version: 66.12
glider: 36
mission: 20
dive: 77
start: 9 28 115 0 21 34
data:
$ID,36
$MISSION,20
$DIVE,77
$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,65
$R_STBD_OVSHOOT,129
$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
$GPS1,280915,001415,3737.3081,-6815.2324,31,1.3,71,-15.3,1.0,87.7,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-53.9
$GPS2,280915,002111,3737.3320,-6814.8672,10,1.3,51,-15.3,1.9,129.3,8,5.0
$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,334.0,188671,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,506,-0.67,-439.8,2841,301,3828,3876,110.2,-37.7,40,511,0.30,1.92,0.00,0.000,3078,0.181,0.045,2938,1680,3852,3829,3876,0,0,0,0,0,0,25.57,26.39,25.81
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$GC,1136,-0.67,-439.8,2938,1680,3828,3874,240.1,-16.4,66,1141,0.00,1.98,0.00,0.000,260,0.000,0.052,2930,3076,3851,3828,3874,0,0,0,0,0,0,26.77,26.42,26.79
$GC,1187,-0.67,-439.8,2930,3077,3828,3874,244.8,-16.3,67,1197,0.00,2.00,0.00,0.000,1030,0.000,0.045,2930,1684,3850,3827,3874,0,0,0,0,0,0,26.51,26.49,26.52
$GC,1496,-0.67,-439.8,2930,1685,3828,3874,299.7,-17.4,78,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1684,3850,3828,3873,0,0,0,0,0,0,26.80,26.82,26.82
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$GC,2202,-0.67,-439.8,2922,1715,3826,3872,421.0,-16.1,94,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1715,3849,3826,3872,0,0,0,0,0,0,26.81,26.83,26.83
$GC,2517,-0.67,-439.8,2922,1715,3824,3871,473.3,-16.8,101,2523,0.00,1.92,0.00,0.000,260,0.000,0.052,2912,3064,3848,3824,3872,0,0,0,0,0,0,26.81,26.46,26.82
$GC,2562,-0.67,-439.8,2912,3064,3824,3871,481.3,-17.1,102,2568,0.00,1.95,0.00,0.000,1030,0.000,0.045,2912,1688,3847,3824,3871,0,0,0,0,0,0,26.58,26.53,26.58
$GC,2877,-0.67,-439.8,2912,1688,3823,3871,534.3,-16.4,109,2883,0.00,2.00,0.00,0.000,516,0.000,0.057,2911,308,3847,3823,3871,0,0,0,0,0,0,26.81,26.43,26.82
$GC,2945,-0.67,-439.8,2912,308,3823,3871,542.6,-16.9,110,2950,0.00,1.92,0.00,0.000,1030,0.000,0.042,2904,1704,3847,3823,3871,0,0,0,0,0,0,26.60,26.60,26.61
$GC,3284,-0.67,-439.8,2904,1704,3821,3869,607.8,-18.3,118,3291,0.08,2.00,0.00,0.000,2564,0.191,0.055,2935,323,3845,3821,3870,0,0,0,0,0,0,26.36,26.43,26.39
$GC,3329,-0.67,-439.8,2935,323,3821,3870,615.6,-18.2,119,3334,0.00,1.88,0.00,0.000,1030,0.000,0.045,2930,1708,3845,3821,3870,0,0,0,0,0,0,26.61,26.58,26.62
$GC,3648,-0.73,-439.8,2930,1709,3820,3868,667.5,-16.3,126,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1709,3844,3821,3868,0,0,0,0,0,0,26.80,26.82,26.82
$GC,3963,-0.78,-439.8,2930,1709,3817,3866,718.3,-16.1,133,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1710,3842,3817,3867,0,0,0,0,0,0,26.79,26.82,26.82
$GC,4278,-0.85,-439.8,2930,1709,3815,3865,769.6,-16.2,140,4280,0.10,0.00,0.00,0.000,4102,0.104,0.000,2837,1714,3840,3815,3865,0,0,0,0,0,0,26.59,26.63,26.61
