version: 66.12
glider: 36
mission: 20
dive: 82
start: 10 1 115 3 11 15
data:
$ID,36
$MISSION,20
$DIVE,82
$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,53
$R_STBD_OVSHOOT,158
$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
$GPS1,011015,030140,3811.6443,-6831.8750,40,1.2,81,-15.4,0.7,26.6,7,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-59.0
$GPS2,011015,031052,3811.8083,-6831.6353,14,1.2,54,-15.4,1.2,36.7,8,4.1
$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,324.7,121941,-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
$GC,16,-0.95,-439.8,129,1700,309,317,0.0,0.0,0,132,0.00,0.00,-114.15,0.102,16386,0.000,0.000,129,1700,1940,1785,2096,0,0,0,0,1,0,26.47,28.83,25.66
$GC,135,-0.95,-439.8,129,1699,1786,2097,3.1,-1.6,11,247,11.02,2.17,-94.05,0.102,18948,0.251,0.055,2839,292,3856,3832,3880,0,0,0,0,0,0,24.92,25.77,25.13
$GC,493,-0.80,-439.8,2839,293,3828,3878,84.4,-22.4,39,498,0.20,1.88,0.00,0.000,3078,0.169,0.042,2893,1674,3853,3828,3878,0,0,0,0,0,0,25.70,26.34,25.85
$GC,813,-0.80,-439.8,2893,1674,3828,3877,138.7,-17.8,60,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1674,3852,3828,3876,0,0,0,0,0,0,26.69,26.71,26.70
$GC,1126,-0.80,-439.8,2892,1674,3827,3875,198.0,-19.3,73,1131,0.00,2.00,0.00,0.000,260,0.000,0.052,2884,3054,3851,3827,3876,0,0,0,0,0,0,26.74,26.34,26.75
$GC,1192,-0.80,-439.8,2884,3053,3827,3875,210.6,-19.5,75,1196,0.00,1.98,0.00,0.000,1030,0.000,0.045,2884,1671,3851,3827,3875,0,0,0,0,0,0,26.48,26.44,26.49
$GC,1525,-0.80,-439.8,2884,1671,3825,3874,282.2,-21.9,86,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1670,3849,3825,3874,0,0,0,0,0,0,26.76,26.78,26.77
$GC,1841,-0.80,-439.8,2884,1671,3823,3873,351.1,-22.0,94,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1670,3848,3823,3873,0,0,0,0,0,0,26.77,26.79,26.78
$GC,2155,-0.80,-439.8,2884,1671,3822,3872,422.0,-22.6,101,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1671,3846,3822,3871,0,0,0,0,0,0,26.76,26.79,26.78
$GC,2470,-0.80,-439.8,2884,1671,3820,3870,491.8,-22.2,108,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1671,3845,3820,3871,0,0,0,0,0,0,26.76,26.79,26.77
$GC,2785,-0.80,-439.8,2884,1671,3817,3868,561.9,-22.2,115,2791,0.00,2.00,0.00,0.000,260,0.000,0.050,2875,3046,3842,3817,3868,0,0,0,0,0,0,26.75,26.38,26.77
$GC,2833,-0.80,-439.8,2875,3046,3817,3867,571.7,-22.2,116,2837,0.00,1.92,0.00,0.000,1030,0.000,0.045,2875,1690,3842,3817,3867,0,0,0,0,0,0,26.50,26.45,26.51
$GC,3141,-0.80,-439.8,2875,1690,3815,3867,641.1,-22.5,123,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1690,3840,3815,3866,0,0,0,0,0,0,26.75,26.77,26.77
$GC,3456,-0.80,-439.8,2875,1690,3813,3865,712.2,-22.3,130,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1690,3839,3813,3865,0,0,0,0,0,0,26.75,26.77,26.77
$GC,3771,-0.80,-439.8,2875,1690,3810,3862,782.5,-22.3,137,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1690,3836,3810,3862,0,0,0,0,0,0,26.74,26.77,26.77
