version: 66.12
glider: 36
mission: 20
dive: 76
start: 9 27 115 8 20 27
data:
$ID,36
$MISSION,20
$DIVE,76
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$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,1250
$T_MISSION,1440
$T_ABORT,1500
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,94
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2340
$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,1
$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
$GPS1,270915,080833,3729.1643,-6811.7217,47,1.1,87,-15.3,1.0,77.5,8,4.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-53.0
$GPS2,270915,082004,3729.1333,-6811.3164,11,1.1,51,-15.3,0.3,86.0,7,4.5
$SPEED_LIMITS,0.440,0.469
$TGT_NAME,9010N
$TGT_LATLONG,3905.220,-6921.240
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.151801,0.115288
$KALMAN_X,130328.718750,0.000000,0.000000,-318531.625000,32153.468750
$KALMAN_Y,-67337.539062,0.000000,0.000000,404316.906250,-20093.242188
$MHEAD_RNG_PITCHd_Wd,335.3,204378,-16.7,-16.000,-18.85,4193
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,134,-0.95,-439.8,129,1686,1955,2294,3.4,-1.8,11,236,10.68,2.08,-83.78,0.099,18692,0.246,0.050,2832,3080,3857,3834,3880,0,0,0,0,0,0,25.36,25.97,25.53
$GC,493,-0.73,-439.8,2831,3080,3829,3877,100.7,-35.0,39,498,0.28,2.00,0.00,0.000,3078,0.171,0.047,2916,1670,3853,3829,3877,0,0,0,0,0,0,25.73,26.34,25.94
$GC,813,-0.65,-439.8,2916,1670,3828,3876,175.9,-20.7,56,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1670,3852,3828,3876,0,0,0,0,0,0,26.74,26.76,26.75
$GC,1114,-0.65,-439.8,2916,1670,3828,3876,228.7,-16.8,66,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1670,3852,3828,3876,0,0,0,0,0,0,26.78,26.81,26.80
$GC,1412,-0.65,-439.8,2916,1670,3828,3876,280.9,-17.5,76,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1670,3851,3828,3875,0,0,0,0,0,0,26.80,26.83,26.82
$GC,1712,-0.65,-439.8,2916,1670,3827,3874,333.3,-17.6,84,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1670,3851,3827,3875,0,0,0,0,0,0,26.82,26.84,26.83
$GC,2027,-0.65,-439.8,2915,1670,3826,3874,389.3,-17.8,91,2032,0.00,1.98,0.00,0.000,516,0.000,0.060,2916,295,3850,3826,3874,0,0,0,0,0,0,26.82,26.44,26.84
$GC,2094,-0.65,-439.8,2916,295,3825,3874,397.5,-17.7,92,2100,0.10,1.98,0.00,0.000,3078,0.156,0.042,2942,1731,3849,3824,3874,0,0,0,0,0,0,26.23,26.60,26.29
$GC,2433,-0.65,-439.8,2942,1732,3824,3873,454.6,-15.4,100,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1732,3848,3824,3873,0,0,0,0,0,0,26.82,26.84,26.84
$GC,2749,-0.70,-439.8,2942,1732,3822,3872,503.3,-15.6,107,2754,0.00,1.88,0.00,0.000,260,0.000,0.052,2939,3050,3847,3823,3872,0,0,0,0,0,0,26.82,26.49,26.83
$GC,2785,-0.76,-439.8,2939,3050,3823,3872,503.3,-15.6,107,2793,0.00,1.95,0.00,0.000,1030,0.000,0.045,2939,1694,3847,3823,3872,0,0,0,0,0,0,26.57,26.55,26.58
