version: 66.12
glider: 36
mission: 20
dive: 72
start: 9 24 115 14 19 9
data:
$ID,36
$MISSION,20
$DIVE,72
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$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,1250
$T_MISSION,1440
$T_ABORT,1500
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,12
$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,70
$R_STBD_OVSHOOT,117
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2340
$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,1
$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,4000
$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
$GPS1,240915,141016,3642.5681,-6743.9878,43,1.1,83,-15.3,0.7,9.8,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-56.3
$GPS2,240915,141846,3642.6072,-6744.1104,14,1.1,54,-15.3,0.6,318.1,10,4.5
$SPEED_LIMITS,0.440,0.469
$TGT_NAME,9010N
$TGT_LATLONG,3905.220,-6921.240
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.151801,0.115288
$KALMAN_X,130328.718750,0.000000,0.000000,-318531.625000,32153.468750
$KALMAN_Y,-67337.539062,0.000000,0.000000,404316.906250,-20093.242188
$MHEAD_RNG_PITCHd_Wd,336.9,298753,-16.7,-16.000,-18.85,4193
$D_GRID,6000
$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,443,-0.69,-439.8,2837,3061,3826,3882,81.7,-36.8,37,449,0.28,2.00,0.00,0.000,3078,0.169,0.045,2923,1680,3854,3826,3882,0,0,0,0,0,0,25.58,26.26,25.70
$GC,758,-0.69,-439.8,2922,1680,3824,3881,152.3,-19.5,58,761,0.00,1.98,0.00,0.000,516,0.000,0.057,2923,327,3852,3824,3881,0,0,0,0,0,0,26.69,26.27,26.70
$GC,812,-0.69,-439.8,2923,327,3823,3882,158.7,-19.8,59,821,0.00,1.90,0.00,0.000,1030,0.000,0.042,2916,1709,3852,3823,3881,0,0,0,0,0,0,26.48,26.48,26.49
$GC,1121,-0.69,-439.8,2916,1708,3823,3881,221.4,-19.2,70,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1708,3852,3823,3881,0,0,0,0,0,0,26.76,26.78,26.77
$GC,1422,-0.69,-439.8,2916,1708,3822,3880,278.2,-19.0,80,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1708,3851,3822,3880,0,0,0,0,0,0,26.79,26.82,26.81
$GC,1721,-0.69,-439.8,2916,1708,3822,3880,333.8,-18.5,88,1726,0.00,1.90,0.00,0.000,260,0.000,0.052,2906,3046,3851,3822,3880,0,0,0,0,0,0,26.81,26.45,26.82
$GC,1785,-0.69,-439.8,2906,3046,3822,3879,342.1,-18.4,89,1789,0.00,1.90,0.00,0.000,1030,0.000,0.045,2906,1703,3850,3822,3879,0,0,0,0,0,0,26.56,26.53,26.58
$GC,2122,-0.69,-439.8,2906,1702,3821,3878,410.4,-19.1,97,2128,0.00,2.00,0.00,0.000,516,0.000,0.057,2906,319,3849,3821,3878,0,0,0,0,0,0,26.82,26.41,26.84
$GC,2175,-0.69,-439.8,2906,319,3821,3878,419.4,-19.3,98,2179,0.00,1.85,0.00,0.000,1030,0.000,0.042,2898,1694,3849,3821,3878,0,0,0,0,0,0,26.63,26.60,26.64
$GC,2484,-0.69,-439.8,2898,1699,3821,3878,482.3,-19.6,105,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1698,3848,3820,3877,0,0,0,0,0,0,26.82,26.84,26.84