$GC,4593,-0.79,-439.8,2836,1714,3814,3862,843.9,-23.9,147,4598,0.15,2.05,0.00,0.000,2564,0.166,0.055,2893,316,3837,3813,3862,0,0,0,0,0,0,26.16,26.29,26.22
$GC,4642,-0.79,-439.8,2892,316,3813,3862,854.2,-23.2,148,4648,0.00,1.88,0.00,0.000,1030,0.000,0.045,2886,1696,3837,3813,3862,0,0,0,0,0,0,26.59,26.56,26.60
$GC,4957,-0.79,-439.8,2885,1696,3810,3860,914.4,-18.7,155,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1696,3835,3811,3860,0,0,0,0,0,0,26.78,26.81,26.80
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$GC,5316,-0.79,-439.8,2885,315,3807,3858,981.6,-18.8,163,5321,0.00,1.90,0.00,0.000,1030,0.000,0.042,2879,1701,3832,3807,3858,0,0,0,0,0,0,26.58,26.55,26.60
$GC,5695,-0.79,-439.8,2879,1701,3804,3856,1054.2,-19.2,168,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1702,3829,3804,3855,0,0,0,0,0,0,26.77,26.80,26.79
$GC,6055,-0.79,-439.8,2878,1701,3801,3853,1122.2,-19.0,171,6059,0.00,1.98,0.00,0.000,260,0.000,0.052,2869,3069,3827,3801,3853,0,0,0,0,0,0,26.77,26.42,26.79
$GC,6084,-0.79,-439.8,2869,3069,3802,3852,1122.2,-19.0,171,6088,0.00,2.00,0.00,0.000,1030,0.000,0.045,2869,1704,3826,3801,3852,0,0,0,0,0,0,26.51,26.51,26.52
$GC,6418,-0.79,-439.8,2869,1704,3797,3850,1191.2,-19.0,174,6423,0.00,2.00,0.00,0.000,516,0.000,0.057,2869,323,3823,3797,3850,0,0,0,0,0,0,26.77,26.37,26.79
$GC,6494,-0.79,-439.8,2869,323,3797,3849,1191.2,-19.0,174,6499,0.10,1.95,0.00,0.000,3078,0.149,0.042,2896,1711,3823,3797,3849,0,0,0,0,0,0,26.17,26.52,26.22
$GC,6899,-0.86,-439.8,2896,1711,3794,3847,1271.1,-16.5,178,6904,0.00,1.95,0.00,0.000,260,0.000,0.052,2888,3057,3820,3794,3847,0,0,0,0,0,0,26.77,26.41,26.79
$GC,6936,-0.93,-439.8,2887,3057,3794,3846,1271.1,-16.5,178,6941,0.05,1.98,0.00,0.000,5126,0.154,0.045,2826,1688,3820,3794,3847,0,0,0,0,0,0,26.38,26.47,26.44
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$GC,7786,-0.93,-439.8,2843,3067,3788,3842,1434.2,-18.9,185,7791,0.00,2.00,0.00,0.000,1030,0.000,0.045,2843,1706,3815,3789,3842,0,0,0,0,0,0,26.48,26.46,26.49
$GC,8096,-0.93,-439.8,2843,1707,3787,3840,1498.8,-17.9,188,8102,0.00,2.03,0.00,0.000,516,0.000,0.057,2844,321,3814,3787,3841,0,0,0,0,0,0,26.76,26.34,26.77
$GC,8162,-0.93,-439.8,2843,321,3786,3840,1498.8,-17.9,188,8166,0.00,1.90,0.00,0.000,1030,0.000,0.042,2838,1692,3813,3786,3840,0,0,0,0,0,0,26.54,26.51,26.55
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$GC,8612,-0.93,-439.8,2827,3071,3784,3837,1588.3,-18.6,192,8616,0.00,2.03,0.00,0.000,1030,0.000,0.045,2828,1702,3810,3784,3836,0,0,0,0,0,0,26.46,26.44,26.48
$GC,8936,-0.93,-439.8,2827,1701,3782,3836,1656.6,-18.9,195,8940,0.00,2.05,0.00,0.000,516,0.000,0.057,2827,313,3809,3782,3836,0,0,0,0,0,0,26.76,26.32,26.77
