version: 66.14
glider: 45
mission: 3
dive: 20
start: 6 2 119 19 15 18
data:
$ID,45
$MISSION,3
$DIVE,20
$N_DIVES,0
$STOP_T,6041919
$D_SURF,3
$D_FLARE,3
$D_TGT,5000
$D_ABORT,6050
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,1600
$T_MISSION,1615
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80120.602
$MASS_COMP,10859
$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,2963
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$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,2000
$C_ROLL_CLIMB,1935
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,1960
$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,60
$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,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.855844
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0044369884
$SEABIRD_T_H,0.00066042581
$SEABIRD_T_I,2.7363718e-05
$SEABIRD_T_J,3.4006232e-06
$SEABIRD_C_G,-10.01541
$SEABIRD_C_H,1.1730425
$SEABIRD_C_I,-0.0023542538
$SEABIRD_C_J,0.00025774896
$SEABIRD_C_Z,2927.8301
$GPS1,020619,190554,3136.6206,-6418.2617,46,1.0,69,-14.9,0.3,35.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-50.4
$GPS2,020619,191444,3136.6201,-6418.2949,6,1.0,34,-14.9,0.4,281.6,9,5.0
$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,84.7,14496,-21.6,-10.417,-24.08,2139
$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,5,begin dive
$GC,70,-1.70,-146.6,206,2004,922,938,1.2,0.1,6,171,0.00,0.00,-98.40,0.149,16390,0.000,0.000,207,2004,2466,2461,2471,0,0,0,0,0,0,26.46,26.09,25.96,8.48,23.22
$GC,173,-1.70,-146.6,206,2004,2461,2472,3.0,-2.6,16,193,8.40,3.65,0.00,0.000,2308,0.266,0.079,2398,3404,2467,2457,2477,0,0,0,0,0,0,25.84,26.01,26.03,8.62,22.51
$GC,739,-1.64,-146.6,2398,3405,2457,2480,68.6,-9.2,72,751,0.10,3.55,0.00,0.000,3078,0.196,0.070,2430,1988,2468,2456,2481,0,0,0,0,0,0,26.27,26.42,26.37,8.64,21.76
$GC,1050,-1.64,-146.6,2428,1988,2456,2484,95.6,-8.6,103,1060,0.00,3.60,0.00,0.000,260,0.000,0.082,2415,3392,2469,2455,2484,0,0,0,0,0,0,26.79,26.48,26.80,8.64,21.01
$GC,1335,-1.58,-146.6,2414,3392,2456,2484,124.6,-10.6,131,1345,0.12,3.47,0.00,0.000,3078,0.204,0.070,2452,1998,2469,2455,2484,0,0,0,0,0,0,26.42,26.58,26.57,8.63,20.86
$GC,1653,-1.58,-146.6,2452,1998,2456,2485,154.5,-9.3,161,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1998,2470,2455,2485,0,0,0,0,0,0,26.90,26.91,26.91,8.63,21.76
$GC,1953,-1.58,-146.6,2452,1998,2456,2486,183.8,-9.7,176,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1998,2470,2455,2486,0,0,0,0,0,0,26.94,26.96,26.95,8.63,21.33
$GC,2253,-1.58,-146.6,2452,1998,2455,2487,213.5,-9.8,191,2260,0.00,3.55,0.00,0.000,260,0.000,0.079,2437,3393,2471,2456,2487,0,0,0,0,0,0,26.97,26.67,26.98,8.63,21.92
$GC,2341,-1.58,-146.6,2437,3393,2455,2486,222.1,-10.8,195,2346,0.00,3.45,0.00,0.000,1030,0.000,0.067,2437,2001,2471,2455,2487,0,0,0,0,0,0,26.77,26.70,26.79,8.63,21.68
$GC,2648,-1.58,-146.6,2437,2001,2455,2488,255.8,-11.1,210,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2001,2470,2455,2486,0,0,0,0,0,0,27.00,27.01,27.01,8.62,22.27
