version: 66.12
glider: 36
mission: 20
dive: 22
start: 7 11 115 5 27 22
data:
$ID,36
$MISSION,20
$DIVE,22
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,4800
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,1600
$T_MISSION,1620
$T_ABORT,2880
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,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,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,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,100
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,3900
$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
$GPS1,110715,051545,3129.5161,-6350.3716,35,1.3,76,-15.5,0.5,62.0,7,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-65.0
$GPS2,110715,052658,3129.4536,-6350.3018,14,1.4,54,-15.5,0.2,303.2,7,5.0
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,SS08
$TGT_LATLONG,3150.820,-6348.300
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.016178,0.244188
$KALMAN_X,-3547.121094,0.000000,0.000000,45453.843750,176.190186
$KALMAN_Y,-4932.312012,0.000000,0.000000,1344.328613,-3148.779785
$MHEAD_RNG_PITCHd_Wd,19.3,39696,-19.7,-10.000,-22.23,2234
$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,1424,-0.59,-146.6,2935,291,2526,2887,89.3,-6.4,132,1435,0.00,1.90,0.00,0.000,1030,0.000,0.045,2928,1710,2706,2526,2887,0,0,0,0,0,0,26.60,26.58,26.61
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$GC,3555,-0.54,-146.6,2974,1712,2526,2887,248.7,-8.8,285,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1711,2706,2526,2887,0,0,0,0,0,0,26.91,26.93,26.92
$GC,3855,-0.54,-146.6,2974,1713,2526,2887,275.4,-9.5,300,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1713,2706,2526,2886,0,0,0,0,0,0,26.91,26.93,26.93
$GC,4166,-0.59,-146.6,2974,1713,2526,2887,304.5,-9.5,315,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1713,2706,2526,2887,0,0,0,0,0,0,26.91,26.94,26.93
$GC,4464,-0.65,-146.6,2974,1713,2526,2887,331.3,-8.6,325,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1713,2706,2526,2887,0,0,0,0,0,0,26.91,26.94,26.93
$GC,4765,-0.71,-146.6,2974,1713,2526,2887,355.7,-7.9,335,4766,0.10,0.00,0.00,0.000,4102,0.104,0.000,2903,1714,2706,2526,2887,0,0,0,0,0,0,26.72,26.76,26.74
$GC,5064,-0.71,-146.6,2902,1714,2526,2887,387.6,-10.9,345,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1714,2706,2526,2887,0,0,0,0,0,0,26.91,26.94,26.94
$GC,5365,-0.71,-146.6,2903,1714,2526,2887,421.4,-11.5,355,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1714,2706,2526,2887,0,0,0,0,0,0,26.91,26.94,26.94
$GC,5664,-0.71,-146.6,2902,1714,2526,2887,455.4,-11.3,365,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1714,2706,2526,2887,0,0,0,0,0,0,26.91,26.94,26.94
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$GC,7555,-0.71,-146.6,2893,1698,2526,2887,669.2,-10.8,428,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1698,2706,2526,2887,0,0,0,0,0,0,26.92,26.94,26.94
$GC,7856,-0.71,-146.6,2893,1698,2526,2886,702.3,-11.5,438,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1698,2706,2526,2886,0,0,0,0,0,0,26.92,26.94,26.94
