,-77629.2,0.0,0.0,51066.4,328.5
$KALMAN_Y,15366.8,0.0,0.0,31364.4,-1810.8
$MHEAD_RNG_PITCHd_Wd,331.7,14854,-10.0,-6.000,-15.88,3571
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-146.6,184,2206,917,594,0.0,0.0,0,100,0.00,0.00,-82.20,0.000,16386,0.000,0.000,184,2206,2759,2785,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.45,-146.6,184,2206,2785,2733,3.1,-3.5,8,131,8.27,2.25,-13.32,0.000,18692,0.206,0.057,2385,3618,3214,3258,3171,0,0,0,0,0,0,25.54,25.96,26.39
$GC,426,-0.34,-146.6,2385,3618,3260,3172,35.7,-9.5,40,437,0.17,2.12,0.00,0.000,3078,0.116,0.027,2437,2193,3216,3260,3172,0,0,0,0,0,0,25.94,26.19,28.83
$GC,736,-0.34,-146.6,2437,2193,3261,3172,52.9,-5.5,71,745,0.00,2.22,0.00,0.000,260,0.000,0.045,2429,3614,3216,3261,3172,0,0,0,0,0,0,28.83,26.14,28.83
$GC,839,-0.34,-146.6,2429,3614,3261,3172,58.9,-5.5,81,848,0.00,2.10,0.00,0.000,1030,0.000,0.026,2429,2196,3216,3261,3172,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1148,-0.34,-146.6,2428,2196,3262,3172,77.2,-6.2,112,1152,0.00,2.22,0.00,0.000,260,0.000,0.045,2423,3616,3217,3262,3172,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1317,-0.34,-146.6,2423,3616,3261,3172,87.5,-6.2,122,1326,0.00,2.15,0.00,0.000,1030,0.000,0.027,2423,2198,3217,3262,3172,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1625,-0.34,-146.6,2423,2199,3262,3172,104.2,-5.7,138,1631,0.00,2.10,0.00,0.000,516,0.000,0.037,2423,811,3217,3262,3172,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1678,-0.34,-146.6,2423,811,3262,3172,106.6,-6.0,140,1686,0.00,2.17,0.00,0.000,1030,0.000,0.033,2418,2214,3217,3262,3172,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1985,-0.34,-146.6,2417,2214,3262,3172,123.6,-5.2,156,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2214,3217,3262,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.34,-146.6,2417,2214,3261,3172,136.9,-3.8,171,2292,0.00,2.12,0.00,0.000,516,0.000,0.037,2418,813,3216,3261,3172,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2385,-0.34,-146.6,2417,813,3262,3172,141.3,-4.3,176,2389,0.00,2.12,0.00,0.000,1030,0.000,0.033,2415,2214,3217,3262,3172,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2691,-0.34,-146.6,2415,2214,3262,3172,154.0,-4.4,190,2697,0.00,2.20,0.00,0.000,260,0.000,0.046,2413,3619,3217,3262,3172,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2835,-0.34,-146.6,2413,3619,3262,3172,159.8,-4.7,194,2842,0.00,2.08,0.00,0.000,1030,0.000,0.027,2413,2206,3217,3262,3172,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3143,-0.34,-146.6,2413,2206,3262,3172,176.7,-5.4,205,3149,0.00,2.17,0.00,0.000,260,0.000,0.045,2404,3612,3216,3261,3171,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3190,-0.34,-146.6,2404,3612,3261,3172,178.3,-5.3,206,3195,0.12,2.08,0.00,0.000,3078,0.118,0.027,2443,2200,3216,3261,3172,0,0,0,0,0,0,26.31,26.50,28.83
$GC,3497,-0.39,-146.6,2443,2200,3261,3172,191.5,-3.7,216,3501,0.00,2.10,0.00,0.000,516,0.000,0.037,2443,818,3217,3262,3172,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3552,-0.45,-146.6,2443,818,3261,3172,192.6,-3.7,217,3559,0.12,2.10,0.00,0.000,5126,0.075,0.033,2357,2211,3217,3262,3172,0,0,0,0,0,0,26.45,26.46,28.83