$GC,2948,-1.58,-146.6,2437,2001,2455,2488,289.1,-11.5,225,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2001,2472,2456,2488,0,0,0,0,0,0,27.01,27.03,27.03,8.62,22.27
$GC,3260,-1.58,-146.6,2437,2001,2455,2488,326.1,-12.2,237,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2001,2471,2455,2488,0,0,0,0,0,0,27.03,27.05,27.05,8.62,22.59
$GC,3558,-1.58,-146.6,2437,2001,2456,2489,363.6,-12.3,247,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2001,2472,2456,2488,0,0,0,0,0,0,27.05,27.06,27.05,8.62,22.82
$GC,3858,-1.58,-146.6,2437,2000,2456,2489,400.5,-12.4,257,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2001,2472,2456,2489,0,0,0,0,0,0,27.05,27.08,27.07,8.62,23.26
$GC,4158,-1.58,-146.6,2436,2001,2455,2488,437.1,-12.1,267,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2001,2472,2456,2489,0,0,0,0,0,0,27.07,27.08,27.08,8.63,23.34
$GC,4458,-1.58,-146.6,2437,2001,2456,2489,475.1,-12.9,277,4465,0.00,3.55,0.00,0.000,260,0.000,0.082,2420,3396,2472,2455,2489,0,0,0,0,0,0,27.07,26.77,27.08,8.62,23.26
$GC,4551,-1.58,-146.6,2419,3396,2456,2489,488.1,-13.9,280,4557,0.10,3.45,0.00,0.000,3078,0.206,0.067,2450,1998,2472,2455,2489,0,0,0,0,0,0,26.66,26.81,26.80,8.62,23.57
$GC,4879,-1.58,-146.6,2449,1998,2456,2488,530.9,-12.6,291,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1998,2472,2456,2489,0,0,0,0,0,0,27.08,27.10,27.09,8.62,23.42
$GC,5179,-1.58,-146.6,2449,1998,2455,2489,568.0,-12.1,301,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1998,2472,2455,2489,0,0,0,0,0,0,27.08,27.10,27.10,8.62,23.45
$GC,5479,-1.58,-146.6,2449,1998,2455,2489,605.5,-12.5,311,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1998,2472,2455,2489,0,0,0,0,0,0,27.09,27.10,27.10,8.61,23.69
$GC,5779,-1.58,-146.6,2449,1998,2455,2489,644.3,-13.1,321,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1998,2472,2456,2489,0,0,0,0,0,0,27.09,27.11,27.10,8.60,23.61
$GC,6079,-1.58,-146.6,2449,1998,2455,2489,683.7,-13.0,331,6087,0.00,3.60,0.00,0.000,516,0.000,0.097,2450,608,2472,2455,2489,0,0,0,0,0,0,27.10,26.75,27.10,8.60,23.73
$GC,6132,-1.58,-146.6,2450,608,2455,2489,688.2,-13.4,332,6140,0.00,3.40,0.00,0.000,1030,0.000,0.067,2435,2008,2472,2455,2489,0,0,0,0,0,0,26.91,26.86,26.92,8.59,23.85
$GC,6441,-1.58,-146.6,2434,2008,2455,2488,735.1,-14.0,343,6447,0.00,3.47,0.00,0.000,260,0.000,0.082,2419,3388,2472,2455,2489,0,0,0,0,0,0,27.10,26.79,27.10,8.58,24.52
$GC,6552,-1.58,-146.6,2418,3388,2455,2488,749.2,-15.3,346,6561,0.12,3.45,0.00,0.000,3078,0.201,0.067,2456,1996,2472,2455,2489,0,0,0,0,0,0,26.67,26.82,26.82,8.57,23.30
$GC,6860,-1.58,-146.6,2456,1996,2454,2488,795.6,-13.8,357,6867,0.00,3.55,0.00,0.000,260,0.000,0.082,2441,3391,2471,2453,2489,0,0,0,0,0,0,27.10,26.79,27.10,8.56,24.05
$GC,6927,-1.58,-146.6,2441,3391,2454,2488,804.4,-14.3,359,6933,0.00,3.45,0.00,0.000,1030,0.000,0.070,2441,2002,2471,2453,2489,0,0,0,0,0,0,26.89,26.82,26.91,8.56,24.40
$GC,7245,-1.58,-146.6,2441,2002,2453,2489,851.8,-14.4,370,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2002,2471,2453,2489,0,0,0,0,0,0,27.09,27.11,27.10,8.55,23.81
$GC,7545,-1.58,-146.6,2441,2002,2452,2489,896.5,-15.0,380,7552,0.00,3.53,0.00,0.000,260,0.000,0.082,2424,3386,2470,2452,2489,0,0,0,0,0,0,27.10,26.79,27.11,8.53,24.79
