version: 66.12
glider: 36
mission: 20
dive: 53
start: 8 21 115 9 45 26
data:
$ID,36
$MISSION,20
$DIVE,53
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$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,4000
$T_MISSION,4060
$T_ABORT,4120
$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,12
$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,67
$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,2300
$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,3000
$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
$GPS1,210815,093110,3239.9929,-6554.3667,39,0.9,79,-15.1,0.7,257.9,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-68.7
$GPS2,210815,094458,3239.8279,-6554.7266,12,0.9,52,-15.1,0.7,229.7,9,4.1
$SPEED_LIMITS,0.050,0.191
$TGT_NAME,9004
$TGT_LATLONG,3954.360,-6955.800
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.082389,0.171887
$KALMAN_X,34161.984375,0.000000,0.000000,-165506.453125,-5760.601562
$KALMAN_Y,22974.681641,0.000000,0.000000,76427.484375,12742.986328
$MHEAD_RNG_PITCHd_Wd,349.5,874599,-10.0,-5.000,-14.70,4397
$D_GRID,6000
$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,384,-0.32,-146.6,2966,3068,2638,2977,43.8,-13.9,33,395,0.25,1.92,0.00,0.000,3078,0.154,0.047,3048,1674,2807,2638,2976,0,0,0,0,0,0,25.92,26.37,26.02
$GC,694,-0.22,-146.6,3047,1674,2638,2977,66.7,-4.9,64,705,0.08,2.00,0.00,0.000,2308,0.194,0.050,3074,3071,2807,2638,2976,0,0,0,0,0,0,26.33,26.39,26.36
$GC,832,-0.16,-146.6,3074,3071,2638,2976,70.6,-2.8,76,842,0.00,1.92,0.00,0.000,1030,0.000,0.047,3074,1698,2807,2638,2976,0,0,0,0,0,0,26.55,26.53,26.56
$GC,1141,-0.11,-146.6,3074,1698,2638,2976,87.0,-5.3,107,1143,0.12,0.00,0.00,0.000,2054,0.159,0.000,3118,1698,2807,2638,2977,0,0,0,0,0,0,26.35,26.48,26.44
$GC,1442,-0.11,-146.6,3118,1698,2638,2976,102.2,-5.3,137,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1698,2807,2638,2976,0,0,0,0,0,0,26.86,26.88,26.87
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$GC,2692,-0.11,-146.6,3108,1734,2638,2976,163.2,-4.4,244,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1734,2807,2638,2976,0,0,0,0,0,0,26.88,26.90,26.90
$GC,2992,-0.11,-146.6,3109,1734,2638,2976,179.3,-6.3,259,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1733,2807,2638,2976,0,0,0,0,0,0,26.89,26.90,26.90
$GC,3292,-0.11,-146.6,3108,1733,2638,2976,196.6,-5.7,274,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1734,2806,2638,2975,0,0,0,0,0,0,26.89,26.91,26.90
$GC,3592,-0.11,-146.6,3108,1734,2638,2976,213.9,-5.6,289,3598,0.00,1.88,0.00,0.000,260,0.000,0.052,3100,3054,2807,2638,2976,0,0,0,0,0,0,26.89,26.55,26.90
$GC,3655,-0.11,-146.6,3099,3054,2638,2976,217.8,-6.1,292,3660,0.00,1.88,0.00,0.000,1030,0.000,0.047,3100,1697,2807,2638,2976,0,0,0,0,0,0,26.67,26.63,26.68
$GC,3975,-0.11,-146.6,3100,1697,2638,2976,237.5,-6.8,308,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1697,2807,2638,2976,0,0,0,0,0,0,26.89,26.91,26.90
$GC,4276,-0.11,-146.6,3100,1697,2638,2976,256.7,-5.8,323,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1697,2807,2638,2976,0,0,0,0,0,0,26.88,26.91,26.90