$GC,4087,-0.80,-439.8,2875,1690,3808,3861,851.4,-21.8,144,4092,0.00,1.98,0.00,0.000,260,0.000,0.050,2867,3038,3834,3808,3860,0,0,0,0,0,0,26.74,26.36,26.77
$GC,4131,-0.80,-439.8,2867,3038,3809,3860,860.8,-21.5,145,4135,0.00,1.92,0.00,0.000,1030,0.000,0.045,2867,1693,3834,3808,3860,0,0,0,0,0,0,26.48,26.44,26.50
$GC,4449,-0.80,-439.8,2867,1693,3805,3858,928.2,-21.1,152,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1693,3831,3805,3858,0,0,0,0,0,0,26.74,26.77,26.76
$GC,4763,-0.80,-439.8,2867,1693,3803,3857,993.3,-20.5,159,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1693,3830,3803,3857,0,0,0,0,0,0,26.74,26.77,26.76
$GC,5168,-0.80,-439.8,2867,1693,3801,3855,1074.1,-20.0,163,5173,0.00,2.00,0.00,0.000,260,0.000,0.050,2860,3042,3828,3801,3855,0,0,0,0,0,0,26.74,26.34,26.75
$GC,5202,-0.80,-439.8,2860,3043,3801,3855,1074.1,-20.0,163,5207,0.10,1.98,0.00,0.000,3078,0.137,0.045,2894,1687,3828,3801,3855,0,0,0,0,0,0,26.09,26.42,26.15
$GC,5532,-0.85,-439.8,2894,1687,3799,3853,1137.4,-18.0,166,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1687,3826,3799,3854,0,0,0,0,0,0,26.74,26.76,26.75
$GC,5892,-0.93,-439.8,2898,1687,3797,3852,1194.4,-16.1,169,5898,0.00,1.98,0.00,0.000,4612,0.000,0.057,2894,330,3824,3797,3852,0,0,0,0,0,0,26.76,26.27,26.76
$GC,5928,-1.00,-439.8,2894,330,3797,3852,1194.4,-16.1,169,5933,0.05,1.90,0.00,0.000,5126,0.151,0.042,2825,1698,3823,3796,3851,0,0,0,0,0,0,26.35,26.48,26.40
$GC,6248,-1.00,-439.8,2825,1698,3796,3850,1266.2,-19.2,172,6253,0.00,1.98,0.00,0.000,260,0.000,0.052,2815,3058,3823,3796,3850,0,0,0,0,0,0,26.73,26.32,26.75
$GC,6328,-1.00,-439.8,2815,3058,3796,3850,1266.2,-19.2,172,6332,0.00,2.00,0.00,0.000,1030,0.000,0.045,2815,1704,3823,3796,3850,0,0,0,0,0,0,26.44,26.41,26.44
$GC,6727,-1.00,-439.8,2814,1704,3793,3849,1367.2,-21.1,176,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1704,3820,3793,3848,0,0,0,0,0,0,26.73,26.76,26.75
$GC,7087,-1.00,-439.8,2814,1704,3792,3847,1441.5,-20.7,179,7091,0.00,2.00,0.00,0.000,260,0.000,0.050,2807,3052,3819,3792,3847,0,0,0,0,0,0,26.73,26.34,26.75
$GC,7121,-1.00,-439.8,2807,3052,3792,3847,1441.5,-20.7,179,7125,0.00,2.00,0.00,0.000,1030,0.000,0.045,2807,1695,3819,3792,3847,0,0,0,0,0,0,26.42,26.41,26.44
$GC,7450,-1.00,-439.8,2807,1696,3791,3846,1516.2,-20.6,182,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1695,3818,3791,3846,0,0,0,0,0,0,26.73,26.75,26.74
$GC,7811,-1.00,-439.8,2807,1695,3789,3846,1585.8,-19.6,185,7816,0.00,1.98,0.00,0.000,260,0.000,0.050,2799,3039,3817,3790,3845,0,0,0,0,0,0,26.73,26.32,26.74
$GC,7848,-1.00,-439.8,2798,3039,3789,3845,1585.8,-19.6,185,7852,0.00,1.92,0.00,0.000,1030,0.000,0.045,2799,1698,3817,3789,3845,0,0,0,0,0,0,26.45,26.39,26.46
$GC,8165,-1.00,-439.8,2798,1698,3789,3845,1653.8,-19.0,188,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1698,3816,3788,3845,0,0,0,0,0,0,26.73,26.75,26.74