$GC,7614,-1.58,-146.6,2423,3386,2452,2489,906.1,-15.5,382,7622,0.10,3.45,0.00,0.000,3078,0.209,0.070,2454,1998,2469,2451,2488,0,0,0,0,0,0,26.67,26.82,26.82,8.53,25.15
$GC,7935,-1.58,-146.6,2453,1998,2450,2489,955.8,-15.3,393,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1998,2469,2450,2488,0,0,0,0,0,0,27.10,27.11,27.10,8.51,25.38
$GC,8236,-1.58,-146.6,2453,1998,2448,2488,1002.6,-15.9,403,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1998,2468,2448,2488,0,0,0,0,0,0,27.10,27.11,27.11,8.49,24.99
$GC,8535,-1.58,-146.6,2453,1998,2446,2489,1052.7,-16.8,408,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1998,2467,2446,2488,0,0,0,0,0,0,27.10,27.12,27.11,8.47,25.70
$GC,8835,-1.58,-146.6,2453,1998,2444,2489,1104.9,-17.3,413,8842,0.00,3.55,0.00,0.000,260,0.000,0.082,2439,3386,2466,2444,2488,0,0,0,0,0,0,27.10,26.79,27.12,8.46,25.86
$GC,8878,-1.58,-146.6,2438,3385,2444,2488,1104.9,-17.3,413,8883,0.00,3.45,0.00,0.000,1030,0.000,0.070,2439,2003,2466,2444,2488,0,0,0,0,0,0,26.90,26.82,26.92,8.45,26.57
$GC,9190,-1.58,-146.6,2438,2003,2442,2488,1169.9,-18.2,419,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2003,2465,2442,2488,0,0,0,0,0,0,27.10,27.12,27.11,8.43,26.29
$GC,9491,-1.58,-146.6,2438,2002,2439,2488,1224.0,-18.0,424,9497,0.00,3.55,0.00,0.000,260,0.000,0.082,2421,3386,2463,2439,2488,0,0,0,0,0,0,27.10,26.79,27.11,8.42,27.31
$GC,9551,-1.58,-146.6,2421,3386,2439,2488,1235.5,-18.2,425,9558,0.10,3.45,0.00,0.000,3078,0.194,0.070,2452,2002,2463,2439,2488,0,0,0,0,0,0,26.67,26.82,26.77,8.42,26.96
$GC,9910,-1.58,-146.6,2452,2002,2437,2487,1300.9,-18.2,431,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2002,2462,2437,2487,0,0,0,0,0,0,27.10,27.12,27.11,8.41,27.55
$GC,10210,-1.58,-146.6,2452,2002,2436,2485,1355.9,-18.3,436,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2002,2460,2436,2485,0,0,0,0,0,0,27.10,27.12,27.11,8.40,28.34
$GC,10510,-1.58,-146.6,2452,2002,2434,2483,1411.2,-18.4,441,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2002,2459,2434,2484,0,0,0,0,0,0,27.10,27.12,27.11,8.39,28.73
$GC,10811,-1.58,-146.6,2452,2002,2432,2483,1467.0,-18.7,446,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2002,2457,2432,2483,0,0,0,0,0,0,27.10,27.12,27.11,8.38,29.32
$GC,11110,-1.58,-146.6,2452,2002,2431,2481,1523.2,-18.7,451,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2002,2456,2431,2482,0,0,0,0,0,0,27.10,27.12,27.12,8.37,29.40
$GC,11410,-1.58,-146.6,2452,2002,2429,2480,1578.9,-18.4,456,11418,0.00,3.58,0.00,0.000,260,0.000,0.084,2438,3387,2454,2429,2480,0,0,0,0,0,0,27.10,26.79,27.12,8.37,29.91
$GC,11453,-1.58,-146.6,2437,3387,2429,2480,1578.9,-18.4,456,11458,0.00,3.50,0.00,0.000,1030,0.000,0.072,2437,2000,2454,2429,2480,0,0,0,0,0,0,26.89,26.81,26.91,8.36,30.03
$GC,11770,-1.58,-146.6,2437,2000,2428,2479,1646.9,-18.7,462,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2000,2453,2428,2479,0,0,0,0,0,0,27.10,27.12,27.11,8.36,29.60
$GC,12071,-1.58,-146.6,2437,2000,2427,2478,1703.4,-18.8,467,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1999,2452,2427,2478,0,0,0,0,0,0,27.10,27.12,27.11,8.36,30.39
