version: 66.12
glider: 35
mission: 22
dive: 108
start: 5 3 114 12 5 32
data:
$ID,35
$MISSION,22
$DIVE,108
$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,2000
$T_MISSION,2030
$T_ABORT,2060
$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,-998592
$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,85
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2200
$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,3500
$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
$GPS1,030514,115435,3149.829,-6349.524,38,1.7,43,-15.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.4
$GPS2,030514,120503,3149.852,-6349.536,11,5.7,31,-15.6
$SPEED_LIMITS,0.080,0.227
$TGT_NAME,SS06
$TGT_LATLONG,3129.220,-6431.920
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.210,-0.086
$KALMAN_X,-39772.0,0.0,0.0,100291.4,-14059.2
$KALMAN_Y,-55954.3,0.0,0.0,12660.6,-12237.9
$MHEAD_RNG_PITCHd_Wd,263.2,77076,-16.3,-8.000,-19.39,2783
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.63,-146.6,241,1764,819,964,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,16386,0.000,0.000,240,1765,2062,2054,2071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.63,-146.6,240,1765,2053,2071,3.2,-4.0,7,140,10.70,2.03,-27.65,0.000,18948,0.258,0.065,2842,435,2697,2695,2700,0,0,0,0,0,0,25.13,26.09,25.91
$GC,242,-0.20,-146.6,2842,434,2684,2699,36.4,-29.3,22,252,0.57,2.00,0.00,0.000,3078,0.211,0.052,2986,1823,2691,2684,2699,0,0,0,0,0,0,25.31,26.29,28.83
$GC,553,-0.00,-146.6,2986,1823,2680,2697,97.4,-18.9,53,563,0.20,2.08,-0.10,0.000,18948,0.189,0.060,3047,433,2703,2690,2717,0,0,0,0,0,0,25.89,26.21,22.69
$GC,616,0.11,-146.6,3046,433,2690,2717,107.7,-15.7,59,625,0.12,1.98,0.00,0.000,3078,0.199,0.052,3069,1804,2703,2690,2717,0,0,0,0,0,0,25.97,26.34,28.83
$GC,925,0.11,-146.6,3069,1804,2690,2716,147.7,-11.8,90,929,0.00,2.05,0.00,0.000,260,0.000,0.062,3060,3189,2703,2690,2716,0,0,0,0,0,0,28.83,26.25,28.83
$GC,950,0.11,-146.6,3059,3189,2690,2715,150.1,-12.5,92,954,0.00,2.00,0.00,0.000,1030,0.000,0.052,3060,1822,2703,2690,2716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1264,0.11,-146.6,3059,1822,2690,2716,190.5,-12.9,108,1269,0.00,2.10,0.00,0.000,516,0.000,0.065,3060,403,2703,2690,2716,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1342,0.17,-146.6,3059,403,2690,2716,202.0,-14.4,112,1349,0.17,2.00,0.00,0.000,3078,0.176,0.052,3103,1805,2702,2689,2716,0,0,0,0,0,0,25.92,26.35,28.83
$GC,1661,0.17,-146.6,3103,1805,2690,2716,232.8,-9.4,128,1667,0.00,2.08,0.00,0.000,260,0.000,0.062,3093,3189,2703,2690,2716,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1715,0.11,-146.6,3092,3189,2690,2716,236.6,-9.0,130,1721,0.00,2.03,0.00,0.000,1030,0.000,0.050,3093,1789,2703,2690,2716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2022,0.11,-146.6,3092,1789,2689,2716,267.2,-9.4,146,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1789,2703,2690,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2321,0.11,-146.6,3092,1789,2690,2715,294.8,-9.2,161,2327,0.00,2.12,0.00,0.000,260,0.000,0.060,3089,3189,2703,2690,2716,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2406,0.03,-146.6,3088,3189,2690,2716,301.5,-8.2,165,2412,0.00,2.05,0.00,0.000,1030,0.000,0.052,3089,1788,2703,2690,2716,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2712,-0.02,-146.6,3088,1788,2690,2716,327.0,-8.4,176,2714,0.12,0.00,0.00,0.000,4102,0.094,0.000,3009,1788,2703,2690,2716,0,0,0,0,0,0,26.46,28.83,28.83