$GC,3859,-0.40,-146.6,2356,2211,3261,3172,210.3,-5.8,228,3865,0.17,2.12,0.00,0.000,2564,0.117,0.034,2417,812,3216,3261,3172,0,0,0,0,0,0,26.34,26.41,28.83
$GC,3919,-0.40,-146.6,2417,812,3261,3172,213.2,-5.3,230,3923,0.00,2.12,0.00,0.000,1030,0.000,0.034,2418,2214,3216,3261,3172,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4246,-0.40,-146.6,2417,2214,3261,3172,227.6,-4.6,241,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2214,3216,3261,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-0.40,-146.6,2417,2214,3261,3172,242.5,-5.0,251,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2214,3216,3261,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4846,-0.40,-146.6,2417,2214,3261,3171,258.5,-5.4,261,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2214,3216,3261,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.40,-146.6,2417,2214,3261,3171,275.1,-5.5,271,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2214,3216,3261,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5446,-0.40,-146.6,2417,2214,3261,3171,291.4,-5.4,281,5449,0.00,2.12,0.00,0.000,516,0.000,0.037,2417,824,3215,3261,3170,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5509,-0.40,-146.6,1568,822,3250,3168,294.8,-5.6,283,5513,0.00,2.12,0.00,0.000,1030,0.000,0.034,2417,2201,3215,3261,3170,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5866,-0.40,-146.6,2417,2201,3261,3170,310.5,-4.0,291,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2201,3216,3261,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6166,-0.40,-146.6,2417,2201,3261,3170,320.0,-3.1,296,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2201,3215,3261,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6467,-0.45,-146.6,2417,2201,3261,3169,327.7,-2.6,301,6472,0.00,2.10,0.00,0.000,516,0.000,0.037,2417,814,3215,3261,3169,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6535,-0.45,-146.6,2417,814,3260,3169,329.6,-2.7,302,6539,0.00,2.12,0.00,0.000,1030,0.000,0.034,2417,2216,3215,3261,3169,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6882,-0.50,-146.6,2417,2216,3261,3169,340.6,-3.2,308,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2217,3215,3261,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7183,-0.55,-146.6,2417,2216,3261,3168,351.5,-3.7,313,7185,0.15,0.00,0.00,0.000,4102,0.068,0.000,2322,2216,3214,3261,3168,0,0,0,0,0,0,26.68,28.83,28.83
$GC,7482,-0.48,-146.6,2322,2216,3260,3167,371.2,-6.6,318,7488,0.17,2.17,0.00,0.000,2308,0.116,0.044,2375,3614,3213,3260,3167,0,0,0,0,0,0,26.39,26.40,28.83
$GC,7549,-0.43,-146.6,2375,3615,3260,3167,374.8,-6.5,319,7554,0.12,2.10,0.00,0.000,3078,0.121,0.028,2413,2201,3213,3260,3167,0,0,0,0,0,0,26.36,26.55,28.83
$GC,7902,-0.49,-146.6,2413,2202,3260,3167,389.9,-4.2,325,7907,0.00,2.10,0.00,0.000,516,0.000,0.038,2413,812,3213,3260,3167,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7962,-0.55,-146.6,2413,811,3260,3167,392.6,-4.2,326,7968,0.15,2.12,0.00,0.000,5126,0.066,0.034,2322,2215,3213,3260,3167,0,0,0,0,0,0,26.51,26.49,28.83
$GC,8321,-0.48,-146.6,2322,2216,3260,3166,417.1,-7.0,332,8328,0.17,2.17,0.00,0.000,2308,0.121,0.044,2375,3613,3213,3260,3166,0,0,0,0,0,0,26.36,26.39,28.83