$GC,3109,-0.81,-439.8,2939,1694,3821,3871,559.1,-15.4,115,3114,0.08,1.98,0.00,0.000,4612,0.127,0.057,2840,316,3846,3821,3871,0,0,0,0,0,0,26.61,26.44,26.62
$GC,3155,-0.81,-439.8,2840,316,3821,3871,568.5,-16.4,116,3161,0.15,1.90,0.00,0.000,3078,0.164,0.042,2886,1682,3846,3821,3871,0,0,0,0,0,0,26.11,26.60,26.20
$GC,3470,-0.81,-439.8,2886,1682,3820,3870,632.7,-19.9,123,3475,0.00,1.98,0.00,0.000,260,0.000,0.050,2877,3078,3845,3821,3870,0,0,0,0,0,0,26.81,26.51,26.83
$GC,3515,-0.81,-439.8,2877,3078,3821,3870,641.4,-19.6,124,3521,0.00,1.95,0.00,0.000,1030,0.000,0.045,2877,1696,3845,3820,3870,0,0,0,0,0,0,26.58,26.55,26.60
$GC,3830,-0.81,-439.8,2877,1696,3818,3868,703.6,-19.9,131,3835,0.00,2.00,0.00,0.000,516,0.000,0.057,2877,314,3842,3818,3867,0,0,0,0,0,0,26.81,26.45,26.83
$GC,3877,-0.81,-439.8,2877,315,3817,3868,712.8,-20.0,132,3882,0.00,1.92,0.00,0.000,1030,0.000,0.042,2869,1712,3842,3817,3868,0,0,0,0,0,0,26.60,26.59,26.62
$GC,4191,-0.81,-439.8,2868,1715,3816,3867,779.3,-21.2,139,4196,0.00,1.92,0.00,0.000,260,0.000,0.050,2859,3061,3841,3816,3867,0,0,0,0,0,0,26.80,26.48,26.82
$GC,4236,-0.81,-439.8,2858,3062,3816,3867,788.8,-21.1,140,4243,0.08,1.92,0.00,0.000,3078,0.184,0.045,2888,1697,3841,3816,3867,0,0,0,0,0,0,26.27,26.55,26.32
$GC,4552,-0.81,-439.8,2888,1697,3815,3866,847.1,-18.2,147,4557,0.00,1.98,0.00,0.000,516,0.000,0.057,2888,321,3840,3814,3866,0,0,0,0,0,0,26.80,26.44,26.82
$GC,4655,-0.81,-439.8,2888,321,3814,3865,865.2,-19.3,149,4660,0.00,1.92,0.00,0.000,1030,0.000,0.042,2881,1707,3839,3813,3865,0,0,0,0,0,0,26.60,26.58,26.60
$GC,5004,-0.81,-439.8,2881,1707,3811,3862,937.7,-20.1,157,5009,0.00,2.05,0.00,0.000,516,0.000,0.055,2881,328,3836,3811,3862,0,0,0,0,0,0,26.79,26.44,26.82
$GC,5052,-0.81,-439.8,2881,328,3811,3862,947.4,-19.9,158,5058,0.00,1.85,0.00,0.000,1030,0.000,0.045,2874,1704,3836,3811,3862,0,0,0,0,0,0,26.60,26.58,26.61
$GC,5444,-0.81,-439.8,2873,1705,3808,3859,1023.2,-18.9,165,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1705,3834,3808,3860,0,0,0,0,0,0,26.79,26.82,26.81
$GC,5802,-0.81,-439.8,2873,1705,3804,3857,1090.4,-18.7,168,5808,0.00,1.92,0.00,0.000,260,0.000,0.052,2864,3046,3831,3805,3857,0,0,0,0,0,0,26.79,26.46,26.81
$GC,5849,-0.81,-439.8,2863,3046,3804,3857,1090.4,-18.7,168,5853,0.00,1.92,0.00,0.000,1030,0.000,0.045,2864,1701,3830,3804,3857,0,0,0,0,0,0,26.56,26.51,26.58
$GC,6163,-0.81,-439.8,2864,1701,3801,3855,1159.9,-19.0,171,6168,0.00,2.00,0.00,0.000,516,0.000,0.057,2864,316,3828,3801,3855,0,0,0,0,0,0,26.78,26.40,26.80
$GC,6233,-0.81,-439.8,2863,316,3801,3855,1159.9,-19.0,171,6239,0.10,1.92,0.00,0.000,3078,0.154,0.042,2891,1694,3828,3801,3855,0,0,0,0,0,0,26.20,26.55,26.37
$GC,6643,-0.87,-439.8,2891,1695,3797,3851,1242.8,-17.1,175,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1694,3825,3799,3851,0,0,0,0,0,0,26.77,26.80,26.79
