version: 66.12
glider: 35
mission: 22
dive: 86
start: 4 13 114 17 17 37
data:
$ID,35
$MISSION,22
$DIVE,86
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,4800
$D_ABORT,5000
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,1600
$T_MISSION,1620
$T_ABORT,1650
$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,-997906.81
$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,59
$R_STBD_OVSHOOT,46
$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,3000
$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
$GPS1,130414,170806,3140.042,-6418.876,35,1.4,35,-15.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.0
$GPS2,130414,171713,3140.042,-6418.989,14,1.6,14,-15.4
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,BATS150
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.153,-0.065
$KALMAN_X,33595.0,0.0,0.0,-19139.2,-720.1
$KALMAN_Y,32398.2,0.0,0.0,-93680.6,5931.8
$MHEAD_RNG_PITCHd_Wd,128.5,14170,-29.1,-10.000,-31.06,1021
$D_GRID,4800
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,357,-0.81,-125.7,2687,401,2418,2423,60.3,-25.6,33,364,0.45,2.08,0.00,0.000,3078,0.228,0.052,2790,1827,2421,2418,2424,0,0,0,0,0,0,25.14,26.21,28.83
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$GC,1446,-0.56,-125.7,2867,1810,2417,2424,247.0,-14.9,110,1451,0.00,2.10,0.00,0.000,516,0.000,0.062,2868,402,2420,2417,2423,0,0,0,0,0,0,28.83,26.23,28.83
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$GC,2251,-0.56,-125.7,2858,1801,2417,2424,368.4,-14.8,142,2257,0.00,2.10,0.00,0.000,516,0.000,0.062,2858,392,2420,2417,2424,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2311,-0.56,-125.7,2858,392,2417,2424,378.3,-15.5,144,2315,0.00,2.03,0.00,0.000,1030,0.000,0.052,2848,1806,2420,2417,2424,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2642,-0.56,-125.7,2848,1806,2417,2424,430.3,-15.8,155,2648,0.00,2.12,0.00,0.000,516,0.000,0.062,2848,394,2420,2417,2424,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2740,-0.56,-125.7,2847,393,2418,2424,446.1,-16.9,158,2745,0.15,2.05,0.00,0.000,3078,0.206,0.052,2874,1810,2420,2417,2424,0,0,0,0,0,0,25.88,26.36,28.83
$GC,3058,-0.56,-125.7,2873,1810,2417,2424,494.7,-14.8,169,3063,0.00,2.10,0.00,0.000,516,0.000,0.062,2874,402,2420,2417,2424,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3276,-0.56,-125.7,2874,402,2417,2424,529.8,-16.8,176,3280,0.00,2.03,0.00,0.000,1030,0.000,0.052,2864,1804,2420,2417,2424,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3598,-0.56,-125.7,2864,1805,2417,2424,580.3,-14.9,187,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1805,2420,2417,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.56,-125.7,2864,1805,2417,2424,626.1,-15.0,197,3903,0.00,2.10,0.00,0.000,516,0.000,0.062,2865,396,2420,2417,2424,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4006,-0.56,-125.7,2864,396,2417,2424,640.7,-16.0,200,4010,0.00,2.03,0.00,0.000,1030,0.000,0.052,2856,1801,2420,2417,2424,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4318,-0.56,-125.7,2855,1802,2417,2424,693.3,-16.0,211,4323,0.00,2.10,0.00,0.000,516,0.000,0.062,2855,394,2420,2417,2424,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4482,-0.56,-125.7,2854,393,2417,2424,720.0,-18.2,216,4486,0.00,2.03,0.00,0.000,1030,0.000,0.052,2845,1806,2420,2417,2424,0,0,0,0,0,0,28.83,26.37,28.83
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$GC,5815,-0.74,-125.7,2874,1809,2411,2424,947.0,-16.6,261,5821,0.12,2.08,0.00,0.000,4612,0.112,0.062,2813,406,2416,2410,2423,0,0,0,0,0,0,26.46,26.27,28.83
