version: 66.14
glider: 46
mission: 5
dive: 81
start: 7 19 119 0 19 18
data:
$ID,46
$MISSION,5
$DIVE,81
$N_DIVES,0
$STOP_T,7221919
$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,3060
$T_ABORT,3120
$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,345
$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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2085
$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,3500
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,190719,001414,3604.0449,-6119.1982,5,0.9,32,-16.1,1.2,99.1,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-51.6
$GPS2,190719,001840,3604.0051,-6119.0068,8,1.0,49,-16.1,0.8,113.3,7,4.4
$SPEED_LIMITS,0.104,0.205
$TGT_NAME,E
$TGT_LATLONG,3630.000,-6129.770
$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,312.7,50739,-27.2,-6.000,-30.00,978
$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
$GC,70,-1.86,-38.4,191,2098,800,992,1.3,0.6,6,150,0.00,0.00,-71.00,0.156,16390,0.000,0.000,191,2098,2219,2121,2317,0,0,0,0,0,0,27.20,26.74,26.57,8.61,19.48
$GC,152,-1.87,-77.5,191,2098,2121,2317,2.4,-1.9,14,176,8.38,3.55,-7.15,0.206,18948,0.241,0.074,2443,727,2352,2236,2468,0,0,0,0,0,0,26.41,26.72,26.55,8.75,19.32
$GC,720,-2.36,-134.6,2442,726,2236,2471,0.5,-0.0,70,740,0.38,3.33,-13.52,0.184,21510,0.077,0.055,2269,2114,2548,2430,2667,0,0,0,0,0,0,27.07,27.10,26.75,8.77,19.16
$GC,1047,-2.36,-134.6,2268,2115,2431,2669,2.6,-4.4,103,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2115,2549,2431,2668,0,0,0,0,0,0,27.37,27.39,27.39,8.79,19.32
$GC,1349,-2.23,-134.6,2268,2115,2431,2668,31.7,-8.9,133,1358,0.17,3.50,0.00,0.000,2564,0.211,0.074,2320,719,2550,2431,2669,0,0,0,0,0,0,26.75,26.96,26.88,8.79,19.01
$GC,1384,-2.09,-134.6,2319,719,2431,2669,34.8,-9.0,136,1393,0.22,3.30,0.00,0.000,3078,0.204,0.055,2369,2094,2550,2431,2669,0,0,0,0,0,0,26.72,27.15,26.95,8.80,19.32
$GC,1692,-2.05,-170.3,2369,2094,2431,2669,41.0,1.1,167,1700,0.00,0.00,-1.70,0.405,16390,0.000,0.000,2369,2094,2678,2561,2796,0,0,0,0,0,0,27.41,26.99,26.81,8.79,19.56
$GC,2001,-2.05,-170.3,2369,2094,2561,2797,58.9,-4.6,198,2011,0.00,3.50,0.00,0.000,260,0.000,0.070,2353,3498,2679,2562,2797,0,0,0,0,0,0,27.41,27.05,27.42,8.79,19.08
$GC,2554,-1.95,-170.3,2353,3498,2562,2797,84.0,-6.7,253,2565,0.20,3.33,0.00,0.000,3078,0.194,0.055,2413,2089,2679,2561,2797,0,0,0,0,0,0,26.76,27.17,26.88,8.76,19.08
$GC,2864,-1.95,-170.3,2412,2088,2561,2797,97.1,-2.6,284,2874,0.00,3.50,0.00,0.000,260,0.000,0.070,2397,3485,2679,2561,2797,0,0,0,0,0,0,27.43,27.08,27.43,8.75,19.56
$GC,3079,-1.88,-170.3,2397,3486,2562,2797,109.1,-7.1,305,3087,0.15,3.28,0.00,0.000,3078,0.199,0.052,2441,2102,2679,2562,2797,0,0,0,0,0,0,26.79,27.18,26.98,8.73,19.20
$GC,3386,-1.88,-170.3,2440,2101,2562,2797,129.6,-6.2,336,3396,0.00,3.50,0.00,0.000,260,0.000,0.070,2425,3497,2679,2562,2797,0,0,0,0,0,0,27.43,27.09,27.44,8.71,19.32
