version: 66.12
glider: 36
mission: 20
dive: 46
start: 8 12 115 23 23 19
data:
$ID,36
$MISSION,20
$DIVE,46
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,290
$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,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,12
$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,250
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,81
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,120815,230915,3151.6313,-6513.6763,34,0.8,74,-15.2,0.2,202.0,10,4.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-67.2
$GPS2,120815,232251,3151.6499,-6513.6045,13,1.1,53,-15.2,0.4,67.3,9,4.7
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,BDA_SW
$TGT_LATLONG,3151.000,-6524.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.163037,-0.006940
$KALMAN_X,38495.863281,0.000000,0.000000,-105241.585938,12651.425781
$KALMAN_Y,-6814.374023,0.000000,0.000000,16522.662109,167.969727
$MHEAD_RNG_PITCHd_Wd,282.8,16398,-16.7,-6.000,-20.19,2192
$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
$STATE,14,begin dive
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$GC,85,-0.86,-146.6,132,1647,2114,2547,3.3,-2.7,6,124,10.70,2.00,-19.83,0.107,18948,0.251,0.057,2868,293,2706,2489,2924,0,0,0,0,0,0,25.60,25.98,25.77
$GC,419,-0.63,-146.6,2867,294,2489,2923,49.7,-8.0,36,430,0.28,1.98,0.00,0.000,3078,0.181,0.045,2944,1733,2706,2489,2924,0,0,0,0,0,0,25.87,26.41,26.00
$GC,729,-0.52,-146.6,2944,1733,2489,2923,66.1,-5.2,67,731,0.12,0.00,0.00,0.000,2054,0.186,0.000,2983,1734,2706,2489,2923,0,0,0,0,0,0,26.21,26.38,26.32
$GC,1032,-0.46,-146.6,2983,1735,2489,2923,81.6,-5.8,97,1042,0.00,2.12,0.00,0.000,516,0.000,0.057,2984,285,2706,2489,2924,0,0,0,0,0,0,26.82,26.46,26.83
$GC,1316,-0.37,-146.6,2983,285,2489,2924,103.3,-7.9,122,1326,0.17,1.98,0.00,0.000,3078,0.164,0.045,3033,1717,2706,2489,2923,0,0,0,0,0,0,26.16,26.62,26.26
$GC,1626,-0.37,-146.6,3033,1716,2489,2924,120.8,-5.5,153,1636,0.00,1.90,0.00,0.000,260,0.000,0.052,3025,3056,2706,2489,2924,0,0,0,0,0,0,26.86,26.55,26.88
$GC,1762,-0.37,-146.6,3025,3056,2489,2923,128.8,-6.0,165,1772,0.00,1.95,0.00,0.000,1030,0.000,0.047,3025,1656,2706,2489,2924,0,0,0,0,0,0,26.65,26.62,26.66
$GC,2072,-0.37,-146.6,3025,1656,2489,2923,149.4,-7.0,196,2082,0.00,2.03,0.00,0.000,260,0.000,0.052,3016,3056,2706,2489,2924,0,0,0,0,0,0,26.88,26.57,26.89
$GC,2172,-0.37,-146.6,3015,3056,2489,2924,155.7,-7.4,201,2181,0.00,1.95,0.00,0.000,1030,0.000,0.045,3016,1691,2706,2489,2923,0,0,0,0,0,0,26.65,26.63,26.65
$GC,2481,-0.37,-146.6,3016,1691,2489,2923,179.0,-7.3,217,2486,0.00,1.98,0.00,0.000,516,0.000,0.057,3016,305,2706,2489,2923,0,0,0,0,0,0,26.89,26.54,26.90
$GC,2555,-0.37,-146.6,3016,305,2489,2923,183.9,-8.0,220,2564,0.00,1.92,0.00,0.000,1030,0.000,0.042,3007,1700,2706,2489,2923,0,0,0,0,0,0,26.67,26.66,26.68
$GC,2864,-0.37,-146.6,3007,1699,2489,2924,209.7,-8.3,236,2870,0.00,1.92,0.00,0.000,260,0.000,0.052,2997,3056,2706,2489,2924,0,0,0,0,0,0,26.89,26.57,26.91
$GC,2955,-0.37,-146.6,2997,3056,2489,2923,216.9,-8.6,240,2960,0.10,1.95,0.00,0.000,3078,0.151,0.047,3031,1683,2706,2489,2923,0,0,0,0,0,0,26.32,26.64,26.39