$GC,9005,-0.93,-439.8,2827,313,3781,3835,1656.6,-18.9,195,9009,0.00,1.98,0.00,0.000,1030,0.000,0.042,2821,1699,3808,3781,3836,0,0,0,0,0,0,26.51,26.49,26.52
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$GC,9460,-0.93,-439.8,2811,3077,3780,3834,1749.2,-19.2,199,9466,0.10,2.05,0.00,0.000,3078,0.137,0.045,2848,1687,3807,3780,3834,0,0,0,0,0,0,26.12,26.43,26.17
$GC,9781,-1.00,-439.8,2848,1687,3777,3833,1808.2,-16.9,202,9786,0.00,2.00,0.00,0.000,516,0.000,0.057,2848,317,3805,3777,3834,0,0,0,0,0,0,26.75,26.31,26.77
$GC,9846,-1.06,-439.8,2848,318,3777,3833,1808.2,-16.9,202,9851,0.05,1.92,0.00,0.000,5126,0.159,0.042,2784,1704,3805,3777,3833,0,0,0,0,0,0,26.36,26.48,26.41
$GC,10260,-1.06,-439.8,2779,1706,3775,3831,1908.6,-21.1,206,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1706,3802,3775,3829,0,0,0,0,0,0,26.75,26.77,26.77
$GC,10620,-1.06,-439.8,2779,1705,3775,3831,1984.4,-21.2,209,10626,0.00,2.08,0.00,0.000,516,0.000,0.057,2780,313,3803,3775,3831,0,0,0,0,0,0,26.75,26.29,26.77
$GC,10651,-1.06,-439.8,2779,313,3774,3831,1984.4,-21.2,209,10656,0.10,1.98,0.00,0.000,3078,0.151,0.042,2806,1698,3802,3774,3831,0,0,0,0,0,0,26.07,26.47,26.13
$GC,10981,-1.06,-439.8,2806,1698,3773,3829,2050.9,-18.9,212,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1698,3801,3773,3830,0,0,0,0,0,0,26.74,26.77,26.77
$GC,11340,-1.12,-439.8,2806,1698,3771,3829,2113.7,-17.6,215,11345,0.00,2.00,0.00,0.000,260,0.000,0.052,2798,3065,3800,3771,3829,0,0,0,0,0,0,26.75,26.33,26.77
$GC,11375,-1.18,-439.8,2797,3065,3771,3828,2113.7,-17.6,215,11379,0.00,2.00,0.00,0.000,1030,0.000,0.045,2798,1701,3800,3772,3828,0,0,0,0,0,0,26.46,26.41,26.48
$GC,11705,-1.25,-439.8,2797,1701,3771,3828,2176.5,-17.3,218,11711,0.08,2.03,0.00,0.000,4612,0.119,0.055,2721,317,3799,3770,3828,0,0,0,0,0,0,26.55,26.27,26.55
$GC,11771,-1.31,-439.8,2720,317,3770,3828,2176.5,-17.3,218,11776,0.00,1.92,0.00,0.000,1030,0.000,0.042,2712,1701,3799,3770,3828,0,0,0,0,0,0,26.50,26.46,26.51
$GC,12186,-1.31,-439.8,2711,1702,3769,3826,2290.1,-23.7,222,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1702,3797,3769,3826,0,0,0,0,0,0,26.74,26.77,26.77
$GC,12545,-1.31,-439.8,2711,1702,3768,3826,2373.0,-23.1,225,12546,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1702,3796,3768,3825,0,0,0,0,0,0,26.74,26.77,26.76
$GC,12905,-1.31,-439.8,2711,1702,3767,3824,2452.8,-22.3,228,12911,0.00,2.10,0.00,0.000,516,0.000,0.057,2712,313,3794,3765,3824,0,0,0,0,0,0,26.74,26.25,26.76
$GC,12946,-1.31,-439.8,2711,313,3767,3824,2452.8,-22.3,228,12951,0.00,1.98,0.00,0.000,1030,0.000,0.042,2703,1698,3795,3766,3824,0,0,0,0,0,0,26.46,26.45,26.48
$GC,13267,-1.31,-439.8,2703,1698,3766,3823,2533.8,-22.4,231,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1699,3795,3766,3824,0,0,0,0,0,0,26.74,26.77,26.76
