version: 66.12
glider: 35
mission: 22
dive: 85
start: 4 12 114 20 7 9
data:
$ID,35
$MISSION,22
$DIVE,85
$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,-997905.56
$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,62
$R_STBD_OVSHOOT,45
$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
$GPS1,120414,195706,3150.638,-6423.168,25,1.2,25,-15.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.4
$GPS2,120414,200645,3150.738,-6423.289,12,2.1,32,-15.4
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,BATS150
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.094,-0.226
$KALMAN_X,36756.1,0.0,0.0,-29067.7,2807.3
$KALMAN_Y,31961.1,0.0,0.0,-73501.8,10274.6
$MHEAD_RNG_PITCHd_Wd,172.9,28884,-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,-146.6,229,1786,694,881,0.0,0.0,0,110,0.00,0.00,-91.45,0.000,16386,0.000,0.000,229,1787,2275,2289,2261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.76,-146.6,229,1786,2288,2260,3.3,-4.5,9,141,10.50,2.08,-9.60,0.000,18948,0.253,0.062,2800,403,2497,2508,2486,0,0,0,0,0,0,24.91,25.89,25.75
$GC,367,-0.41,-146.6,2800,403,2493,2487,52.0,-21.9,34,374,0.47,2.05,0.00,0.000,3078,0.199,0.052,2920,1825,2489,2493,2486,0,0,0,0,0,0,25.30,26.19,28.83
$GC,675,-0.27,-146.6,2920,1825,2492,2486,97.2,-13.4,65,684,0.12,2.10,0.00,0.000,2564,0.211,0.062,2957,414,2489,2491,2487,0,0,0,0,0,0,26.00,26.15,28.83
$GC,910,-0.15,-146.6,2957,414,2490,2487,130.1,-13.6,88,918,0.20,2.00,-0.12,0.000,19462,0.186,0.052,3002,1810,2508,2504,2512,0,0,0,0,0,0,25.79,26.31,22.65
$GC,1216,-0.15,-146.6,3001,1810,2504,2512,163.7,-10.7,113,1222,0.00,2.05,0.00,0.000,260,0.000,0.065,2992,3188,2508,2504,2512,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1256,-0.15,-146.6,2992,3188,2504,2512,167.6,-10.5,115,1262,0.00,2.03,0.00,0.000,1030,0.000,0.052,2992,1793,2508,2504,2512,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1578,-0.15,-146.6,2991,1793,2504,2512,200.7,-10.5,131,1584,0.00,2.05,0.00,0.000,516,0.000,0.065,2992,403,2508,2504,2512,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1679,-0.15,-146.6,2992,403,2504,2512,212.6,-11.9,136,1683,0.00,2.00,0.00,0.000,1030,0.000,0.052,2983,1801,2508,2504,2512,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1992,-0.15,-146.6,2983,1801,2504,2512,245.4,-10.5,152,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1801,2508,2504,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2291,-0.15,-146.6,2983,1801,2504,2512,276.3,-10.5,167,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1801,2508,2504,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.15,-146.6,2983,1801,2504,2512,308.3,-10.7,181,2597,0.00,2.05,0.00,0.000,260,0.000,0.062,2973,3193,2508,2504,2512,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2625,-0.15,-146.6,2973,3193,2504,2512,311.5,-10.6,182,2629,0.00,2.03,0.00,0.000,1030,0.000,0.052,2973,1794,2508,2504,2512,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2946,-0.15,-146.6,2973,1794,2504,2512,347.4,-10.8,193,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1793,2508,2504,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3247,-0.15,-146.6,2973,1793,2504,2512,377.8,-9.7,203,3250,0.00,2.05,0.00,0.000,516,0.000,0.065,2973,414,2507,2504,2511,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3331,-0.15,-146.6,2973,404,2504,2512,384.8,-10.5,205,3338,0.15,2.03,0.00,0.000,3078,0.176,0.052,3005,1803,2508,2504,2512,0,0,0,0,0,0,26.01,26.36,28.83
