version: 66.12
glider: 36
mission: 20
dive: 85
start: 10 2 115 18 51 52
data:
$ID,36
$MISSION,20
$DIVE,85
$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,55
$R_STBD_OVSHOOT,82
$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
$GPS1,021015,184415,3837.0464,-6855.5327,35,1.7,76,-15.4,0.4,153.4,7,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-65.2
$GPS2,021015,185128,3837.0112,-6855.5581,10,1.2,50,-15.4,0.5,355.8,8,6.2
$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,348.9,63970,-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,553,-0.82,-439.8,2850,297,3825,3883,77.3,-24.4,46,559,0.12,2.03,0.00,0.000,3078,0.166,0.042,2882,1725,3854,3826,3883,0,0,0,0,0,0,25.79,26.32,25.86
$GC,868,-0.82,-439.8,2882,1725,3825,3882,140.2,-19.9,67,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1726,3853,3824,3883,0,0,0,0,0,0,26.68,26.70,26.70
$GC,1169,-0.82,-439.8,2882,1726,3824,3882,201.3,-21.0,79,1174,0.00,1.92,0.00,0.000,260,0.000,0.050,2874,3066,3853,3824,3882,0,0,0,0,0,0,26.72,26.34,26.74
$GC,1221,-0.82,-439.8,2874,3066,3824,3882,207.6,-21.2,80,1229,0.00,2.03,0.00,0.000,1030,0.000,0.045,2874,1679,3853,3824,3882,0,0,0,0,0,0,26.44,26.41,26.45
$GC,1529,-0.82,-439.8,2874,1679,3824,3881,276.1,-21.0,91,1533,0.00,2.03,0.00,0.000,516,0.000,0.057,2874,308,3852,3823,3882,0,0,0,0,0,0,26.74,26.30,26.77
$GC,1570,-0.82,-439.8,2874,308,3823,3882,283.3,-21.4,92,1575,0.00,1.98,0.00,0.000,1030,0.000,0.042,2866,1708,3852,3823,3881,0,0,0,0,0,0,26.51,26.50,26.52
$GC,1880,-0.82,-439.8,2867,1709,3822,3880,353.6,-22.3,100,1888,0.00,1.95,0.00,0.000,260,0.000,0.050,2857,3086,3852,3823,3881,0,0,0,0,0,0,26.75,26.37,26.77
$GC,1919,-0.82,-439.8,2857,3087,3823,3880,353.6,-22.3,100,1927,0.00,2.03,0.00,0.000,1030,0.000,0.047,2857,1695,3851,3822,3880,0,0,0,0,0,0,26.45,26.44,26.47
$GC,2241,-0.82,-439.8,2857,1695,3821,3879,435.0,-22.5,108,2248,0.08,2.00,0.00,0.000,2564,0.191,0.057,2887,310,3850,3821,3879,0,0,0,0,0,0,26.29,26.30,26.31
$GC,2294,-0.82,-439.8,2886,310,3820,3879,444.9,-22.4,109,2298,0.00,1.98,0.00,0.000,1030,0.000,0.042,2880,1719,3849,3820,3879,0,0,0,0,0,0,26.52,26.51,26.53
$GC,2603,-0.82,-439.8,2880,1719,3820,3877,512.4,-21.4,116,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1719,3848,3820,3877,0,0,0,0,0,0,26.74,26.77,26.76
$GC,2918,-0.82,-439.8,2880,1719,3817,3875,580.6,-21.5,123,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1720,3846,3817,3875,0,0,0,0,0,0,26.74,26.77,26.76
$GC,3233,-0.82,-439.8,2880,1719,3816,3873,649.5,-21.9,130,3239,0.00,1.95,0.00,0.000,260,0.000,0.050,2870,3072,3844,3816,3873,0,0,0,0,0,0,26.74,26.36,26.76
$GC,3264,-0.82,-439.8,2870,3073,3816,3872,649.5,-21.9,130,3269,0.00,2.03,0.00,0.000,1030,0.000,0.045,2870,1691,3844,3815,3873,0,0,0,0,0,0,26.44,26.42,26.46
