version: 66.12
glider: 36
mission: 20
dive: 80
start: 9 29 115 22 12 27
data:
$ID,36
$MISSION,20
$DIVE,80
$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,0.15530001
$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,61
$R_STBD_OVSHOOT,159
$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
$GPS1,290915,220409,3756.2583,-6821.3369,40,1.6,80,-15.4,2.3,48.0,7,5.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-55.5
$GPS2,290915,221203,3756.3872,-6820.8257,12,1.5,52,-15.4,1.7,83.7,8,5.5
$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,315.6,154250,-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,-439.8,131,1535,1894,2198,3.1,-1.5,11,238,10.73,1.83,-87.62,0.099,18948,0.243,0.055,2842,331,3854,3828,3881,0,0,0,0,0,0,25.10,25.78,25.30
$GC,368,-0.69,-439.8,2842,299,3825,3880,59.3,-41.4,31,376,0.30,1.90,0.00,0.000,3078,0.181,0.045,2925,1644,3852,3825,3880,0,0,0,0,0,0,25.46,26.29,25.59
$GC,678,-0.61,-439.8,2924,1644,3823,3877,144.6,-20.7,52,683,0.00,1.95,0.00,0.000,260,0.000,0.050,2916,3011,3850,3823,3877,0,0,0,0,0,0,26.68,26.32,26.69
$GC,926,-0.61,-439.8,2916,3011,3823,3876,187.2,-16.2,61,932,0.10,1.90,0.00,0.000,3078,0.146,0.047,2951,1663,3849,3823,3876,0,0,0,0,0,0,26.13,26.45,26.17
$GC,1258,-0.61,-439.8,2951,1663,3822,3876,233.9,-14.9,72,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1663,3849,3822,3876,0,0,0,0,0,0,26.77,26.79,26.79
$GC,1557,-0.67,-439.8,2951,1663,3821,3876,276.7,-13.7,82,1561,0.00,1.92,0.00,0.000,516,0.000,0.060,2951,329,3848,3821,3876,0,0,0,0,0,0,26.79,26.39,26.80
$GC,1629,-0.72,-439.8,2951,329,3821,3876,286.0,-13.9,84,1633,0.00,1.83,0.00,0.000,1030,0.000,0.042,2948,1644,3848,3821,3876,0,0,0,0,0,0,26.59,26.56,26.60
$GC,1968,-0.78,-439.8,2948,1694,3821,3875,336.6,-14.8,93,1969,0.00,0.00,0.00,0.000,4102,0.000,0.000,2948,1694,3848,3821,3875,0,0,0,0,0,0,26.81,26.82,26.82
$GC,2283,-0.84,-439.8,2948,1694,3820,3874,383.9,-14.6,100,2289,0.08,2.00,0.00,0.000,4612,0.127,0.055,2850,327,3847,3820,3874,0,0,0,0,0,0,26.58,26.40,26.59
$GC,2314,-0.90,-439.8,2850,327,3819,3874,383.9,-14.6,100,2319,0.00,1.85,0.00,0.000,1030,0.000,0.042,2841,1681,3846,3819,3874,0,0,0,0,0,0,26.59,26.55,26.60
$GC,2644,-0.81,-439.8,2840,1680,3817,3872,470.0,-24.8,108,2646,0.15,0.00,0.00,0.000,2054,0.171,0.000,2888,1681,3845,3818,3873,0,0,0,0,0,0,26.17,26.34,26.28
$GC,2958,-0.81,-439.8,2888,1681,3816,3871,538.5,-21.6,115,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1681,3843,3816,3871,0,0,0,0,0,0,26.79,26.81,26.80
$GC,3273,-0.81,-439.8,2888,1681,3814,3870,607.7,-22.2,122,3279,0.00,1.98,0.00,0.000,516,0.000,0.057,2888,328,3842,3815,3870,0,0,0,0,0,0,26.78,26.40,26.80
$GC,3318,-0.81,-439.8,2888,328,3814,3870,617.7,-22.1,123,3322,0.00,1.85,0.00,0.000,1030,0.000,0.042,2881,1693,3842,3814,3870,0,0,0,0,0,0,26.58,26.55,26.59
$GC,3636,-0.81,-439.8,2881,1693,3811,3867,687.8,-21.9,130,3642,0.00,1.95,0.00,0.000,260,0.000,0.052,2871,3046,3839,3812,3867,0,0,0,0,0,0,26.78,26.43,26.79
$GC,3681,-0.81,-439.8,2871,3046,3812,3867,697.7,-21.9,131,3686,0.00,1.90,0.00,0.000,1030,0.000,0.047,2871,1706,3839,3812,3867,0,0,0,0,0,0,26.54,26.50,26.55
