version: 66.12
glider: 36
mission: 20
dive: 25
start: 7 14 115 4 41 34
data:
$ID,36
$MISSION,20
$DIVE,25
$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,80
$R_STBD_OVSHOOT,134
$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
$GPS1,140715,043045,3145.7217,-6403.5903,36,1.0,76,-15.5,0.4,48.1,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.1
$GPS2,140715,044110,3145.7041,-6403.6372,11,1.1,51,-15.5,0.7,273.1,8,4.6
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,SS06
$TGT_LATLONG,3129.220,-6431.920
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.209261,-0.126888
$KALMAN_X,-3263.316650,0.000000,0.000000,24393.548828,-776.921387
$KALMAN_Y,-11203.925781,0.000000,0.000000,37550.117188,-2021.444336
$MHEAD_RNG_PITCHd_Wd,254.3,54103,-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,169,-0.70,-146.6,2820,319,2516,2896,11.1,-14.0,14,180,0.35,1.90,0.00,0.000,3078,0.194,0.047,2920,1680,2706,2516,2896,0,0,0,0,0,0,25.81,26.15,25.92
$GC,479,-0.63,-146.6,2920,1680,2516,2896,41.2,-5.3,45,483,0.00,2.05,0.00,0.000,516,0.000,0.057,2921,315,2706,2516,2896,0,0,0,0,0,0,26.55,26.29,26.57
$GC,808,-0.52,-146.6,2920,306,2516,2896,61.8,-5.6,74,818,0.20,1.95,0.00,0.000,3078,0.169,0.045,2976,1681,2706,2516,2896,0,0,0,0,0,0,26.20,26.49,26.29
$GC,1117,-0.52,-146.6,2976,1681,2516,2896,75.5,-5.8,105,1128,0.00,1.98,0.00,0.000,260,0.000,0.052,2968,3075,2705,2515,2896,0,0,0,0,0,0,26.74,26.50,26.76
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$GC,1532,-0.52,-146.6,2968,1697,2516,2896,100.3,-5.5,145,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1698,2706,2516,2896,0,0,0,0,0,0,26.80,26.82,26.82
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$GC,2144,-0.52,-146.6,2968,1697,2516,2896,141.3,-7.8,206,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1698,2706,2516,2896,0,0,0,0,0,0,26.86,26.87,26.87
$GC,2462,-0.52,-146.6,2968,1698,2516,2896,166.4,-7.8,228,2467,0.00,2.00,0.00,0.000,516,0.000,0.060,2968,307,2706,2516,2896,0,0,0,0,0,0,26.87,26.60,26.89
$GC,2566,-0.52,-146.6,2968,307,2515,2896,175.6,-8.8,233,2572,0.00,1.95,0.00,0.000,1030,0.000,0.045,2959,1729,2706,2516,2896,0,0,0,0,0,0,26.71,26.68,26.72
$GC,2886,-0.52,-146.6,2959,1731,2516,2897,203.0,-8.4,249,2892,0.00,1.92,0.00,0.000,260,0.000,0.055,2949,3064,2706,2516,2896,0,0,0,0,0,0,26.89,26.64,26.90
$GC,2950,-0.52,-146.6,2949,3064,2516,2896,208.6,-8.8,252,2956,0.10,1.95,0.00,0.000,3078,0.159,0.045,2980,1695,2706,2516,2896,0,0,0,0,0,0,26.45,26.67,26.53
$GC,3270,-0.52,-146.6,2981,1695,2516,2896,234.6,-8.2,268,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1695,2706,2516,2896,0,0,0,0,0,0,26.89,26.91,26.91
$GC,3570,-0.57,-146.6,2980,1695,2516,2896,260.6,-8.7,283,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1694,2706,2516,2896,0,0,0,0,0,0,26.90,26.92,26.91
$GC,3870,-0.63,-146.6,2980,1694,2516,2896,287.2,-9.0,298,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1695,2705,2515,2896,0,0,0,0,0,0,26.90,26.93,26.91
$GC,4180,-0.69,-146.6,2981,1695,2516,2896,315.2,-8.8,311,4186,0.08,1.92,0.00,0.000,4612,0.124,0.057,2913,332,2706,2516,2896,0,0,0,0,0,0,26.71,26.64,26.72
