version: 66.12
glider: 35
mission: 22
dive: 70
start: 4 4 114 14 43 50
data:
$ID,35
$MISSION,22
$DIVE,70
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,3600
$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,1200
$T_MISSION,1260
$T_ABORT,1500
$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,-997870.31
$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,102
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2812
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$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
$GPS1,040414,143336,3207.900,-6432.467,25,1.3,25,-15.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.2
$GPS2,040414,144325,3208.039,-6432.421,12,1.8,12,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.100,-0.009
$KALMAN_X,15916.2,0.0,0.0,-22582.1,8455.9
$KALMAN_Y,9800.1,0.0,0.0,-19388.5,3972.2
$MHEAD_RNG_PITCHd_Wd,280.5,5254,-43.6,-10.000,-45.00,463
$D_GRID,3600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.68,-30.2,238,1745,866,1102,0.0,0.0,0,90,0.00,0.00,-71.53,0.000,16390,0.000,0.000,238,1746,2103,2127,2079,0,0,0,0,0,0,28.83,28.83,25.67
$GC,93,-1.68,-64.8,238,1746,2126,2078,2.2,-2.4,7,120,9.57,2.25,-6.78,0.000,18692,0.263,0.057,2499,3211,2219,2242,2197,0,0,0,0,0,0,25.05,25.83,25.67
$GC,343,-1.54,-64.8,2500,3212,2233,2198,26.9,-12.4,32,353,0.20,2.05,0.00,0.000,3078,0.251,0.052,2552,1807,2215,2232,2198,0,0,0,0,0,0,25.28,26.08,28.83
$GC,653,-1.45,-64.8,2552,1807,2232,2198,66.1,-13.4,63,662,0.12,2.05,0.00,0.000,2564,0.266,0.060,2587,419,2214,2231,2198,0,0,0,0,0,0,25.70,26.10,28.83
$GC,888,-1.36,-64.8,2587,419,2230,2201,97.2,-13.3,86,895,0.15,2.03,0.00,0.000,3078,0.243,0.052,2610,1819,2215,2230,2201,0,0,0,0,0,0,25.64,26.25,28.83
$GC,1195,-1.36,-75.3,2610,1819,2229,2201,132.9,-7.7,117,1204,0.00,2.10,-0.32,0.000,16900,0.000,0.060,2614,425,2264,2280,2248,0,0,0,0,0,0,28.83,26.16,25.16
$GC,1431,-1.31,-75.3,2613,425,2279,2248,158.9,-12.7,136,1437,0.00,1.98,0.00,0.000,1030,0.000,0.052,2604,1804,2263,2279,2248,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1738,-1.31,-75.4,2604,1804,2279,2248,194.1,-10.0,152,1743,0.00,2.05,0.00,0.000,516,0.000,0.062,2604,418,2264,2279,2249,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1971,-1.25,-78.4,2604,418,2279,2249,215.4,-9.3,163,1978,0.22,2.00,0.00,0.000,3078,0.233,0.052,2647,1810,2264,2279,2249,0,0,0,0,0,0,25.50,26.34,28.83
$GC,2277,-1.25,-82.7,2647,1810,2279,2249,243.2,-9.1,179,2283,0.00,2.05,-0.10,0.000,16644,0.000,0.060,2637,3187,2293,2308,2278,0,0,0,0,0,0,28.83,26.25,22.89