$GC,5977,-0.74,-125.7,2813,406,2409,2424,978.4,-21.6,266,5981,0.00,2.03,0.00,0.000,1030,0.000,0.052,2803,1798,2416,2409,2424,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6319,-0.74,-125.7,2803,1799,2408,2424,1052.0,-20.7,274,6325,0.00,2.10,0.00,0.000,516,0.000,0.062,2803,398,2416,2408,2424,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6453,-0.74,-125.7,2803,398,2405,2424,1078.3,-21.2,276,6457,0.00,2.05,0.00,0.000,1030,0.000,0.052,2793,1799,2414,2405,2424,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6795,-0.74,-125.7,2793,1800,2404,2423,1153.0,-20.9,282,6800,0.00,2.12,0.00,0.000,516,0.000,0.062,2793,400,2414,2404,2424,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6862,-0.74,-125.7,2793,400,2402,2424,1166.3,-21.1,283,6866,0.00,2.05,0.00,0.000,1030,0.000,0.052,2783,1814,2413,2402,2424,0,0,0,0,0,0,28.83,26.36,28.83
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$GC,8345,-0.92,-125.7,2803,1797,2394,2418,1474.9,-19.8,308,8347,0.10,0.00,0.00,0.000,4102,0.124,0.000,2752,1797,2405,2393,2418,0,0,0,0,0,0,26.48,28.83,28.83
$GC,8645,-0.92,-125.7,2752,1797,2392,2416,1543.0,-22.8,313,8651,0.00,2.12,0.00,0.000,516,0.000,0.062,2753,405,2404,2392,2416,0,0,0,0,0,0,28.83,26.23,28.83
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$GC,9065,-0.92,-125.7,2741,1801,2390,2415,1641.0,-22.7,320,9069,0.00,2.12,0.00,0.000,516,0.000,0.062,2742,410,2402,2390,2414,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9126,-0.92,-125.7,2741,396,2389,2415,1655.5,-23.0,321,9132,0.00,2.05,0.00,0.000,1030,0.000,0.052,2731,1802,2402,2389,2415,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9486,-0.92,-125.7,2731,1801,2389,2413,1737.5,-22.7,327,9490,0.00,2.12,0.00,0.000,516,0.000,0.062,2731,408,2401,2389,2413,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9547,-0.92,-125.7,2731,396,2388,2414,1752.0,-22.7,328,9554,0.15,2.08,0.00,0.000,3078,0.201,0.052,2758,1800,2400,2388,2413,0,0,0,0,0,0,25.86,26.33,28.83
$GC,9908,-0.92,-125.7,2759,1800,2387,2413,1825.8,-20.4,334,9912,0.00,2.12,0.00,0.000,516,0.000,0.065,2758,410,2400,2387,2413,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9962,-0.92,-125.7,2758,404,2386,2413,1825.8,-20.4,334,9969,0.00,2.08,0.00,0.000,1030,0.000,0.052,2751,1804,2399,2386,2413,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10269,-0.92,-125.7,2750,1805,2386,2411,1900.2,-20.3,340,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1805,2398,2386,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10569,-0.92,-125.7,2750,1805,2385,2410,1960.0,-19.9,345,10573,0.00,2.15,0.00,0.000,516,0.000,0.062,2751,407,2397,2385,2410,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10643,-0.92,-125.7,2750,399,2384,2411,1972.6,-20.0,346,10647,0.00,2.10,0.00,0.000,1030,0.000,0.052,2741,1809,2397,2384,2411,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10985,-0.92,-125.7,2741,1809,2383,2409,2042.6,-19.4,352,10991,0.00,2.12,0.00,0.000,516,0.000,0.062,2741,408,2396,2383,2409,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11088,-0.92,-125.7,2741,408,2382,2409,2054.8,-19.5,353,11092,0.00,2.08,0.00,0.000,1030,0.000,0.052,2732,1806,2395,2382,2409,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11400,-0.92,-125.7,2731,1806,2383,2408,2124.2,-19.4,359,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1806,2395,2383,2408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11700,-0.92,-125.7,2730,1806,2382,2407,2181.5,-19.1,364,11706,0.00,2.12,0.00,0.000,516,0.000,0.062,2731,406,2394,2381,2407,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11760,-0.92,-125.7,2731,406,2380,2407,2193.2,-19.1,365,11766,0.12,2.08,0.00,0.000,3078,0.196,0.052,2753,1808,2393,2380,2407,0,0,0,0,0,0,25.92,26.30,28.83