$GC,4576,-0.11,-146.6,3100,1697,2638,2976,273.6,-5.5,338,4581,0.00,1.98,0.00,0.000,516,0.000,0.057,3100,323,2807,2638,2976,0,0,0,0,0,0,26.88,26.51,26.90
$GC,4621,-0.11,-146.6,3100,323,2638,2976,276.6,-5.9,340,4626,0.00,1.88,0.00,0.000,1030,0.000,0.045,3094,1708,2807,2638,2976,0,0,0,0,0,0,26.70,26.67,26.70
$GC,4941,-0.11,-146.6,3094,1709,2638,2976,293.2,-5.0,356,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1709,2807,2638,2976,0,0,0,0,0,0,26.89,26.90,26.90
$GC,5263,-0.11,-146.6,3094,1709,2638,2976,310.1,-5.6,369,5268,0.00,1.92,0.00,0.000,260,0.000,0.052,3085,3061,2807,2638,2976,0,0,0,0,0,0,26.88,26.55,26.89
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$GC,5684,-0.11,-146.6,3085,1690,2637,2975,337.3,-6.7,383,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1689,2807,2638,2976,0,0,0,0,0,0,26.88,26.90,26.89
$GC,5984,-0.11,-146.6,3085,1690,2638,2976,356.8,-6.5,393,5989,0.00,1.98,0.00,0.000,516,0.000,0.057,3085,329,2807,2638,2976,0,0,0,0,0,0,26.88,26.51,26.89
$GC,6047,-0.11,-146.6,3085,330,2638,2976,361.2,-6.8,395,6052,0.10,1.90,0.00,0.000,3078,0.137,0.042,3118,1710,2807,2638,2976,0,0,0,0,0,0,26.36,26.66,26.41
$GC,6378,-0.19,-146.6,3118,1710,2638,2976,380.3,-5.6,406,6383,0.00,1.92,0.00,0.000,260,0.000,0.052,3110,3062,2806,2637,2976,0,0,0,0,0,0,26.88,26.54,26.89
$GC,6439,-0.28,-146.6,3110,3061,2638,2976,383.9,-5.6,408,6445,0.08,1.90,0.00,0.000,5126,0.084,0.045,3032,1686,2807,2638,2976,0,0,0,0,0,0,26.51,26.62,26.54
$GC,6770,-0.28,-146.6,3032,1685,2637,2975,410.7,-8.4,419,6775,0.00,1.98,0.00,0.000,516,0.000,0.057,3032,328,2806,2637,2976,0,0,0,0,0,0,26.88,26.51,26.89
$GC,6821,-0.28,-146.6,3031,328,2637,2975,413.6,-8.6,420,6831,0.10,1.88,0.00,0.000,3078,0.137,0.042,3063,1691,2806,2637,2976,0,0,0,0,0,0,26.33,26.65,26.39
$GC,7130,-0.28,-146.6,3063,1691,2637,2975,438.0,-7.2,431,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1691,2806,2637,2976,0,0,0,0,0,0,26.88,26.90,26.89
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$GC,8123,-0.28,-146.6,3057,1708,2637,2974,503.5,-6.5,464,8128,0.00,1.98,0.00,0.000,516,0.000,0.057,3058,327,2806,2638,2974,0,0,0,0,0,0,26.88,26.51,26.89
$GC,8184,-0.28,-146.6,3057,327,2637,2974,507.7,-6.6,466,8189,0.00,1.85,0.00,0.000,1030,0.000,0.045,3053,1703,2805,2637,2974,0,0,0,0,0,0,26.68,26.65,26.69
$GC,8514,-0.28,-146.6,3053,1704,2637,2973,529.6,-6.4,477,8520,0.00,1.92,0.00,0.000,260,0.000,0.052,3047,3052,2805,2637,2973,0,0,0,0,0,0,26.88,26.53,26.89
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$GC,9239,-0.28,-146.6,3047,305,2637,2973,582.3,-7.5,500,9243,0.00,1.92,0.00,0.000,1030,0.000,0.042,3043,1700,2805,2637,2973,0,0,0,0,0,0,26.65,26.64,26.67
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$GC,9646,-0.28,-146.6,3042,3047,2637,2972,610.0,-7.5,513,9655,0.00,1.92,0.00,0.000,1030,0.000,0.045,3043,1703,2804,2637,2972,0,0,0,0,0,0,26.62,26.60,26.63
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$GC,10316,-0.28,-146.6,3043,323,2633,2971,663.5,-7.0,536,10322,0.00,1.85,0.00,0.000,1030,0.000,0.045,3041,1700,2802,2633,2971,0,0,0,0,0,0,26.67,26.63,26.68
