version: 66.12
glider: 35
mission: 22
dive: 125
start: 5 21 114 9 14 17
data:
$ID,35
$MISSION,22
$DIVE,125
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$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,3000
$T_MISSION,3030
$T_ABORT,3060
$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,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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-998692.62
$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,72
$R_STBD_OVSHOOT,54
$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,18.5
$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,3500
$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
$GPS1,210514,085930,3139.637,-6417.222,38,2.0,39,-15.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.9
$GPS2,210514,091348,3139.430,-6417.014,12,1.9,29,-15.4
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,SS06
$TGT_LATLONG,3129.220,-6431.920
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.170,-0.022
$KALMAN_X,-65745.8,0.0,0.0,83085.9,7296.9
$KALMAN_Y,-92913.0,0.0,0.0,30130.5,-14773.8
$MHEAD_RNG_PITCHd_Wd,277.9,30195,-15.8,-6.000,-19.30,2446
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,123,-0.61,-112.4,237,1764,2320,2291,4.0,-5.3,10,143,11.18,2.20,-2.85,0.000,18692,0.273,0.057,2841,3206,2382,2397,2368,0,0,0,0,0,0,25.14,26.18,25.94
$GC,265,-0.12,-112.4,2840,3206,2388,2362,40.7,-26.3,24,272,0.62,2.05,0.00,0.000,3078,0.219,0.052,3004,1802,2375,2388,2362,0,0,0,0,0,0,25.27,26.30,28.83
$GC,571,0.13,-112.4,3004,1802,2382,2362,94.3,-14.6,55,574,0.25,0.00,-0.15,0.000,18438,0.201,0.000,3072,1801,2390,2393,2387,0,0,0,0,0,0,25.70,28.83,22.62
$GC,872,0.28,-112.4,3071,1801,2392,2387,130.0,-10.9,85,881,0.20,2.10,0.00,0.000,2308,0.191,0.057,3123,3201,2389,2391,2387,0,0,0,0,0,0,25.88,26.23,28.83
$GC,927,0.28,-112.4,3122,3201,2392,2387,135.0,-8.6,90,934,0.00,2.05,0.00,0.000,1030,0.000,0.050,3123,1799,2389,2392,2387,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1245,0.28,-112.4,3122,1799,2391,2387,163.1,-9.1,115,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1799,2389,2391,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,0.28,-112.4,3122,1799,2391,2387,190.0,-9.3,130,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1799,2389,2391,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,0.28,-112.4,3123,1799,2390,2387,217.1,-8.9,145,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1799,2388,2390,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,0.28,-112.4,3123,1799,2389,2387,244.9,-9.5,160,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1799,2388,2390,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2444,0.28,-112.4,3122,1799,2389,2387,275.2,-10.2,175,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1799,2388,2389,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,0.28,-112.4,3123,1799,2388,2387,306.6,-9.7,190,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1799,2388,2389,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3063,0.28,-112.4,3122,1799,2388,2387,335.7,-9.8,200,3069,0.00,2.15,0.00,0.000,260,0.000,0.062,3122,3204,2387,2388,2387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3117,0.28,-112.4,3122,3204,2388,2386,338.4,-9.5,201,3123,0.00,2.03,0.00,0.000,1030,0.000,0.050,3123,1801,2387,2388,2387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3424,0.28,-112