$GC,2799,-0.69,-439.8,2898,1699,3820,3877,541.7,-18.7,112,2804,0.00,1.92,0.00,0.000,260,0.000,0.052,2889,3055,3848,3820,3877,0,0,0,0,0,0,26.82,26.47,26.84
$GC,2861,-0.69,-439.8,2888,3055,3820,3876,550.0,-18.6,113,2866,0.12,1.95,0.00,0.000,3078,0.144,0.045,2931,1688,3848,3820,3876,0,0,0,0,0,0,26.16,26.54,26.22
$GC,3205,-0.69,-439.8,2930,1688,3819,3875,608.3,-15.8,121,3210,0.00,1.98,0.00,0.000,516,0.000,0.057,2930,332,3847,3819,3875,0,0,0,0,0,0,26.82,26.42,26.84
$GC,3263,-0.69,-439.8,2930,332,3818,3875,615.8,-15.9,122,3267,0.00,1.85,0.00,0.000,1030,0.000,0.042,2924,1717,3846,3818,3875,0,0,0,0,0,0,26.63,26.60,26.64
$GC,3606,-0.69,-439.8,2924,1718,3817,3874,674.4,-16.2,130,3612,0.00,1.90,0.00,0.000,260,0.000,0.052,2914,3049,3845,3817,3874,0,0,0,0,0,0,26.82,26.46,26.84
$GC,3651,-0.69,-439.8,2914,3049,3817,3874,681.7,-16.2,131,3655,0.00,1.88,0.00,0.000,1030,0.000,0.045,2915,1708,3845,3817,3873,0,0,0,0,0,0,26.58,26.54,26.60
$GC,3968,-0.69,-439.8,2914,1709,3816,3873,734.9,-16.7,138,3974,0.00,2.00,0.00,0.000,516,0.000,0.057,2914,327,3844,3816,3873,0,0,0,0,0,0,26.82,26.42,26.84
$GC,4030,-0.69,-439.8,2914,326,3816,3873,742.7,-16.8,139,4035,0.00,1.90,0.00,0.000,1030,0.000,0.042,2908,1703,3844,3816,3873,0,0,0,0,0,0,26.61,26.60,26.62
$GC,4374,-0.69,-439.8,2907,1703,3815,3872,805.1,-17.4,147,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1702,3843,3815,3871,0,0,0,0,0,0,26.82,26.84,26.84
$GC,4689,-0.69,-439.8,2907,1703,3814,3870,859.5,-17.0,154,4695,0.00,1.92,0.00,0.000,260,0.000,0.050,2898,3051,3843,3815,3871,0,0,0,0,0,0,26.82,26.46,26.83
$GC,4721,-0.69,-439.8,2898,3052,3815,3871,859.5,-17.0,154,4725,0.00,1.92,0.00,0.000,1030,0.000,0.045,2898,1697,3842,3814,3871,0,0,0,0,0,0,26.57,26.53,26.59
$GC,5050,-0.69,-439.8,2897,1697,3813,3869,921.2,-17.2,162,5055,0.00,2.00,0.00,0.000,516,0.000,0.057,2898,321,3841,3813,3869,0,0,0,0,0,0,26.82,26.41,26.83
$GC,5102,-0.69,-439.8,2897,321,3813,3869,929.1,-17.3,163,5107,0.12,1.90,0.00,0.000,3078,0.161,0.042,2932,1723,3841,3813,3869,0,0,0,0,0,0,26.20,26.58,26.31
$GC,5412,-0.79,-439.8,2932,1725,3812,3867,974.2,-13.6,170,5413,0.05,0.00,0.00,0.000,4102,0.164,0.000,2854,1730,3839,3812,3867,0,0,0,0,0,0,26.62,26.65,26.63
$GC,5786,-0.79,-439.8,2853,1731,3810,3867,1049.6,-20.5,175,5793,0.10,2.05,0.00,0.000,2564,0.176,0.055,2894,323,3838,3810,3866,0,0,0,0,0,0,26.28,26.36,26.32
$GC,5833,-0.79,-439.8,2893,323,3809,3866,1049.6,-20.5,175,5837,0.00,1.90,0.00,0.000,1030,0.000,0.042,2888,1719,3837,3809,3866,0,0,0,0,0,0,26.60,26.57,26.61
$GC,6148,-0.79,-439.8,2887,1723,3808,3864,1112.7,-18.1,178,6154,0.00,1.92,0.00,0.000,260,0.000,0.050,2878,3058,3835,3807,3864,0,0,0,0,0,0,26.80,26.44,26.82
$GC,6190,-0.79,-439.8,2877,3058,3808,3863,1112.7,-18.1,178,6194,0.00,1.95,0.00,0.000,1030,0.000,0.045,2878,1690,3835,3808,3863,0,0,0,0,0,0,26.56,26.52,26.58
$GC,6502,-0.79,-439.8,2877,1690,3805,3861,1175.2,-17.4,181,6508,0.00,1.98,0.00,0.000,516,0.000,0.057,2878,325,3833,3805,3862,0,0,0,0,0,0,26.79,26.39,26.82