$GC,8526,-1.00,-439.8,2798,1698,3788,3844,1721.2,-18.8,191,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1698,3816,3788,3844,0,0,0,0,0,0,26.72,26.75,26.74
$GC,8885,-1.00,-439.8,2798,1698,3787,3843,1787.0,-18.4,194,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1698,3815,3787,3843,0,0,0,0,0,0,26.72,26.75,26.74
$GC,9245,-1.00,-439.8,2798,1698,3786,3842,1851.5,-18.0,197,9251,0.00,1.98,0.00,0.000,260,0.000,0.050,2790,3043,3814,3786,3842,0,0,0,0,0,0,26.72,26.30,26.74
$GC,9281,-1.00,-439.8,2789,3043,3786,3841,1851.5,-18.0,197,9286,0.10,1.98,0.00,0.000,3078,0.142,0.045,2825,1696,3814,3786,3842,0,0,0,0,0,0,26.03,26.39,26.08
$GC,9608,-1.06,-439.8,2825,1696,3785,3841,1907.7,-16.0,200,9614,0.00,2.05,0.00,0.000,516,0.000,0.057,2825,320,3813,3785,3841,0,0,0,0,0,0,26.72,26.22,26.74
$GC,9645,-1.12,-439.8,2825,320,3785,3841,1907.7,-16.0,200,9649,0.00,1.92,0.00,0.000,1030,0.000,0.042,2821,1694,3813,3785,3841,0,0,0,0,0,0,26.48,26.45,26.50
$GC,9963,-1.19,-439.8,2821,1694,3785,3841,1963.8,-15.7,203,9969,0.05,1.98,0.00,0.000,4356,0.161,0.050,2745,3053,3812,3785,3840,0,0,0,0,0,0,26.53,26.28,26.55
$GC,10039,-1.27,-439.8,2744,3053,3785,3840,1963.8,-15.7,203,10043,0.00,1.95,0.00,0.000,1030,0.000,0.045,2745,1704,3812,3785,3840,0,0,0,0,0,0,26.43,26.38,26.45
$GC,10444,-1.27,-439.8,2744,1703,3783,3837,2062.9,-20.7,207,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1703,3811,3783,3839,0,0,0,0,0,0,26.72,26.74,26.74
$GC,10803,-1.27,-439.8,2744,1703,3783,3838,2138.1,-21.0,210,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1703,3811,3783,3839,0,0,0,0,0,0,26.72,26.74,26.74
$GC,11163,-1.27,-439.8,2744,1703,3782,3838,2211.0,-20.4,213,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1703,3810,3782,3838,0,0,0,0,0,0,26.72,26.74,26.74
$GC,11523,-1.27,-439.8,2744,1703,3782,3837,2282.5,-19.9,216,11529,0.00,2.00,0.00,0.000,260,0.000,0.050,2738,3053,3809,3782,3837,0,0,0,0,0,0,26.72,26.27,26.74
$GC,11560,-1.27,-439.8,2739,3053,3782,3837,2282.5,-19.9,216,11564,0.00,1.98,0.00,0.000,1030,0.000,0.045,2739,1700,3809,3782,3837,0,0,0,0,0,0,26.41,26.36,26.43
$GC,11878,-1.27,-439.8,2738,1700,3781,3837,2351.6,-19.5,219,11879,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1701,3808,3779,3837,0,0,0,0,0,0,26.72,26.74,26.74
$GC,12238,-1.27,-439.8,2739,1700,3781,3837,2421.1,-19.4,222,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1701,3808,3781,3836,0,0,0,0,0,0,26.72,26.74,26.74
$GC,12599,-1.27,-439.8,2739,1700,3780,3836,2488.6,-18.8,225,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1700,3808,3780,3836,0,0,0,0,0,0,26.72,26.74,26.74
$GC,12958,-1.27,-439.8,2738,1700,3780,3835,2555.7,-18.6,228,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1700,3807,3779,3835,0,0,0,0,0,0,26.72,26.74,26.74
$GC,13318,-1.27,-439.8,2739,1700,3778,3835,2619.4,-17.8,231,13324,0.00,2.05,0.00,0.000,516,0.000,0.057,2739,324,3807,3779,3835,0,0,0,0,0,0,26.72,26.19,26.74
