version: 66.12
glider: 36
mission: 20
dive: 36
start: 7 28 115 20 0 1
data:
$ID,36
$MISSION,20
$DIVE,36
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$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,13
$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,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,157
$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,4000
$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
$GPS1,280715,194416,3141.3584,-6340.5107,43,2.7,85,-15.6,1.1,136.9,7,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.3
$GPS2,280715,195934,3141.2368,-6340.3574,33,1.4,73,-15.6,0.5,141.3,7,7.2
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,SS08
$TGT_LATLONG,3150.820,-6348.300
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.094324,0.083496
$KALMAN_X,-30383.300781,0.000000,0.000000,82334.117188,4672.503906
$KALMAN_Y,-21206.443359,0.000000,0.000000,30778.037109,2587.013672
$MHEAD_RNG_PITCHd_Wd,327.1,21705,-22.5,-6.000,-25.47,1256
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,95,-1.13,-97.2,130,1736,2124,2467,3.1,-2.1,7,126,10.32,2.17,-14.95,0.109,18948,0.251,0.057,2784,303,2536,2359,2713,0,0,0,0,0,0,25.65,26.08,25.83
$GC,308,-0.88,-97.2,2784,302,2358,2713,27.2,-15.3,26,319,0.28,1.85,0.00,0.000,3078,0.206,0.045,2862,1653,2536,2359,2713,0,0,0,0,0,0,25.89,26.36,26.02
$GC,619,-0.78,-146.6,2862,1653,2359,2713,33.8,-1.1,57,630,0.10,2.00,-2.85,0.154,18948,0.216,0.057,2898,308,2709,2521,2897,0,0,0,0,0,0,26.16,26.32,26.25
$GC,959,-0.70,-146.6,2898,308,2521,2897,52.5,-6.0,87,970,0.10,1.92,0.00,0.000,3078,0.189,0.045,2921,1713,2709,2521,2897,0,0,0,0,0,0,26.22,26.58,26.31
$GC,1269,-0.70,-146.6,2921,1713,2521,2897,68.5,-7.0,118,1279,0.00,2.03,0.00,0.000,516,0.000,0.057,2921,313,2709,2521,2897,0,0,0,0,0,0,26.83,26.53,26.85
$GC,1607,-0.70,-146.6,2921,312,2521,2897,93.7,-7.1,148,1617,0.00,1.90,0.00,0.000,1030,0.000,0.045,2914,1706,2709,2521,2898,0,0,0,0,0,0,26.70,26.66,26.70
$GC,1917,-0.70,-146.6,2913,1706,2521,2897,114.5,-7.3,179,1927,0.00,2.05,0.00,0.000,516,0.000,0.057,2914,302,2709,2521,2897,0,0,0,0,0,0,26.88,26.58,26.90
$GC,2255,-0.70,-146.6,2913,302,2521,2897,145.0,-10.1,209,2266,0.00,1.92,0.00,0.000,1030,0.000,0.045,2904,1719,2709,2521,2897,0,0,0,0,0,0,26.72,26.68,26.72
$GC,2575,-0.70,-146.6,2904,1719,2521,2897,175.7,-10.1,228,2581,0.00,2.03,0.00,0.000,516,0.000,0.057,2904,309,2709,2521,2897,0,0,0,0,0,0,26.90,26.60,26.91
$GC,2629,-0.70,-146.6,2904,309,2521,2897,180.3,-10.6,230,2638,0.00,1.92,0.00,0.000,1030,0.000,0.045,2895,1697,2709,2521,2897,0,0,0,0,0,0,26.70,26.69,26.72
$GC,2938,-0.70,-146.6,2895,1698,2521,2897,216.0,-10.9,246,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1698,2709,2521,2897,0,0,0,0,0,0,26.90,26.93,26.91
$GC,3239,-0.70,-146.6,2895,1698,2521,2897,250.1,-11.5,261,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1698,2709,2521,2897,0,0,0,0,0,0,26.90,26.93,26.92
$GC,3539,-0.70,-146.6,2896,1698,2521,2897,284.6,-11.2,276,3544,0.00,1.92,0.00,0.000,260,0.000,0.052,2886,3060,2709,2521,2897,0,0,0,0,0,0,26.91,26.63,26.92