$GC,8389,-0.48,-146.6,2374,3613,3260,3166,420.7,-6.9,333,8394,0.00,2.12,0.00,0.000,1030,0.000,0.028,2375,2211,3213,3260,3166,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8741,-0.48,-146.6,2374,2211,3260,3166,440.2,-5.4,339,8747,0.00,2.12,0.00,0.000,516,0.000,0.038,2374,806,3212,3260,3165,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8804,-0.48,-146.6,1536,806,3249,3163,443.8,-5.5,340,8808,0.00,2.15,0.00,0.000,1030,0.000,0.034,2368,2199,3213,3260,3166,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9161,-0.48,-146.6,2368,2200,3260,3165,461.9,-4.9,346,9167,0.00,2.20,0.00,0.000,260,0.000,0.047,2361,3616,3212,3260,3165,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9259,-0.48,-146.6,2361,3616,3260,3165,464.9,-4.9,347,9263,0.00,2.10,0.00,0.000,1030,0.000,0.028,2361,2197,3212,3260,3165,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9582,-0.48,-146.6,2361,2197,3261,3164,483.1,-5.1,353,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2197,3212,3260,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9881,-0.48,-146.6,2361,2197,3260,3164,498.2,-5.0,358,9887,0.00,2.22,0.00,0.000,260,0.000,0.047,2353,3620,3212,3261,3164,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9946,-0.48,-146.6,2353,3620,3260,3164,501.1,-5.0,359,9951,0.12,2.10,0.00,0.000,3078,0.122,0.028,2391,2196,3212,3261,3164,0,0,0,0,0,0,26.34,26.55,28.83
$GC,10299,-0.54,-146.6,2391,2196,3260,3164,514.4,-3.7,365,10304,0.00,2.10,0.00,0.000,516,0.000,0.038,2391,810,3212,3260,3164,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10351,-0.59,-146.6,2391,810,3260,3164,514.4,-3.7,365,10359,0.12,2.12,0.00,0.000,5126,0.075,0.034,2318,2215,3212,3260,3164,0,0,0,0,0,0,26.47,26.48,28.83
$GC,10658,-0.59,-146.6,2317,2216,3260,3163,536.1,-6.5,371,10662,0.12,2.17,0.00,0.000,2308,0.132,0.045,2353,3613,3211,3260,3163,0,0,0,0,0,0,26.46,26.37,28.83
$GC,10747,-0.59,-146.6,2352,3613,3260,3163,539.5,-6.4,372,10751,0.00,2.12,0.00,0.000,1030,0.000,0.028,2353,2207,3211,3260,3163,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11075,-0.59,-146.6,2352,2206,3260,3163,559.7,-5.7,378,11079,0.00,2.10,0.00,0.000,516,0.000,0.038,2353,816,3211,3260,3163,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11133,-0.59,-146.6,1504,816,3248,3160,562.7,-5.6,379,11138,0.00,2.15,0.00,0.000,1030,0.000,0.035,2351,2204,3211,3260,3163,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11492,-0.59,-146.6,2350,2204,3260,3162,582.3,-5.3,385,11497,0.00,2.20,0.00,0.000,260,0.000,0.047,2343,3617,3210,3260,3161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11544,-0.59,-146.6,2343,3616,3260,3161,582.3,-5.3,385,11551,0.00,2.10,0.00,0.000,1030,0.000,0.028,2343,2197,3210,3260,3161,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11851,-0.59,-146.6,2343,2197,3260,3161,603.3,-5.9,391,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2197,3210,3260,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12151,-0.59,-146.6,2343,2197,3260,3161,620.5,-5.7,396,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2197,3210,3260,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