version: 66.12
glider: 35
mission: 22
dive: 83
start: 4 11 114 4 57 47
data:
$ID,35
$MISSION,22
$DIVE,83
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,4800
$D_ABORT,5000
$D_NO_BLEED,500
$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,1650
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$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,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-997902.94
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$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,1800
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2812
$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,3000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,110414,044600,3207.524,-6428.313,6,1.8,11,-15.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-66.9
$GPS2,110414,045723,3207.609,-6428.272,31,1.2,41,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,BATS150
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.032,-0.243
$KALMAN_X,35048.5,0.0,0.0,-35335.0,6450.0
$KALMAN_Y,17011.4,0.0,0.0,-27377.6,6299.8
$MHEAD_RNG_PITCHd_Wd,188.0,58686,-19.7,-10.000,-22.22,2235
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.6,233,1813,871,1095,0.0,0.0,0,100,0.00,0.00,-81.53,0.000,16386,0.000,0.000,233,1813,2336,2351,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.76,-146.6,233,1813,2350,2321,3.0,-3.7,8,131,10.57,2.17,-7.15,0.000,18948,0.261,0.065,2801,393,2497,2516,2479,0,0,0,0,0,0,25.14,25.96,25.82
$GC,357,-0.39,-146.6,2801,393,2506,2479,53.3,-22.6,33,364,0.47,2.08,0.00,0.000,3078,0.199,0.052,2921,1822,2492,2506,2479,0,0,0,0,0,0,25.43,26.20,28.83
$GC,665,-0.26,-146.6,2921,1822,2505,2479,100.7,-12.5,64,674,0.15,2.12,0.00,0.000,2564,0.206,0.062,2964,388,2492,2505,2479,0,0,0,0,0,0,25.92,26.18,28.83
$GC,900,-0.16,-146.6,2964,388,2505,2479,129.6,-12.1,87,907,0.17,2.05,0.00,0.000,3078,0.191,0.052,3002,1804,2492,2505,2479,0,0,0,0,0,0,25.86,26.32,28.83
$GC,1207,-0.16,-146.6,3001,1804,2505,2479,154.8,-7.6,115,1212,0.00,2.12,0.00,0.000,516,0.000,0.062,3002,382,2491,2504,2479,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1269,-0.16,-146.6,3002,382,2505,2479,160.5,-9.0,118,1274,0.00,2.05,0.00,0.000,1030,0.000,0.052,2999,1797,2492,2505,2479,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1582,-0.16,-146.6,2999,1797,2505,2479,184.1,-7.3,134,1585,0.00,2.12,0.00,0.000,516,0.000,0.065,3000,383,2492,2505,2479,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1677,-0.16,-146.6,2999,383,2505,2480,191.3,-9.0,138,1683,0.00,2.05,0.00,0.000,1030,0.000,0.052,2999,1808,2492,2505,2480,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1983,-0.16,-146.6,2999,1808,2504,2480,220.3,-9.3,154,1989,0.00,2.10,0.00,0.000,260,0.000,0.065,2999,3193,2492,2505,2480,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2096,-0.16,-146.6,2999,3193,2505,2479,228.9,-8.6,159,2104,0.00,2.08,0.00,0.000,1030,0.000,0.052,2999,1778,2492,2505,2480,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2403,-0.16,-146.6,2999,1778,2505,2479,255.6,-8.5,175,2409,0.00,2.03,0.00,0.000,516,0.000,0.065,2999,406,2492,2505,2480,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2483,-0.16,-146.6,2999,406,2505,2480,263.5,-10.0,179,2489,0.00,2.03,0.00,0.000,1030,0.000,0.052,2999,1804,2492,2505,2480,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2805,-0.16,-146.6,2999,1803,2505,2480,291.8,-8.7,195,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1804,2492,2505,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3114,-0.16,-146.