$GC,3269,-0.37,-146.6,3031,1682,2489,2923,241.9,-7.9,256,3275,0.00,1.95,0.00,0.000,516,0.000,0.057,3031,325,2706,2489,2923,0,0,0,0,0,0,26.89,26.54,26.91
$GC,3365,-0.37,-146.6,3031,325,2489,2923,249.4,-9.0,260,3374,0.00,1.90,0.00,0.000,1030,0.000,0.045,3024,1703,2706,2489,2923,0,0,0,0,0,0,26.67,26.66,26.68
$GC,3674,-0.37,-146.6,3024,1703,2489,2923,276.7,-8.3,276,3679,0.00,1.95,0.00,0.000,260,0.000,0.052,3014,3060,2706,2489,2923,0,0,0,0,0,0,26.89,26.57,26.91
$GC,3736,-0.37,-146.6,3014,3060,2489,2923,282.0,-8.7,279,3742,0.00,1.90,0.00,0.000,1030,0.000,0.045,3014,1706,2706,2489,2924,0,0,0,0,0,0,26.68,26.64,26.70
$GC,4047,-0.37,-146.6,3014,1706,2489,2923,308.8,-8.5,293,4052,0.00,1.98,0.00,0.000,516,0.000,0.057,3014,323,2706,2489,2923,0,0,0,0,0,0,26.89,26.54,26.91
$GC,4115,-0.37,-146.6,3014,322,2489,2923,314.7,-9.2,295,4119,0.00,1.90,0.00,0.000,1030,0.000,0.042,3006,1696,2706,2489,2923,0,0,0,0,0,0,26.68,26.67,26.70
$GC,4440,-0.37,-146.6,3006,1696,2489,2923,345.4,-8.9,306,4446,0.00,1.95,0.00,0.000,260,0.000,0.052,2996,3066,2706,2489,2923,0,0,0,0,0,0,26.89,26.57,26.91
$GC,4500,-0.37,-146.6,2996,3067,2489,2923,350.8,-8.9,308,4507,0.10,1.90,0.00,0.000,3078,0.166,0.045,3035,1695,2706,2489,2923,0,0,0,0,0,0,26.33,26.63,26.39
$GC,4832,-0.44,-146.6,3035,1695,2489,2923,374.6,-7.1,319,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1695,2706,2489,2923,0,0,0,0,0,0,26.89,26.91,26.91
$GC,5131,-0.52,-146.6,3035,1695,2489,2923,396.6,-7.3,329,5133,0.10,0.00,0.00,0.000,4102,0.107,0.000,2941,1694,2706,2489,2923,0,0,0,0,0,0,26.68,26.71,26.70
$GC,5431,-0.52,-146.6,2941,1694,2489,2923,428.3,-11.1,339,5433,0.15,0.00,0.00,0.000,2054,0.164,0.000,2989,1694,2706,2489,2923,0,0,0,0,0,0,26.33,26.51,26.45
$GC,5731,-0.52,-146.6,2988,1694,2489,2923,456.6,-9.4,349,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1694,2706,2489,2923,0,0,0,0,0,0,26.89,26.91,26.91
$GC,6032,-0.52,-146.6,2988,1694,2489,2923,484.8,-9.6,359,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1694,2706,2489,2923,0,0,0,0,0,0,26.89,26.91,26.91
$GC,6331,-0.52,-146.6,2988,1694,2489,2922,512.7,-9.3,369,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1694,2706,2489,2923,0,0,0,0,0,0,26.89,26.91,26.91
$GC,6631,-0.52,-146.6,2988,1694,2489,2922,539.7,-9.0,379,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1694,2705,2489,2922,0,0,0,0,0,0,26.89,26.91,26.90
$GC,6931,-0.52,-146.6,2989,1694,2489,2922,568.5,-9.8,389,6936,0.00,1.98,0.00,0.000,516,0.000,0.057,2989,313,2705,2488,2922,0,0,0,0,0,0,26.89,26.53,26.91
$GC,6992,-0.52,-146.6,2989,313,2489,2922,574.8,-10.2,391,6997,0.00,1.88,0.00,0.000,1030,0.000,0.045,2982,1699,2705,2489,2922,0,0,0,0,0,0,26.70,26.66,26.70
$GC,7323,-0.52,-146.6,2982,1699,2489,2922,606.9,-9.7,402,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1699,2705,2489,2922,0,0,0,0,0,0,26.89,26.91,26.90
$GC,7622,-0.52,-146.6,2982,1699,2489,2921,634.9,-9.4,412,7627,0.00,1.95,0.00,0.000,260,0.000,0.052,2972,3065,2705,2489,2921,0,0,0,0,0,0,26.89,26.55,26.90
$GC,7683,-0.52,-146.6,2972,3065,2489,2921,640.8,-9.6,414,7688,0.00,1.90,0.00,0.000,1030,0.000,0.047,2973,1703,2705,2489,2921,0,0,0,0,0,0,26.67,26.63,26.68
$GC,8013,-0.52,-146.6,2972,1703,2489,2921,673.6,-10.0,425,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1703,2705,2489,2921,0,0,0,0,0,0,26.88,26.91,26.90