12452,-0.59,-146.6,2343,2197,3260,3160,636.3,-5.2,401,12457,0.00,2.20,0.00,0.000,260,0.000,0.047,2333,3613,3210,3260,3160,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12524,-0.59,-146.6,2333,3613,3260,3159,639.7,-5.4,402,12527,0.00,2.10,0.00,0.000,1030,0.000,0.029,2333,2200,3209,3260,3159,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12871,-0.59,-146.6,2333,2200,3260,3159,660.3,-5.7,408,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2200,3209,3260,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13170,-0.59,-146.6,2333,2200,3260,3159,679.0,-6.2,413,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2200,3209,3260,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13471,-0.59,-146.6,2333,2200,3260,3159,697.2,-6.0,418,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2200,3209,3260,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13771,-0.59,-146.6,2333,2200,3260,3159,714.8,-5.8,423,13772,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2200,3209,3260,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14072,-0.59,-146.6,2333,2200,3260,3158,732.3,-5.8,428,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2200,3209,3260,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14372,-0.59,-146.6,2333,2201,3260,3158,749.7,-5.8,433,14377,0.00,2.20,0.00,0.000,260,0.000,0.048,2326,3610,3208,3260,3157,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14424,-0.59,-146.6,2326,3610,3260,3157,749.7,-5.8,433,14432,0.00,2.08,0.00,0.000,1030,0.000,0.030,2326,2210,3208,3259,3157,0,0,0,0,0,0,28.83,26.52,28.83
$GC,14731,-0.59,-146.6,2326,2211,3260,3157,771.4,-6.1,439,14737,0.00,2.12,0.00,0.000,516,0.000,0.039,2326,813,3208,3260,3157,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14808,-0.59,-146.6,2326,813,3259,3157,775.4,-6.3,440,14813,0.12,2.17,0.00,0.000,3078,0.130,0.035,2359,2213,3208,3259,3157,0,0,0,0,0,0,26.28,26.44,28.83
$GC,15153,-0.64,-146.6,2359,2214,3259,3157,793.1,-4.8,446,15158,0.00,2.17,0.00,0.000,260,0.000,0.048,2354,3613,3208,3260,3156,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15239,-0.69,-146.6,2354,3613,3259,3156,796.1,-4.8,447,15243,0.00,2.12,0.00,0.000,1030,0.000,0.030,2354,2197,3207,3259,3156,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15571,-0.75,-146.6,2354,2197,3259,3156,813.6,-5.0,453,15573,0.15,0.00,0.00,0.000,4102,0.066,0.000,2262,2197,3207,3259,3156,0,0,0,0,0,0,26.70,28.83,28.83
$GC,15871,-0.67,-146.6,2261,2197,3260,3156,837.1,-8.0,458,15873,0.22,0.00,0.00,0.000,2054,0.112,0.000,2332,2197,3207,3259,3156,0,0,0,0,0,0,26.30,28.83,28.83
$GC,16173,-0.67,-146.6,2332,2197,3259,3156,852.6,-4.9,463,16174,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2197,3207,3259,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16471,-0.67,-146.6,2332,2197,3259,3156,865.7,-4.4,468,16475,0.00,2.10,0.00,0.000,516,0.000,0.040,2332,818,3207,3259,3155,0,0,0,0,0,0,28.83,26.36,28.83
$GC,16520,-0.67,-146.6,2332,817,3259,3155,865.7,-4.4,468,16527,0.00,2.12,0.00,0.000,1030,0.000,0.036,2332,2213,3207,3259,3155,0,0,0,0,0,0,28.83,26.43,28.83