$GC,3012,0.08,-146.6,3009,1788,2690,2715,368.3,-13.9,186,3014,0.17,0.00,0.00,0.000,2054,0.176,0.000,3057,1788,2703,2690,2716,0,0,0,0,0,0,26.05,28.83,28.83
$GC,3312,0.08,-146.6,3057,1787,2690,2715,399.5,-10.0,196,3316,0.00,2.12,0.00,0.000,260,0.000,0.062,3048,3191,2703,2690,2716,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3351,0.08,-146.6,3047,3194,2690,2715,402.6,-9.8,197,3355,0.00,2.05,0.00,0.000,1030,0.000,0.050,3047,1792,2703,2690,2716,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3668,0.08,-146.6,3047,1792,2690,2715,436.0,-10.5,208,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1792,2702,2690,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3969,0.08,-146.6,3047,1792,2691,2715,467.6,-10.8,218,3974,0.00,2.12,0.00,0.000,260,0.000,0.060,3041,3189,2702,2690,2715,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4006,0.08,-146.6,3041,3189,2690,2715,471.1,-10.8,219,4011,0.05,2.03,0.00,0.000,3078,0.219,0.052,3053,1794,2702,2690,2715,0,0,0,0,0,0,26.25,26.36,28.83
$GC,4324,0.08,-146.6,3053,1794,2690,2715,504.9,-10.7,230,4330,0.00,2.10,0.00,0.000,260,0.000,0.060,3045,3188,2702,2690,2715,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4362,0.08,-146.6,3044,3188,2690,2715,508.1,-10.6,231,4366,0.00,2.03,0.00,0.000,1030,0.000,0.052,3045,1804,2702,2690,2715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4679,0.08,-146.6,3044,1803,2689,2715,544.0,-10.9,242,4684,0.00,2.08,0.00,0.000,516,0.000,0.065,3045,413,2702,2690,2715,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4712,0.08,-146.6,3045,412,2690,2715,547.5,-11.1,243,4717,0.05,1.98,0.00,0.000,3078,0.248,0.050,3052,1801,2702,2690,2715,0,0,0,0,0,0,26.22,26.37,28.83
$GC,5034,0.08,-146.6,3052,1801,2690,2715,583.3,-11.5,254,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1801,2702,2690,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5334,0.08,-146.6,3052,1801,2690,2715,617.2,-10.8,264,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1801,2702,2690,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5635,0.08,-146.6,3052,1801,2690,2714,649.9,-11.3,274,5640,0.00,2.10,0.00,0.000,260,0.000,0.060,3042,3197,2701,2690,2713,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5672,0.08,-146.6,3042,3197,2690,2713,653.0,-11.0,275,5676,0.00,2.05,0.00,0.000,3078,0.000,0.050,3042,1793,2701,2690,2713,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5989,0.08,-146.6,3042,1793,2690,2713,690.1,-11.6,286,5995,0.00,2.12,0.00,0.000,2308,0.000,0.062,3039,3193,2700,2689,2712,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6032,0.08,-146.6,3039,3193,2690,2712,693.3,-11.4,287,6037,0.08,2.05,0.00,0.000,3078,0.184,0.050,3058,1789,2701,2690,2712,0,0,0,0,0,0,26.21,26.37,28.83
$GC,6345,0.02,-146.6,3057,1788,2690,2712,723.7,-8.9,298,6351,0.00,2.05,0.00,0.000,516,0.000,0.065,3058,415,2700,2690,2711,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6383,-0.03,-146.6,3058,415,2689,2712,726.7,-9.0,299,6387,0.00,2.00,0.00,0.000,1030,0.000,0.050,3056,1802,2700,2689,2712,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6701,-0.09,-146.6,3055,1802,2690,2711,758.7,-10.0,310,6707,0.08,2.05,0.00,0.000,4356,0.127,0.060,2985,3182,2700,2690,2711,0,0,0,0,0,0,26.48,26.29,28.83