$GC,8313,-0.52,-146.6,2972,1703,2489,2920,704.4,-10.1,435,8318,0.00,1.98,0.00,0.000,516,0.000,0.057,2972,324,2704,2489,2920,0,0,0,0,0,0,26.88,26.52,26.90
$GC,8392,-0.52,-146.6,2972,324,2489,2921,711.2,-10.9,437,8396,0.00,1.92,0.00,0.000,1030,0.000,0.042,2964,1708,2705,2489,2921,0,0,0,0,0,0,26.65,26.64,26.66
$GC,8705,-0.52,-146.6,2964,1707,2489,2918,746.1,-10.7,448,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1708,2704,2489,2919,0,0,0,0,0,0,26.88,26.90,26.89
$GC,9007,-0.52,-146.6,2964,1708,2489,2917,778.2,-10.5,458,9012,0.00,1.95,0.00,0.000,260,0.000,0.052,2954,3068,2703,2489,2917,0,0,0,0,0,0,26.87,26.54,26.89
$GC,9069,-0.52,-146.6,2954,3068,2489,2916,784.7,-10.4,460,9074,0.00,1.98,0.00,0.000,1030,0.000,0.045,2955,1701,2702,2489,2916,0,0,0,0,0,0,26.63,26.61,26.64
$GC,9400,-0.52,-146.6,2954,1701,2489,2915,824.2,-12.5,471,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1701,2702,2489,2916,0,0,0,0,0,0,26.87,26.89,26.89
$GC,9698,-0.52,-146.6,2954,1701,2488,2913,861.7,-12.6,481,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1701,2700,2488,2913,0,0,0,0,0,0,26.86,26.89,26.89
$GC,9998,-0.52,-146.6,2954,1701,2489,2911,897.6,-11.9,491,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1701,2699,2488,2911,0,0,0,0,0,0,26.86,26.89,26.89
$GC,10298,-0.52,-146.6,2954,1701,2488,2908,932.5,-11.2,501,10304,0.00,2.00,0.00,0.000,516,0.000,0.057,2954,326,2698,2489,2908,0,0,0,0,0,0,26.86,26.49,26.88
$GC,10391,-0.52,-146.6,2954,327,2488,2908,943.2,-11.4,504,10397,0.10,1.90,0.00,0.000,3078,0.176,0.045,2984,1704,2698,2488,2908,0,0,0,0,0,0,26.27,26.61,26.33
$GC,10721,-0.59,-146.6,2984,1705,2488,2906,974.5,-9.4,515,10727,0.00,1.95,0.00,0.000,260,0.000,0.052,2976,3060,2697,2488,2906,0,0,0,0,0,0,26.86,26.51,26.88
$GC,10800,-0.66,-146.6,2976,3060,2488,2905,980.3,-9.5,517,10804,0.08,1.95,0.00,0.000,5126,0.119,0.045,2914,1693,2697,2489,2905,0,0,0,0,0,0,26.49,26.58,26.55
$GC,11143,-0.66,-146.6,2912,1693,2489,2901,1027.2,-13.5,526,11149,0.00,2.00,0.00,0.000,516,0.000,0.060,2912,316,2695,2489,2902,0,0,0,0,0,0,26.86,26.46,26.87
$GC,11205,-0.66,-146.6,2912,316,2489,2902,1035.6,-13.6,527,11210,0.10,1.95,0.00,0.000,3078,0.159,0.042,2937,1705,2695,2488,2902,0,0,0,0,0,0,26.24,26.60,26.31
$GC,11564,-0.66,-146.6,2936,1705,2485,2900,1080.6,-12.3,533,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1705,2693,2486,2900,0,0,0,0,0,0,26.85,26.88,26.87
$GC,11864,-0.66,-146.6,2937,1705,2484,2900,1118.9,-12.9,538,11870,0.00,2.00,0.00,0.000,260,0.000,0.052,2929,3072,2692,2484,2900,0,0,0,0,0,0,26.85,26.49,26.87
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$GC,27638,-1.25,-146.6,2776,314,2462,2876,3058.0,-9.1,800,27642,0.00,1.98,0.00,0.000,1030,0.000,0.042,2772,1706,2669,2462,2876,0,0,0,0,0,0,26.46,26.42,26.48
$GC,27995,-1.30,-146.6,2772,1707,2462,2876,3090.4,-8.9,806,28001,0.05,1.98,0.00,0.000,4356,0.159,0.050,2714,3064,2669,2462,2876,0,0,0,0,0,0,26.58,26.26,26.60
$GC,28056,-1.30,-146.6,2713,3064,2462,2875,3096.6,-9.1,807,28061,0.00,2.05,0.00,0.000,1030,0.000,0.045,2714,1692,2668,2462,2875,0,0,0,0,0,0,26.38,26.35,26.39