$GC,3643,-0.70,-146.6,2885,3060,2521,2897,296.6,-11.7,281,3649,0.12,1.95,0.00,0.000,3078,0.169,0.047,2925,1667,2709,2521,2897,0,0,0,0,0,0,26.34,26.67,26.44
$GC,3954,-0.70,-146.6,2924,1667,2521,2897,328.3,-10.1,292,3960,0.00,1.92,0.00,0.000,516,0.000,0.057,2925,324,2709,2521,2897,0,0,0,0,0,0,26.91,26.60,26.92
$GC,4006,-0.70,-146.6,2924,323,2521,2897,331.6,-10.4,293,4015,0.00,1.90,0.00,0.000,1030,0.000,0.042,2918,1703,2709,2521,2897,0,0,0,0,0,0,26.71,26.69,26.72
$GC,4315,-0.70,-146.6,2918,1703,2521,2897,367.3,-10.7,304,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1703,2709,2521,2897,0,0,0,0,0,0,26.91,26.93,26.93
$GC,4616,-0.70,-146.6,2918,1703,2520,2897,399.4,-10.8,314,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1703,2709,2521,2897,0,0,0,0,0,0,26.91,26.93,26.92
$GC,4915,-0.75,-146.6,2918,1703,2521,2897,430.9,-10.3,324,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1703,2709,2521,2897,0,0,0,0,0,0,26.91,26.93,26.92
$GC,5215,-0.80,-146.6,2918,1703,2521,2897,462.5,-10.7,334,5220,0.00,1.92,0.00,0.000,260,0.000,0.052,2908,3063,2709,2521,2897,0,0,0,0,0,0,26.91,26.63,26.92
$GC,5309,-0.86,-146.6,2907,3063,2521,2897,472.7,-10.9,337,5314,0.03,1.95,0.00,0.000,5126,0.149,0.045,2856,1703,2709,2521,2897,0,0,0,0,0,0,26.56,26.67,26.58
$GC,5640,-0.86,-146.6,2856,1703,2521,2897,516.8,-13.6,348,5645,0.00,2.00,0.00,0.000,516,0.000,0.057,2856,314,2709,2521,2897,0,0,0,0,0,0,26.91,26.60,26.92
$GC,5748,-0.86,-146.6,2856,314,2521,2897,530.7,-14.6,351,5752,0.00,1.92,0.00,0.000,1030,0.000,0.042,2846,1708,2709,2521,2897,0,0,0,0,0,0,26.70,26.70,26.72
$GC,6062,-0.86,-146.6,2846,1708,2521,2896,578.4,-14.5,362,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1708,2708,2521,2896,0,0,0,0,0,0,26.91,26.93,26.92
$GC,6362,-0.86,-146.6,2846,1708,2521,2896,622.7,-14.8,372,6367,0.00,1.92,0.00,0.000,260,0.000,0.052,2838,3062,2708,2521,2896,0,0,0,0,0,0,26.91,26.62,26.92
$GC,6446,-0.86,-146.6,2838,3062,2521,2893,632.3,-15.4,374,6455,0.10,1.95,0.00,0.000,3078,0.166,0.045,2871,1696,2706,2520,2893,0,0,0,0,0,0,26.36,26.67,26.45
$GC,6755,-0.86,-146.6,2871,1696,2521,2893,679.7,-14.0,385,6760,0.00,2.00,0.00,0.000,516,0.000,0.057,2871,309,2707,2521,2893,0,0,0,0,0,0,26.90,26.60,26.92
$GC,6807,-0.86,-146.6,2870,309,2521,2893,684.4,-14.1,386,6816,0.00,1.92,0.00,0.000,1030,0.000,0.042,2864,1696,2707,2521,2893,0,0,0,0,0,0,26.70,26.69,26.72
$GC,7116,-0.86,-146.6,2864,1696,2521,2892,731.4,-14.3,397,7121,0.00,1.95,0.00,0.000,260,0.000,0.052,2853,3066,2706,2521,2892,0,0,0,0,0,0,26.90,26.62,26.91
$GC,7194,-0.86,-146.6,2853,3066,2521,2890,740.1,-14.2,399,7199,0.00,1.95,0.00,0.000,1030,0.000,0.045,2853,1709,2705,2521,2890,0,0,0,0,0,0,26.68,26.66,26.70
$GC,7508,-0.86,-146.6,2853,1709,2521,2889,786.9,-14.2,410,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1709,2704,2520,2889,0,0,0,0,0,0,26.89,26.92,26.91
$GC,7810,-0.86,-146.6,2853,1709,2521,2888,829.6,-14.3,420,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1709,2704,2521,2888,0,0,0,0,0,0,26.89,26.91,26.91