$GC,7003,-0.94,-439.8,2891,1694,3793,3849,1298.2,-15.5,178,7005,0.08,0.00,0.00,0.000,4102,0.117,0.000,2820,1701,3821,3794,3849,0,0,0,0,0,0,26.59,26.62,26.60
$GC,7362,-0.94,-439.8,2820,1701,3791,3846,1373.3,-19.8,181,7368,0.00,2.05,0.00,0.000,516,0.000,0.057,2821,322,3818,3791,3846,0,0,0,0,0,0,26.77,26.38,26.79
$GC,7414,-0.94,-439.8,2820,322,3790,3846,1373.3,-19.8,181,7418,0.12,1.88,0.00,0.000,3078,0.164,0.042,2854,1697,3818,3790,3846,0,0,0,0,0,0,26.15,26.53,26.27
$GC,7724,-0.94,-439.8,2853,1698,3789,3845,1441.5,-19.4,184,7728,0.00,1.98,0.00,0.000,260,0.000,0.050,2845,3060,3816,3789,3844,0,0,0,0,0,0,26.77,26.41,26.79
$GC,7768,-0.94,-439.8,2845,3060,3789,3843,1441.5,-19.4,184,7772,0.00,1.98,0.00,0.000,1030,0.000,0.045,2845,1691,3816,3789,3844,0,0,0,0,0,0,26.53,26.48,26.55
$GC,8083,-0.94,-439.8,2845,1691,3787,3842,1506.4,-18.1,187,8088,0.00,2.03,0.00,0.000,516,0.000,0.057,2845,318,3814,3787,3842,0,0,0,0,0,0,26.77,26.37,26.79
$GC,8148,-0.94,-439.8,2845,317,3786,3843,1506.4,-18.1,187,8152,0.00,1.95,0.00,0.000,1030,0.000,0.042,2839,1697,3814,3786,3843,0,0,0,0,0,0,26.53,26.52,26.54
$GC,8562,-0.94,-439.8,2838,1697,3784,3839,1593.4,-18.1,191,8566,0.00,1.98,0.00,0.000,260,0.000,0.052,2830,3056,3811,3784,3839,0,0,0,0,0,0,26.77,26.40,26.79
$GC,8602,-0.94,-439.8,2830,3055,3785,3838,1593.4,-18.1,191,8607,0.00,1.98,0.00,0.000,1030,0.000,0.045,2830,1693,3811,3784,3838,0,0,0,0,0,0,26.52,26.47,26.53
$GC,8925,-0.94,-439.8,2830,1693,3782,3837,1658.6,-17.9,194,8930,0.00,2.00,0.00,0.000,516,0.000,0.057,2830,317,3809,3782,3837,0,0,0,0,0,0,26.77,26.34,26.78
$GC,9001,-0.94,-439.8,2830,317,3781,3837,1658.6,-17.9,194,9005,0.00,1.95,0.00,0.000,1030,0.000,0.042,2823,1696,3809,3781,3837,0,0,0,0,0,0,26.53,26.51,26.54
$GC,9406,-0.94,-439.8,2822,1696,3778,3835,1745.9,-18.2,198,9411,0.00,1.98,0.00,0.000,260,0.000,0.050,2813,3060,3806,3778,3835,0,0,0,0,0,0,26.76,26.39,26.78
$GC,9456,-0.94,-439.8,2812,3060,3778,3834,1745.9,-18.2,198,9462,0.10,2.00,0.00,0.000,3078,0.137,0.045,2849,1694,3806,3778,3834,0,0,0,0,0,0,26.15,26.46,26.20
$GC,9766,-1.01,-439.8,2848,1694,3775,3834,1801.6,-16.0,201,9772,0.00,2.00,0.00,0.000,516,0.000,0.057,2849,320,3805,3777,3834,0,0,0,0,0,0,26.76,26.33,26.77
$GC,9827,-1.07,-439.8,2848,320,3776,3834,1801.6,-16.0,201,9833,0.05,1.95,0.00,0.000,5126,0.097,0.042,2774,1704,3805,3777,3834,0,0,0,0,0,0,26.36,26.52,26.39
$GC,10246,-1.07,-439.8,2773,1705,3775,3832,1897.3,-20.1,205,10248,0.10,0.00,0.00,0.000,2054,0.176,0.000,2805,1706,3804,3776,3832,0,0,0,0,0,0,26.27,26.38,26.34
$GC,10608,-1.07,-439.8,2804,1705,3774,3831,1961.5,-18.4,208,10614,0.00,2.05,0.00,0.000,516,0.000,0.055,2805,326,3802,3774,3831,0,0,0,0,0,0,26.76,26.32,26.77
$GC,10649,-1.07,-439.8,2804,326,3772,3831,1961.5,-18.4,208,10653,0.00,1.95,0.00,0.000,1030,0.000,0.042,2799,1693,3802,3773,3831,0,0,0,0,0,0,26.51,26.50,26.52