$GC,6563,-0.79,-439.8,2877,326,3805,3862,1175.2,-17.4,181,6568,0.00,1.90,0.00,0.000,1030,0.000,0.042,2874,1700,3833,3804,3862,0,0,0,0,0,0,26.58,26.55,26.58
$GC,6983,-0.79,-439.8,2873,1700,3802,3857,1262.0,-18.1,185,6988,0.00,1.95,0.00,0.000,260,0.000,0.050,2864,3066,3830,3802,3859,0,0,0,0,0,0,26.79,26.42,26.81
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$GC,7343,-0.86,-439.8,2898,1698,3800,3857,1316.6,-15.7,188,7349,0.00,2.00,0.00,0.000,516,0.000,0.057,2899,315,3828,3799,3857,0,0,0,0,0,0,26.79,26.36,26.81
$GC,7419,-0.93,-439.8,2898,315,3798,3856,1316.6,-15.7,188,7424,0.08,1.90,0.00,0.000,5126,0.117,0.042,2822,1710,3827,3798,3856,0,0,0,0,0,0,26.43,26.54,26.48
$GC,7823,-0.93,-439.8,2821,1714,3796,3854,1412.0,-20.1,192,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1714,3825,3796,3854,0,0,0,0,0,0,26.79,26.81,26.80
$GC,8185,-0.93,-439.8,2821,1714,3792,3851,1486.3,-20.8,195,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1713,3822,3792,3852,0,0,0,0,0,0,26.78,26.81,26.80
$GC,8543,-0.93,-439.8,2821,1714,3790,3849,1561.4,-20.9,198,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1714,3819,3790,3849,0,0,0,0,0,0,26.78,26.80,26.79
$GC,8903,-0.93,-439.8,2821,1714,3788,3846,1634.1,-20.3,201,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1714,3817,3788,3847,0,0,0,0,0,0,26.77,26.80,26.79
$GC,9263,-0.93,-439.8,2821,1714,3786,3845,1704.2,-19.6,204,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1714,3815,3786,3845,0,0,0,0,0,0,26.77,26.80,26.79
$GC,9623,-0.93,-439.8,2819,1714,3784,3843,1772.2,-18.9,207,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1714,3813,3784,3843,0,0,0,0,0,0,26.77,26.79,26.79
$GC,9983,-0.93,-439.8,2821,1714,3781,3841,1835.9,-17.8,210,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1714,3813,3781,3845,0,0,0,0,0,0,26.77,26.79,26.79
$GC,10343,-0.93,-439.8,2821,1714,3780,3839,1898.5,-17.4,213,10350,0.08,2.05,0.00,0.000,2564,0.184,0.052,2854,329,3809,3780,3839,0,0,0,0,0,0,26.32,26.30,26.34
$GC,10394,-0.93,-439.8,2854,327,3779,3839,1898.5,-17.4,213,10399,0.00,1.92,0.00,0.000,1030,0.000,0.042,2854,1688,3809,3779,3839,0,0,0,0,0,0,26.51,26.50,26.52
$GC,10706,-1.02,-439.8,2854,1689,3778,3838,1950.8,-15.2,216,10711,0.00,1.98,0.00,0.000,260,0.000,0.050,2846,3050,3807,3778,3837,0,0,0,0,0,0,26.77,26.34,26.79
$GC,10751,-1.11,-439.8,2846,3050,3778,3837,1950.8,-15.2,216,10756,0.10,1.92,0.00,0.000,5126,0.102,0.045,2769,1697,3807,3778,3837,0,0,0,0,0,0,26.34,26.44,26.39
$GC,11065,-1.11,-439.8,2747,1697,3777,3836,2027.7,-19.7,219,11072,0.12,2.00,0.00,0.000,2564,0.166,0.055,2793,320,3806,3777,3836,0,0,0,0,0,0,26.15,26.24,26.18
$GC,11137,-1.11,-439.8,2793,320,3776,3836,2027.7,-19.7,219,11141,0.00,1.95,0.00,0.000,1030,0.000,0.040,2787,1707,3806,3777,3835,0,0,0,0,0,0,26.50,26.49,26.51