$GC,16828,-0.67,-146.6,2332,2213,3259,3155,882.7,-4.8,474,16829,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2213,3207,3259,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17127,-0.67,-146.6,2332,2212,3259,3155,896.4,-4.5,479,17133,0.00,2.15,0.00,0.000,516,0.000,0.040,2332,808,3207,3259,3155,0,0,0,0,0,0,28.83,26.35,28.83
$GC,17160,-0.67,-146.6,2332,808,3259,3155,896.4,-4.5,479,17164,0.00,2.15,0.00,0.000,1030,0.000,0.036,2332,2216,3206,3259,3154,0,0,0,0,0,0,28.83,26.42,28.83
$GC,17487,-0.67,-146.6,2332,2216,3259,3154,911.4,-4.3,485,17488,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2216,3206,3259,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17787,-0.67,-146.6,2332,2216,3259,3154,927.3,-5.4,490,17788,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2216,3206,3259,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18087,-0.67,-146.6,2332,2216,3259,3154,944.7,-6.0,495,18091,0.00,2.15,0.00,0.000,516,0.000,0.040,2332,813,3206,3259,3154,0,0,0,0,0,0,28.83,26.34,28.83
$GC,18135,-0.67,-146.6,2332,813,3259,3154,944.7,-6.0,495,18143,0.00,2.15,0.00,0.000,1030,0.000,0.036,2332,2223,3206,3259,3154,0,0,0,0,0,0,28.83,26.41,28.83
$GC,18442,-0.67,-146.6,2332,2223,3258,3154,970.6,-7.4,501,18444,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2223,3206,3258,3154,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,18621,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,18621,begin apogee
$GC,18626,-0.23,0.0,2332,2018,3258,3154,983.1,-7.0,504,18747,0.38,0.00,117.03,1.221,10246,0.086,0.000,2471,2018,2618,2711,2525,0,0,0,0,0,0,26.24,28.83,23.80
$STATE,18749,end apogee,CONTROL_FINISHED_OK
$STATE,18749,begin climb
$GC,18750,0.45,146.6,2470,2017,2711,2524,984.2,0.0,506,18879,0.60,0.00,124.28,1.193,10758,0.047,0.000,2697,2018,2020,2163,1877,0,0,0,0,0,0,24.80,28.83,23.14
$GC,19159,0.33,146.6,2697,2018,2163,1863,956.5,8.5,513,19165,0.15,2.30,0.00,0.000,4356,0.128,0.044,2649,3429,2013,2163,1863,0,0,0,0,0,0,25.13,25.20,28.83
$GC,19261,0.21,146.6,2649,3429,2163,1863,951.0,9.2,514,19266,0.15,2.20,0.00,0.000,5126,0.121,0.031,2611,2026,2013,2163,1863,0,0,0,0,0,0,25.28,25.44,28.83
$GC,19573,0.21,162.4,2612,2026,2163,1860,929.1,5.5,520,19592,0.00,2.25,13.25,1.070,8708,0.000,0.043,2616,632,1954,2105,1804,0,0,0,0,0,0,28.83,25.53,24.56
$GC,19622,0.21,178.2,2616,632,2105,1803,929.1,5.5,520,19641,0.00,2.25,14.70,1.076,9222,0.000,0.033,2616,2028,1890,2043,1738,0,0,0,0,0,0,28.83,25.63,24.40
$GC,19989,0.21,221.6,2616,2028,2042,1734,908.5,4.8,527,20031,0.00,2.33,37.15,1.151,8452,0.000,0.044,2616,3429,1713,1866,1560,0,0,0,0,0,0,28.83,25.10,24.23
$GC,20112,0.21,231.3,2616,3429,1865,1557,900.7,5.7,529,20127,0.00,2.25,9.18,0.981,9222,0.000,0.030,2616,2020,1675,1828,1523,0,0,0,0,0,0,28.83,25.49,24.39