$GC,3999,-0.81,-439.8,2871,1706,3809,3865,768.0,-22.0,138,4005,0.00,2.03,0.00,0.000,516,0.000,0.057,2871,322,3837,3809,3865,0,0,0,0,0,0,26.77,26.39,26.79
$GC,4056,-0.81,-439.8,2871,322,3808,3866,778.2,-21.9,139,4061,0.00,1.92,0.00,0.000,1030,0.000,0.042,2863,1696,3836,3808,3865,0,0,0,0,0,0,26.54,26.53,26.55
$GC,4405,-0.81,-439.8,2862,1697,3804,3861,859.6,-22.5,147,4410,0.00,1.98,0.00,0.000,260,0.000,0.052,2853,3061,3833,3805,3861,0,0,0,0,0,0,26.77,26.41,26.79
$GC,4461,-0.81,-439.8,2852,3061,3805,3861,869.9,-22.1,148,4466,0.10,1.98,0.00,0.000,3078,0.149,0.045,2887,1699,3832,3804,3861,0,0,0,0,0,0,26.15,26.48,26.21
$GC,4770,-0.81,-439.8,2886,1700,3802,3859,931.1,-19.1,155,4774,0.00,2.03,0.00,0.000,516,0.000,0.057,2886,319,3830,3801,3859,0,0,0,0,0,0,26.76,26.36,26.78
$GC,4832,-0.81,-439.8,2886,319,3801,3858,940.6,-19.2,156,4837,0.00,1.92,0.00,0.000,1030,0.000,0.045,2880,1705,3830,3801,3859,0,0,0,0,0,0,26.55,26.51,26.56
$GC,5256,-0.81,-439.8,2880,1706,3797,3856,1025.8,-19.3,164,5261,0.00,1.98,0.00,0.000,260,0.000,0.052,2870,3076,3826,3797,3856,0,0,0,0,0,0,26.75,26.40,26.77
$GC,5312,-0.81,-439.8,2869,3076,3797,3855,1025.8,-19.3,164,5315,0.00,1.98,0.00,0.000,1030,0.000,0.045,2870,1707,3826,3797,3855,0,0,0,0,0,0,26.51,26.46,26.53
$GC,5735,-0.81,-439.8,2869,1706,3793,3853,1119.0,-19.5,168,5740,0.00,2.05,0.00,0.000,516,0.000,0.057,2870,319,3823,3793,3853,0,0,0,0,0,0,26.75,26.35,26.77
$GC,5804,-0.81,-439.8,2869,319,3792,3853,1119.0,-19.5,168,5808,0.00,1.95,0.00,0.000,1030,0.000,0.042,2861,1697,3822,3792,3853,0,0,0,0,0,0,26.51,26.50,26.53
$GC,6218,-0.81,-439.8,2861,1696,3790,3850,1216.6,-20.2,172,6224,0.00,2.00,0.00,0.000,260,0.000,0.052,2851,3074,3819,3790,3849,0,0,0,0,0,0,26.75,26.38,26.77
$GC,6274,-0.81,-439.8,2851,3075,3790,3849,1216.6,-20.2,172,6279,0.10,2.03,0.00,0.000,3078,0.142,0.045,2886,1693,3819,3790,3849,0,0,0,0,0,0,26.13,26.45,26.18
$GC,6699,-0.87,-439.8,2886,1693,3787,3847,1296.8,-16.7,176,6704,0.00,2.00,0.00,0.000,516,0.000,0.057,2886,321,3817,3787,3847,0,0,0,0,0,0,26.75,26.32,26.77
$GC,6765,-0.94,-439.8,2886,321,3787,3847,1296.8,-16.7,176,6769,0.00,1.95,0.00,0.000,1030,0.000,0.042,2881,1705,3817,3787,3847,0,0,0,0,0,0,26.52,26.48,26.53
$GC,7179,-1.01,-439.8,2880,1706,3785,3845,1375.3,-16.4,180,7185,0.05,1.95,0.00,0.000,4356,0.156,0.050,2814,3059,3815,3785,3845,0,0,0,0,0,0,26.57,26.36,26.58
$GC,7225,-1.08,-439.8,2814,3059,3785,3844,1375.3,-16.4,180,7229,0.00,1.98,0.00,0.000,1030,0.000,0.045,2814,1704,3814,3785,3844,0,0,0,0,0,0,26.48,26.44,26.50
$GC,7539,-1.08,-439.8,2813,1703,3783,3843,1452.7,-20.4,183,7545,0.00,2.05,0.00,0.000,516,0.000,0.057,2814,314,3812,3782,3843,0,0,0,0,0,0,26.74,26.31,26.77
$GC,7595,-1.08,-439.8,2814,314,3782,3842,1452.7,-20.4,183,7599,0.00,1.98,0.00,0.000,1030,0.000,0.042,2806,1698,3812,3782,3843,0,0,0,0,0,0,26.50,26.48,26.51
$GC,8019,-1.08,-439.8,2805,1698,3781,3841,1560.3,-22.4,187,8024,0.00,2.00,0.00,0.000,260,0.000,0.052,2795,3073,3811,3781,3841,0,0,0,0,0,0,26.74,26.35,26.77