$GC,12370,-1.58,-146.6,2437,2000,2426,2476,1758.7,-18.4,472,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2000,2451,2426,2477,0,0,0,0,0,0,27.10,27.12,27.12,8.35,30.39
$GC,12670,-1.58,-146.6,2437,1999,2425,2476,1813.0,-18.0,477,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2000,2450,2425,2476,0,0,0,0,0,0,27.10,27.12,27.11,8.35,29.76
$GC,12970,-1.58,-146.6,2437,2000,2424,2475,1866.3,-17.7,482,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2000,2449,2424,2475,0,0,0,0,0,0,27.10,27.12,27.12,8.34,29.72
$GC,13271,-1.58,-146.6,2437,2000,2423,2474,1918.7,-17.3,487,13277,0.00,3.58,0.00,0.000,260,0.000,0.084,2420,3384,2448,2423,2474,0,0,0,0,0,0,27.10,26.77,27.12,8.34,30.50
$GC,13331,-1.58,-146.6,2420,3383,2424,2473,1929.4,-17.4,488,13338,0.10,3.50,0.00,0.000,3078,0.191,0.074,2451,1998,2448,2423,2474,0,0,0,0,0,0,26.65,26.79,26.75,8.34,30.70
$GC,13690,-1.58,-146.6,2450,1998,2423,2473,1987.9,-16.2,494,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1998,2448,2423,2473,0,0,0,0,0,0,27.10,27.12,27.11,8.33,29.64
$GC,13990,-1.58,-146.6,2450,1998,2421,2472,2037.3,-16.5,499,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1998,2447,2422,2472,0,0,0,0,0,0,27.10,27.12,27.11,8.33,29.76
$GC,14290,-1.58,-146.6,2451,1998,2420,2472,2088.1,-16.9,504,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1998,2446,2421,2471,0,0,0,0,0,0,27.10,27.12,27.11,8.33,30.07
$GC,14591,-1.58,-146.6,2450,1998,2419,2471,2140.2,-17.4,509,14597,0.00,3.60,0.00,0.000,260,0.000,0.084,2436,3387,2445,2419,2471,0,0,0,0,0,0,27.10,26.77,27.11,8.33,30.70
$GC,14643,-1.58,-146.6,2436,3387,2419,2470,2140.2,-17.4,509,14652,0.00,3.53,0.00,0.000,1030,0.000,0.072,2436,2000,2444,2419,2470,0,0,0,0,0,0,26.88,26.79,26.90,8.33,30.39
$GC,14950,-1.58,-146.6,2436,1999,2418,2469,2206.0,-18.3,515,14952,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2000,2444,2419,2470,0,0,0,0,0,0,27.10,27.11,27.11,8.32,29.95
$GC,15250,-1.58,-146.6,2436,2000,2418,2469,2260.9,-18.3,520,15252,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2000,2443,2418,2469,0,0,0,0,0,0,27.10,27.12,27.11,8.33,30.39
$GC,15550,-1.58,-146.6,2436,1999,2418,2468,2314.6,-17.8,525,15552,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2000,2443,2418,2469,0,0,0,0,0,0,27.10,27.12,27.11,8.32,30.82
$GC,15851,-1.58,-146.6,2435,2000,2417,2468,2367.6,-17.6,530,15852,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2000,2442,2417,2468,0,0,0,0,0,0,27.10,27.12,27.11,8.32,30.27
$GC,16151,-1.58,-146.6,2435,2000,2416,2467,2420.4,-17.6,535,16157,0.00,3.60,0.00,0.000,260,0.000,0.087,2419,3386,2441,2416,2467,0,0,0,0,0,0,27.10,26.76,27.11,8.32,30.70
$GC,16213,-1.58,-146.6,2418,3385,2416,2467,2431.4,-17.7,536,16219,0.12,3.53,0.00,0.000,3078,0.204,0.072,2457,1998,2441,2416,2467,0,0,0,0,0,0,26.62,26.77,26.79,8.31,30.54
$GC,16566,-1.58,-146.6,2457,1998,2415,2466,2490.7,-16.6,542,16567,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1998,2440,2415,2466,0,0,0,0,0,0,27.09,27.11,27.10,8.32,30.70
$GC,16866,-1.58,-146.6,2456,1998,2415,2466,2539.7,-16.3,547,16867,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1998,2440,2415,2466,0,0,0,0,0,0,27.10,27.11,27.11,8.31,30.82