$GC,4272,-0.69,-146.6,2913,332,2516,2896,325.7,-10.9,314,4278,0.00,1.88,0.00,0.000,1030,0.000,0.045,2903,1703,2705,2515,2896,0,0,0,0,0,0,26.74,26.71,26.75
$GC,4604,-0.69,-146.6,2904,1703,2516,2896,363.0,-11.0,325,4609,0.00,1.95,0.00,0.000,260,0.000,0.052,2894,3061,2706,2516,2896,0,0,0,0,0,0,26.91,26.66,26.93
$GC,4695,-0.69,-146.6,2893,3060,2516,2896,373.2,-10.9,328,4701,0.10,1.92,0.00,0.000,3078,0.186,0.047,2929,1692,2706,2516,2896,0,0,0,0,0,0,26.46,26.70,26.54
$GC,5025,-0.69,-146.6,2929,1692,2516,2896,405.6,-9.9,339,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1692,2706,2516,2896,0,0,0,0,0,0,26.91,26.94,26.93
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$GC,5451,-0.69,-146.6,2928,314,2516,2896,450.4,-11.7,353,5455,0.00,1.92,0.00,0.000,1030,0.000,0.042,2922,1696,2706,2516,2896,0,0,0,0,0,0,26.73,26.72,26.74
$GC,5780,-0.69,-146.6,2921,1696,2516,2896,486.1,-10.7,364,5785,0.00,1.98,0.00,0.000,260,0.000,0.052,2912,3068,2706,2516,2896,0,0,0,0,0,0,26.91,26.66,26.93
$GC,5880,-0.69,-146.6,2911,3068,2516,2896,496.0,-10.6,367,5884,0.00,1.95,0.00,0.000,1030,0.000,0.045,2912,1709,2706,2516,2896,0,0,0,0,0,0,26.72,26.70,26.73
$GC,6204,-0.69,-146.6,2911,1708,2515,2896,529.2,-9.6,378,6210,0.00,2.00,0.00,0.000,516,0.000,0.060,2912,321,2706,2516,2896,0,0,0,0,0,0,26.91,26.65,26.93
$GC,6272,-0.69,-146.6,2911,321,2516,2896,535.9,-10.4,380,6276,0.00,1.92,0.00,0.000,1030,0.000,0.045,2902,1701,2706,2516,2896,0,0,0,0,0,0,26.73,26.72,26.74
$GC,6596,-0.69,-146.6,2902,1702,2516,2896,574.1,-12.2,391,6602,0.00,1.98,0.00,0.000,260,0.000,0.052,2892,3073,2705,2515,2896,0,0,0,0,0,0,26.91,26.66,26.93
$GC,6753,-0.69,-146.6,2892,3073,2515,2896,592.9,-12.1,396,6759,0.10,1.98,0.00,0.000,3078,0.164,0.045,2926,1692,2706,2516,2896,0,0,0,0,0,0,26.46,26.70,26.55
$GC,7083,-0.69,-146.6,2925,1692,2516,2896,628.5,-10.6,407,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1692,2706,2516,2896,0,0,0,0,0,0,26.91,26.94,26.93
$GC,7383,-0.69,-146.6,2925,1692,2516,2896,660.1,-10.4,417,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1692,2706,2516,2896,0,0,0,0,0,0,26.91,26.94,26.93
$GC,7683,-0.69,-146.6,2925,1692,2516,2896,692.3,-11.0,427,7688,0.00,2.00,0.00,0.000,516,0.000,0.060,2926,306,2706,2516,2896,0,0,0,0,0,0,26.91,26.65,26.93
$GC,7751,-0.69,-146.6,2925,306,2515,2896,699.2,-11.3,429,7756,0.00,1.95,0.00,0.000,1030,0.000,0.045,2918,1712,2706,2516,2896,0,0,0,0,0,0,26.72,26.71,26.74
$GC,8077,-0.69,-146.6,2918,1712,2515,2896,736.0,-10.8,440,8082,0.00,1.92,0.00,0.000,260,0.000,0.052,2908,3061,2705,2515,2896,0,0,0,0,0,0,26.91,26.66,26.93
$GC,8113,-0.69,-146.6,2908,3061,2515,2895,739.1,-10.6,441,8117,0.00,1.95,0.00,0.000,1030,0.000,0.047,2908,1708,2705,2515,2896,0,0,0,0,0,0,26.71,26.70,26.72
$GC,8437,-0.69,-146.6,2908,1708,2515,2893,775.9,-11.4,452,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1708,2704,2516,2893,0,0,0,0,0,0,26.91,26.94,26.93
$GC,8738,-0.69,-146.6,2908,1708,2515,2892,811.5,-12.2,462,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1708,2703,2515,2892,0,0,0,0,0,0,26.91,26.93,26.93