$GC,3639,-0.21,-146.6,3005,1803,2504,2512,412.8,-8.2,216,3642,0.00,2.08,0.00,0.000,260,0.000,0.065,2996,3187,2508,2504,2512,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3684,-0.26,-146.6,2996,3195,2504,2512,415.5,-8.2,217,3688,0.00,2.05,0.00,0.000,1030,0.000,0.052,2996,1790,2508,2504,2512,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4000,-0.26,-146.6,2996,1790,2504,2512,443.9,-8.7,228,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1791,2508,2504,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-0.26,-146.6,2996,1791,2504,2512,471.3,-9.6,238,4306,0.00,2.10,0.00,0.000,260,0.000,0.062,2986,3191,2508,2504,2512,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4349,-0.31,-146.6,2986,3191,2504,2512,474.4,-9.8,239,4354,0.08,2.05,0.00,0.000,5126,0.144,0.052,2937,1789,2508,2504,2512,0,0,0,0,0,0,26.28,26.37,28.83
$GC,4655,-0.31,-146.6,2936,1789,2504,2512,515.0,-12.8,249,4659,0.00,2.05,0.00,0.000,516,0.000,0.065,2937,411,2508,2504,2512,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4791,-0.25,-146.6,2936,406,2504,2512,531.7,-13.7,253,4797,0.15,2.00,0.00,0.000,3078,0.186,0.052,2969,1802,2508,2504,2512,0,0,0,0,0,0,25.97,26.36,28.83
$GC,5106,-0.25,-146.6,2969,1802,2504,2512,565.8,-10.0,264,5112,0.00,2.10,0.00,0.000,260,0.000,0.062,2959,3192,2508,2504,2512,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5144,-0.25,-146.6,2959,3192,2503,2512,569.1,-10.0,265,5148,0.00,2.05,0.00,0.000,1030,0.000,0.052,2960,1797,2508,2504,2512,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5461,-0.25,-146.6,2959,1797,2504,2512,603.8,-10.9,276,5467,0.00,2.08,0.00,0.000,516,0.000,0.065,2959,409,2508,2504,2512,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5514,-0.25,-146.6,2959,410,2503,2512,607.4,-11.1,277,5520,0.00,2.00,0.00,0.000,1030,0.000,0.052,2954,1802,2507,2503,2512,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5821,-0.25,-146.6,2953,1802,2504,2512,647.4,-12.2,288,5825,0.00,2.10,0.00,0.000,516,0.000,0.065,2954,412,2507,2503,2512,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5876,-0.25,-146.6,2953,408,2503,2512,651.5,-12.4,289,5882,0.00,2.00,0.00,0.000,1030,0.000,0.052,2945,1802,2507,2503,2512,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6183,-0.25,-146.6,2945,1803,2503,2512,690.8,-11.6,300,6188,0.00,2.10,0.00,0.000,516,0.000,0.065,2945,411,2507,2503,2512,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6273,-0.25,-146.6,2945,411,2502,2512,702.5,-12.9,303,6278,0.00,2.00,0.00,0.000,1030,0.000,0.052,2945,1805,2507,2502,2512,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6602,-0.25,-146.6,2944,1805,2502,2512,741.7,-11.8,314,6608,0.00,2.08,0.00,0.000,260,0.000,0.062,2942,3192,2507,2502,2512,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6636,-0.25,-146.6,2942,3191,2502,2511,745.2,-11.6,315,6640,0.00,2.03,0.00,0.000,1030,0.000,0.052,2942,1796,2507,2503,2512,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6958,-0.25,-146.6,2942,1796,2502,2511,783.9,-12.2,326,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1795,2507,2502,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7257