$GC,10967,-1.07,-439.8,2798,1693,3771,3830,2025.9,-17.7,211,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1693,3801,3772,3830,0,0,0,0,0,0,26.76,26.78,26.77
$GC,11327,-1.07,-439.8,2798,1693,3770,3829,2087.5,-17.3,214,11333,0.00,1.98,0.00,0.000,260,0.000,0.050,2789,3061,3799,3770,3829,0,0,0,0,0,0,26.75,26.36,26.77
$GC,11379,-1.07,-439.8,2789,3061,3770,3829,2087.5,-17.3,214,11383,0.00,1.98,0.00,0.000,1030,0.000,0.045,2789,1706,3799,3770,3829,0,0,0,0,0,0,26.48,26.43,26.50
$GC,11689,-1.07,-439.8,2789,1706,3769,3828,2150.2,-17.3,217,11693,0.00,2.05,0.00,0.000,516,0.000,0.057,2789,316,3798,3769,3828,0,0,0,0,0,0,26.75,26.29,26.77
$GC,11763,-1.07,-439.8,2789,317,3769,3828,2150.2,-17.3,217,11767,0.00,1.98,0.00,0.000,1030,0.000,0.042,2782,1694,3798,3769,3828,0,0,0,0,0,0,26.51,26.49,26.51
$GC,12172,-1.07,-439.8,2781,1694,3768,3827,2234.7,-17.4,221,12178,0.00,2.00,0.00,0.000,260,0.000,0.050,2772,3067,3799,3768,3831,0,0,0,0,0,0,26.75,26.34,26.77
$GC,12208,-1.07,-439.8,2772,3068,3768,3827,2234.7,-17.4,221,12213,0.10,2.03,0.00,0.000,3078,0.142,0.045,2806,1691,3797,3768,3827,0,0,0,0,0,0,26.08,26.41,26.13
$GC,12533,-1.14,-439.8,2806,1692,3767,3826,2286.6,-14.9,224,12539,0.00,2.03,0.00,0.000,516,0.000,0.057,2806,327,3796,3767,3826,0,0,0,0,0,0,26.75,26.27,26.77
$GC,12594,-1.21,-439.8,2806,327,3766,3826,2286.6,-14.9,224,12599,0.08,1.92,0.00,0.000,5126,0.114,0.042,2739,1703,3796,3766,3826,0,0,0,0,0,0,26.36,26.48,26.41
$GC,13013,-1.21,-439.8,2729,1705,3765,3824,2378.8,-19.4,228,13015,0.10,0.00,0.00,0.000,2054,0.179,0.000,2760,1705,3794,3765,3824,0,0,0,0,0,0,26.25,26.34,26.31
$GC,13372,-1.21,-439.8,2760,1705,3765,3824,2442.4,-18.2,231,13374,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1705,3794,3765,3824,0,0,0,0,0,0,26.75,26.77,26.77
$GC,13734,-1.21,-439.8,2760,1705,3764,3823,2503.4,-17.0,234,13739,0.00,2.08,0.00,0.000,516,0.000,0.057,2760,317,3793,3764,3823,0,0,0,0,0,0,26.75,26.25,26.77
$GC,13774,-1.21,-439.8,2760,317,3764,3823,2503.4,-17.0,234,13778,0.00,2.00,0.00,0.000,1030,0.000,0.042,2754,1707,3793,3764,3823,0,0,0,0,0,0,26.47,26.46,26.48
$GC,14093,-1.21,-439.8,2754,1710,3764,3823,2565.2,-17.1,237,14097,0.00,2.00,0.00,0.000,260,0.000,0.050,2745,3071,3793,3764,3823,0,0,0,0,0,0,26.74,26.30,26.77
$GC,14137,-1.21,-439.8,2745,3071,3764,3823,2565.2,-17.1,237,14141,0.00,2.00,0.00,0.000,1030,0.000,0.045,2745,1704,3793,3764,3823,0,0,0,0,0,0,26.44,26.39,26.46
$GC,14456,-1.21,-439.8,2744,1703,3763,3822,2627.0,-17.0,240,14461,0.00,2.05,0.00,0.000,516,0.000,0.060,2745,312,3792,3763,3822,0,0,0,0,0,0,26.74,26.23,26.77
$GC,14528,-1.21,-439.8,2744,312,3763,3822,2627.0,-17.0,240,14531,0.00,1.95,0.00,0.000,1030,0.000,0.042,2743,1700,3793,3763,3823,0,0,0,0,0,0,26.49,26.45,26.50