$GC,9037,-0.69,-146.6,2908,1708,2515,2890,848.5,-12.8,472,9042,0.00,2.00,0.00,0.000,516,0.000,0.060,2908,325,2702,2515,2890,0,0,0,0,0,0,26.91,26.63,26.92
$GC,9105,-0.69,-146.6,2908,325,2515,2890,857.0,-13.3,474,9110,0.00,1.92,0.00,0.000,1030,0.000,0.045,2899,1703,2703,2516,2890,0,0,0,0,0,0,26.72,26.70,26.73
$GC,9429,-0.69,-146.6,2899,1703,2516,2888,898.4,-12.5,485,9435,0.00,1.95,0.00,0.000,260,0.000,0.052,2889,3066,2702,2516,2888,0,0,0,0,0,0,26.90,26.65,26.92
$GC,9539,-0.69,-146.6,2889,3066,2515,2888,910.2,-12.6,488,9544,0.12,1.98,0.00,0.000,3078,0.151,0.047,2931,1691,2701,2515,2888,0,0,0,0,0,0,26.44,26.68,26.53
$GC,9853,-0.76,-146.6,2931,1691,2515,2887,950.9,-12.3,499,9859,0.00,2.00,0.00,0.000,516,0.000,0.060,2931,316,2701,2515,2887,0,0,0,0,0,0,26.90,26.63,26.91
$GC,9901,-0.82,-146.6,2930,315,2515,2887,954.8,-12.5,500,9905,0.05,1.92,0.00,0.000,5126,0.161,0.045,2862,1707,2701,2515,2887,0,0,0,0,0,0,26.59,26.68,26.66
$GC,10244,-0.82,-146.6,2858,1707,2515,2884,1009.2,-15.4,511,10250,0.00,1.95,0.00,0.000,260,0.000,0.052,2849,3066,2699,2515,2884,0,0,0,0,0,0,26.89,26.64,26.91
$GC,10295,-0.82,-146.6,2848,3066,2515,2882,1009.2,-15.4,511,10305,0.12,1.98,0.00,0.000,3078,0.159,0.047,2889,1696,2698,2515,2882,0,0,0,0,0,0,26.41,26.67,26.50
$GC,10604,-0.82,-146.6,2889,1696,2515,2881,1059.2,-13.6,517,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1696,2698,2515,2881,0,0,0,0,0,0,26.89,26.91,26.91
$GC,10904,-0.82,-146.6,2889,1696,2515,2879,1101.4,-14.2,522,10908,0.00,2.03,0.00,0.000,516,0.000,0.060,2889,310,2697,2515,2880,0,0,0,0,0,0,26.89,26.60,26.91
$GC,10966,-0.82,-146.6,2889,310,2515,2879,1110.9,-14.5,523,10972,0.00,1.92,0.00,0.000,1030,0.000,0.045,2882,1698,2697,2515,2879,0,0,0,0,0,0,26.71,26.67,26.72
$GC,11327,-0.82,-146.6,2882,1698,2515,2876,1163.0,-14.5,529,11332,0.00,1.98,0.00,0.000,260,0.000,0.055,2872,3067,2695,2515,2876,0,0,0,0,0,0,26.89,26.63,26.90
$GC,11386,-0.82,-146.6,2871,3068,2515,2875,1171.7,-14.5,530,11392,0.00,1.98,0.00,0.000,1030,0.000,0.047,2872,1700,2694,2515,2874,0,0,0,0,0,0,26.70,26.65,26.71
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$GC,32221,-1.49,-146.6,2644,1702,2495,2849,3780.3,-8.5,877,32225,0.00,2.10,0.00,0.000,516,0.000,0.062,2645,309,2671,2494,2848,0,0,0,0,0,0,26.83,26.41,26.85
$GC,32301,-1.49,-146.6,2644,298,2492,2848,3786.0,-8.6,878,32306,0.10,2.03,0.00,0.000,3078,0.156,0.045,2670,1690,2670,2492,2848,0,0,0,0,0,0,26.19,26.55,26.27
$GC,32645,-1.57,-146.6,2669,1690,2492,2848,3813.8,-7.5,884,32651,0.00,2.03,0.00,0.000,260,0.000,0.055,2661,3082,2670,2492,2848,0,0,0,0,0,0,26.83,26.44,26.84
$GC,32707,-1.65,-146.6,2661,3082,2492,2848,3818.4,-7.5,885,32712,0.05,2.08,0.00,0.000,5126,0.097,0.047,2614,1688,2670,2492,2848,0,0,0,0,0,0,26.38,26.51,26.48
$GC,33066,-1.65,-146.6,2614,1688,2491,2848,3850.2,-8.9,891,33067,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1688,2670,2492,2848,0,0,0,0,0,0,26.83,26.85,26.84
$GC,33366,-1.65,-146.6,2614,1688,2492,2848,3876.8,-8.8,896,33371,0.00,2.03,0.00,0.000,516,0.000,0.060,2614,317,2670,2492,2848,0,0,0,0,0,0,26.83,26.39,26.84
