version: 66.12
glider: 36
mission: 20
dive: 51
start: 8 18 115 4 14 50
data:
$ID,36
$MISSION,20
$DIVE,51
$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,64
$R_STBD_OVSHOOT,178
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2300
$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
$GPS1,180815,040045,3205.2515,-6517.2954,33,1.0,74,-15.2,0.3,94.3,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-68.3
$GPS2,180815,041422,3205.2622,-6517.1616,11,1.1,51,-15.2,0.4,46.4,8,4.4
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,9020N
$TGT_LATLONG,3639.480,-6744.400
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.148330,0.141033
$KALMAN_X,40409.093750,0.000000,0.000000,-113079.093750,7142.671875
$KALMAN_Y,9983.437500,0.000000,0.000000,25070.933594,17455.044922
$MHEAD_RNG_PITCHd_Wd,328.8,552960,-12.4,-6.000,-16.34,3687
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.65,-146.6,165,1643,1096,1114,0.0,0.0,0,91,0.00,0.00,-73.93,0.102,16386,0.000,0.000,164,1643,2250,2072,2428,0,0,0,0,1,0,26.44,28.83,25.93
$GC,94,-0.65,-146.6,163,1643,2072,2428,3.1,-2.6,7,143,10.82,2.05,-33.00,0.104,18948,0.251,0.055,2935,294,2806,2611,3001,0,0,0,0,0,0,25.55,26.02,25.72
$GC,472,-0.40,-146.6,2934,294,2611,3001,56.5,-11.6,41,483,0.28,1.85,0.00,0.000,3078,0.174,0.045,3017,1641,2806,2611,3001,0,0,0,0,0,0,25.86,26.44,25.98
$GC,782,-0.29,-146.6,3017,1641,2611,3001,76.6,-4.9,72,784,0.12,0.00,0.00,0.000,2054,0.174,0.000,3060,1641,2806,2611,3001,0,0,0,0,0,0,26.22,26.37,26.32
$GC,1084,-0.23,-146.6,3060,1641,2611,3001,91.6,-5.9,102,1095,0.00,1.98,0.00,0.000,516,0.000,0.057,3060,284,2806,2611,3001,0,0,0,0,0,0,26.79,26.44,26.82
$GC,1131,-0.16,-146.6,3060,284,2611,3001,95.2,-7.2,106,1142,0.12,1.85,0.00,0.000,3078,0.169,0.045,3099,1636,2806,2611,3001,0,0,0,0,0,0,26.21,26.61,26.27
$GC,1441,-0.16,-146.6,3098,1637,2611,3001,112.0,-6.4,137,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1636,2806,2611,3001,0,0,0,0,0,0,26.84,26.85,26.85
$GC,1742,-0.16,-146.6,3099,1636,2611,3001,131.1,-6.6,167,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1637,2806,2611,3001,0,0,0,0,0,0,26.85,26.87,26.86
$GC,2052,-0.16,-146.6,3099,1636,2611,3001,150.6,-6.6,198,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1636,2806,2611,3001,0,0,0,0,0,0,26.86,26.88,26.88
$GC,2352,-0.16,-146.6,3098,1636,2611,3000,170.8,-7.0,213,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1636,2806,2611,3001,0,0,0,0,0,0,26.87,26.89,26.89
$GC,2652,-0.16,-146.6,3099,1636,2611,3001,191.5,-6.6,228,2657,0.00,1.92,0.00,0.000,260,0.000,0.052,3091,2991,2806,2611,3001,0,0,0,0,0,0,26.87,26.55,26.89
$GC,2734,-0.16,-146.6,3090,2991,2611,3001,197.0,-6.5,232,2740,0.00,1.85,0.00,0.000,1030,0.000,0.047,3091,1673,2806,2611,3001,0,0,0,0,0,0,26.65,26.62,26.67
$GC,3055,-0.16,-146.6,3090,1673,2611,3001,218.0,-6.5,248,3060,0.00,1.98,0.00,0.000,516,0.000,0.057,3091,316,2805,2611,3000,0,0,0,0,0,0,26.87,26.51,26.89