$GC,3519,-1.88,-170.3,2425,3497,2561,2797,139.4,-8.0,349,3529,0.00,3.30,0.00,0.000,1030,0.000,0.052,2425,2109,2679,2562,2797,0,0,0,0,0,0,27.20,27.18,27.20,8.71,19.20
$GC,3829,-1.88,-170.3,2425,2109,2561,2797,165.1,-9.5,372,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2109,2679,2561,2797,0,0,0,0,0,0,27.43,27.44,27.44,8.69,20.03
$GC,4128,-1.88,-170.3,2425,2109,2561,2796,194.0,-9.8,387,4136,0.00,3.47,0.00,0.000,260,0.000,0.067,2408,3494,2678,2561,2795,0,0,0,0,0,0,27.43,27.08,27.44,8.68,20.54
$GC,4337,-1.83,-170.3,2407,3494,2561,2795,219.2,-13.3,397,4343,0.17,3.33,0.00,0.000,3078,0.196,0.052,2459,2097,2677,2561,2794,0,0,0,0,0,0,26.78,27.17,26.98,8.67,19.99
$GC,4644,-1.83,-170.3,2459,2097,2561,2794,255.7,-10.9,412,4650,0.00,3.47,0.00,0.000,260,0.000,0.067,2444,3483,2677,2561,2793,0,0,0,0,0,0,27.43,27.10,27.44,8.65,20.34
$GC,4751,-1.83,-170.3,2443,3482,2561,2792,268.3,-12.7,417,4757,0.00,3.30,0.00,0.000,1030,0.000,0.052,2444,2101,2676,2561,2792,0,0,0,0,0,0,27.22,27.17,27.23,8.65,20.30
$GC,5079,-1.83,-170.3,2443,2101,2561,2791,307.4,-11.6,432,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2101,2676,2561,2791,0,0,0,0,0,0,27.43,27.45,27.44,8.63,20.50
$GC,5379,-1.83,-170.3,2443,2101,2561,2790,343.8,-12.6,442,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2102,2675,2561,2790,0,0,0,0,0,0,27.43,27.45,27.44,8.62,20.74
$GC,5679,-1.83,-170.3,2443,2102,2561,2789,380.4,-12.2,452,5686,0.00,3.50,0.00,0.000,516,0.000,0.074,2444,720,2675,2561,2789,0,0,0,0,0,0,27.43,27.05,27.45,8.61,21.25
$GC,5859,-1.83,-170.3,2444,720,2560,2789,405.6,-14.3,458,5868,0.10,3.33,0.00,0.000,3078,0.214,0.055,2454,2096,2674,2560,2789,0,0,0,0,0,0,26.84,27.18,27.01,8.60,20.97
$GC,6190,-1.83,-170.3,2454,2097,2560,2788,448.9,-12.9,469,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2096,2674,2560,2788,0,0,0,0,0,0,27.43,27.46,27.45,8.59,21.37
$GC,6490,-1.83,-170.3,2454,2097,2559,2787,489.4,-13.7,479,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2097,2673,2559,2787,0,0,0,0,0,0,27.43,27.46,27.45,8.57,21.01
$GC,6790,-1.83,-170.3,2454,2096,2558,2786,532.5,-14.7,489,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2097,2672,2558,2786,0,0,0,0,0,0,27.43,27.46,27.45,8.55,21.29
$GC,7090,-1.83,-170.3,2454,2097,2557,2785,574.3,-14.2,499,7097,0.00,3.50,0.00,0.000,260,0.000,0.070,2439,3499,2670,2557,2784,0,0,0,0,0,0,27.43,27.09,27.45,8.53,21.45
$GC,7158,-1.83,-170.3,2439,3499,2557,2784,583.7,-14.9,501,7163,0.00,3.38,0.00,0.000,1030,0.000,0.052,2439,2098,2670,2557,2784,0,0,0,0,0,0,27.22,27.18,27.23,8.53,21.21
$GC,7475,-1.83,-170.3,2439,2098,2556,2783,634.6,-15.9,512,7482,0.00,3.50,0.00,0.000,516,0.000,0.072,2439,715,2669,2556,2783,0,0,0,0,0,0,27.44,27.04,27.46,8.50,21.37
$GC,7523,-1.83,-170.3,2439,715,2556,2783,640.2,-16.5,513,7529,0.12,3.38,0.00,0.000,3078,0.206,0.052,2458,2104,2669,2556,2783,0,0,0,0,0,0,26.79,27.18,26.98,8.50,21.49