$GC,17166,-1.58,-146.6,2457,1998,2415,2465,2587.2,-15.7,552,17167,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1998,2440,2415,2465,0,0,0,0,0,0,27.10,27.11,27.11,8.31,30.54
$GC,17466,-1.58,-146.6,2457,1998,2414,2464,2633.5,-15.5,557,17467,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1998,2439,2415,2464,0,0,0,0,0,0,27.10,27.11,27.11,8.31,30.66
$GC,17766,-1.58,-146.6,2456,1998,2415,2464,2678.9,-15.1,562,17767,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1999,2439,2415,2464,0,0,0,0,0,0,27.10,27.11,27.11,8.30,31.13
$GC,18066,-1.58,-146.6,2456,1998,2414,2463,2724.1,-15.0,567,18067,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1999,2438,2414,2463,0,0,0,0,0,0,27.10,27.11,27.11,8.30,30.90
$GC,18366,-1.58,-146.6,2456,1998,2414,2463,2769.5,-15.1,572,18373,0.00,3.60,0.00,0.000,260,0.000,0.084,2442,3382,2438,2414,2463,0,0,0,0,0,0,27.10,26.74,27.11,8.30,30.86
$GC,18404,-1.58,-146.6,2442,3381,2414,2463,2769.5,-15.1,572,18409,0.00,3.53,0.00,0.000,1030,0.000,0.074,2442,1996,2438,2414,2463,0,0,0,0,0,0,26.86,26.77,26.89,8.30,30.62
$GC,18726,-1.58,-146.6,2442,1996,2414,2462,2825.3,-15.3,578,18727,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1996,2438,2414,2462,0,0,0,0,0,0,27.09,27.11,27.10,8.30,30.50
$GC,19026,-1.58,-146.6,2442,1996,2413,2462,2870.8,-15.1,583,19027,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1996,2437,2412,2462,0,0,0,0,0,0,27.09,27.11,27.10,8.30,30.39
$GC,19326,-1.58,-146.6,2441,1996,2413,2461,2916.9,-15.3,588,19327,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1996,2437,2413,2462,0,0,0,0,0,0,27.10,27.11,27.10,8.30,30.74
$GC,19626,-1.58,-146.6,2442,1996,2413,2461,2963.6,-15.7,593,19627,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1996,2436,2412,2461,0,0,0,0,0,0,27.09,27.11,27.11,8.30,31.21
$GC,19926,-1.58,-146.6,2442,1996,2412,2460,3009.9,-15.4,598,19933,0.00,3.62,0.00,0.000,260,0.000,0.087,2425,3387,2436,2412,2460,0,0,0,0,0,0,27.10,26.73,27.11,8.29,31.02
$GC,19979,-1.58,-146.6,2424,3387,2412,2460,3009.9,-15.4,598,19988,0.10,3.53,0.00,0.000,3078,0.209,0.074,2455,2002,2436,2412,2460,0,0,0,0,0,0,26.60,26.75,26.77,8.30,30.82
$GC,20286,-1.58,-146.6,2454,2002,2411,2460,3064.8,-15.1,604,20287,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2002,2436,2412,2460,0,0,0,0,0,0,27.09,27.10,27.10,8.29,30.46
$GC,20586,-1.58,-146.6,2454,2002,2411,2459,3110.5,-15.3,609,20587,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2002,2435,2411,2460,0,0,0,0,0,0,27.09,27.10,27.10,8.29,30.66
$GC,20886,-1.58,-146.6,2454,2002,2411,2460,3156.2,-15.1,614,20887,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2002,2435,2411,2460,0,0,0,0,0,0,27.09,27.11,27.10,8.29,30.86
$GC,21186,-1.58,-146.6,2454,2001,2411,2459,3200.9,-14.9,619,21187,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2002,2435,2411,2459,0,0,0,0,0,0,27.09,27.11,27.10,8.30,30.39
$GC,21486,-1.63,-146.6,2454,2002,2411,2459,3243.8,-14.2,624,21487,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2001,2435,2411,2459,0,0,0,0,0,0,27.09,27.11,27.10,8.29,30.66
$GC,21786,-1.69,-146.6,2454,2001,2411,2459,3285.2,-13.7,629,21787,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2002,2435,2411,2459,0,0,0,0,0,0,27.09,27.11,27.10,8.29,30.74