$GC,3593,-0.82,-439.8,2870,1691,3815,3871,731.2,-23.3,138,3599,0.00,2.00,0.00,0.000,516,0.000,0.057,2870,319,3842,3814,3871,0,0,0,0,0,0,26.74,26.29,26.76
$GC,3640,-0.82,-439.8,2870,318,3813,3871,742.0,-23.5,139,3645,0.00,1.95,0.00,0.000,1030,0.000,0.042,2862,1697,3842,3813,3871,0,0,0,0,0,0,26.49,26.48,26.51
$GC,3955,-0.82,-439.8,2862,1697,3812,3869,816.1,-23.2,146,3960,0.00,1.95,0.00,0.000,260,0.000,0.052,2852,3052,3840,3812,3869,0,0,0,0,0,0,26.73,26.34,26.75
$GC,3991,-0.82,-439.8,2852,3051,3812,3868,816.1,-23.2,146,4000,0.10,2.00,0.00,0.000,3078,0.146,0.045,2886,1685,3840,3812,3868,0,0,0,0,0,0,26.07,26.41,26.12
$GC,4315,-0.82,-439.8,2885,1685,3810,3867,891.2,-20.5,154,4320,0.00,2.00,0.00,0.000,516,0.000,0.057,2886,327,3838,3810,3867,0,0,0,0,0,0,26.73,26.28,26.75
$GC,4381,-0.82,-439.8,2885,327,3809,3867,900.8,-20.6,155,4386,0.00,1.95,0.00,0.000,1030,0.000,0.042,2879,1711,3838,3809,3867,0,0,0,0,0,0,26.48,26.48,26.50
$GC,4720,-0.82,-439.8,2879,1712,3808,3866,975.7,-20.5,163,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1712,3837,3808,3866,0,0,0,0,0,0,26.73,26.75,26.75
$GC,5095,-0.82,-439.8,2878,1712,3805,3863,1049.9,-19.7,168,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1713,3834,3805,3863,0,0,0,0,0,0,26.73,26.75,26.74
$GC,5455,-0.82,-439.8,2878,1713,3803,3861,1118.8,-19.2,171,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1713,3832,3803,3861,0,0,0,0,0,0,26.73,26.75,26.74
$GC,5816,-0.82,-439.8,2878,1715,3802,3860,1185.8,-18.7,174,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1715,3830,3801,3860,0,0,0,0,0,0,26.72,26.75,26.74
$GC,6176,-0.87,-439.8,2878,1715,3801,3859,1251.0,-18.2,177,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1715,3830,3801,3859,0,0,0,0,0,0,26.72,26.74,26.74
$GC,6536,-0.93,-439.8,2879,1714,3799,3857,1314.6,-17.7,180,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1715,3828,3799,3857,0,0,0,0,0,0,26.72,26.74,26.74
$GC,6896,-1.01,-439.8,2879,1715,3797,3857,1376.6,-17.3,183,6897,0.00,0.00,0.00,0.000,4102,0.000,0.000,2879,1715,3827,3797,3857,0,0,0,0,0,0,26.74,26.74,26.74
$GC,7256,-1.08,-439.8,2879,1715,3796,3856,1436.8,-16.8,186,7258,0.10,0.00,0.00,0.000,4102,0.099,0.000,2800,1715,3826,3797,3856,0,0,0,0,0,0,26.52,26.54,26.53
$GC,7616,-1.08,-439.8,2800,1716,3795,3855,1516.6,-21.0,189,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1715,3825,3796,3855,0,0,0,0,0,0,26.72,26.74,26.74
$GC,7975,-1.08,-439.8,2799,1715,3794,3854,1594.7,-21.9,192,7982,0.00,2.08,0.00,0.000,516,0.000,0.057,2800,324,3824,3794,3854,0,0,0,0,0,0,26.72,26.24,26.74
$GC,8022,-1.08,-439.8,2799,325,3794,3854,1594.7,-21.9,192,8026,0.00,1.92,0.00,0.000,1030,0.000,0.042,2791,1697,3823,3793,3854,0,0,0,0,0,0,26.47,26.44,26.48
