version: 66.12
glider: 38
mission: 4
dive: 21
start: 7 5 115 18 58 51
data:
$ID,38
$MISSION,4
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,4800
$D_ABORT,5500
$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,1620
$T_ABORT,2880
$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,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,93
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,050715,185351,3204.0627,-6431.2524,33,1.0,34,-14.9,0.0,0.0,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-64.7
$GPS2,050715,185828,3204.0867,-6431.2666,6,0.9,9,-14.9,0.0,236.7,10,9.8
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SS12
$TGT_LATLONG,3121.300,-6357.420
$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,160.9,95627,-18.4,-10.000,-21.00,2237
$D_GRID,4800
$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,-0.96,-146.6,149,1996,591,562,0.0,0.0,0,181,0.00,0.00,-163.70,0.149,16386,0.000,0.000,148,1996,2686,2648,2724,0,0,0,0,0,0,26.95,28.83,26.97
$GC,184,-0.96,-146.6,149,1996,2649,2724,4.3,-7.0,16,214,10.43,2.05,-10.68,0.189,18692,0.288,0.074,2727,3399,3004,2969,3040,0,0,0,0,0,0,26.15,26.32,26.25
$GC,534,-0.96,-146.6,2728,3399,2969,3040,58.8,-12.3,43,538,0.00,1.92,0.00,0.000,1030,0.000,0.060,2728,1992,3005,2970,3040,0,0,0,0,0,0,26.67,26.65,26.67
$GC,848,-0.96,-146.6,2728,1992,2970,3040,93.9,-10.9,64,853,0.00,1.98,0.00,0.000,260,0.000,0.074,2718,3400,3004,2969,3040,0,0,0,0,0,0,26.96,26.72,26.98
$GC,962,-0.96,-146.6,2718,3400,2969,3040,106.3,-11.3,71,967,0.00,1.90,0.00,0.000,1030,0.000,0.060,2717,1998,3004,2969,3040,0,0,0,0,0,0,26.82,26.79,26.82
$GC,1278,-0.96,-146.6,2717,1998,2970,3040,142.1,-10.8,92,1284,0.00,1.98,0.00,0.000,260,0.000,0.077,2708,3403,3005,2970,3041,0,0,0,0,0,0,27.07,26.80,27.08
$GC,1380,-0.96,-146.6,2707,3403,2970,3041,152.8,-11.3,98,1386,0.10,1.90,0.00,0.000,3078,0.184,0.060,2741,1976,3005,2970,3040,0,0,0,0,0,0,26.72,26.88,26.80
$GC,1705,-1.01,-146.6,2741,1975,2970,3041,185.3,-10.0,109,1710,0.00,2.03,0.00,0.000,260,0.000,0.077,2732,3403,3005,2970,3040,0,0,0,0,0,0,27.13,26.87,27.15
$GC,1828,-1.01,-146.6,2732,3403,2970,3040,198.2,-10.5,113,1834,0.00,1.83,0.00,0.000,1030,0.000,0.062,2732,2004,3005,2970,3040,0,0,0,0,0,0,26.98,26.95,26.99
$GC,2159,-1.01,-146.6,2731,2004,2970,3040,235.1,-11.4,124,2164,0.00,1.98,0.00,0.000,260,0.000,0.077,2721,3417,3005,2970,3040,0,0,0,0,0,0,27.17,26.92,27.19
$GC,2227,-1.01,-146.6,2721,3417,2970,3040,242.5,-11.8,126,2231,0.00,1.90,0.00,0.000,1030,0.000,0.060,2722,2002,3004,2969,3040,0,0,0,0,0,0,27.01,26.98,27.02
$GC,2551,-1.01,-146.6,2721,2001,2970,3039,281.3,-11.6,137,2556,0.00,1.98,0.00,0.000,260,0.000,0.077,2711,3416,3004,2970,3039,0,0,0,0,0,0,27.20,26.94,27.22