$GC,3117,-0.16,-146.6,3091,316,2611,3001,222.7,-7.1,251,3120,0.00,1.80,0.00,0.000,1030,0.000,0.045,3084,1600,2806,2611,3001,0,0,0,0,0,0,26.70,26.67,26.71
$GC,3439,-0.16,-146.6,3084,1642,2610,3001,245.6,-6.9,267,3444,0.00,1.92,0.00,0.000,260,0.000,0.052,3075,2995,2806,2612,3001,0,0,0,0,0,0,26.87,26.55,26.89
$GC,3530,-0.16,-146.6,3075,2995,2611,3001,251.5,-7.1,271,3534,0.00,1.85,0.00,0.000,1030,0.000,0.045,3075,1696,2806,2611,3001,0,0,0,0,0,0,26.63,26.61,26.65
$GC,3844,-0.16,-146.6,3075,1697,2611,3001,274.1,-7.0,287,3849,0.00,1.98,0.00,0.000,516,0.000,0.057,3075,316,2806,2611,3001,0,0,0,0,0,0,26.87,26.51,26.89
$GC,3935,-0.16,-146.6,3075,316,2611,3001,280.6,-7.8,291,3939,0.00,1.83,0.00,0.000,1030,0.000,0.042,3071,1643,2805,2610,3001,0,0,0,0,0,0,26.67,26.66,26.69
$GC,4249,-0.16,-146.6,3071,1643,2611,3001,304.9,-7.7,306,4254,0.00,1.92,0.00,0.000,260,0.000,0.052,3062,2996,2805,2610,3001,0,0,0,0,0,0,26.87,26.55,26.89
$GC,4311,-0.16,-146.6,3061,2996,2610,3001,309.6,-7.8,308,4317,0.10,1.85,0.00,0.000,3078,0.137,0.045,3098,1693,2806,2611,3001,0,0,0,0,0,0,26.33,26.62,26.39
$GC,4642,-0.22,-146.6,3098,1694,2611,3001,331.3,-6.6,319,4647,0.00,1.98,0.00,0.000,516,0.000,0.057,3098,324,2806,2611,3001,0,0,0,0,0,0,26.88,26.51,26.89
$GC,4703,-0.27,-146.6,3098,324,2611,3001,335.9,-6.8,321,4709,0.05,1.77,0.00,0.000,5126,0.156,0.042,3025,1635,2806,2611,3001,0,0,0,0,0,0,26.55,26.68,26.59
$GC,5033,-0.27,-146.6,3025,1635,2611,3001,366.8,-9.7,332,5039,0.08,1.90,0.00,0.000,2308,0.179,0.050,3052,2989,2806,2611,3001,0,0,0,0,0,0,26.47,26.54,26.50
$GC,5095,-0.27,-146.6,3052,2989,2611,3001,371.8,-8.9,334,5100,0.00,1.83,0.00,0.000,1030,0.000,0.045,3052,1710,2806,2611,3001,0,0,0,0,0,0,26.63,26.62,26.65
$GC,5425,-0.27,-146.6,3052,1710,2611,3001,398.8,-7.9,345,5430,0.00,1.98,0.00,0.000,516,0.000,0.057,3052,328,2806,2611,3001,0,0,0,0,0,0,26.87,26.51,26.89
$GC,5571,-0.27,-146.6,3052,327,2611,3001,409.3,-8.6,349,5580,0.00,1.83,0.00,0.000,1030,0.000,0.045,3051,1658,2805,2610,3001,0,0,0,0,0,0,26.66,26.65,26.67
$GC,5880,-0.27,-146.6,3051,1658,2611,3001,435.1,-7.6,360,5885,0.00,1.98,0.00,0.000,260,0.000,0.052,3042,3050,2806,2611,3001,0,0,0,0,0,0,26.87,26.54,26.89
$GC,5941,-0.27,-146.6,3041,3050,2611,3001,439.4,-7.3,362,5946,0.00,1.90,0.00,0.000,1030,0.000,0.047,3041,1699,2805,2610,3001,0,0,0,0,0,0,26.65,26.62,26.67
$GC,6272,-0.27,-146.6,3041,1699,2611,3001,464.8,-7.6,373,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1699,2806,2611,3001,0,0,0,0,0,0,26.88,26.90,26.89
$GC,6571,-0.27,-146.6,3041,1699,2611,3000,488.1,-7.7,383,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1698,2805,2610,3000,0,0,0,0,0,0,26.88,26.90,26.89
$GC,6871,-0.27,-146.6,3038,1691,2611,2999,510.5,-7.6,393,6876,0.00,1.95,0.00,0.000,260,0.000,0.052,3029,3047,2805,2611,2999,0,0,0,0,0,0,26.87,26.54,26.89
$GC,7059,-0.27,-146.6,3029,3048,2610,2998,524.6,-7.4,399,7065,0.10,1.92,0.00,0.000,3078,0.134,0.045,3066,1699,2804,2610,2999,0,0,0,0,0,0,26.34,26.60,26.39