$GC,8157,-0.71,-146.6,2893,1698,2526,2882,739.3,-12.8,448,8162,0.00,1.95,0.00,0.000,260,0.000,0.055,2883,3066,2704,2526,2882,0,0,0,0,0,0,26.91,26.67,26.94
$GC,8203,-0.71,-146.6,2883,3066,2526,2882,743.5,-13.1,449,8208,0.12,2.00,0.00,0.000,3078,0.161,0.045,2924,1674,2704,2526,2882,0,0,0,0,0,0,26.46,26.70,26.55
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$GC,10893,-0.71,-146.6,2898,1698,2526,2867,1084.9,-13.8,529,10899,0.00,1.98,0.00,0.000,260,0.000,0.055,2888,3073,2696,2526,2867,0,0,0,0,0,0,26.89,26.64,26.91
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$GC,11254,-0.78,-146.6,2921,1695,2526,2864,1128.0,-11.5,535,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1695,2695,2526,2864,0,0,0,0,0,0,26.89,26.92,26.91
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$GC,12054,-0.93,-146.6,2827,3083,2521,2861,1242.2,-16.3,548,12058,0.00,2.03,0.00,0.000,1030,0.000,0.047,2828,1701,2691,2521,2861,0,0,0,0,0,0,26.68,26.66,26.70
$GC,12398,-0.93,-146.6,2827,1701,2521,2861,1301.9,-16.5,554,12402,0.00,2.05,0.00,0.000,516,0.000,0.060,2827,307,2690,2521,2860,0,0,0,0,0,0,26.89,26.60,26.91
$GC,12460,-0.93,-146.6,2827,306,2519,2860,1312.9,-16.7,555,12466,0.10,1.98,0.00,0.000,3078,0.166,0.045,2850,1719,2690,2519,2861,0,0,0,0,0,0,26.41,26.67,26.50
$GC,12820,-0.93,-146.6,2850,1718,2519,2859,1366.9,-14.8,561,12825,0.00,1.98,0.00,0.000,260,0.000,0.055,2842,3096,2689,2519,2859,0,0,0,0,0,0,26.89,26.62,26.91
$GC,12861,-0.93,-146.6,2842,3095,2519,2858,1366.9,-14.8,561,12865,0.00,2.05,0.00,0.000,1030,0.000,0.047,2842,1702,2688,2519,2858,0,0,0,0,0,0,26.67,26.65,26.69
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$GC,31747,-1.58,-146.6,2631,1701,2500,2841,3749.9,-9.6,876,31748,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1701,2670,2500,2841,0,0,0,0,0,0,26.84,26.86,26.86
$GC,32047,-1.58,-146.6,2630,1701,2500,2841,3777.8,-9.3,881,32048,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1700,2670,2500,2841,0,0,0,0,0,0,26.84,26.86,26.86
$GC,32347,-1.58,-146.6,2630,1701,2500,2841,3804.8,-9.0,886,32353,0.00,2.05,0.00,0.000,516,0.000,0.062,2631,313,2670,2500,2841,0,0,0,0,0,0,26.84,26.43,26.86
$GC,32439,-1.58,-146.6,2630,313,2500,2841,3810.6,-9.1,887,32444,0.00,2.03,0.00,0.000,1030,0.000,0.045,2622,1698,2670,2500,2841,0,0,0,0,0,0,26.56,26.54,26.58
$GC,32768,-1.58,-146.6,2622,1699,2500,2841,3844.1,-9.0,893,32769,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1698,2670,2500,2841,0,0,0,0,0,0,26.84,26.86,26.86
$GC,33068,-1.58,-146.6,2622,1699,2500,2841,3871.3,-9.1,898,33069,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1699,2670,2500,2840,0,0,0,0,0,0,26.84,26.86,26.86
$GC,33368,-1.58,-146.6,2622,1699,2500,2841,3898.6,-9.1,903,33374,0.00,2.03,0.00,0.000,260,0.000,0.055,2613,3087,2670,2500,2841,0,0,0,0,0,0,26.84,26.46,26.86
$GC,33438,-1.58,-146.6,2612,3087,2500,2840,3904.1,-9.2,904,33442,0.00,2.03,0.00,0.000,1030,0.000,0.047,2612,1695,2670,2500,2840,0,0,0,0,0,0,26.58,26.52,26.60
