version: 66.12
glider: 35
mission: 26
dive: 81
start: 5 24 115 7 0 28
data:
$ID,35
$MISSION,26
$DIVE,81
$N_DIVES,0
$D_SURF,2
$D_FLARE,5
$D_TGT,5400
$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,3600
$T_MISSION,3660
$T_ABORT,3720
$T_TURN,540
$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,1.023
$MASS,77482
$MASS_COMP,9268.2998
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,20
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2248
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$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,-1037.27
$PRESSURE_SLOPE,0.00092600001
$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,3900
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$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,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,0.004269524
$SEABIRD_T_H,0.00061604282
$SEABIRD_T_I,2.0033509e-05
$SEABIRD_T_J,1.8499288e-06
$SEABIRD_C_G,-9.6420546
$SEABIRD_C_H,1.1096923
$SEABIRD_C_I,-0.001213078
$SEABIRD_C_J,0.00016721067
$GPS1,240515,065106,3138.7788,-6424.7808,37,1.2,37,-15.4,0.5,312.2,7,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-56.4
$GPS2,240515,070001,3138.7395,-6424.9438,15,1.3,15,-15.4,0.4,292.1,6,10.1
$SPEED_LIMITS,0.050,0.191
$TGT_NAME,SS06
$TGT_LATLONG,3129.220,-6431.920
$TGT_RADIUS,12000.000
$KALMAN_CONTROL,0.037182,0.033429
$KALMAN_X,-74530.132812,0.000000,0.000000,55291.960938,-13704.632812
$KALMAN_Y,-127410.835938,0.000000,0.000000,98074.843750,-19850.960938
$MHEAD_RNG_PITCHd_Wd,63.4,20789,-43.1,-5.000,-45.00,328
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-2.15,-10.7,195,2347,1303,1126,0.0,0.0,0,91,0.00,0.00,-69.43,0.092,16390,0.000,0.000,195,2347,2283,2301,2266,0,0,0,0,0,0,26.18,25.73,25.67
$GC,94,-2.15,-17.6,195,2347,2301,2266,3.0,-2.9,7,105,5.53,0.00,-1.33,0.216,18694,0.258,0.000,1556,2347,2309,2328,2291,0,0,0,0,0,0,25.16,25.79,25.55
$GC,414,-2.09,-17.6,1556,2347,2328,2289,57.4,-11.5,35,419,0.00,2.12,0.00,0.000,260,0.000,0.060,1546,3758,2308,2327,2289,0,0,0,0,0,0,26.41,26.03,26.42
$GC,1006,-1.98,-17.6,1546,3759,2327,2289,149.3,-17.5,71,1015,0.20,2.10,0.00,0.000,3078,0.231,0.045,1606,2277,2308,2328,2289,0,0,0,0,0,0,25.46,26.32,25.58
$GC,1314,-1.98,-17.6,1606,2276,2328,2289,200.7,-16.2,82,1320,0.00,2.22,0.00,0.000,260,0.000,0.057,1595,3757,2308,2328,2289,0,0,0,0,0,0,26.60,26.20,26.62
$GC,1597,-1.93,-17.6,1595,3757,2328,2290,251.2,-18.5,91,1601,0.00,2.10,0.00,0.000,1030,0.000,0.045,1603,2301,2308,2327,2289,0,0,0,0,0,0,26.38,26.38,26.39
$GC,1941,-1.93,-17.6,1603,2300,2328,2289,311.1,-17.3,102,1945,0.00,1.90,0.00,0.000,516,0.000,0.055,1603,982,2308,2328,2289,0,0,0,0,0,0,26.65,26.27,26.65
$GC,2119,-1.93,-17.6,1603,982,2329,2289,335.6,-17.2,105,2128,0.12,2.05,0.00,0.000,3078,0.221,0.050,1628,2372,2309,2329,2289,0,0,0,0,0,0,25.72,26.33,25.83
$GC,2443,-1.93,-17.6,1628,2372,2328,2289,397.0,-16.8,113,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2371,2309,2329,2289,0,0,0,0,0,0,26.66,26.67,26.67