$GC,8337,-1.08,-439.8,2791,1697,3792,3854,1673.1,-21.7,195,8343,0.00,1.98,0.00,0.000,260,0.000,0.050,2781,3061,3823,3793,3854,0,0,0,0,0,0,26.72,26.30,26.74
$GC,8373,-1.08,-439.8,2781,3061,3793,3853,1673.1,-21.7,195,8377,0.00,2.03,0.00,0.000,1030,0.000,0.045,2781,1701,3823,3792,3854,0,0,0,0,0,0,26.39,26.36,26.40
$GC,8696,-1.08,-439.8,2781,1700,3792,3853,1751.0,-21.6,198,8702,0.00,2.05,0.00,0.000,516,0.000,0.057,2781,316,3821,3792,3851,0,0,0,0,0,0,26.72,26.22,26.73
$GC,8763,-1.08,-439.8,2781,316,3792,3852,1751.0,-21.6,198,8766,0.00,1.95,0.00,0.000,1030,0.000,0.042,2773,1711,3822,3792,3853,0,0,0,0,0,0,26.47,26.44,26.48
$GC,9176,-1.08,-439.8,2772,1715,3791,3851,1853.3,-21.3,202,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1715,3821,3791,3851,0,0,0,0,0,0,26.72,26.74,26.74
$GC,9537,-1.08,-439.8,2772,1715,3790,3850,1926.2,-20.3,205,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1715,3820,3790,3850,0,0,0,0,0,0,26.72,26.74,26.74
$GC,9896,-1.08,-439.8,2772,1715,3790,3850,1997.1,-19.7,208,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1715,3819,3789,3850,0,0,0,0,0,0,26.72,26.74,26.74
$GC,10256,-1.08,-439.8,2772,1715,3788,3849,2066.0,-19.3,211,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1715,3819,3789,3850,0,0,0,0,0,0,26.72,26.73,26.74
$GC,10616,-1.08,-439.8,2772,1715,3789,3848,2132.5,-18.6,214,10622,0.00,2.12,0.00,0.000,516,0.000,0.055,2772,306,3818,3788,3848,0,0,0,0,0,0,26.72,26.21,26.73
$GC,10652,-1.08,-439.8,2772,306,3788,3848,2132.5,-18.6,214,10657,0.10,2.00,0.00,0.000,3078,0.151,0.042,2799,1693,3818,3788,3848,0,0,0,0,0,0,26.01,26.42,26.06
$GC,10977,-1.14,-439.8,2798,1693,3788,3848,2190.1,-16.5,217,10982,0.00,2.03,0.00,0.000,260,0.000,0.050,2790,3070,3817,3787,3848,0,0,0,0,0,0,26.71,26.26,26.73
$GC,11017,-1.19,-439.8,2790,3070,3788,3847,2190.1,-16.5,217,11021,0.00,2.00,0.00,0.000,1030,0.000,0.045,2791,1691,3817,3788,3847,0,0,0,0,0,0,26.39,26.34,26.41
$GC,11341,-1.26,-439.8,2790,1692,3787,3847,2246.8,-15.5,220,11346,0.00,2.05,0.00,0.000,4612,0.000,0.057,2790,316,3817,3787,3847,0,0,0,0,0,0,26.73,26.19,26.74
$GC,11408,-1.33,-439.8,2790,316,3787,3847,2246.8,-15.5,220,11413,0.05,1.95,0.00,0.000,5126,0.151,0.042,2727,1712,3817,3787,3847,0,0,0,0,0,0,26.29,26.41,26.34
$GC,11823,-1.33,-439.8,2726,1716,3787,3846,2342.6,-20.0,224,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1716,3816,3787,3846,0,0,0,0,0,0,26.71,26.74,26.73
$GC,12182,-1.33,-439.8,2727,1717,3786,3846,2414.5,-20.0,227,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1716,3816,3786,3846,0,0,0,0,0,0,26.71,26.74,26.73
$GC,12542,-1.33,-439.8,2726,1716,3786,3846,2483.5,-19.3,230,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1716,3817,3789,3845,0,0,0,0,0,0,26.71,26.73,26.73
