version: 66.12
glider: 36
mission: 20
dive: 23
start: 7 12 115 6 11 46
data:
$ID,36
$MISSION,20
$DIVE,23
$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,17
$R_STBD_OVSHOOT,111
$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
$GPS1,120715,060045,3140.7671,-6348.3066,49,1.0,89,-15.6,0.7,269.3,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-66.4
$GPS2,120715,061122,3140.7151,-6348.3867,15,1.7,55,-15.6,0.4,241.8,8,4.6
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,SS08
$TGT_LATLONG,3150.820,-6348.300
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.010206,0.227127
$KALMAN_X,-1867.325684,0.000000,0.000000,46955.453125,1164.148682
$KALMAN_Y,-7589.201660,0.000000,0.000000,24769.515625,-3074.353027
$MHEAD_RNG_PITCHd_Wd,13.0,18715,-21.4,-10.000,-23.74,1908
$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
$GC,16,-1.08,-125.1,132,1651,1217,1194,0.0,0.0,0,82,0.00,0.00,-64.50,0.102,16386,0.000,0.000,132,1651,2186,1993,2379,0,0,0,0,0,0,26.39,28.83,26.40
$GC,85,-1.09,-146.6,132,1651,1993,2379,3.1,-2.5,6,134,10.25,2.12,-32.62,0.104,18948,0.248,0.057,2797,246,2706,2507,2905,0,0,0,0,0,0,25.71,26.03,25.86
$GC,463,-0.86,-146.6,2796,246,2507,2905,46.4,-5.2,40,474,0.28,2.00,0.00,0.000,3078,0.191,0.045,2870,1674,2706,2507,2905,0,0,0,0,0,0,26.01,26.36,26.13
$GC,773,-0.76,-146.6,2870,1674,2507,2905,57.2,-4.0,71,784,0.08,2.05,0.00,0.000,2564,0.228,0.055,2900,262,2706,2507,2905,0,0,0,0,0,0,26.22,26.36,26.30
$GC,1113,-0.67,-146.6,2899,262,2507,2905,74.5,-6.1,101,1124,0.12,2.00,0.00,0.000,3078,0.179,0.045,2931,1726,2706,2507,2905,0,0,0,0,0,0,26.26,26.54,26.35
$GC,1423,-0.67,-146.6,2930,1726,2507,2905,92.6,-6.6,132,1433,0.00,2.12,0.00,0.000,516,0.000,0.057,2931,262,2706,2507,2905,0,0,0,0,0,0,26.79,26.52,26.81
$GC,1637,-0.67,-146.6,2930,263,2507,2905,109.3,-8.7,151,1641,0.00,1.98,0.00,0.000,1030,0.000,0.045,2923,1689,2706,2507,2905,0,0,0,0,0,0,26.65,26.62,26.66
$GC,1950,-0.67,-146.6,2923,1705,2507,2905,134.3,-8.8,182,1960,0.00,1.95,0.00,0.000,260,0.000,0.055,2913,3076,2706,2507,2905,0,0,0,0,0,0,26.84,26.60,26.86
$GC,2097,-0.67,-146.6,2912,3076,2507,2905,147.2,-9.5,195,2101,0.00,2.05,0.00,0.000,1030,0.000,0.047,2913,1638,2706,2507,2905,0,0,0,0,0,0,26.67,26.63,26.69
$GC,2409,-0.67,-146.6,2912,1629,2507,2905,176.9,-9.5,212,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1629,2706,2507,2905,0,0,0,0,0,0,26.87,26.89,26.89
$GC,2710,-0.67,-146.6,2913,1629,2507,2905,206.4,-10.0,227,2715,0.00,2.08,0.00,0.000,260,0.000,0.052,2903,3070,2706,2507,2905,0,0,0,0,0,0,26.88,26.64,26.89
$GC,2779,-0.67,-146.6,2903,3069,2507,2905,212.6,-10.0,230,2784,0.10,2.08,0.00,0.000,3078,0.186,0.047,2934,1632,2706,2507,2905,0,0,0,0,0,0,26.44,26.67,26.58
$GC,3093,-0.67,-146.6,2933,1632,2507,2905,242.2,-9.1,246,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1632,2706,2507,2905,0,0,0,0,0,0,26.89,26.91,26.91