$GC,8080,-1.08,-439.8,2795,3073,3781,3841,1560.3,-22.4,187,8084,0.00,2.03,0.00,0.000,1030,0.000,0.045,2795,1703,3811,3781,3841,0,0,0,0,0,0,26.45,26.42,26.46
$GC,8500,-1.08,-439.8,2795,1703,3778,3839,1667.0,-22.3,191,8505,0.00,2.03,0.00,0.000,516,0.000,0.057,2795,318,3808,3777,3839,0,0,0,0,0,0,26.74,26.30,26.76
$GC,8555,-1.08,-439.8,2795,318,3778,3839,1667.0,-22.3,191,8559,0.00,1.98,0.00,0.000,1030,0.000,0.042,2786,1712,3808,3778,3839,0,0,0,0,0,0,26.51,26.46,26.52
$GC,8979,-1.08,-439.8,2785,1715,3774,3834,1776.5,-22.8,195,8983,0.00,1.98,0.00,0.000,260,0.000,0.052,2776,3066,3806,3776,3836,0,0,0,0,0,0,26.74,26.34,26.76
$GC,9023,-1.08,-439.8,2776,3066,3776,3836,1776.5,-22.8,195,9027,0.00,2.00,0.00,0.000,1030,0.000,0.045,2776,1696,3806,3776,3836,0,0,0,0,0,0,26.46,26.41,26.48
$GC,9342,-1.08,-439.8,2776,1696,3776,3835,1859.1,-22.7,198,9347,0.00,2.03,0.00,0.000,516,0.000,0.057,2776,320,3805,3775,3835,0,0,0,0,0,0,26.74,26.28,26.75
$GC,9393,-1.08,-439.8,2776,320,3775,3835,1859.1,-22.7,198,9398,0.12,1.95,0.00,0.000,3078,0.169,0.042,2807,1713,3805,3775,3835,0,0,0,0,0,0,26.03,26.46,26.15
$GC,9702,-1.08,-439.8,2807,1716,3775,3834,1930.6,-20.5,201,9706,0.00,1.98,0.00,0.000,260,0.000,0.052,2799,3063,3805,3775,3835,0,0,0,0,0,0,26.74,26.33,26.76
$GC,9741,-1.08,-439.8,2799,3063,3775,3834,1930.6,-20.5,201,9746,0.00,2.03,0.00,0.000,1030,0.000,0.045,2799,1698,3804,3775,3834,0,0,0,0,0,0,26.43,26.40,26.44
$GC,10065,-1.08,-439.8,2799,1698,3773,3834,2000.3,-19.1,204,10070,0.00,2.03,0.00,0.000,516,0.000,0.057,2799,316,3803,3773,3834,0,0,0,0,0,0,26.74,26.27,26.75
$GC,10126,-1.08,-439.8,2798,316,3772,3834,2000.3,-19.1,204,10130,0.00,1.98,0.00,0.000,1030,0.000,0.042,2792,1699,3803,3772,3834,0,0,0,0,0,0,26.48,26.46,26.48
$GC,10546,-1.08,-439.8,2792,1699,3771,3832,2091.6,-19.0,208,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1699,3801,3770,3832,0,0,0,0,0,0,26.74,26.76,26.75
$GC,10905,-1.08,-439.8,2792,1699,3770,3831,2154.9,-17.8,211,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1699,3800,3770,3831,0,0,0,0,0,0,26.74,26.76,26.75
$GC,11265,-1.13,-439.8,2792,1699,3769,3831,2215.5,-16.9,214,11272,0.00,2.00,0.00,0.000,260,0.000,0.052,2782,3066,3800,3769,3831,0,0,0,0,0,0,26.73,26.31,26.75
$GC,11317,-1.18,-439.8,2782,3066,3770,3831,2215.5,-16.9,214,11321,0.00,2.00,0.00,0.000,1030,0.000,0.045,2783,1699,3800,3770,3831,0,0,0,0,0,0,26.44,26.39,26.46
$GC,11628,-1.24,-439.8,2782,1700,3769,3830,2274.4,-16.4,217,11633,0.00,2.03,0.00,0.000,516,0.000,0.057,2782,321,3799,3769,3830,0,0,0,0,0,0,26.74,26.24,26.75
$GC,11688,-1.29,-439.8,2782,321,3768,3831,2274.4,-16.4,217,11692,0.00,1.95,0.00,0.000,5126,0.000,0.042,2775,1700,3800,3769,3831,0,0,0,0,0,0,26.49,26.44,26.51
$GC,12107,-1.34,-439.8,2775,1700,3768,3829,2352.0,-16.1,221,12112,0.05,2.00,0.00,0.000,4356,0.156,0.050,2712,3068,3798,3768,3829,0,0,0,0,0,0,26.55,26.29,26.56
$GC,12147,-1.39,-439.8,2712,3068,3768,3829,2352.0,-16.1,221,12152,0.00,2.03,0.00,0.000,1030,0.000,0.045,2712,1692,3798,3768,3829,0,0,0,0,0,0,26.43,26.37,26.45
$GC,12471,-1.39,-439.8,2712,1692,3767,3829,2425.3,-19.2,224,12476,0.00,2.03,0.00,0.000,516,0.000,0.057,2712,316,3798,3767,3829,0,0,0,0,0,0,26.73,26.23,26.75