$GC,28419,-1.30,-146.6,2713,1691,2462,2875,3135.7,-10.9,813,28420,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1691,2668,2462,2875,0,0,0,0,0,0,26.76,26.79,26.78
$GC,28716,-1.30,-146.6,2713,1691,2462,2875,3166.5,-10.2,818,28717,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1691,2668,2462,2875,0,0,0,0,0,0,26.79,26.82,26.81
$GC,29016,-1.30,-146.6,2713,1691,2462,2875,3197.0,-10.3,823,29017,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1691,2669,2462,2876,0,0,0,0,0,0,26.79,26.82,26.81
$GC,29316,-1.30,-146.6,2713,1691,2462,2875,3228.7,-10.5,828,29321,0.00,2.05,0.00,0.000,516,0.000,0.057,2714,306,2668,2462,2875,0,0,0,0,0,0,26.79,26.16,26.81
$GC,29367,-1.30,-146.6,2713,306,2462,2876,3228.7,-10.5,828,29380,0.00,2.03,0.00,0.000,1030,0.000,0.042,2705,1697,2668,2462,2875,0,0,0,0,0,0,26.43,26.41,26.44
$GC,29676,-1.30,-146.6,2704,1697,2462,2875,3268.2,-10.8,834,29681,0.00,2.03,0.00,0.000,260,0.000,0.052,2694,3077,2668,2462,2875,0,0,0,0,0,0,26.79,26.25,26.80
$GC,29740,-1.30,-146.6,2694,3077,2462,2875,3274.5,-10.8,835,29746,0.12,2.05,0.00,0.000,3078,0.144,0.045,2736,1695,2668,2462,2875,0,0,0,0,0,0,25.89,26.34,25.95
$GC,30100,-1.30,-146.6,2736,1695,2462,2874,3309.4,-9.4,841,30101,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1695,2668,2462,2875,0,0,0,0,0,0,26.79,26.82,26.80
$GC,30400,-1.30,-146.6,2736,1695,2461,2875,3336.7,-9.2,846,30401,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1695,2668,2462,2875,0,0,0,0,0,0,26.79,26.81,26.80
$GC,30701,-1.30,-146.6,2736,1695,2462,2875,3363.9,-9.1,851,30705,0.00,2.08,0.00,0.000,516,0.000,0.060,2736,320,2668,2462,2875,0,0,0,0,0,0,26.74,26.14,26.75
$GC,30776,-1.30,-146.6,2736,314,2462,2875,3370.1,-9.2,852,30781,0.00,2.03,0.00,0.000,1030,0.000,0.042,2729,1720,2668,2462,2875,0,0,0,0,0,0,26.43,26.41,26.44
$GC,31126,-1.30,-146.6,2729,1721,2462,2875,3403.4,-9.1,858,31128,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1721,2668,2462,2875,0,0,0,0,0,0,26.73,26.76,26.75
$GC,31427,-1.30,-146.6,2729,1721,2461,2875,3430.7,-9.2,863,31430,0.00,2.00,0.00,0.000,260,0.000,0.052,2719,3063,2668,2462,2874,0,0,0,0,0,0,26.73,26.22,26.75
$GC,31501,-1.30,-146.6,2719,3064,2462,2874,3436.4,-9.0,864,31505,0.00,2.03,0.00,0.000,1030,0.000,0.045,2719,1709,2668,2462,2874,0,0,0,0,0,0,26.35,26.33,26.37
$GC,31850,-1.30,-146.6,2719,1709,2462,2874,3469.8,-9.3,870,31856,0.00,2.08,0.00,0.000,516,0.000,0.057,2719,312,2667,2461,2874,0,0,0,0,0,0,26.79,26.13,26.80
$GC,31950,-1.30,-146.6,2719,312,2462,2874,3475.7,-9.5,871,31954,0.00,2.00,0.00,0.000,1030,0.000,0.042,2711,1702,2668,2462,2874,0,0,0,0,0,0,26.42,26.41,26.44
$GC,32275,-1.30,-146.6,2710,1702,2462,2874,3510.5,-9.5,877,32276,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1702,2668,2462,2874,0,0,0,0,0,0,26.73,26.75,26.75
$GC,32574,-1.30,-146.6,2711,1702,2462,2874,3538.3,-9.2,882,32575,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1702,2668,2462,2874,0,0,0,0,0,0,26.78,26.81,26.79
$GC,32874,-1.30,-146.6,2711,1702,2461,2874,3566.1,-9.2,887,32875,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1702,2667,2461,2874,0,0,0,0,0,0,26.78,26.81,26.80
$GC,33175,-1.30,-146.6,2711,1702,2461,2874,3593.2,-9.2,892,33176,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1702,2668,2462,2874,0,0,0,0,0,0,26.73,26.75,26.74