$GC,3393,-0.67,-146.6,2933,1632,2508,2905,270.6,-9.6,261,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1632,2706,2507,2905,0,0,0,0,0,0,26.89,26.92,26.91
$GC,3695,-0.67,-146.6,2933,1632,2507,2905,299.7,-9.6,276,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1632,2706,2507,2905,0,0,0,0,0,0,26.90,26.92,26.92
$GC,4015,-0.67,-146.6,2933,1632,2507,2905,329.6,-8.9,287,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1632,2706,2507,2905,0,0,0,0,0,0,26.91,26.93,26.92
$GC,4313,-0.67,-146.6,2933,1632,2507,2904,357.7,-9.4,297,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1632,2706,2507,2905,0,0,0,0,0,0,26.91,26.94,26.93
$GC,4613,-0.67,-146.6,2933,1632,2507,2905,386.2,-9.4,307,4618,0.00,2.08,0.00,0.000,260,0.000,0.052,2926,3072,2706,2507,2905,0,0,0,0,0,0,26.91,26.67,26.93
$GC,4697,-0.67,-146.6,2926,3072,2507,2905,392.4,-9.7,309,4706,0.00,2.08,0.00,0.000,1030,0.000,0.047,2926,1638,2706,2507,2905,0,0,0,0,0,0,26.71,26.69,26.72
$GC,5006,-0.67,-146.6,2926,1638,2507,2905,426.4,-10.4,320,5011,0.00,1.98,0.00,0.000,516,0.000,0.060,2926,257,2705,2506,2905,0,0,0,0,0,0,26.91,26.65,26.93
$GC,5048,-0.67,-146.6,2925,256,2507,2905,429.7,-10.5,321,5052,0.00,2.03,0.00,0.000,1030,0.000,0.045,2916,1705,2706,2507,2905,0,0,0,0,0,0,26.72,26.71,26.74
$GC,5367,-0.67,-146.6,2916,1706,2507,2905,465.7,-10.8,332,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1706,2705,2507,2904,0,0,0,0,0,0,26.91,26.94,26.93
$GC,5667,-0.67,-146.6,2916,1706,2507,2905,497.9,-10.7,342,5672,0.00,1.92,0.00,0.000,260,0.000,0.052,2906,3060,2706,2507,2905,0,0,0,0,0,0,26.91,26.67,26.94
$GC,5735,-0.67,-146.6,2905,3060,2507,2905,504.2,-10.5,344,5739,0.00,2.05,0.00,0.000,1030,0.000,0.045,2906,1641,2706,2507,2905,0,0,0,0,0,0,26.72,26.70,26.73
$GC,6059,-0.67,-146.6,2906,1641,2507,2905,538.7,-10.8,355,6065,0.00,1.98,0.00,0.000,516,0.000,0.060,2906,261,2706,2507,2905,0,0,0,0,0,0,26.91,26.65,26.93
$GC,6122,-0.67,-146.6,2906,260,2507,2905,545.9,-11.0,357,6128,0.12,2.03,0.00,0.000,3078,0.164,0.042,2937,1711,2706,2507,2905,0,0,0,0,0,0,26.46,26.72,26.55
$GC,6454,-0.74,-146.6,2937,1711,2507,2905,578.3,-9.9,368,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1711,2706,2507,2905,0,0,0,0,0,0,26.91,26.94,26.93
$GC,6752,-0.81,-146.6,2937,1711,2507,2904,608.1,-10.0,378,6754,0.10,0.00,0.00,0.000,4102,0.109,0.000,2851,1718,2706,2507,2905,0,0,0,0,0,0,26.70,26.75,26.74
$GC,7052,-0.81,-146.6,2850,1722,2506,2904,647.3,-13.2,388,7054,0.12,0.00,0.00,0.000,2054,0.181,0.000,2889,1722,2705,2507,2904,0,0,0,0,0,0,26.48,26.66,26.61
$GC,7352,-0.81,-146.6,2889,1722,2507,2904,682.9,-12.1,398,7357,0.00,2.12,0.00,0.000,516,0.000,0.060,2889,263,2705,2507,2904,0,0,0,0,0,0,26.91,26.64,26.94
$GC,7451,-0.81,-146.6,2889,264,2507,2904,694.9,-12.7,401,7456,0.00,2.00,0.00,0.000,1030,0.000,0.045,2882,1696,2705,2507,2904,0,0,0,0,0,0,26.72,26.72,26.74