$GC,13359,-1.27,-439.8,2739,323,3779,3835,2619.4,-17.8,231,13364,0.00,1.98,0.00,0.000,1030,0.000,0.040,2731,1697,3807,3779,3835,0,0,0,0,0,0,26.44,26.43,26.46
$GC,13680,-1.27,-439.8,2731,1697,3779,3835,2682.9,-17.6,234,13685,0.00,2.00,0.00,0.000,260,0.000,0.052,2721,3067,3807,3779,3835,0,0,0,0,0,0,26.72,26.25,26.74
$GC,13745,-1.27,-439.8,2721,3067,3779,3835,2682.9,-17.6,234,13749,0.00,2.03,0.00,0.000,1030,0.000,0.042,2721,1701,3807,3779,3835,0,0,0,0,0,0,26.37,26.35,26.39
$GC,14159,-1.27,-439.8,2719,1701,3777,3834,2766.6,-17.5,238,14163,0.00,2.05,0.00,0.000,516,0.000,0.057,2721,319,3805,3777,3834,0,0,0,0,0,0,26.72,26.17,26.74
$GC,14203,-1.27,-439.8,2721,319,3777,3834,2766.6,-17.5,238,14207,0.00,1.98,0.00,0.000,1030,0.000,0.042,2715,1707,3805,3777,3834,0,0,0,0,0,0,26.45,26.41,26.46
$GC,14522,-1.27,-439.8,2714,1708,3777,3834,2829.0,-17.2,241,14527,0.00,1.98,0.00,0.000,260,0.000,0.050,2704,3064,3805,3777,3834,0,0,0,0,0,0,26.72,26.24,26.74
$GC,14598,-1.27,-439.8,2704,3064,3777,3834,2829.0,-17.2,241,14603,0.12,2.03,0.00,0.000,3078,0.132,0.045,2746,1695,3805,3777,3834,0,0,0,0,0,0,25.94,26.34,25.99
$GC,15003,-1.35,-439.8,2746,1696,3777,3834,2895.0,-13.7,245,15009,0.00,2.05,0.00,0.000,516,0.000,0.057,2747,323,3805,3777,3834,0,0,0,0,0,0,26.72,26.16,26.73
$GC,15044,-1.43,-439.8,2746,323,3777,3834,2895.0,-13.7,245,15049,0.05,1.95,0.00,0.000,5126,0.159,0.042,2682,1706,3805,3777,3834,0,0,0,0,0,0,26.27,26.41,26.32
$GC,15357,-1.43,-439.8,2680,1710,3776,3833,2955.9,-16.1,248,15363,0.00,1.98,0.00,0.000,260,0.000,0.050,2671,3059,3805,3777,3833,0,0,0,0,0,0,26.72,26.24,26.73
$GC,15429,-1.43,-439.8,2670,3059,3776,3833,2955.9,-16.1,248,15433,0.00,1.98,0.00,0.000,1030,0.000,0.045,2671,1707,3805,3777,3833,0,0,0,0,0,0,26.39,26.34,26.40
$GC,15833,-1.43,-439.8,2670,1707,3776,3833,3038.2,-17.4,252,15834,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1707,3805,3777,3833,0,0,0,0,0,0,26.72,26.74,26.73
$GC,16193,-1.43,-439.8,2671,1707,3776,3833,3098.1,-16.7,255,16199,0.00,2.05,0.00,0.000,516,0.000,0.057,2670,319,3804,3776,3833,0,0,0,0,0,0,26.73,26.16,26.73
$GC,16234,-1.43,-439.8,2670,318,3776,3833,3098.1,-16.7,255,16238,0.00,1.98,0.00,0.000,1030,0.000,0.040,2664,1694,3804,3776,3833,0,0,0,0,0,0,26.42,26.40,26.43
$GC,16554,-1.43,-439.8,2663,1694,3776,3832,3158.4,-16.7,258,16560,0.00,2.00,0.00,0.000,260,0.000,0.050,2653,3061,3804,3776,3832,0,0,0,0,0,0,26.72,26.22,26.73
$GC,16619,-1.43,-439.8,2653,3061,3776,3832,3158.4,-16.7,258,16624,0.10,2.03,0.00,0.000,3078,0.144,0.045,2688,1694,3804,3776,3832,0,0,0,0,0,0,25.94,26.33,25.98
$GC,17034,-1.43,-439.8,2688,1694,3776,3832,3230.5,-14.9,262,17038,0.00,2.08,0.00,0.000,516,0.000,0.057,2688,313,3804,3776,3832,0,0,0,0,0,0,26.71,26.13,26.73
$GC,17078,-1.43,-439.8,2688,313,3776,3832,3230.5,-14.9,262,17082,0.00,1.98,0.00,0.000,1030,0.000,0.042,2682,1684,3804,3776,3832,0,0,0,0,0,0,26.44,26.40,26.45