$GC,7831,-1.83,-170.3,2457,2104,2555,2782,697.2,-18.2,523,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2103,2668,2555,2782,0,0,0,0,0,0,27.44,27.46,27.45,8.47,21.60
$GC,8130,-1.83,-170.3,2457,2103,2554,2781,754.1,-19.6,533,8138,0.00,3.53,0.00,0.000,516,0.000,0.072,2458,718,2667,2554,2781,0,0,0,0,0,0,27.44,27.04,27.46,8.44,21.53
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$GC,8515,-1.83,-170.3,2442,2103,2553,2778,829.2,-18.5,546,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2103,2666,2553,2779,0,0,0,0,0,0,27.44,27.46,27.46,8.40,21.56
$GC,8815,-1.83,-170.3,2442,2103,2552,2777,886.1,-19.1,556,8822,0.00,3.50,0.00,0.000,260,0.000,0.067,2426,3492,2664,2552,2777,0,0,0,0,0,0,27.44,27.08,27.46,8.36,21.96
$GC,8868,-1.83,-170.3,2425,3492,2552,2776,892.3,-19.7,557,8877,0.12,3.38,0.00,0.000,3078,0.204,0.050,2460,2094,2664,2552,2776,0,0,0,0,0,0,26.77,27.18,26.96,8.36,22.75
$GC,9175,-1.83,-170.3,2460,2094,2551,2775,959.3,-20.4,568,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2094,2663,2551,2775,0,0,0,0,0,0,27.44,27.46,27.46,8.32,22.43
$GC,9505,-1.83,-170.3,2460,2094,2548,2773,1028.0,-21.1,577,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2094,2661,2549,2773,0,0,0,0,0,0,27.44,27.46,27.46,8.29,22.71
$GC,9805,-1.83,-170.3,2460,2094,2548,2770,1093.1,-21.6,582,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2094,2659,2548,2770,0,0,0,0,0,0,27.44,27.46,27.46,8.26,22.63
$GC,10106,-1.83,-170.3,2460,2094,2546,2769,1158.8,-22.0,587,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2094,2657,2546,2769,0,0,0,0,0,0,27.45,27.47,27.46,8.24,23.14
$GC,10405,-1.83,-170.3,2460,2094,2544,2767,1225.6,-22.4,592,10412,0.00,3.58,0.00,0.000,260,0.000,0.067,2445,3498,2655,2544,2767,0,0,0,0,0,0,27.45,27.07,27.46,8.22,23.97
$GC,10468,-1.83,-170.3,2444,3498,2544,2766,1240.1,-22.8,593,10473,0.00,3.38,0.00,0.000,1030,0.000,0.050,2445,2104,2655,2544,2766,0,0,0,0,0,0,27.22,27.17,27.24,8.22,23.77
$GC,10825,-1.83,-170.3,2444,2103,2541,2765,1323.8,-23.4,599,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2103,2653,2541,2765,0,0,0,0,0,0,27.45,27.47,27.46,8.19,23.93
$GC,11125,-1.83,-170.3,2444,2102,2538,2764,1394.4,-23.6,604,11132,0.00,3.55,0.00,0.000,260,0.000,0.067,2428,3496,2650,2538,2763,0,0,0,0,0,0,27.45,27.03,27.46,8.18,24.01
$GC,11173,-1.83,-170.3,2427,3496,2538,2763,1394.4,-23.6,604,11179,0.10,3.40,0.00,0.000,3078,0.211,0.050,2455,2098,2650,2538,2763,0,0,0,0,0,0,26.79,27.17,26.94,8.18,24.08
$GC,11480,-1.83,-170.3,2454,2098,2536,2761,1477.0,-22.8,609,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2098,2648,2536,2761,0,0,0,0,0,0,27.45,27.47,27.46,8.17,24.12
$GC,11781,-1.83,-170.3,2454,2098,2535,2759,1545.0,-22.8,614,11787,0.00,3.58,0.00,0.000,260,0.000,0.067,2439,3498,2647,2534,2760,0,0,0,0,0,0,27.45,27.04,27.46,8.16,24.68
$GC,11828,-1.83,-170.3,2439,3498,2535,2759,1545.0,-22.8,614,11834,0.00,3.42,0.00,0.000,1030,0.000,0.050,2439,2097,2646,2534,2759,0,0,0,0,0,0,27.22,27.17,27.23,8.16,24.36