$GC,7775,-0.81,-146.6,2881,1697,2507,2904,735.7,-12.8,412,7781,0.00,1.95,0.00,0.000,260,0.000,0.055,2872,3064,2705,2507,2904,0,0,0,0,0,0,26.91,26.67,26.93
$GC,7868,-0.81,-146.6,2871,3064,2508,2900,747.6,-12.9,415,7871,0.00,2.03,0.00,0.000,1030,0.000,0.047,2871,1646,2703,2507,2900,0,0,0,0,0,0,26.73,26.69,26.74
$GC,8200,-0.81,-146.6,2871,1641,2507,2900,794.3,-14.1,426,8205,0.00,1.98,0.00,0.000,516,0.000,0.060,2871,262,2703,2507,2900,0,0,0,0,0,0,26.91,26.64,26.93
$GC,8261,-0.81,-146.6,2870,262,2507,2900,803.5,-14.6,428,8266,0.00,1.98,0.00,0.000,1030,0.000,0.045,2862,1712,2703,2507,2900,0,0,0,0,0,0,26.73,26.71,26.74
$GC,8593,-0.81,-146.6,2862,1712,2507,2900,854.1,-15.6,439,8598,0.00,1.95,0.00,0.000,260,0.000,0.055,2852,3073,2703,2507,2900,0,0,0,0,0,0,26.91,26.65,26.93
$GC,8634,-0.81,-146.6,2852,3073,2507,2898,859.1,-15.8,440,8639,0.10,2.08,0.00,0.000,3078,0.166,0.047,2884,1639,2702,2507,2898,0,0,0,0,0,0,26.45,26.68,26.53
$GC,8953,-0.81,-146.6,2884,1639,2507,2897,905.9,-13.6,451,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1639,2702,2507,2897,0,0,0,0,0,0,26.90,26.93,26.92
$GC,9254,-0.81,-146.6,2885,1638,2507,2895,944.9,-12.9,461,9260,0.00,2.05,0.00,0.000,260,0.000,0.052,2876,3064,2701,2507,2895,0,0,0,0,0,0,26.90,26.65,26.92
$GC,9327,-0.81,-146.6,2877,3063,2507,2894,953.2,-13.1,463,9331,0.00,2.08,0.00,0.000,1030,0.000,0.047,2876,1643,2700,2507,2894,0,0,0,0,0,0,26.70,26.67,26.72
$GC,9647,-0.81,-146.6,2876,1643,2507,2892,998.5,-14.0,474,9652,0.00,2.00,0.00,0.000,516,0.000,0.060,2876,255,2699,2506,2892,0,0,0,0,0,0,26.90,26.63,26.92
$GC,9698,-0.81,-146.6,2876,255,2507,2892,1002.8,-14.2,475,9707,0.00,2.05,0.00,0.000,1030,0.000,0.045,2867,1703,2699,2507,2892,0,0,0,0,0,0,26.70,26.69,26.72
$GC,10007,-0.81,-146.6,2866,1704,2507,2889,1051.0,-14.2,481,10013,0.00,2.00,0.00,0.000,260,0.000,0.055,2857,3078,2698,2507,2889,0,0,0,0,0,0,26.89,26.64,26.91
$GC,10048,-0.81,-146.6,2856,3078,2507,2888,1051.0,-14.2,481,10053,0.10,2.10,0.00,0.000,3078,0.164,0.047,2889,1635,2697,2506,2888,0,0,0,0,0,0,26.44,26.66,26.52
$GC,10368,-0.87,-146.6,2888,1635,2507,2887,1099.5,-13.2,487,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1635,2697,2507,2887,0,0,0,0,0,0,26.89,26.91,26.91
$GC,10668,-0.94,-146.6,2888,1634,2507,2885,1139.3,-13.3,492,10670,0.08,0.00,0.00,0.000,4102,0.119,0.000,2829,1634,2696,2507,2885,0,0,0,0,0,0,26.70,26.74,26.73
$GC,10967,-0.94,-146.6,2828,1635,2506,2882,1189.9,-17.1,497,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1635,2694,2506,2882,0,0,0,0,0,0,26.89,26.91,26.91
$GC,11267,-0.94,-146.6,2828,1635,2507,2880,1240.0,-16.7,502,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1634,2693,2507,2880,0,0,0,0,0,0,26.89,26.91,26.91
$GC,11567,-0.94,-146.6,2828,1635,2506,2877,1287.8,-15.9,507,11573,0.00,2.08,0.00,0.000,260,0.000,0.052,2820,3061,2692,2506,2878,0,0,0,0,0,0,26.89,26.63,26.90
$GC,11618,-0.94,-146.6,2820,3062,2506,2876,1287.8,-15.9,507,11627,0.00,2.08,0.00,0.000,1030,0.000,0.047,2820,1652,2691,2506,2876,0,0,0,0,0,0,26.67,26.65,26.69