$GC,13625,-1.31,-439.8,2702,1698,3765,3823,2611.1,-21.6,234,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1698,3794,3765,3823,0,0,0,0,0,0,26.74,26.77,26.76
$GC,13985,-1.31,-439.8,2703,1698,3765,3823,2686.1,-21.0,237,13986,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1698,3794,3765,3823,0,0,0,0,0,0,26.74,26.77,26.76
$GC,14345,-1.31,-439.8,2703,1698,3764,3822,2758.6,-20.3,240,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1698,3793,3765,3822,0,0,0,0,0,0,26.74,26.77,26.76
$GC,14706,-1.31,-439.8,2703,1698,3764,3822,2829.2,-19.7,243,14707,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1698,3793,3764,3822,0,0,0,0,0,0,26.74,26.77,26.76
$GC,15065,-1.31,-439.8,2703,1698,3764,3821,2897.3,-19.1,246,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1698,3792,3764,3821,0,0,0,0,0,0,26.74,26.76,26.76
$GC,15425,-1.31,-439.8,2703,1698,3763,3820,2962.0,-18.1,249,15426,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1701,3794,3767,3821,0,0,0,0,0,0,26.74,26.76,26.75
$GC,15785,-1.31,-439.8,2703,1698,3763,3821,3024.5,-17.5,252,15790,0.00,2.08,0.00,0.000,516,0.000,0.057,2703,315,3792,3763,3821,0,0,0,0,0,0,26.74,26.20,26.75
$GC,15831,-1.31,-439.8,2703,314,3762,3821,3024.5,-17.5,252,15837,0.10,1.98,0.00,0.000,3078,0.146,0.042,2729,1682,3791,3762,3820,0,0,0,0,0,0,26.02,26.44,26.06
$GC,16146,-1.37,-439.8,2729,1682,3762,3820,3079.7,-15.8,255,16151,0.00,2.05,0.00,0.000,260,0.000,0.050,2721,3073,3791,3763,3820,0,0,0,0,0,0,26.73,26.25,26.75
$GC,16191,-1.44,-439.8,2720,3073,3762,3820,3079.7,-15.8,255,16195,0.00,2.03,0.00,0.000,1030,0.000,0.045,2721,1698,3791,3762,3820,0,0,0,0,0,0,26.40,26.34,26.42
$GC,16506,-1.52,-439.8,2721,1698,3761,3820,3132.6,-14.6,258,16512,0.08,2.03,0.00,0.000,4612,0.122,0.055,2636,317,3790,3761,3820,0,0,0,0,0,0,26.53,26.17,26.54
$GC,16572,-1.61,-439.8,2635,317,3760,3820,3132.6,-14.6,258,16576,0.00,1.98,0.00,0.000,1030,0.000,0.042,2628,1712,3790,3761,3819,0,0,0,0,0,0,26.45,26.41,26.46
$GC,16986,-1.61,-439.8,2627,1715,3760,3819,3233.6,-21.1,262,16987,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1715,3789,3760,3819,0,0,0,0,0,0,26.73,26.75,26.75
$GC,17345,-1.61,-439.8,2627,1715,3760,3819,3306.9,-20.5,265,17346,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1716,3790,3761,3819,0,0,0,0,0,0,26.73,26.76,26.75
$GC,17705,-1.61,-439.8,2627,1715,3760,3819,3377.6,-19.8,268,17711,0.00,2.12,0.00,0.000,516,0.000,0.055,2628,306,3789,3760,3819,0,0,0,0,0,0,26.73,26.17,26.75
$GC,17761,-1.61,-439.8,2627,306,3759,3818,3377.6,-19.8,268,17765,0.00,2.03,0.00,0.000,1030,0.000,0.042,2618,1707,3789,3760,3818,0,0,0,0,0,0,26.41,26.39,26.43
$GC,18186,-1.61,-439.8,2618,1710,3759,3818,3472.3,-19.7,272,18187,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1710,3788,3759,3818,0,0,0,0,0,0,26.73,26.76,26.74
$GC,18545,-1.61,-439.8,2618,1710,3759,3818,3540.2,-19.0,275,18546,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1710,3788,3759,3818,0,0,0,0,0,0,26.73,26.75,26.74