$GC,14931,-1.21,-439.8,2742,1701,3762,3822,2707.2,-16.9,244,14935,0.00,2.03,0.00,0.000,260,0.000,0.052,2739,3077,3792,3762,3822,0,0,0,0,0,0,26.74,26.28,26.77
$GC,14980,-1.21,-439.8,2738,3076,3762,3821,2707.2,-16.9,244,14984,0.00,2.05,0.00,0.000,1030,0.000,0.045,2739,1693,3791,3762,3821,0,0,0,0,0,0,26.40,26.38,26.42
$GC,15295,-1.26,-439.8,2738,1693,3761,3821,2767.1,-16.5,247,15300,0.00,2.05,0.00,0.000,516,0.000,0.057,2739,317,3791,3761,3821,0,0,0,0,0,0,26.74,26.22,26.76
$GC,15356,-1.31,-439.8,2739,317,3761,3821,2767.1,-16.5,247,15359,0.00,1.95,0.00,0.000,1030,0.000,0.042,2734,1681,3791,3761,3821,0,0,0,0,0,0,26.48,26.44,26.50
$GC,15775,-1.37,-439.8,2734,1705,3760,3821,2847.1,-16.7,251,15780,0.00,2.03,0.00,0.000,260,0.000,0.052,2724,3091,3791,3762,3821,0,0,0,0,0,0,26.74,26.28,26.76
$GC,15831,-1.42,-439.8,2723,3090,3760,3820,2847.1,-16.7,251,15835,0.00,2.05,0.00,0.000,1030,0.000,0.045,2724,1693,3790,3761,3820,0,0,0,0,0,0,26.42,26.37,26.44
$GC,16250,-1.47,-439.8,2723,1692,3760,3820,2924.4,-16.3,255,16256,0.08,2.03,0.00,0.000,4612,0.122,0.055,2637,313,3790,3760,3820,0,0,0,0,0,0,26.53,26.20,26.53
$GC,16331,-1.52,-439.8,2637,313,3759,3820,2924.4,-16.3,255,16337,0.10,2.00,0.00,0.000,3078,0.179,0.042,2661,1724,3789,3759,3820,0,0,0,0,0,0,26.03,26.43,26.12
$GC,16730,-1.52,-439.8,2660,1725,3759,3820,3023.4,-20.5,259,16731,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1725,3789,3759,3820,0,0,0,0,0,0,26.74,26.77,26.76
$GC,17092,-1.52,-439.8,2660,1725,3759,3819,3093.4,-19.5,262,17093,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1725,3789,3759,3819,0,0,0,0,0,0,26.74,26.79,26.76
$GC,17450,-1.52,-439.8,2660,1725,3758,3819,3161.6,-19.1,265,17451,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1725,3788,3758,3819,0,0,0,0,0,0,26.74,26.76,26.75
$GC,17810,-1.52,-439.8,2660,1725,3758,3819,3228.2,-18.5,268,17811,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1725,3788,3758,3819,0,0,0,0,0,0,26.74,26.77,26.75
$GC,18170,-1.52,-439.8,2660,1725,3758,3819,3291.8,-17.8,271,18171,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1725,3788,3758,3819,0,0,0,0,0,0,26.74,26.76,26.75
$GC,18531,-1.52,-439.8,2660,1725,3757,3818,3354.3,-17.4,274,18532,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1725,3787,3757,3818,0,0,0,0,0,0,26.74,26.76,26.75
$GC,18890,-1.52,-439.8,2660,1725,3757,3818,3413.6,-16.6,277,18892,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1725,3787,3757,3818,0,0,0,0,0,0,26.74,26.76,26.75
$GC,19250,-1.52,-439.8,2660,1725,3757,3818,3471.2,-16.1,280,19252,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1725,3789,3757,3822,0,0,0,0,0,0,26.74,26.76,26.75
$GC,19610,-1.52,-439.8,2660,1725,3757,3817,3526.7,-15.5,283,19611,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1725,3787,3757,3817,0,0,0,0,0,0,26.73,26.76,26.75