$GC,10648,-0.28,-146.6,3041,1699,2633,2971,686.0,-6.6,547,10653,0.00,1.92,0.00,0.000,260,0.000,0.052,3032,3049,2802,2633,2972,0,0,0,0,0,0,26.87,26.52,26.89
$GC,10739,-0.28,-146.6,3031,3049,2633,2971,692.1,-6.6,550,10745,0.00,1.90,0.00,0.000,1030,0.000,0.045,3031,1688,2802,2633,2971,0,0,0,0,0,0,26.64,26.60,26.64
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$GC,11122,-0.28,-146.6,3031,309,2630,2971,717.5,-6.8,562,11131,0.00,1.92,0.00,0.000,1030,0.000,0.042,3030,1696,2800,2630,2971,0,0,0,0,0,0,26.64,26.63,26.65
$GC,11431,-0.28,-146.6,3030,1696,2630,2971,742.9,-7.9,573,11433,0.10,0.00,0.00,0.000,2054,0.161,0.000,3066,1697,2801,2631,2971,0,0,0,0,0,0,26.46,26.55,26.52
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$GC,43884,-1.07,-146.6,2826,320,2590,2940,3275.2,-5.4,1172,43888,0.00,2.00,0.00,0.000,1030,0.000,0.042,2822,1702,2765,2590,2940,0,0,0,0,0,0,26.34,26.32,26.35
$GC,44213,-1.07,-146.6,2822,1702,2590,2940,3297.2,-6.1,1178,44214,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1702,2765,2590,2940,0,0,0,0,0,0,26.76,26.79,26.78
$GC,44513,-1.07,-146.6,2822,1702,2590,2940,3314.6,-5.7,1183,44518,0.00,2.00,0.00,0.000,260,0.000,0.052,2812,3060,2765,2590,2940,0,0,0,0,0,0,26.76,26.09,26.78
$GC,44580,-1.07,-146.6,2813,3060,2590,2939,3318.1,-5.6,1184,44585,0.00,2.03,0.00,0.000,1030,0.000,0.045,2813,1704,2765,2591,2940,0,0,0,0,0,0,26.25,26.23,26.27
$GC,44934,-1.07,-146.6,2813,1704,2590,2940,3337.9,-5.4,1190,44940,0.00,2.08,0.00,0.000,516,0.000,0.057,2813,312,2765,2591,2940,0,0,0,0,0,0,26.76,25.98,26.78
$GC,45043,-1.07,-146.6,2813,312,2590,2940,3341.7,-5.7,1191,45047,0.00,1.98,0.00,0.000,1030,0.000,0.042,2813,1712,2765,2590,2940,0,0,0,0,0,0,26.35,26.31,26.36
$GC,45357,-1.07,-146.6,2812,1713,2590,2940,3364.3,-6.1,1197,45358,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1713,2765,2590,2940,0,0,0,0,0,0,26.76,26.78,26.77
$GC,45658,-1.07,-146.6,2812,1713,2590,2940,3381.5,-5.7,1202,45659,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1713,2765,2590,2940,0,0,0,0,0,0,26.70,26.72,26.71
$GC,45958,-1.07,-146.6,2812,1713,2590,2940,3398.6,-5.7,1207,45959,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1713,2765,2590,2940,0,0,0,0,0,0,26.76,26.78,26.78
$GC,46259,-1.07,-146.6,2812,1713,2590,2940,3415.5,-5.6,1212,46260,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1713,2765,2590,2940,0,0,0,0,0,0,26.76,26.79,26.77
$GC,46558,-1.07,-146.6,2812,1713,2590,2940,3431.0,-5.1,1217,46559,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1713,2765,2590,2940,0,0,0,0,0,0,26.70,26.72,26.72
$GC,46858,-1.07,-146.6,2812,1713,2590,2940,3446.5,-5.1,1222,46859,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1713,2765,2590,2940,0,0,0,0,0,0,26.76,26.79,26.78
$GC,47158,-1.07,-146.6,2812,1713,2590,2940,3462.5,-5.4,1227,47159,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1713,2765,2590,2940,0,0,0,0,0,0,26.70,26.72,26.71
$GC,47458,-1.07,-146.6,2812,1714,2590,2940,3479.7,-5.8,1232,47459,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1713,2765,2590,2940,0,0,0,0,0,0,26.76,26.78,26.77