$GC,6768,-0.09,-146.6,2985,3182,2689,2710,766.3,-11.2,312,6772,0.15,2.03,0.00,0.000,3078,0.166,0.052,3027,1793,2699,2689,2710,0,0,0,0,0,0,26.04,26.36,28.83
$GC,7085,-0.09,-146.6,3027,1793,2689,2710,805.1,-11.6,323,7091,0.00,2.08,0.00,0.000,516,0.000,0.065,3027,405,2699,2690,2709,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7123,-0.09,-146.6,3027,405,2688,2710,808.8,-11.7,324,7126,0.00,2.03,0.00,0.000,1030,0.000,0.050,3024,1806,2699,2688,2710,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7440,-0.09,-146.6,3024,1806,2688,2710,846.8,-12.0,335,7444,0.00,2.08,0.00,0.000,260,0.000,0.062,3015,3191,2699,2688,2710,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7490,-0.09,-146.6,3014,3192,2688,2709,850.6,-12.2,336,7494,0.00,2.05,0.00,0.000,1030,0.000,0.050,3015,1794,2698,2688,2708,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7796,-0.09,-146.6,3014,1793,2687,2708,889.8,-11.7,346,7801,0.00,2.12,0.00,0.000,260,0.000,0.062,3013,3194,2697,2687,2708,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7834,-0.09,-146.6,3013,3194,2686,2707,893.1,-11.6,347,7838,0.00,2.05,0.00,0.000,1030,0.000,0.050,3013,1797,2697,2687,2707,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8152,-0.09,-146.6,3013,1797,2685,2707,932.6,-12.5,358,8158,0.00,2.12,0.00,0.000,260,0.000,0.062,3013,3187,2695,2684,2706,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8181,-0.09,-146.6,3013,3187,2684,2706,936.1,-12.3,359,8186,0.00,2.05,0.00,0.000,1030,0.000,0.052,3013,1790,2695,2684,2706,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8511,-0.09,-146.6,3013,1790,2682,2705,974.6,-11.7,370,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1790,2694,2682,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8812,-0.09,-146.6,3013,1790,2681,2704,1008.8,-11.0,379,8817,0.00,2.12,0.00,0.000,260,0.000,0.062,3013,3188,2692,2681,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8844,-0.09,-146.6,3013,3188,2681,2704,1008.8,-11.0,379,8848,0.00,2.05,0.00,0.000,1030,0.000,0.050,3013,1797,2692,2681,2704,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9166,-0.09,-146.6,3013,1797,2679,2703,1047.9,-11.3,385,9172,0.00,2.12,0.00,0.000,260,0.000,0.060,3013,3192,2690,2679,2702,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9205,-0.09,-146.6,3013,3192,2679,2702,1047.9,-11.3,385,9209,0.00,2.05,0.00,0.000,1030,0.000,0.050,3013,1802,2690,2679,2702,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9521,-0.09,-146.6,3013,1801,2677,2701,1089.7,-12.0,391,9525,0.00,2.12,0.00,0.000,260,0.000,0.062,3013,3193,2689,2677,2701,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9551,-0.09,-146.6,3013,3193,2678,2700,1089.7,-12.0,391,9555,0.00,2.08,0.00,0.000,1030,0.000,0.050,3013,1792,2688,2676,2700,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9878,-0.09,-146.6,3013,1792,2675,2700,1130.9,-11.7,397,9884,0.00,2.15,0.00,0.000,260,0.000,0.062,3013,3186,2687,2675,2700,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,39123,-1.02,-146.6,2715,1793,2645,2677,4379.2,-9.6,879,39129,0.00,2.17,0.00,0.000,260,0.000,0.060,2714,3185,2661,2645,2677,0,0,0,0,0,0,28.83,25.91,28.83