.4,3122,1801,2388,2386,368.0,-9.2,212,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1801,2387,2388,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3723,0.28,-112.4,3122,1801,2388,2386,395.3,-8.9,222,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1801,2387,2388,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4024,0.28,-112.4,3122,1801,2387,2386,422.0,-9.1,232,4027,0.00,2.12,0.00,0.000,260,0.000,0.062,3122,3197,2386,2387,2386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4068,0.28,-112.4,3122,3197,2387,2385,424.7,-8.9,233,4072,0.00,2.03,0.00,0.000,1030,0.000,0.050,3122,1797,2386,2387,2385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4385,0.28,-112.4,3122,1797,2387,2385,453.6,-8.7,244,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1797,2386,2387,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4685,0.28,-112.4,3122,1797,2387,2385,479.2,-8.5,254,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1797,2386,2387,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4985,0.28,-112.4,3122,1797,2386,2385,505.9,-9.0,264,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1798,2385,2386,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5285,0.28,-112.4,3122,1797,2386,2385,533.6,-9.3,274,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1797,2385,2386,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5585,0.28,-112.4,3122,1797,2385,2384,559.9,-8.6,284,5589,0.00,2.15,0.00,0.000,260,0.000,0.060,3122,3203,2384,2385,2384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5635,0.28,-112.4,3122,3204,2385,2383,562.6,-8.5,285,5639,0.00,2.05,0.00,0.000,1030,0.000,0.050,3122,1801,2384,2385,2384,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5941,0.28,-112.4,3122,1800,2385,2383,590.3,-9.0,295,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1800,2384,2385,2384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6241,0.28,-112.4,3122,1800,2384,2383,616.8,-8.8,305,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1800,2383,2384,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6541,0.28,-112.4,3122,1800,2383,2383,642.6,-8.5,315,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1800,2383,2383,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6841,0.28,-112.4,3122,1800,2382,2383,666.0,-7.7,325,6845,0.00,2.12,0.00,0.000,260,0.000,0.062,3122,3196,2382,2382,2383,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6888,0.22,-112.4,3122,3199,2383,2382,668.5,-7.7,326,6893,0.00,2.05,0.00,0.000,1030,0.000,0.050,3122,1800,2382,2383,2382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7204,0.16,-112.4,3122,1799,2382,2382,692.4,-7.2,337,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1800,2381,2382,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7503,0.11,-112.4,3122,1800,2381,2381,715.0,-7.6,347,7505,0.08,0.00,0.00,0.000,4102,0.144,0.000,3053,1799,2381,2381,2381,0,0,0,0,0,0,26.48,28.83,28.83
$GC,7803,0.16,-112.4,3053,1799,2379,2381,752.9,-13.0,357,7809,0.15,2.12,0.00,0.000,2308,0.174,0.060,3091,3197,2380,2380,2381,0,0,0,0,0,0,26.09,26.26,28.83