6,2999,1804,2505,2480,319.7,-9.1,207,3119,0.00,2.10,0.00,0.000,260,0.000,0.065,2999,3189,2492,2505,2480,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3161,-0.16,-146.6,2999,3189,2505,2479,322.4,-9.1,208,3165,0.00,2.03,0.00,0.000,1030,0.000,0.052,2999,1791,2492,2505,2480,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3468,-0.16,-146.6,2999,1791,2505,2480,350.7,-8.7,218,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1790,2492,2505,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-0.16,-146.6,2999,1791,2505,2480,377.7,-9.2,228,3773,0.00,2.15,0.00,0.000,260,0.000,0.065,2999,3190,2492,2505,2479,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3823,-0.16,-146.6,2999,3190,2505,2480,380.5,-9.0,229,3830,0.00,2.05,0.00,0.000,1030,0.000,0.052,2999,1790,2492,2505,2480,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4131,-0.21,-146.6,2999,1790,2505,2480,410.7,-9.4,240,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1790,2492,2505,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-0.27,-146.6,2999,1791,2504,2480,438.5,-9.0,250,4433,0.08,0.00,0.00,0.000,4102,0.146,0.000,2946,1790,2491,2504,2479,0,0,0,0,0,0,26.51,28.83,28.83
$GC,4730,-0.27,-146.6,2946,1790,2504,2480,473.4,-11.9,260,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1790,2491,2503,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5030,-0.27,-146.6,2946,1790,2503,2479,508.3,-11.7,270,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1790,2491,2503,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5331,-0.27,-146.6,2946,1790,2503,2479,543.0,-11.4,280,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1790,2491,2503,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5630,-0.27,-146.6,2946,1790,2503,2480,577.2,-11.3,290,5634,0.00,2.08,0.00,0.000,516,0.000,0.065,2946,399,2491,2503,2479,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5714,-0.27,-146.6,2946,400,2502,2479,585.4,-12.5,292,5721,0.00,2.03,0.00,0.000,1030,0.000,0.052,2945,1811,2490,2502,2479,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6022,-0.27,-146.6,2946,1810,2502,2479,624.1,-11.5,303,6026,0.00,2.10,0.00,0.000,516,0.000,0.065,2945,408,2491,2502,2480,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6076,-0.27,-146.6,2945,407,2501,2479,628.3,-11.8,304,6083,0.00,2.00,0.00,0.000,1030,0.000,0.052,2945,1797,2490,2501,2480,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6383,-0.27,-146.6,2945,1797,2501,2479,667.4,-11.4,315,6388,0.00,2.08,0.00,0.000,516,0.000,0.062,2945,406,2490,2501,2480,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6426,-0.27,-146.6,2945,406,2500,2480,671.4,-11.8,316,6430,0.00,2.00,0.00,0.000,1030,0.000,0.052,2940,1804,2490,2500,2480,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6738,-0.27,-146.6,2940,1804,2500,2479,709.4,-11.4,327,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1804,2489,2500,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7038,-0.27,-146.6,2940,1804,2498,2480,745.1,-11.8,337,7043,0.00,2.10,0.00,0.000,516,0.000,0.062,2940,411,2488,2497,2480,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7136,-0.27,-146.6,2940,411,2496,2480,757.2,-13.1,340,7140,0.00,2.03,0.00,0.000,1030,0.000,0.052,2932,1804,2488,2496,2480,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7453,-0.27,-146.6,2932,1804,2496,2479,796.9,-12.4,351,7457,0.12,2.08,0.00,0.000,2564,0.181,0.060,2970,426,2487,2496,2479,0,0,0,0,0,0,26.17,26.26,28.83