$GC,11927,-0.94,-146.6,2820,1652,2503,2876,1345.1,-16.0,513,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1652,2689,2503,2876,0,0,0,0,0,0,26.88,26.91,26.90
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$GC,31514,-1.76,-146.6,2604,1699,2484,2858,3963.3,-9.0,839,31515,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1699,2671,2484,2858,0,0,0,0,0,0,26.80,26.82,26.82
$GC,31813,-1.76,-146.6,2604,1699,2484,2858,3989.6,-8.7,844,31814,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1699,2671,2484,2858,0,0,0,0,0,0,26.83,26.86,26.85
$GC,32115,-1.81,-146.6,2604,1699,2484,2858,4015.5,-8.7,849,32121,0.05,2.08,0.00,0.000,4612,0.164,0.057,2550,301,2671,2484,2858,0,0,0,0,0,0,26.64,26.43,26.66
$GC,32213,-1.81,-146.6,2550,301,2484,2858,4022.0,-9.0,850,32217,0.00,2.00,0.00,0.000,1030,0.000,0.045,2541,1704,2670,2483,2858,0,0,0,0,0,0,26.59,26.54,26.61
$GC,32539,-1.81,-146.6,2541,1705,2484,2858,4060.2,-10.3,856,32540,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1705,2671,2484,2858,0,0,0,0,0,0,26.81,26.84,26.82
$GC,32838,-1.81,-146.6,2541,1705,2484,2858,4090.8,-10.2,861,32839,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1705,2671,2484,2858,0,0,0,0,0,0,26.79,26.82,26.81
$GC,33138,-1.81,-146.6,2541,1705,2485,2858,4120.6,-9.9,866,33139,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1705,2671,2484,2858,0,0,0,0,0,0,26.79,26.82,26.81
$GC,33438,-1.81,-146.6,2541,1705,2484,2858,4150.1,-9.9,871,33443,0.00,2.10,0.00,0.000,516,0.000,0.060,2541,306,2671,2484,2858,0,0,0,0,0,0,26.79,26.42,26.82
$GC,33524,-1.81,-146.6,2541,306,2484,2858,4156.4,-10.0,872,33529,0.12,2.05,0.00,0.000,3078,0.169,0.045,2572,1707,2671,2484,2858,0,0,0,0,0,0,26.13,26.53,26.22
$GC,33858,-1.81,-146.6,2571,1708,2484,2858,4189.0,-8.7,878,33859,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1708,2671,2484,2858,0,0,0,0,0,0,26.82,26.85,26.84
$GC,34159,-1.81,-146.6,2572,1708,2484,2858,4214.3,-8.4,883,34160,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1708,2671,2484,2858,0,0,0,0,0,0,26.79,26.82,26.81
$GC,34458,-1.81,-146.6,2571,1708,2484,2858,4239.2,-8.3,888,34464,0.00,2.10,0.00,0.000,516,0.000,0.060,2572,308,2671,2484,2858,0,0,0,0,0,0,26.83,26.41,26.84
$GC,34563,-1.81,-146.6,2571,308,2484,2858,4244.4,-8.4,889,34567,0.00,2.05,0.00,0.000,1030,0.000,0.045,2564,1716,2671,2484,2858,0,0,0,0,0,0,26.55,26.53,26.57
$GC,34883,-1.81,-146.6,2564,1717,2484,2858,4274.8,-8.2,895,34884,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1717,2671,2484,2858,0,0,0,0,0,0,26.79,26.82,26.81
$GC,35182,-1.81,-146.6,2564,1717,2485,2858,4299.4,-8.2,900,35183,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1717,2671,2484,2858,0,0,0,0,0,0,26.82,26.85,26.84
$GC,35483,-1.81,-146.6,2564,1717,2484,2858,4323.4,-8.0,905,35484,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1717,2671,2484,2858,0,0,0,0,0,0,26.79,26.82,26.81