$GC,12136,-1.83,-170.3,2438,2097,2534,2757,1627.9,-23.2,619,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2097,2645,2534,2757,0,0,0,0,0,0,27.45,27.46,27.46,8.15,24.95
$GC,12435,-1.83,-170.3,2438,2097,2533,2756,1696.2,-22.7,624,12442,0.00,3.58,0.00,0.000,260,0.000,0.067,2422,3490,2644,2533,2756,0,0,0,0,0,0,27.45,27.01,27.46,8.14,24.95
$GC,12473,-1.83,-170.3,2421,3490,2533,2756,1696.2,-22.7,624,12479,0.12,3.40,0.00,0.000,3078,0.206,0.050,2457,2097,2644,2533,2756,0,0,0,0,0,0,26.70,27.17,26.88,8.14,25.58
$GC,12791,-1.83,-170.3,2456,2098,2531,2754,1775.1,-21.8,630,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2098,2642,2531,2754,0,0,0,0,0,0,27.45,27.46,27.46,8.13,25.11
$GC,13092,-1.83,-170.3,2456,2098,2530,2753,1841.2,-22.0,635,13099,0.00,3.58,0.00,0.000,260,0.000,0.067,2441,3492,2641,2529,2753,0,0,0,0,0,0,27.45,27.01,27.46,8.12,25.62
$GC,13144,-1.83,-170.3,2440,3492,2530,2752,1841.2,-22.0,635,13153,0.00,3.40,0.00,0.000,1030,0.000,0.050,2440,2105,2641,2530,2752,0,0,0,0,0,0,27.20,27.15,27.22,8.12,24.99
$GC,13451,-1.83,-170.3,2440,2104,2529,2751,1922.1,-22.2,641,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2105,2640,2529,2751,0,0,0,0,0,0,27.45,27.46,27.46,8.11,25.74
$GC,13752,-1.83,-170.3,2440,2104,2528,2749,1987.6,-21.7,646,13753,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2104,2638,2528,2749,0,0,0,0,0,0,27.45,27.46,27.46,8.11,25.34
$GC,14051,-1.83,-170.3,2440,2104,2528,2749,2052.1,-21.6,651,14059,0.00,3.58,0.00,0.000,260,0.000,0.067,2424,3494,2638,2528,2748,0,0,0,0,0,0,27.45,26.95,27.46,8.11,25.62
$GC,14125,-1.83,-170.3,2423,3494,2528,2748,2066.0,-21.9,652,14131,0.12,3.42,0.00,0.000,3078,0.204,0.050,2458,2098,2638,2528,2748,0,0,0,0,0,0,26.66,27.15,26.84,8.10,25.34
$GC,14469,-1.88,-170.3,2457,2098,2527,2747,2140.1,-20.5,658,14470,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2098,2637,2527,2747,0,0,0,0,0,0,27.44,27.46,27.46,8.09,25.27
$GC,14769,-1.94,-170.3,2458,2098,2526,2746,2200.7,-20.2,663,14771,0.08,0.00,0.00,0.000,4102,0.139,0.000,2418,2098,2636,2526,2746,0,0,0,0,0,0,27.21,27.24,27.23,8.09,25.74
$GC,15068,-1.94,-170.3,2417,2098,2525,2744,2265.0,-21.5,668,15070,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2098,2635,2526,2744,0,0,0,0,0,0,27.44,27.46,27.46,8.09,25.50
$GC,15369,-1.94,-170.3,2416,2098,2524,2743,2329.5,-21.5,673,15375,0.00,3.60,0.00,0.000,260,0.000,0.067,2400,3488,2633,2524,2743,0,0,0,0,0,0,27.45,26.91,27.46,8.08,25.70
$GC,15429,-1.94,-170.3,2400,3488,2525,2743,2343.4,-21.8,674,15435,0.00,3.38,0.00,0.000,1030,0.000,0.050,2400,2104,2633,2523,2743,0,0,0,0,0,0,27.16,27.14,27.18,8.08,25.58
$GC,15788,-1.94,-170.3,2399,2104,2523,2742,2421.9,-21.7,680,15790,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2104,2632,2523,2742,0,0,0,0,0,0,27.44,27.46,27.46,8.08,25.54
$GC,16088,-1.94,-170.3,2400,2104,2523,2742,2487.0,-21.7,685,16096,0.00,3.58,0.00,0.000,260,0.000,0.067,2381,3485,2632,2523,2742,0,0,0,0,0,0,27.44,26.87,27.46,8.07,25.62