$GC,12527,-1.39,-439.8,2711,316,3767,3829,2425.3,-19.2,224,12531,0.00,1.98,0.00,0.000,1030,0.000,0.042,2704,1696,3798,3767,3829,0,0,0,0,0,0,26.45,26.43,26.46
$GC,12952,-1.39,-439.8,2703,1697,3766,3827,2526.5,-21.1,228,12957,0.00,2.00,0.00,0.000,260,0.000,0.052,2693,3072,3797,3766,3828,0,0,0,0,0,0,26.73,26.29,26.74
$GC,13012,-1.39,-439.8,2693,3073,3766,3827,2526.5,-21.1,228,13016,0.00,2.05,0.00,0.000,1030,0.000,0.045,2693,1698,3796,3766,3827,0,0,0,0,0,0,26.39,26.36,26.41
$GC,13431,-1.39,-439.8,2693,1698,3765,3827,2627.2,-21.0,232,13435,0.00,2.08,0.00,0.000,516,0.000,0.057,2693,303,3796,3765,3827,0,0,0,0,0,0,26.73,26.21,26.74
$GC,13505,-1.39,-439.8,2693,303,3765,3827,2627.2,-21.0,232,13509,0.00,2.00,0.00,0.000,1030,0.000,0.042,2684,1701,3796,3765,3827,0,0,0,0,0,0,26.44,26.42,26.45
$GC,13914,-1.39,-439.8,2683,1701,3764,3826,2729.1,-21.1,236,13920,0.00,2.00,0.00,0.000,260,0.000,0.050,2673,3069,3795,3764,3826,0,0,0,0,0,0,26.72,26.27,26.74
$GC,13955,-1.39,-439.8,2673,3069,3764,3825,2729.1,-21.1,236,13959,0.00,2.03,0.00,0.000,1030,0.000,0.045,2673,1705,3795,3765,3826,0,0,0,0,0,0,26.38,26.35,26.39
$GC,14274,-1.39,-439.8,2673,1705,3764,3826,2805.1,-21.1,239,14280,0.00,2.05,0.00,0.000,516,0.000,0.057,2673,314,3794,3764,3825,0,0,0,0,0,0,26.73,26.20,26.74
$GC,14340,-1.39,-439.8,2673,314,3764,3826,2805.1,-21.1,239,14344,0.12,2.00,0.00,0.000,3078,0.154,0.042,2705,1709,3795,3764,3826,0,0,0,0,0,0,25.92,26.41,25.98
$GC,14754,-1.39,-439.8,2705,1710,3763,3824,2890.5,-17.6,243,14758,0.00,2.00,0.00,0.000,260,0.000,0.052,2697,3068,3793,3763,3824,0,0,0,0,0,0,26.73,26.26,26.74
$GC,14803,-1.39,-439.8,2697,3068,3764,3824,2890.5,-17.6,243,14807,0.00,2.05,0.00,0.000,1030,0.000,0.045,2697,1696,3794,3764,3824,0,0,0,0,0,0,26.36,26.34,26.39
$GC,15117,-1.39,-439.8,2696,1695,3763,3826,2949.6,-16.4,246,15122,0.00,2.08,0.00,0.000,516,0.000,0.060,2697,306,3793,3763,3824,0,0,0,0,0,0,26.72,26.17,26.74
$GC,15184,-1.39,-439.8,2697,306,3763,3824,2949.6,-16.4,246,15189,0.00,1.98,0.00,0.000,1030,0.000,0.042,2688,1704,3793,3763,3824,0,0,0,0,0,0,26.45,26.41,26.46
$GC,15598,-1.39,-439.8,2688,1706,3762,3823,3030.3,-16.8,250,15603,0.00,2.00,0.00,0.000,260,0.000,0.052,2677,3068,3793,3763,3823,0,0,0,0,0,0,26.72,26.26,26.74
$GC,15643,-1.39,-439.8,2677,3068,3763,3823,3030.3,-16.8,250,15647,0.00,2.05,0.00,0.000,1030,0.000,0.045,2677,1697,3793,3763,3823,0,0,0,0,0,0,26.36,26.34,26.38
$GC,15959,-1.39,-439.8,2677,1697,3762,3823,3090.4,-16.7,253,15965,0.00,2.05,0.00,0.000,516,0.000,0.057,2677,313,3792,3762,3823,0,0,0,0,0,0,26.72,26.16,26.74
$GC,16019,-1.39,-439.8,2677,313,3761,3823,3090.4,-16.7,253,16025,0.10,1.98,0.00,0.000,3078,0.151,0.042,2702,1686,3792,3761,3823,0,0,0,0,0,0,25.99,26.41,26.03
$GC,16439,-1.39,-439.8,2702,1686,3761,3823,3162.4,-14.9,257,16444,0.00,2.03,0.00,0.000,260,0.000,0.052,2694,3067,3791,3761,3822,0,0,0,0,0,0,26.72,26.24,26.74
$GC,16495,-1.39,-439.8,2694,3067,3761,3822,3162.4,-14.9,257,16499,0.00,2.05,0.00,0.000,1030,0.000,0.045,2694,1698,3791,3761,3822,0,0,0,0,0,0,26.35,26.33,26.36