$GC,7504,-0.27,-146.6,2970,410,2496,2480,800.6,-12.1,352,7507,0.00,2.03,0.00,0.000,1030,0.000,0.052,2961,1801,2488,2496,2480,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7810,-0.27,-146.6,2961,1801,2495,2480,835.1,-10.7,362,7815,0.00,2.12,0.00,0.000,260,0.000,0.065,2952,3202,2487,2495,2479,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7870,-0.32,-146.6,2951,3202,2495,2480,841.7,-10.8,364,7876,0.00,2.05,0.00,0.000,1030,0.000,0.052,2952,1801,2487,2495,2480,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8200,-0.32,-146.6,2951,1801,2493,2480,878.2,-11.0,375,8206,0.00,2.08,0.00,0.000,516,0.000,0.065,2952,404,2486,2492,2480,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8388,-0.32,-146.6,2951,404,2491,2480,899.6,-11.9,381,8392,0.00,2.05,0.00,0.000,1030,0.000,0.052,2946,1809,2485,2491,2480,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8706,-0.32,-146.6,2946,1809,2489,2480,935.2,-10.9,392,8710,0.00,2.12,0.00,0.000,516,0.000,0.062,2946,406,2485,2490,2480,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8767,-0.32,-146.6,2946,406,2489,2480,942.8,-11.7,394,8772,0.00,2.03,0.00,0.000,1030,0.000,0.052,2945,1808,2484,2489,2480,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9098,-0.32,-146.6,2945,1808,2487,2479,981.3,-12.1,405,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1808,2483,2487,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9399,-0.32,-146.6,2945,1808,2483,2479,1017.7,-12.1,413,9404,0.00,2.08,0.00,0.000,260,0.000,0.065,2945,3188,2481,2483,2479,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9425,-0.32,-146.6,2945,3188,2483,2479,1017.7,-12.1,413,9429,0.00,2.05,0.00,0.000,1030,0.000,0.052,2945,1804,2481,2483,2480,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9753,-0.32,-146.6,2945,1804,2482,2479,1060.6,-12.2,419,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1804,2480,2482,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10052,-0.37,-146.6,2945,1804,2479,2479,1097.8,-12.5,424,10058,0.00,2.15,0.00,0.000,260,0.000,0.065,2944,3189,2479,2479,2479,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10087,-0.43,-146.6,2944,3189,2479,2479,1097.8,-12.5,424,10093,0.00,2.08,0.00,0.000,1030,0.000,0.052,2944,1793,2478,2478,2479,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10413,-0.49,-146.6,2944,1793,2476,2479,1144.3,-13.1,430,10415,0.12,0.00,0.00,0.000,4102,0.109,0.000,2874,1793,2477,2476,2479,0,0,0,0,0,0,26.47,28.83,28.83
$GC,10712,-0.49,-146.6,2874,1793,2474,2479,1195.5,-17.3,435,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1793,2476,2474,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11012,-0.49,-146.6,2874,1793,2471,2479,1245.0,-16.4,440,11016,0.00,2.10,0.00,0.000,516,0.000,0.067,2874,404,2475,2471,2479,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11051,-0.49,-146.6,2874,404,2469,2479,1245.0,-16.4,440,11055,0.00,2.03,0.00,0.000,1030,0.000,0.052,2864,1797,2474,2469,2479,0,0,0,0,0,0,28.83,26.34,28.83
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$GC,29298,-1.00,-146.6,2714,1797,2450,2459,3477.2,-9.8,745,29299,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1797,2454,2450,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29599,-1.00,-146.6,2713,1797,2450,2458,3506.4,-9.9,750,29600,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1797,2454,2450,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29898,-1.00,-146.6,2714,1797,2450,2458,3535.9,-9.8,755,29904,0.00,2.22,0.00,0.000,260,0.000,0.065,2713,3194,2454,2450,2458,0,0,0,0,0,0,28.83,25.85,28.83
$GC,29952,-1.00,-146.6,2713,3194,2450,2458,3535.9,-9.8,755,29962,0.00,2.12,0.00,0.000,1030,0.000,0.052,2713,1799,2454,2450,2458,0,0,0,0,0,0,28.83,26.07,28.83