$GC,16141,-1.94,-170.3,2381,3485,2524,2742,2487.0,-21.7,685,16150,0.15,3.42,0.00,0.000,3078,0.204,0.050,2423,2095,2631,2522,2741,0,0,0,0,0,0,26.53,27.13,26.72,8.07,26.21
$GC,16448,-1.94,-170.3,2423,2095,2522,2741,2563.0,-20.6,691,16450,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2095,2631,2522,2741,0,0,0,0,0,0,27.44,27.46,27.46,8.07,26.29
$GC,16749,-1.94,-170.3,2423,2095,2521,2741,2623.8,-20.1,696,16750,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2095,2630,2521,2740,0,0,0,0,0,0,27.44,27.46,27.46,8.06,25.54
$GC,17049,-1.99,-170.3,2423,2095,2521,2740,2682.2,-19.4,701,17055,0.00,3.62,0.00,0.000,260,0.000,0.070,2409,3490,2630,2521,2740,0,0,0,0,0,0,27.44,26.84,27.46,8.06,25.97
$GC,17102,-2.04,-170.3,2408,3489,2521,2740,2682.2,-19.4,701,17110,0.00,3.42,0.00,0.000,1030,0.000,0.050,2409,2102,2630,2520,2740,0,0,0,0,0,0,27.17,27.12,27.18,8.06,25.70
$GC,17408,-2.04,-170.3,2408,2102,2521,2739,2752.5,-19.3,707,17410,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2102,2630,2521,2739,0,0,0,0,0,0,27.44,27.46,27.46,8.05,25.46
$GC,17708,-2.04,-170.3,2408,2102,2521,2739,2810.8,-19.4,712,17710,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2102,2629,2520,2738,0,0,0,0,0,0,27.44,27.46,27.45,8.05,25.86
$GC,18009,-2.04,-170.3,2408,2102,2520,2738,2868.4,-19.2,717,18015,0.00,3.60,0.00,0.000,260,0.000,0.070,2391,3487,2629,2520,2738,0,0,0,0,0,0,27.44,26.82,27.46,8.05,25.66
$GC,18056,-2.04,-170.3,2390,3487,2520,2738,2868.4,-19.2,717,18062,0.00,3.42,0.00,0.000,1030,0.000,0.050,2391,2100,2628,2519,2738,0,0,0,0,0,0,27.16,27.11,27.17,8.05,26.01
$GC,18364,-2.04,-170.3,2390,2100,2519,2738,2939.3,-19.9,722,18365,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2100,2628,2519,2738,0,0,0,0,0,0,27.44,27.46,27.46,8.04,26.01
$GC,18663,-2.04,-170.3,2389,2100,2519,2737,3000.0,-20.2,727,18665,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2100,2627,2519,2736,0,0,0,0,0,0,27.44,27.46,27.45,8.03,26.33
$GC,18964,-2.04,-170.3,2390,2100,2519,2737,3061.1,-20.4,732,18971,0.00,3.62,0.00,0.000,260,0.000,0.067,2373,3488,2627,2518,2736,0,0,0,0,0,0,27.43,26.77,27.45,8.04,25.78
$GC,19012,-2.04,-170.3,2373,3488,2518,2736,3061.1,-20.4,732,19017,0.00,3.42,0.00,0.000,1030,0.000,0.050,2373,2100,2627,2518,2736,0,0,0,0,0,0,27.15,27.10,27.17,8.04,26.37
$GC,19318,-2.04,-170.3,2373,2100,2518,2735,3136.3,-21.0,737,19320,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2100,2627,2518,2736,0,0,0,0,0,0,27.43,27.46,27.45,8.04,26.21
$GC,19618,-2.04,-170.3,2373,2100,2518,2735,3197.8,-20.4,742,19620,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2100,2627,2518,2736,0,0,0,0,0,0,27.43,27.46,27.45,8.03,26.49
$GC,19919,-2.04,-170.3,2373,2100,2517,2735,3258.1,-20.0,747,19925,0.00,3.62,0.00,0.000,260,0.000,0.070,2356,3487,2626,2517,2735,0,0,0,0,0,0,27.43,26.71,27.45,8.03,26.25