$GC,12902,-1.33,-439.8,2727,1717,3786,3846,2550.6,-18.7,233,12907,0.00,2.10,0.00,0.000,516,0.000,0.057,2727,309,3815,3785,3846,0,0,0,0,0,0,26.71,26.17,26.73
$GC,12948,-1.33,-439.8,2727,309,3785,3846,2550.6,-18.7,233,12953,0.00,2.00,0.00,0.000,1030,0.000,0.042,2720,1697,3815,3786,3845,0,0,0,0,0,0,26.41,26.40,26.44
$GC,13262,-1.33,-439.8,2720,1697,3785,3845,2617.9,-18.7,236,13267,0.00,2.03,0.00,0.000,260,0.000,0.050,2710,3070,3815,3785,3845,0,0,0,0,0,0,26.71,26.24,26.73
$GC,13296,-1.33,-439.8,2709,3070,3785,3845,2617.9,-18.7,236,13301,0.00,2.05,0.00,0.000,1030,0.000,0.045,2709,1700,3815,3785,3845,0,0,0,0,0,0,26.34,26.32,26.36
$GC,13625,-1.33,-439.8,2709,1699,3785,3845,2684.8,-18.4,239,13631,0.00,2.05,0.00,0.000,516,0.000,0.057,2709,313,3815,3785,3845,0,0,0,0,0,0,26.71,26.15,26.72
$GC,13686,-1.33,-439.8,2709,313,3785,3845,2684.8,-18.4,239,13691,0.00,2.00,0.00,0.000,1030,0.000,0.042,2701,1701,3815,3785,3845,0,0,0,0,0,0,26.41,26.39,26.43
$GC,14106,-1.33,-439.8,2700,1703,3785,3845,2775.1,-18.8,243,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1703,3815,3785,3845,0,0,0,0,0,0,26.71,26.73,26.72
$GC,14467,-1.33,-439.8,2700,1703,3784,3844,2841.4,-18.4,246,14471,0.00,2.03,0.00,0.000,260,0.000,0.050,2691,3074,3814,3784,3844,0,0,0,0,0,0,26.71,26.22,26.73
$GC,14501,-1.33,-439.8,2692,3074,3784,3844,2841.4,-18.4,246,14506,0.10,2.05,0.00,0.000,3078,0.142,0.045,2725,1693,3814,3784,3844,0,0,0,0,0,0,25.94,26.31,26.00
$GC,14830,-1.33,-439.8,2725,1693,3784,3844,2900.2,-16.7,249,14835,0.00,2.05,0.00,0.000,516,0.000,0.060,2725,323,3813,3783,3844,0,0,0,0,0,0,26.71,26.14,26.72
$GC,14896,-1.33,-439.8,2725,322,3783,3844,2900.2,-16.7,249,14901,0.00,2.00,0.00,0.000,1030,0.000,0.042,2721,1708,3813,3783,3844,0,0,0,0,0,0,26.40,26.39,26.41
$GC,15311,-1.39,-439.8,2721,1710,3783,3844,2975.0,-15.6,253,15316,0.00,1.98,0.00,0.000,260,0.000,0.050,2711,3063,3813,3783,3844,0,0,0,0,0,0,26.71,26.22,26.72
$GC,15356,-1.46,-439.8,2711,3064,3783,3844,2975.0,-15.6,253,15360,0.00,2.00,0.00,0.000,1030,0.000,0.045,2711,1694,3813,3783,3844,0,0,0,0,0,0,26.36,26.31,26.38
$GC,15670,-1.52,-439.8,2710,1694,3784,3843,3031.1,-15.5,256,15677,0.00,2.08,0.00,0.000,4612,0.000,0.057,2711,307,3813,3782,3844,0,0,0,0,0,0,26.72,26.13,26.72
$GC,15737,-1.59,-439.8,2711,307,3782,3844,3031.1,-15.5,256,15742,0.08,1.98,0.00,0.000,5126,0.119,0.042,2634,1717,3812,3782,3843,0,0,0,0,0,0,26.26,26.37,26.30
$GC,16147,-1.59,-439.8,2634,1722,3782,3843,3127.4,-20.4,260,16148,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1721,3812,3782,3843,0,0,0,0,0,0,26.70,26.72,26.72
$GC,16506,-1.59,-439.8,2633,1722,3782,3843,3201.6,-20.7,263,16507,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1722,3812,3782,3843,0,0,0,0,0,0,26.70,26.73,26.72
$GC,16866,-1.59,-439.8,2634,1722,3783,3843,3273.6,-20.1,266,16867,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1722,3812,3781,3843,0,0,0,0,0,0,26.70,26.73,26.72