$GC,22086,-1.74,-146.6,2454,2001,2411,2459,3325.6,-13.4,634,22088,0.10,0.00,0.00,0.000,4102,0.139,0.000,2409,2002,2434,2411,2458,0,0,0,0,0,0,26.81,26.89,26.86,8.29,30.90
$GC,22386,-1.74,-146.6,2408,2001,2411,2458,3370.5,-15.1,639,22388,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2002,2434,2411,2458,0,0,0,0,0,0,27.09,27.11,27.10,8.29,30.54
$GC,22686,-1.74,-146.6,2408,2001,2410,2458,3415.3,-14.9,644,22687,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2001,2434,2410,2458,0,0,0,0,0,0,27.09,27.11,27.10,8.29,30.98
$GC,22986,-1.74,-146.6,2408,2001,2410,2458,3459.5,-14.7,649,22994,0.00,3.60,0.00,0.000,260,0.000,0.087,2391,3381,2433,2409,2458,0,0,0,0,0,0,27.09,26.70,27.10,8.29,31.05
$GC,23046,-1.74,-146.6,2391,3381,2410,2458,3469.1,-15.0,650,23054,0.00,3.53,0.00,0.000,1030,0.000,0.074,2391,2000,2434,2410,2458,0,0,0,0,0,0,26.84,26.74,26.87,8.29,30.39
$GC,23418,-1.74,-146.6,2390,1999,2409,2458,3524.4,-15.4,656,23419,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2000,2433,2409,2458,0,0,0,0,0,0,27.06,27.08,27.08,8.29,30.78
$GC,23707,-1.74,-146.6,2391,1999,2409,2458,3569.2,-14.9,661,23708,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2000,2433,2408,2458,0,0,0,0,0,0,27.08,27.10,27.09,8.29,30.66
$GC,24006,-1.74,-146.6,2391,2000,2408,2458,3613.2,-14.6,666,24007,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2000,2433,2408,2458,0,0,0,0,0,0,27.07,27.09,27.08,8.29,30.50
$GC,24306,-1.74,-146.6,2391,1999,2408,2458,3656.4,-14.4,671,24307,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1999,2433,2408,2458,0,0,0,0,0,0,27.07,27.08,27.08,8.28,30.70
$GC,24606,-1.74,-146.6,2391,1999,2408,2457,3699.4,-14.3,676,24607,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2000,2433,2408,2458,0,0,0,0,0,0,27.06,27.08,27.08,8.28,30.90
$GC,24919,-1.74,-146.6,2391,1999,2408,2457,3741.2,-13.9,681,24925,0.00,3.62,0.00,0.000,260,0.000,0.089,2374,3383,2432,2408,2457,0,0,0,0,0,0,27.04,26.67,27.05,8.29,30.58
$GC,24970,-1.74,-146.6,2373,3383,2408,2457,3741.2,-13.9,681,24979,0.10,3.55,0.00,0.000,3078,0.209,0.074,2403,1996,2432,2408,2457,0,0,0,0,0,0,26.53,26.70,26.70,8.28,30.74
$GC,25277,-1.74,-146.6,2403,1995,2408,2457,3792.2,-13.4,687,25278,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1995,2432,2408,2457,0,0,0,0,0,0,27.05,27.07,27.06,8.29,31.02
$GC,25577,-1.74,-146.6,2402,1995,2408,2457,3832.5,-13.5,692,25578,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1995,2432,2408,2456,0,0,0,0,0,0,27.05,27.07,27.06,8.28,30.94
$GC,25877,-1.74,-146.6,2402,1995,2408,2457,3872.7,-13.4,697,25878,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1995,2432,2408,2456,0,0,0,0,0,0,27.05,27.07,27.06,8.29,30.58
$GC,26177,-1.74,-146.6,2402,1995,2407,2456,3911.9,-13.0,702,26184,0.00,3.62,0.00,0.000,260,0.000,0.087,2388,3381,2431,2407,2456,0,0,0,0,0,0,27.05,26.64,27.06,8.28,30.46
$GC,26230,-1.74,-146.6,2388,3381,2407,2456,3911.9,-13.0,702,26251,0.00,3.55,0.00,0.000,1030,0.000,0.074,2388,1998,2431,2407,2456,0,0,0,0,0,0,26.79,26.68,26.82,8.29,30.94