$GC,11545,-1.11,-439.8,2788,1710,3775,3835,2117.3,-18.6,223,11551,0.00,1.98,0.00,0.000,260,0.000,0.050,2778,3062,3805,3776,3835,0,0,0,0,0,0,26.77,26.33,26.78
$GC,11586,-1.11,-439.8,2778,3062,3776,3835,2117.3,-18.6,223,11591,0.00,2.00,0.00,0.000,1030,0.000,0.042,2778,1703,3805,3775,3835,0,0,0,0,0,0,26.44,26.42,26.46
$GC,11905,-1.11,-439.8,2778,1703,3775,3834,2180.3,-17.6,226,11910,0.00,2.08,0.00,0.000,516,0.000,0.055,2778,309,3804,3775,3834,0,0,0,0,0,0,26.77,26.25,26.78
$GC,11971,-1.11,-439.8,2778,311,3775,3834,2180.3,-17.6,226,11975,0.00,1.92,0.00,0.000,1030,0.000,0.042,2773,1707,3804,3774,3834,0,0,0,0,0,0,26.51,26.48,26.53
$GC,12384,-1.11,-439.8,2772,1710,3773,3833,2268.1,-18.4,230,12389,0.00,1.98,0.00,0.000,260,0.000,0.050,2763,3067,3803,3773,3833,0,0,0,0,0,0,26.77,26.32,26.78
$GC,12430,-1.11,-439.8,2763,3067,3773,3833,2268.1,-18.4,230,12435,0.10,2.03,0.00,0.000,3078,0.137,0.042,2797,1688,3803,3773,3833,0,0,0,0,0,0,26.06,26.40,26.10
$GC,12745,-1.17,-439.8,2796,1688,3772,3832,2323.5,-16.0,233,12750,0.00,2.03,0.00,0.000,516,0.000,0.055,2797,324,3802,3772,3832,0,0,0,0,0,0,26.76,26.23,26.78
$GC,12810,-1.22,-439.8,2796,324,3771,3832,2323.5,-16.0,233,12815,0.05,1.90,0.00,0.000,5126,0.151,0.042,2730,1693,3802,3772,3832,0,0,0,0,0,0,26.35,26.48,26.40
$GC,13223,-1.22,-439.8,2730,1693,3770,3831,2416.8,-19.7,237,13225,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1693,3800,3770,3831,0,0,0,0,0,0,26.76,26.78,26.78
$GC,13584,-1.22,-439.8,2730,1693,3770,3831,2489.1,-20.2,240,13585,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1693,3800,3770,3831,0,0,0,0,0,0,26.76,26.78,26.77
$GC,13944,-1.22,-439.8,2730,1693,3770,3829,2558.3,-19.4,243,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1693,3800,3770,3830,0,0,0,0,0,0,26.76,26.78,26.77
$GC,14303,-1.22,-439.8,2730,1693,3768,3829,2625.0,-18.6,246,14310,0.00,2.00,0.00,0.000,260,0.000,0.050,2721,3061,3799,3769,3829,0,0,0,0,0,0,26.76,26.27,26.77
$GC,14334,-1.22,-439.8,2721,3062,3769,3829,2625.0,-18.6,246,14339,0.10,2.00,0.00,0.000,3078,0.139,0.042,2756,1699,3799,3770,3829,0,0,0,0,0,0,26.01,26.38,26.06
$GC,14665,-1.22,-439.8,2755,1699,3768,3828,2681.8,-16.4,249,14670,0.00,2.05,0.00,0.000,516,0.000,0.057,2756,322,3798,3768,3828,0,0,0,0,0,0,26.76,26.20,26.77
$GC,14720,-1.22,-439.8,2756,322,3769,3828,2681.8,-16.4,249,14724,0.00,1.92,0.00,0.000,1030,0.000,0.040,2749,1707,3798,3768,3828,0,0,0,0,0,0,26.49,26.46,26.50
$GC,15144,-1.29,-439.8,2749,1710,3768,3827,2756.4,-15.6,253,15149,0.00,2.00,0.00,0.000,260,0.000,0.050,2743,3069,3798,3768,3828,0,0,0,0,0,0,26.75,26.25,26.77
$GC,15179,-1.35,-439.8,2743,3069,3768,3826,2756.4,-15.6,253,15183,0.00,2.03,0.00,0.000,1030,0.000,0.045,2743,1700,3797,3767,3827,0,0,0,0,0,0,26.39,26.37,26.41
$GC,15508,-1.42,-439.8,2743,1700,3767,3826,2812.6,-15.4,256,15514,0.08,2.03,0.00,0.000,4612,0.122,0.055,2652,317,3797,3767,3827,0,0,0,0,0,0,26.53,26.18,26.54