$GC,12122,-1.01,-125.7,2752,1808,2380,2407,2255.7,-17.3,371,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1808,2393,2380,2407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12420,-1.10,-125.7,2753,1808,2380,2406,2305.1,-16.4,376,12422,0.12,0.00,0.00,0.000,4102,0.114,0.000,2701,1808,2393,2380,2406,0,0,0,0,0,0,26.44,28.83,28.83
$GC,12720,-1.10,-125.7,2700,1808,2379,2406,2363.1,-19.4,381,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1808,2392,2379,2406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13020,-1.10,-125.7,2700,1808,2378,2406,2421.3,-19.4,386,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1808,2392,2378,2406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13321,-1.10,-125.7,2701,1808,2378,2405,2477.9,-18.8,391,13326,0.00,2.15,0.00,0.000,516,0.000,0.062,2701,400,2391,2377,2406,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13428,-1.10,-125.7,2701,400,2377,2406,2489.8,-19.1,392,13432,0.00,2.10,0.00,0.000,1030,0.000,0.052,2691,1812,2391,2377,2406,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13735,-1.10,-125.7,2691,1812,2376,2406,2558.4,-19.2,397,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1812,2391,2377,2406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14036,-1.10,-125.7,2691,1812,2376,2405,2614.7,-18.7,402,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1812,2391,2377,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14336,-1.15,-125.7,2691,1812,2377,2405,2669.7,-18.3,407,14342,0.00,2.12,0.00,0.000,516,0.000,0.062,2692,411,2390,2376,2405,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14388,-1.20,-125.7,2691,411,2376,2405,2669.7,-18.3,407,14395,0.00,2.08,0.00,0.000,1030,0.000,0.052,2682,1805,2390,2376,2405,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14696,-1.20,-125.7,2681,1805,2376,2405,2735.4,-17.9,413,14697,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1805,2390,2376,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14996,-1.26,-125.7,2681,1805,2376,2405,2787.7,-17.3,418,14997,0.05,0.00,0.00,0.000,4102,0.184,0.000,2648,1804,2390,2376,2405,0,0,0,0,0,0,26.52,28.83,28.83
$GC,15295,-1.26,-125.7,2647,1805,2376,2404,2844.6,-19.1,423,15299,0.00,2.15,0.00,0.000,516,0.000,0.062,2648,401,2390,2376,2405,0,0,0,0,0,0,28.83,26.09,28.83
$GC,15380,-1.26,-125.7,2647,400,2375,2405,2857.2,-19.3,424,15384,0.00,2.10,0.00,0.000,1030,0.000,0.052,2637,1809,2390,2375,2405,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15711,-1.26,-125.7,2637,1809,2375,2405,2926.9,-19.3,430,15717,0.00,2.15,0.00,0.000,516,0.000,0.065,2637,403,2390,2375,2405,0,0,0,0,0,0,28.83,26.08,28.83
$GC,15771,-1.26,-125.7,2637,403,2373,2405,2939.3,-19.5,431,15775,0.00,2.08,0.00,0.000,1030,0.000,0.052,2627,1800,2389,2374,2405,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16134,-1.26,-125.7,2626,1801,2373,2405,3008.8,-18.9,437,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1801,2389,2373,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16434,-1.26,-125.7,2626,1801,2373,2404,3063.9,-18.2,442,16435,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1801,2388,2374,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16734,-1.26,-125.7,2626,1801,2373,2404,3116.0,-17.3,447,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1801,2388,2373,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17034,-1.26,-125.7,2626,1801,2373,2404,3167.0,-17.1,452,17039,0.00,2.15,0.00,0.000,516,0.000,0.065,2627,404,2388,2373,2404,0,0,0,0,0,0,28.83,26.06,28.83