$GC,30261,-1.00,-146.6,2713,1799,2450,2458,3571.2,-9.9,761,30262,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1799,2454,2450,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30558,-1.00,-146.6,2713,1799,2450,2458,3599.3,-9.4,766,30564,0.00,2.22,0.00,0.000,260,0.000,0.065,2713,3194,2454,2450,2458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,30622,-1.00,-146.6,2713,3194,2450,2458,3605.1,-9.3,767,30625,0.00,2.10,0.00,0.000,1030,0.000,0.052,2713,1800,2454,2450,2458,0,0,0,0,0,0,28.83,26.06,28.83
$GC,30975,-1.00,-146.6,2713,1800,2449,2457,3637.6,-9.2,773,30980,0.00,2.20,0.00,0.000,260,0.000,0.065,2712,3194,2454,2450,2458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,31027,-1.00,-146.6,2712,3194,2450,2458,3637.6,-9.2,773,31037,0.00,2.10,0.00,0.000,1030,0.000,0.052,2712,1799,2454,2450,2458,0,0,0,0,0,0,28.83,26.06,28.83
$GC,31334,-1.00,-146.6,2712,1799,2449,2458,3669.5,-8.9,779,31340,0.00,2.22,0.00,0.000,260,0.000,0.065,2712,3194,2453,2449,2458,0,0,0,0,0,0,28.83,25.82,28.83
$GC,31382,-1.00,-146.6,2712,3194,2449,2458,3669.5,-8.9,779,31386,0.00,2.12,0.00,0.000,1030,0.000,0.052,2712,1792,2454,2450,2458,0,0,0,0,0,0,28.83,26.04,28.83
$GC,31695,-1.00,-146.6,2713,1791,2449,2458,3701.1,-8.8,785,31696,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1792,2453,2449,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31994,-1.00,-146.6,2712,1792,2449,2458,3727.2,-8.7,790,32000,0.00,2.22,0.00,0.000,260,0.000,0.065,2712,3197,2453,2449,2458,0,0,0,0,0,0,28.83,25.81,28.83
$GC,32055,-1.00,-146.6,2712,3198,2449,2458,3732.4,-8.7,791,32060,0.00,2.08,0.00,0.000,1030,0.000,0.052,2712,1804,2453,2449,2458,0,0,0,0,0,0,28.83,26.06,28.83
$GC,32416,-1.05,-146.6,2712,1804,2449,2458,3762.9,-8.4,797,32422,0.00,2.20,0.00,0.000,260,0.000,0.065,2712,3193,2453,2449,2458,0,0,0,0,0,0,28.83,25.81,28.83
$GC,32464,-1.11,-146.6,2712,3193,2449,2458,3762.9,-8.4,797,32468,0.00,2.12,0.00,0.000,1030,0.000,0.052,2712,1794,2453,2449,2458,0,0,0,0,0,0,28.83,26.03,28.83
$GC,32777,-1.16,-146.6,2712,1794,2449,2458,3793.2,-8.5,803,32783,0.05,2.20,0.00,0.000,4356,0.191,0.062,2664,3190,2453,2449,2458,0,0,0,0,0,0,26.46,25.82,28.83
$GC,32825,-1.21,-146.6,2664,3190,2449,2457,3793.2,-8.5,803,32829,0.00,2.10,0.00,0.000,1030,0.000,0.052,2664,1800,2453,2450,2457,0,0,0,0,0,0,28.83,26.02,28.83
$GC,33131,-1.21,-146.6,2664,1800,2449,2458,3830.0,-10.5,808,33132,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1800,2453,2449,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33432,-1.21,-146.6,2664,1800,2449,2458,3861.4,-10.4,813,33437,0.00,2.20,0.00,0.000,260,0.000,0.065,2659,3197,2453,2449,2458,0,0,0,0,0,0,28.83,25.80,28.83
$GC,33491,-1.21,-146.6,2659,3197,2449,2457,3867.9,-10.5,814,33495,0.00,2.12,0.00,0.000,1030,0.000,0.055,2659,1794,2453,2449,2457,0,0,0,0,0,0,28.83,26.03,28.83
$GC,33854,-1.21,-146.6,2658,1794,2449,2458,3904.1,-9.9,820,33855,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1794,2453,2449,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34153,-1.21,-146.6,2659,1794,2449,2457,3933.6,-9.8,825,34158,0.00,2.25,0.00,0.000,260,0.000,0.065,2652,3202,2452,2448,2457,0,0,0,0,0,0,28.83,25.80,28.83
$GC,34221,-1.21,-146.6,2652,3203,2449,2457,3939.6,-9.8,826,34225,0.00,2.12,0.00,0.000,1030,0.000,0.052,2652,1796,2453,2449,2457,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,34446,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,34446,begin apogee