$GC,35782,-1.81,-146.6,2564,1717,2484,2858,4346.8,-7.7,910,35788,0.00,2.10,0.00,0.000,516,0.000,0.060,2564,311,2671,2484,2858,0,0,0,0,0,0,26.82,26.40,26.84
$GC,35906,-1.81,-146.6,2564,312,2484,2858,4356.8,-7.9,912,35912,0.00,1.95,0.00,0.000,1030,0.000,0.047,2555,1695,2671,2484,2858,0,0,0,0,0,0,26.55,26.54,26.57
$GC,36268,-1.81,-146.6,2555,1694,2484,2858,4383.9,-7.5,918,36269,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1695,2671,2484,2858,0,0,0,0,0,0,26.79,26.82,26.82
$GC,36566,-1.81,-146.6,2555,1695,2484,2858,4405.4,-7.2,923,36567,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1695,2671,2484,2858,0,0,0,0,0,0,26.82,26.85,26.84
$GC,36866,-1.81,-146.6,2555,1695,2484,2858,4425.9,-6.8,928,36867,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1695,2671,2484,2858,0,0,0,0,0,0,26.82,26.85,26.84
$GC,37166,-1.81,-146.6,2555,1695,2484,2858,4445.9,-6.7,933,37172,0.00,2.08,0.00,0.000,516,0.000,0.060,2555,308,2671,2484,2858,0,0,0,0,0,0,26.82,26.40,26.84
$GC,37276,-1.81,-146.6,2555,308,2484,2858,4450.1,-6.7,934,37280,0.00,2.00,0.00,0.000,1030,0.000,0.045,2546,1695,2671,2484,2858,0,0,0,0,0,0,26.58,26.53,26.60
$GC,37590,-1.81,-146.6,2546,1699,2484,2858,4475.1,-6.8,940,37591,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1699,2671,2484,2858,0,0,0,0,0,0,26.82,26.85,26.84
$GC,37890,-1.81,-146.6,2546,1699,2484,2858,4494.9,-6.6,945,37891,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1699,2671,2484,2858,0,0,0,0,0,0,26.82,26.84,26.84
$GC,38190,-1.81,-146.6,2546,1699,2484,2858,4514.1,-6.4,950,38195,0.00,2.08,0.00,0.000,516,0.000,0.060,2546,310,2671,2484,2858,0,0,0,0,0,0,26.82,26.39,26.84
$GC,38314,-1.81,-146.6,2546,310,2484,2858,4522.4,-6.7,952,38320,0.10,1.98,0.00,0.000,3078,0.166,0.047,2568,1714,2671,2484,2858,0,0,0,0,0,0,26.15,26.52,26.23
$GC,38676,-1.87,-146.6,2568,1714,2484,2858,4543.1,-5.5,958,38677,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1714,2671,2484,2858,0,0,0,0,0,0,26.79,26.82,26.82
$GC,38974,-1.93,-146.6,2567,1714,2484,2858,4559.6,-5.5,963,38976,0.05,0.00,0.00,0.000,4102,0.161,0.000,2525,1722,2671,2484,2858,0,0,0,0,0,0,26.63,26.65,26.65
$GC,39274,-1.93,-146.6,2525,1722,2484,2858,4578.1,-6.2,968,39279,0.00,2.12,0.00,0.000,516,0.000,0.060,2525,301,2671,2484,2858,0,0,0,0,0,0,26.82,26.39,26.84
$GC,39418,-1.93,-146.6,2525,301,2484,2858,4586.5,-6.5,970,39422,0.00,2.00,0.00,0.000,1030,0.000,0.045,2516,1701,2671,2484,2858,0,0,0,0,0,0,26.57,26.52,26.59
$GC,39757,-1.93,-146.6,2516,1701,2484,2858,4608.8,-6.1,976,39758,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1701,2670,2483,2858,0,0,0,0,0,0,26.82,26.84,26.84
$GC,40057,-1.93,-146.6,2515,1701,2484,2858,4626.7,-5.9,981,40058,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1701,2671,2484,2858,0,0,0,0,0,0,26.82,26.84,26.84