$GC,2758,-1.93,-17.6,1628,2371,2329,2289,451.7,-17.7,120,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2372,2309,2329,2289,0,0,0,0,0,0,26.67,26.67,26.67
$GC,3073,-1.93,-17.6,1628,2372,2329,2289,507.3,-17.7,127,3076,0.00,2.08,0.00,0.000,260,0.000,0.060,1618,3735,2309,2329,2289,0,0,0,0,0,0,26.67,26.26,26.67
$GC,3128,-1.93,-17.6,1617,3748,2329,2290,516.1,-18.0,128,3132,0.00,2.00,0.00,0.000,1030,0.000,0.047,1622,2363,2309,2329,2290,0,0,0,0,0,0,26.45,26.40,26.46
$GC,3437,-1.93,-17.6,1622,2363,2329,2290,575.2,-18.8,135,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2363,2309,2329,2289,0,0,0,0,0,0,26.67,26.69,26.68
$GC,3751,-1.93,-17.6,1622,2363,2329,2290,632.8,-18.4,142,3757,0.00,2.10,0.00,0.000,260,0.000,0.060,1612,3750,2309,2329,2290,0,0,0,0,0,0,26.67,26.27,26.69
$GC,3870,-1.93,-17.6,1612,3750,2329,2290,651.2,-19.4,144,3874,0.00,2.03,0.00,0.000,1030,0.000,0.045,1617,2355,2309,2329,2290,0,0,0,0,0,0,26.42,26.41,26.44
$GC,4204,-1.93,-17.6,1617,2354,2329,2289,723.0,-19.6,152,4209,0.00,1.98,0.00,0.000,516,0.000,0.055,1617,975,2309,2329,2290,0,0,0,0,0,0,26.67,26.29,26.69
$GC,4281,-1.93,-17.6,1616,975,2329,2289,732.2,-19.7,153,4285,0.00,2.05,0.00,0.000,1030,0.000,0.050,1607,2357,2309,2329,2290,0,0,0,0,0,0,26.36,26.34,26.38
$GC,4610,-1.93,-17.6,1607,2357,2329,2290,812.0,-22.3,161,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2357,2309,2329,2290,0,0,0,0,0,0,26.67,26.69,26.69
$GC,4925,-1.93,-17.6,1607,2357,2329,2289,884.0,-23.1,168,4929,0.00,2.03,0.00,0.000,516,0.000,0.052,1607,984,2308,2328,2289,0,0,0,0,0,0,26.67,26.30,26.69
$GC,5010,-1.93,-17.6,1607,976,2329,2289,895.8,-23.8,169,5020,0.10,2.03,0.00,0.000,3078,0.211,0.050,1625,2340,2309,2329,2289,0,0,0,0,0,0,25.85,26.34,25.93
$GC,5335,-2.00,-17.6,1625,2340,2329,2289,987.2,-25.9,177,5340,0.00,2.12,0.00,0.000,260,0.000,0.060,1615,3750,2309,2329,2289,0,0,0,0,0,0,26.67,26.27,26.69
$GC,5397,-2.05,-17.6,1614,3750,2328,2289,999.0,-26.2,178,5401,0.00,2.03,0.00,0.000,1030,0.000,0.047,1614,2365,2308,2328,2289,0,0,0,0,0,0,26.44,26.40,26.45
$GC,5786,-2.11,-17.6,1614,2355,2328,2285,1105.9,-26.3,182,5792,0.08,2.10,0.00,0.000,4356,0.146,0.057,1557,3746,2306,2328,2285,0,0,0,0,0,0,26.43,26.26,26.44
$GC,5847,-2.17,-17.6,1556,3746,2327,2285,1105.9,-26.3,182,5851,0.00,2.08,0.00,0.000,1030,0.000,0.047,1561,2341,2306,2327,2285,0,0,0,0,0,0,26.42,26.40,26.44
$GC,6266,-2.17,-17.6,1561,2341,2326,2282,1248.6,-29.6,186,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2341,2304,2327,2282,0,0,0,0,0,0,26.68,26.70,26.69
$GC,6625,-2.17,-17.6,1560,2340,2325,2280,1359.2,-30.6,189,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2340,2302,2325,2280,0,0,0,0,0,0,26.68,26.70,26.70
$GC,6985,-2.17,-17.6,1561,2340,2323,2279,1471.2,-31.1,192,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2340,2301,2323,2279,0,0,0,0,0,0,26.68,26.70,26.69
$GC,7346,-2.23,-17.6,1560,2339,2321,2275,1582.0,-30.9,195,7351,0.00,2.17,0.00,0.000,260,0.000,0.060,1551,3753,2298,2321,2275,0,0,0,0,0,0,26.68,26.24,26.69