$GC,33475,-1.30,-146.6,2711,1702,2462,2874,3620.1,-8.8,897,33476,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1702,2668,2462,2875,0,0,0,0,0,0,26.73,26.75,26.74
$GC,33774,-1.30,-146.6,2711,1703,2462,2874,3646.7,-8.9,902,33779,0.00,2.00,0.00,0.000,260,0.000,0.052,2701,3062,2668,2462,2874,0,0,0,0,0,0,26.78,26.20,26.80
$GC,33844,-1.30,-146.6,2700,3062,2462,2874,3652.3,-8.9,903,33849,0.10,2.05,0.00,0.000,3078,0.142,0.045,2735,1685,2668,2462,2874,0,0,0,0,0,0,25.94,26.31,25.98
$GC,34200,-1.38,-146.6,2735,1685,2462,2873,3680.7,-7.8,909,34205,0.00,2.03,0.00,0.000,516,0.000,0.057,2735,321,2668,2462,2874,0,0,0,0,0,0,26.74,26.11,26.76
$GC,34271,-1.45,-146.6,2735,321,2462,2874,3685.9,-7.9,910,34276,0.08,1.95,0.00,0.000,5126,0.122,0.045,2662,1697,2668,2462,2874,0,0,0,0,0,0,26.24,26.36,26.29
$GC,34622,-1.45,-146.6,2654,1698,2462,2874,3724.1,-10.9,916,34627,0.00,2.03,0.00,0.000,260,0.000,0.052,2645,3075,2668,2462,2874,0,0,0,0,0,0,26.73,26.18,26.75
$GC,34709,-1.45,-146.6,2644,3076,2461,2874,3731.0,-11.0,917,34714,0.12,2.05,0.00,0.000,3078,0.149,0.047,2686,1700,2668,2462,2874,0,0,0,0,0,0,25.83,26.29,25.88
$GC,35043,-1.45,-146.6,2685,1700,2462,2874,3767.4,-9.9,923,35047,0.00,2.08,0.00,0.000,516,0.000,0.057,2686,325,2668,2462,2874,0,0,0,0,0,0,26.78,26.09,26.79
$GC,35108,-1.45,-146.6,2685,320,2462,2874,3773.8,-10.2,924,35113,0.00,2.00,0.00,0.000,1030,0.000,0.042,2679,1695,2668,2462,2874,0,0,0,0,0,0,26.39,26.38,26.41
$GC,35470,-1.45,-146.6,2679,1696,2462,2874,3809.7,-9.9,930,35471,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1696,2668,2462,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,35768,-1.45,-146.6,2679,1696,2462,2874,3837.3,-9.0,935,35769,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1696,2668,2462,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,36069,-1.45,-146.6,2679,1696,2462,2874,3863.0,-8.5,940,36070,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1696,2668,2462,2874,0,0,0,0,0,0,26.72,26.74,26.74
$GC,36368,-1.45,-146.6,2679,1696,2462,2874,3889.5,-8.9,945,36369,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1696,2668,2462,2874,0,0,0,0,0,0,26.78,26.80,26.79
$GC,36668,-1.45,-146.6,2679,1696,2462,2874,3915.6,-8.6,950,36669,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1696,2668,2462,2874,0,0,0,0,0,0,26.77,26.79,26.79
$GC,36969,-1.45,-146.6,2679,1696,2461,2874,3940.0,-8.2,955,36973,0.00,2.10,0.00,0.000,516,0.000,0.057,2679,331,2668,2462,2874,0,0,0,0,0,0,26.72,26.08,26.74
$GC,37039,-1.45,-146.6,2679,320,2462,2874,3945.2,-8.2,956,37043,0.00,2.03,0.00,0.000,1030,0.000,0.042,2671,1701,2667,2461,2874,0,0,0,0,0,0,26.38,26.36,26.39
$GC,37394,-1.45,-146.6,2671,1701,2462,2874,3973.6,-7.8,962,37395,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1701,2668,2462,2874,0,0,0,0,0,0,26.72,26.74,26.74
$GC,37693,-1.45,-146.6,2671,1701,2462,2874,3996.5,-7.7,967,37694,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1701,2667,2461,2874,0,0,0,0,0,0,26.78,26.80,26.79
$GC,37995,-1.45,-146.6,2671,1700,2461,2874,4020.1,-7.8,972,38000,0.00,2.10,0.00,0.000,516,0.000,0.057,2671,310,2668,2462,2874,0,0,0,0,0,0,26.74,26.08,26.76