$GC,8108,-0.86,-146.6,2853,1709,2521,2887,873.0,-14.3,430,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1709,2704,2521,2887,0,0,0,0,0,0,26.89,26.91,26.91
$GC,8408,-0.86,-146.6,2853,1709,2521,2885,917.9,-15.3,440,8414,0.00,2.03,0.00,0.000,516,0.000,0.057,2853,314,2703,2521,2885,0,0,0,0,0,0,26.89,26.58,26.91
$GC,8461,-0.86,-146.6,2853,314,2521,2885,922.9,-15.7,441,8470,0.00,1.95,0.00,0.000,1030,0.000,0.042,2844,1705,2703,2521,2885,0,0,0,0,0,0,26.67,26.66,26.69
$GC,8770,-0.86,-146.6,2844,1705,2520,2882,977.2,-16.6,452,8775,0.08,1.90,0.00,0.000,2308,0.206,0.050,2865,3059,2701,2521,2882,0,0,0,0,0,0,26.43,26.54,26.48
$GC,8874,-0.86,-146.6,2864,3059,2520,2881,991.2,-15.5,455,8879,0.00,1.98,0.00,0.000,1030,0.000,0.047,2865,1700,2701,2521,2881,0,0,0,0,0,0,26.65,26.64,26.67
$GC,9224,-0.91,-146.6,2864,1700,2521,2878,1046.4,-15.4,462,9229,0.00,2.00,0.00,0.000,516,0.000,0.057,2865,314,2700,2521,2879,0,0,0,0,0,0,26.88,26.56,26.90
$GC,9270,-0.96,-146.6,2864,314,2521,2879,1046.4,-15.4,462,9274,0.00,1.92,0.00,0.000,1030,0.000,0.042,2856,1705,2699,2520,2878,0,0,0,0,0,0,26.69,26.65,26.70
$GC,9583,-0.96,-146.6,2855,1705,2521,2875,1103.3,-15.9,468,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1705,2698,2521,2875,0,0,0,0,0,0,26.87,26.90,26.89
$GC,9884,-1.02,-146.6,2856,1705,2520,2871,1152.0,-16.2,473,9889,0.00,1.95,0.00,0.000,260,0.000,0.052,2845,3062,2696,2521,2871,0,0,0,0,0,0,26.87,26.58,26.89
$GC,9930,-1.07,-146.6,2845,3062,2521,2871,1152.0,-16.2,473,9934,0.05,1.98,0.00,0.000,5126,0.164,0.047,2802,1687,2695,2521,2870,0,0,0,0,0,0,26.52,26.62,26.58
$GC,10243,-1.07,-146.6,2801,1687,2521,2869,1216.9,-18.4,479,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1687,2694,2520,2869,0,0,0,0,0,0,26.87,26.89,26.89
$GC,10543,-1.07,-146.6,2801,1687,2518,2868,1270.7,-17.9,484,10549,0.00,2.03,0.00,0.000,516,0.000,0.060,2801,306,2692,2517,2868,0,0,0,0,0,0,26.86,26.53,26.89
$GC,10589,-1.07,-146.6,2801,306,2516,2868,1270.7,-17.9,484,10594,0.00,1.98,0.00,0.000,1030,0.000,0.045,2792,1697,2691,2515,2868,0,0,0,0,0,0,26.65,26.63,26.66
$GC,10903,-1.07,-146.6,2792,1698,2516,2867,1335.0,-17.6,490,10909,0.00,1.98,0.00,0.000,260,0.000,0.052,2782,3067,2692,2517,2867,0,0,0,0,0,0,26.86,26.56,26.89
$GC,10949,-1.07,-146.6,2781,3067,2516,2866,1335.0,-17.6,490,10954,0.00,2.00,0.00,0.000,1030,0.000,0.047,2782,1705,2691,2516,2866,0,0,0,0,0,0,26.63,26.60,26.64
$GC,11263,-1.07,-146.6,2781,1705,2514,2865,1399.4,-17.9,496,11269,0.00,2.03,0.00,0.000,516,0.000,0.060,2782,310,2689,2514,2865,0,0,0,0,0,0,26.86,26.52,26.88
$GC,11304,-1.07,-146.6,2782,310,2513,2865,1399.4,-17.9,496,11309,0.10,1.98,0.00,0.000,3078,0.179,0.045,2803,1702,2689,2513,2866,0,0,0,0,0,0,26.25,26.62,26.34
$GC,11623,-1.07,-146.6,2803,1702,2513,2863,1460.2,-16.5,502,11627,0.00,2.00,0.00,0.000,260,0.000,0.052,2794,3073,2688,2513,2863,0,0,0,0,0,0,26.86,26.55,26.88
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$GC,29720,-1.85,-146.6,2533,1701,2493,2844,4068.8,-10.5,803,29721,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1701,2668,2493,2844,0,0,0,0,0,0,26.81,26.83,26.82