$GC,34452,-0.19,0.0,2649,2309,2449,2457,3963.5,-10.2,830,34591,1.05,0.00,131.18,3.583,10246,0.144,0.000,2982,2309,2000,1955,2045,0,0,0,0,0,0,24.77,28.83,19.92
$STATE,34592,end apogee,CONTROL_FINISHED_OK
$STATE,34593,begin climb
$GC,34594,0.76,146.6,2982,2309,1955,2045,3965.3,0.0,832,34758,0.90,2.58,153.57,3.526,10500,0.065,0.082,3315,3687,1503,1423,1583,0,0,0,0,0,0,22.99,22.54,20.16
$GC,34867,0.45,146.6,3315,3687,1424,1581,3923.4,17.7,837,34873,0.50,2.28,0.00,0.000,5126,0.204,0.050,3194,2294,1502,1424,1581,0,0,0,0,0,0,24.18,24.53,28.83
$GC,35227,0.33,146.6,3194,2294,1424,1580,3866.4,15.1,843,35229,0.15,0.00,0.00,0.000,4102,0.194,0.000,3156,2293,1502,1424,1581,0,0,0,0,0,0,25.65,28.83,28.83
$GC,35526,0.33,146.6,3156,2292,1424,1581,3827.0,13.0,848,35531,0.00,2.25,0.00,0.000,260,0.000,0.070,3156,3700,1502,1424,1581,0,0,0,0,0,0,28.83,26.02,28.83
$GC,35619,0.28,146.6,3155,3700,1425,1580,3818.8,13.2,849,35623,0.00,2.15,0.00,0.000,1030,0.000,0.052,3166,2289,1502,1425,1580,0,0,0,0,0,0,28.83,26.15,28.83
$GC,35942,0.22,146.6,3166,2289,1425,1580,3771.6,12.9,855,35944,0.17,0.00,0.00,0.000,4102,0.184,0.000,3119,2289,1503,1426,1580,0,0,0,0,0,0,25.94,28.83,28.83
$GC,36241,0.22,146.6,3119,2288,1425,1579,3739.9,10.4,860,36247,0.00,2.25,0.00,0.000,260,0.000,0.070,3119,3703,1503,1426,1580,0,0,0,0,0,0,28.83,26.15,28.83
$GC,36289,0.22,146.6,3118,3703,1426,1578,3739.9,10.4,860,36293,0.00,2.12,0.00,0.000,1030,0.000,0.052,3129,2298,1502,1426,1578,0,0,0,0,0,0,28.83,26.27,28.83
$GC,36597,0.22,146.6,3129,2298,1426,1578,3700.0,11.1,865,36598,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2298,1502,1426,1579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36896,0.22,146.6,3129,2298,1426,1578,3667.8,10.7,870,36902,0.00,2.12,0.00,0.000,516,0.000,0.062,3139,909,1502,1425,1579,0,0,0,0,0,0,28.83,26.20,28.83
$GC,36934,0.22,146.6,3139,909,1425,1579,3667.8,10.7,870,36939,0.00,2.12,0.00,0.000,1030,0.000,0.057,3139,2305,1502,1425,1579,0,0,0,0,0,0,28.83,26.24,28.83
$GC,37252,0.22,146.6,3139,2306,1425,1579,3629.3,10.9,876,37257,0.00,2.20,0.00,0.000,260,0.000,0.070,3139,3701,1502,1425,1579,0,0,0,0,0,0,28.83,26.17,28.83
$GC,37314,0.22,146.6,3139,3701,1426,1578,3622.3,11.1,877,37318,0.00,2.12,0.00,0.000,1030,0.000,0.050,3150,2298,1502,1426,1578,0,0,0,0,0,0,28.83,26.29,28.83
$GC,37666,0.22,146.6,3150,2298,1426,1578,3581.9,11.3,883,37667,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2298,1501,1426,1577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37967,0.22,146.6,3150,2298,1426,1578,3549.6,10.8,888,37968,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2298,1502,1426,1578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38266,0.22,146.6,3150,2298,1426,1578,3519.0,10.2,893,38272,0.00,2.12,0.00,0.000,516,0.000,0.062,3160,910,1502,1426,1578,0,0,0,0,0,0,28.83,26.19,28.83
$GC,38344,0.22,146.6,3160,910,1426,1578,3513.1,10.1,894,38349,0.15,2.12,0.00,0.000,5126,0.171,0.057,3120,2308,1502,1426,1578,0,0,0,0,0,0,25.93,26.23,28.83
$GC,38682,0.28,183.3,3120,2308,1426,1578,3482.5,8.3,900,38719,0.00,0.00,35.03,3.201,8198,0.000,0.000,3120,2308,1378,1288,1468,0,0,0,0,0,0,28.83,28.83,22.10
$GC,38982,0.36,201.9,3120,2308,1289,1469,3455.4,9.2,905,39004,0.10,0.00,19.35,3.039,10246,0.122,0.000,3167,2308,1316,1219,1413,0,0,0,0,0,0,25.94,28.83,22.39
$GC,39281,0.36,201.9,3167,2308,1222,1413,3420.9,11.6,910,39282,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2308,1318,1222,1414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39582,0.36,201.9,3166,2308,1222,1414,3386.0,11.6,915,39587,0.00,2.17,0.00,0.000,516,0.000,0.060,3177,910,1318,1222,1414,0,0,0,0,0,0,28.83,26.06,28.83