$GC,20469,0.21,231.3,2616,2020,1827,1516,878.2,6.4,535,20470,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2020,1672,1827,1517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20769,0.21,231.3,2616,2020,1827,1515,858.3,6.6,540,20770,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2020,1671,1827,1515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21070,0.21,231.3,2615,2020,1827,1514,839.6,6.1,545,21071,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2020,1670,1827,1514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21369,0.21,231.3,2616,2020,1827,1514,821.0,6.3,550,21370,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2020,1670,1827,1514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21669,0.21,231.3,2616,2020,1827,1513,802.6,6.1,555,21671,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2020,1670,1827,1513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21969,0.21,231.3,2616,2020,1827,1513,783.4,6.4,560,21973,0.00,2.22,0.00,0.000,260,0.000,0.045,2616,3436,1670,1827,1513,0,0,0,0,0,0,28.83,26.22,28.83
$GC,21998,0.21,231.3,2616,3436,1827,1513,783.4,6.4,560,22002,0.00,2.20,0.00,0.000,1030,0.000,0.031,2616,1989,1670,1827,1513,0,0,0,0,0,0,28.83,26.31,28.83
$GC,22325,0.21,231.3,2616,1989,1827,1513,761.7,6.1,566,22329,0.00,2.12,0.00,0.000,516,0.000,0.044,2616,624,1669,1826,1512,0,0,0,0,0,0,28.83,26.25,28.83
$GC,22354,0.21,231.3,2616,624,1827,1511,761.7,6.1,566,22358,0.00,2.20,0.00,0.000,1030,0.000,0.033,2616,2032,1669,1827,1511,0,0,0,0,0,0,28.83,26.34,28.83
$GC,22681,0.21,246.4,2616,2031,1827,1510,741.3,5.6,572,22699,0.00,2.22,12.73,0.991,8452,0.000,0.045,2616,3430,1613,1767,1459,0,0,0,0,0,0,28.83,26.14,25.20
$GC,22744,0.21,256.0,2616,3430,1767,1459,737.6,5.7,573,22759,0.00,2.15,9.40,0.936,9222,0.000,0.030,2616,2018,1574,1726,1423,0,0,0,0,0,0,28.83,26.19,25.07
$GC,23101,0.21,294.0,2616,2018,1725,1418,719.0,4.9,579,23137,0.00,0.00,33.33,1.042,8198,0.000,0.000,2616,2018,1418,1570,1266,0,0,0,0,0,0,28.83,28.83,24.65
$GC,23402,0.27,331.1,2616,2018,1569,1258,704.4,4.9,584,23436,0.00,0.00,32.45,1.034,8198,0.000,0.000,2616,2018,1267,1424,1110,0,0,0,0,0,0,28.83,28.83,24.43
$GC,23702,0.35,352.2,2616,2018,1424,1101,688.2,5.4,589,23723,0.12,0.00,18.65,0.993,10246,0.080,0.000,2703,2018,1182,1340,1024,0,0,0,0,0,0,25.88,28.83,24.58
$GC,24001,0.35,352.2,2703,2018,1340,1017,661.8,9.0,594,24006,0.12,2.20,0.00,0.000,4612,0.121,0.042,2661,634,1178,1340,1017,0,0,0,0,0,0,25.81,25.82,28.83
$GC,24026,0.35,352.2,2660,634,1340,1016,661.8,9.0,594,24030,0.00,2.17,0.00,0.000,1030,0.000,0.033,2661,2036,1178,1340,1016,0,0,0,0,0,0,28.83,25.89,28.83
$GC,24353,0.35,352.2,2660,2035,1340,1016,639.9,6.1,600,24357,0.00,2.20,0.00,0.000,260,0.000,0.044,2661,3426,1177,1340,1015,0,0,0,0,0,0,28.83,26.02,28.83
$GC,24377,0.35,352.2,2661,3426,1340,1014,639.9,6.1,600,24381,0.00,2.20,0.00,0.000,1030,0.000,0.030,2661,1995,1177,1339,1015,0,0,0,0,0,0,28.83,26.09,28.83
$GC,24709,0.35,352.2,2660,1995,1339,1013,617.3,6.3,606,24710,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1995,1176,1340,1013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25009,0.35,357.1,2661,1995,1340,1013,599.6,5.9,611,25018,0.00,2.15,4.55,0.679,8708,0.000,0.042,2661,623,1161,1322,1000,0,0,0,0,0,0,28.83,26.17,25.10
$GC,25038,0.35,362.0,2660,623,1322,1000,599.6,5.9,611,25049,0.00,2.15,5.95,0.769,9222,0.000,0.032,2661,2028,1142,1303,981,0,0,0,0,0,0,28.83,26.22,25.13