,-0.25,-146.6,2942,1796,2501,2511,820.1,-11.8,336,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1796,2506,2501,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7558,-0.25,-146.6,2942,1796,2499,2511,856.4,-12.1,346,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1795,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7858,-0.25,-146.6,2942,1796,2498,2509,894.4,-13.1,356,7862,0.00,2.15,0.00,0.000,260,0.000,0.062,2934,3201,2504,2498,2510,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7912,-0.25,-146.6,2934,3201,2498,2508,898.4,-13.0,357,7920,0.15,2.05,0.00,0.000,3078,0.169,0.052,2975,1794,2503,2498,2508,0,0,0,0,0,0,26.02,26.37,28.83
$GC,8220,-0.33,-146.6,2975,1794,2496,2508,934.8,-11.0,368,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1794,2502,2496,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8520,-0.41,-146.6,2975,1794,2494,2508,967.2,-10.9,378,8522,0.12,0.00,0.00,0.000,4102,0.107,0.000,2915,1795,2501,2494,2508,0,0,0,0,0,0,26.48,28.83,28.83
$GC,8819,-0.41,-146.6,2915,1794,2493,2507,1009.7,-14.2,387,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1794,2500,2493,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9119,-0.41,-146.6,2914,1794,2491,2506,1050.9,-13.5,392,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1794,2498,2491,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9420,-0.41,-146.6,2915,1794,2490,2506,1091.8,-13.6,397,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1794,2498,2490,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9719,-0.41,-146.6,2915,1794,2488,2504,1132.6,-13.6,402,9725,0.00,2.15,0.00,0.000,260,0.000,0.062,2904,3195,2496,2489,2504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9747,-0.41,-146.6,2904,3195,2488,2504,1132.6,-13.6,402,9751,0.00,2.05,0.00,0.000,1030,0.000,0.052,2904,1805,2496,2489,2504,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10074,-0.41,-146.6,2904,1806,2487,2504,1182.2,-14.1,408,10080,0.00,2.12,0.00,0.000,516,0.000,0.065,2904,400,2495,2487,2503,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10123,-0.41,-146.6,2904,400,2486,2503,1182.2,-14.1,408,10127,0.00,2.03,0.00,0.000,1030,0.000,0.052,2903,1794,2494,2485,2503,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10429,-0.41,-146.6,2903,1794,2485,2501,1234.2,-14.4,413,10433,0.00,2.15,0.00,0.000,260,0.000,0.065,2902,3191,2493,2485,2502,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10458,-0.41,-146.6,2901,3197,2485,2501,1234.2,-14.4,413,10462,0.00,2.08,0.00,0.000,1030,0.000,0.052,2902,1800,2493,2485,2501,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10786,-0.41,-146.6,2902,1800,2483,2500,1283.7,-13.9,419,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1800,2491,2483,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11085,-0.41,-146.6,2901,1800,2482,2499,1325.0,-13.8,424,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1800,2490,2482,2499,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,28670,-1.10,-146.6,2699,1794,2462,2481,3441.1,-12.1,716,28674,0.00,2.20,0.00,0.000,260,0.000,0.065,2691,3179,2472,2462,2482,0,0,0,0,0,0,28.83,25.93,28.83
$GC,28714,-1.10,-146.6,2691,3193,2462,2481,3441.1,-12.1,716,28718,0.00,2.12,0.00,0.000,1030,0.000,0.055,2691,1799,2471,2462,2481,0,0,0,0,0,0,28.83,26.09,28.83