$GC,19971,-1.57,-439.8,2660,1725,3757,3816,3579.9,-14.8,286,19973,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1725,3787,3757,3817,0,0,0,0,0,0,26.73,26.76,26.75
$GC,20331,-1.64,-439.8,2660,1725,3757,3817,3631.7,-14.4,289,20333,0.05,0.00,0.00,0.000,4102,0.159,0.000,2608,1732,3786,3757,3816,0,0,0,0,0,0,26.54,26.56,26.55
$GC,20692,-1.64,-439.8,2607,1731,3757,3816,3695.5,-17.1,292,20698,0.00,2.12,0.00,0.000,516,0.000,0.057,2608,312,3786,3756,3816,0,0,0,0,0,0,26.73,26.13,26.75
$GC,20738,-1.64,-439.8,2608,312,3756,3816,3695.5,-17.1,292,20742,0.00,1.98,0.00,0.000,1030,0.000,0.042,2600,1707,3786,3756,3816,0,0,0,0,0,0,26.42,26.39,26.44
$GC,21052,-1.64,-439.8,2600,1710,3756,3816,3761.0,-18.0,295,21053,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1709,3786,3756,3816,0,0,0,0,0,0,26.72,26.76,26.74
$GC,21412,-1.64,-439.8,2600,1709,3756,3815,3823.4,-17.5,298,21416,0.00,2.00,0.00,0.000,260,0.000,0.050,2590,3067,3785,3756,3814,0,0,0,0,0,0,26.73,26.20,26.74
$GC,21446,-1.64,-439.8,2590,3067,3756,3814,3823.4,-17.5,298,21451,0.10,2.05,0.00,0.000,3078,0.144,0.045,2624,1687,3785,3756,3814,0,0,0,0,0,0,25.91,26.29,25.95
$GC,21775,-1.64,-439.8,2623,1687,3756,3814,3879.3,-15.7,301,21780,0.00,2.05,0.00,0.000,516,0.000,0.057,2626,321,3785,3756,3814,0,0,0,0,0,0,26.73,26.10,26.74
$GC,21836,-1.64,-439.8,2624,321,3756,3814,3879.3,-15.7,301,21840,0.00,2.00,0.00,0.000,1030,0.000,0.042,2617,1700,3784,3755,3814,0,0,0,0,0,0,26.40,26.39,26.41
$GC,22255,-1.64,-439.8,2617,1701,3755,3814,3952.9,-15.3,305,22261,0.00,2.00,0.00,0.000,260,0.000,0.050,2608,3069,3785,3755,3815,0,0,0,0,0,0,26.73,26.19,26.74
$GC,22311,-1.64,-439.8,2607,3069,3755,3814,3952.9,-15.3,305,22315,0.00,2.00,0.00,0.000,1030,0.000,0.045,2608,1707,3784,3755,3814,0,0,0,0,0,0,26.34,26.29,26.36
$GC,22737,-1.64,-439.8,2607,1700,3755,3814,4027.3,-15.5,309,22743,0.00,2.08,0.00,0.000,516,0.000,0.057,2608,310,3784,3755,3813,0,0,0,0,0,0,26.70,26.08,26.71
$GC,22818,-1.64,-439.8,2607,310,3755,3814,4027.3,-15.5,309,22822,0.00,2.00,0.00,0.000,1030,0.000,0.042,2601,1697,3784,3755,3814,0,0,0,0,0,0,26.39,26.38,26.41
$GC,23224,-1.64,-439.8,2600,1697,3758,3814,4103.5,-15.6,313,23228,0.00,2.03,0.00,0.000,260,0.000,0.052,2591,3069,3784,3755,3814,0,0,0,0,0,0,26.70,26.18,26.70
$GC,23268,-1.64,-439.8,2590,3068,3755,3813,4103.5,-15.6,313,23274,0.10,2.05,0.00,0.000,3078,0.142,0.045,2625,1689,3784,3754,3814,0,0,0,0,0,0,25.91,26.29,25.94
$GC,23590,-1.70,-439.8,2625,1689,3754,3813,4154.9,-14.4,316,23597,0.00,2.08,0.00,0.000,516,0.000,0.057,2625,317,3784,3755,3814,0,0,0,0,0,0,26.69,26.07,26.71
$GC,23657,-1.77,-439.8,2625,317,3755,3813,4154.9,-14.4,316,23662,0.05,1.98,0.00,0.000,5126,0.156,0.042,2568,1716,3784,3755,3814,0,0,0,0,0,0,26.23,26.37,26.27
$GC,24077,-1.77,-439.8,2551,1723,3755,3813,4238.4,-17.2,320,24078,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1723,3783,3754,3813,0,0,0,0,0,0,26.68,26.70,26.70