$GC,17105,-1.26,-125.7,2627,404,2372,2404,3178.6,-17.3,453,17109,0.00,2.10,0.00,0.000,1030,0.000,0.052,2617,1805,2388,2373,2404,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17456,-1.26,-125.7,2617,1805,2372,2404,3238.3,-16.5,459,17457,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1805,2388,2372,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17753,-1.26,-125.7,2617,1805,2372,2404,3287.2,-16.3,464,17754,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1805,2388,2372,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18053,-1.26,-125.7,2617,1805,2372,2403,3334.8,-15.7,469,18054,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1805,2387,2372,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18353,-1.26,-125.7,2617,1805,2372,2403,3381.0,-15.4,474,18358,0.00,2.15,0.00,0.000,516,0.000,0.062,2618,408,2387,2372,2403,0,0,0,0,0,0,28.83,26.01,28.83
$GC,18437,-1.26,-125.7,2617,408,2371,2403,3391.1,-15.7,475,18442,0.15,2.10,0.00,0.000,3078,0.186,0.052,2646,1813,2387,2371,2403,0,0,0,0,0,0,25.75,26.21,28.83
$GC,18772,-1.34,-125.7,2646,1814,2371,2403,3441.3,-13.7,481,18773,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1814,2387,2371,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19071,-1.42,-125.7,2646,1814,2371,2403,3482.1,-13.6,486,19077,0.12,2.10,0.00,0.000,4356,0.114,0.062,2578,3187,2386,2371,2402,0,0,0,0,0,0,26.37,26.08,28.83
$GC,19108,-1.50,-125.7,2578,3187,2371,2402,3482.1,-13.6,486,19112,0.00,2.10,0.00,0.000,1030,0.000,0.055,2578,1802,2386,2371,2402,0,0,0,0,0,0,28.83,26.17,28.83
$GC,19425,-1.50,-125.7,2578,1802,2371,2402,3539.8,-16.3,492,19427,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1802,2386,2371,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19726,-1.50,-125.7,2579,1803,2371,2402,3588.9,-16.3,497,19730,0.00,2.15,0.00,0.000,516,0.000,0.065,2578,394,2386,2371,2402,0,0,0,0,0,0,28.83,25.98,28.83
$GC,19801,-1.50,-125.7,2578,394,2371,2402,3599.4,-16.5,498,19805,0.00,2.08,0.00,0.000,1030,0.000,0.052,2568,1798,2386,2371,2402,0,0,0,0,0,0,28.83,26.20,28.83
$GC,20147,-1.50,-125.7,2568,1798,2371,2402,3658.0,-16.3,504,20148,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1798,2386,2371,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20444,-1.50,-125.7,2568,1798,2371,2402,3706.8,-16.2,509,20445,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1798,2386,2371,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20744,-1.50,-125.7,2568,1798,2371,2402,3754.4,-15.9,514,20745,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1798,2386,2370,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21044,-1.50,-125.7,2568,1798,2371,2402,3800.2,-15.3,519,21049,0.00,2.15,0.00,0.000,516,0.000,0.065,2569,403,2386,2371,2402,0,0,0,0,0,0,28.83,25.96,28.83
$GC,21123,-1.50,-125.7,2568,403,2370,2402,3810.1,-15.4,520,21127,0.00,2.10,0.00,0.000,1030,0.000,0.052,2559,1804,2386,2370,2402,0,0,0,0,0,0,28.83,26.17,28.83