$GC,7866,0.16,-112.4,3091,3197,2380,2379,759.3,-11.8,359,7870,0.00,2.05,0.00,0.000,1030,0.000,0.050,3091,1802,2380,2380,2380,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8188,0.16,-112.4,3091,1801,2379,2380,792.8,-10.5,370,8191,0.00,2.10,0.00,0.000,516,0.000,0.065,3091,405,2379,2378,2380,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8262,0.16,-112.4,3091,406,2376,2381,799.8,-10.9,372,8266,0.00,2.03,0.00,0.000,1030,0.000,0.050,3083,1811,2378,2376,2381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8574,0.16,-112.4,3083,1811,2376,2381,834.1,-10.9,383,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1810,2378,2376,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8874,0.16,-112.4,3083,1811,2375,2379,866.4,-10.8,393,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1811,2377,2375,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9174,0.16,-112.4,3083,1811,2374,2380,895.8,-9.6,403,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1811,2377,2374,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9474,0.16,-112.4,3083,1811,2372,2379,924.2,-8.9,413,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1811,2375,2372,2379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9774,0.16,-112.4,3083,1811,2371,2378,953.5,-9.8,423,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1811,2374,2371,2378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10074,0.16,-112.4,3083,1811,2370,2378,983.0,-9.8,433,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1811,2374,2370,2378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10404,0.16,-112.4,3083,1811,2369,2376,1013.3,-9.1,442,10410,0.00,2.10,0.00,0.000,260,0.000,0.062,3079,3197,2372,2368,2376,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10447,0.16,-112.4,3078,3197,2368,2375,1013.3,-9.1,442,10451,0.00,2.08,0.00,0.000,1030,0.000,0.050,3079,1792,2371,2368,2375,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10759,0.16,-112.4,3079,1792,2366,2375,1046.0,-9.4,448,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1791,2370,2366,2375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11059,0.16,-112.4,3078,1792,2366,2374,1075.3,-9.8,453,11065,0.00,2.15,0.00,0.000,260,0.000,0.060,3072,3186,2370,2366,2374,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11102,0.16,-112.4,3071,3186,2366,2373,1075.3,-9.8,453,11106,0.00,2.05,0.00,0.000,1030,0.000,0.050,3071,1801,2370,2366,2374,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11414,0.16,-112.4,3071,1801,2364,2373,1111.4,-10.3,459,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1801,2368,2364,2373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11714,0.16,-112.4,3072,1801,2362,2372,1143.0,-10.4,464,11720,0.00,2.15,0.00,0.000,260,0.000,0.060,3068,3189,2367,2362,2372,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11774,0.16,-112.4,3068,3189,2362,2371,1148.7,-10.3,465,11780,0.12,2.08,0.00,0.000,3078,0.151,0.050,3105,1792,2367,2363,2371,0,0,0,0,0,0,26.09,26.32,28.83
$GC,12135,0.07,-112.4,3105,1792,2360,2370,1179.0,-8.4,471,12141,0.08,2.10,0.00,0.000,4356,0.142,0.057,3032,3181,2365,2360,2370,0,0,0,0,0,0,26.48,26.23,28.83
$GC,12183,-0.03,-112.4,3032,3180,2361,2369,1179.0,-8.4,471,12187,0.00,2.05,0.00,0.000,1030,0.000,0.050,3032,1799,2364,2360,2369,0,0,0,0,0,0,28.83,26.33,28.83
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$GC,44066,-0.82,-112.4,2768,1791,2336,2354,4252.7,-7.7,996,44072,0.00,2.20,0.00,0.000,260,0.000,0.060,2768,3193,2345,2336,2354,0,0,0,0,0,0,28.83,25.84,28.83
$GC,44149,-0.82,-112.4,2768,3193,2337,2354,4257.3,-7.6,997,44153,0.00,2.10,0.00,0.000,1030,0.000,0.050,2769,1797,2345,2337,2354,0,0,0,0,0,0,28.83,26.05,28.83