$GC,29032,-1.10,-146.6,2690,1799,2461,2481,3486.9,-12.6,722,29033,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1799,2471,2461,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29333,-1.10,-146.6,2690,1799,2462,2482,3524.1,-12.4,727,29338,0.00,2.17,0.00,0.000,260,0.000,0.065,2684,3190,2471,2462,2481,0,0,0,0,0,0,28.83,25.91,28.83
$GC,29395,-1.10,-146.6,2683,3190,2462,2481,3531.5,-12.3,728,29400,0.00,2.15,0.00,0.000,1030,0.000,0.052,2684,1800,2471,2462,2481,0,0,0,0,0,0,28.83,26.09,28.83
$GC,29756,-1.10,-146.6,2684,1800,2462,2481,3576.0,-12.3,734,29757,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1800,2471,2462,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30054,-1.10,-146.6,2683,1800,2461,2482,3610.8,-11.6,739,30059,0.00,2.15,0.00,0.000,260,0.000,0.065,2674,3185,2471,2462,2481,0,0,0,0,0,0,28.83,25.91,28.83
$GC,30114,-1.10,-146.6,2673,3185,2462,2481,3617.8,-11.6,740,30120,0.00,2.12,0.00,0.000,1030,0.000,0.052,2674,1789,2471,2462,2481,0,0,0,0,0,0,28.83,26.08,28.83
$GC,30476,-1.10,-146.6,2673,1789,2461,2481,3660.0,-11.8,746,30477,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1788,2471,2462,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30774,-1.10,-146.6,2673,1789,2461,2481,3694.5,-11.5,751,30780,0.00,2.17,0.00,0.000,260,0.000,0.062,2666,3189,2471,2461,2481,0,0,0,0,0,0,28.83,25.90,28.83
$GC,30817,-1.10,-146.6,2665,3189,2461,2481,3694.5,-11.5,751,30821,0.00,2.10,0.00,0.000,1030,0.000,0.052,2666,1796,2471,2461,2481,0,0,0,0,0,0,28.83,26.08,28.83
$GC,31129,-1.10,-146.6,2665,1796,2461,2482,3734.5,-11.2,757,31131,0.12,0.00,0.00,0.000,2054,0.176,0.000,2699,1796,2471,2461,2481,0,0,0,0,0,0,26.12,28.83,28.83
$GC,31430,-1.10,-146.6,2699,1796,2461,2481,3763.0,-9.4,762,31436,0.00,2.20,0.00,0.000,260,0.000,0.062,2691,3193,2471,2461,2481,0,0,0,0,0,0,28.83,25.89,28.83
$GC,31522,-1.10,-146.6,2690,3193,2461,2481,3768.8,-9.5,763,31526,0.00,2.10,0.00,0.000,1030,0.000,0.052,2691,1800,2471,2461,2481,0,0,0,0,0,0,28.83,26.07,28.83
$GC,31846,-1.10,-146.6,2690,1800,2461,2481,3802.3,-9.4,769,31847,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1800,2471,2461,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32144,-1.10,-146.6,2690,1800,2461,2481,3829.8,-9.2,774,32149,0.00,2.22,0.00,0.000,260,0.000,0.065,2685,3200,2471,2461,2481,0,0,0,0,0,0,28.83,25.86,28.83
$GC,32222,-1.10,-146.6,2685,3200,2461,2481,3835.2,-9.1,775,32226,0.00,2.12,0.00,0.000,1030,0.000,0.052,2685,1799,2471,2461,2481,0,0,0,0,0,0,28.83,26.07,28.83
$GC,32564,-1.10,-146.6,2685,1800,2461,2481,3867.6,-9.0,781,32570,0.00,2.17,0.00,0.000,260,0.000,0.062,2677,3195,2471,2461,2481,0,0,0,0,0,0,28.83,25.86,28.83
$GC,32602,-1.10,-146.6,2677,3195,2461,2481,3867.6,-9.0,781,32606,0.00,2.10,0.00,0.000,1030,0.000,0.052,2677,1800,2471,2461,2481,0,0,0,0,0,0,28.83,26.06,28.83
$GC,32921,-1.10,-146.6,2677,1798,2460,2481,3900.9,-9.4,787,32926,0.00,2.17,0.00,0.000,260,0.000,0.062,2671,3187,2470,2460,2481,0,0,0,0,0,0,28.83,25.86,28.83
$GC,32967,-1.10,-146.6,2671,3187,2460,2481,3900.9,-9.4,787,32971,0.00,2.10,0.00,0.000,1030,0.000,0.055,2671,1796,2471,2461,2481,0,0,0,0,0,0,28.83,26.06,28.83