$GC,2620,-1.01,-146.6,2711,3416,2970,3039,289.2,-12.0,139,2624,0.00,1.90,0.00,0.000,1030,0.000,0.060,2711,1999,3004,2970,3039,0,0,0,0,0,0,27.04,27.01,27.04
$GC,2929,-1.01,-146.6,2711,1998,2970,3039,327.4,-11.8,147,2932,0.00,2.00,0.00,0.000,260,0.000,0.074,2701,3403,3004,2970,3039,0,0,0,0,0,0,27.22,26.97,27.24
$GC,3003,-1.01,-146.6,2701,3403,2970,3039,333.3,-12.0,148,3007,0.00,1.90,0.00,0.000,1030,0.000,0.060,2701,1990,3004,2970,3039,0,0,0,0,0,0,27.05,27.03,27.07
$GC,3337,-1.01,-146.6,2701,1990,2970,3038,378.7,-12.6,156,3343,0.00,1.98,0.00,0.000,260,0.000,0.077,2691,3402,3003,2968,3038,0,0,0,0,0,0,27.24,26.99,27.26
$GC,3430,-1.01,-146.6,2690,3402,2970,3039,390.3,-12.6,158,3436,0.10,1.88,0.00,0.000,3078,0.174,0.060,2726,1982,3004,2970,3038,0,0,0,0,0,0,26.90,27.04,26.97
$GC,3745,-1.08,-146.6,2725,1982,2970,3038,425.4,-11.0,165,3750,0.00,2.00,0.00,0.000,260,0.000,0.077,2716,3411,3003,2970,3037,0,0,0,0,0,0,27.25,27.01,27.27
$GC,3817,-1.15,-146.6,2716,3412,2970,3037,430.6,-11.2,166,3822,0.05,1.88,0.00,0.000,5126,0.124,0.060,2678,2009,3003,2970,3037,0,0,0,0,0,0,26.97,27.06,27.02
$GC,4151,-1.15,-146.6,2678,2009,2970,3035,479.7,-13.9,174,4155,0.00,2.00,0.00,0.000,260,0.000,0.077,2668,3417,3002,2970,3035,0,0,0,0,0,0,27.27,27.01,27.28
$GC,4247,-1.15,-146.6,2667,3418,2970,3036,493.0,-14.1,176,4251,0.00,1.85,0.00,0.000,1030,0.000,0.060,2668,1996,3002,2970,3035,0,0,0,0,0,0,27.11,27.07,27.12
$GC,4556,-1.15,-146.6,2667,1996,2969,3034,536.6,-13.9,183,4559,0.00,2.00,0.00,0.000,260,0.000,0.077,2657,3405,3002,2970,3034,0,0,0,0,0,0,27.27,27.02,27.29
$GC,4630,-1.15,-146.6,2657,3406,2970,3034,543.3,-13.9,184,4634,0.00,1.90,0.00,0.000,1030,0.000,0.060,2657,1991,3001,2969,3034,0,0,0,0,0,0,27.10,27.08,27.11
$GC,4964,-1.15,-146.6,2657,1991,2969,3033,593.7,-13.9,192,4970,0.00,1.98,0.00,0.000,260,0.000,0.074,2646,3405,3001,2970,3033,0,0,0,0,0,0,27.28,27.03,27.29
$GC,5068,-1.15,-146.6,2646,3405,2970,3033,606.8,-14.1,194,5073,0.10,1.90,0.00,0.000,3078,0.181,0.062,2681,1974,3001,2970,3033,0,0,0,0,0,0,26.93,27.08,27.01
$GC,5417,-1.15,-146.6,2681,1974,2970,3031,653.1,-12.6,202,5422,0.00,2.00,0.00,0.000,260,0.000,0.074,2672,3404,3000,2970,3031,0,0,0,0,0,0,27.29,27.02,27.30
$GC,5494,-1.15,-146.6,2671,3404,2970,3032,658.9,-12.6,203,5498,0.00,1.88,0.00,0.000,1030,0.000,0.060,2671,2008,3000,2969,3032,0,0,0,0,0,0,27.11,27.09,27.13
$GC,5823,-1.15,-146.6,2671,2008,2970,3030,706.2,-13.3,211,5827,0.00,1.98,0.00,0.000,260,0.000,0.074,2661,3402,3000,2970,3030,0,0,0,0,0,0,27.29,27.03,27.30
$GC,5934,-1.15,-146.6,2661,3402,2970,3030,719.3,-13.7,213,5938,0.00,1.88,0.00,0.000,1030,0.000,0.060,2661,2000,3000,2970,3030,0,0,0,0,0,0,27.11,27.10,27.13
$GC,6278,-1.15,-146.6,2661,1999,2970,3028,769.1,-13.7,221,6283,0.00,2.00,0.00,0.000,260,0.000,0.074,2650,3413,2999,2970,3028,0,0,0,0,0,0,27.29,27.03,27.31