$GC,2510,-1.25,-82.7,2637,3187,2308,2278,267.9,-11.5,190,2516,0.00,2.00,0.00,0.000,1030,0.000,0.052,2637,1809,2293,2308,2278,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2837,-1.25,-82.7,2637,1809,2307,2278,309.0,-12.4,206,2843,0.00,2.08,0.00,0.000,260,0.000,0.060,2627,3195,2292,2307,2278,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3071,-1.25,-82.7,2626,3195,2307,2278,338.0,-14.3,213,3078,0.00,2.03,0.00,0.000,1030,0.000,0.052,2631,1796,2293,2308,2278,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3378,-1.25,-82.7,2632,1795,2307,2278,384.0,-12.9,224,3382,0.00,2.03,0.00,0.000,516,0.000,0.062,2632,407,2293,2308,2278,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3608,-1.25,-82.7,2632,407,2307,2279,416.2,-15.3,231,3612,0.00,2.00,0.00,0.000,1030,0.000,0.052,2622,1798,2293,2308,2279,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3916,-1.25,-82.7,2622,1798,2308,2278,465.9,-15.2,241,3919,0.00,2.08,0.00,0.000,516,0.000,0.062,2622,410,2293,2308,2279,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4145,-1.25,-82.7,2622,409,2308,2279,503.4,-17.6,248,4150,0.15,2.03,0.00,0.000,3078,0.236,0.052,2645,1813,2293,2308,2278,0,0,0,0,0,0,25.75,26.36,28.83
$GC,4453,-1.32,-82.7,2644,1813,2308,2278,556.3,-16.2,258,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1813,2293,2308,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4753,-1.40,-82.7,2645,1813,2308,2279,606.8,-16.8,268,4757,0.10,2.10,0.00,0.000,4612,0.137,0.060,2609,432,2293,2308,2278,0,0,0,0,0,0,26.44,26.24,28.83
$GC,4983,-1.40,-82.7,2608,406,2307,2278,647.0,-18.7,275,4986,0.00,2.03,0.00,0.000,1030,0.000,0.052,2598,1809,2293,2308,2278,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5290,-1.40,-82.7,2597,1809,2307,2278,707.4,-18.6,285,5294,0.00,2.10,0.00,0.000,516,0.000,0.062,2598,409,2292,2307,2278,0,0,0,0,0,0,28.83,26.24,28.83
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$GC,6066,-1.40,-82.7,2588,410,2304,2278,873.0,-24.6,310,6073,0.00,2.03,0.00,0.000,1030,0.000,0.052,2578,1808,2292,2306,2278,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6374,-1.40,-82.7,2578,1808,2304,2278,949.9,-23.2,321,6379,0.00,2.10,0.00,0.000,516,0.000,0.062,2578,402,2291,2304,2278,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6607,-1.40,-82.7,2578,402,2303,2278,1001.8,-24.9,328,6614,0.15,2.00,0.00,0.000,3078,0.231,0.052,2602,1798,2290,2303,2278,0,0,0,0,0,0,25.76,26.36,28.83
$GC,6915,-1.48,-82.7,2602,1798,2301,2278,1081.6,-24.3,334,6918,0.00,2.10,0.00,0.000,516,0.000,0.062,2603,402,2289,2301,2278,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7144,-1.55,-82.7,2602,402,2298,2278,1130.3,-26.3,337,7149,0.08,2.05,0.00,0.000,5126,0.149,0.052,2562,1809,2288,2298,2278,0,0,0,0,0,0,26.24,26.34,28.83
$GC,7452,-1.61,-82.7,2561,1809,2295,2278,1228.3,-27.6,342,7455,0.00,2.10,0.00,0.000,516,0.000,0.062,2562,412,2286,2295,2278,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7681,-1.61,-82.7,2562,412,2293,2278,1281.6,-29.0,345,7685,0.00,2.00,0.00,0.000,1030,0.000,0.052,2551,1798,2286,2293,2279,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7988,-1.67,-82.7,2551,1798,2291,2278,1384.3,-28.8,350,7992,0.08,2.10,0.00,0.000,4612,0.151,0.062,2526,432,2285,2292,2278,0,0,0,0,0,0,26.50,26.20,28.83