$GC,30020,-1.85,-146.6,2533,1701,2493,2843,4099.0,-10.0,808,30021,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1701,2668,2493,2844,0,0,0,0,0,0,26.81,26.83,26.82
$GC,30321,-1.85,-146.6,2533,1701,2493,2843,4128.7,-9.9,813,30322,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1701,2668,2493,2843,0,0,0,0,0,0,26.81,26.83,26.82
$GC,30620,-1.85,-146.6,2533,1701,2493,2843,4158.5,-10.0,818,30621,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1701,2668,2493,2844,0,0,0,0,0,0,26.80,26.83,26.82
$GC,30920,-1.85,-146.6,2533,1701,2493,2844,4188.3,-10.0,823,30921,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1701,2668,2493,2844,0,0,0,0,0,0,26.80,26.83,26.82
$GC,31220,-1.85,-146.6,2533,1701,2493,2844,4217.6,-9.7,828,31221,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1701,2668,2493,2844,0,0,0,0,0,0,26.80,26.83,26.82
$GC,31520,-1.85,-146.6,2533,1701,2493,2844,4246.1,-9.4,833,31524,0.00,2.12,0.00,0.000,516,0.000,0.057,2534,321,2668,2493,2844,0,0,0,0,0,0,26.80,26.28,26.82
$GC,31616,-1.85,-146.6,2533,306,2491,2844,4252.3,-9.4,834,31620,0.08,2.05,0.00,0.000,3078,0.179,0.045,2556,1715,2668,2492,2844,0,0,0,0,0,0,25.97,26.46,26.10
$GC,31946,-1.85,-146.6,2556,1715,2492,2844,4282.9,-8.2,840,31947,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1715,2668,2492,2844,0,0,0,0,0,0,26.76,26.78,26.78
$GC,32244,-1.85,-146.6,2556,1714,2492,2844,4306.4,-7.9,845,32246,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1715,2668,2492,2844,0,0,0,0,0,0,26.80,26.83,26.82
$GC,32544,-1.85,-146.6,2556,1715,2492,2844,4329.8,-7.8,850,32546,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1715,2667,2492,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,32846,-1.85,-146.6,2556,1715,2492,2844,4352.4,-7.6,855,32849,0.00,2.15,0.00,0.000,516,0.000,0.057,2556,327,2667,2492,2843,0,0,0,0,0,0,26.76,26.26,26.78
$GC,32950,-1.85,-146.6,2556,301,2492,2844,4357.8,-7.8,856,32954,0.00,2.03,0.00,0.000,1030,0.000,0.045,2549,1687,2668,2492,2844,0,0,0,0,0,0,26.53,26.46,26.54
$GC,33269,-1.85,-146.6,2548,1687,2492,2844,4386.4,-7.9,862,33270,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1687,2668,2492,2844,0,0,0,0,0,0,26.80,26.82,26.82
$GC,33569,-1.85,-146.6,2549,1687,2492,2844,4409.1,-7.5,867,33570,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1687,2668,2492,2844,0,0,0,0,0,0,26.80,26.82,26.82
$GC,33870,-1.85,-146.6,2549,1687,2492,2844,4431.4,-7.4,872,33874,0.00,2.10,0.00,0.000,516,0.000,0.057,2549,315,2668,2492,2844,0,0,0,0,0,0,26.76,26.25,26.77
$GC,33975,-1.85,-146.6,2549,304,2492,2844,4436.5,-7.5,873,33979,0.00,2.05,0.00,0.000,1030,0.000,0.045,2540,1700,2668,2492,2844,0,0,0,0,0,0,26.46,26.44,26.47
$GC,34295,-1.85,-146.6,2539,1701,2492,2844,4463.5,-7.4,879,34296,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1700,2667,2492,2843,0,0,0,0,0,0,26.75,26.78,26.77
$GC,34594,-1.85,-146.6,2539,1700,2492,2844,4485.2,-7.3,884,34595,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1700,2668,2492,2844,0,0,0,0,0,0,26.80,26.82,26.82
$GC,34894,-1.85,-146.6,2539,1700,2492,2844,4506.2,-7.1,889,34899,0.00,2.12,0.00,0.000,516,0.000,0.057,2540,305,2668,2492,2844,0,0,0,0,0,0,26.79,26.25,26.82