$GC,33468,-1.65,-146.6,2614,316,2492,2848,3882.7,-9.1,897,33472,0.00,2.03,0.00,0.000,1030,0.000,0.045,2605,1702,2670,2493,2848,0,0,0,0,0,0,26.55,26.53,26.58
$GC,33787,-1.65,-146.6,2604,1703,2492,2848,3916.4,-9.1,903,33788,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1703,2670,2493,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,34088,-1.65,-146.6,2605,1703,2492,2848,3942.8,-8.8,908,34089,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1703,2670,2492,2848,0,0,0,0,0,0,26.79,26.82,26.81
$GC,34387,-1.65,-146.6,2604,1703,2492,2848,3968.6,-8.6,913,34388,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1703,2670,2492,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,34688,-1.65,-146.6,2604,1703,2492,2848,3993.9,-8.4,918,34689,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1702,2670,2492,2848,0,0,0,0,0,0,26.79,26.82,26.81
$GC,34987,-1.65,-146.6,2604,1703,2492,2848,4018.8,-8.3,923,34988,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1703,2670,2492,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,35288,-1.65,-146.6,2604,1703,2492,2848,4043.5,-8.1,928,35289,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1703,2670,2492,2848,0,0,0,0,0,0,26.79,26.82,26.81
$GC,35587,-1.65,-146.6,2604,1703,2492,2848,4068.6,-8.3,933,35588,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1703,2670,2492,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,35888,-1.65,-146.6,2604,1703,2492,2848,4093.1,-8.2,938,35889,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1703,2670,2492,2848,0,0,0,0,0,0,26.79,26.82,26.81
$GC,36187,-1.65,-146.6,2604,1703,2492,2848,4116.9,-8.0,943,36188,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1703,2670,2492,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,36488,-1.65,-146.6,2604,1703,2492,2848,4140.6,-7.9,948,36490,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1703,2670,2492,2848,0,0,0,0,0,0,26.79,26.82,26.81
$GC,36788,-1.65,-146.6,2604,1703,2492,2848,4163.5,-7.6,953,36790,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1704,2670,2492,2848,0,0,0,0,0,0,26.79,26.82,26.82
$GC,37087,-1.65,-146.6,2604,1703,2491,2848,4185.5,-7.3,958,37088,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1704,2670,2492,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,37387,-1.65,-146.6,2604,1703,2492,2848,4206.6,-7.0,963,37389,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1703,2670,2492,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,37687,-1.65,-146.6,2604,1703,2492,2848,4227.2,-6.8,968,37693,0.00,2.12,0.00,0.000,516,0.000,0.060,2604,306,2669,2491,2848,0,0,0,0,0,0,26.82,26.37,26.84
$GC,37777,-1.65,-146.6,2604,306,2492,2848,4231.4,-7.0,969,37781,0.00,2.03,0.00,0.000,1030,0.000,0.045,2595,1705,2670,2492,2848,0,0,0,0,0,0,26.57,26.52,26.58