$GC,7442,-2.29,-17.6,1550,3753,2320,2276,1582.0,-30.9,195,7447,0.05,2.05,0.00,0.000,5126,0.174,0.045,1521,2346,2297,2320,2275,0,0,0,0,0,0,26.25,26.38,26.31
$GC,7821,-2.29,-17.6,1521,2346,2319,2274,1732.6,-31.7,199,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,2346,2296,2319,2273,0,0,0,0,0,0,26.68,26.70,26.70
$GC,8181,-2.29,-17.6,1521,2345,2317,2271,1845.1,-31.3,202,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,2346,2294,2317,2271,0,0,0,0,0,0,26.68,26.70,26.70
$GC,8541,-2.29,-17.6,1521,2345,2316,2269,1957.7,-31.3,205,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,2346,2292,2316,2269,0,0,0,0,0,0,26.68,26.70,26.70
$GC,8901,-2.35,-17.6,1521,2345,2314,2268,2065.8,-30.3,208,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,2346,2291,2314,2268,0,0,0,0,0,0,26.68,26.70,26.70
$GC,9261,-2.41,-17.6,1521,2345,2313,2266,2172.5,-29.7,211,9267,0.08,2.15,0.00,0.000,4356,0.142,0.057,1460,3743,2289,2313,2266,0,0,0,0,0,0,26.41,26.20,26.41
$GC,9307,-2.47,-17.6,1460,3743,2311,2266,2172.5,-29.7,211,9311,0.00,2.05,0.00,0.000,1030,0.000,0.045,1466,2361,2289,2311,2267,0,0,0,0,0,0,26.41,26.36,26.43
$GC,9621,-2.47,-17.6,1466,2350,2312,2265,2286.0,-31.2,214,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,2350,2288,2311,2265,0,0,0,0,0,0,26.68,26.70,26.70
$GC,9981,-2.47,-17.6,1466,2350,2310,2263,2396.8,-30.9,217,9986,0.00,2.17,0.00,0.000,260,0.000,0.060,1456,3750,2286,2310,2263,0,0,0,0,0,0,26.68,26.20,26.70
$GC,10047,-2.47,-17.6,1456,3750,2309,2263,2396.8,-30.9,217,10051,0.00,2.12,0.00,0.000,1030,0.000,0.045,1456,2342,2286,2309,2263,0,0,0,0,0,0,26.37,26.35,26.39
$GC,10461,-2.47,-17.6,1456,2341,2309,2262,2542.5,-30.3,221,10466,0.00,2.17,0.00,0.000,260,0.000,0.057,1445,3746,2285,2308,2262,0,0,0,0,0,0,26.68,26.19,26.69
$GC,10507,-2.47,-17.6,1445,3746,2308,2262,2542.5,-30.3,221,10511,0.00,2.12,0.00,0.000,1030,0.000,0.045,1451,2340,2285,2308,2262,0,0,0,0,0,0,26.36,26.35,26.38
$GC,10821,-2.47,-17.6,1450,2340,2308,2261,2648.3,-29.5,224,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,2340,2284,2308,2261,0,0,0,0,0,0,26.68,26.70,26.70
$GC,11181,-2.47,-17.6,1450,2339,2307,2260,2750.0,-28.5,227,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,2339,2283,2307,2259,0,0,0,0,0,0,26.68,26.70,26.69
$GC,11541,-2.47,-17.6,1450,2339,2307,2259,2849.8,-27.7,230,11546,0.00,2.17,0.00,0.000,260,0.000,0.057,1440,3743,2282,2306,2258,0,0,0,0,0,0,26.68,26.17,26.69
$GC,11602,-2.47,-17.6,1440,3743,2306,2259,2849.8,-27.7,230,11606,0.00,2.10,0.00,0.000,1030,0.000,0.047,1440,2353,2282,2306,2259,0,0,0,0,0,0,26.36,26.34,26.37
$GC,12021,-2.47,-17.6,1440,2352,2306,2259,2982.0,-27.5,234,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,1440,2352,2282,2306,2258,0,0,0,0,0,0,26.68,26.70,26.69
$GC,12381,-2.47,-17.6,1440,2352,2305,2257,3075.6,-26.1,237,12386,0.00,2.17,0.00,0.000,260,0.000,0.060,1430,3750,2281,2305,2257,0,0,0,0,0,0,26.68,26.17,26.69