$GC,7390,-0.27,-146.6,3066,1699,2611,2998,548.7,-7.6,410,7395,0.00,2.00,0.00,0.000,516,0.000,0.057,3066,319,2804,2610,2998,0,0,0,0,0,0,26.87,26.50,26.89
$GC,7483,-0.27,-146.6,3066,319,2610,2998,556.7,-8.3,413,7488,0.00,1.90,0.00,0.000,1030,0.000,0.042,3061,1684,2804,2610,2999,0,0,0,0,0,0,26.66,26.65,26.67
$GC,7813,-0.27,-146.6,3061,1684,2610,2996,583.6,-8.0,424,7818,0.00,1.98,0.00,0.000,260,0.000,0.052,3052,3072,2803,2611,2996,0,0,0,0,0,0,26.87,26.53,26.89
$GC,7865,-0.27,-146.6,3052,3072,2611,2996,586.1,-8.1,425,7874,0.00,1.98,0.00,0.000,1030,0.000,0.045,3052,1699,2804,2611,2997,0,0,0,0,0,0,26.61,26.60,26.63
$GC,8174,-0.27,-146.6,3052,1699,2610,2996,614.3,-8.5,436,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1699,2803,2610,2996,0,0,0,0,0,0,26.87,26.89,26.89
$GC,8474,-0.27,-146.6,3052,1698,2610,2995,638.9,-8.0,446,8479,0.00,2.00,0.00,0.000,516,0.000,0.057,3053,323,2802,2610,2995,0,0,0,0,0,0,26.86,26.49,26.89
$GC,8526,-0.27,-146.6,3052,323,2610,2995,641.3,-8.2,447,8535,0.00,1.92,0.00,0.000,1030,0.000,0.042,3051,1708,2802,2610,2995,0,0,0,0,0,0,26.64,26.63,26.65
$GC,8835,-0.27,-146.6,3050,1708,2610,2994,667.7,-8.0,458,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1708,2802,2610,2994,0,0,0,0,0,0,26.86,26.89,26.89
$GC,9135,-0.27,-146.6,3050,1708,2610,2993,693.8,-8.8,468,9140,0.00,1.92,0.00,0.000,260,0.000,0.052,3042,3052,2801,2610,2993,0,0,0,0,0,0,26.86,26.52,26.88
$GC,9227,-0.27,-146.6,3042,3053,2610,2992,701.7,-8.5,471,9233,0.00,1.92,0.00,0.000,1030,0.000,0.045,3042,1694,2801,2610,2992,0,0,0,0,0,0,26.64,26.60,26.65
$GC,9558,-0.27,-146.6,3042,1694,2610,2991,731.4,-9.1,482,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1694,2800,2610,2991,0,0,0,0,0,0,26.86,26.89,26.88
$GC,9858,-0.27,-146.6,3042,1694,2610,2990,759.4,-9.4,492,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1694,2800,2610,2990,0,0,0,0,0,0,26.86,26.89,26.88
$GC,10158,-0.27,-146.6,3042,1694,2610,2988,786.1,-8.6,502,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1694,2799,2610,2988,0,0,0,0,0,0,26.86,26.88,26.88
$GC,10459,-0.27,-146.6,3042,1694,2610,2986,811.4,-8.5,512,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1694,2798,2610,2986,0,0,0,0,0,0,26.86,26.88,26.88
$GC,10758,-0.27,-146.6,3041,1694,2610,2985,837.6,-8.9,522,10763,0.00,2.00,0.00,0.000,516,0.000,0.057,3043,320,2797,2610,2985,0,0,0,0,0,0,26.86,26.46,26.87
$GC,10820,-0.27,-146.6,3042,320,2609,2985,843.4,-9.3,524,10825,0.00,1.92,0.00,0.000,1030,0.000,0.042,3035,1695,2797,2610,2985,0,0,0,0,0,0,26.63,26.61,26.64
$GC,11150,-0.27,-146.6,3035,1695,2610,2982,875.0,-9.5,535,11156,0.00,1.95,0.00,0.000,260,0.000,0.052,3033,3054,2796,2610,2982,0,0,0,0,0,0,26.85,26.49,26.87
$GC,11242,-0.27,-146.6,3033,3055,2610,2981,884.0,-9.6,538,11246,0.00,1.92,0.00,0.000,1030,0.000,0.047,3033,1699,2796,2610,2982,0,0,0,0,0,0,26.61,26.57,26.63
$GC,11575,-0.27,-146.6,3033,1698,2610,2981,915.7,-9.4,549,11580,0.00,2.03,0.00,0.000,516,0.000,0.060,3033,314,2795,2610,2981,0,0,0,0,0,0,26.85,26.44,26.87