$GC,33786,-1.58,-146.6,2612,1695,2500,2840,3937.1,-9.3,910,33791,0.00,2.05,0.00,0.000,516,0.000,0.062,2613,308,2670,2500,2840,0,0,0,0,0,0,26.83,26.41,26.85
$GC,33869,-1.58,-146.6,2612,307,2500,2840,3942.8,-9.3,911,33874,0.12,2.05,0.00,0.000,3078,0.156,0.045,2645,1711,2670,2500,2840,0,0,0,0,0,0,26.16,26.54,26.25
$GC,34212,-1.65,-146.6,2645,1711,2500,2840,3972.1,-7.8,917,34213,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1712,2669,2499,2840,0,0,0,0,0,0,26.82,26.84,26.84
$GC,34509,-1.72,-146.6,2644,1712,2500,2840,3995.2,-7.7,922,34511,0.08,0.00,0.00,0.000,4102,0.127,0.000,2589,1718,2670,2500,2840,0,0,0,0,0,0,26.62,26.65,26.64
$GC,34809,-1.72,-146.6,2589,1722,2499,2840,4022.7,-9.2,927,34810,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1722,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.82
$GC,35108,-1.72,-146.6,2589,1722,2500,2840,4049.6,-9.0,932,35113,0.00,2.10,0.00,0.000,516,0.000,0.060,2589,314,2670,2500,2840,0,0,0,0,0,0,26.83,26.41,26.85
$GC,35213,-1.72,-146.6,2589,314,2500,2840,4055.6,-9.1,933,35217,0.00,2.03,0.00,0.000,1030,0.000,0.045,2580,1701,2670,2500,2840,0,0,0,0,0,0,26.55,26.53,26.57
$GC,35532,-1.72,-146.6,2580,1701,2500,2840,4088.3,-8.9,939,35533,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1701,2670,2500,2840,0,0,0,0,0,0,26.83,26.85,26.84
$GC,35833,-1.72,-146.6,2580,1701,2500,2840,4113.9,-8.5,944,35834,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1701,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.81
$GC,36132,-1.72,-146.6,2580,1701,2500,2840,4138.3,-8.1,949,36133,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1701,2670,2501,2840,0,0,0,0,0,0,26.83,26.85,26.84
$GC,36433,-1.72,-146.6,2580,1701,2500,2840,4162.1,-7.9,954,36434,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1702,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.82
$GC,36732,-1.72,-146.6,2580,1702,2500,2840,4186.1,-8.0,959,36733,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1702,2670,2500,2840,0,0,0,0,0,0,26.83,26.85,26.84
$GC,37032,-1.72,-146.6,2580,1702,2500,2840,4209.3,-7.8,964,37033,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1702,2670,2500,2840,0,0,0,0,0,0,26.83,26.85,26.85
$GC,37333,-1.72,-146.6,2580,1702,2500,2839,4231.7,-7.4,969,37334,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1702,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.82
$GC,37633,-1.72,-146.6,2580,1702,2500,2840,4254.0,-7.4,974,37638,0.00,2.08,0.00,0.000,516,0.000,0.060,2580,314,2670,2500,2840,0,0,0,0,0,0,26.79,26.40,26.82
$GC,37729,-1.72,-146.6,2580,314,2500,2840,4258.9,-7.5,975,37733,0.00,2.00,0.00,0.000,1030,0.000,0.045,2570,1708,2670,2500,2840,0,0,0,0,0,0,26.57,26.52,26.59
$GC,38053,-1.72,-146.6,2570,1709,2499,2839,4286.0,-7.4,981,38055,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1709,2670,2500,2840,0,0,0,0,0,0,26.83,26.85,26.84
$GC,38353,-1.72,-146.6,2570,1709,2500,2840,4307.8,-7.2,986,38355,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1709,2670,2500,2840,0,0,0,0,0,0,26.83,26.85,26.84