$GC,38111,-1.65,-146.6,2595,1705,2492,2848,4257.6,-7.2,975,38112,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1705,2669,2491,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,38411,-1.65,-146.6,2595,1705,2492,2848,4278.7,-7.0,980,38412,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1705,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,38711,-1.65,-146.6,2594,1705,2492,2848,4298.9,-6.7,985,38713,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1705,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,39011,-1.65,-146.6,2595,1705,2492,2848,4318.8,-6.6,990,39012,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1705,2670,2492,2848,0,0,0,0,0,0,26.82,26.85,26.84
$GC,39311,-1.65,-146.6,2594,1705,2492,2848,4338.4,-6.6,995,39312,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1705,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,39611,-1.65,-146.6,2595,1704,2492,2848,4357.6,-6.3,1000,39612,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1704,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,39911,-1.65,-146.6,2594,1705,2492,2848,4375.9,-6.1,1005,39912,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1705,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,40211,-1.65,-146.6,2595,1705,2492,2848,4393.8,-5.9,1010,40216,0.00,2.10,0.00,0.000,516,0.000,0.060,2595,311,2670,2492,2848,0,0,0,0,0,0,26.82,26.36,26.84
$GC,40303,-1.65,-146.6,2594,311,2492,2848,4397.6,-6.0,1011,40308,0.12,2.03,0.00,0.000,3078,0.179,0.045,2625,1709,2670,2492,2848,0,0,0,0,0,0,26.11,26.51,26.26
$GC,40635,-1.74,-146.6,2626,1710,2492,2848,4416.9,-5.1,1017,40636,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1711,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,40934,-1.83,-146.6,2625,1711,2492,2849,4431.9,-5.0,1022,40936,0.12,0.00,0.00,0.000,4102,0.094,0.000,2542,1718,2670,2492,2848,0,0,0,0,0,0,26.55,26.60,26.58
$GC,41235,-1.83,-146.6,2542,1723,2492,2848,4452.1,-6.9,1027,41240,0.00,2.12,0.00,0.000,516,0.000,0.060,2542,314,2670,2492,2848,0,0,0,0,0,0,26.79,26.36,26.82
$GC,41359,-1.83,-146.6,2542,314,2491,2848,4461.1,-7.2,1029,41363,0.00,2.03,0.00,0.000,1030,0.000,0.045,2538,1695,2670,2492,2848,0,0,0,0,0,0,26.53,26.51,26.55
$GC,41718,-1.83,-146.6,2537,1695,2492,2848,4486.1,-6.8,1035,41719,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1695,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,42018,-1.83,-146.6,2537,1695,2492,2848,4506.3,-6.7,1040,42019,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1695,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,42318,-1.83,-146.6,2538,1695,2492,2848,4525.8,-6.4,1045,42319,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1695,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,42618,-1.83,-146.6,2538,1695,2492,2848,4544.5,-6.3,1050,42619,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1695,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,42918,-1.83,-146.6,2537,1695,2492,2848,4562.8,-6.1,1055,42919,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1695,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$GC,43218,-1.83,-146.6,2538,1695,2492,2848,4580.1,-5.7,1060,43219,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1695,2670,2492,2848,0,0,0,0,0,0,26.82,26.84,26.84
$STATE,43276,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,43277,begin apogee