$GC,47758,-1.07,-146.6,2812,1713,2591,2940,3498.4,-6.3,1237,47759,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1713,2765,2590,2940,0,0,0,0,0,0,26.76,26.78,26.78
$GC,48058,-1.07,-146.6,2812,1713,2590,2940,3517.4,-6.3,1242,48064,0.00,2.00,0.00,0.000,260,0.000,0.052,2813,3065,2765,2590,2940,0,0,0,0,0,0,26.76,26.05,26.77
$GC,48119,-1.12,-146.6,2812,3064,2590,2940,3521.0,-6.3,1243,48124,0.00,1.98,0.00,0.000,1030,0.000,0.047,2813,1697,2765,2590,2940,0,0,0,0,0,0,26.23,26.21,26.25
$GC,48480,-1.18,-146.6,2812,1696,2590,2940,3542.6,-5.9,1249,48486,0.08,2.05,0.00,0.000,4612,0.122,0.057,2734,312,2765,2590,2940,0,0,0,0,0,0,26.48,25.94,26.49
$GC,48584,-1.18,-146.6,2734,312,2590,2940,3548.1,-6.4,1250,48589,0.15,1.98,0.00,0.000,3078,0.151,0.045,2777,1713,2765,2590,2940,0,0,0,0,0,0,25.77,26.28,25.86
$GC,48897,-1.18,-146.6,2776,1714,2590,2940,3576.6,-7.8,1256,48898,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1714,2765,2590,2940,0,0,0,0,0,0,26.76,26.78,26.77
$GC,49198,-1.18,-146.6,2776,1713,2590,2940,3600.6,-8.0,1261,49199,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1714,2765,2590,2940,0,0,0,0,0,0,26.69,26.71,26.71
$GC,49498,-1.18,-146.6,2776,1714,2590,2940,3623.2,-7.5,1266,49499,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1714,2765,2590,2940,0,0,0,0,0,0,26.69,26.72,26.70
$GC,49798,-1.18,-146.6,2776,1713,2590,2940,3643.9,-6.9,1271,49799,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1714,2765,2590,2940,0,0,0,0,0,0,26.69,26.72,26.71
$GC,50098,-1.18,-146.6,2776,1714,2590,2940,3663.0,-6.3,1276,50099,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1714,2765,2590,2940,0,0,0,0,0,0,26.69,26.71,26.71
$GC,50398,-1.18,-146.6,2776,1714,2590,2940,3681.4,-6.1,1281,50399,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1714,2765,2590,2940,0,0,0,0,0,0,26.69,26.71,26.70
$GC,50697,-1.18,-146.6,2776,1714,2590,2940,3699.4,-6.0,1286,50698,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1714,2765,2590,2940,0,0,0,0,0,0,26.76,26.78,26.77
$GC,50997,-1.18,-146.6,2776,1714,2590,2940,3717.7,-6.0,1291,50998,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1714,2765,2590,2940,0,0,0,0,0,0,26.75,26.78,26.77
$GC,51297,-1.18,-146.6,2777,1714,2590,2940,3733.7,-5.3,1296,51298,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1713,2765,2590,2940,0,0,0,0,0,0,26.75,26.78,26.77
$GC,51597,-1.18,-146.6,2776,1714,2590,2940,3749.3,-5.2,1301,51598,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1714,2765,2590,2940,0,0,0,0,0,0,26.76,26.78,26.77
$GC,51897,-1.18,-146.6,2776,1714,2590,2940,3764.4,-5.0,1306,51898,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1714,2765,2590,2940,0,0,0,0,0,0,26.75,26.78,26.77
$GC,52197,-1.18,-146.6,2776,1714,2590,2940,3779.8,-5.1,1311,52198,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1714,2765,2590,2940,0,0,0,0,0,0,26.75,26.78,26.77
$GC,52497,-1.18,-146.6,2776,1714,2590,2940,3795.1,-5.1,1316,52498,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1714,2765,2590,2940,0,0,0,0,0,0,26.75,26.78,26.77
$GC,52798,-1.18,-146.6,2776,1714,2590,2940,3811.1,-5.4,1321,52799,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1714,2765,2590,2940,0,0,0,0,0,0,26.68,26.71,26.70