$GC,39184,-1.02,-146.6,2713,3185,2645,2677,4384.8,-9.6,880,39189,0.00,2.08,0.00,0.000,1030,0.000,0.050,2714,1798,2661,2645,2677,0,0,0,0,0,0,28.83,26.10,28.83
$GC,39544,-1.02,-146.6,2714,1798,2645,2677,4418.3,-9.2,886,39549,0.00,2.15,0.00,0.000,260,0.000,0.060,2714,3188,2661,2645,2677,0,0,0,0,0,0,28.83,25.90,28.83
$GC,39596,-1.02,-146.6,2714,3188,2644,2677,4418.3,-9.2,886,39606,0.00,2.10,0.00,0.000,1030,0.000,0.050,2714,1798,2661,2645,2677,0,0,0,0,0,0,28.83,26.09,28.83
$GC,39905,-1.02,-146.6,2714,1798,2644,2677,4450.4,-8.9,892,39911,0.00,2.15,0.00,0.000,260,0.000,0.060,2714,3182,2661,2645,2677,0,0,0,0,0,0,28.83,25.90,28.83
$GC,39956,-1.02,-146.6,2714,3182,2645,2677,4450.4,-8.9,892,39963,0.00,2.10,0.00,0.000,1030,0.000,0.050,2714,1792,2660,2644,2677,0,0,0,0,0,0,28.83,26.08,28.83
$GC,40267,-1.02,-146.6,2714,1792,2644,2677,4481.1,-8.6,898,40273,0.00,2.15,0.00,0.000,260,0.000,0.060,2714,3183,2660,2644,2677,0,0,0,0,0,0,28.83,25.89,28.83
$GC,40318,-1.02,-146.6,2714,3183,2644,2677,4481.1,-8.6,898,40325,0.00,2.10,0.00,0.000,1030,0.000,0.052,2714,1794,2660,2644,2677,0,0,0,0,0,0,28.83,26.09,28.83
$GC,40625,-1.02,-146.6,2714,1793,2644,2677,4510.3,-8.1,904,40631,0.00,2.17,0.00,0.000,260,0.000,0.060,2714,3188,2660,2644,2677,0,0,0,0,0,0,28.83,25.89,28.83
$GC,40679,-1.02,-146.6,2714,3188,2644,2677,4510.3,-8.1,904,40685,0.00,2.10,0.00,0.000,1030,0.000,0.050,2714,1799,2661,2644,2678,0,0,0,0,0,0,28.83,26.08,28.83
$GC,40985,-1.02,-146.6,2714,1798,2644,2677,4538.6,-7.8,910,40991,0.00,2.20,0.00,0.000,260,0.000,0.060,2714,3193,2660,2644,2677,0,0,0,0,0,0,28.83,25.89,28.83
$GC,41033,-1.02,-146.6,2714,3193,2644,2677,4538.6,-7.8,910,41037,0.00,2.10,0.00,0.000,1030,0.000,0.050,2714,1790,2660,2644,2677,0,0,0,0,0,0,28.83,26.09,28.83
$GC,41342,-1.07,-146.6,2714,1790,2644,2677,4565.3,-7.6,915,41345,0.00,2.17,0.00,0.000,260,0.000,0.060,2714,3184,2660,2644,2677,0,0,0,0,0,0,28.83,25.89,28.83
$GC,41397,-1.13,-146.6,2714,3184,2644,2677,4565.3,-7.6,915,41404,0.00,2.10,0.00,0.000,1030,0.000,0.050,2714,1794,2660,2644,2677,0,0,0,0,0,0,28.83,26.09,28.83
$GC,41704,-1.18,-146.6,2714,1794,2643,2677,4592.2,-7.4,921,41710,0.10,2.15,0.00,0.000,4356,0.122,0.057,2638,3189,2660,2644,2677,0,0,0,0,0,0,26.43,25.90,28.83
$GC,41767,-1.18,-146.6,2637,3189,2644,2677,4598.2,-8.0,922,41772,0.12,2.10,0.00,0.000,3078,0.166,0.050,2671,1798,2660,2644,2677,0,0,0,0,0,0,25.75,26.08,28.83
$GC,42120,-1.18,-146.6,2671,1798,2644,2678,4632.4,-9.5,928,42126,0.00,2.17,0.00,0.000,260,0.000,0.060,2661,3192,2660,2643,2677,0,0,0,0,0,0,28.83,25.90,28.83
$GC,42168,-1.18,-146.6,2661,3192,2644,2677,4632.4,-9.5,928,42172,0.00,2.08,0.00,0.000,1030,0.000,0.050,2661,1804,2660,2644,2677,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,42293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,42293,begin apogee
$GC,42299,-0.19,0.0,2659,2294,2644,2678,4649.2,-9.7,930,42450,1.02,0.00,143.75,4.013,10246,0.142,0.000,2986,2294,2200,2158,2242,0,0,0,0,0,0,24.92,28.83,19.13
$STATE,42451,end apogee,CONTROL_FINISHED_OK
$STATE,42451,begin climb
$GC,42453,0.63,146.6,2986,2294,2158,2242,4652.1,0.0,932,42628,0.80,2.60,164.60,3.931,11012,0.067,0.074,3285,910,1703,1641,1765,0,0,0,0,0,0,22.48,22.07,19.40
$GC,42725,0.26,152.9,3285,909,1640,1765,4634.9,7.8,937,42739,0.57,2.25,8.02,3.143,13318,0.186,0.052,3135,2298,1682,1621,1743,0,0,0,0,0,0,24.19,24.49,21.22