$GC,44482,-0.82,-112.4,2768,1797,2337,2354,4283.9,-7.6,1003,44487,0.00,2.17,0.00,0.000,260,0.000,0.057,2762,3187,2345,2337,2354,0,0,0,0,0,0,28.83,25.86,28.83
$GC,44524,-0.82,-112.4,2762,3188,2336,2354,4283.9,-7.6,1003,44527,0.00,2.10,0.00,0.000,1030,0.000,0.050,2762,1799,2345,2336,2354,0,0,0,0,0,0,28.83,26.05,28.83
$GC,44839,-0.82,-112.4,2762,1799,2336,2354,4311.3,-7.8,1009,44840,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1798,2345,2337,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45140,-0.82,-112.4,2762,1799,2337,2354,4334.5,-7.7,1014,45146,0.00,2.17,0.00,0.000,260,0.000,0.060,2757,3187,2345,2337,2354,0,0,0,0,0,0,28.83,25.85,28.83
$GC,45233,-0.82,-112.4,2757,3188,2337,2354,4339.2,-7.6,1015,45239,0.00,2.12,0.00,0.000,1030,0.000,0.050,2757,1790,2345,2336,2354,0,0,0,0,0,0,28.83,26.03,28.83
$GC,45558,-0.82,-112.4,2756,1790,2337,2354,4366.6,-7.7,1021,45564,0.00,2.22,0.00,0.000,260,0.000,0.060,2755,3193,2345,2336,2354,0,0,0,0,0,0,28.83,25.83,28.83
$GC,45601,-0.82,-112.4,2755,3193,2337,2354,4366.6,-7.7,1021,45606,0.12,2.10,0.00,0.000,3078,0.154,0.050,2790,1792,2345,2336,2354,0,0,0,0,0,0,25.75,26.03,28.83
$GC,45914,-0.82,-112.4,2790,1792,2336,2354,4389.0,-6.1,1027,45918,0.00,2.20,0.00,0.000,260,0.000,0.060,2783,3172,2345,2336,2354,0,0,0,0,0,0,28.83,25.83,28.83
$GC,45975,-0.87,-112.4,2782,3188,2336,2354,4392.9,-6.1,1028,45981,0.00,2.10,0.00,0.000,1030,0.000,0.050,2783,1801,2345,2336,2354,0,0,0,0,0,0,28.83,26.04,28.83
$GC,46335,-0.87,-112.4,2782,1801,2336,2354,4414.9,-6.2,1034,46339,0.00,2.20,0.00,0.000,260,0.000,0.060,2782,3186,2345,2337,2354,0,0,0,0,0,0,28.83,25.82,28.83
$GC,46400,-0.87,-112.4,2782,3190,2337,2354,4418.6,-6.2,1035,46404,0.00,2.12,0.00,0.000,1030,0.000,0.050,2782,1793,2345,2337,2354,0,0,0,0,0,0,28.83,26.03,28.83
$GC,46752,-0.87,-112.4,2782,1792,2336,2354,4440.0,-6.0,1041,46757,0.00,2.22,0.00,0.000,260,0.000,0.060,2782,3194,2345,2336,2354,0,0,0,0,0,0,28.83,25.82,28.83
$GC,46826,-0.92,-112.4,2782,3194,2336,2354,4443.7,-6.0,1042,46830,0.00,2.12,0.00,0.000,1030,0.000,0.050,2782,1794,2345,2336,2354,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,47105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,47106,begin apogee
$GC,47111,-0.19,0.0,2782,2300,2337,2354,4461.2,-6.0,1047,47227,0.62,0.00,106.70,3.908,10246,0.127,0.000,2989,2300,2000,1959,2042,0,0,0,0,0,0,25.20,28.83,19.02
$STATE,47230,end apogee,CONTROL_FINISHED_OK
$STATE,47230,begin climb
$GC,47232,0.61,112.4,2989,2301,1959,2041,4463.8,0.0,1049,47364,0.75,0.00,127.68,3.757,10502,0.060,0.000,3279,2301,1619,1561,1678,0,0,0,0,0,0,22.57,28.83,19.07
$GC,47648,0.33,112.4,3279,2301,1560,1678,4423.7,13.7,1056,47650,0.45,0.00,0.00,0.000,4102,0.186,0.000,3154,2300,1619,1560,1678,0,0,0,0,0,0,25.32,28.83,28.83
$GC,47948,0.23,112.4,3154,2300,1560,1677,4396.1,9.0,1061,47954,0.00,2.12,0.00,0.000,516,0.000,0.060,3164,900,1618,1560,1677,0,0,0,0,0,0,28.83,26.20,28.83
$GC,48016,0.13,112.4,3164,900,1560,1678,4391.0,8.9,1062,48021,0.25,2.10,0.00,0.000,5126,0.164,0.052,3092,2296,1618,1560,1677,0,0,0,0,0,0,25.89,26.25,28.83
$GC,48364,0.13,112.4,3091,2296,1560,1678,4367.2,6.4,1068,48365,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2296,1618,1560,1677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48663,0.13,112.4,3091,2296,1560,1677,4348.1,6.3,1073,48669,0.00,2.15,0.00,0.000,516,0.000,0.057,3101,899,1618,1560,1677,0,0,0,0,0,0,28.83,26.22,28.83