$GC,39624,0.36,201.9,3177,910,1222,1414,3386.0,11.6,915,39628,0.00,2.15,0.00,0.000,1030,0.000,0.057,3177,2310,1317,1222,1413,0,0,0,0,0,0,28.83,26.10,28.83
$GC,39936,0.36,201.9,3177,2310,1221,1413,3343.7,12.0,921,39937,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2310,1317,1222,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40237,0.36,201.9,3177,2310,1222,1413,3308.9,11.6,926,40242,0.00,2.17,0.00,0.000,516,0.000,0.062,3188,905,1317,1222,1413,0,0,0,0,0,0,28.83,26.18,28.83
$GC,40269,0.36,201.9,3188,904,1222,1413,3308.9,11.6,926,40273,0.00,2.10,0.00,0.000,1030,0.000,0.057,3188,2304,1317,1221,1414,0,0,0,0,0,0,28.83,26.22,28.83
$GC,40591,0.36,201.9,3188,2304,1222,1413,3266.6,12.1,932,40592,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2304,1317,1222,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40891,0.36,201.9,3188,2304,1222,1413,3230.3,12.1,937,40892,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2304,1317,1222,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41192,0.36,201.9,3188,2304,1222,1413,3194.5,11.9,942,41193,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2304,1317,1222,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41491,0.36,201.9,3187,2304,1222,1413,3159.2,11.7,947,41492,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2304,1317,1222,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41791,0.36,201.9,3187,2304,1222,1413,3125.5,11.3,952,41792,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2304,1317,1222,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42091,0.36,201.9,3187,2304,1222,1413,3091.6,11.3,957,42097,0.00,2.15,0.00,0.000,516,0.000,0.062,3198,910,1317,1222,1413,0,0,0,0,0,0,28.83,26.20,28.83
$GC,42135,0.36,201.9,3197,910,1222,1414,3091.6,11.3,957,42139,0.12,2.10,0.00,0.000,5126,0.179,0.055,3165,2312,1317,1222,1413,0,0,0,0,0,0,25.98,26.24,28.83
$GC,42448,0.42,203.9,3165,2312,1222,1413,3054.9,9.9,963,42454,0.00,0.00,4.22,1.743,8198,0.000,0.000,3165,2312,1309,1212,1406,0,0,0,0,0,0,28.83,28.83,23.30
$GC,42749,0.48,203.9,3165,2312,1213,1406,3024.9,10.1,968,42754,0.08,2.15,0.00,0.000,2564,0.151,0.060,3211,905,1309,1212,1406,0,0,0,0,0,0,26.38,26.13,28.83
$GC,42791,0.55,203.9,3211,905,1212,1406,3024.9,10.1,968,42795,0.00,2.12,0.00,0.000,1030,0.000,0.057,3211,2303,1309,1212,1406,0,0,0,0,0,0,28.83,26.18,28.83
$GC,43102,0.55,203.9,3211,2303,1211,1405,2983.6,11.7,974,43103,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2303,1309,1212,1406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43403,0.55,203.9,3210,2303,1212,1406,2949.4,11.3,979,43404,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2303,1309,1212,1406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43702,0.55,203.9,3211,2303,1212,1406,2916.4,11.0,984,43703,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2303,1309,1213,1406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44002,0.55,203.9,3211,2303,1212,1406,2884.7,10.7,989,44003,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2303,1309,1212,1406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44302,0.55,203.9,3211,2303,1212,1406,2853.2,10.3,994,44306,0.00,2.15,0.00,0.000,516,0.000,0.062,3222,913,1309,1213,1406,0,0,0,0,0,0,28.83,26.15,28.83
$GC,44337,0.55,203.9,3221,910,1212,1406,2853.2,10.3,994,44341,0.00,2.12,0.00,0.000,1030,0.000,0.057,3221,2308,1309,1212,1406,0,0,0,0,0,0,28.83,26.21,28.83