$GC,15569,-1.48,-439.8,2651,317,3767,3827,2812.6,-15.4,256,15574,0.10,1.98,0.00,0.000,3078,0.159,0.042,2675,1706,3797,3767,3827,0,0,0,0,0,0,25.97,26.43,26.01
$GC,15988,-1.48,-439.8,2674,1705,3765,3825,2912.7,-20.8,260,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1707,3795,3765,3826,0,0,0,0,0,0,26.75,26.77,26.77
$GC,16349,-1.48,-439.8,2674,1709,3765,3825,2986.6,-20.6,263,16353,0.00,1.98,0.00,0.000,260,0.000,0.050,2666,3057,3794,3764,3825,0,0,0,0,0,0,26.75,26.25,26.77
$GC,16394,-1.48,-439.8,2666,3057,3765,3825,2986.6,-20.6,263,16398,0.00,1.98,0.00,0.000,1030,0.000,0.045,2666,1695,3795,3765,3825,0,0,0,0,0,0,26.40,26.35,26.41
$GC,16708,-1.48,-439.8,2666,1694,3764,3824,3059.1,-20.3,266,16713,0.00,2.05,0.00,0.000,516,0.000,0.057,2666,319,3794,3764,3825,0,0,0,0,0,0,26.75,26.16,26.77
$GC,16773,-1.48,-439.8,2666,319,3764,3825,3059.1,-20.3,266,16777,0.00,1.98,0.00,0.000,1030,0.000,0.042,2658,1697,3794,3764,3825,0,0,0,0,0,0,26.44,26.42,26.45
$GC,17187,-1.48,-439.8,2657,1697,3764,3824,3153.7,-19.7,270,17188,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1697,3794,3764,3824,0,0,0,0,0,0,26.74,26.77,26.77
$GC,17547,-1.48,-439.8,2657,1697,3764,3824,3221.9,-19.0,273,17548,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1697,3794,3764,3824,0,0,0,0,0,0,26.74,26.77,26.77
$GC,17907,-1.48,-439.8,2657,1697,3763,3823,3287.9,-18.5,276,17908,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1697,3794,3764,3824,0,0,0,0,0,0,26.74,26.77,26.77
$GC,18268,-1.48,-439.8,2657,1697,3764,3823,3352.2,-17.9,279,18269,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1697,3793,3763,3823,0,0,0,0,0,0,26.74,26.77,26.77
$GC,18627,-1.48,-439.8,2657,1697,3763,3823,3414.5,-17.4,282,18628,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1697,3793,3763,3823,0,0,0,0,0,0,26.74,26.77,26.77
$GC,18987,-1.48,-439.8,2657,1697,3762,3822,3474.9,-16.9,285,18988,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1697,3792,3762,3823,0,0,0,0,0,0,26.74,26.77,26.77
$GC,19347,-1.48,-439.8,2657,1697,3762,3822,3532.5,-16.1,288,19348,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1697,3794,3762,3826,0,0,0,0,0,0,26.74,26.77,26.76
$GC,19707,-1.48,-439.8,2657,1697,3761,3822,3589.1,-15.8,291,19713,0.00,2.08,0.00,0.000,516,0.000,0.055,2657,316,3791,3761,3822,0,0,0,0,0,0,26.74,26.10,26.76
$GC,19743,-1.48,-439.8,2657,316,3761,3822,3589.1,-15.8,291,19747,0.00,1.95,0.00,0.000,1030,0.000,0.042,2650,1697,3791,3761,3822,0,0,0,0,0,0,26.42,26.39,26.44
$GC,20068,-1.48,-439.8,2649,1698,3761,3822,3647.8,-16.1,294,20074,0.00,2.00,0.00,0.000,260,0.000,0.050,2640,3062,3791,3761,3822,0,0,0,0,0,0,26.74,26.17,26.76
$GC,20109,-1.48,-439.8,2640,3062,3761,3822,3647.8,-16.1,294,20115,0.08,2.03,0.00,0.000,3078,0.142,0.045,2678,1693,3791,3761,3822,0,0,0,0,0,0,25.91,26.31,26.00