$GC,53097,-1.18,-146.6,2776,1714,2590,2940,3827.6,-5.6,1326,53098,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1714,2765,2590,2940,0,0,0,0,0,0,26.75,26.78,26.77
$GC,53397,-1.18,-146.6,2776,1714,2590,2940,3845.2,-5.9,1331,53403,0.00,2.12,0.00,0.000,516,0.000,0.057,2777,314,2765,2590,2940,0,0,0,0,0,0,26.75,25.92,26.77
$GC,53464,-1.18,-146.6,2776,314,2590,2940,3848.8,-6.0,1332,53469,0.00,2.00,0.00,0.000,1030,0.000,0.042,2774,1697,2765,2590,2940,0,0,0,0,0,0,26.29,26.27,26.30
$GC,53821,-1.18,-146.6,2774,1697,2589,2940,3870.1,-5.8,1338,53822,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1697,2765,2590,2940,0,0,0,0,0,0,26.72,26.74,26.73
$GC,54120,-1.18,-146.6,2774,1697,2590,2940,3887.1,-5.7,1343,54125,0.00,2.03,0.00,0.000,260,0.000,0.052,2765,3065,2765,2590,2940,0,0,0,0,0,0,26.75,26.03,26.77
$GC,54181,-1.18,-146.6,2764,3065,2590,2939,3890.5,-5.6,1344,54186,0.00,2.05,0.00,0.000,1030,0.000,0.045,2765,1698,2764,2590,2939,0,0,0,0,0,0,26.20,26.18,26.22
$GC,54542,-1.18,-146.6,2765,1698,2590,2939,3910.5,-5.5,1350,54548,0.00,2.10,0.00,0.000,516,0.000,0.057,2765,310,2764,2590,2939,0,0,0,0,0,0,26.68,25.91,26.70
$GC,54613,-1.18,-146.6,2765,310,2590,2939,3914.1,-5.6,1351,54618,0.00,2.00,0.00,0.000,1030,0.000,0.042,2760,1693,2764,2590,2939,0,0,0,0,0,0,26.29,26.27,26.31
$GC,54962,-1.18,-146.6,2760,1693,2590,2939,3934.2,-5.5,1357,54963,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1693,2764,2590,2939,0,0,0,0,0,0,26.75,26.77,26.77
$GC,55263,-1.18,-146.6,2759,1693,2590,2939,3950.6,-5.4,1362,55265,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1692,2764,2590,2939,0,0,0,0,0,0,26.67,26.70,26.70
$GC,55562,-1.18,-146.6,2760,1693,2590,2939,3966.4,-5.2,1367,55564,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1692,2764,2590,2939,0,0,0,0,0,0,26.75,26.77,26.77
$GC,55864,-1.18,-146.6,2760,1693,2590,2939,3981.9,-5.2,1372,55865,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1693,2764,2590,2939,0,0,0,0,0,0,26.68,26.71,26.70
$GC,56162,-1.18,-146.6,2760,1693,2590,2939,3996.9,-5.0,1377,56168,0.00,2.03,0.00,0.000,260,0.000,0.052,2753,3060,2764,2590,2939,0,0,0,0,0,0,26.75,26.01,26.77
$GC,56222,-1.18,-146.6,2753,3060,2590,2939,3999.9,-5.0,1378,56228,0.00,1.98,0.00,0.000,1030,0.000,0.045,2753,1698,2764,2590,2939,0,0,0,0,0,0,26.20,26.17,26.22
$GC,56582,-1.18,-146.6,2753,1698,2590,2939,4019.3,-5.4,1384,56586,0.00,2.10,0.00,0.000,516,0.000,0.057,2754,322,2764,2590,2939,0,0,0,0,0,0,26.75,25.89,26.77
$GC,56688,-1.18,-146.6,2753,310,2590,2939,4022.7,-5.4,1385,56692,0.00,2.03,0.00,0.000,1030,0.000,0.042,2753,1708,2764,2590,2939,0,0,0,0,0,0,26.27,26.25,26.29
$GC,57012,-1.18,-146.6,2753,1709,2590,2939,4042.5,-5.3,1391,57013,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.70,26.72,26.72
$GC,57308,-1.18,-146.6,2753,1709,2590,2939,4058.7,-5.5,1396,57310,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.75,26.77,26.77
$GC,57607,-1.18,-146.6,2753,1709,2590,2938,4074.6,-5.3,1401,57608,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.75,26.77,26.77