$GC,21461,-1.50,-125.7,2558,1804,2370,2402,3864.9,-15.2,526,21463,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1804,2385,2370,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21760,-1.50,-125.7,2559,1804,2370,2402,3909.5,-14.9,531,21761,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1804,2386,2370,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22060,-1.50,-125.7,2558,1804,2370,2402,3952.7,-14.4,536,22062,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1804,2386,2370,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22360,-1.50,-125.7,2558,1804,2370,2402,3994.7,-14.1,541,22362,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1804,2385,2370,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22661,-1.50,-125.7,2559,1804,2370,2401,4036.5,-13.9,546,22662,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1804,2385,2370,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22960,-1.50,-125.7,2558,1804,2370,2401,4076.3,-13.2,551,22962,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1804,2386,2370,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23260,-1.50,-125.7,2558,1804,2370,2401,4114.7,-12.8,556,23262,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1804,2386,2370,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23561,-1.50,-125.7,2558,1804,2370,2401,4152.3,-12.5,561,23562,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1804,2384,2368,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23859,-1.50,-125.7,2558,1804,2369,2402,4188.7,-12.1,566,23865,0.00,2.17,0.00,0.000,260,0.000,0.062,2548,3194,2385,2370,2401,0,0,0,0,0,0,28.83,25.96,28.83
$GC,23897,-1.50,-125.7,2548,3194,2369,2401,4188.7,-12.1,566,23901,0.00,2.12,0.00,0.000,1030,0.000,0.052,2549,1797,2385,2370,2401,0,0,0,0,0,0,28.83,26.12,28.83
$GC,24216,-1.50,-125.7,2548,1796,2370,2401,4231.4,-12.1,572,24217,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1797,2385,2370,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24515,-1.50,-125.7,2548,1796,2369,2401,4267.0,-12.0,577,24517,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1796,2385,2370,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24816,-1.50,-125.7,2548,1797,2369,2401,4302.0,-11.7,582,24821,0.00,2.17,0.00,0.000,260,0.000,0.062,2538,3186,2385,2369,2401,0,0,0,0,0,0,28.83,25.96,28.83
$GC,24867,-1.50,-125.7,2538,3186,2370,2400,4302.0,-11.7,582,24874,0.00,2.12,0.00,0.000,1030,0.000,0.052,2538,1793,2385,2370,2400,0,0,0,0,0,0,28.83,26.11,28.83
$GC,25175,-1.50,-125.7,2538,1793,2369,2400,4343.4,-11.6,588,25177,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1793,2385,2370,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25475,-1.50,-125.7,2538,1793,2370,2400,4377.5,-11.3,593,25476,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1793,2385,2370,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25774,-1.50,-125.7,2538,1793,2369,2400,4410.8,-11.1,598,25780,0.00,2.22,0.00,0.000,260,0.000,0.062,2528,3196,2385,2370,2400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,25835,-1.50,-125.7,2526,3196,2370,2400,4417.7,-11.2,599,25841,0.17,2.12,0.00,0.000,3078,0.184,0.052,2573,1792,2384,2369,2400,0,0,0,0,0,0,25.53,26.11,28.83
$GC,26196,-1.59,-130.1,2573,1792,2369,2400,4452.3,-9.6,605,26197,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1792,2384,2369,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26495,-1.68,-137.9,2573,1792,2369,2400,4479.9,-9.2,610,26501,0.12,2.17,0.00,0.000,4356,0.112,0.062,2506,3194,2385,2370,2400,0,0,0,0,0,0,26.40,25.93,28.83
$GC,26580,-1.75,-143.2,2505,3194,2370,2400,4486.5,-9.5,611,26584,0.00,2.10,0.00,0.000,1030,0.000,0.052,2506,1800,2385,2370,2400,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,26614,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,26614,begin apogee
$GC,26620,-0.19,0.0,2502,2300,2369,2400,4493.3,-10.0,612,26740,1.62,0.00,114.78,3.906,10246,0.169,0.000,2981,2300,2000,1961,2040,0,0,0,0,0,0,24.65,28.83,19.72
$STATE,26743,end apogee,CONTROL_FINISHED_OK