$GC,16920,-1.45,-439.8,2694,1697,3761,3822,3230.5,-14.2,261,16925,0.00,2.08,0.00,0.000,516,0.000,0.057,2694,309,3791,3761,3822,0,0,0,0,0,0,26.72,26.15,26.74
$GC,17000,-1.51,-439.8,2694,309,3760,3822,3230.5,-14.2,261,17004,0.00,1.98,0.00,0.000,1030,0.000,0.042,2686,1696,3791,3760,3822,0,0,0,0,0,0,26.44,26.39,26.45
$GC,17399,-1.56,-439.8,2686,1718,3760,3822,3302.9,-15.1,265,17403,0.00,2.03,0.00,0.000,4356,0.000,0.052,2677,3083,3791,3760,3822,0,0,0,0,0,0,26.74,26.22,26.74
$GC,17439,-1.62,-439.8,2676,3083,3760,3822,3302.9,-15.1,265,17443,0.00,2.05,0.00,0.000,5126,0.000,0.045,2677,1696,3791,3760,3822,0,0,0,0,0,0,26.39,26.32,26.41
$GC,17763,-1.67,-439.8,2675,1694,3760,3822,3358.3,-15.2,268,17769,0.08,2.05,0.00,0.000,4612,0.119,0.057,2604,308,3791,3760,3822,0,0,0,0,0,0,26.51,26.14,26.52
$GC,17829,-1.72,-439.8,2604,308,3759,3822,3358.3,-15.2,268,17833,0.00,2.03,0.00,0.000,1030,0.000,0.042,2595,1717,3790,3759,3822,0,0,0,0,0,0,26.42,26.39,26.44
$GC,18243,-1.72,-439.8,2595,1719,3759,3821,3458.7,-20.9,272,18249,0.00,2.03,0.00,0.000,260,0.000,0.050,2585,3081,3790,3759,3821,0,0,0,0,0,0,26.72,26.22,26.74
$GC,18280,-1.72,-439.8,2584,3082,3759,3821,3458.7,-20.9,272,18284,0.00,2.05,0.00,0.000,1030,0.000,0.045,2584,1692,3790,3759,3821,0,0,0,0,0,0,26.36,26.30,26.38
$GC,18598,-1.67,-439.8,2584,1692,3759,3821,3534.3,-21.2,275,18604,0.08,2.03,0.00,0.000,2564,0.194,0.055,2614,316,3790,3759,3821,0,0,0,0,0,0,26.21,26.13,26.22
$GC,18659,-1.62,-439.8,2614,316,3759,3821,3534.3,-21.2,275,18663,0.00,2.00,0.00,0.000,1030,0.000,0.042,2607,1712,3790,3759,3821,0,0,0,0,0,0,26.41,26.37,26.43
$GC,19079,-1.62,-439.8,2607,1714,3759,3820,3625.4,-18.9,279,19080,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1714,3790,3759,3821,0,0,0,0,0,0,26.72,26.74,26.73
$GC,19438,-1.62,-439.8,2607,1714,3758,3821,3689.9,-18.0,282,19442,0.00,2.00,0.00,0.000,260,0.000,0.050,2598,3069,3790,3759,3821,0,0,0,0,0,0,26.72,26.20,26.73
$GC,19472,-1.62,-439.8,2598,3069,3759,3820,3689.9,-18.0,282,19477,0.10,2.05,0.00,0.000,3078,0.146,0.045,2632,1689,3790,3759,3821,0,0,0,0,0,0,25.91,26.30,25.96
$GC,19801,-1.62,-439.8,2631,1689,3759,3820,3747.4,-16.3,285,19807,0.00,2.03,0.00,0.000,516,0.000,0.057,2632,320,3789,3758,3820,0,0,0,0,0,0,26.72,26.11,26.74
$GC,19867,-1.62,-439.8,2632,320,3758,3820,3747.4,-16.3,285,19872,0.00,2.00,0.00,0.000,1030,0.000,0.042,2626,1705,3789,3758,3821,0,0,0,0,0,0,26.39,26.37,26.40
$GC,20282,-1.62,-439.8,2626,1707,3758,3820,3823.6,-15.9,289,20287,0.00,2.00,0.00,0.000,260,0.000,0.052,2617,3062,3789,3758,3820,0,0,0,0,0,0,26.72,26.19,26.73
$GC,20319,-1.62,-439.8,2617,3063,3758,3820,3823.6,-15.9,289,20323,0.00,2.00,0.00,0.000,1030,0.000,0.045,2617,1704,3789,3758,3820,0,0,0,0,0,0,26.34,26.29,26.36
$GC,20636,-1.62,-439.8,2617,1703,3758,3820,3879.5,-15.6,292,20642,0.00,2.08,0.00,0.000,516,0.000,0.057,2617,310,3789,3758,3820,0,0,0,0,0,0,26.72,26.08,26.73
$GC,20712,-1.62,-439.8,2617,310,3758,3820,3879.5,-15.6,292,20716,0.00,2.00,0.00,0.000,1030,0.000,0.042,2609,1698,3789,3758,3820,0,0,0,0,0,0,26.39,26.37,26.40
$GC,21117,-1.62,-439.8,2609,1698,3758,3820,3955.0,-15.7,296,21118,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1698,3789,3758,3820,0,0,0,0,0,0,26.72,26.74,26.73