$GC,19966,-2.04,-170.3,2356,3487,2518,2735,3258.1,-20.0,747,19973,0.12,3.42,0.00,0.000,3078,0.204,0.050,2389,2098,2626,2518,2735,0,0,0,0,0,0,26.53,27.09,26.68,8.03,25.66
$GC,20274,-2.09,-170.3,2389,2098,2517,2735,3325.4,-18.4,752,20276,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2098,2626,2517,2735,0,0,0,0,0,0,27.43,27.46,27.44,8.03,26.25
$GC,20574,-2.14,-170.3,2389,2098,2517,2735,3380.5,-18.3,757,20575,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2098,2626,2517,2735,0,0,0,0,0,0,27.43,27.46,27.45,8.03,26.05
$GC,20874,-2.20,-170.3,2389,2098,2517,2734,3434.2,-17.9,762,20882,0.10,3.62,0.00,0.000,4356,0.127,0.067,2325,3482,2625,2516,2734,0,0,0,0,0,0,27.13,26.67,27.13,8.02,26.05
$GC,20923,-2.25,-170.3,2324,3482,2517,2734,3434.2,-17.9,762,20928,0.00,3.42,0.00,0.000,1030,0.000,0.050,2325,2098,2625,2517,2734,0,0,0,0,0,0,27.13,27.08,27.15,8.02,26.05
$GC,21230,-2.25,-170.3,2324,2098,2517,2734,3505.3,-19.9,767,21231,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2099,2625,2517,2733,0,0,0,0,0,0,27.38,27.39,27.39,8.02,26.45
$GC,21530,-2.25,-170.3,2324,2099,2517,2733,3564.0,-19.5,772,21532,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2099,2624,2517,2732,0,0,0,0,0,0,27.38,27.39,27.39,8.02,26.01
$GC,21831,-2.25,-170.3,2324,2098,2516,2733,3622.4,-19.5,777,21832,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2098,2624,2516,2733,0,0,0,0,0,0,27.38,27.40,27.39,8.02,25.94
$GC,22129,-2.25,-170.3,2324,2098,2516,2732,3679.8,-19.1,782,22130,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2099,2624,2516,2732,0,0,0,0,0,0,27.43,27.44,27.44,8.02,26.01
$GC,22429,-2.25,-170.3,2324,2099,2515,2732,3736.6,-18.8,787,22437,0.00,3.65,0.00,0.000,260,0.000,0.070,2307,3487,2623,2515,2732,0,0,0,0,0,0,27.43,26.59,27.44,8.01,26.41
$GC,22490,-2.25,-170.3,2307,3487,2515,2732,3748.9,-19.1,788,22497,0.00,3.42,0.00,0.000,1030,0.000,0.052,2307,2096,2623,2515,2732,0,0,0,0,0,0,27.07,27.05,27.10,8.02,25.70
$GC,22849,-2.25,-170.3,2307,2096,2515,2732,3817.7,-19.0,794,22850,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2095,2623,2515,2732,0,0,0,0,0,0,27.42,27.44,27.43,8.01,25.74
$GC,23149,-2.25,-170.3,2307,2095,2514,2731,3873.8,-18.7,799,23151,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2096,2622,2514,2731,0,0,0,0,0,0,27.42,27.44,27.43,8.01,26.05
$GC,23450,-2.25,-170.3,2306,2096,2514,2731,3928.9,-18.3,804,23451,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2095,2622,2514,2731,0,0,0,0,0,0,27.36,27.39,27.38,8.01,26.72
$GC,23750,-2.25,-170.3,2307,2096,2514,2730,3982.5,-17.9,809,23751,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2095,2622,2514,2731,0,0,0,0,0,0,27.36,27.39,27.38,8.01,25.90
$GC,24049,-2.25,-170.3,2306,2095,2513,2731,4036.5,-18.0,814,24050,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2095,2622,2513,2731,0,0,0,0,0,0,27.42,27.44,27.43,8.00,26.17