$GC,20430,-1.55,-439.8,2677,1693,3760,3821,3696.8,-14.2,297,20435,0.00,2.03,0.00,0.000,516,0.000,0.057,2678,326,3790,3760,3821,0,0,0,0,0,0,26.74,26.06,26.76
$GC,20497,-1.62,-439.8,2677,326,3760,3821,3696.8,-14.2,297,20501,0.08,1.92,0.00,0.000,5126,0.117,0.042,2609,1701,3790,3760,3821,0,0,0,0,0,0,26.26,26.39,26.31
$GC,20905,-1.62,-439.8,2608,1703,3760,3821,3778.8,-17.4,301,20906,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1703,3790,3760,3821,0,0,0,0,0,0,26.74,26.77,26.75
$GC,21265,-1.62,-439.8,2608,1703,3759,3825,3840.6,-17.3,304,21266,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1702,3790,3760,3821,0,0,0,0,0,0,26.74,26.76,26.76
$GC,21625,-1.62,-439.8,2608,1703,3759,3821,3902.4,-17.2,307,21627,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1703,3790,3759,3821,0,0,0,0,0,0,26.74,26.77,26.76
$GC,21985,-1.62,-439.8,2608,1703,3759,3825,3963.0,-16.9,310,21990,0.00,2.12,0.00,0.000,516,0.000,0.055,2609,309,3790,3759,3821,0,0,0,0,0,0,26.74,26.06,26.76
$GC,22039,-1.62,-439.8,2608,310,3759,3821,3963.0,-16.9,310,22043,0.00,2.00,0.00,0.000,1030,0.000,0.040,2600,1696,3790,3759,3821,0,0,0,0,0,0,26.39,26.38,26.40
$GC,22349,-1.62,-439.8,2600,1697,3758,3821,4022.7,-16.5,313,22356,0.00,2.05,0.00,0.000,260,0.000,0.050,2589,3082,3789,3759,3820,0,0,0,0,0,0,26.68,26.14,26.70
$GC,22402,-1.62,-439.8,2589,3081,3759,3820,4022.7,-16.5,313,22407,0.12,2.03,0.00,0.000,3078,0.154,0.045,2632,1694,3789,3758,3820,0,0,0,0,0,0,25.87,26.29,25.96
$GC,22719,-1.68,-439.8,2631,1694,3759,3820,4074.4,-14.5,316,22725,0.00,2.08,0.00,0.000,516,0.000,0.057,2630,317,3789,3759,3820,0,0,0,0,0,0,26.71,26.04,26.72
$GC,22790,-1.74,-439.8,2632,317,3758,3820,4074.4,-14.5,316,22795,0.03,2.00,0.00,0.000,5126,0.139,0.042,2575,1716,3789,3758,3820,0,0,0,0,0,0,26.24,26.38,26.24
$GC,23207,-1.74,-439.8,2574,1720,3758,3820,4156.9,-17.0,320,23208,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1720,3789,3758,3820,0,0,0,0,0,0,26.70,26.73,26.72
$GC,23566,-1.74,-439.8,2574,1720,3758,3820,4220.0,-17.6,323,23571,0.00,2.12,0.00,0.000,516,0.000,0.055,2575,319,3789,3758,3820,0,0,0,0,0,0,26.70,26.04,26.72
$GC,23607,-1.74,-439.8,2575,319,3758,3820,4220.0,-17.6,323,23611,0.00,1.95,0.00,0.000,1030,0.000,0.042,2566,1701,3789,3758,3820,0,0,0,0,0,0,26.39,26.36,26.39
$GC,23927,-1.74,-439.8,2567,1702,3758,3819,4282.2,-17.3,326,23931,0.00,2.03,0.00,0.000,260,0.000,0.050,2558,3074,3789,3758,3820,0,0,0,0,0,0,26.68,26.13,26.70
$GC,23966,-1.74,-439.8,2558,3074,3758,3819,4282.2,-17.3,326,23971,0.10,2.05,0.00,0.000,3078,0.144,0.045,2591,1691,3788,3758,3819,0,0,0,0,0,0,25.85,26.26,25.89
$GC,24292,-1.74,-439.8,2590,1692,3758,3819,4337.3,-15.5,329,24299,0.00,2.08,0.00,0.000,516,0.000,0.057,2590,317,3788,3757,3819,0,0,0,0,0,0,26.68,26.01,26.70
$GC,24364,-1.74,-439.8,2591,317,3758,3819,4337.3,-15.5,329,24368,0.00,2.00,0.00,0.000,1030,0.000,0.040,2584,1700,3788,3758,3819,0,0,0,0,0,0,26.38,26.36,26.39