$STATE,26743,begin climb
$GC,26745,1.12,143.2,2981,2300,1961,2040,4492.7,0.0,614,26913,1.27,2.60,155.98,3.856,10500,0.067,0.082,3424,3691,1515,1444,1587,0,0,0,0,0,0,22.87,22.46,19.92
$GC,26976,1.12,143.2,3424,3691,1444,1586,4439.3,26.6,618,26982,0.00,2.30,0.00,0.000,1030,0.000,0.050,3435,2300,1515,1444,1586,0,0,0,0,0,0,28.83,24.22,28.83
$GC,27336,0.84,143.2,3435,2299,1444,1586,4325.2,31.3,624,27342,0.43,2.20,0.00,0.000,4356,0.231,0.065,3314,3690,1515,1444,1586,0,0,0,0,0,0,25.40,25.84,28.83
$GC,27389,0.56,143.2,3314,3690,1444,1585,4325.2,31.3,624,27397,0.35,2.15,0.00,0.000,5126,0.219,0.052,3235,2295,1514,1444,1585,0,0,0,0,0,0,25.48,25.97,28.83
$GC,27695,0.56,143.2,3234,2294,1444,1585,4243.4,21.1,630,27697,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2294,1514,1444,1585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27995,0.56,143.2,3235,2293,1444,1585,4182.9,20.2,635,27997,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2293,1514,1444,1585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28296,0.56,143.2,3235,2292,1444,1585,4124.0,19.7,640,28297,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2292,1514,1444,1585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28595,0.56,143.2,3235,2292,1444,1585,4066.1,19.3,645,28597,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2292,1514,1444,1585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28895,0.56,143.2,3234,2292,1444,1585,4010.1,18.6,650,28901,0.00,2.22,0.00,0.000,260,0.000,0.067,3235,3699,1514,1444,1585,0,0,0,0,0,0,28.83,26.20,28.83
$GC,28943,0.56,143.2,3235,3699,1444,1584,4010.1,18.6,650,28948,0.00,2.12,0.00,0.000,1030,0.000,0.052,3245,2296,1514,1444,1584,0,0,0,0,0,0,28.83,26.32,28.83
$GC,29251,0.56,143.2,3245,2295,1444,1584,3943.9,18.3,655,29252,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2295,1513,1444,1583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29550,0.56,143.2,3245,2295,1444,1584,3890.1,17.9,660,29552,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2295,1514,1444,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29850,0.56,143.2,3245,2295,1444,1584,3838.2,17.3,665,29852,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2295,1514,1444,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30150,0.56,143.2,3244,2295,1444,1584,3787.8,16.8,670,30152,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2295,1514,1444,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30451,0.56,143.2,3245,2295,1444,1583,3739.4,16.2,675,30452,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2295,1514,1444,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30750,0.56,143.2,3245,2296,1444,1583,3692.1,15.7,680,30752,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2295,1513,1444,1583,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,55773,1.44,222.4,3531,3706,1151,1342,911.0,12.5,1110,55777,0.00,2.12,0.00,0.000,1030,0.000,0.050,3541,2297,1246,1151,1342,0,0,0,0,0,0,28.83,26.26,28.83
$GC,56095,1.44,222.4,3541,2297,1151,1342,870.4,12.2,1121,56096,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2297,1246,1151,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56395,1.44,222.4,3541,2297,1151,1342,834.9,12.2,1131,56401,0.00,2.22,0.00,0.000,260,0.000,0.067,3541,3705,1246,1151,1342,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,57290,1.46,222.4,3496,2303,1151,1343,725.1,12.2,1160,57296,0.00,2.17,0.00,0.000,260,0.000,0.067,3496,3697,1248,1153,1343,0,0,0,0,0,0,28.83,26.04,28.83