$GC,35010,-1.85,-146.6,2539,305,2492,2844,4510.9,-7.1,890,35019,0.00,2.05,0.00,0.000,1030,0.000,0.045,2533,1702,2668,2492,2844,0,0,0,0,0,0,26.46,26.44,26.48
$GC,35317,-1.85,-146.6,2533,1702,2492,2844,4537.0,-7.0,896,35319,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1702,2668,2492,2844,0,0,0,0,0,0,26.79,26.82,26.82
$GC,35617,-1.85,-146.6,2533,1701,2492,2844,4557.5,-6.9,901,35619,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1702,2668,2492,2844,0,0,0,0,0,0,26.80,26.82,26.82
$GC,35918,-1.85,-146.6,2533,1702,2492,2844,4577.1,-6.5,906,35923,0.00,2.10,0.00,0.000,516,0.000,0.057,2533,316,2668,2492,2844,0,0,0,0,0,0,26.79,26.25,26.82
$GC,36078,-1.85,-146.6,2533,316,2492,2844,4585.7,-6.6,908,36084,0.10,2.03,0.00,0.000,3078,0.171,0.045,2555,1708,2667,2492,2843,0,0,0,0,0,0,25.97,26.43,26.03
$GC,36403,-1.92,-146.6,2555,1709,2492,2844,4606.8,-5.8,914,36404,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1709,2667,2492,2843,0,0,0,0,0,0,26.79,26.82,26.82
$GC,36704,-1.99,-146.6,2554,1709,2492,2844,4622.4,-5.1,919,36706,0.08,0.00,0.00,0.000,4102,0.124,0.000,2505,1715,2668,2492,2844,0,0,0,0,0,0,26.55,26.58,26.56
$GC,37003,-1.99,-146.6,2505,1714,2492,2844,4640.5,-6.1,924,37009,0.00,2.12,0.00,0.000,516,0.000,0.057,2504,309,2668,2492,2844,0,0,0,0,0,0,26.75,26.24,26.77
$GC,37171,-1.99,-146.6,2505,309,2492,2843,4648.2,-6.2,926,37175,0.00,2.03,0.00,0.000,1030,0.000,0.045,2496,1694,2667,2491,2844,0,0,0,0,0,0,26.46,26.45,26.48
$GC,37487,-1.99,-146.6,2496,1694,2492,2844,4670.6,-6.1,932,37489,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1694,2668,2492,2844,0,0,0,0,0,0,26.77,26.79,26.79
$GC,37786,-1.99,-146.6,2496,1694,2491,2844,4688.3,-5.8,937,37792,0.00,2.10,0.00,0.000,516,0.000,0.057,2496,310,2668,2492,2844,0,0,0,0,0,0,26.79,26.24,26.82
$GC,38036,-1.99,-146.6,2496,310,2492,2844,4704.5,-6.5,941,38040,0.00,2.03,0.00,0.000,1030,0.000,0.045,2487,1695,2668,2492,2844,0,0,0,0,0,0,26.46,26.45,26.48
$GC,38395,-1.99,-146.6,2486,1695,2491,2843,4725.7,-5.8,947,38400,0.00,2.08,0.00,0.000,516,0.000,0.057,2487,306,2668,2492,2844,0,0,0,0,0,0,26.79,26.24,26.82
$GC,38545,-1.99,-146.6,2486,306,2492,2844,4733.3,-6.0,949,38550,0.10,2.05,0.00,0.000,3078,0.181,0.045,2507,1699,2668,2492,2844,0,0,0,0,0,0,25.94,26.44,26.00
$GC,38882,-1.99,-146.6,2506,1699,2492,2844,4752.8,-5.2,955,38883,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1699,2668,2492,2844,0,0,0,0,0,0,26.75,26.77,26.77
$STATE,39178,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,39178,begin apogee
$GC,39182,-0.24,0.0,2507,1496,2492,2844,4767.9,-5.0,960,39311,1.73,0.00,124.97,4.072,10246,0.137,0.000,3072,1496,2199,2029,2370,0,0,0,0,0,0,25.68,21.92,19.73
$STATE,39312,end apogee,CONTROL_FINISHED_OK
$STATE,39313,begin climb
$GC,39314,1.14,146.6,3072,1496,2029,2370,4763.9,0.0,962,39519,1.33,0.00,190.48,4.032,10502,0.070,0.000,3533,1496,1694,1668,1720,0,0,0,0,2,0,22.75,21.81,19.65
$GC,39780,0.72,146.6,3533,1495,1668,1720,4615.4,36.2,970,39782,0.60,0.00,0.00,0.000,4102,0.238,0.000,3384,1495,1694,1668,1720,0,0,0,0,0,0,24.72,25.02,24.96