$GC,18905,-1.61,-439.8,2618,1710,3759,3817,3606.1,-18.4,278,18906,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1711,3788,3759,3817,0,0,0,0,0,0,26.72,26.75,26.74
$GC,19265,-1.61,-439.8,2618,1711,3758,3817,3669.6,-17.7,281,19266,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1711,3787,3758,3817,0,0,0,0,0,0,26.72,26.75,26.74
$GC,19626,-1.61,-439.8,2618,1714,3758,3817,3731.5,-17.3,284,19627,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1711,3787,3758,3816,0,0,0,0,0,0,26.72,26.75,26.74
$GC,19986,-1.61,-439.8,2618,1711,3758,3816,3791.6,-16.7,287,19987,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1711,3787,3758,3816,0,0,0,0,0,0,26.72,26.75,26.74
$GC,20345,-1.61,-439.8,2618,1711,3758,3816,3850.0,-16.3,290,20346,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1711,3787,3758,3816,0,0,0,0,0,0,26.72,26.74,26.74
$GC,20705,-1.61,-439.8,2618,1711,3758,3816,3906.5,-15.7,293,20711,0.00,2.10,0.00,0.000,516,0.000,0.055,2618,315,3787,3758,3816,0,0,0,0,0,0,26.72,26.12,26.74
$GC,20751,-1.61,-439.8,2618,315,3757,3816,3906.5,-15.7,293,20756,0.00,2.00,0.00,0.000,1030,0.000,0.042,2611,1699,3786,3757,3816,0,0,0,0,0,0,26.39,26.38,26.41
$GC,21066,-1.61,-439.8,2611,1698,3757,3816,3963.5,-15.9,296,21070,0.00,2.03,0.00,0.000,260,0.000,0.052,2601,3070,3786,3757,3816,0,0,0,0,0,0,26.72,26.19,26.74
$GC,21099,-1.61,-439.8,2601,3070,3757,3816,3963.5,-15.9,296,21105,0.10,2.05,0.00,0.000,3078,0.139,0.045,2637,1695,3786,3757,3815,0,0,0,0,0,0,25.92,26.28,25.96
$GC,21431,-1.67,-439.8,2636,1695,3757,3816,4012.8,-14.0,299,21436,0.00,2.08,0.00,0.000,516,0.000,0.057,2637,320,3786,3757,3816,0,0,0,0,0,0,26.70,26.09,26.71
$GC,21507,-1.74,-439.8,2636,320,3757,3815,4012.8,-14.0,299,21512,0.05,1.95,0.00,0.000,5126,0.159,0.042,2564,1706,3786,3757,3816,0,0,0,0,0,0,26.25,26.38,26.29
$GC,21912,-1.74,-439.8,2562,1709,3757,3815,4094.2,-17.1,303,21914,0.10,0.00,0.00,0.000,2054,0.179,0.000,2594,1709,3785,3757,3814,0,0,0,0,0,0,26.17,26.25,26.21
$GC,22271,-1.74,-439.8,2594,1709,3757,3817,4148.3,-15.5,306,22278,0.00,2.12,0.00,0.000,516,0.000,0.055,2594,309,3785,3757,3814,0,0,0,0,0,0,26.67,26.09,26.69
$GC,22318,-1.74,-439.8,2594,309,3756,3814,4148.3,-15.5,306,22323,0.00,2.00,0.00,0.000,1030,0.000,0.042,2589,1687,3785,3756,3814,0,0,0,0,0,0,26.39,26.39,26.41
$GC,22639,-1.74,-439.8,2588,1687,3756,3814,4203.3,-15.0,309,22640,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1687,3785,3756,3814,0,0,0,0,0,0,26.68,26.71,26.70
$GC,22998,-1.74,-439.8,2588,1687,3757,3817,4255.5,-14.5,312,22999,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1686,3785,3757,3813,0,0,0,0,0,0,26.67,26.70,26.69
$GC,23358,-1.74,-439.8,2588,1687,3757,3813,4306.5,-14.3,315,23359,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1687,3784,3756,3813,0,0,0,0,0,0,26.67,26.70,26.69