$GC,24437,-1.77,-439.8,2551,1723,3754,3813,4300.4,-17.3,323,24438,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1723,3784,3755,3813,0,0,0,0,0,0,26.67,26.70,26.69
$GC,24797,-1.77,-439.8,2551,1726,3754,3813,4359.7,-16.6,326,24798,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1723,3784,3755,3813,0,0,0,0,0,0,26.67,26.70,26.69
$GC,25157,-1.77,-439.8,2551,1723,3754,3813,4416.2,-15.8,329,25158,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1723,3783,3754,3812,0,0,0,0,0,0,26.68,26.70,26.70
$GC,25517,-1.77,-439.8,2551,1723,3754,3813,4471.6,-15.4,332,25518,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1723,3783,3754,3813,0,0,0,0,0,0,26.67,26.70,26.69
$GC,25880,-1.77,-439.8,2551,1723,3754,3813,4526.0,-15.2,335,25886,0.00,2.12,0.00,0.000,516,0.000,0.057,2551,316,3783,3754,3813,0,0,0,0,0,0,26.68,26.04,26.70
$GC,25921,-1.77,-439.8,2551,316,3754,3813,4526.0,-15.2,335,25927,0.10,2.00,0.00,0.000,3078,0.151,0.042,2586,1695,3783,3754,3813,0,0,0,0,0,0,25.82,26.36,25.91
$GC,26242,-1.84,-439.8,2586,1695,3754,3813,4573.2,-13.4,338,26248,0.00,2.03,0.00,0.000,260,0.000,0.050,2578,3073,3783,3754,3813,0,0,0,0,0,0,26.72,26.14,26.74
$GC,26283,-1.90,-439.8,2578,3073,3754,3813,4573.2,-13.4,338,26288,0.05,2.03,0.00,0.000,5126,0.154,0.045,2525,1694,3783,3754,3813,0,0,0,0,0,0,26.16,26.26,26.21
$GC,26598,-1.90,-439.8,2524,1694,3754,3813,4627.9,-14.7,341,26603,0.00,2.08,0.00,0.000,516,0.000,0.057,2525,316,3783,3754,3813,0,0,0,0,0,0,26.72,26.03,26.74
$GC,26669,-1.90,-439.8,2524,316,3754,3813,4627.9,-14.7,341,26672,0.00,1.98,0.00,0.000,1030,0.000,0.042,2516,1718,3783,3754,3813,0,0,0,0,0,0,26.39,26.35,26.40
$STATE,27077,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,27077,begin apogee
$GC,27081,-0.24,0.0,2515,1494,3754,3813,4705.6,-16.1,345,27534,1.67,0.00,448.75,4.027,10246,0.122,0.000,3072,1493,2340,2234,2447,0,0,0,0,0,0,25.27,22.29,19.58
$STATE,27535,end apogee,CONTROL_FINISHED_OK
$STATE,27535,begin climb
$GC,27537,0.95,439.8,3072,1493,2233,2446,4728.6,0.0,348,28120,1.10,2.20,568.55,4.124,10756,0.065,0.074,3490,210,824,800,848,0,0,0,0,0,0,23.08,21.93,19.94
$GC,28308,0.47,439.8,3490,210,784,844,4461.0,44.5,355,28313,0.70,1.90,0.00,0.000,5126,0.219,0.040,3302,1521,813,783,844,0,0,0,0,0,0,25.04,25.40,25.28
$GC,28634,0.12,439.8,3302,1521,783,842,4335.2,38.6,358,28640,0.35,1.95,0.00,0.000,4612,0.191,0.057,3199,210,813,784,842,0,0,0,0,0,0,25.84,26.03,25.96
$GC,28675,-0.23,439.8,3199,210,782,842,4335.2,38.6,358,28679,0.30,1.83,0.00,0.000,5126,0.151,0.042,3092,1527,811,782,841,0,0,0,0,0,0,25.92,26.22,26.10
$GC,28994,-0.32,439.8,3091,1529,782,842,4280.1,18.9,361,28996,0.12,0.00,0.00,0.000,4102,0.154,0.000,3047,1529,812,782,842,0,0,0,0,0,0,26.17,26.32,26.29
$GC,29354,-0.16,687.1,3046,1529,782,842,4246.9,10.0,364,29550,0.08,2.33,186.25,3.613,10756,0.119,0.079,3140,222,319,317,321,0,0,0,0,0,0,26.44,22.63,20.27