$GC,26549,-1.74,-146.6,2388,1998,2407,2456,3960.6,-13.5,708,26550,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1998,2431,2407,2456,0,0,0,0,0,0,27.03,27.04,27.04,8.28,30.82
$GC,26837,-1.74,-146.6,2388,1998,2407,2455,3999.0,-12.7,713,26838,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1998,2431,2407,2455,0,0,0,0,0,0,27.05,27.06,27.06,8.28,30.82
$GC,27137,-1.74,-146.6,2388,1998,2407,2455,4037.2,-12.7,718,27138,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1998,2431,2407,2455,0,0,0,0,0,0,27.05,27.06,27.06,8.29,31.09
$GC,27438,-1.74,-146.6,2388,1998,2407,2454,4074.5,-12.4,723,27444,0.00,3.62,0.00,0.000,260,0.000,0.087,2371,3382,2431,2407,2455,0,0,0,0,0,0,27.05,26.64,27.05,8.29,30.23
$GC,27485,-1.74,-146.6,2371,3382,2408,2455,4074.5,-12.4,723,27491,0.10,3.55,0.00,0.000,3078,0.211,0.074,2400,1995,2431,2407,2455,0,0,0,0,0,0,26.50,26.67,26.67,8.28,30.42
$GC,27792,-1.74,-146.6,2400,1995,2407,2455,4118.1,-12.0,728,27793,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1995,2431,2407,2455,0,0,0,0,0,0,27.04,27.05,27.05,8.28,30.39
$GC,28092,-1.74,-146.6,2400,1995,2408,2455,4154.0,-11.9,733,28093,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1995,2431,2407,2455,0,0,0,0,0,0,27.04,27.05,27.05,8.29,30.42
$GC,28392,-1.74,-146.6,2400,1995,2407,2455,4189.5,-11.8,738,28393,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1995,2430,2407,2454,0,0,0,0,0,0,27.04,27.05,27.05,8.29,30.39
$GC,28705,-1.79,-146.6,2400,1995,2407,2455,4224.1,-11.5,743,28706,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1995,2430,2407,2454,0,0,0,0,0,0,27.03,27.04,27.04,8.29,31.21
$GC,28993,-1.84,-146.6,2400,1995,2407,2454,4258.7,-11.6,748,28994,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1995,2430,2407,2454,0,0,0,0,0,0,27.04,27.06,27.05,8.29,30.31
$GC,29293,-1.90,-146.6,2400,1995,2407,2454,4293.0,-11.4,753,29294,0.10,0.00,0.00,0.000,4102,0.144,0.000,2354,1995,2431,2407,2455,0,0,0,0,0,0,26.74,26.83,26.80,8.29,30.70
$GC,29592,-1.90,-146.6,2353,1995,2407,2454,4330.8,-12.6,758,29593,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1995,2430,2407,2454,0,0,0,0,0,0,27.04,27.06,27.05,8.28,30.07
$GC,29892,-1.90,-146.6,2354,1995,2407,2454,4368.3,-12.4,763,29899,0.00,3.65,0.00,0.000,260,0.000,0.087,2337,3387,2430,2407,2454,0,0,0,0,0,0,27.04,26.63,27.06,8.29,31.17
$GC,29952,-1.90,-146.6,2335,3387,2407,2454,4376.0,-12.5,764,29959,0.00,3.55,0.00,0.000,1030,0.000,0.074,2337,2000,2430,2407,2454,0,0,0,0,0,0,26.77,26.67,26.79,8.29,30.54
$STATE,30311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,30312,begin apogee
$GC,30316,-0.77,0.0,2336,1936,2407,2454,4421.3,-12.4,770,30456,1.15,0.00,137.07,3.640,10246,0.171,0.000,2714,1935,1960,1935,1985,0,0,0,0,0,0,26.46,22.68,21.29,8.29,30.58
$STATE,30458,end apogee,CONTROL_FINISHED_OK
$STATE,30458,begin climb
$GC,30459,1.70,146.6,2713,1936,1934,1985,4426.8,0.0,772,30624,2.47,0.00,159.77,3.593,10246,0.122,0.000,3491,1935,1454,1429,1479,0,0,0,0,0,0,23.06,22.05,20.73,8.25,30.15
$GC,30912,1.64,146.6,3491,1935,1429,1479,4383.0,12.8,780,30913,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1936,1454,1429,1479,0,0,0,0,0,0,25.54,25.56,25.55,8.21,29.48