$GC,8218,-1.67,-82.7,2526,406,2288,2278,1441.5,-30.8,353,8222,0.00,2.03,0.00,0.000,1030,0.000,0.052,2516,1800,2283,2288,2278,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8525,-1.67,-82.7,2516,1800,2285,2278,1547.3,-29.2,358,8529,0.00,2.08,0.00,0.000,516,0.000,0.062,2516,413,2281,2285,2278,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8754,-1.67,-82.7,2516,412,2283,2278,1603.1,-30.6,361,8758,0.00,2.03,0.00,0.000,1030,0.000,0.052,2506,1808,2280,2283,2278,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9061,-1.67,-82.7,2506,1808,2281,2278,1707.1,-28.8,366,9065,0.00,2.12,0.00,0.000,516,0.000,0.062,2506,408,2279,2281,2278,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9290,-1.67,-82.7,2506,407,2279,2278,1761.9,-30.1,369,9294,0.00,2.03,0.00,0.000,1030,0.000,0.052,2496,1799,2278,2279,2278,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9597,-1.67,-82.7,2495,1798,2277,2277,1864.4,-28.4,374,9601,0.00,2.12,0.00,0.000,516,0.000,0.062,2496,404,2277,2277,2277,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9606,-1.67,-82.7,2495,400,2276,2277,1864.4,-28.4,374,9610,0.00,2.08,0.00,0.000,1030,0.000,0.052,2486,1795,2276,2276,2277,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9959,-1.67,-82.7,2485,1795,2275,2276,1966.6,-28.2,380,9965,0.00,2.12,0.00,0.000,260,0.000,0.062,2475,3202,2275,2274,2276,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10185,-1.72,-82.7,2474,3202,2275,2274,2017.7,-28.2,383,10189,0.00,2.08,0.00,0.000,1030,0.000,0.052,2475,1797,2274,2275,2274,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10498,-1.72,-82.7,2474,1797,2274,2273,2116.1,-27.6,389,10503,0.00,2.10,0.00,0.000,516,0.000,0.062,2475,399,2273,2273,2274,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10732,-1.72,-82.7,2474,399,2271,2274,2170.0,-28.5,392,10737,0.15,2.10,0.00,0.000,3078,0.223,0.052,2499,1805,2272,2271,2274,0,0,0,0,0,0,25.70,26.29,28.83
$GC,11048,-1.81,-82.7,2498,1805,2270,2273,2263.6,-25.3,398,11055,0.00,2.12,0.00,0.000,516,0.000,0.062,2499,404,2271,2270,2273,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11250,-1.87,-82.7,2498,404,2268,2273,2314.0,-26.4,401,11256,0.10,2.08,0.00,0.000,5126,0.127,0.052,2450,1808,2270,2268,2273,0,0,0,0,0,0,26.17,26.27,28.83
$GC,11596,-1.87,-82.7,2450,1808,2268,2272,2409.6,-26.6,407,11603,0.00,2.12,0.00,0.000,516,0.000,0.062,2450,406,2270,2268,2272,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11790,-1.87,-82.7,2450,406,2266,2272,2462.2,-27.7,410,11794,0.00,2.08,0.00,0.000,1030,0.000,0.052,2440,1803,2269,2266,2272,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12140,-1.87,-82.7,2439,1804,2266,2271,2554.2,-25.5,416,12144,0.00,2.12,0.00,0.000,516,0.000,0.062,2439,404,2268,2266,2271,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