$GC,24780,-1.79,-439.8,2584,1700,3758,3819,4410.8,-15.1,333,24788,0.00,2.03,0.00,0.000,260,0.000,0.050,2574,3071,3788,3758,3819,0,0,0,0,0,0,26.69,26.10,26.71
$GC,24818,-1.85,-439.8,2574,3071,3757,3819,4410.8,-15.1,333,24822,0.00,2.00,0.00,0.000,1030,0.000,0.045,2574,1707,3788,3758,3819,0,0,0,0,0,0,26.30,26.25,26.32
$GC,25148,-1.90,-439.8,2574,1707,3758,3819,4464.6,-14.6,336,25153,0.00,2.10,0.00,0.000,516,0.000,0.057,2574,319,3788,3758,3819,0,0,0,0,0,0,26.68,25.99,26.70
$GC,25218,-1.95,-439.8,2574,319,3757,3819,4464.6,-14.6,336,25223,0.08,1.95,0.00,0.000,5126,0.117,0.042,2510,1706,3788,3758,3819,0,0,0,0,0,0,26.21,26.34,26.25
$GC,25634,-1.95,-439.8,2509,1707,3758,3819,4551.4,-18.0,340,25635,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1709,3788,3758,3819,0,0,0,0,0,0,26.69,26.71,26.71
$GC,25993,-1.95,-439.8,2509,1708,3758,3818,4615.1,-17.8,343,25994,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1708,3788,3758,3819,0,0,0,0,0,0,26.67,26.70,26.69
$GC,26353,-1.95,-439.8,2510,1708,3758,3818,4677.7,-17.4,346,26354,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1709,3788,3758,3818,0,0,0,0,0,0,26.67,26.70,26.69
$GC,26713,-1.95,-439.8,2510,1709,3757,3818,4737.8,-16.8,349,26714,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1708,3788,3758,3818,0,0,0,0,0,0,26.67,26.70,26.69
$GC,27074,-1.95,-439.8,2509,1709,3757,3819,4796.5,-16.4,352,27075,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1709,3788,3758,3818,0,0,0,0,0,0,26.67,26.70,26.70
$GC,27433,-1.95,-439.8,2509,1709,3758,3819,4853.8,-16.0,355,27438,0.00,2.12,0.00,0.000,516,0.000,0.055,2509,312,3787,3757,3818,0,0,0,0,0,0,26.73,25.97,26.74
$GC,27478,-1.95,-439.8,2509,311,3757,3818,4853.8,-16.0,355,27482,0.00,1.98,0.00,0.000,1030,0.000,0.042,2501,1707,3787,3757,3818,0,0,0,0,0,0,26.36,26.33,26.38
$GC,27792,-1.95,-439.8,2501,1710,3757,3818,4910.9,-15.9,358,27793,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1710,3787,3757,3818,0,0,0,0,0,0,26.73,26.75,26.74
$GC,28151,-1.95,-439.8,2501,1710,3757,3818,4965.0,-15.1,361,28153,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1710,3787,3757,3818,0,0,0,0,0,0,26.72,26.75,26.74
$STATE,28271,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,28271,begin apogee
$GC,28275,-0.24,0.0,2501,1504,3757,3818,4983.5,-15.1,362,28721,1.73,0.00,441.62,4.323,10246,0.122,0.000,3071,1504,2340,2220,2461,0,0,0,0,0,0,25.08,22.43,19.97
$STATE,28722,end apogee,CONTROL_FINISHED_OK
$STATE,28722,begin climb
$GC,28724,0.95,439.8,3071,1504,2219,2460,5007.9,0.0,365,29303,1.10,2.25,562.88,4.338,10756,0.070,0.077,3484,213,823,803,844,0,0,0,0,0,0,23.14,22.64,20.24
$GC,29465,0.45,439.8,3483,213,785,843,4775.7,42.3,371,29476,0.70,1.95,0.00,0.000,5126,0.219,0.040,3298,1545,814,785,844,0,0,0,0,0,0,24.90,25.23,25.03
$GC,29834,0.07,439.8,3297,1545,784,840,4578.2,40.3,375,29837,0.43,0.00,0.00,0.000,4102,0.189,0.000,3173,1545,812,784,840,0,0,0,0,0,0,25.80,26.06,26.02