$GC,17397,-1.49,-439.8,2681,1711,3775,3832,3284.8,-14.9,265,17403,0.00,2.00,0.00,0.000,260,0.000,0.050,2671,3076,3803,3775,3831,0,0,0,0,0,0,26.71,26.21,26.73
$GC,17465,-1.55,-439.8,2671,3077,3776,3832,3284.8,-14.9,265,17469,0.00,2.00,0.00,0.000,1030,0.000,0.045,2671,1694,3804,3776,3832,0,0,0,0,0,0,26.37,26.32,26.39
$GC,17878,-1.55,-439.8,2671,1694,3776,3832,3356.2,-14.9,269,17883,0.00,2.05,0.00,0.000,516,0.000,0.057,2669,317,3804,3776,3832,0,0,0,0,0,0,26.71,26.12,26.73
$GC,17929,-1.55,-439.8,2671,316,3776,3831,3356.2,-14.9,269,17934,0.00,2.03,0.00,0.000,1030,0.000,0.040,2663,1719,3803,3775,3832,0,0,0,0,0,0,26.40,26.39,26.42
$GC,18239,-1.55,-439.8,2663,1721,3776,3832,3410.1,-14.9,272,18245,0.00,2.00,0.00,0.000,260,0.000,0.050,2654,3082,3803,3775,3832,0,0,0,0,0,0,26.71,26.20,26.73
$GC,18295,-1.55,-439.8,2653,3082,3775,3831,3410.1,-14.9,272,18299,0.00,2.05,0.00,0.000,1030,0.000,0.042,2654,1701,3804,3776,3832,0,0,0,0,0,0,26.34,26.32,26.36
$GC,18719,-1.55,-439.8,2653,1701,3775,3831,3483.0,-15.2,276,18724,0.00,2.08,0.00,0.000,516,0.000,0.057,2654,313,3803,3775,3831,0,0,0,0,0,0,26.71,26.11,26.73
$GC,18750,-1.55,-439.8,2653,313,3775,3831,3483.0,-15.2,276,18754,0.00,1.98,0.00,0.000,1030,0.000,0.040,2646,1708,3803,3775,3831,0,0,0,0,0,0,26.41,26.38,26.43
$GC,19080,-1.55,-439.8,2646,1710,3775,3831,3539.0,-15.5,279,19085,0.00,2.00,0.00,0.000,260,0.000,0.050,2636,3063,3803,3775,3831,0,0,0,0,0,0,26.71,26.19,26.73
$GC,19149,-1.55,-439.8,2636,3064,3775,3831,3539.0,-15.5,279,19153,0.00,2.03,0.00,0.000,1030,0.000,0.045,2636,1702,3803,3775,3831,0,0,0,0,0,0,26.33,26.31,26.34
$GC,19563,-1.55,-439.8,2636,1702,3775,3831,3613.4,-15.4,283,19569,0.00,2.08,0.00,0.000,516,0.000,0.057,2636,314,3803,3775,3831,0,0,0,0,0,0,26.71,26.10,26.73
$GC,19610,-1.55,-439.8,2636,315,3775,3831,3613.4,-15.4,283,19614,0.00,1.98,0.00,0.000,1030,0.000,0.042,2633,1693,3803,3775,3831,0,0,0,0,0,0,26.42,26.39,26.44
$GC,19924,-1.55,-439.8,2633,1693,3774,3831,3669.0,-15.5,286,19929,0.00,2.03,0.00,0.000,260,0.000,0.050,2623,3071,3802,3775,3830,0,0,0,0,0,0,26.71,26.18,26.72
$GC,19991,-1.55,-439.8,2623,3071,3775,3831,3669.0,-15.5,286,19995,0.10,2.03,0.00,0.000,3078,0.159,0.045,2657,1690,3803,3775,3831,0,0,0,0,0,0,25.98,26.29,26.06
$GC,20400,-1.62,-439.8,2656,1690,3775,3831,3734.7,-13.8,290,20406,0.00,2.05,0.00,0.000,516,0.000,0.057,2656,316,3803,3775,3831,0,0,0,0,0,0,26.71,26.10,26.72
$GC,20452,-1.69,-439.8,2656,316,3774,3831,3734.7,-13.8,290,20456,0.00,1.98,0.00,0.000,5126,0.000,0.042,2652,1708,3802,3774,3831,0,0,0,0,0,0,26.42,26.37,26.44
$GC,20876,-1.77,-439.8,2652,1711,3774,3830,3801.6,-14.0,294,20882,0.08,1.98,0.00,0.000,4356,0.124,0.047,2556,3064,3802,3774,3830,0,0,0,0,0,0,26.48,26.18,26.49
$GC,20922,-1.85,-439.8,2556,3064,3774,3829,3801.6,-14.0,294,20926,0.00,2.00,0.00,0.000,1030,0.000,0.045,2556,1701,3801,3774,3829,0,0,0,0,0,0,26.34,26.29,26.36