$GC,23719,-1.79,-439.8,2589,1687,3757,3813,4355.8,-13.8,318,23720,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1687,3785,3757,3813,0,0,0,0,0,0,26.68,26.70,26.70
$GC,24079,-1.85,-439.8,2588,1687,3756,3813,4403.8,-13.4,321,24080,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1687,3784,3756,3813,0,0,0,0,0,0,26.69,26.71,26.70
$GC,24439,-1.92,-439.8,2588,1687,3756,3813,4450.5,-13.0,324,24441,0.10,0.00,0.00,0.000,4102,0.097,0.000,2515,1688,3783,3754,3813,0,0,0,0,0,0,26.48,26.51,26.50
$GC,24797,-1.92,-439.8,2518,1688,3757,3813,4511.9,-16.2,327,24803,0.00,2.08,0.00,0.000,516,0.000,0.057,2515,324,3784,3756,3813,0,0,0,0,0,0,26.72,26.06,26.74
$GC,24843,-1.92,-439.8,2515,325,3756,3813,4511.9,-16.2,327,24847,0.00,1.98,0.00,0.000,1030,0.000,0.042,2507,1712,3784,3756,3813,0,0,0,0,0,0,26.38,26.34,26.39
$GC,25159,-1.92,-439.8,2507,1715,3756,3813,4575.9,-17.7,330,25160,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1715,3784,3756,3813,0,0,0,0,0,0,26.72,26.74,26.74
$STATE,25516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,25516,begin apogee
$GC,25520,-0.24,0.0,2507,1510,3756,3813,4636.9,-17.1,333,25971,1.73,0.00,446.98,3.960,10246,0.127,0.000,3073,1509,2339,2230,2449,0,0,0,0,0,0,25.24,22.34,19.89
$STATE,25972,end apogee,CONTROL_FINISHED_OK
$STATE,25973,begin climb
$GC,25974,0.95,439.8,3073,1509,2230,2448,4661.8,0.0,336,26543,1.12,0.00,563.78,4.057,10502,0.062,0.000,3485,1509,825,801,850,0,0,0,0,0,0,23.08,22.46,20.22
$GC,26837,0.49,439.8,3485,1509,788,842,4343.2,46.6,344,26843,0.62,1.95,0.00,0.000,4612,0.228,0.055,3319,200,815,788,842,0,0,0,0,0,0,25.41,25.65,25.57
$GC,26903,0.03,439.8,3319,199,785,842,4343.2,46.6,344,26909,0.52,1.90,0.00,0.000,5126,0.181,0.042,3159,1528,813,784,842,0,0,0,0,0,0,25.64,25.98,25.85
$GC,27319,-0.11,439.8,3159,1528,784,841,4234.2,22.0,348,27321,0.08,0.00,0.00,0.000,4102,0.206,0.000,3136,1528,812,784,841,0,0,0,0,0,0,26.16,26.30,26.26
$GC,27678,-0.11,439.8,3136,1528,784,840,4174.8,17.0,351,27679,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1528,812,784,840,0,0,0,0,0,0,26.62,26.64,26.63
$GC,28038,-0.11,439.8,3136,1528,784,840,4116.8,16.2,354,28044,0.00,1.95,0.00,0.000,516,0.000,0.060,3143,204,812,784,841,0,0,0,0,0,0,26.66,26.36,26.68
$GC,28074,-0.11,439.8,3144,204,782,840,4116.8,16.2,354,28078,0.00,1.85,0.00,0.000,1030,0.000,0.042,3144,1526,811,782,840,0,0,0,0,0,0,26.48,26.47,26.49
$GC,28398,-0.11,439.8,3144,1530,782,840,4059.5,15.9,357,28399,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1530,811,782,840,0,0,0,0,0,0,26.68,26.70,26.70
$GC,28758,-0.11,439.8,3144,1531,782,841,4004.2,15.5,360,28762,0.00,1.98,0.00,0.000,516,0.000,0.060,3154,203,811,782,840,0,0,0,0,0,0,26.70,26.37,26.71