$GC,43281,-0.24,0.0,2537,1584,2492,2848,4583.3,-5.6,1061,43411,1.62,0.00,125.78,3.978,10246,0.139,0.000,3075,1583,2199,2029,2370,0,0,0,0,0,0,26.00,21.83,19.64
$STATE,43412,end apogee,CONTROL_FINISHED_OK
$STATE,43412,begin climb
$GC,43413,1.01,146.6,3074,1583,2029,2370,4579.8,0.0,1063,43611,1.20,0.00,188.68,4.037,10246,0.070,0.000,3491,1583,1694,1671,1718,0,0,0,0,1,0,22.65,21.61,19.49
$GC,43878,0.57,146.6,3491,1583,1671,1717,4443.9,33.2,1071,43884,0.57,2.12,0.00,0.000,4612,0.231,0.057,3347,227,1693,1670,1717,0,0,0,0,0,0,24.66,24.88,24.79
$GC,43945,0.16,146.6,3347,228,1670,1717,4426.7,32.1,1072,43951,0.52,2.10,0.00,0.000,5126,0.206,0.045,3201,1629,1693,1670,1717,0,0,0,0,0,0,24.89,25.15,25.08
$GC,44295,0.03,146.6,3201,1629,1670,1717,4362.2,17.2,1078,44301,0.12,2.12,0.00,0.000,4612,0.199,0.057,3167,236,1693,1670,1717,0,0,0,0,0,0,25.46,25.64,25.57
$GC,44357,-0.09,146.6,3166,236,1670,1717,4352.4,17.1,1079,44362,0.08,2.00,0.00,0.000,5126,0.181,0.045,3144,1592,1693,1670,1717,0,0,0,0,0,0,25.56,25.79,25.65
$GC,44716,-0.09,146.6,3144,1593,1670,1717,4303.3,13.4,1085,44721,0.00,2.08,0.00,0.000,516,0.000,0.062,3152,229,1693,1670,1717,0,0,0,0,0,0,26.22,25.94,26.23
$GC,44762,-0.09,146.6,3152,229,1670,1717,4303.3,13.4,1085,44766,0.00,2.00,0.00,0.000,1030,0.000,0.045,3152,1585,1693,1670,1717,0,0,0,0,0,0,26.06,26.05,26.08
$GC,45076,-0.14,146.6,3152,1589,1670,1717,4254.0,13.6,1091,45082,0.08,2.03,0.00,0.000,4612,0.204,0.060,3134,238,1693,1670,1717,0,0,0,0,0,0,25.94,26.08,26.02
$GC,45127,-0.19,146.6,3133,238,1670,1717,4254.0,13.6,1091,45137,0.12,2.00,0.00,0.000,5126,0.166,0.047,3089,1614,1693,1670,1717,0,0,0,0,0,0,25.91,26.17,26.01
$GC,45436,-0.19,146.6,3088,1618,1670,1717,4215.2,10.2,1097,45441,0.00,2.12,0.00,0.000,516,0.000,0.062,3097,224,1693,1670,1717,0,0,0,0,0,0,26.44,26.16,26.46
$GC,45487,-0.19,146.6,3097,224,1670,1717,4215.2,10.2,1097,45496,0.00,2.00,0.00,0.000,1030,0.000,0.045,3097,1595,1693,1670,1717,0,0,0,0,0,0,26.27,26.25,26.28
$GC,45796,-0.19,146.6,3097,1599,1670,1717,4177.4,10.4,1103,45801,0.00,2.05,0.00,0.000,516,0.000,0.062,3107,234,1693,1670,1717,0,0,0,0,0,0,26.51,26.22,26.53
$GC,45847,-0.19,146.6,3107,234,1670,1717,4177.4,10.4,1103,45856,0.00,2.00,0.00,0.000,1030,0.000,0.045,3107,1605,1693,1670,1717,0,0,0,0,0,0,26.32,26.31,26.34
$GC,46156,-0.19,146.6,3107,1609,1670,1717,4139.0,10.6,1109,46161,0.00,2.08,0.00,0.000,516,0.000,0.062,3118,226,1693,1670,1717,0,0,0,0,0,0,26.55,26.26,26.58
$GC,46223,-0.19,146.6,3117,227,1671,1717,4132.0,10.8,1110,46227,0.00,2.00,0.00,0.000,1030,0.000,0.045,3118,1599,1693,1670,1717,0,0,0,0,0,0,26.37,26.36,26.39
$GC,46577,-0.19,146.6,3117,1604,1670,1717,4093.1,10.8,1116,46581,0.00,2.10,0.00,0.000,516,0.000,0.062,3128,232,1693,1670,1717,0,0,0,0,0,0,26.60,26.30,26.62
$GC,46641,-0.19,146.6,3128,224,1670,1717,4085.9,10.9,1117,46647,0.12,2.00,0.00,0.000,5126,0.156,0.045,3087,1619,1693,1670,1717,0,0,0,0,0,0,26.13,26.40,26.22
$GC,47002,-0.13,146.6,3087,1619,1670,1717,4052.2,9.2,1123,47007,0.00,2.08,0.00,0.000,516,0.000,0.062,3095,233,1693,1670,1717,0,0,0,0,0,0,26.63,26.33,26.65