$GC,24351,-2.25,-170.3,2307,2095,2513,2730,4089.3,-17.5,819,24352,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2096,2622,2513,2731,0,0,0,0,0,0,27.37,27.39,27.39,8.00,26.17
$GC,24650,-2.25,-170.3,2307,2095,2514,2730,4141.6,-17.4,824,24656,0.00,3.65,0.00,0.000,260,0.000,0.070,2290,3480,2622,2513,2731,0,0,0,0,0,0,27.36,26.53,27.38,8.00,26.09
$GC,24697,-2.25,-170.3,2289,3481,2514,2729,4141.6,-17.4,824,24703,0.12,3.45,0.00,0.000,3078,0.214,0.052,2322,2089,2621,2513,2730,0,0,0,0,0,0,26.40,27.03,26.53,8.00,25.78
$GC,25005,-2.25,-170.3,2321,2089,2513,2730,4202.5,-16.8,829,25006,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2089,2621,2513,2730,0,0,0,0,0,0,27.36,27.38,27.37,8.00,26.05
$GC,25304,-2.25,-170.3,2321,2089,2513,2730,4252.1,-16.5,834,25305,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2089,2621,2513,2730,0,0,0,0,0,0,27.42,27.43,27.43,8.01,26.01
$GC,25605,-2.25,-170.3,2321,2089,2513,2730,4300.7,-16.1,839,25606,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2089,2621,2513,2730,0,0,0,0,0,0,27.36,27.38,27.37,8.00,26.21
$GC,25906,-2.25,-170.3,2320,2089,2512,2730,4348.5,-15.9,844,25907,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2089,2621,2512,2730,0,0,0,0,0,0,27.36,27.39,27.38,8.00,26.13
$GC,26204,-2.25,-170.3,2321,2089,2512,2730,4396.0,-15.6,849,26205,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2089,2621,2512,2730,0,0,0,0,0,0,27.42,27.43,27.43,8.00,25.90
$GC,26507,-2.25,-170.3,2321,2089,2512,2730,4442.4,-15.4,854,26508,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2089,2621,2512,2730,0,0,0,0,0,0,27.38,27.40,27.39,8.00,26.17
$GC,26805,-2.25,-170.3,2321,2089,2512,2730,4488.0,-15.1,859,26806,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2089,2621,2512,2730,0,0,0,0,0,0,27.36,27.38,27.37,8.00,26.45
$GC,27105,-2.31,-170.3,2321,2089,2512,2729,4532.2,-14.7,864,27106,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2089,2620,2512,2729,0,0,0,0,0,0,27.42,27.43,27.43,8.00,26.64
$GC,27404,-2.36,-170.3,2321,2089,2512,2729,4576.1,-14.6,869,27406,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2089,2620,2512,2729,0,0,0,0,0,0,27.42,27.43,27.43,8.00,26.17
$GC,27704,-2.41,-170.3,2321,2089,2512,2730,4619.0,-14.2,874,27712,0.10,3.70,0.00,0.000,4356,0.124,0.070,2259,3482,2620,2511,2729,0,0,0,0,0,0,27.11,26.37,27.12,8.00,25.82
$GC,27769,-2.41,-170.3,2258,3481,2512,2729,4629.1,-14.7,875,27775,0.00,3.45,0.00,0.000,1030,0.000,0.052,2259,2099,2620,2512,2729,0,0,0,0,0,0,27.05,26.99,27.07,8.00,25.82
$GC,28127,-2.41,-170.3,2258,2099,2511,2729,4684.5,-15.0,881,28128,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2100,2620,2512,2729,0,0,0,0,0,0,27.41,27.43,27.43,8.00,25.94
$GC,28427,-2.41,-170.3,2257,2099,2512,2729,4729.1,-14.8,886,28428,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2099,2620,2512,2729,0,0,0,0,0,0,27.42,27.43,27.43,8.00,26.05
$GC,28727,-2.41,-170.3,2258,2099,2511,2729,4773.7,-14.9,891,28728,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2099,2620,2512,2729,0,0,0,0,0,0,27.42,27.43,27.43,8.00,26.33