$GC,33276,-1.10,-146.6,2671,1796,2460,2481,3935.2,-9.7,792,33277,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1796,2470,2460,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33575,-1.10,-146.6,2671,1796,2460,2481,3963.6,-9.5,797,33580,0.00,2.20,0.00,0.000,260,0.000,0.062,2663,3191,2470,2460,2481,0,0,0,0,0,0,28.83,25.86,28.83
$GC,33644,-1.10,-146.6,2662,3192,2461,2481,3969.6,-9.6,798,33650,0.12,2.10,0.00,0.000,3078,0.166,0.052,2697,1799,2470,2460,2481,0,0,0,0,0,0,25.73,26.04,28.83
$GC,33996,-1.10,-146.6,2697,1798,2460,2481,3999.1,-8.1,804,34001,0.00,2.17,0.00,0.000,260,0.000,0.065,2687,3189,2470,2460,2481,0,0,0,0,0,0,28.83,25.84,28.83
$GC,34056,-1.15,-146.6,2687,3189,2460,2481,4004.0,-8.1,805,34061,0.00,2.08,0.00,0.000,1030,0.000,0.055,2687,1803,2471,2461,2481,0,0,0,0,0,0,28.83,26.04,28.83
$GC,34417,-1.15,-146.6,2687,1803,2460,2481,4034.0,-8.3,811,34422,0.00,2.20,0.00,0.000,260,0.000,0.065,2686,3193,2470,2460,2481,0,0,0,0,0,0,28.83,25.82,28.83
$GC,34470,-1.15,-146.6,2686,3193,2460,2481,4034.0,-8.3,811,34476,0.00,2.15,0.00,0.000,1030,0.000,0.052,2686,1788,2470,2460,2481,0,0,0,0,0,0,28.83,26.03,28.83
$GC,34777,-1.15,-146.6,2686,1787,2460,2481,4062.8,-8.1,817,34782,0.00,2.20,0.00,0.000,260,0.000,0.062,2682,3191,2470,2460,2481,0,0,0,0,0,0,28.83,25.84,28.83
$GC,34828,-1.15,-146.6,2682,3191,2460,2481,4062.8,-8.1,817,34835,0.00,2.10,0.00,0.000,1030,0.000,0.052,2682,1798,2470,2460,2481,0,0,0,0,0,0,28.83,26.03,28.83
$GC,35136,-1.15,-146.6,2682,1798,2459,2481,4091.9,-8.1,823,35142,0.00,2.17,0.00,0.000,260,0.000,0.065,2674,3190,2470,2460,2481,0,0,0,0,0,0,28.83,25.84,28.83
$GC,35198,-1.15,-146.6,2674,3190,2460,2481,4096.9,-8.2,824,35202,0.00,2.10,0.00,0.000,1030,0.000,0.052,2674,1800,2470,2460,2481,0,0,0,0,0,0,28.83,26.03,28.83
$GC,35551,-1.15,-146.6,2674,1800,2460,2481,4126.9,-8.4,830,35556,0.00,2.17,0.00,0.000,260,0.000,0.065,2670,3196,2471,2461,2481,0,0,0,0,0,0,28.83,25.82,28.83
$GC,35604,-1.15,-146.6,2670,3197,2460,2481,4126.9,-8.4,830,35614,0.00,2.12,0.00,0.000,1030,0.000,0.052,2670,1788,2470,2460,2481,0,0,0,0,0,0,28.83,26.04,28.83
$GC,35910,-1.15,-146.6,2670,1788,2460,2481,4157.1,-8.3,836,35916,0.00,2.22,0.00,0.000,260,0.000,0.062,2661,3201,2470,2460,2481,0,0,0,0,0,0,28.83,25.83,28.83
$GC,35959,-1.15,-146.6,2661,3201,2460,2481,4157.1,-8.3,836,35963,0.00,2.15,0.00,0.000,1030,0.000,0.052,2662,1793,2470,2460,2481,0,0,0,0,0,0,28.83,26.03,28.83
$GC,36270,-1.15,-146.6,2660,1790,2460,2481,4187.8,-8.6,842,36276,0.00,2.22,0.00,0.000,260,0.000,0.062,2659,3201,2470,2460,2481,0,0,0,0,0,0,28.83,25.82,28.83
$GC,36318,-1.15,-146.6,2659,3201,2460,2481,4187.8,-8.6,842,36322,0.00,2.12,0.00,0.000,1030,0.000,0.052,2659,1793,2470,2460,2481,0,0,0,0,0,0,28.83,26.03,28.83
$GC,36626,-1.15,-146.6,2658,1793,2460,2481,4218.2,-8.5,847,36631,0.00,2.17,0.00,0.000,260,0.000,0.065,2657,3187,2470,2460,2480,0,0,0,0,0,0,28.83,25.82,28.83
$GC,36673,-1.15,-146.6,2657,3187,2460,2481,4218.2,-8.5,847,36677,0.00,2.10,0.00,0.000,1030,0.000,0.052,2658,1797,2470,2460,2481,0,0,0,0,0,0,28.83,26.03,28.83
$GC,36981,-1.15,-146.6,2657,1797,2460,2481,4247.9,-8.3,852,36982,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1797,2470,2460,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37281,-1.15,-146.6,2657,1797,2460,2481,4273.2,-8.3,857,37287,0.00,2.17,0.00,0.000,260,0.000,0.062,2651,3191,2470,2460,2481,0,0,0,0,0,0,28.83,25.82,28.83