$GC,28798,-0.11,439.8,3153,203,780,840,4004.2,15.5,360,28803,0.08,1.80,0.00,0.000,5126,0.181,0.042,3130,1515,810,780,840,0,0,0,0,0,0,26.25,26.50,26.38
$GC,29122,-0.11,439.8,3129,1517,780,841,3954.3,14.0,363,29123,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1517,810,780,841,0,0,0,0,0,0,26.70,26.72,26.72
$GC,29483,-0.08,546.2,3130,1516,780,840,3906.2,13.4,366,29624,0.00,0.00,139.27,3.387,8198,0.000,0.000,3130,1517,458,440,476,0,0,0,0,0,0,26.70,22.54,20.40
$GC,29964,0.01,660.9,3130,1517,430,468,3842.8,13.2,370,30006,0.00,0.00,41.05,3.253,8198,0.000,0.000,3130,1517,320,318,322,0,0,0,0,0,0,26.03,23.45,21.32
$GC,30323,0.12,794.3,3130,1518,314,319,3797.1,12.7,373,30328,0.15,2.00,0.00,0.000,2564,0.082,0.057,3240,208,317,314,320,0,0,0,0,0,0,25.85,25.77,25.86
$GC,30353,0.23,927.6,3240,208,314,320,3797.1,12.7,373,30357,0.00,1.80,0.00,0.000,1030,0.000,0.042,3240,1468,317,314,320,0,0,0,0,0,0,25.96,25.93,25.97
$GC,30687,0.23,927.6,3240,1493,314,320,3710.5,21.4,376,30692,0.00,2.03,0.00,0.000,260,0.000,0.050,3240,2877,317,314,320,0,0,0,0,0,0,26.44,26.18,26.46
$GC,30719,0.23,927.6,3240,2877,314,319,3710.5,21.4,376,30723,0.00,2.05,0.00,0.000,1030,0.000,0.047,3249,1501,317,314,320,0,0,0,0,0,0,26.26,26.20,26.28
$GC,31042,0.12,927.6,3248,1501,314,319,3623.8,24.4,379,31044,0.20,0.00,0.00,0.000,4102,0.171,0.000,3188,1501,316,314,319,0,0,0,0,0,0,25.97,26.24,26.18
$GC,31402,0.12,927.6,3188,1500,314,319,3563.2,18.4,382,31403,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1500,317,314,320,0,0,0,0,0,0,26.62,26.65,26.64
$GC,31762,0.12,927.6,3188,1501,314,320,3507.0,15.8,385,31768,0.00,1.92,0.00,0.000,516,0.000,0.060,3196,201,316,314,319,0,0,0,0,0,0,26.65,26.32,26.67
$GC,31793,0.12,927.6,3195,201,313,320,3507.0,15.8,385,31798,0.00,1.88,0.00,0.000,1030,0.000,0.042,3196,1540,316,313,319,0,0,0,0,0,0,26.48,26.46,26.48
$GC,32123,0.12,927.6,3195,1543,313,319,3450.0,15.7,388,32124,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1543,316,313,320,0,0,0,0,0,0,26.67,26.70,26.70
$GC,32482,0.12,927.6,3198,1543,314,320,3395.5,15.3,391,32487,0.00,2.00,0.00,0.000,516,0.000,0.060,3205,195,316,313,320,0,0,0,0,0,0,26.68,26.33,26.70
$GC,32538,0.12,927.6,3204,195,313,319,3395.5,15.3,391,32542,0.00,1.83,0.00,0.000,1030,0.000,0.042,3205,1507,316,313,319,0,0,0,0,0,0,26.49,26.48,26.50
$GC,32963,0.12,927.6,3205,1510,313,320,3322.0,15.4,395,32964,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1510,316,313,319,0,0,0,0,0,0,26.70,26.72,26.72
$GC,33322,0.12,927.6,3205,1510,313,320,3269.0,14.9,398,33326,0.00,1.95,0.00,0.000,516,0.000,0.060,3213,202,316,313,320,0,0,0,0,0,0,26.70,26.33,26.72
$GC,33356,0.12,927.6,3213,201,313,320,3269.0,14.9,398,33360,0.00,1.80,0.00,0.000,1030,0.000,0.042,3214,1500,316,313,320,0,0,0,0,0,0,26.50,26.48,26.51
$GC,33686,0.12,927.6,3213,1504,313,320,3215.9,14.5,401,33687,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1504,316,313,320,0,0,0,0,0,0,26.70,26.72,26.72