$GC,40079,0.45,146.6,3383,1495,1667,1720,4530.3,27.9,975,40082,0.32,0.00,0.00,0.000,4102,0.219,0.000,3295,1495,1694,1668,1720,0,0,0,0,0,0,25.32,25.62,25.56
$GC,40379,0.27,146.6,3295,1495,1668,1720,4461.2,22.8,980,40381,0.20,0.00,0.00,0.000,4102,0.204,0.000,3239,1495,1694,1668,1720,0,0,0,0,0,0,25.61,25.89,25.82
$GC,40679,0.17,146.6,3239,1495,1668,1720,4402.8,19.4,985,40681,0.12,0.00,0.00,0.000,4102,0.206,0.000,3203,1495,1694,1668,1720,0,0,0,0,0,0,25.82,26.05,25.99
$GC,40979,0.11,146.6,3203,1495,1668,1720,4352.5,16.6,990,40980,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1495,1694,1668,1720,0,0,0,0,0,0,26.43,26.46,26.45
$GC,41279,0.05,146.6,3203,1495,1668,1720,4304.8,15.8,995,41281,0.12,0.00,0.00,0.000,4102,0.199,0.000,3165,1495,1693,1667,1720,0,0,0,0,0,0,25.98,26.21,26.15
$GC,41579,0.05,146.6,3164,1495,1668,1720,4263.4,13.7,1000,41583,0.00,1.95,0.00,0.000,516,0.000,0.062,3173,202,1694,1668,1720,0,0,0,0,0,0,26.54,26.25,26.56
$GC,41622,0.05,146.6,3172,201,1667,1720,4263.4,13.7,1000,41627,0.00,1.90,0.00,0.000,1030,0.000,0.045,3173,1522,1694,1668,1720,0,0,0,0,0,0,26.36,26.34,26.38
$GC,41941,0.05,146.6,3172,1527,1668,1720,4211.8,14.1,1006,41942,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1527,1694,1668,1720,0,0,0,0,0,0,26.59,26.61,26.60
$GC,42241,0.05,146.6,3172,1527,1668,1720,4170.5,13.8,1011,42242,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1527,1694,1668,1720,0,0,0,0,0,0,26.62,26.64,26.64
$GC,42541,0.05,146.6,3172,1527,1668,1720,4129.8,13.5,1016,42547,0.00,1.98,0.00,0.000,516,0.000,0.060,3182,208,1694,1668,1720,0,0,0,0,0,0,26.64,26.33,26.65
$GC,42603,0.05,146.6,3182,207,1668,1720,4121.3,13.7,1017,42608,0.00,1.85,0.00,0.000,1030,0.000,0.045,3182,1511,1694,1668,1720,0,0,0,0,0,0,26.45,26.44,26.47
$GC,42962,0.05,146.6,3182,1514,1668,1720,4070.5,14.0,1023,42964,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1515,1694,1668,1720,0,0,0,0,0,0,26.66,26.69,26.68
$GC,43262,0.05,146.6,3182,1514,1668,1720,4029.7,13.5,1028,43268,0.00,1.95,0.00,0.000,516,0.000,0.060,3191,210,1694,1668,1720,0,0,0,0,0,0,26.68,26.36,26.70
$GC,43303,0.05,146.6,3191,210,1668,1720,4029.7,13.5,1028,43308,0.00,1.83,0.00,0.000,1030,0.000,0.045,3191,1502,1694,1668,1720,0,0,0,0,0,0,26.49,26.47,26.51
$GC,43622,0.05,146.6,3191,1506,1668,1720,3980.2,13.5,1034,43624,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1505,1694,1668,1720,0,0,0,0,0,0,26.69,26.72,26.71
$GC,43923,0.05,146.6,3191,1505,1667,1720,3942.0,12.7,1039,43928,0.00,1.92,0.00,0.000,516,0.000,0.062,3201,214,1694,1668,1720,0,0,0,0,0,0,26.70,26.37,26.72
$GC,43973,0.05,146.6,3201,214,1668,1720,3942.0,12.7,1039,43983,0.10,1.83,0.00,0.000,5126,0.156,0.045,3170,1501,1693,1667,1720,0,0,0,0,0,0,26.18,26.48,26.26
$GC,44282,0.05,146.6,3169,1501,1668,1720,3898.5,11.8,1045,44284,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1501,1694,1668,1720,0,0,0,0,0,0,26.71,26.74,26.73
$GC,44582,0.05,146.6,3169,1501,1667,1720,3863.0,11.8,1050,44584,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1501,1694,1668,1720,0,0,0,0,0,0,26.72,26.74,26.74