$GC,6386,-1.15,-146.6,2650,3413,2970,3028,782.2,-14.1,223,6390,0.00,1.90,0.00,0.000,1030,0.000,0.060,2650,2001,2999,2970,3028,0,0,0,0,0,0,27.11,27.10,27.13
$GC,6730,-1.15,-146.6,2650,2000,2970,3026,832.5,-13.8,231,6736,0.00,1.98,0.00,0.000,260,0.000,0.077,2640,3409,2997,2970,3025,0,0,0,0,0,0,27.29,27.04,27.31
$GC,6793,-1.15,-146.6,2640,3408,2970,3026,838.6,-13.8,232,6797,0.12,1.90,0.00,0.000,3078,0.171,0.060,2684,1980,2998,2970,3026,0,0,0,0,0,0,26.95,27.10,27.08
$GC,7137,-1.21,-146.6,2684,1980,2970,3022,882.1,-11.7,240,7142,0.00,2.00,0.00,0.000,260,0.000,0.077,2674,3405,2996,2970,3022,0,0,0,0,0,0,27.29,27.02,27.31
$GC,7230,-1.26,-146.6,2674,3405,2970,3023,893.5,-12.3,242,7234,0.00,1.88,0.00,0.000,1030,0.000,0.060,2674,2016,2996,2970,3022,0,0,0,0,0,0,27.12,27.10,27.13
$GC,7544,-1.32,-146.6,2674,2015,2970,3018,933.6,-12.5,249,7550,0.08,1.95,0.00,0.000,4356,0.151,0.074,2598,3400,2994,2969,3019,0,0,0,0,0,0,27.08,27.04,27.10
$GC,7653,-1.32,-146.6,2598,3400,2970,3018,948.3,-14.3,251,7657,0.00,1.88,0.00,0.000,1030,0.000,0.062,2598,1983,2994,2970,3018,0,0,0,0,0,0,27.15,27.10,27.15
$GC,8072,-1.32,-146.6,2598,1983,2970,3012,1022.8,-17.1,259,8077,0.00,2.03,0.00,0.000,260,0.000,0.077,2588,3407,2990,2969,3012,0,0,0,0,0,0,27.29,27.03,27.32
$GC,8199,-1.32,-146.6,2588,3407,2970,3012,1044.8,-17.5,260,8204,0.12,1.90,0.00,0.000,3078,0.189,0.062,2630,1980,2990,2969,3011,0,0,0,0,0,0,26.94,27.10,27.06
$GC,8553,-1.32,-146.6,2629,1979,2968,3009,1103.2,-16.6,263,8559,0.00,2.03,0.00,0.000,260,0.000,0.077,2620,3402,2989,2969,3009,0,0,0,0,0,0,27.29,27.05,27.32
$GC,8673,-1.32,-146.6,2620,3402,2969,3008,1123.5,-16.3,264,8678,0.00,1.85,0.00,0.000,1030,0.000,0.062,2620,2002,2988,2970,3007,0,0,0,0,0,0,27.14,27.10,27.15
$GC,9033,-1.32,-146.6,2619,2002,2970,3003,1182.2,-16.5,267,9039,0.00,2.00,0.00,0.000,260,0.000,0.077,2610,3402,2986,2969,3003,0,0,0,0,0,0,27.29,27.05,27.32
$GC,9124,-1.32,-146.6,2610,3402,2969,3002,1182.2,-16.5,267,9128,0.00,1.92,0.00,0.000,1030,0.000,0.062,2610,1994,2985,2969,3002,0,0,0,0,0,0,27.12,27.10,27.13
$GC,9513,-1.32,-146.6,2609,1994,2970,2997,1258.7,-15.9,271,9518,0.00,2.03,0.00,0.000,260,0.000,0.077,2599,3405,2983,2970,2997,0,0,0,0,0,0,27.29,27.04,27.32
$GC,9655,-1.32,-146.6,2599,3405,2969,2997,1277.6,-15.7,272,9659,0.00,1.88,0.00,0.000,1030,0.000,0.062,2599,1996,2983,2969,2997,0,0,0,0,0,0,27.14,27.09,27.15
$GC,9994,-1.32,-146.6,2599,1996,2969,2992,1334.2,-15.7,275,9999,0.00,2.00,0.00,0.000,260,0.000,0.077,2589,3396,2980,2969,2992,0,0,0,0,0,0,27.29,27.04,27.32
$GC,10095,-1.32,-146.6,2589,3396,2969,2991,1334.2,-15.7,275,10100,0.10,1.92,0.00,0.000,3078,0.171,0.062,2625,1983,2980,2969,2991,0,0,0,0,0,0,26.96,27.10,27.03
$GC,10474,-1.32,-146.6,2625,1983,2969,2986,1402.0,-14.0,279,10479,0.00,2.03,0.00,0.000,260,0.000,0.077,2615,3392,2977,2969,2986,0,0,0,0,0,0,27.29,27.04,27.32