$GC,21477,-1.62,-439.8,2609,1698,3758,3820,4008.8,-15.0,299,21482,0.00,2.03,0.00,0.000,260,0.000,0.050,2599,3064,3788,3757,3820,0,0,0,0,0,0,26.67,26.17,26.68
$GC,21522,-1.62,-439.8,2599,3064,3758,3820,4008.8,-15.0,299,21527,0.10,2.03,0.00,0.000,3078,0.161,0.045,2634,1686,3789,3758,3820,0,0,0,0,0,0,25.96,26.29,26.04
$GC,21838,-1.68,-439.8,2633,1686,3758,3820,4055.4,-13.4,302,21845,0.00,2.05,0.00,0.000,516,0.000,0.057,2634,316,3788,3757,3820,0,0,0,0,0,0,26.68,26.08,26.70
$GC,21916,-1.75,-439.8,2634,316,3757,3819,4055.4,-13.4,302,21921,0.00,1.95,0.00,0.000,5126,0.000,0.042,2629,1707,3788,3757,3820,0,0,0,0,0,0,26.41,26.36,26.42
$GC,22327,-1.83,-439.8,2628,1708,3759,3820,4118.5,-12.9,306,22328,0.08,0.00,0.00,0.000,4102,0.124,0.000,2550,1709,3788,3757,3819,0,0,0,0,0,0,26.48,26.50,26.48
$GC,22685,-1.83,-439.8,2549,1709,3758,3819,4181.3,-16.5,309,22687,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1710,3788,3757,3819,0,0,0,0,0,0,26.67,26.69,26.68
$GC,23044,-1.83,-439.8,2549,1710,3757,3819,4243.2,-17.3,312,23050,0.00,2.10,0.00,0.000,516,0.000,0.057,2550,313,3788,3757,3819,0,0,0,0,0,0,26.71,26.07,26.73
$GC,23100,-1.83,-439.8,2549,313,3757,3819,4243.2,-17.3,312,23105,0.00,2.00,0.00,0.000,1030,0.000,0.042,2542,1696,3788,3757,3819,0,0,0,0,0,0,26.36,26.35,26.38
$GC,23525,-1.83,-439.8,2542,1697,3757,3819,4327.3,-17.5,316,23526,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1697,3788,3757,3819,0,0,0,0,0,0,26.71,26.74,26.72
$STATE,23883,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,23884,begin apogee
$GC,23888,-0.24,0.0,2542,1511,3757,3819,4388.1,-17.0,319,24331,1.60,0.00,439.08,3.779,10246,0.124,0.000,3072,1510,2339,2231,2448,0,0,0,0,0,0,25.34,22.25,19.78
$STATE,24332,end apogee,CONTROL_FINISHED_OK
$STATE,24332,begin climb
$GC,24333,0.95,439.8,3072,1510,2230,2448,4411.5,0.0,322,24906,1.10,2.25,557.95,3.856,10756,0.065,0.077,3490,229,824,800,849,0,0,0,0,0,0,22.98,22.45,20.04
$GC,25087,0.52,439.8,3490,210,779,845,4163.1,41.5,329,25093,0.60,1.90,0.00,0.000,5126,0.219,0.042,3322,1528,812,779,845,0,0,0,0,0,0,24.97,25.32,25.13
$GC,25447,0.20,439.8,3322,1528,779,844,4047.3,35.1,332,25450,0.35,0.00,0.00,0.000,4102,0.189,0.000,3218,1528,811,779,844,0,0,0,0,0,0,25.85,26.14,26.09
$GC,25808,0.04,439.8,3218,1528,779,844,3968.1,23.8,335,25810,0.17,0.00,0.00,0.000,4102,0.174,0.000,3162,1528,811,779,844,0,0,0,0,0,0,26.08,26.31,26.26
$GC,26168,-0.02,439.8,3162,1528,779,843,3908.7,17.5,338,26174,0.00,1.95,0.00,0.000,516,0.000,0.060,3170,206,811,779,844,0,0,0,0,0,0,26.65,26.35,26.67
$GC,26206,-0.08,439.8,3170,206,779,844,3908.7,17.5,338,26209,0.00,1.80,0.00,0.000,5126,0.000,0.045,3170,1466,811,779,844,0,0,0,0,0,0,26.50,26.46,26.51
$GC,26528,-0.08,439.8,3170,1521,779,844,3850.7,16.0,341,26529,0.00,0.00,0.00,0.000,4102,0.000,0.000,3170,1521,811,779,844,0,0,0,0,0,0,26.69,26.70,26.70
$GC,26888,-0.08,439.8,3170,1521,779,841,3792.8,16.1,344,26893,0.00,1.98,0.00,0.000,4612,0.000,0.060,3180,188,810,779,841,0,0,0,0,0,0,26.70,26.37,26.71