$GC,38653,-1.72,-146.6,2570,1709,2500,2840,4329.2,-7.1,991,38655,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1709,2670,2500,2840,0,0,0,0,0,0,26.83,26.85,26.84
$GC,38955,-1.72,-146.6,2570,1709,2500,2840,4350.0,-7.0,996,38956,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1709,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.81
$GC,39255,-1.72,-146.6,2570,1709,2500,2840,4370.6,-6.8,1001,39256,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1709,2669,2500,2839,0,0,0,0,0,0,26.79,26.82,26.82
$GC,39554,-1.72,-146.6,2570,1709,2500,2840,4390.7,-6.7,1006,39560,0.00,2.15,0.00,0.000,516,0.000,0.060,2571,299,2670,2500,2840,0,0,0,0,0,0,26.79,26.39,26.82
$GC,39641,-1.72,-146.6,2570,299,2500,2839,4395.3,-6.8,1007,39646,0.12,2.00,0.00,0.000,3078,0.184,0.047,2600,1709,2670,2500,2840,0,0,0,0,0,0,26.11,26.51,26.27
$GC,39976,-1.77,-146.6,2599,1709,2500,2840,4417.5,-6.0,1013,39977,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1709,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,40276,-1.83,-146.6,2599,1709,2500,2840,4434.6,-5.7,1018,40278,0.05,0.00,0.00,0.000,4102,0.159,0.000,2549,1715,2670,2500,2840,0,0,0,0,0,0,26.63,26.66,26.65
$GC,40575,-1.83,-146.6,2548,1715,2500,2840,4454.6,-6.7,1023,40576,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1715,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,40875,-1.83,-146.6,2548,1715,2499,2840,4474.0,-6.5,1028,40877,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1715,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,41176,-1.83,-146.6,2548,1715,2500,2840,4493.3,-6.4,1033,41182,0.00,2.10,0.00,0.000,516,0.000,0.060,2549,310,2670,2500,2840,0,0,0,0,0,0,26.79,26.39,26.82
$GC,41288,-1.83,-146.6,2548,310,2500,2840,4497.3,-6.4,1034,41300,0.00,2.03,0.00,0.000,1030,0.000,0.047,2539,1696,2670,2500,2840,0,0,0,0,0,0,26.53,26.51,26.55
$GC,41600,-1.83,-146.6,2539,1696,2500,2840,4521.0,-6.5,1040,41601,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1697,2670,2500,2840,0,0,0,0,0,0,26.80,26.83,26.82
$GC,41898,-1.83,-146.6,2539,1697,2500,2840,4540.2,-6.3,1045,41899,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1697,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.81
$GC,42198,-1.83,-146.6,2538,1696,2500,2840,4558.3,-6.1,1050,42200,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1697,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,42499,-1.83,-146.6,2539,1697,2500,2840,4576.5,-5.9,1055,42500,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1696,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,42797,-1.83,-146.6,2539,1696,2500,2840,4594.7,-6.1,1060,42798,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1697,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,43098,-1.83,-146.6,2539,1696,2500,2840,4612.0,-5.8,1065,43099,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1697,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.82