12310,-1.87,-82.7,2439,404,2265,2271,2587.7,-26.0,418,12314,0.00,2.08,0.00,0.000,1030,0.000,0.052,2429,1805,2268,2265,2271,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12619,-1.87,-82.7,2429,1805,2265,2270,2677.3,-24.8,423,12624,0.00,2.12,0.00,0.000,516,0.000,0.062,2429,406,2267,2265,2270,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12853,-1.87,-82.7,2429,405,2264,2270,2726.1,-26.1,426,12857,0.00,2.10,0.00,0.000,1030,0.000,0.052,2419,1806,2267,2264,2270,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13167,-1.87,-82.7,2418,1806,2264,2270,2815.8,-24.6,432,13172,0.12,2.10,0.00,0.000,2564,0.243,0.060,2455,414,2266,2264,2269,0,0,0,0,0,0,25.85,26.07,28.83
$GC,13353,-1.87,-82.7,2455,414,2263,2270,2861.3,-24.4,435,13358,0.00,2.05,0.00,0.000,1030,0.000,0.052,2446,1802,2266,2263,2270,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13717,-1.96,-82.7,2446,1802,2263,2269,2944.5,-22.7,441,13722,0.00,2.15,0.00,0.000,516,0.000,0.065,2446,408,2265,2262,2269,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13904,-2.03,-82.7,2446,408,2262,2269,2988.0,-23.3,444,13909,0.05,2.10,0.00,0.000,5126,0.112,0.055,2409,1808,2265,2262,2269,0,0,0,0,0,0,26.08,26.22,28.83
$GC,14263,-2.08,-82.7,2408,1808,2262,2269,3068.9,-22.6,450,14268,0.00,2.17,0.00,0.000,516,0.000,0.062,2411,398,2265,2262,2268,0,0,0,0,0,0,28.83,26.04,28.83
$GC,14496,-2.08,-82.7,2411,398,2260,2269,3110.9,-22.8,453,14500,0.00,2.08,0.00,0.000,1030,0.000,0.052,2401,1800,2265,2261,2269,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14805,-2.14,-82.7,2401,1800,2260,2269,3187.0,-20.9,458,14810,0.08,2.15,0.00,0.000,4612,0.156,0.060,2376,392,2264,2260,2269,0,0,0,0,0,0,26.45,26.02,28.83
$GC,15041,-2.14,-82.7,2375,392,2259,2269,3230.7,-23.0,461,15045,0.00,2.10,0.00,0.000,1030,0.000,0.052,2366,1806,2264,2259,2269,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15347,-2.14,-82.7,2365,1806,2259,2268,3309.8,-21.8,466,15352,0.00,2.15,0.00,0.000,516,0.000,0.062,2366,397,2263,2259,2268,0,0,0,0,0,0,28.83,26.01,28.83
$GC,15582,-2.14,-82.7,2365,398,2258,2268,3351.5,-22.6,469,15586,0.00,2.08,0.00,0.000,1030,0.000,0.052,2356,1808,2263,2258,2268,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15893,-2.14,-82.7,2355,1808,2258,2268,3427.3,-20.6,474,15898,0.00,2.17,0.00,0.000,516,0.000,0.062,2355,399,2263,2258,2268,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,16017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,16017,begin apogee
$GC,16025,-0.19,0.0,2341,2290,2258,2268,3455.1,-21.0,476,16101,2.33,0.00,70.12,3.223,10246,0.204,0.000,2983,2291,2000,1972,2029,0,0,0,0,0,0,24.54,28.83,21.11
$STATE,16102,end apogee,CONTROL_FINISHED_OK
$STATE,16102,begin climb
$GC,16104,1.68,82.7,2983,2291,1972,2029,3458.1,0.0,477,16199,1.70,2.60,82.03,3.176,10500,0.062,0.077,3603,3698,1719,1670,1769,0,0,0,0,0,0,23.77,22.98,20.61