$GC,43069,0.14,152.9,3134,2298,1621,1742,4594.6,10.6,943,43070,0.15,0.00,0.00,0.000,4102,0.184,0.000,3095,2298,1681,1621,1742,0,0,0,0,0,0,25.82,28.83,28.83
$GC,43368,0.08,152.9,3095,2298,1621,1742,4566.9,9.2,948,43373,0.00,2.12,0.00,0.000,516,0.000,0.060,3105,901,1681,1621,1742,0,0,0,0,0,0,28.83,26.21,28.83
$GC,43435,0.01,152.9,3105,901,1621,1742,4561.5,9.1,949,43440,0.17,2.12,0.00,0.000,5126,0.169,0.055,3055,2313,1681,1621,1742,0,0,0,0,0,0,25.98,26.25,28.83
$GC,43783,0.01,179.1,3055,2313,1621,1742,4536.1,7.0,955,43811,0.00,0.00,25.95,3.747,8198,0.000,0.000,3055,2313,1593,1530,1656,0,0,0,0,0,0,28.83,28.83,22.13
$GC,44083,0.01,189.8,3055,2313,1530,1655,4513.6,7.6,960,44100,0.00,2.25,11.65,3.387,8708,0.000,0.072,3065,912,1557,1493,1621,0,0,0,0,0,0,28.83,25.47,22.63
$GC,44177,0.01,201.1,3065,911,1492,1622,4509.0,7.6,961,44195,0.00,2.12,12.48,3.434,9222,0.000,0.055,3065,2305,1517,1449,1586,0,0,0,0,0,0,28.83,25.94,22.47
$GC,44503,0.01,201.1,3065,2304,1446,1583,4479.2,8.4,967,44504,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2304,1514,1446,1583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44802,0.01,201.1,3065,2304,1446,1582,4454.9,8.1,972,44808,0.00,2.15,0.00,0.000,516,0.000,0.060,3076,902,1514,1446,1582,0,0,0,0,0,0,28.83,26.26,28.83
$GC,44876,0.01,201.1,3076,902,1446,1582,4450.2,8.1,973,44880,0.00,2.10,0.00,0.000,1030,0.000,0.055,3076,2298,1514,1446,1582,0,0,0,0,0,0,28.83,26.29,28.83
$GC,45218,0.01,203.6,3076,2298,1446,1582,4422.0,7.9,979,45219,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2299,1514,1446,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45517,0.01,203.6,3076,2298,1446,1582,4396.9,8.4,984,45521,0.00,2.12,0.00,0.000,516,0.000,0.060,3086,905,1514,1446,1582,0,0,0,0,0,0,28.83,26.27,28.83
$GC,45587,0.01,203.6,3086,905,1445,1582,4392.0,8.5,985,45591,0.00,2.10,0.00,0.000,1030,0.000,0.055,3086,2302,1513,1445,1582,0,0,0,0,0,0,28.83,26.30,28.83
$GC,45934,0.01,203.6,3086,2302,1445,1582,4360.9,8.9,991,45935,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2302,1513,1445,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46234,0.01,203.6,3086,2302,1445,1582,4335.5,8.3,996,46235,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2302,1513,1445,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46535,0.01,208.9,3086,2302,1445,1582,4311.8,7.8,1001,46547,0.00,2.15,7.62,2.970,8708,0.000,0.067,3096,904,1492,1423,1562,0,0,0,0,0,0,28.83,25.88,22.94
$GC,46597,0.01,208.9,3096,904,1423,1563,4307.3,8.0,1002,46602,0.15,2.12,0.00,0.000,5126,0.164,0.055,3054,2304,1492,1422,1563,0,0,0,0,0,0,25.82,26.05,28.83
$GC,46950,0.07,235.2,3054,2304,1422,1562,4281.6,7.0,1008,46983,0.00,2.25,28.10,3.665,8708,0.000,0.072,3064,906,1402,1320,1484,0,0,0,0,0,0,28.83,24.75,22.06
$GC,47026,0.12,257.6,3064,906,1318,1484,4277.5,7.2,1009,47055,0.00,2.20,23.65,3.576,9222,0.000,0.052,3064,2306,1327,1232,1422,0,0,0,0,0,0,28.83,25.28,21.30
$GC,47363,0.18,257.6,3064,2306,1232,1419,4245.8,9.0,1015,47369,0.10,2.17,0.00,0.000,2564,0.117,0.055,3127,898,1326,1232,1420,0,0,0,0,0,0,26.10,25.95,28.83
$GC,47401,0.23,257.6,3127,898,1231,1420,4245.8,9.0,1015,47405,0.00,2.12,0.00,0.000,1030,0.000,0.052,3127,2304,1325,1231,1420,0,0,0,0,0,0,28.83,26.05,28.83