$GC,43398,-1.83,-146.6,2539,1696,2500,2840,4628.9,-5.5,1070,43400,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1696,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,43698,-1.83,-146.6,2539,1696,2500,2840,4645.5,-5.4,1075,43700,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1697,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,43998,-1.83,-146.6,2539,1697,2500,2840,4660.8,-5.1,1080,44000,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1697,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.81
$GC,44298,-1.83,-146.6,2539,1697,2500,2840,4676.1,-5.1,1085,44304,0.00,2.08,0.00,0.000,516,0.000,0.060,2539,311,2670,2500,2840,0,0,0,0,0,0,26.82,26.37,26.84
$GC,44420,-1.83,-146.6,2539,312,2500,2840,4682.8,-5.2,1087,44426,0.00,1.95,0.00,0.000,1030,0.000,0.047,2534,1698,2670,2500,2840,0,0,0,0,0,0,26.53,26.51,26.55
$GC,44782,-1.83,-146.6,2534,1698,2500,2840,4700.2,-4.8,1093,44783,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1698,2670,2500,2840,0,0,0,0,0,0,26.79,26.82,26.81
$GC,45081,-1.83,-146.6,2534,1698,2500,2840,4714.3,-4.6,1098,45082,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1698,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,45380,-1.83,-146.6,2534,1698,2500,2840,4728.2,-4.6,1103,45381,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1698,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,45680,-1.83,-146.6,2534,1698,2500,2840,4741.4,-4.5,1108,45681,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1698,2670,2500,2840,0,0,0,0,0,0,26.82,26.85,26.84
$GC,45980,-1.83,-146.6,2533,1698,2500,2840,4754.1,-4.2,1113,45985,0.00,2.08,0.00,0.000,516,0.000,0.060,2534,312,2670,2500,2840,0,0,0,0,0,0,26.82,26.37,26.84
$GC,46114,-1.83,-146.6,2534,312,2500,2840,4759.8,-4.5,1115,46119,0.12,1.98,0.00,0.000,3078,0.181,0.047,2565,1698,2670,2500,2840,0,0,0,0,0,0,26.10,26.51,26.25
$STATE,46397,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,46397,begin apogee
$GC,46401,-0.24,0.0,2565,1590,2500,2840,4771.1,-3.8,1120,46534,1.50,0.00,129.52,4.040,10246,0.129,0.000,3074,1590,2199,2037,2362,0,0,0,0,0,0,26.07,21.73,19.50
$STATE,46535,end apogee,CONTROL_FINISHED_OK
$STATE,46536,begin climb
$GC,46537,1.01,146.6,3074,1589,2037,2361,4766.9,0.0,1122,46722,1.20,0.00,180.88,4.003,10246,0.072,0.000,3488,1589,1695,1662,1729,0,0,0,0,0,0,22.58,21.56,19.42
$GC,46998,0.56,146.6,3487,1589,1661,1728,4623.9,34.6,1130,47004,0.60,2.15,0.00,0.000,4612,0.236,0.057,3341,209,1694,1660,1729,0,0,0,0,0,0,24.63,24.84,24.77
$GC,47065,0.14,146.6,3341,209,1660,1729,4605.7,33.6,1131,47071,0.50,2.10,0.00,0.000,5126,0.204,0.045,3199,1619,1695,1661,1729,0,0,0,0,0,0,24.85,25.11,25.04
$GC,47415,0.00,146.6,3199,1619,1661,1729,4536.2,18.8,1137,47421,0.12,2.17,0.00,0.000,4612,0.199,0.060,3165,213,1695,1661,1729,0,0,0,0,0,0,25.41,25.59,25.52
$GC,47466,-0.13,146.6,3164,213,1660,1729,4536.2,18.8,1137,47475,0.10,2.05,0.00,0.000,5126,0.186,0.047,3133,1583,1695,1661,1729,0,0,0,0,0,0,25.47,25.73,25.57
$GC,47775,-0.19,146.6,3132,1583,1660,1729,4481.7,14.5,1143,47777,0.15,0.00,0.00,0.000,4102,0.179,0.000,3085,1591,1694,1660,1729,0,0,0,0,0,0,25.70,25.91,25.86
$GC,48074,-0.19,146.6,3085,1591,1660,1729,4446.0,11.7,1148,48078,0.00,2.12,0.00,0.000,516,0.000,0.062,3093,227,1694,1660,1729,0,0,0,0,0,0,26.29,26.00,26.31