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$GC,47649,-1.32,-146.6,2727,311,2576,2954,4070.7,-6.4,1165,47653,0.00,2.03,0.00,0.000,1030,0.000,0.042,2723,1708,2765,2576,2954,0,0,0,0,0,0,26.31,26.29,26.32
$GC,47994,-1.32,-146.6,2722,1709,2576,2954,4093.5,-6.2,1171,47995,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1709,2765,2576,2954,0,0,0,0,0,0,26.70,26.72,26.71
$GC,48294,-1.32,-146.6,2722,1709,2576,2954,4111.9,-6.1,1176,48295,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1709,2765,2576,2954,0,0,0,0,0,0,26.70,26.72,26.71
$GC,48593,-1.32,-146.6,2723,1709,2576,2954,4129.5,-5.9,1181,48594,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1709,2765,2576,2954,0,0,0,0,0,0,26.76,26.79,26.77
$GC,48893,-1.32,-146.6,2722,1709,2576,2954,4147.6,-6.0,1186,48898,0.00,2.10,0.00,0.000,516,0.000,0.057,2722,318,2765,2576,2954,0,0,0,0,0,0,26.76,25.98,26.77
$GC,48955,-1.32,-146.6,2722,317,2576,2954,4151.4,-6.1,1187,48960,0.00,2.03,0.00,0.000,1030,0.000,0.042,2719,1706,2765,2576,2954,0,0,0,0,0,0,26.30,26.28,26.32
$GC,49315,-1.32,-146.6,2718,1706,2576,2954,4173.8,-6.1,1193,49316,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1706,2765,2576,2954,0,0,0,0,0,0,26.75,26.78,26.77
$GC,49616,-1.32,-146.6,2718,1706,2576,2954,4192.4,-6.1,1198,49617,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1706,2765,2576,2954,0,0,0,0,0,0,26.69,26.72,26.71
$GC,49917,-1.32,-146.6,2718,1706,2576,2954,4210.5,-6.0,1203,49919,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1706,2765,2576,2954,0,0,0,0,0,0,26.72,26.74,26.73
$GC,50217,-1.32,-146.6,2718,1706,2576,2954,4228.1,-5.9,1208,50222,0.00,2.12,0.00,0.000,516,0.000,0.057,2719,305,2765,2576,2954,0,0,0,0,0,0,26.76,25.98,26.77
$GC,50289,-1.32,-146.6,2718,305,2576,2954,4232.2,-6.1,1209,50293,0.00,2.03,0.00,0.000,1030,0.000,0.045,2713,1697,2765,2576,2954,0,0,0,0,0,0,26.31,26.29,26.32
$GC,50638,-1.32,-146.6,2712,1697,2576,2954,4254.7,-6.2,1215,50639,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1697,2765,2576,2954,0,0,0,0,0,0,26.75,26.78,26.77
$GC,50939,-1.32,-146.6,2712,1697,2576,2954,4273.7,-6.3,1220,50940,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1697,2765,2576,2954,0,0,0,0,0,0,26.69,26.72,26.71
$GC,51239,-1.32,-146.6,2712,1697,2576,2954,4292.5,-6.4,1225,51240,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1697,2765,2576,2954,0,0,0,0,0,0,26.69,26.72,26.71
$GC,51539,-1.32,-146.6,2712,1697,2576,2954,4310.9,-6.2,1230,51540,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1697,2765,2576,2954,0,0,0,0,0,0,26.69,26.72,26.71
$GC,51838,-1.32,-146.6,2712,1697,2576,2954,4329.6,-6.2,1235,51839,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1697,2765,2576,2954,0,0,0,0,0,0,26.76,26.79,26.77
$GC,52138,-1.32,-146.6,2712,1697,2576,2954,4347.7,-6.1,1240,52143,0.00,2.10,0.00,0.000,516,0.000,0.057,2713,316,2765,2576,2954,0,0,0,0,0,0,26.76,25.96,26.77