$GC,12427,-2.47,-17.6,1429,3750,2305,2257,3075.6,-26.1,237,12431,0.00,2.12,0.00,0.000,1030,0.000,0.047,1430,2349,2281,2305,2257,0,0,0,0,0,0,26.35,26.33,26.36
$GC,12741,-2.47,-17.6,1430,2349,2305,2257,3168.7,-25.9,240,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,2349,2280,2304,2257,0,0,0,0,0,0,26.67,26.70,26.69
$GC,13101,-2.52,-17.6,1429,2349,2304,2256,3257.3,-24.8,243,13107,0.00,2.17,0.00,0.000,260,0.000,0.057,1419,3745,2280,2304,2256,0,0,0,0,0,0,26.67,26.13,26.69
$GC,13197,-2.58,-17.6,1418,3745,2304,2256,3257.3,-24.8,243,13201,0.00,2.10,0.00,0.000,1030,0.000,0.045,1423,2345,2280,2304,2256,0,0,0,0,0,0,26.36,26.32,26.38
$GC,13576,-2.63,-17.6,1423,2345,2304,2255,3370.7,-23.8,247,13577,0.00,0.00,0.00,0.000,6,0.000,0.000,1423,2345,2279,2304,2255,0,0,0,0,0,0,26.67,26.69,26.69
$GC,13937,-2.69,-17.6,1423,2345,2303,2255,3453.1,-22.8,250,13943,0.05,2.17,0.00,0.000,4356,0.171,0.057,1382,3744,2279,2304,2254,0,0,0,0,0,0,26.46,26.11,26.47
$GC,14069,-2.69,-17.6,1382,3744,2302,2255,3482.7,-23.2,251,14073,0.00,2.12,0.00,0.000,1030,0.000,0.045,1388,2348,2278,2302,2255,0,0,0,0,0,0,26.32,26.31,26.34
$GC,14418,-2.69,-17.6,1387,2348,2302,2254,3564.4,-23.1,254,14424,0.00,2.17,0.00,0.000,260,0.000,0.060,1377,3742,2278,2302,2254,0,0,0,0,0,0,26.67,26.10,26.68
$GC,14479,-2.69,-17.6,1377,3742,2301,2254,3564.4,-23.1,254,14483,0.00,2.12,0.00,0.000,1030,0.000,0.045,1383,2345,2277,2301,2254,0,0,0,0,0,0,26.32,26.30,26.34
$GC,14898,-2.69,-17.6,1384,2345,2301,2253,3669.6,-21.8,258,14899,0.00,0.00,0.00,0.000,6,0.000,0.000,1384,2344,2277,2301,2253,0,0,0,0,0,0,26.67,26.69,26.68
$GC,15258,-2.69,-17.6,1384,2344,2301,2252,3744.9,-21.0,261,15264,0.00,2.20,0.00,0.000,260,0.000,0.057,1373,3752,2276,2301,2252,0,0,0,0,0,0,26.67,26.09,26.69
$GC,15319,-2.69,-17.6,1373,3752,2301,2253,3744.9,-21.0,261,15324,0.00,2.12,0.00,0.000,1030,0.000,0.045,1373,2351,2276,2301,2252,0,0,0,0,0,0,26.32,26.29,26.33
$GC,15739,-2.69,-17.6,1373,2350,2301,2252,3842.9,-20.4,265,15740,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,2351,2276,2300,2252,0,0,0,0,0,0,26.67,26.69,26.68
$GC,16099,-2.69,-17.6,1373,2351,2301,2252,3913.5,-19.7,268,16100,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,2350,2276,2301,2252,0,0,0,0,0,0,26.63,26.64,26.64
$GC,16459,-2.69,-17.6,1373,2351,2301,2252,3979.7,-18.6,271,16460,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,2350,2276,2301,2252,0,0,0,0,0,0,26.63,26.64,26.63
$GC,16819,-2.69,-17.6,1373,2350,2301,2251,4044.2,-18.0,274,16820,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,2350,2276,2301,2251,0,0,0,0,0,0,26.62,26.64,26.63
$GC,17180,-2.74,-17.6,1373,2350,2301,2251,4105.5,-17.2,277,17184,0.00,2.22,0.00,0.000,260,0.000,0.057,1364,3766,2275,2300,2251,0,0,0,0,0,0,26.63,26.03,26.64
$GC,17240,-2.79,-17.6,1364,3766,2300,2252,4105.5,-17.2,277,17244,0.00,2.12,0.00,0.000,1030,0.000,0.045,1364,2337,2275,2300,2251,0,0,0,0,0,0,26.31,26.26,26.32