$GC,21236,-1.85,-439.8,2556,1701,3774,3830,3871.8,-18.4,297,21242,0.00,2.05,0.00,0.000,516,0.000,0.057,2555,320,3801,3774,3829,0,0,0,0,0,0,26.71,26.09,26.72
$GC,21272,-1.85,-439.8,2556,320,3773,3830,3871.8,-18.4,297,21276,0.00,1.98,0.00,0.000,1030,0.000,0.042,2548,1699,3801,3773,3829,0,0,0,0,0,0,26.39,26.37,26.40
$GC,21597,-1.85,-439.8,2547,1700,3773,3830,3943.3,-19.7,300,21602,0.00,2.00,0.00,0.000,260,0.000,0.050,2537,3064,3801,3774,3829,0,0,0,0,0,0,26.71,26.17,26.72
$GC,21647,-1.85,-439.8,2537,3064,3773,3829,3943.3,-19.7,300,21652,0.00,2.03,0.00,0.000,1030,0.000,0.045,2537,1703,3801,3774,3829,0,0,0,0,0,0,26.31,26.29,26.32
$GC,21960,-1.85,-439.8,2537,1703,3773,3829,4016.4,-20.2,303,21966,0.00,2.08,0.00,0.000,516,0.000,0.057,2537,317,3801,3773,3829,0,0,0,0,0,0,26.67,26.08,26.69
$GC,22006,-1.85,-439.8,2537,317,3773,3829,4016.4,-20.2,303,22010,0.00,1.98,0.00,0.000,1030,0.000,0.042,2533,1697,3801,3773,3829,0,0,0,0,0,0,26.40,26.36,26.41
$STATE,22320,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,22320,begin apogee
$GC,22324,-0.24,0.0,2533,1510,3773,3829,4091.3,-20.6,306,22758,1.65,0.00,429.35,3.556,10246,0.129,0.000,3071,1510,2340,2231,2449,0,0,0,0,0,0,25.27,22.23,19.97
$STATE,22759,end apogee,CONTROL_FINISHED_OK
$STATE,22759,begin climb
$GC,22760,0.95,439.8,3071,1510,2230,2448,4101.2,0.0,309,23311,1.10,2.40,536.20,3.598,10500,0.062,0.065,3496,2868,823,799,847,0,0,0,0,0,0,22.95,22.42,20.23
$GC,23443,0.51,439.8,3495,2868,794,836,3917.5,35.9,315,23449,0.70,2.17,0.00,0.000,5126,0.209,0.045,3317,1497,815,794,836,0,0,0,0,0,0,24.62,24.93,24.86
$GC,23758,0.20,439.8,3317,1497,788,836,3804.3,34.6,318,23764,0.32,1.92,0.00,0.000,4612,0.179,0.057,3220,199,812,788,836,0,0,0,0,0,0,25.77,25.97,25.88
$GC,23820,-0.12,439.8,3219,199,786,836,3804.3,34.6,318,23824,0.17,1.88,0.00,0.000,5126,0.144,0.042,3149,1556,811,786,836,0,0,0,0,0,0,25.91,26.20,26.08
$GC,24239,-0.08,546.5,3148,1559,786,836,3738.2,13.4,322,24381,0.00,2.38,134.50,3.213,8708,0.000,0.079,3157,202,456,438,475,0,0,0,0,0,0,26.58,22.06,20.51
$GC,24442,-0.04,694.0,3157,201,429,472,3722.7,12.4,323,24490,0.00,1.98,41.67,3.114,9222,0.000,0.040,3157,1543,319,317,322,0,0,0,0,0,0,24.44,24.41,20.50
$GC,24835,0.05,801.2,3157,1543,314,320,3658.9,13.4,327,24840,0.00,2.03,0.00,0.000,516,0.000,0.060,3166,203,317,314,321,0,0,0,0,0,0,26.09,25.81,26.10
$GC,24871,0.14,908.4,3166,203,313,320,3658.9,13.4,327,24875,0.00,1.83,0.00,0.000,1030,0.000,0.042,3166,1469,317,313,321,0,0,0,0,0,0,26.02,25.99,26.03
$GC,25197,0.23,1021.4,3165,1526,313,320,3611.5,13.2,330,25199,0.05,0.00,0.00,0.000,2054,0.156,0.000,3221,1526,316,313,320,0,0,0,0,0,0,26.29,26.33,26.32
$GC,25554,0.23,1021.4,3221,1526,313,320,3546.8,17.0,333,25561,0.00,1.95,0.00,0.000,516,0.000,0.060,3230,201,317,314,320,0,0,0,0,0,0,26.59,26.28,26.61
$GC,25625,0.23,1021.4,3230,200,313,320,3546.8,17.0,333,25630,0.00,1.88,0.00,0.000,1030,0.000,0.042,3231,1543,316,313,320,0,0,0,0,0,0,26.43,26.41,26.44