$GC,52213,-1.32,-146.6,2712,316,2576,2954,4351.7,-6.1,1241,52217,0.00,2.03,0.00,0.000,1030,0.000,0.042,2706,1704,2765,2576,2954,0,0,0,0,0,0,26.29,26.28,26.31
$GC,52562,-1.32,-146.6,2706,1705,2576,2954,4373.9,-6.0,1247,52563,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1705,2765,2576,2954,0,0,0,0,0,0,26.75,26.78,26.77
$GC,52863,-1.32,-146.6,2706,1704,2576,2954,4391.7,-5.9,1252,52864,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1704,2765,2576,2954,0,0,0,0,0,0,26.69,26.72,26.70
$GC,53162,-1.32,-146.6,2706,1704,2576,2954,4409.0,-5.9,1257,53163,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1704,2765,2576,2954,0,0,0,0,0,0,26.76,26.78,26.77
$GC,53462,-1.32,-146.6,2706,1704,2576,2954,4426.5,-5.8,1262,53467,0.00,2.10,0.00,0.000,516,0.000,0.057,2706,310,2765,2577,2954,0,0,0,0,0,0,26.76,25.96,26.77
$GC,53526,-1.32,-146.6,2706,310,2576,2954,4430.4,-6.0,1263,53531,0.00,2.03,0.00,0.000,1030,0.000,0.042,2698,1698,2765,2576,2954,0,0,0,0,0,0,26.31,26.28,26.32
$GC,53886,-1.32,-146.6,2698,1699,2576,2954,4452.2,-5.9,1269,53887,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1699,2765,2576,2954,0,0,0,0,0,0,26.68,26.71,26.71
$GC,54186,-1.32,-146.6,2699,1699,2576,2954,4470.1,-5.9,1274,54192,0.00,2.10,0.00,0.000,516,0.000,0.057,2699,314,2764,2575,2954,0,0,0,0,0,0,26.69,25.95,26.71
$GC,54258,-1.32,-146.6,2699,314,2576,2954,4474.0,-6.0,1275,54262,0.10,2.03,0.00,0.000,3078,0.142,0.045,2726,1695,2765,2576,2954,0,0,0,0,0,0,25.87,26.29,25.91
$GC,54608,-1.39,-146.6,2726,1695,2576,2954,4492.5,-5.0,1281,54610,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1695,2765,2576,2954,0,0,0,0,0,0,26.70,26.73,26.72
$GC,54907,-1.45,-146.6,2726,1695,2576,2954,4507.6,-5.0,1286,54909,0.08,0.00,0.00,0.000,4102,0.122,0.000,2648,1700,2765,2576,2954,0,0,0,0,0,0,26.53,26.55,26.55
$GC,55207,-1.45,-146.6,2647,1706,2576,2954,4527.9,-6.9,1291,55212,0.10,2.10,0.00,0.000,2564,0.161,0.055,2688,316,2765,2576,2954,0,0,0,0,0,0,26.20,25.94,26.20
$GC,55337,-1.45,-146.6,2688,316,2576,2954,4536.0,-6.8,1293,55342,0.00,2.03,0.00,0.000,1030,0.000,0.042,2682,1702,2765,2576,2954,0,0,0,0,0,0,26.30,26.29,26.32
$GC,55692,-1.45,-146.6,2682,1703,2576,2954,4557.3,-5.8,1299,55693,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1703,2765,2576,2954,0,0,0,0,0,0,26.75,26.77,26.77
$GC,55991,-1.45,-146.6,2682,1703,2576,2954,4574.9,-5.8,1304,55997,0.00,2.10,0.00,0.000,516,0.000,0.057,2682,310,2765,2576,2954,0,0,0,0,0,0,26.75,25.94,26.77
$GC,56099,-1.45,-146.6,2682,310,2575,2954,4578.6,-5.8,1305,56103,0.00,2.05,0.00,0.000,1030,0.000,0.042,2677,1716,2765,2576,2955,0,0,0,0,0,0,26.29,26.27,26.30
$GC,56414,-1.45,-146.6,2676,1717,2576,2954,4599.9,-5.8,1311,56415,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1716,2765,2576,2954,0,0,0,0,0,0,26.75,26.78,26.77
$GC,56714,-1.45,-146.6,2676,1716,2576,2954,4617.2,-5.7,1316,56720,0.00,2.15,0.00,0.000,516,0.000,0.057,2676,313,2765,2576,2954,0,0,0,0,0,0,26.75,25.94,26.77