$GC,26929,-0.08,439.8,3180,188,779,841,3792.8,16.1,344,26934,0.05,1.90,0.00,0.000,5126,0.146,0.042,3163,1548,810,779,841,0,0,0,0,0,0,26.29,26.49,26.34
$GC,27248,-0.08,439.8,3162,1551,778,841,3741.4,14.7,347,27252,0.00,2.00,0.00,0.000,4612,0.000,0.060,3171,207,809,778,841,0,0,0,0,0,0,26.71,26.37,26.72
$GC,27277,-0.08,439.8,3170,207,779,841,3741.4,14.7,347,27281,0.00,1.80,0.00,0.000,5126,0.000,0.042,3171,1508,810,779,841,0,0,0,0,0,0,26.52,26.50,26.52
$GC,27611,-0.08,439.8,3170,1512,779,841,3689.8,14.1,350,27612,0.00,0.00,0.00,0.000,4102,0.000,0.000,3171,1512,810,779,841,0,0,0,0,0,0,26.72,26.72,26.72
$GC,27972,-0.06,524.3,3170,1512,778,841,3639.8,13.9,353,28093,0.00,2.33,108.90,3.188,12804,0.000,0.079,3179,211,532,506,558,0,0,0,0,0,0,26.72,22.65,20.58
$GC,28134,-0.03,610.5,3179,211,500,557,3623.1,13.9,354,28208,0.00,1.92,67.95,3.114,13318,0.000,0.042,3179,1488,319,317,321,0,0,0,0,0,0,24.31,24.27,20.46
$GC,28577,-0.03,610.5,3179,1487,314,320,3549.6,15.2,358,28578,0.00,0.00,0.00,0.000,4102,0.000,0.000,3179,1488,316,313,320,0,0,0,0,0,0,26.13,26.13,26.13
$GC,28937,-0.03,610.5,3179,1487,314,324,3497.1,14.7,361,28938,0.00,0.00,0.00,0.000,4102,0.000,0.000,3179,1487,316,313,320,0,0,0,0,0,0,26.48,26.50,26.49
$GC,29297,-0.03,610.5,3179,1487,313,320,3446.0,14.2,364,29302,0.00,1.92,0.00,0.000,4612,0.000,0.060,3187,197,316,313,320,0,0,0,0,0,0,26.60,26.27,26.60
$GC,29333,-0.03,610.5,3187,197,313,320,3446.0,14.2,364,29337,0.00,1.83,0.00,0.000,5126,0.000,0.042,3187,1520,316,313,320,0,0,0,0,0,0,26.41,26.40,26.42
$GC,29658,-0.03,610.5,3187,1524,313,319,3395.0,14.2,367,29659,0.00,0.00,0.00,0.000,4102,0.000,0.000,3187,1524,316,313,320,0,0,0,0,0,0,26.65,26.66,26.66
$GC,30018,0.05,695.2,3187,1524,313,320,3345.0,13.9,370,30024,0.00,1.95,0.00,0.000,516,0.000,0.060,3194,204,316,313,320,0,0,0,0,0,0,26.66,26.32,26.68
$GC,30069,0.12,779.9,3194,204,313,320,3345.0,13.9,370,30073,0.00,1.77,0.00,0.000,1030,0.000,0.042,3194,1453,316,313,319,0,0,0,0,0,0,26.50,26.47,26.51
$GC,30379,0.20,883.2,3195,1514,313,320,3296.4,13.5,373,30380,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1514,316,313,319,0,0,0,0,0,0,26.67,26.70,26.70
$GC,30738,0.29,991.6,3194,1514,313,321,3248.7,13.4,376,30743,0.00,1.95,0.00,0.000,2564,0.000,0.057,3202,206,316,313,320,0,0,0,0,0,0,26.70,26.33,26.71
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$GC,47676,1.11,4041.9,3494,198,313,320,672.0,16.7,548,47685,0.00,1.83,0.00,0.000,1030,0.000,0.042,3494,1503,316,313,320,0,0,0,0,0,0,26.44,26.44,26.46
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$GC,48044,1.11,4041.9,3503,199,313,319,602.5,17.2,557,48048,0.00,1.80,0.00,0.000,1030,0.000,0.045,3503,1453,316,313,320,0,0,0,0,0,0,26.47,26.44,26.48
$GC,48362,1.11,4041.9,3503,1510,313,320,546.6,17.8,564,48367,0.00,1.95,0.00,0.000,516,0.000,0.060,3513,195,316,313,320,0,0,0,0,0,0,26.71,26.17,26.73
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$GC,48724,1.06,4041.9,3513,1537,312,320,485.3,16.7,572,48729,0.00,1.98,0.00,0.000,516,0.000,0.060,3523,210,316,313,320,0,0,0,0,0,0,26.72,26.17,26.73