$GC,48736,0.13,112.4,3101,899,1559,1677,4344.5,6.3,1074,48740,0.00,2.12,0.00,0.000,1030,0.000,0.052,3101,2309,1619,1560,1678,0,0,0,0,0,0,28.83,26.27,28.83
$GC,49079,0.13,112.4,3101,2309,1560,1677,4321.2,6.5,1080,49080,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2309,1618,1560,1677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49378,0.13,112.4,3101,2309,1560,1677,4302.3,6.2,1085,49384,0.00,2.15,0.00,0.000,516,0.000,0.057,3112,904,1618,1560,1677,0,0,0,0,0,0,28.83,26.21,28.83
$GC,49456,0.13,112.4,3111,904,1560,1677,4298.6,6.2,1086,49460,0.00,2.10,0.00,0.000,1030,0.000,0.052,3112,2300,1619,1560,1678,0,0,0,0,0,0,28.83,26.25,28.83
$GC,49794,0.13,112.4,3111,2300,1560,1677,4276.2,6.3,1092,49795,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2300,1618,1560,1677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50093,0.13,112.4,3111,2300,1560,1677,4257.6,6.1,1097,50099,0.00,2.12,0.00,0.000,516,0.000,0.057,3122,905,1618,1560,1677,0,0,0,0,0,0,28.83,26.19,28.83
$GC,50166,0.13,112.4,3121,904,1560,1677,4253.8,6.0,1098,50170,0.00,2.10,0.00,0.000,1030,0.000,0.052,3122,2307,1618,1560,1677,0,0,0,0,0,0,28.83,26.25,28.83
$GC,50509,0.13,112.4,3121,2307,1560,1677,4231.4,6.3,1104,50510,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2306,1618,1560,1677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50808,0.13,112.4,3121,2307,1560,1677,4212.6,6.3,1109,50814,0.00,2.15,0.00,0.000,516,0.000,0.057,3132,904,1618,1559,1677,0,0,0,0,0,0,28.83,26.18,28.83
$GC,50881,0.13,112.4,3132,904,1560,1677,4208.9,6.2,1110,50886,0.15,2.10,0.00,0.000,5126,0.166,0.052,3090,2310,1618,1560,1677,0,0,0,0,0,0,25.91,26.22,28.83
$GC,51224,0.13,134.4,3090,2310,1560,1677,4190.5,5.1,1116,51249,0.00,0.00,22.30,3.538,8198,0.000,0.000,3090,2310,1544,1482,1606,0,0,0,0,0,0,28.83,28.83,22.24
$GC,51524,0.13,139.9,3090,2310,1482,1606,4173.4,5.8,1121,51536,0.00,2.22,6.85,2.796,8708,0.000,0.065,3100,905,1525,1464,1587,0,0,0,0,0,0,28.83,25.84,22.91
$GC,51629,0.13,144.3,3100,905,1463,1587,4170.0,5.8,1122,51644,0.00,2.12,5.95,2.625,9222,0.000,0.052,3100,2306,1511,1449,1573,0,0,0,0,0,0,28.83,26.15,22.87
$GC,51944,0.13,144.3,3100,2306,1448,1572,4148.1,6.2,1128,51945,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2306,1510,1448,1572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52243,0.13,144.3,3100,2306,1448,1573,4129.7,6.1,1133,52249,0.00,2.15,0.00,0.000,516,0.000,0.057,3110,904,1510,1448,1573,0,0,0,0,0,0,28.83,26.22,28.83
$GC,52322,0.13,144.3,3110,904,1448,1573,4125.9,6.0,1134,52326,0.00,2.10,0.00,0.000,1030,0.000,0.052,3110,2308,1510,1448,1572,0,0,0,0,0,0,28.83,26.26,28.83
$GC,52659,0.13,144.3,3110,2308,1448,1573,4104.2,6.1,1140,52660,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2308,1510,1448,1573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52958,0.13,144.3,3110,2308,1448,1573,4086.0,6.1,1145,52964,0.00,2.15,0.00,0.000,516,0.000,0.057,3121,905,1510,1448,1573,0,0,0,0,0,0,28.83,26.19,28.83
$GC,53057,0.13,144.3,3121,905,1448,1573,4082.4,6.0,1146,53061,0.00,2.10,0.00,0.000,1030,0.000,0.052,3121,2302,1510,1448,1573,0,0,0,0,0,0,28.83,26.25,28.83
$GC,53374,0.13,144.3,3120,2302,1448,1573,4061.0,6.2,1152,53375,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2302,1510,1448,1573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53674,0.13,144.3,3120,2302,1448,1573,4042.2,6.3,1157,53679,0.00,2.15,0.00,0.000,516,0.000,0.057,3131,900,1510,1448,1573,0,0,0,0,0,0,28.83,26.18,28.83