$GC,26034,0.23,1021.4,3230,1547,313,320,3457.9,18.6,337,26040,0.00,2.00,0.00,0.000,516,0.000,0.060,3240,195,316,313,320,0,0,0,0,0,0,26.65,26.33,26.67
$GC,26101,0.23,1021.4,3241,195,313,320,3457.9,18.6,337,26105,0.00,1.83,0.00,0.000,1030,0.000,0.042,3241,1517,316,313,320,0,0,0,0,0,0,26.48,26.46,26.48
$GC,26515,0.23,1021.4,3240,1522,313,320,3366.7,19.0,341,26521,0.00,1.95,0.00,0.000,516,0.000,0.060,3251,199,318,313,323,0,0,0,0,0,0,26.67,26.34,26.69
$GC,26565,0.23,1021.4,3251,199,313,320,3366.7,19.0,341,26570,0.00,1.80,0.00,0.000,1030,0.000,0.042,3251,1509,317,313,321,0,0,0,0,0,0,26.49,26.48,26.51
$GC,26875,0.18,1021.4,3251,1513,313,320,3295.2,19.7,344,26881,0.12,1.95,0.00,0.000,4612,0.174,0.057,3213,200,316,313,320,0,0,0,0,0,0,26.13,26.27,26.21
$GC,26907,0.12,1021.4,3213,200,313,320,3295.2,19.7,344,26911,0.00,1.75,0.00,0.000,1030,0.000,0.042,3213,1466,317,313,321,0,0,0,0,0,0,26.51,26.48,26.53
$GC,27236,0.12,1021.4,3213,1511,313,320,3240.4,16.2,347,27237,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1511,316,313,320,0,0,0,0,0,0,26.68,26.71,26.70
$GC,27595,0.12,1021.4,3213,1511,313,321,3189.5,14.3,350,27600,0.00,1.95,0.00,0.000,516,0.000,0.060,3223,199,316,313,320,0,0,0,0,0,0,26.69,26.32,26.71
$GC,27644,0.12,1021.4,3222,199,313,321,3189.5,14.3,350,27649,0.10,1.85,0.00,0.000,5126,0.132,0.042,3187,1536,317,313,321,0,0,0,0,0,0,26.20,26.48,26.26
$GC,27960,0.24,1180.6,3186,1539,313,320,3147.4,12.1,353,27961,0.00,0.00,0.00,0.000,2054,0.000,0.000,3187,1538,316,313,320,0,0,0,0,0,0,26.70,26.72,26.72
$GC,28320,0.40,1384.8,3187,1539,312,320,3107.7,11.0,356,28326,0.10,1.98,0.00,0.000,2564,0.102,0.057,3291,203,317,313,321,0,0,0,0,0,0,26.48,26.32,26.50
$GC,28371,0.56,1589.1,3291,203,313,321,3107.7,11.0,356,28376,0.00,1.77,0.00,0.000,3078,0.000,0.042,3291,1507,316,313,320,0,0,0,0,0,0,26.52,26.48,26.53
$GC,28679,0.56,1589.1,3291,1510,313,320,3034.5,18.4,359,28681,0.00,0.00,0.00,0.000,2054,0.000,0.000,3291,1510,316,313,320,0,0,0,0,0,0,26.71,26.72,26.72
$GC,29040,0.48,1589.1,3291,1510,313,321,2961.3,20.5,362,29045,0.00,1.95,0.00,0.000,516,0.000,0.060,3301,189,317,313,321,0,0,0,0,0,0,26.70,26.31,26.72
$GC,29096,0.41,1589.1,3301,189,313,320,2961.3,20.5,362,29100,0.00,1.83,0.00,0.000,1030,0.000,0.042,3301,1501,317,313,321,0,0,0,0,0,0,26.50,26.48,26.51
$GC,29521,0.34,1589.1,3300,1505,313,320,2862.2,20.7,366,29526,0.10,1.92,0.00,0.000,4612,0.166,0.057,3270,199,316,313,320,0,0,0,0,0,0,26.20,26.29,26.25
$GC,29572,0.27,1589.1,3269,199,313,320,2862.2,20.7,366,29577,0.08,1.80,0.00,0.000,5126,0.149,0.042,3235,1508,316,313,320,0,0,0,0,0,0,26.13,26.48,26.27
$GC,29881,0.27,1589.1,3235,1511,313,320,2812.9,15.1,369,29882,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1511,316,313,320,0,0,0,0,0,0,26.70,26.72,26.72
$GC,30241,0.39,1745.4,3235,1511,313,320,2769.4,12.2,372,30247,0.00,1.95,0.00,0.000,2564,0.000,0.060,3242,185,316,313,320,0,0,0,0,0,0,26.71,26.29,26.72