$GC,56799,-1.45,-146.6,2677,313,2576,2954,4621.1,-5.8,1317,56803,0.00,2.03,0.00,0.000,1030,0.000,0.042,2671,1697,2765,2576,2954,0,0,0,0,0,0,26.30,26.29,26.32
$GC,57141,-1.45,-146.6,2670,1697,2576,2954,4641.8,-5.7,1323,57142,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1697,2765,2576,2954,0,0,0,0,0,0,26.68,26.70,26.70
$GC,57437,-1.45,-146.6,2670,1697,2576,2954,4658.3,-5.5,1328,57439,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1697,2765,2576,2954,0,0,0,0,0,0,26.75,26.78,26.77
$GC,57737,-1.45,-146.6,2670,1697,2576,2954,4675.0,-5.5,1333,57741,0.00,2.12,0.00,0.000,516,0.000,0.057,2671,331,2765,2576,2954,0,0,0,0,0,0,26.75,25.94,26.77
$GC,57842,-1.45,-146.6,2670,310,2576,2955,4678.5,-5.6,1334,57846,0.00,2.03,0.00,0.000,1030,0.000,0.045,2664,1704,2765,2576,2954,0,0,0,0,0,0,26.34,26.27,26.35
$GC,58161,-1.45,-146.6,2664,1705,2576,2954,4698.9,-5.6,1340,58162,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1705,2765,2576,2954,0,0,0,0,0,0,26.75,26.78,26.77
$GC,58461,-1.45,-146.6,2665,1705,2576,2954,4715.7,-5.6,1345,58462,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2765,2576,2954,0,0,0,0,0,0,26.76,26.77,26.77
$GC,58761,-1.45,-146.6,2664,1705,2576,2954,4732.3,-5.6,1350,58766,0.00,2.12,0.00,0.000,516,0.000,0.057,2665,315,2765,2576,2954,0,0,0,0,0,0,26.75,25.94,26.77
$GC,58853,-1.45,-146.6,2664,315,2576,2954,4735.9,-5.7,1351,58857,0.00,2.03,0.00,0.000,1030,0.000,0.042,2658,1701,2765,2576,2954,0,0,0,0,0,0,26.29,26.28,26.31
$STATE,59121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,59121,begin apogee
$GC,59125,-0.24,0.0,2658,1498,2576,2954,4752.8,-5.5,1356,59255,1.23,0.00,126.53,4.209,10246,0.109,0.000,3075,1498,2300,2118,2482,0,0,0,0,0,0,25.32,22.01,19.70
$STATE,59256,end apogee,CONTROL_FINISHED_OK
$STATE,59257,begin climb
$GC,59258,0.65,146.6,3075,1498,2117,2481,4752.5,0.0,1358,59465,0.85,0.00,193.20,4.050,10246,0.070,0.000,3383,1498,1794,1748,1841,0,0,0,0,2,0,22.80,21.96,19.68
$GC,59723,0.18,146.6,3383,1499,1748,1840,4652.9,25.5,1366,59729,0.65,2.00,0.00,0.000,4612,0.211,0.055,3216,210,1794,1748,1840,0,0,0,0,0,0,24.63,24.89,24.78
$GC,59785,-0.26,146.6,3216,210,1748,1840,4640.9,24.2,1367,59790,0.40,1.95,0.00,0.000,5126,0.169,0.042,3084,1530,1794,1748,1840,0,0,0,0,0,0,24.89,25.30,25.10
$GC,60144,-0.38,146.6,3084,1531,1748,1840,4602.9,10.1,1373,60151,0.15,2.03,0.00,0.000,4612,0.169,0.057,3036,216,1794,1748,1840,0,0,0,0,0,0,25.55,25.71,25.63
$GC,60196,-0.49,146.6,3036,215,1747,1840,4602.9,10.1,1373,60206,0.12,1.85,0.00,0.000,5126,0.144,0.045,2994,1508,1794,1748,1840,0,0,0,0,0,0,25.60,25.91,25.68
$GC,60504,-0.49,146.6,2994,1508,1747,1840,4579.5,5.9,1379,60505,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1508,1793,1747,1840,0,0,0,0,0,0,26.31,26.33,26.33
$GC,60804,-0.49,146.6,2994,1509,1741,1834,4562.1,5.9,1384,60805,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1508,1787,1741,1834,0,0,0,0,0,0,26.41,26.44,26.44