$GC,44882,0.05,146.6,3169,1501,1668,1720,3829.6,11.0,1055,44884,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1501,1693,1667,1720,0,0,0,0,0,0,26.73,26.75,26.74
$GC,45182,0.05,146.6,3169,1501,1668,1720,3797.8,10.6,1060,45184,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1501,1694,1668,1720,0,0,0,0,0,0,26.74,26.76,26.75
$GC,45483,0.11,146.6,3169,1501,1668,1720,3767.3,10.2,1065,45484,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1501,1693,1667,1720,0,0,0,0,0,0,26.74,26.77,26.76
$GC,45783,0.16,146.6,3169,1501,1668,1720,3736.0,10.5,1070,45784,0.00,0.00,0.00,0.000,2054,0.000,0.000,3169,1501,1694,1668,1720,0,0,0,0,0,0,26.76,26.77,26.77
$GC,46083,0.22,146.6,3169,1501,1668,1719,3704.8,10.4,1075,46089,0.08,1.90,0.00,0.000,2564,0.127,0.060,3250,209,1694,1668,1720,0,0,0,0,0,0,26.53,26.40,26.55
$GC,46134,0.27,146.6,3250,209,1668,1720,3704.8,10.4,1075,46143,0.00,1.83,0.00,0.000,1030,0.000,0.045,3250,1502,1694,1668,1720,0,0,0,0,0,0,26.54,26.53,26.56
$GC,46442,0.27,146.6,3250,1504,1668,1720,3654.5,14.0,1081,46444,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1504,1693,1667,1720,0,0,0,0,0,0,26.75,26.77,26.77
$GC,46742,0.27,146.6,3250,1504,1668,1720,3613.5,13.7,1086,46744,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1504,1694,1668,1720,0,0,0,0,0,0,26.76,26.78,26.77
$GC,47042,0.27,146.6,3250,1504,1668,1720,3573.3,13.3,1091,47046,0.00,1.95,0.00,0.000,516,0.000,0.062,3260,206,1693,1667,1720,0,0,0,0,0,0,26.76,26.41,26.78
$GC,47105,0.27,146.6,3260,206,1668,1720,3564.7,13.3,1092,47109,0.00,1.80,0.00,0.000,1030,0.000,0.047,3260,1466,1694,1668,1720,0,0,0,0,0,0,26.58,26.53,26.59
$GC,47467,0.27,146.6,3260,1507,1667,1720,3516.4,13.2,1098,47468,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1507,1694,1668,1720,0,0,0,0,0,0,26.76,26.79,26.78
$GC,47767,0.27,146.6,3260,1507,1668,1720,3476.5,13.2,1103,47768,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1507,1694,1668,1720,0,0,0,0,0,0,26.77,26.79,26.78
$GC,48067,0.27,146.6,3260,1507,1668,1720,3438.0,12.8,1108,48073,0.00,1.95,0.00,0.000,516,0.000,0.060,3270,202,1694,1668,1720,0,0,0,0,0,0,26.77,26.41,26.79
$GC,48134,0.27,146.6,3270,202,1668,1720,3430.1,12.9,1109,48139,0.10,1.88,0.00,0.000,5126,0.171,0.045,3241,1526,1694,1668,1720,0,0,0,0,0,0,26.17,26.54,26.25
$GC,48488,0.27,146.6,3240,1527,1665,1720,3388.7,11.3,1115,48490,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1527,1692,1665,1720,0,0,0,0,0,0,26.77,26.79,26.79
$GC,48788,0.27,146.6,3240,1527,1665,1720,3354.9,11.1,1120,48790,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1528,1692,1665,1720,0,0,0,0,0,0,26.77,26.80,26.79
$GC,49088,0.27,146.6,3240,1527,1665,1720,3322.2,10.8,1125,49090,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1527,1692,1665,1720,0,0,0,0,0,0,26.77,26.79,26.79
$GC,49388,0.27,146.6,3240,1527,1665,1720,3290.0,10.8,1130,49390,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1527,1692,1664,1720,0,0,0,0,0,0,26.77,26.80,26.79