$GC,38076,-1.45,-146.6,2671,310,2462,2874,4025.2,-7.9,973,38081,0.00,2.03,0.00,0.000,1030,0.000,0.045,2663,1703,2668,2462,2874,0,0,0,0,0,0,26.36,26.35,26.39
$GC,38416,-1.45,-146.6,2663,1702,2461,2874,4053.1,-7.7,979,38417,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1702,2667,2461,2874,0,0,0,0,0,0,26.72,26.74,26.74
$GC,38715,-1.45,-146.6,2663,1702,2462,2874,4076.6,-7.8,984,38717,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1702,2668,2462,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,39016,-1.45,-146.6,2663,1702,2461,2874,4100.2,-7.9,989,39018,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1702,2668,2462,2874,0,0,0,0,0,0,26.72,26.74,26.74
$GC,39316,-1.45,-146.6,2663,1702,2462,2874,4124.2,-8.0,994,39318,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1702,2667,2461,2874,0,0,0,0,0,0,26.72,26.74,26.74
$GC,39615,-1.45,-146.6,2663,1702,2461,2874,4148.0,-7.8,999,39616,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1702,2667,2461,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,39916,-1.45,-146.6,2663,1702,2462,2874,4171.3,-7.7,1004,39917,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1702,2668,2462,2874,0,0,0,0,0,0,26.72,26.74,26.73
$GC,40217,-1.45,-146.6,2663,1702,2462,2874,4194.2,-7.6,1009,40218,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1702,2668,2462,2874,0,0,0,0,0,0,26.72,26.74,26.74
$GC,40515,-1.45,-146.6,2663,1703,2461,2874,4216.6,-7.5,1014,40516,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1703,2668,2462,2874,0,0,0,0,0,0,26.77,26.79,26.79
$GC,40815,-1.45,-146.6,2663,1703,2461,2874,4238.8,-7.4,1019,40816,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1703,2668,2462,2874,0,0,0,0,0,0,26.77,26.79,26.79
$GC,41115,-1.45,-146.6,2663,1703,2461,2874,4262.2,-7.9,1024,41116,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2668,2462,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,41416,-1.50,-146.6,2663,1703,2461,2874,4286.5,-8.1,1029,41417,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1703,2667,2461,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,41716,-1.56,-146.6,2663,1703,2462,2874,4310.9,-8.2,1034,41717,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2668,2462,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,42016,-1.61,-146.6,2663,1703,2461,2874,4336.4,-8.4,1039,42017,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1703,2668,2462,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,42316,-1.67,-146.6,2663,1703,2462,2874,4361.3,-8.2,1044,42318,0.08,0.00,0.00,0.000,4102,0.122,0.000,2603,1703,2668,2462,2874,0,0,0,0,0,0,26.56,26.58,26.57
$GC,42615,-1.67,-146.6,2602,1704,2462,2874,4388.9,-9.3,1049,42617,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1704,2668,2462,2874,0,0,0,0,0,0,26.77,26.80,26.79
$GC,42915,-1.67,-146.6,2602,1703,2461,2874,4415.5,-8.8,1054,42916,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1704,2668,2462,2874,0,0,0,0,0,0,26.77,26.79,26.79
$STATE,43154,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,43154,begin apogee
$GC,43158,-0.24,0.0,2602,1490,2461,2875,4436.2,-8.6,1058,43283,1.42,0.00,120.72,3.978,10246,0.127,0.000,3073,1490,2200,2000,2400,0,0,0,0,0,0,25.32,22.09,19.71