$GC,40357,-1.93,-146.6,2515,1700,2484,2858,4644.7,-5.8,986,40358,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1701,2670,2484,2857,0,0,0,0,0,0,26.82,26.84,26.84
$GC,40657,-1.93,-146.6,2516,1701,2484,2858,4662.2,-5.8,991,40661,0.00,2.12,0.00,0.000,516,0.000,0.060,2516,328,2671,2484,2858,0,0,0,0,0,0,26.82,26.39,26.84
$GC,40794,-1.93,-146.6,2515,307,2484,2858,4669.9,-6.1,993,40798,0.00,1.98,0.00,0.000,1030,0.000,0.045,2507,1703,2671,2484,2858,0,0,0,0,0,0,26.56,26.51,26.58
$STATE,41076,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,41076,begin apogee
$GC,41080,-0.24,0.0,2507,1592,2484,2858,4686.9,-5.6,998,41211,1.73,0.00,126.22,4.027,10246,0.142,0.000,3074,1592,2200,2022,2378,0,0,0,0,0,0,26.05,21.81,19.65
$STATE,41212,end apogee,CONTROL_FINISHED_OK
$STATE,41212,begin climb
$GC,41213,1.09,146.6,3074,1592,2021,2377,4683.5,0.0,1000,41410,1.27,0.00,188.10,4.015,10246,0.070,0.000,3512,1592,1694,1669,1720,0,0,0,0,1,0,22.64,21.56,19.36
$GC,41677,0.66,146.6,3512,1592,1668,1719,4541.5,34.5,1008,41683,0.55,2.12,0.00,0.000,4612,0.231,0.055,3377,222,1693,1668,1719,0,0,0,0,0,0,24.65,24.86,24.79
$GC,41723,0.24,146.6,3377,222,1668,1719,4541.5,34.5,1008,41729,0.55,2.08,0.00,0.000,5126,0.214,0.045,3231,1627,1693,1668,1719,0,0,0,0,0,0,24.79,25.08,25.00
$GC,42032,0.11,146.6,3230,1627,1668,1719,4465.7,19.2,1013,42038,0.12,2.17,0.00,0.000,4612,0.204,0.060,3197,222,1694,1668,1720,0,0,0,0,0,0,25.37,25.55,25.48
$GC,42084,-0.02,146.6,3197,221,1667,1719,4465.7,19.2,1013,42093,0.10,2.03,0.00,0.000,5126,0.176,0.047,3166,1583,1693,1668,1719,0,0,0,0,0,0,25.45,25.70,25.54
$GC,42392,-0.07,146.6,3166,1584,1668,1719,4408.4,15.3,1019,42394,0.08,0.00,0.00,0.000,4102,0.209,0.000,3144,1590,1694,1668,1720,0,0,0,0,0,0,25.77,25.91,25.87
$GC,42692,-0.07,146.6,3144,1591,1668,1719,4367.1,13.7,1024,42697,0.00,2.08,0.00,0.000,516,0.000,0.062,3153,219,1694,1668,1720,0,0,0,0,0,0,26.28,26.00,26.30
$GC,42752,-0.07,146.6,3153,220,1668,1719,4358.5,13.7,1025,42757,0.00,1.95,0.00,0.000,1030,0.000,0.047,3153,1588,1693,1668,1719,0,0,0,0,0,0,26.13,26.11,26.13
$GC,43112,-0.07,146.6,3153,1590,1668,1719,4308.3,13.8,1031,43117,0.00,2.08,0.00,0.000,516,0.000,0.062,3163,217,1693,1668,1719,0,0,0,0,0,0,26.41,26.13,26.43
$GC,43153,-0.07,146.6,3162,217,1668,1719,4308.3,13.8,1031,43158,0.05,2.05,0.00,0.000,5126,0.191,0.047,3148,1610,1693,1668,1719,0,0,0,0,0,0,26.01,26.22,26.08
$GC,43472,-0.07,146.6,3148,1610,1667,1719,4260.1,13.2,1037,43473,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1610,1693,1668,1719,0,0,0,0,0,0,26.48,26.51,26.50
$GC,43772,-0.07,146.6,3148,1610,1668,1719,4221.2,13.0,1042,43778,0.00,2.10,0.00,0.000,516,0.000,0.062,3156,217,1693,1668,1719,0,0,0,0,0,0,26.53,26.24,26.54
$GC,43849,-0.07,146.6,3156,217,1668,1719,4212.9,13.2,1043,43853,0.00,2.00,0.00,0.000,1030,0.000,0.047,3157,1589,1694,1668,1720,0,0,0,0,0,0,26.35,26.33,26.36