$GC,47718,0.23,257.6,3127,2304,1231,1420,4204.6,11.6,1021,47719,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2304,1325,1231,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48018,0.23,257.6,3127,2304,1231,1420,4171.0,11.0,1026,48023,0.00,2.12,0.00,0.000,516,0.000,0.060,3137,902,1325,1231,1420,0,0,0,0,0,0,28.83,26.25,28.83
$GC,48056,0.23,257.6,3137,902,1231,1420,4171.0,11.0,1026,48060,0.00,2.10,0.00,0.000,1030,0.000,0.055,3137,2300,1325,1231,1420,0,0,0,0,0,0,28.83,26.28,28.83
$GC,48373,0.23,257.6,3137,2300,1231,1420,4130.9,11.4,1032,48374,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2299,1325,1231,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48673,0.23,257.6,3137,2300,1231,1419,4097.9,10.9,1037,48678,0.00,2.12,0.00,0.000,516,0.000,0.060,3148,902,1325,1231,1420,0,0,0,0,0,0,28.83,26.25,28.83
$GC,48711,0.23,257.6,3147,902,1231,1420,4097.9,10.9,1037,48715,0.00,2.10,0.00,0.000,1030,0.000,0.055,3148,2303,1325,1231,1420,0,0,0,0,0,0,28.83,26.29,28.83
$GC,49028,0.17,257.6,3147,2303,1231,1420,4057.2,11.5,1043,49030,0.15,0.00,0.00,0.000,4102,0.176,0.000,3106,2303,1325,1231,1420,0,0,0,0,0,0,26.10,28.83,28.83
$GC,49328,0.17,257.6,3106,2303,1231,1420,4028.3,9.6,1048,49333,0.00,2.12,0.00,0.000,516,0.000,0.057,3117,899,1325,1231,1420,0,0,0,0,0,0,28.83,26.25,28.83
$GC,49381,0.17,257.6,3117,899,1231,1420,4028.3,9.6,1048,49388,0.00,2.10,0.00,0.000,1030,0.000,0.052,3117,2301,1325,1231,1420,0,0,0,0,0,0,28.83,26.28,28.83
$GC,49688,0.17,257.6,3117,2301,1231,1420,3993.3,9.7,1054,49689,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2301,1325,1231,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49988,0.17,257.6,3117,2301,1231,1420,3964.7,9.6,1059,49993,0.00,2.12,0.00,0.000,516,0.000,0.057,3127,904,1325,1231,1420,0,0,0,0,0,0,28.83,26.24,28.83
$GC,50061,0.17,257.6,3127,904,1231,1420,3959.1,9.4,1060,50065,0.00,2.08,0.00,0.000,1030,0.000,0.055,3127,2300,1325,1231,1420,0,0,0,0,0,0,28.83,26.27,28.83
$GC,50408,0.17,257.6,3127,2300,1231,1420,3923.2,10.1,1066,50409,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2300,1325,1231,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50708,0.17,257.6,3127,2300,1231,1420,3894.8,9.5,1071,50713,0.00,2.10,0.00,0.000,516,0.000,0.060,3136,904,1325,1231,1419,0,0,0,0,0,0,28.83,26.22,28.83
$GC,50768,0.17,257.6,3136,904,1231,1420,3889.6,9.2,1072,50774,0.00,2.10,0.00,0.000,1030,0.000,0.055,3136,2306,1325,1231,1420,0,0,0,0,0,0,28.83,26.26,28.83
$GC,51128,0.17,257.6,3136,2306,1232,1420,3855.4,9.4,1078,51129,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2306,1325,1231,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51428,0.17,257.6,3136,2306,1231,1420,3828.2,9.1,1083,51433,0.00,2.15,0.00,0.000,516,0.000,0.057,3147,902,1325,1231,1420,0,0,0,0,0,0,28.83,26.20,28.83
$GC,51481,0.17,257.6,3146,902,1231,1420,3828.2,9.1,1083,51489,0.15,2.10,0.00,0.000,5126,0.161,0.052,3104,2301,1325,1231,1420,0,0,0,0,0,0,25.97,26.25,28.83
$GC,51789,0.23,267.7,3104,2301,1231,1420,3799.6,7.6,1089,51802,0.00,0.00,11.18,3.017,8198,0.000,0.000,3104,2301,1293,1193,1393,0,0,0,0,0,0,28.83,28.83,22.83
$GC,52089,0.29,267.7,3104,2301,1192,1390,3775.8,8.0,1094,52095,0.08,2.12,0.00,0.000,2564,0.142,0.057,3159,905,1291,1192,1390,0,0,0,0,0,0,26.35,26.14,28.83