$STATE,43284,end apogee,CONTROL_FINISHED_OK
$STATE,43284,begin climb
$GC,43285,0.86,146.6,3073,1490,1999,2399,4436.5,0.0,1060,43503,1.05,0.00,203.77,3.896,10246,0.067,0.000,3459,1490,1695,1673,1717,0,0,0,0,2,0,22.88,22.02,19.78
$GC,43756,0.43,146.6,3459,1490,1670,1714,4331.2,27.0,1068,43758,0.65,0.00,0.00,0.000,4102,0.219,0.000,3290,1489,1691,1670,1713,0,0,0,0,0,0,24.68,25.01,24.93
$GC,44056,0.19,146.6,3290,1490,1669,1713,4276.1,17.8,1073,44058,0.28,0.00,0.00,0.000,4102,0.194,0.000,3211,1490,1691,1669,1714,0,0,0,0,0,0,25.32,25.63,25.55
$GC,44356,0.05,146.6,3211,1490,1668,1712,4233.0,14.2,1078,44358,0.15,0.00,0.00,0.000,4102,0.184,0.000,3166,1489,1690,1668,1712,0,0,0,0,0,0,25.68,25.91,25.84
$GC,44656,-0.04,146.6,3165,1490,1663,1708,4196.3,12.2,1083,44660,0.00,1.92,0.00,0.000,516,0.000,0.060,3173,214,1685,1663,1708,0,0,0,0,0,0,26.37,26.04,26.39
$GC,44710,-0.12,146.6,3173,214,1661,1708,4196.3,12.2,1083,44719,0.12,1.88,0.00,0.000,5126,0.164,0.045,3134,1525,1685,1662,1708,0,0,0,0,0,0,25.82,26.17,25.90
$GC,45018,-0.12,146.6,3134,1525,1662,1708,4154.1,11.3,1089,45019,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1526,1685,1662,1708,0,0,0,0,0,0,26.47,26.50,26.49
$GC,45318,-0.12,146.6,3134,1525,1662,1708,4119.5,11.6,1094,45319,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1525,1684,1661,1708,0,0,0,0,0,0,26.53,26.55,26.55
$GC,45618,-0.12,146.6,3134,1525,1661,1708,4083.5,12.0,1099,45624,0.00,1.98,0.00,0.000,516,0.000,0.060,3142,211,1684,1661,1708,0,0,0,0,0,0,26.57,26.21,26.59
$GC,45678,-0.12,146.6,3142,211,1662,1708,4076.0,12.1,1100,45682,0.00,1.83,0.00,0.000,1030,0.000,0.047,3142,1511,1685,1662,1708,0,0,0,0,0,0,26.39,26.34,26.40
$GC,46041,-0.12,146.6,3142,1515,1662,1708,4031.5,12.4,1106,46042,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1515,1684,1662,1707,0,0,0,0,0,0,26.61,26.63,26.63
$GC,46341,-0.12,146.6,3142,1515,1662,1708,3995.8,11.9,1111,46342,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1515,1684,1661,1708,0,0,0,0,0,0,26.63,26.66,26.65
$GC,46641,-0.12,146.6,3142,1515,1662,1708,3962.2,11.0,1116,46646,0.00,1.95,0.00,0.000,516,0.000,0.060,3152,222,1684,1661,1708,0,0,0,0,0,0,26.65,26.28,26.67
$GC,46701,-0.12,146.6,3152,222,1661,1707,3955.5,11.0,1117,46707,0.08,1.80,0.00,0.000,5126,0.189,0.045,3129,1508,1684,1661,1708,0,0,0,0,0,0,26.15,26.42,26.27
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$GC,105983,0.81,189.9,3432,1505,1530,1535,336.4,8.8,2275,105984,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1505,1532,1530,1535,0,0,0,0,0,0,26.84,26.86,26.86
$GC,106283,0.81,189.9,3432,1504,1530,1535,310.5,8.5,2285,106284,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1505,1532,1530,1535,0,0,0,0,0,0,26.84,26.86,26.86
$GC,106594,0.81,189.9,3432,1505,1529,1535,284.5,8.1,2298,106595,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1505,1532,1530,1535,0,0,0,0,0,0,26.84,26.87,26.86
$GC,106894,0.81,189.9,3432,1505,1530,1535,260.4,7.8,2313,106895,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1505,1532,1530,1535,0,0,0,0,0,0,26.84,26.87,26.86
$GC,107194,0.81,189.9,3432,1505,1530,1535,236.9,7.9,2328,107195,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1505,1532,1530,1535,0,0,0,0,0,0,26.84,26.87,26.86