$GC,53727,0.13,144.3,3131,900,1448,1573,4042.2,6.3,1157,53734,0.15,2.10,0.00,0.000,5126,0.159,0.050,3088,2301,1510,1448,1573,0,0,0,0,0,0,25.94,26.23,28.83
$GC,54034,0.20,161.5,3088,2301,1448,1573,4022.3,5.3,1163,54057,0.00,2.22,17.42,3.359,8708,0.000,0.070,3097,901,1450,1382,1519,0,0,0,0,0,0,28.83,25.35,22.50
$GC,54110,0.27,178.0,3098,901,1382,1520,4019.2,5.3,1164,54134,0.08,2.12,18.42,3.379,11270,0.134,0.052,3146,2298,1397,1321,1474,0,0,0,0,0,0,25.78,25.84,22.08
$GC,54446,0.27,178.0,3145,2298,1323,1474,3989.8,8.6,1170,54448,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2298,1398,1323,1474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54746,0.27,178.0,3145,2298,1324,1474,3964.9,8.3,1175,54752,0.00,2.15,0.00,0.000,516,0.000,0.057,3156,896,1399,1324,1474,0,0,0,0,0,0,28.83,26.22,28.83
$GC,54800,0.27,178.0,3156,896,1324,1475,3964.9,8.3,1175,54806,0.00,2.12,0.00,0.000,1030,0.000,0.052,3156,2303,1398,1323,1474,0,0,0,0,0,0,28.83,26.26,28.83
$GC,55106,0.27,178.0,3156,2303,1324,1475,3934.1,8.5,1181,55107,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2303,1399,1324,1474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55407,0.27,178.0,3156,2303,1324,1474,3909.2,8.2,1186,55412,0.00,2.15,0.00,0.000,516,0.000,0.055,3166,901,1399,1324,1474,0,0,0,0,0,0,28.83,26.20,28.83
$GC,55481,0.27,178.0,3166,901,1324,1475,3904.3,8.1,1187,55487,0.00,2.12,0.00,0.000,1030,0.000,0.052,3166,2308,1399,1324,1474,0,0,0,0,0,0,28.83,26.25,28.83
$GC,55826,0.27,178.0,3166,2307,1324,1474,3875.1,8.0,1193,55832,0.00,2.15,0.00,0.000,516,0.000,0.057,3177,904,1399,1324,1474,0,0,0,0,0,0,28.83,26.19,28.83
$GC,55880,0.27,178.0,3177,904,1324,1474,3875.1,8.0,1193,55887,0.15,2.10,0.00,0.000,5126,0.164,0.052,3135,2303,1399,1324,1475,0,0,0,0,0,0,25.93,26.24,28.83
$GC,56186,0.27,178.0,3135,2303,1324,1474,3850.1,6.5,1199,56187,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2303,1398,1323,1474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56486,0.27,178.0,3135,2303,1324,1474,3831.4,6.1,1204,56492,0.00,2.15,0.00,0.000,516,0.000,0.057,3145,901,1399,1324,1474,0,0,0,0,0,0,28.83,26.17,28.83
$GC,56539,0.27,178.0,3145,901,1324,1474,3831.4,6.1,1204,56546,0.00,2.12,0.00,0.000,1030,0.000,0.052,3145,2307,1399,1324,1474,0,0,0,0,0,0,28.83,26.22,28.83
$GC,56847,0.27,178.0,3145,2307,1324,1474,3809.1,6.2,1210,56848,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2307,1399,1324,1475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57147,0.27,180.3,3145,2307,1324,1475,3791.4,5.9,1215,57158,0.00,2.22,4.95,2.255,8708,0.000,0.060,3156,901,1390,1313,1467,0,0,0,0,0,0,28.83,26.01,23.15
$GC,57210,0.27,185.6,3156,901,1312,1466,3788.0,5.8,1216,57223,0.00,2.10,7.35,2.699,9222,0.000,0.052,3156,2305,1371,1292,1451,0,0,0,0,0,0,28.83,26.14,22.93
$GC,57567,0.27,185.6,3156,2305,1292,1451,3764.9,6.4,1222,57571,0.00,2.12,0.00,0.000,516,0.000,0.057,3165,907,1371,1292,1450,0,0,0,0,0,0,28.83,26.19,28.83
$GC,57641,0.27,185.6,3165,904,1290,1451,3761.0,6.3,1223,57645,0.00,2.10,0.00,0.000,1030,0.000,0.050,3166,2299,1371,1291,1451,0,0,0,0,0,0,28.83,26.24,28.83
$GC,57984,0.27,185.6,3165,2300,1291,1451,3738.0,6.5,1229,57985,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2300,1371,1291,1451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58283,0.27,185.6,3165,2299,1290,1450,3718.1,6.6,1234,58289,0.00,2.12,0.00,0.000,516,0.000,0.057,3176,904,1371,1291,1451,0,0,0,0,0,0,28.83,26.17,28.83