$GC,37389,-1.15,-146.6,2650,3191,2460,2481,4278.2,-8.3,858,37393,0.00,2.10,0.00,0.000,1030,0.000,0.052,2650,1800,2470,2460,2481,0,0,0,0,0,0,28.83,26.02,28.83
$GC,37696,-1.15,-146.6,2650,1800,2460,2481,4307.7,-8.3,863,37701,0.00,2.17,0.00,0.000,260,0.000,0.065,2646,3189,2470,2460,2481,0,0,0,0,0,0,28.83,25.81,28.83
$GC,37743,-1.15,-146.6,2646,3189,2461,2482,4307.7,-8.3,863,37748,0.12,2.10,0.00,0.000,3078,0.169,0.052,2679,1797,2470,2460,2481,0,0,0,0,0,0,25.70,26.02,28.83
$GC,38052,-1.22,-146.6,2679,1796,2460,2481,4333.7,-7.1,868,38058,0.00,2.17,0.00,0.000,260,0.000,0.062,2673,3189,2470,2460,2481,0,0,0,0,0,0,28.83,25.80,28.83
$GC,38111,-1.29,-146.6,2673,3189,2460,2481,4338.0,-7.1,869,38118,0.08,2.10,0.00,0.000,5126,0.137,0.052,2628,1797,2470,2460,2481,0,0,0,0,0,0,25.94,26.01,28.83
$GC,38471,-1.29,-146.6,2628,1797,2459,2481,4369.5,-8.8,875,38476,0.00,2.20,0.00,0.000,260,0.000,0.062,2619,3192,2470,2460,2481,0,0,0,0,0,0,28.83,25.79,28.83
$GC,38519,-1.29,-146.6,2619,3192,2459,2481,4369.5,-8.8,875,38523,0.00,2.10,0.00,0.000,1030,0.000,0.052,2619,1802,2470,2459,2481,0,0,0,0,0,0,28.83,26.01,28.83
$GC,38826,-1.29,-146.6,2619,1802,2459,2481,4401.5,-9.0,880,38832,0.00,2.20,0.00,0.000,260,0.000,0.062,2618,3194,2470,2459,2481,0,0,0,0,0,0,28.83,25.79,28.83
$GC,38869,-1.29,-146.6,2618,3194,2459,2481,4401.5,-9.0,880,38873,0.00,2.12,0.00,0.000,1030,0.000,0.052,2618,1790,2470,2460,2481,0,0,0,0,0,0,28.83,26.01,28.83
$GC,39181,-1.29,-146.6,2617,1791,2460,2481,4432.4,-8.6,886,39182,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1791,2470,2459,2481,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,39239,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,39239,begin apogee
$GC,39246,-0.19,0.0,2616,2305,2460,2481,4437.6,-8.5,887,39394,1.17,0.00,141.80,3.869,10246,0.146,0.000,2983,2305,2001,1955,2047,0,0,0,0,0,0,24.67,28.83,19.61
$STATE,39395,end apogee,CONTROL_FINISHED_OK
$STATE,39395,begin climb
$GC,39397,0.76,146.6,2982,2305,1954,2047,4438.5,0.0,889,39561,0.93,0.00,160.07,3.764,10246,0.072,0.000,3304,2305,1503,1424,1582,0,0,0,0,0,0,22.71,28.83,19.85
$GC,39842,0.44,146.6,3303,2305,1424,1581,4343.0,25.4,897,39848,0.40,2.22,0.00,0.000,4356,0.206,0.065,3193,3694,1502,1424,1581,0,0,0,0,0,0,24.98,25.33,28.83
$GC,39940,0.15,146.6,3193,3694,1426,1580,4329.5,24.8,898,39947,0.40,2.15,0.00,0.000,5126,0.189,0.052,3093,2295,1502,1426,1579,0,0,0,0,0,0,25.32,25.72,28.83
$GC,40261,0.15,146.6,3093,2295,1426,1579,4278.6,12.6,904,40262,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2295,1503,1426,1580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40561,0.15,146.6,3093,2295,1426,1579,4241.0,12.5,909,40566,0.00,2.15,0.00,0.000,516,0.000,0.062,3104,894,1503,1427,1579,0,0,0,0,0,0,28.83,26.15,28.83
$GC,40604,0.15,146.6,3104,894,1425,1580,4241.0,12.5,909,40608,0.00,2.12,0.00,0.000,1030,0.000,0.057,3104,2306,1502,1425,1580,0,0,0,0,0,0,28.83,26.18,28.83
$GC,40916,0.15,146.6,3103,2306,1425,1579,4196.5,12.5,915,40917,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2306,1503,1426,1580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41217,0.15,146.6,3103,2306,1425,1579,4159.7,12.2,920,41218,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2306,1502,1426,1579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41516,0.15,146.6,3103,2306,1425,1579,4123.5,12.1,925,41517,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2306,1502,1426,1579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41816,0.15,146.6,3103,2306,1425,1580,4088.4,11.7,930,41821,0.00,2.15,0.00,0.000,516,0.000,0.062,3114,895,1502,1426,1579,0,0,0,0,0,0,28.83,26.22,28.83