$GC,25362,0.35,362.9,2660,2029,1302,979,578.7,6.0,617,25363,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2029,1141,1302,980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25661,0.35,362.9,2661,2028,1302,979,560.5,6.1,622,25662,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2028,1140,1302,979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25961,0.35,371.3,2660,2029,1302,978,543.0,5.8,627,25972,0.00,0.00,9.25,0.845,8198,0.000,0.000,2661,2028,1103,1265,942,0,0,0,0,0,0,28.83,28.83,25.21
$GC,26261,0.35,371.3,2660,2028,1264,940,525.3,6.1,632,26265,0.00,2.20,0.00,0.000,516,0.000,0.043,2661,623,1102,1264,940,0,0,0,0,0,0,28.83,26.18,28.83
$GC,26295,0.35,371.3,2661,622,1263,940,525.3,6.1,632,26299,0.00,2.20,0.00,0.000,1030,0.000,0.032,2661,2030,1102,1264,940,0,0,0,0,0,0,28.83,26.26,28.83
$GC,26617,0.40,371.3,2660,2030,1264,939,501.9,6.7,638,26618,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2030,1101,1264,939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26917,0.46,371.3,2660,2030,1263,939,481.1,7.0,643,26923,0.00,2.17,0.00,0.000,516,0.000,0.043,2660,630,1101,1264,939,0,0,0,0,0,0,28.83,26.27,28.83
$GC,26955,0.51,371.3,2660,630,1264,938,481.1,7.0,643,26960,0.15,2.12,0.00,0.000,3078,0.068,0.031,2756,2030,1100,1263,938,0,0,0,0,0,0,26.35,26.35,28.83
$GC,27273,0.42,371.3,2756,2030,1264,939,438.9,12.8,649,27280,0.22,2.17,0.00,0.000,4356,0.109,0.043,2679,3432,1101,1264,939,0,0,0,0,0,0,26.23,26.32,28.83
$GC,27315,0.34,371.3,2679,3432,1264,938,438.9,12.8,649,27319,0.00,2.12,0.00,0.000,1030,0.000,0.030,2679,2016,1101,1264,938,0,0,0,0,0,0,28.83,26.39,28.83
$GC,27627,0.34,371.3,2679,2016,1264,938,410.8,7.5,655,27631,0.00,2.15,0.00,0.000,516,0.000,0.044,2679,629,1101,1264,938,0,0,0,0,0,0,28.83,26.32,28.83
$GC,27683,0.34,371.3,2678,629,1264,938,406.5,7.5,656,27687,0.00,2.12,0.00,0.000,1030,0.000,0.032,2679,2027,1101,1264,938,0,0,0,0,0,0,28.83,26.41,28.83
$GC,28039,0.39,371.3,2678,2027,1264,938,380.1,7.3,662,28045,0.00,2.17,0.00,0.000,260,0.000,0.044,2679,3426,1101,1264,938,0,0,0,0,0,0,28.83,26.36,28.83
$GC,28072,0.44,371.3,2679,3426,1264,938,380.1,7.3,662,28076,0.00,2.10,0.00,0.000,1030,0.000,0.030,2679,2022,1101,1264,938,0,0,0,0,0,0,28.83,26.44,28.83
$GC,28394,0.50,371.3,2678,2022,1264,938,354.4,6.9,668,28399,0.00,2.15,0.00,0.000,516,0.000,0.043,2679,631,1101,1264,938,0,0,0,0,0,0,28.83,26.36,28.83
$GC,28432,0.55,371.3,2679,631,1264,938,354.4,6.9,668,28437,0.12,2.10,0.00,0.000,3078,0.078,0.032,2763,2029,1101,1264,938,0,0,0,0,0,0,26.42,26.44,28.83
$GC,28749,0.48,371.3,2763,2028,1264,937,315.4,11.9,674,28755,0.17,2.17,0.00,0.000,4612,0.112,0.041,2702,629,1100,1264,937,0,0,0,0,0,0,26.34,26.36,28.83
$GC,28802,0.40,371.3,2702,629,1264,937,315.4,11.9,674,28809,0.00,2.10,0.00,0.000,1030,0.000,0.031,2702,2029,1101,1264,938,0,0,0,0,0,0,28.83,26.46,28.83
$GC,29109,0.55,371.3,2702,2028,1264,937,285.9,8.2,682,29114,0.00,2.17,0.00,0.000,260,0.000,0.044,2703,3432,1101,1264,938,0,0,0,0,0,0,28.83,26.39,28.83
$GC,29409,0.72,371.3,2702,3432,1263,937,259.0,9.3,692,29416,0.20,2.12,0.00,0.000,3078,0.067,0.029,2786,2012,1100,1264,937,0,0,0,0,0,0,26.44,26.48,28.83
$GC,29739,0.72,371.3,2786,2012,1264,937,224.7,10.7,703,29743,0.00,2.17,0.00,0.000,260,0.000,0.043,2786,3423,1100,1264,937,0,0,0,0,0,0,28.83,26.41,28.83