$GC,58351,0.27,185.6,3176,904,1290,1451,3714.0,6.7,1235,58356,0.15,2.10,0.00,0.000,5126,0.156,0.052,3133,2301,1370,1290,1450,0,0,0,0,0,0,25.93,26.22,28.83
$GC,58701,0.33,195.8,3133,2301,1291,1451,3694.0,5.6,1241,58718,0.00,2.20,12.27,3.029,8708,0.000,0.065,3143,899,1335,1253,1418,0,0,0,0,0,0,28.83,25.63,22.85
$GC,58764,0.38,205.0,3143,898,1250,1418,3690.7,5.6,1242,58779,0.00,2.15,10.45,2.935,9222,0.000,0.052,3143,2310,1305,1217,1394,0,0,0,0,0,0,28.83,25.96,22.59
$GC,59112,0.38,205.0,3143,2310,1216,1391,3667.6,6.6,1248,59113,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2310,1303,1216,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59412,0.38,205.0,3143,2310,1216,1391,3647.0,6.7,1253,59417,0.00,2.15,0.00,0.000,516,0.000,0.057,3150,904,1303,1216,1391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,59496,0.43,205.0,3150,904,1215,1391,3642.9,6.8,1254,59500,0.08,2.10,0.00,0.000,3078,0.137,0.052,3186,2310,1303,1215,1391,0,0,0,0,0,0,26.17,26.25,28.83
$GC,59833,0.43,205.0,3196,2310,1216,1391,3611.5,9.0,1260,59834,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2309,1303,1216,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60133,0.43,205.0,3196,2310,1216,1391,3584.6,8.9,1265,60138,0.00,2.15,0.00,0.000,516,0.000,0.057,3206,904,1303,1216,1391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,60221,0.43,205.0,3206,904,1215,1391,3579.2,8.9,1266,60225,0.00,2.08,0.00,0.000,1030,0.000,0.052,3206,2300,1303,1215,1391,0,0,0,0,0,0,28.83,26.23,28.83
$GC,60548,0.43,205.0,3206,2300,1216,1390,3546.1,9.3,1272,60553,0.00,2.12,0.00,0.000,516,0.000,0.057,3217,904,1303,1215,1391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,60596,0.43,205.0,3216,904,1215,1391,3546.1,9.3,1272,60600,0.00,2.08,0.00,0.000,1030,0.000,0.052,3217,2301,1303,1215,1391,0,0,0,0,0,0,28.83,26.22,28.83
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$GC,102765,1.20,347.1,3463,2300,729,920,302.9,12.1,2093,102771,0.00,2.17,0.00,0.000,260,0.000,0.067,3464,3705,825,730,920,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,105448,end climb,SURFACE_DEPTH_REACHED
$STATE,105448,begin surface coast
$FINISH,-0.1,0.998893
$STATE,105479,end surface coast,CONTROL_FINISHED_OK
$STATE,105479,begin surface
$SM_CCo,105558,0.00,0.000,0,0,827,345.97
$SM_GC,1.34,8.25,0.70,0.00,0.052,0.055,0.000,217,1797,827,-8.76,1.95,345.97,0,0,0,0,0,0,26.20,26.31,28.83
$IRIDIUM_FIX,3135.41,-6355.58,190514,232321
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.34
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,22.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4334.5,154.9
$24V_AH,19.0,78.619
$10V_AH,10.0,21.759
$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,29.275,754.975,491.250,0.000,0.000,24.739,43.207,532.881,21.500,0.000,32.141,7400.295,88708.602,942.112,8187.284,1067.434,0.387,5317.595,0.000,7329.399,0.000,156.333,0.000
$DEVICE_MAMPS,273.130,69.524,3908.242,0.000,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1607.524,3034.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330488
$DATA_FILE_SIZE,143477,2296
$CAP_FILE_SIZE,734019,0
$CFSIZE,260165632,223494144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220514,143500,3137.805,-6436.568,41,1.6,41,-15.3