$GC,48128,-0.19,146.6,3093,209,1660,1729,4446.0,11.7,1148,48137,0.00,2.05,0.00,0.000,1030,0.000,0.047,3094,1597,1695,1661,1729,0,0,0,0,0,0,26.12,26.10,26.13
$GC,48437,-0.19,146.6,3093,1601,1660,1729,4403.7,11.7,1154,48438,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1601,1694,1660,1729,0,0,0,0,0,0,26.39,26.41,26.41
$GC,48737,-0.19,146.6,3093,1601,1660,1729,4369.3,11.5,1159,48740,0.00,2.12,0.00,0.000,516,0.000,0.062,3104,232,1694,1660,1729,0,0,0,0,0,0,26.46,26.17,26.48
$GC,48816,-0.19,146.6,3104,214,1660,1729,4361.7,11.6,1160,48820,0.00,2.05,0.00,0.000,1030,0.000,0.047,3104,1609,1694,1660,1728,0,0,0,0,0,0,26.29,26.27,26.30
$GC,49160,-0.19,146.6,3104,1609,1660,1729,4319.4,11.7,1166,49165,0.00,2.10,0.00,0.000,516,0.000,0.062,3115,222,1694,1660,1729,0,0,0,0,0,0,26.52,26.23,26.54
$GC,49206,-0.19,146.6,3114,222,1660,1729,4319.4,11.7,1166,49210,0.00,2.03,0.00,0.000,1030,0.000,0.047,3115,1599,1695,1661,1729,0,0,0,0,0,0,26.34,26.32,26.35
$GC,49520,-0.19,146.6,3114,1600,1660,1729,4276.1,11.9,1172,49521,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1601,1694,1660,1729,0,0,0,0,0,0,26.56,26.59,26.58
$GC,49820,-0.19,146.6,3114,1601,1660,1729,4241.0,11.6,1177,49825,0.00,2.10,0.00,0.000,516,0.000,0.062,3125,209,1694,1660,1729,0,0,0,0,0,0,26.59,26.29,26.61
$GC,49903,-0.19,146.6,3125,209,1660,1729,4233.7,11.7,1178,49907,0.08,2.05,0.00,0.000,5126,0.159,0.047,3090,1616,1694,1660,1729,0,0,0,0,0,0,26.14,26.39,26.29
$GC,50241,-0.19,146.6,3090,1616,1660,1729,4196.2,10.1,1184,50247,0.00,2.12,0.00,0.000,516,0.000,0.062,3099,207,1694,1660,1729,0,0,0,0,0,0,26.63,26.32,26.64
$GC,50287,-0.19,146.6,3098,207,1661,1729,4196.2,10.1,1184,50292,0.00,2.03,0.00,0.000,1030,0.000,0.045,3099,1597,1694,1660,1729,0,0,0,0,0,0,26.44,26.42,26.45
$GC,50601,-0.19,146.6,3098,1600,1660,1729,4159.6,10.1,1190,50607,0.00,2.08,0.00,0.000,516,0.000,0.062,3109,216,1694,1660,1728,0,0,0,0,0,0,26.65,26.34,26.66
$GC,50647,-0.19,146.6,3109,215,1660,1729,4159.6,10.1,1190,50652,0.00,2.03,0.00,0.000,1030,0.000,0.047,3109,1606,1695,1661,1729,0,0,0,0,0,0,26.46,26.44,26.47
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$GC,74169,0.65,284.4,3378,1605,1223,1194,1603.4,12.2,1582,74170,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1605,1208,1223,1194,0,0,0,0,0,0,26.77,26.80,26.79
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$GC,74890,0.65,284.4,3388,1602,1223,1194,1522.3,11.1,1594,74895,0.00,2.05,0.00,0.000,516,0.000,0.062,3399,218,1208,1223,1194,0,0,0,0,0,0,26.78,26.48,26.80
$GC,74957,0.65,284.4,3398,217,1223,1194,1515.1,11.2,1595,74962,0.12,2.03,0.00,0.000,5126,0.146,0.045,3357,1618,1208,1223,1194,0,0,0,0,0,0,26.33,26.57,26.40
$GC,75311,0.65,284.4,3356,1618,1223,1194,1480.6,9.4,1601,75312,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1617,1208,1223,1194,0,0,0,0,0,0,26.78,26.81,26.80
$GC,75611,0.70,284.4,3356,1618,1223,1194,1452.6,9.3,1606,75617,0.00,2.08,0.00,0.000,516,0.000,0.062,3365,220,1208,1223,1194,0,0,0,0,0,0,26.79,26.48,26.81