$GC,57907,-1.18,-146.6,2753,1709,2590,2939,4089.9,-5.1,1406,57908,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.75,26.77,26.77
$GC,58207,-1.18,-146.6,2753,1709,2590,2939,4105.1,-5.0,1411,58208,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.75,26.77,26.77
$GC,58507,-1.18,-146.6,2753,1709,2590,2939,4121.1,-5.4,1416,58508,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.75,26.77,26.77
$GC,58807,-1.18,-146.6,2753,1709,2590,2939,4137.4,-5.4,1421,58808,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.75,26.78,26.77
$GC,59107,-1.18,-146.6,2753,1709,2590,2939,4153.0,-5.3,1426,59108,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.75,26.77,26.77
$GC,59407,-1.18,-146.6,2753,1709,2590,2939,4167.9,-4.8,1431,59408,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1709,2764,2590,2939,0,0,0,0,0,0,26.75,26.78,26.77
$GC,59707,-1.18,-146.6,2753,1709,2590,2939,4183.1,-5.0,1436,59711,0.00,2.03,0.00,0.000,260,0.000,0.052,2746,3055,2764,2590,2939,0,0,0,0,0,0,26.75,26.01,26.77
$GC,59777,-1.18,-146.6,2746,3059,2590,2939,4186.2,-5.0,1437,59781,0.00,2.05,0.00,0.000,1030,0.000,0.045,2746,1692,2764,2590,2939,0,0,0,0,0,0,26.20,26.18,26.22
$GC,60131,-1.18,-146.6,2745,1692,2590,2939,4203.7,-4.8,1443,60136,0.00,2.08,0.00,0.000,516,0.000,0.057,2746,317,2764,2590,2939,0,0,0,0,0,0,26.75,25.89,26.77
$GC,60233,-1.18,-146.6,2746,317,2590,2939,4207.0,-5.0,1444,60237,0.00,2.00,0.00,0.000,1030,0.000,0.042,2746,1700,2764,2590,2939,0,0,0,0,0,0,26.26,26.25,26.28
$STATE,60311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,60311,begin apogee
$GC,60315,-0.24,0.0,2746,1496,2590,2939,4213.1,-5.0,1446,60438,0.95,0.00,118.90,3.789,10246,0.099,0.000,3081,1496,2300,2131,2469,0,0,0,0,0,0,25.44,22.18,19.88
$STATE,60439,end apogee,CONTROL_FINISHED_OK
$STATE,60439,begin climb
$GC,60440,0.53,146.6,3080,1496,2130,2469,4215.2,0.0,1448,60640,0.73,0.00,186.77,3.705,10246,0.067,0.000,3359,1496,1794,1756,1833,0,0,0,0,2,0,22.91,22.11,19.85
$GC,60912,0.08,146.6,3358,1496,1755,1832,4141.8,20.4,1456,60918,0.65,1.98,0.00,0.000,4612,0.196,0.055,3185,217,1793,1755,1832,0,0,0,0,0,0,24.68,24.93,24.82
$GC,60980,-0.33,146.6,3185,217,1755,1832,4132.8,19.3,1457,60985,0.40,1.85,0.00,0.000,5126,0.159,0.042,3061,1518,1793,1755,1832,0,0,0,0,0,0,24.96,25.37,25.15
$GC,61329,-0.42,146.6,3061,1518,1755,1832,4107.1,6.8,1463,61335,0.12,2.03,0.00,0.000,4612,0.164,0.057,3020,201,1793,1755,1832,0,0,0,0,0,0,25.60,25.73,25.67
$GC,61377,-0.51,146.6,3020,201,1755,1832,4107.1,6.8,1463,61381,0.10,1.83,0.00,0.000,5126,0.146,0.045,2985,1508,1793,1755,1832,0,0,0,0,0,0,25.68,25.93,25.79
$GC,61684,-0.51,146.6,2985,1510,1755,1832,4090.5,4.5,1468,61685,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1510,1794,1756,1832,0,0,0,0,0,0,26.32,26.34,26.34
$GC,61984,-0.51,146.6,2985,1510,1755,1832,4075.2,5.2,1473,61985,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1510,1793,1755,1832,0,0,0,0,0,0,26.42,26.44,26.44
$GC,62284,-0.51,146.6,2985,1510,1752,1832,4059.7,5.2,1478,62289,0.00,2.00,0.00,0.000,260,0.000,0.050,2986,2851,1791,1751,1832,0,0,0,0,0,0,26.48,26.17,26.51