$GC,107494,0.81,189.9,3432,1505,1530,1535,213.5,7.7,2343,107495,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1505,1532,1530,1535,0,0,0,0,0,0,26.85,26.88,26.87
$GC,107794,0.81,189.9,3432,1505,1530,1535,191.5,7.3,2358,107795,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1505,1532,1530,1535,0,0,0,0,0,0,26.85,26.87,26.87
$GC,108095,0.87,189.9,3432,1505,1530,1534,167.3,8.3,2373,108096,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1505,1532,1530,1535,0,0,0,0,0,0,26.86,26.88,26.87
$GC,108393,0.92,189.9,3432,1505,1530,1535,142.6,7.6,2392,108394,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1505,1532,1530,1535,0,0,0,0,0,0,26.86,26.88,26.87
$GC,108693,0.98,189.9,3432,1505,1530,1535,120.4,6.3,2422,108703,0.00,1.90,0.00,0.000,2308,0.000,0.050,3432,2821,1532,1530,1535,0,0,0,0,0,0,26.87,26.50,26.88
$GC,108753,1.04,189.9,3432,2821,1530,1535,116.4,7.1,2427,108763,0.05,1.95,0.00,0.000,3078,0.092,0.047,3502,1489,1532,1530,1535,0,0,0,0,0,0,26.40,26.53,26.44
$GC,109062,1.04,189.9,3502,1490,1530,1535,85.6,10.0,2458,109063,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,1490,1532,1530,1535,0,0,0,0,0,0,26.86,26.88,26.88
$GC,109362,1.04,189.9,3502,1489,1530,1535,57.9,8.6,2488,109372,0.00,1.90,0.00,0.000,260,0.000,0.050,3502,2820,1532,1530,1535,0,0,0,0,0,0,26.86,26.51,26.88
$GC,109442,1.04,189.9,3502,2820,1530,1535,50.5,8.7,2495,109453,0.00,1.90,0.00,0.000,1030,0.000,0.047,3511,1496,1532,1529,1535,0,0,0,0,0,0,26.58,26.53,26.59
$GC,109752,1.04,189.9,3510,1495,1530,1535,27.1,7.2,2526,109762,0.00,1.88,0.00,0.000,260,0.000,0.050,3511,2812,1532,1530,1534,0,0,0,0,0,0,26.86,26.51,26.89
$GC,109799,1.04,189.9,3510,2812,1530,1535,24.3,6.3,2530,109810,0.10,1.90,0.00,0.000,5126,0.169,0.047,3479,1492,1532,1530,1535,0,0,0,0,0,0,26.22,26.55,26.29
$GC,110109,1.12,189.9,3478,1492,1530,1535,10.1,5.1,2561,110119,0.00,1.85,0.00,0.000,516,0.000,0.060,3486,207,1532,1530,1535,0,0,0,0,0,0,26.86,26.44,26.89
$STATE,110233,end climb,SURFACE_DEPTH_REACHED
$STATE,110233,begin surface coast
$FINISH,1.2,1.013328
$STATE,110269,end surface coast,CONTROL_FINISHED_OK
$STATE,110269,begin surface
$SM_CCo,110286,47.72,1.016,0,0,1338,250.11
$SM_GC,2.75,8.27,2.03,47.72,0.050,0.040,1.016,178,1691,1338,-9.19,-4.41,250.11,0,0,0,0,0,0,26.48,26.65,24.69
$IRIDIUM_FIX,3135.41,-6456.84,060608,224819
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.12
$INTERNAL_PRESSURE,9.04403
$TCM_TEMP,22.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4252.5,213.1
$24V_AH,19.71,26.348
$10V_AH,9.75,16.541
$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,27.950,438.450,375.400,47.725,84.100,24.152,21.070,532.151,32.000,0.000,53.850,7672.243,89824.617,886.723,12300.571,380.529,0.605,4634.689,0.000,11425.157,0.000,234.502,0.000
$DEVICE_MAMPS,250.783,86.905,3977.766,1015.547,106.769,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1765.298,8392.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329456
$DATA_FILE_SIZE,156888,2575
$CAP_FILE_SIZE,652427,0
$CFSIZE,1024409600,1010253824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140815,060416,3153.494,-6531.706,42,1.1,82,-15.1,0.8,207.3,8,4.3