$GC,47078,-0.06,146.6,3095,233,1670,1718,4046.6,9.2,1124,47083,0.03,1.95,0.00,0.000,3078,0.142,0.047,3137,1593,1693,1670,1717,0,0,0,0,0,0,26.31,26.43,26.34
$GC,47422,-0.06,146.6,3136,1594,1670,1717,4006.7,11.2,1130,47427,0.00,2.05,0.00,0.000,516,0.000,0.062,3147,223,1693,1670,1717,0,0,0,0,0,0,26.65,26.35,26.67
$GC,47473,-0.06,146.6,3147,222,1670,1717,4006.7,11.2,1130,47482,0.00,1.98,0.00,0.000,1030,0.000,0.045,3147,1585,1693,1670,1717,0,0,0,0,0,0,26.46,26.45,26.48
$GC,47782,-0.06,146.6,3147,1589,1670,1717,3965.2,11.4,1136,47783,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1589,1693,1670,1717,0,0,0,0,0,0,26.67,26.70,26.69
$GC,48082,-0.06,146.6,3147,1589,1670,1717,3931.1,11.4,1141,48087,0.00,2.03,0.00,0.000,516,0.000,0.062,3158,232,1693,1670,1717,0,0,0,0,0,0,26.68,26.39,26.70
$GC,48169,-0.06,146.6,3157,232,1670,1717,3923.9,11.4,1142,48173,0.00,1.98,0.00,0.000,1030,0.000,0.045,3158,1594,1693,1670,1717,0,0,0,0,0,0,26.51,26.48,26.51
$GC,48503,-0.06,146.6,3157,1598,1670,1717,3883.0,11.2,1148,48508,0.00,2.05,0.00,0.000,516,0.000,0.062,3168,225,1693,1670,1717,0,0,0,0,0,0,26.70,26.39,26.72
$GC,48565,-0.06,146.6,3167,225,1670,1717,3876.0,11.2,1149,48570,0.05,2.00,0.00,0.000,5126,0.176,0.045,3152,1615,1693,1670,1717,0,0,0,0,0,0,26.29,26.50,26.35
$GC,48924,-0.06,146.6,3152,1615,1670,1717,3837.8,10.5,1155,48928,0.00,2.10,0.00,0.000,516,0.000,0.062,3161,242,1694,1671,1717,0,0,0,0,0,0,26.71,26.40,26.73
$GC,48987,-0.06,146.6,3161,231,1670,1717,3831.1,10.5,1156,48992,0.00,1.95,0.00,0.000,1030,0.000,0.047,3161,1600,1693,1670,1717,0,0,0,0,0,0,26.53,26.51,26.54
$GC,49347,-0.06,146.6,3160,1601,1670,1717,3793.2,10.5,1162,49352,0.00,2.05,0.00,0.000,516,0.000,0.062,3171,229,1693,1670,1717,0,0,0,0,0,0,26.72,26.41,26.74
$GC,49414,-0.06,146.6,3170,229,1670,1717,3786.5,10.6,1163,49419,0.05,1.98,0.00,0.000,5126,0.171,0.045,3155,1614,1693,1670,1717,0,0,0,0,0,0,26.31,26.52,26.37
$GC,49768,-0.06,146.6,3155,1615,1670,1717,3750.2,9.9,1169,49773,0.00,2.08,0.00,0.000,516,0.000,0.062,3164,224,1693,1670,1717,0,0,0,0,0,0,26.73,26.42,26.75
$GC,49814,-0.06,146.6,3163,224,1670,1717,3750.2,9.9,1169,49819,0.05,1.98,0.00,0.000,5126,0.191,0.045,3149,1604,1693,1670,1717,0,0,0,0,0,0,26.30,26.52,26.36
$GC,50128,-0.06,146.6,3148,1605,1670,1717,3715.5,9.5,1175,50129,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1604,1693,1670,1717,0,0,0,0,0,0,26.74,26.77,26.76
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$GC,82438,0.87,296.9,3466,228,1170,1157,447.5,13.2,1788,82443,0.12,1.95,0.00,0.000,5126,0.161,0.042,3426,1620,1163,1170,1157,0,0,0,0,0,0,26.36,26.65,26.45
$GC,82759,0.94,296.9,3425,1620,1170,1157,411.5,10.7,1799,82760,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1620,1163,1170,1157,0,0,0,0,0,0,26.84,26.86,26.86
$GC,83057,1.02,296.9,3425,1620,1170,1157,378.3,11.3,1809,83063,0.08,2.03,0.00,0.000,2564,0.124,0.057,3505,227,1163,1170,1157,0,0,0,0,0,0,26.66,26.56,26.67
$GC,83126,1.02,296.9,3505,226,1170,1157,368.9,13.3,1811,83130,0.00,1.92,0.00,0.000,1030,0.000,0.042,3505,1594,1164,1171,1157,0,0,0,0,0,0,26.67,26.66,26.69