$GC,31212,1.58,146.6,3491,1935,1429,1479,4345.9,12.4,785,31213,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1936,1454,1429,1480,0,0,0,0,0,0,26.10,26.12,26.11,8.21,29.99
$GC,31513,1.52,146.6,3491,1936,1429,1480,4309.5,12.2,790,31515,0.15,0.00,0.00,0.000,4102,0.206,0.000,3449,1936,1454,1429,1479,0,0,0,0,0,0,25.96,26.15,26.11,8.21,30.42
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$GC,69137,1.87,345.7,3567,3331,756,788,447.3,18.6,1479,69143,0.00,3.58,0.00,0.000,1030,0.000,0.074,3583,1928,772,756,788,0,0,0,0,0,0,26.81,26.71,26.84,8.33,25.97
$GC,69451,1.87,345.7,3582,1928,756,790,382.1,20.3,1490,69452,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1928,773,756,790,0,0,0,0,0,0,27.03,27.05,27.04,8.35,25.70
$GC,69749,1.87,345.7,3582,1928,756,792,319.3,20.8,1500,69751,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1928,773,756,791,0,0,0,0,0,0,27.03,27.05,27.05,8.36,25.70
$GC,70059,1.87,345.7,3582,1929,756,793,252.3,21.8,1514,70061,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1928,774,756,793,0,0,0,0,0,0,27.04,27.06,27.05,8.37,24.71
$GC,70360,1.87,345.7,3582,1928,756,796,189.4,21.0,1529,70367,0.00,3.70,0.00,0.000,516,0.000,0.109,3600,532,775,755,795,0,0,0,0,0,0,27.05,26.69,27.06,8.38,24.44
$GC,70400,1.81,345.7,3600,532,756,796,180.1,21.8,1531,70407,0.17,3.45,0.00,0.000,5126,0.189,0.072,3546,1943,776,756,796,0,0,0,0,0,0,26.59,26.80,26.70,8.39,24.12
$GC,70711,1.81,345.7,3545,1944,756,798,120.7,18.9,1554,70720,0.00,0.00,3.47,0.435,8198,0.000,0.000,3546,1943,768,753,783,0,0,0,0,0,0,27.05,26.44,26.02,8.39,24.44
$GC,71021,1.81,345.7,3545,1943,753,784,64.2,18.4,1585,71022,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1944,768,753,784,0,0,0,0,0,0,27.03,27.04,27.04,8.41,24.08
$GC,71320,1.81,345.7,3545,1945,753,786,12.2,15.8,1615,71321,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1945,769,753,786,0,0,0,0,0,0,27.03,27.05,27.05,8.43,24.01
$STATE,71378,end climb,SURFACE_DEPTH_REACHED
$STATE,71378,begin surface coast
$FINISH,0.6,1.025173
$STATE,71390,end surface coast,CONTROL_FINISHED_OK
$STATE,71390,begin surface
$SM_CCo,71465,0.00,0.000,0,0,769,345.99
$SM_GC,1.79,8.30,0.10,0.00,0.072,0.122,0.000,202,2001,769,-8.60,-1.13,345.99,0,0,0,0,0,0,26.75,26.81,26.81
$IRIDIUM_FIX,3143.01,-6408.02,020619,023713
$TT8_MAMPS,0.021721,0.176015
$HUMID,24.24
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,19.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.5,17.5
$ALTIM_BOTTOM_PING,4345.9,93.5
$24V_AH,20.73,11.872
$10V_AH,10.39,3.739
$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,23.125,332.575,479.950,0.000,98.400,24.503,38.724,320.826,65.000,0.000,35.287,5521.855,60806.527,927.399,4517.547,202.839,0.000,2989.207,0.000,3528.290,0.000,720.521,0.000
$DEVICE_MAMPS,265.681,131.599,3640.078,0.000,148.980,34.760,160.000,223.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1127.615,2116.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319876
$DATA_FILE_SIZE,114279,1622
$CAP_FILE_SIZE,388670,0
$CFSIZE,2046525440,2038431744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,263.58,1
$GPS,030619,150810,3139.437,-6411.101,44,0.9,66,-14.9,0.4,67.7,9,5.0