$GC,16425,1.54,82.7,3603,3698,1670,1767,3408.8,19.8,482,16430,0.30,2.17,0.00,0.000,5126,0.248,0.052,3545,2302,1718,1670,1767,0,0,0,0,0,0,24.85,25.41,28.83
$GC,16738,1.54,82.7,3545,2302,1670,1767,3338.4,18.8,488,16739,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2302,1718,1670,1767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17038,1.54,82.7,3544,2302,1670,1767,3285.2,17.6,493,17044,0.00,2.22,0.00,0.000,260,0.000,0.065,3545,3701,1718,1670,1767,0,0,0,0,0,0,28.83,26.06,28.83
$GC,17131,1.54,82.7,3545,3701,1671,1766,3274.0,17.7,494,17135,0.00,2.12,0.00,0.000,1030,0.000,0.052,3555,2295,1719,1671,1767,0,0,0,0,0,0,28.83,26.18,28.83
$GC,17453,1.54,82.7,3555,2295,1671,1767,3212.6,16.9,500,17456,0.00,2.22,0.00,0.000,260,0.000,0.067,3551,3694,1718,1671,1766,0,0,0,0,0,0,28.83,26.13,28.83
$GC,17542,1.54,82.7,3551,3701,1671,1765,3202.2,16.9,501,17546,0.00,2.12,0.00,0.000,1030,0.000,0.052,3562,2290,1718,1670,1766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,17869,1.54,82.7,3561,2291,1671,1766,3143.8,16.1,507,17874,0.00,2.10,0.00,0.000,516,0.000,0.060,3572,903,1718,1671,1766,0,0,0,0,0,0,28.83,26.18,28.83
$GC,18077,1.54,82.7,3572,903,1671,1766,3116.6,15.4,510,18081,0.00,2.12,0.00,0.000,1030,0.000,0.057,3572,2309,1718,1671,1766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,18404,1.54,82.7,3572,2309,1671,1766,3066.8,13.9,516,18410,0.00,2.17,0.00,0.000,260,0.000,0.067,3572,3699,1718,1671,1766,0,0,0,0,0,0,28.83,26.16,28.83
$GC,18465,1.49,82.7,3572,3699,1671,1766,3058.2,13.9,517,18471,0.22,2.10,0.00,0.000,5126,0.246,0.052,3525,2299,1718,1671,1766,0,0,0,0,0,0,25.41,26.29,28.83
$GC,18824,1.49,82.7,3524,2299,1670,1766,3014.2,12.1,523,18830,0.00,2.12,0.00,0.000,516,0.000,0.060,3536,898,1718,1671,1766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,18997,1.49,82.7,3535,898,1671,1766,2999.9,11.9,525,19003,0.00,2.12,0.00,0.000,1030,0.000,0.057,3532,2305,1718,1670,1766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,19304,1.49,82.7,3532,2304,1671,1766,2956.1,12.0,531,19310,0.00,2.20,0.00,0.000,260,0.000,0.067,3532,3700,1718,1671,1766,0,0,0,0,0,0,28.83,26.14,28.83
$GC,19438,1.49,82.7,3532,3700,1671,1766,2941.0,12.2,533,19442,0.00,2.10,0.00,0.000,1030,0.000,0.052,3543,2300,1718,1671,1766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,19780,1.49,82.7,3542,2300,1671,1765,2900.6,11.1,539,19785,0.00,2.22,0.00,0.000,260,0.000,0.067,3543,3705,1718,1671,1766,0,0,0,0,0,0,28.83,26.13,28.83
$GC,19943,1.49,82.7,3542,3706,1671,1765,2887.2,11.1,541,19947,0.00,2.12,0.00,0.000,1030,0.000,0.052,3553,2294,1718,1671,1765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,20255,1.49,83.6,3553,2294,1671,1765,2851.2,9.8,547,20260,0.00,2.10,0.00,0.000,516,0.000,0.060,3564,904,1718,1671,1765,0,0,0,0,0,0,28.83,26.18,28.83