$GC,44193,-0.07,146.6,3156,1589,1668,1719,4165.2,13.2,1049,44194,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1588,1693,1668,1719,0,0,0,0,0,0,26.58,26.60,26.60
$GC,44493,-0.07,146.6,3156,1589,1668,1719,4127.3,12.5,1054,44498,0.00,2.05,0.00,0.000,516,0.000,0.062,3166,224,1693,1668,1719,0,0,0,0,0,0,26.60,26.31,26.62
$GC,44576,-0.07,146.6,3166,224,1668,1719,4119.1,12.7,1055,44580,0.05,2.00,0.00,0.000,5126,0.179,0.045,3150,1607,1693,1668,1719,0,0,0,0,0,0,26.20,26.40,26.27
$GC,44914,-0.07,146.6,3150,1607,1668,1719,4075.5,12.0,1061,44918,0.00,2.12,0.00,0.000,516,0.000,0.062,3159,229,1693,1668,1719,0,0,0,0,0,0,26.63,26.34,26.65
$GC,44963,-0.07,146.6,3159,208,1668,1720,4075.5,12.0,1061,44968,0.05,2.03,0.00,0.000,5126,0.186,0.047,3144,1608,1693,1668,1719,0,0,0,0,0,0,26.21,26.44,26.27
$GC,45277,-0.07,146.6,3143,1608,1668,1719,4032.9,11.6,1067,45278,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1608,1693,1668,1719,0,0,0,0,0,0,26.65,26.68,26.67
$GC,45577,-0.07,146.6,3144,1608,1668,1719,3999.7,11.1,1072,45580,0.00,2.12,0.00,0.000,516,0.000,0.062,3152,231,1693,1668,1719,0,0,0,0,0,0,26.67,26.36,26.69
$GC,45625,-0.07,146.6,3152,211,1668,1719,3999.7,11.1,1072,45629,0.00,2.03,0.00,0.000,1030,0.000,0.047,3152,1596,1694,1668,1720,0,0,0,0,0,0,26.48,26.46,26.49
$GC,45939,-0.07,146.6,3152,1597,1668,1719,3958.1,11.5,1078,45944,0.00,2.08,0.00,0.000,516,0.000,0.062,3162,214,1693,1668,1719,0,0,0,0,0,0,26.68,26.38,26.70
$GC,46006,-0.07,146.6,3162,214,1668,1719,3951.0,11.6,1079,46011,0.05,2.03,0.00,0.000,5126,0.176,0.047,3147,1614,1693,1668,1719,0,0,0,0,0,0,26.27,26.48,26.34
$GC,46360,-0.07,146.6,3146,1614,1668,1719,3910.9,11.1,1085,46361,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1614,1693,1668,1719,0,0,0,0,0,0,26.70,26.72,26.72
$GC,46660,-0.07,146.6,3146,1613,1668,1719,3878.7,10.5,1090,46665,0.00,2.10,0.00,0.000,516,0.000,0.062,3155,214,1693,1668,1719,0,0,0,0,0,0,26.71,26.40,26.73
$GC,46732,-0.07,146.6,3154,214,1668,1719,3872.3,10.4,1091,46737,0.00,2.00,0.00,0.000,1030,0.000,0.047,3155,1589,1693,1668,1719,0,0,0,0,0,0,26.52,26.50,26.53
$GC,47081,-0.07,146.6,3155,1590,1668,1719,3833.7,10.7,1097,47087,0.00,2.05,0.00,0.000,516,0.000,0.062,3165,222,1693,1668,1719,0,0,0,0,0,0,26.72,26.41,26.74
$GC,47148,-0.07,146.6,3165,221,1669,1719,3827.0,10.7,1098,47154,0.05,2.00,0.00,0.000,5126,0.166,0.045,3149,1615,1693,1668,1719,0,0,0,0,0,0,26.31,26.51,26.37
$GC,47502,-0.07,146.6,3149,1615,1668,1719,3790.1,10.2,1104,47504,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1615,1693,1667,1719,0,0,0,0,0,0,26.73,26.76,26.75
$GC,47802,-0.07,146.6,3149,1615,1668,1719,3760.6,9.8,1109,47808,0.00,2.08,0.00,0.000,516,0.000,0.062,3157,225,1693,1668,1719,0,0,0,0,0,0,26.74,26.43,26.76
$GC,47885,-0.07,146.6,3157,225,1668,1719,3754.8,9.8,1110,47889,0.00,1.98,0.00,0.000,1030,0.000,0.047,3157,1589,1693,1668,1719,0,0,0,0,0,0,26.55,26.53,26.55