$GC,10641,-1.32,-146.6,2615,3392,2969,2986,1419.6,-13.7,280,10646,0.00,1.90,0.00,0.000,1030,0.000,0.060,2616,2010,2977,2969,2986,0,0,0,0,0,0,27.13,27.09,27.13
$GC,10955,-1.32,-146.6,2615,2010,2969,2982,1469.6,-14.1,283,10961,0.00,2.00,0.00,0.000,260,0.000,0.077,2605,3403,2975,2969,2982,0,0,0,0,0,0,27.29,27.03,27.32
$GC,11056,-1.32,-146.6,2605,3403,2968,2982,1469.6,-14.1,283,11060,0.00,1.92,0.00,0.000,1030,0.000,0.062,2605,2002,2975,2969,2981,0,0,0,0,0,0,27.12,27.09,27.13
$GC,11438,-1.32,-146.6,2605,2001,2969,2977,1535.2,-13.6,287,11442,0.00,2.03,0.00,0.000,260,0.000,0.077,2595,3398,2973,2969,2977,0,0,0,0,0,0,27.28,27.03,27.29
$GC,11575,-1.32,-146.6,2594,3398,2967,2977,1553.0,-13.7,288,11580,0.10,1.92,0.00,0.000,3078,0.171,0.062,2630,1989,2972,2967,2977,0,0,0,0,0,0,26.95,27.10,27.02
$GC,11925,-1.38,-146.6,2630,1988,2967,2975,1596.6,-12.5,291,11932,0.00,2.05,0.00,0.000,260,0.000,0.077,2621,3399,2971,2967,2975,0,0,0,0,0,0,27.27,27.03,27.29
$GC,12043,-1.44,-146.6,2621,3399,2966,2976,1596.6,-12.5,291,12052,0.00,1.92,0.00,0.000,1030,0.000,0.062,2621,2000,2971,2966,2976,0,0,0,0,0,0,27.11,27.09,27.13
$GC,12412,-1.51,-146.6,2621,2000,2966,2973,1657.2,-12.5,295,12419,0.08,2.00,0.00,0.000,4356,0.146,0.074,2556,3400,2969,2966,2973,0,0,0,0,0,0,27.07,27.03,27.10
$GC,12547,-1.57,-146.6,2555,3400,2965,2973,1677.9,-13.3,296,12551,0.00,1.90,0.00,0.000,1030,0.000,0.062,2556,1990,2969,2965,2973,0,0,0,0,0,0,27.13,27.08,27.15
$GC,12902,-1.57,-146.6,2555,1990,2965,2971,1736.8,-16.3,299,12908,0.00,2.05,0.00,0.000,260,0.000,0.077,2546,3398,2968,2965,2971,0,0,0,0,0,0,27.27,27.03,27.28
$GC,13013,-1.57,-146.6,2545,3398,2964,2971,1736.8,-16.3,299,13017,0.00,1.95,0.00,0.000,1030,0.000,0.062,2545,1993,2967,2964,2971,0,0,0,0,0,0,27.10,27.08,27.13
$GC,13389,-1.57,-146.6,2546,1993,2964,2969,1817.5,-16.6,303,13394,0.00,2.05,0.00,0.000,260,0.000,0.077,2535,3399,2966,2964,2969,0,0,0,0,0,0,27.27,27.03,27.29
$GC,13517,-1.57,-146.6,2536,3399,2963,2969,1838.8,-16.7,304,13521,0.00,1.90,0.00,0.000,1030,0.000,0.062,2535,1995,2966,2964,2969,0,0,0,0,0,0,27.13,27.08,27.14
$GC,13876,-1.57,-146.6,2535,1994,2964,2968,1897.5,-16.3,307,13881,0.00,2.03,0.00,0.000,260,0.000,0.077,2525,3400,2965,2963,2968,0,0,0,0,0,0,27.26,27.02,27.28
$GC,14008,-1.57,-146.6,2525,3400,2963,2968,1918.8,-16.3,308,14012,0.00,1.95,0.00,0.000,1030,0.000,0.062,2525,1994,2965,2963,2968,0,0,0,0,0,0,27.11,27.08,27.13
$GC,14363,-1.57,-146.6,2524,1994,2963,2967,1978.6,-16.6,311,14368,0.00,2.05,0.00,0.000,260,0.000,0.077,2515,3399,2965,2963,2967,0,0,0,0,0,0,27.26,27.01,27.28
$GC,14488,-1.57,-146.6,2514,3399,2962,2967,2000.2,-16.7,312,14493,0.10,1.92,0.00,0.000,3078,0.194,0.062,2548,1990,2964,2961,2967,0,0,0,0,0,0,26.93,27.08,27.05