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$GC,53562,1.12,5524.9,3488,1555,313,319,267.2,13.9,637,53567,0.00,2.00,0.00,0.000,516,0.000,0.057,3496,195,316,313,319,0,0,0,0,0,0,26.74,26.23,26.77
$GC,53599,1.15,5621.8,3496,195,313,319,263.2,13.6,638,53603,0.00,1.85,0.00,0.000,1030,0.000,0.042,3496,1556,316,313,319,0,0,0,0,0,0,26.51,26.50,26.52
$GC,53924,1.18,5706.0,3496,1558,313,319,217.7,13.9,649,53928,0.00,2.03,0.00,0.000,516,0.000,0.057,3501,187,316,313,319,0,0,0,0,0,0,26.75,26.24,26.77
$GC,53981,1.21,5799.6,3501,188,313,319,213.2,13.7,650,53989,0.03,1.85,0.00,0.000,3078,0.144,0.042,3564,1553,316,313,319,0,0,0,0,0,0,26.36,26.50,26.36
$GC,54288,1.21,5799.6,3564,1554,313,319,150.2,18.3,661,54293,0.00,1.98,0.00,0.000,516,0.000,0.057,3574,200,316,313,319,0,0,0,0,0,0,26.76,26.27,26.78
$GC,54350,1.21,5799.6,3574,200,313,319,139.9,17.0,664,54356,0.12,1.83,0.00,0.000,5126,0.161,0.042,3531,1575,316,313,319,0,0,0,0,0,0,26.04,26.53,26.09
$GC,54667,1.38,6022.0,3531,1576,313,319,103.5,10.6,685,54673,0.08,2.00,0.00,0.000,2564,0.122,0.057,3619,204,316,313,319,0,0,0,0,0,0,26.56,26.29,26.57
$GC,54698,1.48,6168.6,3619,204,313,319,98.9,12.4,687,54702,0.00,1.77,0.00,0.000,1030,0.000,0.042,3620,1490,316,313,319,0,0,0,0,0,0,26.57,26.55,26.58
$GC,55011,1.40,6168.6,3619,1557,313,319,29.1,24.2,709,55022,0.00,1.98,0.00,0.000,516,0.000,0.057,3630,192,316,313,319,0,0,0,0,0,0,26.77,26.30,26.79
$GC,55049,1.31,6168.6,3630,192,313,319,21.6,20.1,712,55059,0.20,1.85,0.00,0.000,5126,0.164,0.042,3568,1610,316,313,319,0,0,0,0,0,0,25.84,26.55,25.94
$STATE,55167,end climb,SURFACE_DEPTH_REACHED
$STATE,55167,begin surface coast
$FINISH,2.1,1.023567
$STATE,55189,end surface coast,CONTROL_FINISHED_OK
$STATE,55189,begin surface
$SM_CCo,55265,0.00,0.000,0,0,315,588.24
$SM_GC,2.61,8.60,0.08,0.00,0.052,0.117,0.000,160,1779,315,-9.19,-1.92,588.24,0,0,0,0,0,0,26.46,26.63,26.50
$IRIDIUM_FIX,3715.44,-6815.44,230708,214027
$TT8_MAMPS,0.023219,0.023219
$HUMID,38.85
$INTERNAL_PRESSURE,8.90731
$TCM_TEMP,22.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4491.5,169.2
$24V_AH,19.89,49.740
$10V_AH,9.11,26.671
$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,28.625,265.050,1191.075,0.000,190.950,24.176,26.009,206.841,9.500,0.000,52.073,2970.093,46150.398,1484.693,4870.441,183.181,0.000,3385.026,0.000,4444.534,0.000,71.433,0.000
$DEVICE_MAMPS,255.749,116.701,4057.222,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.261,2365.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329500
$DATA_FILE_SIZE,46962,726
$CAP_FILE_SIZE,326100,0
$CFSIZE,1024409600,1002602496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.200,127.65,1
$GPS,280915,154433,3744.296,-6819.697,38,1.3,78,-15.4,2.1,88.5,8,5.1