$GC,20386,1.49,85.9,3563,904,1671,1765,2839.9,9.5,549,20397,0.12,2.08,4.12,1.621,13318,0.233,0.057,3529,2303,1709,1662,1756,0,0,0,0,0,0,25.55,26.21,23.18
$GC,20736,1.49,88.2,3528,2303,1662,1756,2805.7,9.5,555,20742,0.00,0.00,4.18,1.631,8198,0.000,0.000,3529,2303,1701,1656,1747,0,0,0,0,0,0,28.83,28.83,23.29
$GC,21035,1.49,91.2,3529,2303,1656,1747,2777.7,9.3,560,21042,0.00,0.00,4.40,1.693,8198,0.000,0.000,3529,2303,1691,1646,1736,0,0,0,0,0,0,28.83,28.83,23.32
$GC,21336,1.49,92.5,3528,2303,1646,1736,2748.6,9.7,565,21337,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2303,1691,1646,1736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21635,1.49,95.7,3529,2303,1646,1736,2720.8,9.3,570,21647,0.00,2.22,6.10,2.019,8452,0.000,0.072,3518,3690,1675,1631,1720,0,0,0,0,0,0,28.83,25.99,23.34
$GC,21824,1.49,96.0,3518,3690,1631,1718,2702.3,9.9,573,21828,0.00,2.12,0.00,0.000,1030,0.000,0.052,3529,2292,1674,1631,1718,0,0,0,0,0,0,28.83,26.13,28.83
$GC,22171,1.49,99.1,3529,2292,1631,1718,2669.0,9.3,579,22177,0.00,0.00,4.75,1.746,8198,0.000,0.000,3529,2292,1664,1621,1707,0,0,0,0,0,0,28.83,28.83,23.41
$GC,22471,1.49,100.0,3529,2292,1621,1707,2639.7,9.8,584,22476,0.00,2.12,0.00,0.000,516,0.000,0.060,3539,896,1664,1621,1707,0,0,0,0,0,0,28.83,26.10,28.83
$GC,22633,1.49,100.4,3539,896,1621,1707,2627.9,9.9,586,22638,0.00,2.12,0.00,0.000,1030,0.000,0.055,3532,2297,1664,1621,1707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,22945,1.49,100.4,3532,2297,1621,1707,2592.2,10.0,592,22951,0.00,2.15,0.00,0.000,516,0.000,0.060,3542,897,1664,1621,1707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,23006,1.49,100.4,3542,897,1621,1707,2586.1,10.1,593,23011,0.00,2.10,0.00,0.000,1030,0.000,0.057,3543,2304,1664,1621,1707,0,0,0,0,0,0,28.83,26.18,28.83
$GC,23365,1.49,100.4,3542,2304,1621,1707,2549.5,10.1,599,23366,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2304,1663,1620,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23666,1.49,101.7,3542,2304,1621,1706,2520.0,9.7,604,23672,0.00,0.00,4.10,1.520,8198,0.000,0.000,3543,2304,1655,1612,1698,0,0,0,0,0,0,28.83,28.83,23.55
$GC,23965,1.49,101.7,3542,2304,1613,1698,2489.7,10.2,609,23971,0.00,2.15,0.00,0.000,516,0.000,0.060,3553,902,1655,1612,1698,0,0,0,0,0,0,28.83,26.15,28.83
$GC,24068,1.49,101.7,3553,903,1612,1698,2483.5,10.3,610,24072,0.00,2.12,0.00,0.000,1030,0.000,0.057,3548,2302,1655,1612,1698,0,0,0,0,0,0,28.83,26.18,28.83
$GC,24381,1.49,103.8,3548,2301,1612,1698,2448.7,9.5,616,24385,0.00,2.20,0.00,0.000,260,0.000,0.067,3549,3684,1655,1612,1698,0,0,0,0,0,0,28.83,26.10,28.83
$GC,24575,1.49,103.8,3548,3698,1612,1698,2429.7,10.2,619,24579,0.00,2.12,0.00,0.000,1030,0.000,0.052,3559,2292,1655,1612,1698,0,0,0,0,0,0,28.83,26.26,28.83
$GC,24918,1.49,107.1,3559,2292,1612,1698,2396.1,9.3,625,24926,0.00,0.00,6.53,1.934,8198,0.000,0.000,3558,2292,1637,1595,1680,0,0,0,0,0,0,28.83,28.83,23.51