$GC,61104,-0.49,146.6,2994,1508,1740,1834,4544.6,5.8,1389,61110,0.00,1.95,0.00,0.000,516,0.000,0.060,3003,202,1787,1740,1834,0,0,0,0,0,0,26.48,26.12,26.50
$GC,61150,-0.49,146.6,3002,202,1740,1833,4544.6,5.8,1389,61155,0.00,1.83,0.00,0.000,1030,0.000,0.045,3002,1489,1786,1740,1833,0,0,0,0,0,0,26.28,26.27,26.29
$GC,61464,-0.49,146.6,3002,1494,1740,1833,4522.9,5.8,1395,61465,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1493,1787,1740,1834,0,0,0,0,0,0,26.53,26.56,26.55
$GC,61764,-0.49,146.6,3002,1493,1739,1833,4505.2,5.9,1400,61765,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1493,1787,1740,1834,0,0,0,0,0,0,26.58,26.60,26.59
$GC,62064,-0.49,146.6,3002,1493,1740,1834,4487.7,5.9,1405,62065,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1493,1787,1741,1834,0,0,0,0,0,0,26.60,26.63,26.62
$GC,62364,-0.49,146.6,3002,1493,1740,1834,4470.4,5.7,1410,62365,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1493,1786,1740,1833,0,0,0,0,0,0,26.63,26.65,26.65
$GC,62664,-0.49,146.6,3002,1493,1740,1833,4453.1,5.8,1415,62670,0.00,1.90,0.00,0.000,516,0.000,0.060,3010,214,1787,1740,1834,0,0,0,0,0,0,26.64,26.25,26.66
$GC,62710,-0.49,146.6,3009,215,1740,1834,4453.1,5.8,1415,62715,0.00,1.83,0.00,0.000,1030,0.000,0.045,3010,1507,1786,1740,1833,0,0,0,0,0,0,26.42,26.41,26.44
$GC,63024,-0.49,146.6,3010,1510,1740,1833,4432.1,5.7,1421,63025,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1510,1786,1740,1833,0,0,0,0,0,0,26.66,26.68,26.68
$GC,63324,-0.49,146.6,3010,1510,1740,1833,4415.0,5.7,1426,63325,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1510,1786,1740,1833,0,0,0,0,0,0,26.67,26.70,26.69
$GC,63624,-0.49,146.6,3009,1510,1740,1834,4398.3,5.6,1431,63630,0.00,1.95,0.00,0.000,516,0.000,0.060,3018,194,1786,1740,1833,0,0,0,0,0,0,26.68,26.27,26.70
$GC,63685,-0.49,146.6,3018,194,1740,1833,4394.6,5.8,1432,63690,0.00,1.83,0.00,0.000,1030,0.000,0.045,3018,1511,1787,1740,1834,0,0,0,0,0,0,26.48,26.44,26.49
$GC,64044,-0.49,146.6,3018,1514,1740,1834,4373.5,5.9,1438,64045,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1514,1786,1740,1833,0,0,0,0,0,0,26.70,26.72,26.72
$GC,64344,-0.49,146.6,3018,1514,1741,1833,4356.2,5.7,1443,64346,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1514,1787,1740,1834,0,0,0,0,0,0,26.70,26.72,26.72
$GC,64644,-0.49,146.6,3018,1514,1740,1833,4338.9,5.8,1448,64648,0.00,1.95,0.00,0.000,516,0.000,0.060,3025,214,1787,1740,1834,0,0,0,0,0,0,26.70,26.27,26.73
$GC,64693,-0.49,146.6,3025,214,1740,1834,4338.9,5.8,1448,64698,0.10,1.83,0.00,0.000,5126,0.132,0.045,2990,1511,1786,1740,1833,0,0,0,0,0,0,26.15,26.46,26.20
$GC,65007,-0.49,146.6,2990,1513,1740,1833,4320.5,5.0,1454,65008,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1513,1786,1740,1833,0,0,0,0,0,0,26.71,26.74,26.74
$GC,65307,-0.49,146.6,2990,1513,1740,1833,4305.6,4.9,1459,65308,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1513,1787,1740,1834,0,0,0,0,0,0,26.72,26.74,26.74