$GC,17660,-2.79,-17.6,1364,2337,2300,2251,4183.8,-16.2,281,17661,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,2337,2275,2300,2251,0,0,0,0,0,0,26.63,26.64,26.64
$GC,18020,-2.84,-17.6,1363,2337,2300,2251,4238.4,-15.4,284,18021,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,2337,2275,2300,2251,0,0,0,0,0,0,26.62,26.64,26.63
$GC,18380,-2.89,-17.6,1363,2337,2300,2251,4290.8,-14.7,287,18382,0.08,0.00,0.00,0.000,4102,0.134,0.000,1324,2334,2275,2300,2251,0,0,0,0,0,0,26.37,26.41,26.39
$GC,18739,-2.89,-17.6,1323,2334,2300,2250,4343.3,-14.5,290,18740,0.00,0.00,0.00,0.000,6,0.000,0.000,1324,2334,2275,2300,2250,0,0,0,0,0,0,26.62,26.63,26.63
$GC,19099,-2.89,-17.6,1323,2334,2300,2250,4393.2,-14.0,293,19100,0.00,0.00,0.00,0.000,6,0.000,0.000,1324,2334,2275,2300,2250,0,0,0,0,0,0,26.62,26.63,26.63
$GC,19461,-2.89,-17.6,1323,2334,2300,2250,4440.7,-13.3,296,19462,0.00,0.00,0.00,0.000,6,0.000,0.000,1324,2334,2274,2299,2250,0,0,0,0,0,0,26.61,26.63,26.62
$STATE,19577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,19577,begin apogee
$GC,19581,-0.25,0.0,1324,2334,2300,2250,4456.4,-13.1,297,19595,3.12,0.00,9.07,3.362,10246,0.199,0.000,2167,2332,2248,2275,2221,0,0,0,0,0,0,24.44,25.33,22.99
$STATE,19596,end apogee,CONTROL_FINISHED_OK
$STATE,19597,begin climb
$GC,19598,2.15,17.6,2167,2332,2275,2221,4456.4,0.0,297,19621,2.00,0.00,18.23,3.700,10246,0.062,0.000,2941,2332,2187,2220,2154,0,0,0,0,0,0,25.76,24.40,22.49
$GC,19938,2.15,17.6,2941,2332,2220,2155,4465.9,-5.6,300,19943,0.00,2.08,0.00,0.000,516,0.000,0.052,2952,962,2187,2220,2155,0,0,0,0,0,0,26.17,25.86,26.19
$GC,19959,2.15,17.6,2951,962,2220,2155,4465.9,-5.6,300,19963,0.00,2.15,0.00,0.000,1030,0.000,0.050,2945,2329,2187,2220,2154,0,0,0,0,0,0,25.90,25.87,25.92
$GC,20299,2.15,46.6,2945,2330,2220,2154,4476.3,-4.1,303,20334,0.00,2.47,28.60,3.849,8452,0.000,0.077,2945,3759,2087,2126,2048,0,0,0,0,0,0,26.40,24.25,22.44
$GC,20881,2.21,62.4,2945,3759,2126,2049,4476.2,0.0,307,20905,0.00,2.12,15.98,3.655,9222,0.000,0.047,2955,2378,2033,2076,1991,0,0,0,0,0,0,26.04,25.98,22.89
$GC,21265,2.27,78.6,2955,2378,2075,1991,4476.4,-0.0,311,21286,0.00,2.30,16.45,3.660,8452,0.000,0.072,2955,3759,1978,2023,1933,0,0,0,0,0,0,26.22,24.29,22.83
$GC,21716,2.14,78.6,2955,3760,2021,1933,4419.0,12.3,314,21720,0.00,2.20,0.00,0.000,1030,0.000,0.050,2966,2351,1977,2022,1933,0,0,0,0,0,0,26.01,25.95,26.03
$GC,22100,1.95,78.6,2965,2352,2021,1933,4331.5,18.3,318,22106,0.32,2.12,0.00,0.000,4612,0.268,0.052,2891,934,1977,2021,1933,0,0,0,0,0,0,25.37,25.73,25.58
$GC,22308,1.77,78.6,2891,933,2022,1933,4312.0,17.5,319,22313,0.30,2.20,0.00,0.000,5126,0.261,0.052,2816,2358,1977,2022,1932,0,0,0,0,0,0,25.37,26.13,25.72
$GC,22697,1.67,78.6,2815,2357,2022,1933,4242.6,14.6,323,22703,0.10,2.15,0.00,0.000,4612,0.273,0.052,2797,932,1977,2022,1933,0,0,0,0,0,0,25.72,25.94,25.82
$GC,22870,1.58,78.6,2796,932,2021,1933,4227.1,13.9,324,22875,0.15,2.17,0.00,0.000,5126,0.261,0.052,2758,2356,1977,2022,1933,0,0,0,0,0,0,25.53,26.18,25.82