$GC,30194,-0.13,439.8,3172,1545,785,840,4490.7,26.7,378,30201,0.10,1.98,0.00,0.000,4612,0.201,0.057,3142,207,812,784,840,0,0,0,0,0,0,26.06,26.21,26.14
$GC,30226,-0.33,439.8,3142,207,782,840,4490.7,26.7,378,30231,0.28,1.80,0.00,0.000,5126,0.144,0.045,3041,1503,811,783,840,0,0,0,0,0,0,26.05,26.34,26.23
$GC,30556,-0.33,439.8,3040,1506,782,837,4446.7,14.6,381,30557,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1506,809,782,837,0,0,0,0,0,0,26.61,26.63,26.63
$GC,30915,-0.16,667.6,3040,1505,782,837,4409.2,10.4,384,31102,0.12,0.00,184.10,3.792,10246,0.087,0.000,3136,1506,320,318,322,0,0,0,0,0,0,26.46,22.63,20.47
$GC,31395,-0.16,667.6,3136,1506,314,319,4311.7,20.5,388,31400,0.10,2.03,0.00,0.000,4356,0.176,0.045,3099,2847,317,315,319,0,0,0,0,0,0,25.49,25.62,25.57
$GC,31430,-0.16,667.6,3099,2848,315,318,4311.7,20.5,388,31435,0.00,2.08,0.00,0.000,1030,0.000,0.045,3104,1508,316,314,318,0,0,0,0,0,0,25.79,25.77,25.80
$GC,31759,-0.16,667.6,3104,1508,315,318,4253.0,17.1,391,31764,0.00,1.95,0.00,0.000,516,0.000,0.060,3114,186,316,315,318,0,0,0,0,0,0,26.39,26.10,26.43
$GC,31785,-0.16,667.6,3114,186,314,318,4253.0,17.1,391,31790,0.00,1.85,0.00,0.000,1030,0.000,0.042,3114,1505,316,314,318,0,0,0,0,0,0,26.24,26.22,26.26
$GC,32120,-0.16,667.6,3114,1509,314,318,4196.7,15.7,394,32122,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1509,316,314,318,0,0,0,0,0,0,26.53,26.55,26.55
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$GC,54426,0.88,4456.5,3492,1575,312,318,731.9,19.8,603,54431,0.17,2.05,0.00,0.000,4612,0.169,0.055,3440,192,315,312,318,0,0,0,0,0,0,25.91,26.03,25.97
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$STATE,59041,end climb,SURFACE_DEPTH_REACHED
$STATE,59041,begin surface coast
$FINISH,1.6,1.023539
$STATE,59062,end surface coast,CONTROL_FINISHED_OK
$STATE,59062,begin surface
$SM_CCo,59137,0.00,0.000,0,0,314,588.24
$SM_GC,2.24,8.57,0.10,0.00,0.055,0.097,0.000,197,1764,314,-9.11,-2.40,588.24,0,0,0,0,0,0,26.37,26.64,26.43
$IRIDIUM_FIX,3621.56,-6727.56,200708,114622
$TT8_MAMPS,0.023219,0.023219
$HUMID,38.97
$INTERNAL_PRESSURE,8.91707
$TCM_TEMP,21.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4815.9,193.1
$24V_AH,19.97,42.835
$10V_AH,9.53,25.906
$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,29.250,304.875,1188.600,0.000,204.550,35.753,29.621,284.779,16.500,0.000,55.040,3263.149,49189.914,1337.724,5625.368,206.429,0.000,3618.399,0.000,5059.655,0.000,124.009,0.000
$DEVICE_MAMPS,250.783,96.837,4337.801,0.000,99.320,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.363,2502.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329520
$DATA_FILE_SIZE,50375,768
$CAP_FILE_SIZE,369289,0
$CFSIZE,1024409600,1003274240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.028,42.56,1
$GPS,250915,064639,3655.095,-6754.550,37,1.0,77,-15.3,0.0,307.5,8,4.2