$GC,48770,1.01,4041.9,3523,210,313,320,477.8,16.9,573,48775,0.15,1.83,0.00,0.000,5126,0.144,0.042,3473,1531,316,312,320,0,0,0,0,0,0,25.91,26.44,25.97
$GC,49085,1.05,4195.0,3473,1532,313,320,437.6,12.3,580,49090,0.00,1.98,0.00,0.000,516,0.000,0.060,3481,202,316,313,320,0,0,0,0,0,0,26.72,26.17,26.74
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$GC,49491,1.15,4532.6,3481,1521,313,320,389.5,11.5,589,49496,0.00,1.95,0.00,0.000,2564,0.000,0.057,3490,204,316,313,320,0,0,0,0,0,0,26.73,26.17,26.74
$GC,49535,1.21,4715.9,3490,204,313,320,384.2,11.5,590,49539,0.00,1.80,0.00,0.000,3078,0.000,0.042,3490,1529,316,313,320,0,0,0,0,0,0,26.48,26.45,26.50
$GC,49853,1.25,4835.1,3489,1533,313,320,343.1,13.1,597,49859,0.05,1.95,0.00,0.000,2564,0.161,0.057,3566,211,316,313,320,0,0,0,0,0,0,26.52,26.18,26.53
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$GC,50230,1.15,4925.5,3565,1503,313,320,263.1,22.8,607,50235,0.12,1.95,0.00,0.000,4612,0.191,0.057,3531,198,316,313,320,0,0,0,0,0,0,25.96,26.08,26.01
$GC,50295,1.06,4925.5,3530,198,313,320,250.1,21.4,609,50301,0.15,1.85,0.00,0.000,5126,0.164,0.042,3482,1546,316,313,320,0,0,0,0,0,0,25.90,26.46,26.04
$GC,50629,1.09,5020.3,3482,1545,313,320,203.7,13.7,620,50634,0.00,2.00,0.00,0.000,516,0.000,0.060,3491,207,316,313,320,0,0,0,0,0,0,26.72,26.19,26.74
$GC,50680,1.12,5126.6,3490,206,313,320,199.5,13.4,621,50684,0.00,1.80,0.00,0.000,1030,0.000,0.042,3490,1521,317,314,320,0,0,0,0,0,0,26.48,26.46,26.48
$GC,50994,1.15,5224.1,3490,1526,313,320,155.1,13.6,632,51000,0.00,1.98,0.00,0.000,516,0.000,0.057,3499,186,316,313,319,0,0,0,0,0,0,26.73,26.19,26.75
$GC,51036,1.17,5313.0,3499,186,313,319,150.8,13.8,633,51040,0.00,1.80,0.00,0.000,1030,0.000,0.042,3499,1510,316,313,319,0,0,0,0,0,0,26.48,26.47,26.49
$GC,51356,1.36,5531.3,3499,1513,313,319,112.5,10.7,654,51362,0.10,1.92,0.00,0.000,2564,0.102,0.057,3595,202,317,314,320,0,0,0,0,0,0,26.51,26.21,26.51
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$STATE,52152,end climb,SURFACE_DEPTH_REACHED
$STATE,52152,begin surface coast
$FINISH,2.1,1.023266
$STATE,52163,end surface coast,CONTROL_FINISHED_OK
$STATE,52163,begin surface
$SM_CCo,52239,0.00,0.000,0,0,316,588.24
$SM_GC,2.61,8.68,0.20,0.00,0.050,0.065,0.000,174,1736,316,-9.18,-2.80,588.24,0,0,0,0,0,0,26.34,26.58,26.39
$IRIDIUM_FIX,3737.17,-6820.53,250708,204621
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.29
$INTERNAL_PRESSURE,8.80965
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,4222.7,193.1
$24V_AH,19.78,53.599
$10V_AH,9.31,27.120
$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,26.700,355.225,1173.875,0.000,201.600,24.251,26.848,269.732,4.000,0.000,53.732,3190.126,42126.340,1285.912,5894.635,196.947,0.000,3797.619,0.000,5382.005,0.000,31.623,0.000
$DEVICE_MAMPS,243.334,79.456,3856.099,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.094,2325.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329480
$DATA_FILE_SIZE,47025,714
$CAP_FILE_SIZE,367936,0
$CFSIZE,1024409600,1002127360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.260,86.35,1
$GPS,300915,124504,3804.289,-6824.034,41,1.3,82,-15.4,1.7,56.7,9,4.5