$GC,14853,-1.57,-146.6,2548,1989,2962,2966,2055.3,-15.5,315,14860,0.00,2.05,0.00,0.000,260,0.000,0.079,2538,3407,2963,2961,2966,0,0,0,0,0,0,27.26,27.01,27.28
$GC,14979,-1.57,-146.6,2538,3407,2961,2966,2074.6,-15.1,316,14986,0.00,1.92,0.00,0.000,1030,0.000,0.062,2538,1997,2963,2961,2966,0,0,0,0,0,0,27.13,27.08,27.14
$GC,15346,-1.57,-146.6,2538,1998,2961,2966,2128.8,-14.9,319,15352,0.00,2.05,0.00,0.000,260,0.000,0.077,2528,3400,2963,2961,2966,0,0,0,0,0,0,27.26,27.01,27.28
$GC,15457,-1.57,-146.6,2528,3400,2962,2966,2128.8,-14.9,319,15461,0.00,1.90,0.00,0.000,1030,0.000,0.062,2528,1999,2963,2961,2966,0,0,0,0,0,0,27.13,27.08,27.14
$GC,15833,-1.57,-146.6,2528,1999,2961,2965,2201.0,-14.8,323,15838,0.00,2.03,0.00,0.000,260,0.000,0.079,2518,3399,2962,2960,2965,0,0,0,0,0,0,27.27,27.01,27.29
$STATE,15959,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15959,begin apogee
$GC,15965,-0.25,0.0,2517,1997,2959,2965,2220.1,-14.8,324,16078,1.30,0.00,109.65,2.307,10246,0.146,0.000,2973,1995,2499,2515,2484,0,0,0,0,0,0,26.92,24.56,23.53
$STATE,16079,end apogee,CONTROL_FINISHED_OK
$STATE,16079,begin climb
$GC,16080,0.96,146.6,2973,1996,2516,2485,2227.2,0.0,325,16210,1.02,2.17,121.55,2.255,11012,0.089,0.082,3384,631,1995,2010,1980,0,0,0,0,0,0,24.89,23.92,23.11
$GC,16285,0.96,146.6,3384,631,2010,1979,2239.2,0.0,326,16289,0.00,2.10,0.00,0.000,1030,0.000,0.060,3384,2010,1995,2011,1980,0,0,0,0,0,0,25.34,25.30,25.34
$GC,16675,0.80,547.9,3385,2010,2010,1980,2279.2,-8.4,330,17027,0.25,2.33,341.23,2.272,13060,0.251,0.092,3313,3380,612,631,594,0,0,0,0,0,0,25.95,22.92,21.92
$GC,17122,0.56,803.4,3313,3380,631,595,2263.2,-1.7,332,17237,0.35,2.05,107.22,2.180,13318,0.214,0.062,3229,2012,202,229,175,0,0,0,0,0,0,24.59,24.77,21.94
$GC,17632,0.42,803.4,3228,2011,229,181,2070.9,26.0,337,17642,0.12,2.17,3.38,0.998,12548,0.219,0.079,3186,3389,200,222,178,0,0,0,0,0,0,25.61,25.56,24.48
$GC,17738,0.28,803.4,3187,3389,222,182,2070.9,26.0,337,17752,0.20,2.00,2.50,0.574,13318,0.189,0.062,3135,1983,199,219,180,0,0,0,0,0,0,25.75,25.91,24.62
$GC,18111,0.28,803.4,3135,1982,219,188,1974.6,19.8,341,18119,0.00,2.10,2.80,0.747,8452,0.000,0.077,3136,3391,201,219,183,0,0,0,0,0,0,26.51,25.85,24.96
$GC,18235,0.28,803.4,3135,3392,219,190,1952.4,18.6,342,18244,0.00,2.00,3.05,0.859,9222,0.000,0.062,3145,1994,200,215,185,0,0,0,0,0,0,26.38,26.35,25.01
$GC,18590,0.28,803.4,3145,1994,216,192,1886.9,18.3,345,18599,0.00,2.08,3.15,0.904,8452,0.000,0.077,3145,3384,200,215,185,0,0,0,0,0,0,26.72,26.03,25.13
$GC,18686,0.28,803.4,3145,3384,216,189,1886.9,18.3,345,18695,0.00,1.92,2.72,0.700,9222,0.000,0.062,3155,1996,199,214,185,0,0,0,0,0,0,26.55,26.50,25.15
$GC,19069,0.28,803.4,3155,1997,214,189,1800.9,17.9,349,19076,0.00,2.05,2.60,0.628,8452,0.000,0.077,3155,3392,200,214,186,0,0,0,0,0,0,26.82,26.15,25.24