$GC,44658,0.55,203.9,3221,2309,1213,1406,2816.3,10.3,1000,44660,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2308,1309,1213,1406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44959,0.55,205.5,3221,2309,1212,1406,2786.7,9.9,1005,44960,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2309,1309,1212,1406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45259,0.55,221.1,3221,2308,1212,1406,2758.7,9.3,1010,45282,0.00,2.25,18.58,2.652,8452,0.000,0.077,3222,3701,1251,1143,1359,0,0,0,0,0,0,28.83,25.39,22.82
$GC,45334,0.55,233.0,3221,3701,1146,1357,2752.9,9.5,1011,45352,0.00,2.17,13.48,2.543,9222,0.000,0.050,3232,2297,1210,1096,1324,0,0,0,0,0,0,28.83,25.70,22.56
$GC,45675,0.55,233.0,3232,2297,1092,1322,2714.0,10.7,1017,45680,0.00,2.15,0.00,0.000,516,0.000,0.062,3243,908,1207,1091,1323,0,0,0,0,0,0,28.83,25.90,28.83
$GC,45723,0.55,233.0,3243,907,1090,1323,2714.0,10.7,1017,45727,0.00,2.15,0.00,0.000,1030,0.000,0.057,3243,2306,1206,1090,1323,0,0,0,0,0,0,28.83,25.97,28.83
$GC,46031,0.55,233.0,3243,2306,1091,1322,2674.5,11.3,1022,46032,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2306,1207,1091,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46330,0.55,233.0,3243,2307,1091,1322,2640.9,11.2,1027,46331,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2306,1207,1091,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46630,0.55,233.0,3243,2306,1091,1323,2606.6,11.4,1032,46634,0.00,2.15,0.00,0.000,516,0.000,0.062,3253,929,1207,1091,1323,0,0,0,0,0,0,28.83,26.15,28.83
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$GC,65084,1.14,329.9,3419,2288,776,998,149.0,17.5,1449,65092,0.00,2.20,0.00,0.000,260,0.000,0.067,3419,3700,888,778,998,0,0,0,0,0,0,28.83,26.09,28.83
$GC,65146,1.14,329.9,3419,3700,779,997,137.6,18.0,1455,65155,0.00,2.05,0.00,0.000,1030,0.000,0.050,3430,2299,888,779,997,0,0,0,0,0,0,28.83,26.31,28.83
$GC,65455,1.14,329.9,3430,2298,779,998,85.9,16.8,1486,65464,0.00,2.20,0.00,0.000,260,0.000,0.067,3430,3709,888,779,998,0,0,0,0,0,0,28.83,26.10,28.83
$GC,65529,1.14,329.9,3430,3709,780,997,73.3,17.9,1493,65536,0.00,2.08,0.00,0.000,1030,0.000,0.052,3441,2297,888,780,997,0,0,0,0,0,0,28.83,26.31,28.83
$GC,65838,1.14,329.9,3441,2297,780,998,17.2,17.2,1524,65847,0.00,2.17,0.00,0.000,260,0.000,0.067,3441,3695,889,780,998,0,0,0,0,0,0,28.83,26.11,28.83
$GC,65899,1.14,329.9,3441,3695,782,998,4.5,20.9,1530,65910,0.15,2.03,4.20,0.591,13318,0.184,0.050,3412,2299,882,775,990,0,0,0,0,0,0,25.89,26.32,23.72
$STATE,65917,end climb,SURFACE_DEPTH_REACHED
$STATE,65917,begin surface coast
$FINISH,0.0,1.011486
$STATE,65938,end surface coast,CONTROL_FINISHED_OK
$STATE,65939,begin surface
$SM_CCo,66017,0.00,0.000,0,0,882,330.03
$SM_GC,1.17,8.02,0.70,0.00,0.047,0.062,0.000,217,1798,882,-8.76,1.70,330.03,0,0,0,0,0,0,26.20,26.25,28.83
$IRIDIUM_FIX,3155.70,-6426.40,110414,040449
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.10
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,22.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,3874.1,118.7
$24V_AH,19.9,55.600
$10V_AH,10.2,13.009
$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,24.800,360.275,476.625,0.000,0.000,0.000,0.000,0.000,22.500,0.000,43.805,4646.217,56045.473,722.276,4126.931,574.325,0.386,3108.790,0.000,3950.191,0.000,163.516,0.000
$DEVICE_MAMPS,260.715,81.939,3582.969,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.455,2027.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,93625,1534
$CAP_FILE_SIZE,442977,0
$CFSIZE,260165632,232189952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110414,231924,3200.241,-6424.587,39,1.6,39,-15.5