$GC,41859,0.15,146.6,3114,895,1425,1579,4088.4,11.7,930,41863,0.00,2.12,0.00,0.000,1030,0.000,0.055,3114,2309,1502,1425,1579,0,0,0,0,0,0,28.83,26.26,28.83
$GC,42171,0.15,146.6,3114,2309,1425,1579,4046.4,11.9,936,42172,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2309,1502,1425,1579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42471,0.15,146.6,3114,2309,1425,1579,4011.1,11.8,941,42472,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2309,1502,1425,1579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42771,0.15,146.6,3114,2309,1425,1579,3975.8,11.7,946,42776,0.00,2.17,0.00,0.000,516,0.000,0.062,3125,903,1502,1425,1579,0,0,0,0,0,0,28.83,26.21,28.83
$GC,42809,0.15,146.6,3125,903,1425,1579,3975.8,11.7,946,42813,0.00,2.10,0.00,0.000,1030,0.000,0.055,3125,2304,1502,1425,1579,0,0,0,0,0,0,28.83,26.26,28.83
$GC,43126,0.15,146.6,3124,2304,1425,1579,3933.1,12.0,952,43127,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2304,1502,1425,1579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43426,0.15,146.6,3124,2304,1425,1579,3898.5,11.5,957,43431,0.00,2.17,0.00,0.000,516,0.000,0.062,3135,901,1502,1425,1579,0,0,0,0,0,0,28.83,26.20,28.83
$GC,43459,0.15,146.6,3135,901,1425,1579,3898.5,11.5,957,43464,0.15,2.12,0.00,0.000,5126,0.174,0.057,3094,2303,1501,1424,1579,0,0,0,0,0,0,25.93,26.25,28.83
$GC,43782,0.15,156.5,3094,2303,1425,1579,3863.4,9.5,963,43794,0.00,0.00,10.62,2.982,8198,0.000,0.000,3094,2303,1469,1392,1546,0,0,0,0,0,0,28.83,28.83,22.87
$GC,44082,0.20,161.5,3094,2303,1391,1545,3834.2,9.8,968,44090,0.00,0.00,6.40,2.538,8198,0.000,0.000,3094,2303,1452,1374,1530,0,0,0,0,0,0,28.83,28.83,22.96
$GC,44383,0.26,162.5,3094,2303,1374,1529,3804.3,10.0,973,44389,0.08,2.12,0.00,0.000,2564,0.146,0.060,3141,902,1451,1374,1529,0,0,0,0,0,0,26.24,26.04,28.83
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$STATE,75480,end climb,SURFACE_DEPTH_REACHED
$STATE,75480,begin surface coast
$FINISH,0.2,1.025705
$STATE,75502,end surface coast,CONTROL_FINISHED_OK
$STATE,75502,begin surface
$SM_CCo,75579,0.00,0.000,0,0,936,314.09
$SM_GC,1.35,8.15,0.68,0.00,0.057,0.060,0.000,244,1803,936,-8.71,1.92,314.09,0,0,0,0,0,0,26.06,26.32,28.83
$IRIDIUM_FIX,3148.08,-6420.62,110414,232352
$TT8_MAMPS,0.020223,0.020223
$HUMID,37.16
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,22.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4353.8,109.6
$24V_AH,19.6,56.583
$10V_AH,10.2,13.363
$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
$DEVICE_SECS,26.025,473.775,484.775,0.000,0.000,26.318,38.251,330.606,34.750,0.000,35.319,5263.501,64173.336,819.367,5156.074,695.864,0.387,3584.367,0.000,4526.864,0.000,250.516,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1176.669,2223.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329632
$DATA_FILE_SIZE,103635,1683
$CAP_FILE_SIZE,504026,0
$CFSIZE,260165632,231780352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130414,170806,3140.042,-6418.876,35,1.4,35,-15.4