$GC,19189,0.28,803.4,3155,3392,214,189,1779.2,17.8,350,19197,0.00,1.92,2.58,0.608,9222,0.000,0.062,3166,1997,199,214,185,0,0,0,0,0,0,26.67,26.63,25.26
$GC,19547,0.28,803.4,3165,1996,214,186,1713.5,18.2,353,19552,0.00,2.03,0.00,0.000,260,0.000,0.079,3166,3380,200,214,187,0,0,0,0,0,0,26.90,26.64,26.92
$GC,19628,0.28,803.4,3165,3379,214,188,1713.5,18.2,353,19633,0.10,1.95,0.28,0.117,13318,0.166,0.062,3141,1998,201,214,188,0,0,0,0,0,0,26.58,26.72,26.62
$GC,20027,0.28,803.4,3140,1997,214,188,1632.7,16.7,357,20033,0.00,2.00,0.15,0.174,8452,0.000,0.077,3140,3385,200,214,187,0,0,0,0,0,0,26.98,26.72,26.68
$GC,20138,0.28,803.4,3140,3384,214,189,1632.7,16.7,357,20147,0.00,1.95,0.00,0.000,1030,0.000,0.062,3150,2002,202,215,189,0,0,0,0,0,0,26.82,26.79,26.84
$GC,20507,0.28,803.4,3150,2001,214,189,1553.9,16.4,361,20514,0.00,2.03,2.60,0.601,8452,0.000,0.077,3150,3392,200,215,185,0,0,0,0,0,0,27.04,26.34,25.46
$GC,20623,0.28,803.4,3149,3392,214,188,1533.5,16.4,362,20627,0.00,1.92,0.15,0.171,9222,0.000,0.062,3159,1999,201,214,188,0,0,0,0,0,0,26.86,26.82,26.72
$GC,20986,0.28,803.4,3159,1998,214,188,1471.7,17.2,365,20992,0.00,2.00,0.00,0.000,260,0.000,0.079,3160,3390,201,214,188,0,0,0,0,0,0,27.06,26.80,27.08
$GC,21087,0.28,803.4,3159,3391,214,188,1471.7,17.2,365,21092,0.00,1.95,0.10,0.137,9222,0.000,0.062,3170,2004,201,214,188,0,0,0,0,0,0,26.89,26.87,26.75
$GC,21466,0.28,803.4,3169,2003,214,188,1387.3,17.6,369,21472,0.00,2.00,0.28,0.146,8452,0.000,0.077,3170,3394,201,214,188,0,0,0,0,0,0,27.10,26.84,26.79
$GC,21572,0.28,803.4,3170,3394,214,188,1387.3,17.6,369,21579,0.12,1.92,0.68,0.124,13318,0.176,0.062,3136,1987,200,213,188,0,0,0,0,0,0,26.77,26.89,26.80
$GC,21941,0.28,803.4,3136,1986,214,188,1316.2,15.5,372,21948,0.00,2.08,1.85,0.117,8452,0.000,0.079,3136,3399,201,214,188,0,0,0,0,0,0,27.12,26.85,26.82
$GC,22043,0.28,803.4,3136,3400,214,189,1316.2,15.5,372,22056,0.00,1.92,2.50,0.509,9222,0.000,0.062,3145,1992,200,214,186,0,0,0,0,0,0,26.96,26.91,25.58
$GC,22417,0.34,803.4,3144,1992,214,187,1255.1,12.8,376,22422,0.00,2.00,0.00,0.000,260,0.000,0.077,3145,3390,200,214,187,0,0,0,0,0,0,27.12,26.86,27.14
$GC,22508,0.40,803.4,3144,3390,214,188,1255.1,12.8,376,22513,0.00,1.90,0.45,0.129,9222,0.000,0.062,3154,2001,201,214,188,0,0,0,0,0,0,26.96,26.92,26.83
$GC,22892,0.46,803.4,3154,2000,214,188,1192.0,13.3,380,22898,0.08,2.00,0.47,0.119,10500,0.146,0.077,3217,3390,201,214,188,0,0,0,0,0,0,26.93,26.87,26.84
$GC,22994,0.52,803.4,3217,3390,214,188,1192.0,13.3,380,22998,0.00,1.90,0.20,0.156,9222,0.000,0.062,3228,1997,201,214,188,0,0,0,0,0,0,26.98,26.94,26.84
$GC,23372,0.52,803.4,3227,1996,214,188,1101.0,19.0,384,23378,0.00,2.00,0.00,0.000,260,0.000,0.079,3228,3381,201,214,188,0,0,0,0,0,0,27.15,26.89,27.18