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$GC,78981,0.83,284.4,3378,1615,1223,1194,1101.3,9.1,1662,78987,0.05,2.12,0.00,0.000,2564,0.161,0.060,3438,188,1208,1223,1194,0,0,0,0,0,0,26.62,26.50,26.65
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$GC,81625,0.83,284.4,3416,1612,1223,1194,816.7,10.3,1734,81630,0.00,2.05,0.00,0.000,516,0.000,0.062,3424,218,1208,1223,1194,0,0,0,0,0,0,26.82,26.51,26.84
$GC,81687,0.83,284.4,3424,218,1223,1194,810.0,10.5,1736,81693,0.00,1.92,0.00,0.000,1030,0.000,0.045,3424,1601,1208,1223,1194,0,0,0,0,0,0,26.63,26.61,26.64
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$GC,82316,0.83,284.4,3424,1601,1223,1194,742.2,11.0,1757,82322,0.00,2.08,0.00,0.000,516,0.000,0.060,3434,204,1208,1223,1194,0,0,0,0,0,0,26.82,26.51,26.84
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$GC,82710,0.83,284.4,3434,1600,1223,1194,695.4,12.0,1770,82711,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1600,1208,1223,1194,0,0,0,0,0,0,26.82,26.85,26.84
$GC,83009,0.83,284.4,3433,1600,1223,1194,661.0,11.2,1780,83014,0.00,2.05,0.00,0.000,516,0.000,0.062,3445,210,1208,1223,1194,0,0,0,0,0,0,26.83,26.52,26.85
$GC,83082,0.83,284.4,3444,210,1223,1194,653.7,11.5,1782,83086,0.00,2.00,0.00,0.000,1030,0.000,0.045,3445,1607,1208,1223,1194,0,0,0,0,0,0,26.64,26.63,26.65
$GC,83401,0.83,284.4,3445,1608,1223,1194,614.8,12.0,1793,83402,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1608,1208,1223,1194,0,0,0,0,0,0,26.83,26.86,26.85
$GC,83701,0.83,284.4,3445,1607,1223,1194,578.6,11.9,1803,83706,0.00,2.05,0.00,0.000,516,0.000,0.060,3456,207,1208,1223,1194,0,0,0,0,0,0,26.84,26.53,26.86
$GC,83764,0.83,284.4,3455,206,1223,1194,570.6,12.4,1805,83770,0.12,1.92,0.00,0.000,5126,0.159,0.045,3414,1617,1208,1223,1194,0,0,0,0,0,0,26.33,26.64,26.43
$GC,84094,0.90,284.4,3414,1618,1223,1194,536.8,9.8,1816,84095,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1617,1208,1223,1194,0,0,0,0,0,0,26.84,26.86,26.86
$GC,84394,0.98,284.4,3414,1618,1223,1194,506.4,10.4,1826,84400,0.08,2.05,0.00,0.000,2564,0.124,0.057,3495,214,1208,1223,1194,0,0,0,0,0,0,26.65,26.53,26.66
$GC,84477,0.98,284.4,3495,214,1223,1194,497.7,12.2,1828,84487,0.10,1.95,0.00,0.000,5126,0.156,0.045,3462,1603,1208,1223,1194,0,0,0,0,0,0,26.36,26.64,26.44
$GC,84786,0.98,284.4,3462,1603,1223,1194,452.1,13.3,1839,84787,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1603,1208,1223,1194,0,0,0,0,0,0,26.85,26.87,26.86
$GC,85087,0.98,284.4,3462,1603,1223,1194,412.2,13.2,1849,85093,0.00,2.05,0.00,0.000,516,0.000,0.060,3470,207,1208,1222,1194,0,0,0,0,0,0,26.85,26.55,26.87
$GC,85149,0.98,284.4,3471,207,1223,1194,403.5,13.8,1851,85154,0.00,1.95,0.00,0.000,1030,0.000,0.042,3471,1589,1208,1223,1194,0,0,0,0,0,0,26.67,26.65,26.68
$GC,85480,0.98,284.4,3471,1590,1223,1194,356.6,14.2,1862,85481,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1590,1208,1223,1194,0,0,0,0,0,0,26.85,26.88,26.87
$GC,85779,0.98,284.4,3470,1589,1223,1194,314.3,14.1,1872,85784,0.00,2.00,0.00,0.000,516,0.000,0.060,3481,211,1208,1223,1194,0,0,0,0,0,0,26.86,26.56,26.88