$GC,62330,-0.51,146.6,2985,2851,1752,1830,4059.7,5.2,1478,62334,0.00,2.05,0.00,0.000,1030,0.000,0.047,2987,1504,1791,1752,1830,0,0,0,0,0,0,26.20,26.17,26.23
$GC,62644,-0.51,146.6,2987,1504,1751,1829,4041.4,5.0,1484,62645,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1504,1790,1751,1829,0,0,0,0,0,0,26.54,26.57,26.55
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$GC,135981,0.66,332.9,3389,1577,1134,1143,150.7,6.5,2972,135986,0.00,2.00,0.00,0.000,516,0.000,0.057,3388,194,1138,1134,1143,0,0,0,0,0,0,26.84,26.39,26.87
$GC,136022,0.66,332.9,3388,194,1134,1143,147.6,7.4,2975,136033,0.00,1.80,0.00,0.000,1030,0.000,0.042,3389,1583,1138,1134,1143,0,0,0,0,0,0,26.65,26.62,26.66
$GC,136332,0.66,332.9,3389,1583,1134,1143,127.6,5.6,3006,136334,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1584,1138,1134,1143,0,0,0,0,0,0,26.84,26.87,26.86
$GC,136633,0.71,332.9,3389,1583,1134,1143,111.3,5.2,3036,136643,0.00,2.03,0.00,0.000,516,0.000,0.057,3389,203,1138,1134,1143,0,0,0,0,0,0,26.84,26.39,26.86
$GC,136714,0.78,332.9,3388,203,1134,1143,106.9,5.8,3043,136717,0.00,1.77,0.00,0.000,1030,0.000,0.042,3389,1503,1138,1134,1143,0,0,0,0,0,0,26.65,26.63,26.67
$GC,137026,0.92,332.9,3389,1592,1134,1143,81.4,9.2,3074,137037,0.08,2.03,0.00,0.000,2564,0.137,0.057,3440,202,1138,1134,1143,0,0,0,0,0,0,26.57,26.39,26.58
$GC,137163,1.00,332.9,3440,201,1134,1143,69.1,8.2,3086,137167,0.00,1.80,0.00,0.000,1030,0.000,0.042,3440,1501,1138,1134,1143,0,0,0,0,0,0,26.66,26.64,26.67
$GC,137476,1.10,332.9,3440,1600,1134,1143,43.8,7.3,3117,137478,0.12,0.00,0.00,0.000,2054,0.104,0.000,3511,1600,1138,1134,1143,0,0,0,0,0,0,26.58,26.63,26.61
$GC,137777,1.18,332.9,3511,1600,1134,1143,22.5,7.2,3147,137781,0.00,2.05,0.00,0.000,516,0.000,0.057,3511,209,1138,1134,1143,0,0,0,0,0,0,26.86,26.42,26.88
$GC,137891,1.18,332.9,3511,194,1133,1143,13.7,7.9,3157,137901,0.00,1.85,0.00,0.000,1030,0.000,0.042,3511,1603,1138,1134,1142,0,0,0,0,0,0,26.65,26.65,26.65
$STATE,138030,end climb,SURFACE_DEPTH_REACHED
$STATE,138030,begin surface coast
$FINISH,1.1,1.023023
$STATE,138071,end surface coast,CONTROL_FINISHED_OK
$STATE,138072,begin surface
$SM_CCo,138147,0.00,0.000,0,0,1138,337.55
$SM_GC,2.32,8.35,0.08,0.00,0.052,0.117,0.000,171,1809,1138,-9.16,-2.18,337.55,0,0,0,0,0,0,26.55,26.70,26.58
$IRIDIUM_FIX,3210.97,-6528.29,150608,063306
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.63
$INTERNAL_PRESSURE,9.0538
$TCM_TEMP,22.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4062.0,178.6
$24V_AH,19.85,29.706
$10V_AH,9.64,18.752
$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,27.500,748.774,519.550,0.000,92.575,23.263,22.254,543.958,27.750,0.000,53.571,9941.004,110378.242,1072.602,16981.920,509.237,0.610,6700.413,0.000,16000.832,0.000,204.971,0.000
$DEVICE_MAMPS,273.130,116.701,3789.058,0.000,106.769,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2177.557,10348.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329464
$DATA_FILE_SIZE,193540,3175
$CAP_FILE_SIZE,901415,1
$CFSIZE,1024409600,1008304128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,4577.90,0x235780,0,24
$GPS,230815,000945,3252.718,-6610.334,32,1.4,72,-15.0,0.2,251.4,7,4.7