$GC,23438,0.52,803.4,3228,3381,214,188,1101.0,19.0,384,23443,0.00,1.92,0.10,0.137,9222,0.000,0.062,3238,2005,201,214,188,0,0,0,0,0,0,26.98,26.95,26.84
$GC,23852,0.52,803.4,3237,2004,214,187,1011.6,18.6,388,23857,0.00,1.98,0.00,0.000,260,0.000,0.077,3238,3390,201,214,188,0,0,0,0,0,0,27.17,26.91,27.20
$GC,23923,0.52,803.4,3238,3390,214,188,1011.6,18.6,388,23928,0.00,1.95,0.35,0.117,9222,0.000,0.062,3248,1993,201,214,188,0,0,0,0,0,0,26.99,26.97,26.87
$GC,24242,0.52,803.4,3248,1992,214,188,936.7,19.0,395,24249,0.08,2.00,0.47,0.119,12548,0.221,0.077,3218,3392,201,214,188,0,0,0,0,0,0,26.84,26.92,26.89
$GC,24320,0.52,803.4,3218,3391,214,188,928.3,19.0,396,24325,0.00,1.95,0.77,0.114,9222,0.000,0.062,3228,1990,201,214,188,0,0,0,0,0,0,26.99,26.98,26.88
$GC,24644,0.52,803.4,3228,1990,214,188,867.7,16.6,403,24650,0.00,2.00,0.43,0.137,8452,0.000,0.074,3228,3385,201,214,188,0,0,0,0,0,0,27.19,26.93,26.88
$GC,24748,0.52,803.4,3228,3385,214,188,850.7,17.5,405,24753,0.00,1.90,0.75,0.122,9222,0.000,0.062,3238,1989,201,214,188,0,0,0,0,0,0,27.03,26.98,26.88
$GC,25092,0.52,803.4,3238,1988,214,188,786.9,17.9,413,25098,0.00,2.00,0.38,0.137,8452,0.000,0.074,3238,3388,201,214,188,0,0,0,0,0,0,27.20,26.94,26.89
$GC,25154,0.52,803.4,3238,3388,214,188,778.1,18.3,414,25161,0.10,1.92,2.42,0.402,13318,0.179,0.060,3214,2003,200,214,186,0,0,0,0,0,0,26.84,26.98,25.80
$GC,25495,0.52,803.4,3214,2003,214,186,716.9,16.7,422,25500,0.00,2.00,0.00,0.000,260,0.000,0.077,3214,3393,200,214,187,0,0,0,0,0,0,27.19,26.92,27.20
$GC,25577,0.52,803.4,3214,3393,214,188,709.1,16.7,423,25587,0.00,1.95,0.08,0.132,9222,0.000,0.060,3224,1989,201,214,188,0,0,0,0,0,0,27.01,26.98,26.88
$GC,25901,0.52,803.4,3224,1989,214,188,645.5,17.3,431,25907,0.00,2.00,0.08,0.228,8452,0.000,0.074,3224,3388,201,214,188,0,0,0,0,0,0,27.20,26.92,26.91
$GC,25979,0.52,803.4,3224,3388,214,188,637.3,17.4,432,25984,0.00,1.92,0.68,0.114,9222,0.000,0.060,3234,1996,201,214,188,0,0,0,0,0,0,27.02,27.00,26.89
$GC,26308,0.52,803.4,3234,1996,214,188,567.3,19.2,440,26315,0.00,2.03,2.45,0.387,8452,0.000,0.074,3234,3396,199,213,185,0,0,0,0,0,0,27.20,26.57,25.91
$GC,26402,0.52,803.4,3234,3396,214,185,549.6,19.7,442,26406,0.00,1.88,0.00,0.000,1030,0.000,0.060,3245,1997,199,214,185,0,0,0,0,0,0,27.03,26.98,27.04
$GC,26711,0.52,803.4,3244,1996,214,186,485.7,20.2,449,26716,0.00,1.98,0.00,0.000,260,0.000,0.077,3245,3389,200,214,187,0,0,0,0,0,0,27.20,26.94,27.21
$GC,26802,0.52,803.4,3245,3389,214,188,465.8,21.1,451,26809,0.10,1.85,0.12,0.127,13318,0.201,0.062,3215,1997,201,214,188,0,0,0,0,0,0,26.84,27.00,26.88
$GC,27118,0.52,803.4,3214,1996,214,190,410.4,16.9,458,27125,0.00,2.03,2.65,0.427,8452,0.000,0.074,3214,3403,199,214,184,0,0,0,0,0,0,27.20,26.60,26.00