$GC,30273,0.50,1901.7,3242,185,313,320,2769.4,12.2,372,30277,0.08,1.80,0.00,0.000,3078,0.114,0.042,3309,1506,317,313,321,0,0,0,0,0,0,26.36,26.48,26.43
$GC,30596,0.50,1901.7,3309,1511,313,320,2703.9,17.0,375,30603,0.00,1.95,0.00,0.000,516,0.000,0.060,3320,185,316,313,319,0,0,0,0,0,0,26.70,26.28,26.72
$GC,30627,0.50,1901.7,3319,185,312,320,2703.9,17.0,375,30632,0.00,1.83,0.00,0.000,1030,0.000,0.042,3320,1502,317,313,321,0,0,0,0,0,0,26.48,26.48,26.50
$GC,30959,0.44,1901.7,3319,1505,313,320,2632.9,19.7,378,30965,0.00,1.95,0.00,0.000,516,0.000,0.060,3329,196,316,313,320,0,0,0,0,0,0,26.70,26.28,26.72
$GC,30990,0.38,1901.7,3329,196,313,320,2632.9,19.7,378,30995,0.17,1.80,0.00,0.000,5126,0.144,0.042,3272,1508,316,312,321,0,0,0,0,0,0,25.98,26.47,26.07
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$GC,47939,1.11,5600.2,3514,1524,312,320,131.8,14.6,614,47944,0.00,1.98,0.00,0.000,516,0.000,0.057,3524,198,316,312,321,0,0,0,0,0,0,26.72,26.17,26.74
$GC,47974,1.11,5600.2,3524,198,312,320,126.9,14.7,616,47977,0.00,1.75,0.00,0.000,1030,0.000,0.042,3524,1459,316,312,320,0,0,0,0,0,0,26.48,26.46,26.50
$GC,48293,1.11,5600.2,3524,1518,312,320,77.5,15.8,637,48298,0.00,1.95,0.00,0.000,516,0.000,0.057,3534,189,316,312,320,0,0,0,0,0,0,26.72,26.18,26.74
$GC,48339,1.11,5600.2,3534,189,312,320,70.5,14.8,640,48344,0.00,1.83,0.00,0.000,1030,0.000,0.042,3534,1540,316,312,320,0,0,0,0,0,0,26.49,26.46,26.51
$GC,48655,1.37,6009.3,3534,1544,312,320,35.3,6.0,663,48667,0.05,2.00,0.00,0.000,2564,0.156,0.057,3583,190,316,312,320,0,0,0,0,0,0,26.54,26.19,26.55
$GC,48693,1.59,6359.3,3582,190,312,320,32.2,7.5,666,48704,0.10,1.77,0.00,0.000,3078,0.102,0.042,3680,1533,316,312,320,0,0,0,0,0,0,26.33,26.47,26.37
$STATE,48861,end climb,SURFACE_DEPTH_REACHED
$STATE,48861,begin surface coast
$FINISH,2.1,1.023182
$STATE,48873,end surface coast,CONTROL_FINISHED_OK
$STATE,48873,begin surface
$SM_CCo,48949,0.00,0.000,0,0,315,588.24
$SM_GC,2.62,9.05,0.05,0.00,0.057,0.149,0.000,183,1688,315,-9.18,-4.33,588.24,0,0,0,0,0,0,26.18,26.58,26.25
$IRIDIUM_FIX,3748.07,-6822.58,270708,021313
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.75
$INTERNAL_PRESSURE,8.68269
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4016.4,82.5
$24V_AH,19.97,55.964
$10V_AH,9.69,27.413
$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,26.875,325.875,1141.725,0.000,208.200,59.825,44.808,225.195,1.000,0.000,55.274,3004.282,39489.590,1247.292,5556.452,183.580,0.000,3604.306,0.000,5047.867,0.000,5.663,0.000
$DEVICE_MAMPS,250.783,148.980,3597.867,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.954,2227.932,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43551,684
$CAP_FILE_SIZE,344719,0
$CFSIZE,1024409600,1001848832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.051,184.04,1
$GPS,011015,164903,3819.615,-6841.762,43,1.9,83,-15.4,0.8,174.5,6,8.7