$GC,23294,1.52,78.6,2758,2356,2021,1933,4170.5,11.9,328,23299,0.00,2.15,0.00,0.000,516,0.000,0.055,2768,936,1977,2021,1933,0,0,0,0,0,0,26.59,26.22,26.60
$GC,23441,1.47,78.6,2768,936,2021,1933,4157.6,11.5,329,23446,0.17,2.15,0.00,0.000,5126,0.253,0.050,2725,2352,1976,2021,1932,0,0,0,0,0,0,25.48,26.22,25.77
$GC,23771,1.47,78.6,2725,2352,2021,1933,4122.7,10.0,332,23772,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2352,1977,2021,1933,0,0,0,0,0,0,26.61,26.63,26.62
$GC,24130,1.47,78.6,2725,2352,2021,1933,4090.6,9.0,335,24135,0.00,2.12,0.00,0.000,516,0.000,0.055,2735,932,1977,2022,1932,0,0,0,0,0,0,26.63,26.23,26.63
$GC,24277,1.47,78.6,2735,932,2021,1932,4080.5,8.8,336,24281,0.00,2.20,0.00,0.000,1030,0.000,0.050,2728,2347,1977,2022,1932,0,0,0,0,0,0,26.27,26.24,26.29
$GC,24611,1.47,78.6,2728,2347,2021,1932,4051.4,8.2,339,24617,0.00,2.12,0.00,0.000,516,0.000,0.055,2738,929,1976,2021,1932,0,0,0,0,0,0,26.63,26.23,26.64
$GC,24768,1.47,78.6,2738,928,2021,1932,4042.1,8.0,340,24773,0.00,2.22,0.00,0.000,1030,0.000,0.052,2738,2360,1977,2022,1932,0,0,0,0,0,0,26.26,26.22,26.29
$GC,25094,1.47,78.6,2738,2360,2021,1932,4015.8,7.4,343,25099,0.00,2.15,0.00,0.000,516,0.000,0.055,2749,929,1976,2021,1932,0,0,0,0,0,0,26.64,26.25,26.65
$GC,25265,1.47,78.6,2748,929,2021,1932,4007.8,7.1,344,25270,0.00,2.20,0.00,0.000,1030,0.000,0.052,2744,2386,1976,2021,1932,0,0,0,0,0,0,26.29,26.21,26.32
$GC,25574,1.47,78.6,2743,2386,2021,1932,3985.5,6.3,347,25580,0.00,2.17,0.00,0.000,516,0.000,0.055,2754,937,1976,2021,1932,0,0,0,0,0,0,26.65,26.22,26.65
$GC,25797,1.47,78.6,2754,937,2021,1931,3979.0,6.0,348,25802,0.10,2.17,0.00,0.000,5126,0.248,0.052,2721,2352,1976,2021,1931,0,0,0,0,0,0,25.49,26.22,25.72
$GC,26176,1.47,78.6,2721,2352,2021,1931,3956.1,4.8,352,26181,0.00,2.12,0.00,0.000,516,0.000,0.055,2731,934,1976,2021,1931,0,0,0,0,0,0,26.65,26.22,26.66
$GC,26434,1.47,78.6,2731,935,2021,1931,3946.1,4.3,354,26439,0.00,2.17,0.00,0.000,1030,0.000,0.052,2728,2343,1976,2021,1931,0,0,0,0,0,0,26.25,26.22,26.27
$GC,26778,1.47,78.6,2728,2343,2021,1931,3932.6,3.8,357,26780,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2343,1976,2021,1931,0,0,0,0,0,0,26.65,26.67,26.66
$GC,27138,1.47,78.6,2727,2343,2021,1932,3921.7,3.1,360,27139,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2343,1976,2021,1931,0,0,0,0,0,0,26.65,26.67,26.67
$GC,27499,1.47,85.8,2727,2343,2021,1931,3912.2,2.7,363,27513,0.00,2.22,8.02,2.965,8708,0.000,0.062,2738,934,1952,1998,1907,0,0,0,0,0,0,26.65,25.66,23.63
$GC,27610,1.47,93.0,2738,934,1997,1906,3912.2,2.7,363,27624,0.00,2.20,8.43,2.903,9222,0.000,0.050,2738,2345,1927,1974,1880,0,0,0,0,0,0,25.97,25.94,23.38
$GC,27978,1.47,93.0,2738,2345,1973,1880,3881.4,6.6,367,27979,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2345,1926,1973,1880,0,0,0,0,0,0,26.27,26.29,26.29
$GC,28338,1.47,93.0,2737,2345,1973,1880,3855.4,7.3,370,28344,0.00,2.12,0.00,0.000,516,0.000,0.055,2748,936,1926,1973,1880,0,0,0,0,0,0,26.43,26.08,26.44