$GC,27181,0.52,803.4,3213,3403,214,185,403.0,17.1,459,27185,0.00,1.92,0.00,0.000,1030,0.000,0.060,3224,1997,199,214,185,0,0,0,0,0,0,27.00,26.98,27.02
$GC,27520,0.52,803.4,3224,1996,214,186,338.8,17.8,467,27524,0.00,2.00,0.00,0.000,260,0.000,0.077,3224,3402,200,214,186,0,0,0,0,0,0,27.20,26.94,27.21
$GC,27615,0.52,803.4,3224,3402,214,187,320.1,19.1,469,27621,0.00,1.92,0.35,0.117,9222,0.000,0.060,3234,1991,201,214,188,0,0,0,0,0,0,27.02,27.00,26.89
$GC,27930,0.52,803.4,3234,1990,214,189,260.3,18.5,478,27936,0.00,1.98,0.47,0.129,8452,0.000,0.074,3234,3392,201,214,189,0,0,0,0,0,0,27.21,26.95,26.90
$GC,28008,0.52,803.4,3234,3392,214,190,248.3,18.9,480,28015,0.00,1.90,2.47,0.340,9222,0.000,0.060,3244,1995,200,214,186,0,0,0,0,0,0,27.03,27.01,26.10
$GC,28317,0.52,803.4,3243,1995,214,187,186.5,18.6,490,28323,0.00,1.98,0.00,0.000,260,0.000,0.077,3244,3388,200,214,186,0,0,0,0,0,0,27.20,26.94,27.22
$GC,28369,0.52,803.4,3244,3387,214,187,180.7,18.8,491,28380,0.10,1.88,0.03,0.223,13318,0.171,0.060,3218,2002,201,215,187,0,0,0,0,0,0,26.85,27.00,26.79
$GC,28679,0.60,803.4,3217,2002,214,188,128.0,14.9,506,28685,0.00,1.95,0.28,0.142,8452,0.000,0.074,3218,3385,201,214,188,0,0,0,0,0,0,27.21,26.96,26.91
$GC,28744,0.66,803.4,3218,3385,214,189,118.1,15.5,510,28750,0.03,1.88,0.05,0.159,11270,0.171,0.060,3260,1990,201,214,189,0,0,0,0,0,0,26.91,27.01,26.86
$GC,29060,0.66,803.4,3260,1990,214,190,62.8,16.4,531,29064,0.00,0.00,2.50,0.323,8198,0.000,0.000,3260,1990,200,214,186,0,0,0,0,0,0,27.22,26.84,26.23
$GC,29359,0.78,803.4,3259,1990,214,187,22.4,10.0,556,29371,0.08,1.95,0.05,0.161,10500,0.149,0.074,3334,3390,200,214,186,0,0,0,0,0,0,27.00,26.95,26.87
$STATE,29475,end climb,SURFACE_DEPTH_REACHED
$STATE,29475,begin surface coast
$FINISH,-0.9,0.997298
$STATE,29488,end surface coast,CONTROL_FINISHED_OK
$STATE,29488,begin surface
$SM_CCo,29565,0.00,0.000,0,0,200,668.13
$SM_GC,0.37,7.95,1.88,0.00,0.074,0.057,0.000,134,1976,200,-9.04,2.94,668.13,0,0,0,0,0,0,26.96,27.04,27.01
$IRIDIUM_FIX,3155.70,-6428.70,300408,231916
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.06
$INTERNAL_PRESSURE,9.15318
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,2220.1,12.0
$24V_AH,21.92,6.057
$10V_AH,10.37,2.036
$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,23.450,251.725,730.050,0.000,174.375,23.060,31.365,123.678,18.250,0.000,9.943,2231.763,21852.891,822.898,4781.512,143.216,0.000,2800.664,0.000,4428.024,0.000,135.942,0.000
$DEVICE_MAMPS,288.028,91.871,2306.707,0.000,188.708,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.240,1853.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330260
$DATA_FILE_SIZE,36973,567
$CAP_FILE_SIZE,266584,0
$CFSIZE,1024409600,1017495552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060715,031233,3159.227,-6430.509,23,0.9,24,-14.9,0.0,0.0,10,8.4