$GC,57523,1.46,222.4,3496,3698,1154,1343,694.2,14.7,1167,57530,0.00,2.10,0.00,0.000,1030,0.000,0.052,3507,2296,1248,1153,1343,0,0,0,0,0,0,28.83,26.27,28.83
$GC,57830,1.46,222.4,3507,2296,1154,1343,649.6,13.5,1178,57831,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2296,1248,1154,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58130,1.46,222.4,3507,2296,1155,1343,605.5,15.1,1188,58131,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2296,1249,1155,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58430,1.46,222.4,3507,2296,1156,1343,559.7,15.4,1198,58436,0.00,2.20,0.00,0.000,260,0.000,0.067,3507,3697,1249,1156,1343,0,0,0,0,0,0,28.83,26.04,28.83
$GC,58580,1.46,222.4,3507,3696,1157,1343,532.7,18.1,1203,58585,0.00,2.10,0.00,0.000,1030,0.000,0.050,3517,2294,1250,1157,1343,0,0,0,0,0,0,28.83,26.26,28.83
$GC,58910,1.46,222.4,3517,2294,1158,1344,473.8,18.6,1214,58916,0.00,2.20,0.00,0.000,260,0.000,0.067,3518,3698,1251,1159,1344,0,0,0,0,0,0,28.83,26.06,28.83
$GC,58983,1.46,222.4,3517,3698,1159,1344,461.9,19.3,1216,58987,0.00,2.10,0.00,0.000,1030,0.000,0.050,3528,2289,1251,1159,1344,0,0,0,0,0,0,28.83,26.27,28.83
$GC,59295,1.46,222.4,3528,2289,1160,1345,398.3,19.5,1227,59299,0.00,2.22,0.00,0.000,260,0.000,0.067,3528,3683,1252,1160,1345,0,0,0,0,0,0,28.83,26.06,28.83
$GC,59339,1.46,222.4,3528,3698,1161,1344,391.8,19.8,1228,59343,0.00,2.10,0.00,0.000,1030,0.000,0.050,3539,2289,1253,1161,1345,0,0,0,0,0,0,28.83,26.28,28.83
$GC,59656,1.46,222.4,3539,2285,1161,1345,324.8,19.8,1239,59662,0.00,2.22,0.00,0.000,260,0.000,0.067,3539,3698,1253,1161,1345,0,0,0,0,0,0,28.83,26.07,28.83
$GC,59798,1.39,222.4,3539,3698,1163,1345,293.7,22.4,1244,59809,0.17,2.05,3.92,0.690,13318,0.196,0.052,3498,2290,1246,1153,1339,0,0,0,0,0,0,25.54,26.29,23.63
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$GC,60793,1.45,222.4,3507,2297,1156,1340,105.0,18.1,1305,60802,0.00,2.20,0.00,0.000,260,0.000,0.067,3508,3702,1248,1156,1340,0,0,0,0,0,0,28.83,26.09,28.83
$GC,60935,1.45,222.4,3507,3702,1158,1340,75.0,21.7,1319,60944,0.00,2.05,0.00,0.000,1030,0.000,0.050,3518,2306,1249,1158,1340,0,0,0,0,0,0,28.83,26.29,28.83
$GC,61244,1.45,222.4,3518,2306,1158,1341,15.5,19.5,1350,61253,0.00,2.20,0.00,0.000,260,0.000,0.067,3518,3705,1250,1159,1341,0,0,0,0,0,0,28.83,26.10,28.83
$GC,61287,1.45,222.4,3518,3705,1159,1340,6.1,23.6,1354,61295,0.00,2.10,0.00,0.000,1030,0.000,0.050,3529,2287,1250,1159,1341,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,61303,end climb,SURFACE_DEPTH_REACHED
$STATE,61303,begin surface coast
$FINISH,0.1,1.016182
$STATE,61314,end surface coast,CONTROL_FINISHED_OK
$STATE,61314,begin surface
$SM_CCo,61332,59.08,0.991,0,0,983,300.22
$SM_GC,1.04,8.45,0.68,59.08,0.055,0.055,0.991,221,1773,983,-8.77,1.67,300.22,0,0,0,0,0,0,26.16,26.38,23.89
$IRIDIUM_FIX,3137.94,-6426.20,120414,191935
$TT8_MAMPS,0.020223,0.020223
$HUMID,37.36
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,22.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4404.1,119.1
$24V_AH,19.7,56.973
$10V_AH,10.1,13.513
$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,26.200,303.625,373.625,59.075,0.000,31.591,24.328,323.198,35.750,0.000,17.276,4272.844,51755.180,643.870,4681.825,536.111,0.384,3013.573,0.000,4085.365,0.000,259.586,0.000
$DEVICE_MAMPS,255.749,81.939,3905.759,990.717,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,949.509,1793.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,86941,1357
$CAP_FILE_SIZE,402984,0
$CFSIZE,260165632,231743488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140414,102206,3136.905,-6410.986,34,1.7,34,-15.5