$GC,28531,1.47,93.0,2748,936,1973,1879,3846.9,7.2,371,28535,0.00,2.20,0.00,0.000,1030,0.000,0.050,2742,2352,1926,1973,1879,0,0,0,0,0,0,26.14,26.11,26.17
$GC,28940,1.47,93.0,2742,2352,1973,1879,3817.0,6.2,375,28945,0.00,2.15,0.00,0.000,516,0.000,0.055,2752,928,1926,1973,1879,0,0,0,0,0,0,26.54,26.16,26.55
$GC,29079,1.47,93.0,2752,927,1973,1880,3809.9,6.1,376,29084,0.12,2.20,0.00,0.000,5126,0.253,0.052,2721,2353,1926,1973,1879,0,0,0,0,0,0,25.58,26.17,25.80
$GC,29420,1.47,93.0,2721,2353,1973,1879,3791.4,5.3,379,29425,0.00,2.12,0.00,0.000,516,0.000,0.055,2731,938,1926,1973,1879,0,0,0,0,0,0,26.58,26.20,26.60
$GC,29571,1.47,93.0,2731,938,1973,1879,3785.6,5.1,380,29576,0.00,2.17,0.00,0.000,1030,0.000,0.052,2729,2354,1926,1973,1879,0,0,0,0,0,0,26.27,26.20,26.29
$GC,29895,1.47,93.0,2729,2354,1973,1879,3769.9,4.5,383,29896,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2354,1926,1973,1879,0,0,0,0,0,0,26.61,26.63,26.63
$GC,30255,1.47,93.0,2729,2354,1973,1879,3756.3,3.9,386,30256,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2354,1926,1973,1879,0,0,0,0,0,0,26.63,26.64,26.63
$GC,30615,1.47,93.0,2729,2354,1973,1879,3743.8,3.5,389,30620,0.00,2.12,0.00,0.000,516,0.000,0.055,2739,937,1926,1973,1879,0,0,0,0,0,0,26.63,26.21,26.65
$GC,30969,1.47,93.0,2739,937,1973,1879,3736.6,3.2,391,30978,0.00,2.17,0.00,0.000,1030,0.000,0.050,2739,2345,1926,1973,1879,0,0,0,0,0,0,26.25,26.22,26.27
$GC,31338,1.47,100.5,2739,2345,1973,1879,3723.7,2.7,395,31348,0.00,0.00,7.95,2.850,8198,0.000,0.000,2739,2345,1902,1949,1855,0,0,0,0,0,0,26.65,25.60,23.73
$GC,31698,1.47,100.5,2739,2345,1949,1856,3707.2,4.1,398,31699,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2345,1902,1949,1855,0,0,0,0,0,0,26.39,26.40,26.40
$GC,32058,1.47,100.5,2739,2345,1949,1856,3689.8,4.9,401,32063,0.00,2.12,0.00,0.000,516,0.000,0.055,2750,937,1902,1949,1855,0,0,0,0,0,0,26.48,26.11,26.50
$GC,32149,1.47,100.5,2749,937,1949,1855,3689.8,4.9,401,32153,0.00,2.22,0.00,0.000,1030,0.000,0.050,2749,2365,1902,1949,1855,0,0,0,0,0,0,26.19,26.12,26.22
$GC,32538,1.47,100.5,2749,2365,1949,1855,3668.7,4.4,405,32543,0.00,2.15,0.00,0.000,516,0.000,0.055,2760,938,1902,1949,1855,0,0,0,0,0,0,26.55,26.17,26.56
$GC,32666,1.47,100.5,2759,938,1949,1855,3663.8,4.3,406,32671,0.12,2.15,0.00,0.000,5126,0.246,0.050,2724,2352,1902,1949,1855,0,0,0,0,0,0,25.58,26.17,25.79
$GC,33015,1.47,100.5,2724,2351,1949,1855,3650.1,3.9,409,33016,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2351,1902,1949,1855,0,0,0,0,0,0,26.59,26.60,26.60
$GC,33375,1.47,100.5,2724,2351,1949,1856,3638.8,3.3,412,33380,0.00,2.17,0.00,0.000,260,0.000,0.057,2724,3747,1902,1949,1856,0,0,0,0,0,0,26.61,26.17,26.63
$GC,33638,1.47,100.5,2724,3748,1948,1856,3631.3,3.1,414,33642,0.00,2.17,0.00,0.000,1030,0.000,0.047,2734,2353,1902,1949,1856,0,0,0,0,0,0,26.28,26.25,26.29
$GC,33978,1.47,107.7,2734,2353,1949,1856,3621.9,2.7,417,33992,0.00,2.22,8.32,2.806,8708,0.000,0.062,2745,931,1877,1925,1830,0,0,0,0,0,0,26.63,25.64,23.69