$GC,25217,1.49,107.1,3559,2292,1594,1680,2366.5,10.0,630,25223,0.00,2.12,0.00,0.000,516,0.000,0.060,3570,897,1637,1594,1680,0,0,0,0,0,0,28.83,26.09,28.83
$GC,25342,1.49,107.9,3570,897,1594,1680,2354.6,9.8,632,25348,0.17,2.12,0.00,0.000,5126,0.233,0.055,3529,2301,1637,1594,1680,0,0,0,0,0,0,25.51,26.13,28.83
$GC,25699,1.55,114.8,3529,2301,1594,1680,2323.4,8.5,638,25714,0.00,2.28,8.43,2.078,8452,0.000,0.072,3529,3698,1611,1568,1654,0,0,0,0,0,0,28.83,25.91,23.43
$GC,25807,1.60,121.6,3529,3698,1568,1653,2317.9,8.5,639,25820,0.00,2.15,7.75,2.026,9222,0.000,0.050,3540,2286,1588,1544,1632,0,0,0,0,0,0,28.83,26.04,23.27
$GC,26179,1.66,121.6,3540,2286,1544,1632,2271.4,11.1,646,26185,0.10,2.08,0.00,0.000,2564,0.142,0.057,3583,901,1588,1544,1632,0,0,0,0,0,0,26.13,25.99,28.83
$GC,26341,1.66,121.6,3583,901,1543,1632,2257.7,11.1,648,26345,0.00,2.12,0.00,0.000,1030,0.000,0.055,3580,2299,1588,1544,1632,0,0,0,0,0,0,28.83,26.08,28.83
$GC,26654,1.66,121.6,3579,2299,1544,1632,2218.5,10.9,654,26659,0.00,2.22,0.00,0.000,260,0.000,0.067,3580,3705,1588,1544,1632,0,0,0,0,0,0,28.83,26.06,28.83
$GC,26743,1.66,121.6,3580,3705,1544,1632,2211.5,11.0,655,26749,0.00,2.12,0.00,0.000,1030,0.000,0.052,3590,2298,1588,1544,1632,0,0,0,0,0,0,28.83,26.20,28.83
$GC,27073,1.66,121.6,3590,2298,1544,1632,2171.4,11.1,661,27079,0.00,2.12,0.00,0.000,516,0.000,0.060,3601,901,1588,1544,1632,0,0,0,0,0,0,28.83,26.14,28.83
$GC,27157,1.66,121.6,3601,901,1544,1632,2165.2,10.9,662,27160,0.00,2.10,0.00,0.000,1030,0.000,0.057,3600,2304,1588,1544,1632,0,0,0,0,0,0,28.83,26.17,28.83
$GC,27494,1.66,121.6,3600,2303,1544,1632,2127.2,10.6,668,27500,0.00,2.17,0.00,0.000,260,0.000,0.067,3601,3698,1588,1544,1632,0,0,0,0,0,0,28.83,26.10,28.83
$GC,27722,1.66,121.6,3600,3698,1544,1632,2108.6,10.4,671,27726,0.00,2.10,0.00,0.000,1030,0.000,0.052,3611,2301,1588,1544,1632,0,0,0,0,0,0,28.83,26.27,28.83
$GC,28029,1.66,124.9,3611,2301,1544,1632,2074.7,9.3,676,28040,0.00,2.17,4.90,1.564,8708,0.000,0.062,3622,898,1576,1532,1620,0,0,0,0,0,0,28.83,26.16,23.64
$GC,28188,1.66,127.4,3622,898,1531,1621,2063.1,9.4,678,28192,0.15,2.12,0.00,0.000,5126,0.238,0.055,3584,2301,1575,1531,1620,0,0,0,0,0,0,25.60,26.15,28.83
$GC,28505,1.66,130.6,3584,2301,1531,1620,2029.0,9.3,684,28517,0.00,2.25,6.32,1.755,8452,0.000,0.072,3574,3699,1557,1513,1602,0,0,0,0,0,0,28.83,26.01,23.58
$GC,28719,1.66,130.6,3573,3699,1513,1601,2009.6,10.4,687,28723,0.00,2.12,0.00,0.000,1030,0.000,0.052,3584,2300,1557,1513,1601,0,0,0,0,0,0,28.83,26.13,28.83
$GC,29041,1.66,134.1,3584,2299,1513,1601,1975.4,9.2,693,29052,0.00,2.30,5.07,1.559,8452,0.000,0.070,3584,3706,1545,1499,1592,0,0,0,0,0,0,28.83,26.03,23.61
$GC,29281,1.66,134.1,3584,3706,1499,1591,1951.5,10.0,697,29287,0.00,2.12,0.00,0.000,1030,0.000,0.052,3595,2296,1545,1499,1591,0,0,0,0,0,0,28.83,26.15,28.83