$GC,52161,0.29,267.7,3159,905,1191,1391,3770.0,8.3,1095,52165,0.00,2.10,0.00,0.000,1030,0.000,0.055,3159,2301,1290,1191,1390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,52503,0.29,267.7,3159,2301,1191,1391,3733.0,10.4,1101,52504,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2301,1290,1191,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52803,0.29,267.7,3159,2300,1191,1391,3702.5,10.0,1106,52808,0.00,2.15,0.00,0.000,516,0.000,0.060,3170,897,1291,1191,1391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,52876,0.29,267.7,3169,898,1191,1391,3696.4,10.1,1107,52880,0.00,2.10,0.00,0.000,1030,0.000,0.052,3169,2300,1291,1191,1391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,53218,0.29,267.7,3169,2300,1191,1390,3661.0,9.9,1113,53222,0.00,2.12,0.00,0.000,516,0.000,0.060,3180,904,1291,1191,1391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,53257,0.29,267.7,3180,904,1191,1391,3661.0,9.9,1113,53262,0.15,2.10,0.00,0.000,5126,0.166,0.052,3139,2303,1291,1191,1391,0,0,0,0,0,0,25.94,26.24,28.83
$GC,53575,0.29,267.7,3138,2303,1191,1391,3628.8,8.6,1119,53576,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2303,1291,1192,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53875,0.29,268.1,3138,2303,1191,1390,3604.8,8.0,1124,53879,0.00,2.15,0.00,0.000,516,0.000,0.057,3149,897,1291,1191,1391,0,0,0,0,0,0,28.83,26.19,28.83
$GC,53937,0.29,268.1,3148,897,1191,1391,3599.8,8.1,1125,53942,0.00,2.10,0.00,0.000,1030,0.000,0.052,3149,2300,1291,1191,1391,0,0,0,0,0,0,28.83,26.24,28.83
$GC,54296,0.29,268.1,3148,2300,1191,1390,3568.9,8.5,1131,54297,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2300,1290,1191,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54596,0.29,268.1,3148,2300,1191,1391,3543.8,8.3,1136,54602,0.00,2.15,0.00,0.000,516,0.000,0.060,3159,898,1291,1191,1391,0,0,0,0,0,0,28.83,26.18,28.83
$GC,54686,0.29,268.1,3159,897,1191,1391,3539.1,8.2,1137,54692,0.00,2.12,0.00,0.000,1030,0.000,0.055,3159,2309,1290,1191,1390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,55016,0.29,268.1,3158,2309,1191,1390,3507.3,8.8,1143,55022,0.00,2.15,0.00,0.000,516,0.000,0.057,3169,904,1290,1191,1390,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,87468,end climb,SURFACE_DEPTH_REACHED
$STATE,87468,begin surface coast
$FINISH,0.1,1.025614
$STATE,87489,end surface coast,CONTROL_FINISHED_OK
$STATE,87489,begin surface
$SM_CCo,87568,0.00,0.000,0,0,662,454.02
$SM_GC,1.31,8.20,0.70,0.00,0.050,0.057,0.000,192,1790,662,-8.79,1.89,454.02,0,0,0,0,0,0,26.32,26.33,28.83
$IRIDIUM_FIX,3130.35,-6349.87,020514,121222
$TT8_MAMPS,0.020223,0.020223
$HUMID,37.47
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,22.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4481.1,195.3
$24V_AH,19.1,68.638
$10V_AH,10.1,17.693
$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,30.500,763.000,643.750,0.000,0.000,29.431,22.684,380.308,25.250,0.000,34.526,6302.015,72748.656,1025.048,7142.211,924.185,0.388,4994.267,0.000,6443.684,0.000,185.701,0.000
$DEVICE_MAMPS,258.232,74.490,4012.528,0.000,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1324.036,2501.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330508
$DATA_FILE_SIZE,117025,1893
$CAP_FILE_SIZE,664581,0
$CFSIZE,260165632,227508224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040514,122623,3143.347,-6411.151,25,1.3,42,-15.5