$GC,48224,-0.07,146.6,3157,1590,1668,1719,3718.0,10.1,1116,48229,0.00,2.05,0.00,0.000,516,0.000,0.062,3167,220,1693,1668,1719,0,0,0,0,0,0,26.74,26.43,26.77
$GC,48270,-0.07,146.6,3167,220,1668,1719,3718.0,10.1,1116,48275,0.08,2.00,0.00,0.000,5126,0.159,0.047,3144,1615,1693,1668,1719,0,0,0,0,0,0,26.29,26.53,26.36
$GC,48584,-0.01,146.6,3143,1615,1668,1720,3683.1,9.4,1122,48585,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1614,1693,1668,1719,0,0,0,0,0,0,26.74,26.77,26.77
$GC,48884,0.06,146.6,3143,1615,1668,1719,3655.1,9.4,1127,48889,0.00,2.10,0.00,0.000,516,0.000,0.062,3152,211,1693,1668,1719,0,0,0,0,0,0,26.75,26.44,26.78
$GC,48981,0.13,146.6,3151,210,1668,1719,3649.2,9.5,1128,48986,0.05,1.95,0.00,0.000,3078,0.159,0.047,3195,1593,1693,1668,1719,0,0,0,0,0,0,26.44,26.54,26.51
$GC,49305,0.13,146.6,3195,1594,1668,1719,3608.4,11.6,1134,49309,0.00,2.10,0.00,0.000,516,0.000,0.062,3206,211,1693,1668,1719,0,0,0,0,0,0,26.76,26.44,26.77
$GC,49353,0.13,146.6,3206,207,1668,1719,3608.4,11.6,1134,49358,0.00,2.03,0.00,0.000,1030,0.000,0.045,3206,1600,1693,1668,1719,0,0,0,0,0,0,26.56,26.54,26.58
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$GC,81296,1.07,261.3,3534,206,1304,1272,109.7,16.9,1810,81307,0.12,1.90,0.00,0.000,5126,0.179,0.045,3491,1608,1288,1304,1272,0,0,0,0,0,0,26.35,26.68,26.46
$GC,81607,1.14,261.3,3491,1608,1304,1272,69.6,12.2,1841,81617,0.00,2.00,0.00,0.000,516,0.000,0.060,3499,218,1288,1304,1272,0,0,0,0,0,0,26.87,26.57,26.89
$GC,81644,1.20,261.3,3498,218,1304,1272,65.0,13.0,1844,81654,0.03,1.92,0.00,0.000,3078,0.151,0.042,3539,1604,1288,1304,1272,0,0,0,0,0,0,26.55,26.68,26.58
$GC,81953,1.20,261.3,3539,1605,1304,1272,20.4,10.2,1875,81954,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1605,1288,1304,1272,0,0,0,0,0,0,26.88,26.90,26.89
$STATE,82162,end climb,SURFACE_DEPTH_REACHED
$STATE,82162,begin surface coast
$FINISH,1.4,1.021975
$STATE,82193,end surface coast,CONTROL_FINISHED_OK
$STATE,82194,begin surface
$SM_CCo,82268,0.00,0.000,0,0,1287,264.93
$SM_GC,1.89,8.43,0.00,0.00,0.052,0.000,0.000,178,1612,1287,-9.16,-2.49,264.93,0,0,0,0,0,0,26.63,26.90,26.67
$IRIDIUM_FIX,3115.19,-6349.83,060508,184433
$TT8_MAMPS,0.023219,0.023219
$HUMID,36.92
$INTERNAL_PRESSURE,8.94637
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4623.2,92.6
$24V_AH,19.36,14.690
$10V_AH,9.80,8.555
$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,27.725,489.175,446.425,0.000,97.125,26.557,29.727,385.055,19.000,0.000,55.889,5958.258,65537.680,818.867,10235.646,297.558,0.630,4251.958,0.000,9525.195,0.000,136.455,0.000
$DEVICE_MAMPS,248.300,86.905,4027.426,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1301.025,6188.667,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330372
$DATA_FILE_SIZE,116932,1899
$CAP_FILE_SIZE,550349,0
$CFSIZE,1024409600,1016332288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130715,050444,3150.817,-6348.833,34,1.3,74,-15.6,0.7,273.0,7,4.7