$STATE,28846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,28846,begin apogee
$GC,28849,-0.68,0.0,2258,2099,2512,2728,4791.2,-14.7,893,29027,1.95,0.00,167.88,3.963,10246,0.181,0.000,2819,2099,2082,1964,2201,0,0,0,0,0,0,25.46,23.23,21.35,8.00,26.05
$STATE,29028,end apogee,CONTROL_FINISHED_OK
$STATE,29028,begin climb
$GC,29029,1.89,170.3,2818,2098,1964,2201,4795.5,0.0,896,29219,2.65,0.00,184.40,3.859,10246,0.112,0.000,3641,2098,1497,1389,1606,0,0,0,0,0,0,23.99,23.23,21.51,7.98,25.62
$GC,29507,1.80,170.3,3640,2098,1388,1604,4704.8,22.6,904,29508,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2098,1496,1388,1604,0,0,0,0,0,0,26.31,26.32,26.32,7.94,25.34
$GC,29807,1.71,170.3,3640,2098,1388,1604,4638.9,21.8,909,29815,0.15,3.80,0.00,0.000,4612,0.209,0.070,3613,664,1496,1388,1604,0,0,0,0,0,0,26.32,26.51,26.43,7.93,24.40
$GC,29851,1.61,170.3,3613,664,1388,1604,4638.9,21.8,909,29859,0.17,3.53,0.00,0.000,5126,0.201,0.052,3566,2061,1496,1388,1604,0,0,0,0,0,0,26.34,26.67,26.54,7.93,24.60
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$GC,46347,1.67,170.3,3610,2053,1389,1606,2548.3,9.3,1184,46348,0.10,0.00,0.00,0.000,4102,0.211,0.000,3585,2053,1497,1389,1606,0,0,0,0,0,0,26.83,26.94,26.89,7.84,24.36
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$GC,46946,1.67,170.3,3584,2053,1389,1606,2497.1,8.5,1194,46954,0.00,3.58,0.00,0.000,260,0.000,0.065,3585,3439,1497,1389,1606,0,0,0,0,0,0,27.41,26.84,27.42,7.84,24.64
$GC,47029,1.67,170.3,3584,3439,1389,1606,2491.7,8.6,1195,47034,0.00,3.45,0.00,0.000,1030,0.000,0.050,3600,2046,1498,1389,1607,0,0,0,0,0,0,27.08,27.03,27.10,7.84,24.99
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$STATE,80026,end climb,SURFACE_DEPTH_REACHED
$STATE,80027,begin surface coast
$FINISH,1.1,1.024073
$STATE,80038,end surface coast,CONTROL_FINISHED_OK
$STATE,80038,begin surface
$SM_CCo,80054,110.90,0.874,0,0,896,345.11
$SM_GC,2.19,9.18,0.00,110.90,0.072,0.000,0.874,206,2051,896,-8.82,-1.39,345.11,0,0,0,0,0,0,26.80,27.40,24.75
$IRIDIUM_FIX,3604.45,-6118.48,180719,231602
$TT8_MAMPS,0.021721,0.173768
$HUMID,21.76
$INTERNAL_PRESSURE,8.26285
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,4648.4,151.2
$24V_AH,21.35,34.116
$10V_AH,10.33,16.729
$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,28.275,594.500,378.375,110.900,93.375,40.646,14.237,101.159,15.000,0.000,50.802,7130.609,65866.367,1111.645,6066.652,290.708,0.000,4269.550,0.000,5663.544,0.000,124.049,0.000
$DEVICE_MAMPS,240.851,76.973,3962.868,874.016,404.729,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1367.725,2566.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318876
$DATA_FILE_SIZE,142100,1966
$CAP_FILE_SIZE,497700,0
$CFSIZE,2046525440,2025455616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.206,98.48,1
$GPS,190719,223709,3606.992,-6118.255,25,1.1,64,-16.1,1.3,104.4,8,5.0