$GC,34175,1.47,114.5,2745,931,1925,1830,3616.9,2.9,418,34190,0.00,2.20,8.25,2.754,9222,0.000,0.050,2742,2356,1852,1901,1804,0,0,0,0,0,0,26.03,25.95,23.47
$GC,34581,1.47,114.5,2742,2356,1901,1805,3582.5,7.2,422,34582,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2356,1852,1901,1804,0,0,0,0,0,0,26.29,26.30,26.30
$GC,34939,1.47,114.5,2742,2356,1901,1804,3556.1,7.5,425,34940,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2356,1852,1901,1804,0,0,0,0,0,0,26.43,26.44,26.44
$GC,35301,1.47,114.5,2742,2356,1901,1804,3531.7,6.8,428,35306,0.00,2.15,0.00,0.000,516,0.000,0.055,2753,932,1852,1901,1804,0,0,0,0,0,0,26.50,26.13,26.51
$GC,35502,1.47,114.5,2752,931,1901,1804,3523.9,6.7,429,35507,0.10,2.20,0.00,0.000,5126,0.233,0.050,2726,2360,1852,1901,1804,0,0,0,0,0,0,25.63,26.15,25.75
$GC,35901,1.47,114.5,2726,2360,1902,1804,3494.7,6.1,433,35902,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2360,1852,1901,1804,0,0,0,0,0,0,26.57,26.58,26.58
$GC,36261,1.47,114.5,2726,2360,1901,1804,3474.9,5.6,436,36266,0.00,2.15,0.00,0.000,516,0.000,0.055,2736,938,1852,1901,1804,0,0,0,0,0,0,26.60,26.20,26.60
$GC,36747,1.47,114.5,2736,938,1901,1804,3450.3,5.1,440,36751,0.00,2.17,0.00,0.000,1030,0.000,0.050,2736,2341,1852,1901,1804,0,0,0,0,0,0,26.25,26.22,26.27
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$GC,103010,2.21,228.8,2920,2350,1528,1396,74.1,27.0,1101,103016,0.05,2.03,0.00,0.000,2564,0.181,0.052,2960,954,1462,1529,1396,0,0,0,0,0,0,26.41,26.23,26.43
$GC,103057,2.27,228.8,2960,953,1530,1396,61.2,27.3,1104,103063,0.00,2.03,0.00,0.000,1030,0.000,0.052,2960,2344,1463,1530,1396,0,0,0,0,0,0,26.28,26.25,26.30
$STATE,103285,end climb,SURFACE_DEPTH_REACHED
$STATE,103286,begin surface coast
$FINISH,0.4,1.025344
$STATE,103296,end surface coast,CONTROL_FINISHED_OK
$STATE,103296,begin surface
$SM_CCo,103310,54.35,1.242,0,0,1215,300.09
$SM_GC,2.18,6.80,0.00,54.35,0.045,0.000,1.242,229,2345,1215,-6.22,-0.14,300.09,0,0,0,0,0,0,26.25,26.67,24.11
$IRIDIUM_FIX,3127.82,-6414.78,180308,130019
$TT8_MAMPS,0.018725,0.018725
$HUMID,60.35
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,19.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4440.7,34.4
$24V_AH,22.44,38.943
$10V_AH,10.03,30.052
$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,22.525,551.425,259.150,54.350,70.750,25.722,50.315,266.155,10.750,0.000,18.200,5747.250,81929.758,629.634,15009.596,503.148,0.605,6681.702,0.000,14242.924,0.000,79.846,0.000
$DEVICE_MAMPS,273.130,76.973,3848.650,1241.500,216.021,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.406,3671.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353540
$DATA_FILE_SIZE,73667,1125
$CAP_FILE_SIZE,745530,0
$CFSIZE,1024409600,992755712
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,112940.96,0x238a9a,7,5
$INTR,1,19579.09,0x238a9a,2,5
$INTR,2,103300.09,0x238a9a,7,5
$GPS,250515,114436,3140.094,-6424.266,41,1.7,41,-15.4,0.4,104.9,6,13.3