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$GC,89141,0.98,173.3,3479,1514,1584,1604,282.1,10.3,1932,89146,0.00,1.90,0.00,0.000,516,0.000,0.060,3490,206,1594,1584,1605,0,0,0,0,0,0,26.85,26.49,26.87
$GC,89214,0.98,173.3,3489,206,1584,1605,275.7,10.4,1935,89223,0.00,1.80,0.00,0.000,1030,0.000,0.042,3489,1540,1594,1584,1604,0,0,0,0,0,0,26.66,26.65,26.66
$GC,89523,0.98,173.3,3489,1543,1585,1605,242.0,10.9,1951,89524,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,1543,1594,1584,1605,0,0,0,0,0,0,26.86,26.88,26.87
$GC,89825,0.98,173.3,3489,1543,1584,1605,206.1,12.5,1966,89830,0.00,1.95,0.00,0.000,516,0.000,0.060,3499,198,1594,1584,1605,0,0,0,0,0,0,26.86,26.50,26.88
$GC,89872,0.98,173.3,3499,198,1584,1604,200.7,12.7,1968,89877,0.10,1.75,0.00,0.000,5126,0.149,0.042,3466,1520,1594,1584,1605,0,0,0,0,0,0,26.32,26.66,26.39
$GC,90187,1.07,173.3,3465,1521,1584,1604,162.1,11.1,1984,90192,0.00,1.88,0.00,0.000,260,0.000,0.050,3466,2827,1594,1584,1605,0,0,0,0,0,0,26.86,26.56,26.88
$GC,90235,1.16,173.3,3465,2827,1584,1605,157.4,11.5,1986,90240,0.08,1.90,0.00,0.000,3078,0.124,0.047,3534,1491,1594,1584,1605,0,0,0,0,0,0,26.49,26.57,26.57
$GC,90548,1.16,173.3,3534,1491,1583,1605,115.3,13.6,2015,90559,0.00,1.85,0.00,0.000,516,0.000,0.060,3544,203,1594,1584,1605,0,0,0,0,0,0,26.86,26.51,26.89
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$GC,90928,1.16,173.3,3544,1497,1584,1605,67.2,11.1,2052,90938,0.00,1.88,0.00,0.000,516,0.000,0.060,3554,204,1594,1584,1604,0,0,0,0,0,0,26.86,26.51,26.89
$GC,90976,1.16,173.3,3553,204,1584,1605,61.3,12.9,2056,90987,0.10,1.73,0.00,0.000,5126,0.176,0.042,3523,1512,1594,1584,1604,0,0,0,0,0,0,26.25,26.67,26.34
$GC,91286,1.23,173.3,3523,1512,1583,1605,30.4,9.4,2087,91290,0.00,1.85,0.00,0.000,260,0.000,0.050,3523,2811,1594,1584,1605,0,0,0,0,0,0,26.86,26.57,26.89
$GC,91615,1.33,173.3,3523,2812,1584,1605,12.9,6.5,2116,91625,0.08,1.90,0.00,0.000,3078,0.079,0.047,3591,1506,1594,1584,1605,0,0,0,0,0,0,26.50,26.59,26.54
$STATE,91733,end climb,SURFACE_DEPTH_REACHED
$STATE,91733,begin surface coast
$FINISH,1.1,1.023444
$STATE,91765,end surface coast,CONTROL_FINISHED_OK
$STATE,91765,begin surface
$SM_CCo,91780,62.22,1.075,0,0,1338,250.11
$SM_GC,3.16,8.50,0.10,62.22,0.050,0.097,1.075,179,1705,1338,-9.13,-4.58,250.11,0,0,0,0,0,0,26.63,26.72,24.46
$IRIDIUM_FIX,3107.63,-6315.94,220508,181555
$TT8_MAMPS,0.02247,0.02247
$HUMID,36.73
$INTERNAL_PRESSURE,8.9952
$TCM_TEMP,21.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,4752.8,43.2
$24V_AH,19.65,21.255
$10V_AH,9.83,12.809
$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,27.275,372.375,350.150,62.225,92.125,26.086,52.499,583.450,20.750,0.000,74.007,6413.077,74363.203,805.797,10775.888,317.837,0.605,4087.511,0.000,9843.722,0.000,144.743,0.000
$DEVICE_MAMPS,250.783,96.837,4072.120,1075.139,153.946,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1460.293,6945.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330288
$DATA_FILE_SIZE,130161,2131
$CAP_FILE_SIZE,551909,0
$CFSIZE,1024409600,1013137408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290715,213244,3150.213,-6347.493,41,1.0,81,-15.6,0.5,161.3,7,5.1