$GC,29642,1.66,138.8,3594,2296,1499,1591,1919.1,9.0,703,29653,0.00,2.15,5.80,1.649,8708,0.000,0.062,3605,907,1529,1482,1576,0,0,0,0,0,0,28.83,26.04,23.61
$GC,29800,1.66,142.6,3605,906,1481,1576,1907.9,9.2,705,29810,0.00,2.10,4.57,1.440,9222,0.000,0.055,3601,2300,1517,1468,1567,0,0,0,0,0,0,28.83,26.07,23.57
$GC,30118,1.66,142.6,3601,2300,1468,1567,1870.8,10.7,711,30123,0.00,2.12,0.00,0.000,516,0.000,0.060,3611,900,1517,1468,1566,0,0,0,0,0,0,28.83,26.06,28.83
$GC,30302,1.66,142.6,3611,900,1467,1567,1851.6,10.7,714,30306,0.00,2.10,0.00,0.000,1030,0.000,0.057,3611,2300,1517,1467,1567,0,0,0,0,0,0,28.83,26.12,28.83
$GC,30653,1.66,142.6,3611,2301,1468,1566,1814.0,10.7,720,30659,0.00,2.22,0.00,0.000,260,0.000,0.067,3611,3709,1517,1467,1567,0,0,0,0,0,0,28.83,26.07,28.83
$GC,30886,1.66,142.6,3611,3709,1467,1567,1793.7,11.1,723,30893,0.17,2.12,0.00,0.000,5126,0.243,0.050,3582,2296,1517,1467,1567,0,0,0,0,0,0,25.51,26.25,28.83
$GC,31194,1.73,143.8,3582,2296,1467,1566,1757.4,9.7,729,31195,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2296,1516,1467,1566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31494,1.79,144.8,3582,2296,1467,1566,1728.0,9.8,734,31503,0.10,2.15,3.88,1.199,10756,0.146,0.060,3627,907,1509,1460,1559,0,0,0,0,0,0,26.36,26.19,23.77
$GC,31644,1.84,145.3,3626,906,1459,1559,1716.0,9.9,736,31648,0.00,2.10,0.00,0.000,1030,0.000,0.055,3627,2301,1509,1459,1559,0,0,0,0,0,0,28.83,26.17,28.83
$GC,31965,1.84,145.3,3626,2301,1459,1559,1679.9,10.0,742,31971,0.00,2.12,0.00,0.000,516,0.000,0.060,3637,907,1509,1459,1559,0,0,0,0,0,0,28.83,26.16,28.83
$GC,32109,1.84,145.8,3637,907,1459,1559,1668.0,9.9,744,32113,0.00,2.10,0.00,0.000,1030,0.000,0.055,3634,2302,1509,1459,1559,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,44314,end climb,SURFACE_DEPTH_REACHED
$STATE,44314,begin surface coast
$FINISH,0.1,1.025681
$STATE,44325,end surface coast,CONTROL_FINISHED_OK
$STATE,44325,begin surface
$SM_CCo,44345,103.75,0.976,0,0,983,300.22
$SM_GC,0.78,9.00,2.85,103.75,0.057,0.050,0.976,217,1826,983,-8.77,2.12,300.22,0,0,0,0,0,0,26.16,26.23,23.74
$IRIDIUM_FIX,3155.70,-6435.48,040414,141443
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.02
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,21.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,3441.5,30.4
$24V_AH,20.6,52.115
$10V_AH,10.2,11.173
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.400,340.675,267.550,103.750,0.000,52.325,87.110,270.745,37.750,0.000,15.010,3884.197,33760.176,604.851,6235.602,520.018,0.386,3495.736,0.000,5540.517,0.000,284.132,0.000
$DEVICE_MAMPS,265.681,76.973,3222.934,975.819,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.666,1433.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329620
$DATA_FILE_SIZE,70143,1085
$CAP_FILE_SIZE,401766,0
$CFSIZE,260165632,234033152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050414,030600,3207.827,-6433.016,38,1.2,38,-15.5