$GC,29596,-0.05,830.2,3140,222,314,321,4207.8,12.5,366,29601,0.00,1.90,0.00,0.000,1030,0.000,0.040,3140,1478,317,314,321,0,0,0,0,0,0,24.34,24.33,24.35
$GC,29957,-0.05,830.2,3140,1482,314,320,4141.8,18.1,369,29962,0.00,2.03,0.00,0.000,260,0.000,0.047,3140,2842,317,314,320,0,0,0,0,0,0,26.21,25.97,26.23
$GC,29986,-0.05,830.2,3139,2842,314,319,4141.8,18.1,369,29991,0.00,2.05,0.00,0.000,1030,0.000,0.047,3148,1507,316,314,319,0,0,0,0,0,0,26.04,26.01,26.05
$GC,30320,-0.05,830.2,3148,1507,314,319,4075.4,18.2,372,30326,0.00,1.95,0.00,0.000,516,0.000,0.060,3159,181,316,314,319,0,0,0,0,0,0,26.49,26.20,26.51
$GC,30352,-0.05,830.2,3158,181,313,319,4075.4,18.2,372,30356,0.00,1.83,0.00,0.000,1030,0.000,0.042,3158,1485,316,313,319,0,0,0,0,0,0,26.35,26.32,26.36
$GC,30680,-0.05,830.2,3158,1523,313,319,4008.7,18.5,375,30681,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1522,316,313,319,0,0,0,0,0,0,26.59,26.62,26.61
$GC,31040,-0.05,830.2,3158,1522,313,319,3943.7,18.2,378,31041,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1522,316,313,319,0,0,0,0,0,0,26.64,26.66,26.66
$GC,31400,-0.05,830.2,3158,1525,313,319,3881.5,17.4,381,31405,0.00,1.95,0.00,0.000,516,0.000,0.060,3168,202,316,313,319,0,0,0,0,0,0,26.67,26.34,26.69
$GC,31436,-0.05,830.2,3168,199,312,319,3881.5,17.4,381,31441,0.05,1.85,0.00,0.000,5126,0.146,0.042,3150,1521,316,313,319,0,0,0,0,0,0,26.27,26.48,26.32
$GC,31760,-0.05,830.2,3150,1524,313,319,3827.6,15.4,384,31762,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1524,315,311,319,0,0,0,0,0,0,26.67,26.70,26.70
$GC,32120,-0.05,830.2,3150,1524,313,319,3776.9,14.2,387,32121,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1524,316,313,319,0,0,0,0,0,0,26.67,26.71,26.70
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$STATE,57024,end climb,SURFACE_DEPTH_REACHED
$STATE,57025,begin surface coast
$FINISH,1.8,1.023482
$STATE,57046,end surface coast,CONTROL_FINISHED_OK
$STATE,57046,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,37.83
$INTERNAL_PRESSURE,8.92684
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$XPDR_PINGS,1
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$24V_AH,19.58,48.419
$10V_AH,9.24,26.530
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.275,303.825,1203.550,0.000,197.575,81.330,90.698,239.880,9.500,0.000,52.048,3206.539,47312.980,1289.786,5777.115,202.453,0.000,3647.644,0.000,5167.581,0.000,71.497,0.000
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$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329468
$DATA_FILE_SIZE,50319,748
$CAP_FILE_SIZE,364169,0
$CFSIZE,1024409600,1002684416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,147.32,0x235780,0,24
$CURRENT,0.193,122.36,1
$GPS,280915,001415,3737.308,-6815.232,31,1.3,71,-15.3,1.0,87.7,8,5.0