$GC,65607,-0.49,146.6,2990,1513,1741,1834,4290.6,5.1,1464,65608,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1513,1787,1741,1834,0,0,0,0,0,0,26.72,26.74,26.74
$GC,65907,-0.49,146.6,2990,1513,1740,1834,4275.5,4.9,1469,65908,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1513,1787,1740,1834,0,0,0,0,0,0,26.73,26.75,26.74
$GC,66207,-0.49,146.6,2990,1513,1740,1833,4260.9,4.8,1474,66208,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1513,1787,1740,1834,0,0,0,0,0,0,26.73,26.76,26.75
$GC,66507,-0.49,146.6,2990,1513,1740,1833,4247.0,4.7,1479,66508,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1513,1786,1740,1833,0,0,0,0,0,0,26.73,26.76,26.75
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$GC,128059,0.80,374.2,3449,1507,988,1012,337.1,12.0,2637,128061,0.12,0.00,0.00,0.000,4102,0.159,0.000,3407,1510,1000,988,1012,0,0,0,0,0,0,26.31,26.44,26.39
$GC,128358,0.80,374.2,3406,1510,988,1012,311.4,8.1,2647,128364,0.00,1.92,0.00,0.000,516,0.000,0.060,3415,191,1000,989,1012,0,0,0,0,0,0,26.82,26.38,26.84
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$GC,129372,0.80,374.2,3421,1512,989,1012,229.9,7.5,2695,129374,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1513,1000,989,1012,0,0,0,0,0,0,26.83,26.85,26.85
$GC,129672,0.80,374.2,3421,1512,989,1012,209.9,6.4,2710,129678,0.00,1.92,0.00,0.000,516,0.000,0.060,3428,192,1000,989,1012,0,0,0,0,0,0,26.84,26.39,26.85
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$GC,131930,1.07,374.2,3436,185,989,1012,32.5,5.8,2897,131941,0.10,1.73,0.00,0.000,3078,0.112,0.045,3505,1533,1000,989,1012,0,0,0,0,0,0,26.48,26.63,26.53
$GC,132240,1.21,374.2,3504,1533,989,1012,8.9,8.4,2928,132251,0.05,1.80,0.00,0.000,2308,0.164,0.047,3543,2804,1000,989,1012,0,0,0,0,0,0,26.66,26.51,26.67
$STATE,132309,end climb,SURFACE_DEPTH_REACHED
$STATE,132309,begin surface coast
$FINISH,1.2,0.998507
$STATE,132345,end surface coast,CONTROL_FINISHED_OK
$STATE,132345,begin surface
$SM_CCo,132421,0.00,0.000,0,0,1000,377.64
$SM_GC,2.11,8.45,1.65,0.00,0.055,0.045,0.000,190,1665,1000,-9.11,1.27,377.64,0,0,0,0,0,0,26.51,26.57,26.55
$IRIDIUM_FIX,3203.33,-6514.38,120608,070841
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.99
$INTERNAL_PRESSURE,8.98544
$TCM_TEMP,21.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4641.8,139.5
$24V_AH,19.68,28.602
$10V_AH,9.66,17.921
$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,27.350,551.876,587.850,0.000,106.925,25.312,45.376,528.231,42.500,0.000,52.396,8897.340,108485.570,1071.234,14255.935,456.200,0.609,5568.877,0.000,13297.802,0.000,310.844,0.000
$DEVICE_MAMPS,263.198,67.041,4208.685,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2016.927,9572.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329876
$DATA_FILE_SIZE,176982,2937
$CAP_FILE_SIZE,781545,0
$CFSIZE,1024409600,1009041408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,190815,170346,3224.978,-6529.985,35,1.1,75,-15.2,0.6,301.8,8,4.3