$GC,85821,0.98,284.4,3481,211,1223,1193,309.8,14.2,1873,85826,0.00,1.95,0.00,0.000,1030,0.000,0.042,3481,1596,1208,1223,1194,0,0,0,0,0,0,26.68,26.67,26.69
$GC,86141,0.98,284.4,3480,1597,1223,1194,260.8,14.8,1888,86143,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1597,1208,1223,1194,0,0,0,0,0,0,26.86,26.89,26.89
$GC,86441,0.98,284.4,3481,1597,1223,1194,216.5,15.0,1903,86447,0.00,2.00,0.00,0.000,516,0.000,0.060,3491,213,1208,1223,1194,0,0,0,0,0,0,26.86,26.57,26.89
$GC,86494,0.98,284.4,3491,213,1223,1194,210.4,14.9,1905,86503,0.00,1.95,0.00,0.000,1030,0.000,0.042,3491,1601,1208,1223,1194,0,0,0,0,0,0,26.68,26.67,26.69
$GC,86803,0.98,284.4,3491,1601,1223,1194,160.8,15.1,1921,86804,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1601,1208,1223,1194,0,0,0,0,0,0,26.87,26.89,26.89
$GC,87103,0.98,284.4,3491,1601,1223,1194,117.2,14.4,1947,87113,0.00,2.03,0.00,0.000,516,0.000,0.060,3501,209,1208,1223,1194,0,0,0,0,0,0,26.87,26.57,26.89
$GC,87149,0.98,284.4,3501,208,1223,1194,110.5,14.4,1951,87162,0.08,1.90,0.00,0.000,5126,0.179,0.045,3464,1613,1208,1223,1194,0,0,0,0,0,0,26.43,26.68,26.49
$GC,87461,1.05,284.4,3464,1613,1223,1194,74.9,11.3,1982,87463,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1613,1208,1223,1194,0,0,0,0,0,0,26.88,26.90,26.90
$GC,87762,1.16,284.4,3464,1613,1222,1194,44.4,9.8,2012,87773,0.08,2.03,0.00,0.000,2564,0.127,0.057,3559,208,1208,1223,1194,0,0,0,0,0,0,26.69,26.59,26.70
$GC,87831,1.16,284.4,3558,208,1223,1194,34.6,15.1,2018,87842,0.10,1.88,0.00,0.000,5126,0.191,0.045,3522,1601,1208,1223,1194,0,0,0,0,0,0,26.40,26.70,26.49
$GC,88142,1.24,284.4,3522,1601,1222,1194,4.6,8.4,2049,88152,0.00,1.92,0.00,0.000,260,0.000,0.052,3522,2954,1208,1223,1194,0,0,0,0,0,0,26.89,26.63,26.91
$STATE,88164,end climb,SURFACE_DEPTH_REACHED
$STATE,88164,begin surface coast
$FINISH,1.3,1.023354
$STATE,88200,end surface coast,CONTROL_FINISHED_OK
$STATE,88200,begin surface
$SM_CCo,88276,0.00,0.000,0,0,1208,288.17
$SM_GC,2.30,8.23,1.85,0.00,0.047,0.047,0.000,184,1739,1208,-9.11,1.72,288.17,0,0,0,0,0,0,26.65,26.66,26.69
$IRIDIUM_FIX,3105.11,-6358.80,050508,181147
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.04
$INTERNAL_PRESSURE,8.94637
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4722.5,77.7
$24V_AH,19.42,14.202
$10V_AH,9.82,8.298
$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,28.150,505.125,476.250,0.000,98.325,25.721,21.985,422.982,21.500,0.000,54.979,6384.778,70530.367,886.049,10769.336,318.621,0.605,4471.875,0.000,10020.165,0.000,154.595,0.000
$DEVICE_MAMPS,250.783,84.422,4039.841,0.000,111.735,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1406.358,6693.626,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330352
$DATA_FILE_SIZE,126917,2054
$CAP_FILE_SIZE,583440,0
$CFSIZE,1024409600,1016512512
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11555.99,0x23577e,0,24
$INTR,1,87151.45,0x23577e,1,24
$GPS,120715,060045,3140.767,-6348.307,49,1.0,89,-15.6,0.7,269.3,9,4.6