$GC,29813,0.72,371.3,2786,3423,1264,937,218.3,11.0,705,29817,0.00,2.12,0.00,0.000,1030,0.000,0.029,2795,2027,1100,1264,937,0,0,0,0,0,0,28.83,26.50,28.83
$GC,30126,0.63,371.3,2794,2028,1264,937,173.1,14.5,716,30132,0.12,2.17,0.00,0.000,4356,0.135,0.042,2752,3427,1100,1263,937,0,0,0,0,0,0,26.40,26.40,28.83
$GC,30158,0.55,371.3,2752,3427,1264,937,169.2,14.3,717,30163,0.08,2.15,0.00,0.000,5126,0.102,0.029,2724,2021,1101,1264,938,0,0,0,0,0,0,26.32,26.51,28.83
$GC,30476,0.55,371.3,2723,2020,1264,938,141.8,7.7,729,30480,0.00,2.15,0.00,0.000,516,0.000,0.043,2724,635,1100,1264,937,0,0,0,0,0,0,28.83,26.40,28.83
$GC,30500,0.55,371.3,2724,635,1264,937,140.3,7.5,730,30504,0.00,2.12,0.00,0.000,1030,0.000,0.031,2724,2019,1100,1264,937,0,0,0,0,0,0,28.83,26.49,28.83
$GC,30817,0.55,371.3,2724,2019,1264,937,119.9,6.1,746,30821,0.00,2.20,0.00,0.000,260,0.000,0.044,2724,3438,1100,1264,937,0,0,0,0,0,0,28.83,26.41,28.83
$GC,30856,0.55,371.3,2724,3438,1264,937,117.3,6.7,748,30860,0.00,2.15,0.00,0.000,1030,0.000,0.029,2727,2022,1100,1264,937,0,0,0,0,0,0,28.83,26.51,28.83
$GC,31174,0.60,375.5,2727,2022,1264,937,96.7,5.9,764,31185,0.00,2.22,4.65,0.435,8708,0.000,0.041,2727,626,1085,1249,922,0,0,0,0,0,0,28.83,26.45,25.44
$GC,31222,0.66,375.5,2726,626,1249,922,94.4,6.0,766,31226,0.00,2.15,0.00,0.000,1030,0.000,0.031,2726,2042,1085,1249,922,0,0,0,0,0,0,28.83,26.48,28.83
$GC,31534,0.73,375.5,2727,2042,1249,922,74.0,6.2,786,31536,0.15,0.00,0.00,0.000,2054,0.069,0.000,2826,2042,1085,1249,922,0,0,0,0,0,0,26.60,28.83,28.83
$GC,31834,0.67,375.5,2826,2042,1249,922,38.5,10.6,816,31844,0.17,2.17,0.00,0.000,4612,0.109,0.040,2771,634,1085,1249,922,0,0,0,0,0,0,26.39,26.40,28.83
$GC,31868,0.67,375.5,2771,634,1249,922,35.6,9.1,819,31876,0.00,2.12,0.00,0.000,1030,0.000,0.031,2771,2016,1085,1249,922,0,0,0,0,0,0,28.83,26.49,28.83
$GC,32176,0.67,375.5,2771,2016,1249,922,14.1,7.1,850,32180,0.00,2.20,0.00,0.000,260,0.000,0.044,2771,3433,1085,1249,922,0,0,0,0,0,0,28.83,26.40,28.83
$GC,32202,0.67,375.5,2771,3433,1249,922,12.0,7.3,852,32206,0.00,2.10,0.00,0.000,1030,0.000,0.028,2771,2015,1085,1249,922,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,32358,end climb,SURFACE_DEPTH_REACHED
$STATE,32358,begin surface coast
$FINISH,0.5,1.012367
$STATE,32387,end surface coast,CONTROL_FINISHED_OK
$STATE,32388,begin surface
$SM_CCo,32461,0.00,0.000,0,0,1084,376.04
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$IRIDIUM_FIX,4719.74,-12604.93,251113,010133
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.67
$INTERNAL_PRESSURE,8.83951
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,901.0,90.3
$24V_AH,23.1,18.252
$10V_AH,10.1,13.460
$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
$DEVICE_SECS,20.050,224.775,446.525,0.000,0.000,0.000,0.000,428.625,5.500,0.000,5.938,2693.010,26265.771,607.827,3228.421,171.184,0.389,2535.861,0.000,2738.064,0.000,42.009,0.000
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$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313824
$DATA_FILE_SIZE,63800,870
$CAP_FILE_SIZE,247724,0
$CFSIZE,2097872896,2078277632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251113,191704,4743.066,-12522.033,27,0.8,27,16.8