$GC,83449,1.02,296.9,3505,1595,1170,1157,312.0,17.0,1822,83455,0.00,2.00,0.00,0.000,516,0.000,0.060,3515,221,1163,1170,1157,0,0,0,0,0,0,26.85,26.57,26.86
$GC,83502,1.02,296.9,3515,220,1170,1157,306.9,17.0,1823,83511,0.12,1.92,0.00,0.000,5126,0.156,0.042,3473,1610,1163,1170,1157,0,0,0,0,0,0,26.39,26.67,26.48
$GC,83821,1.02,296.9,3474,1611,1170,1157,256.7,14.5,1839,83826,0.00,2.03,0.00,0.000,516,0.000,0.060,3482,228,1163,1170,1157,0,0,0,0,0,0,26.85,26.57,26.87
$GC,83862,1.02,296.9,3482,228,1170,1157,250.5,14.7,1841,83867,0.00,1.88,0.00,0.000,1030,0.000,0.045,3482,1595,1163,1170,1157,0,0,0,0,0,0,26.70,26.67,26.72
$GC,84183,1.02,296.9,3482,1595,1170,1157,201.9,14.7,1857,84184,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1595,1163,1170,1157,0,0,0,0,0,0,26.86,26.88,26.88
$GC,84483,1.02,296.9,3482,1595,1170,1157,160.5,13.3,1872,84489,0.00,2.00,0.00,0.000,516,0.000,0.060,3492,230,1163,1170,1157,0,0,0,0,0,0,26.86,26.58,26.88
$GC,84566,1.02,296.9,3492,230,1170,1157,149.0,13.7,1876,84576,0.00,1.90,0.00,0.000,1030,0.000,0.045,3492,1604,1163,1170,1157,0,0,0,0,0,0,26.71,26.68,26.72
$GC,84876,1.02,296.9,3492,1605,1170,1157,106.5,13.5,1907,84877,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1605,1163,1170,1157,0,0,0,0,0,0,26.86,26.89,26.89
$GC,85176,1.02,296.9,3492,1605,1170,1157,66.8,13.6,1937,85187,0.00,2.00,0.00,0.000,516,0.000,0.060,3502,220,1163,1170,1157,0,0,0,0,0,0,26.87,26.59,26.89
$GC,85234,1.08,296.9,3501,219,1170,1157,60.0,11.9,1942,85245,0.00,1.90,0.00,0.000,1030,0.000,0.045,3502,1606,1163,1170,1157,0,0,0,0,0,0,26.72,26.70,26.72
$GC,85544,1.17,296.9,3501,1606,1170,1157,23.6,9.0,1973,85555,0.00,2.03,0.00,0.000,516,0.000,0.060,3509,222,1163,1170,1157,0,0,0,0,0,0,26.88,26.59,26.89
$GC,85604,1.28,296.9,3509,222,1170,1157,18.8,8.1,1978,85614,0.08,1.92,0.00,0.000,3078,0.082,0.045,3584,1624,1163,1170,1157,0,0,0,0,0,0,26.59,26.70,26.63
$STATE,85732,end climb,SURFACE_DEPTH_REACHED
$STATE,85732,begin surface coast
$FINISH,1.4,1.023836
$STATE,85754,end surface coast,CONTROL_FINISHED_OK
$STATE,85754,begin surface
$SM_CCo,85828,0.00,0.000,0,0,1163,300.95
$SM_GC,2.65,8.52,0.00,0.00,0.052,0.000,0.000,184,1634,1163,-9.16,-1.89,300.95,0,0,0,0,0,0,26.60,26.90,26.65
$IRIDIUM_FIX,3135.41,-6352.18,080508,183534
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.12
$INTERNAL_PRESSURE,8.93661
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4522.0,90.2
$24V_AH,19.49,15.726
$10V_AH,9.77,9.096
$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,28.600,503.325,483.525,0.000,96.675,24.327,43.202,363.865,16.500,0.000,52.257,6304.208,68053.023,877.814,10850.870,308.396,0.607,4533.291,0.000,10151.553,0.000,121.262,0.000
$DEVICE_MAMPS,250.783,96.837,4037.358,0.000,111.735,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1365.267,6495.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330376
$DATA_FILE_SIZE,123501,1993
$CAP_FILE_SIZE,583811,0
$CFSIZE,1024409600,1015873536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,15177.55,0x212b3c,0,24
$GPS,150715,043344,3139.930,-6419.015,24,1.2,65,-15.4,0.3,74.8,7,4.6