$GC,17226,-1.59,-439.8,2633,1722,3787,3843,3343.3,-19.5,269,17227,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1722,3812,3781,3843,0,0,0,0,0,0,26.71,26.73,26.72
$GC,17586,-1.59,-439.8,2634,1722,3781,3843,3409.9,-18.7,272,17587,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1722,3812,3781,3843,0,0,0,0,0,0,26.70,26.73,26.72
$GC,17947,-1.80,-439.8,2634,1722,3781,3843,3429.4,-8.5,275,17949,0.17,0.00,0.00,0.000,4102,0.097,0.000,2556,1727,3812,3781,3843,0,0,0,0,0,0,26.32,26.37,26.34
$STATE,18305,end dive,NO_VERTICAL_VELOCITY
$STATE,18305,begin apogee
$GC,18309,-0.24,0.0,2556,1492,3781,3842,3429.5,0.0,278,18730,1.27,0.00,416.75,3.109,10246,0.070,0.000,3048,1491,2340,2230,2450,0,0,0,0,0,0,26.01,22.27,19.91
$STATE,18730,end apogee,CONTROL_FINISHED_OK
$STATE,18731,begin climb
$GC,18732,0.95,439.8,3048,1492,2229,2449,3429.4,0.0,281,19266,1.25,0.00,526.00,3.114,10246,0.079,0.000,3468,1491,822,798,847,0,0,0,0,0,0,22.96,21.78,20.11
$GC,19626,0.64,439.8,3467,1491,785,840,3219.1,32.0,289,19628,0.40,0.00,0.00,0.000,4102,0.199,0.000,3354,1491,812,785,840,0,0,0,0,0,0,25.56,25.88,25.82
$GC,19987,0.43,439.8,3354,1491,785,840,3137.1,24.8,292,19989,0.20,0.00,0.00,0.000,4102,0.179,0.000,3291,1491,812,785,839,0,0,0,0,0,0,25.96,26.22,26.16
$GC,20346,0.33,439.8,3291,1491,785,839,3073.6,18.5,295,20348,0.12,0.00,0.00,0.000,4102,0.179,0.000,3251,1491,812,785,840,0,0,0,0,0,0,26.13,26.32,26.28
$GC,20706,0.33,439.8,3250,1491,784,837,3024.3,14.5,298,20712,0.00,2.03,0.00,0.000,260,0.000,0.047,3251,2864,810,784,837,0,0,0,0,0,0,26.65,26.38,26.67
$GC,20757,0.33,439.8,3250,2864,784,836,3024.3,14.5,298,20761,0.00,2.05,0.00,0.000,1030,0.000,0.045,3256,1501,810,784,836,0,0,0,0,0,0,26.42,26.39,26.44
$GC,21068,0.36,543.8,3256,1501,784,836,2975.7,13.5,301,21195,0.00,0.00,125.35,2.781,8198,0.000,0.000,3256,1501,466,448,485,0,0,0,0,0,0,26.67,22.56,20.68
$GC,21547,0.36,543.8,3256,1501,438,477,2907.0,14.4,305,21548,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1501,457,438,477,0,0,0,0,0,0,26.13,26.15,26.15
$GC,21906,0.39,644.8,3256,1501,437,476,2859.0,13.5,308,21952,0.00,2.22,39.62,2.667,8452,0.000,0.065,3256,2865,319,317,321,0,0,0,0,0,0,26.49,24.34,22.27
$GC,21982,0.42,745.7,3256,2866,317,318,2859.0,13.5,308,21987,0.00,2.12,0.00,0.000,1030,0.000,0.047,3264,1504,317,317,318,0,0,0,0,0,0,25.13,25.08,25.15
$GC,22386,0.42,745.7,3264,1504,315,318,2791.5,14.1,312,22387,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1504,318,315,322,0,0,0,0,0,0,26.42,26.44,26.44
$GC,22746,0.45,839.6,3264,1504,315,318,2742.5,13.7,315,22747,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1505,316,315,318,0,0,0,0,0,0,26.58,26.60,26.60
$GC,23107,0.49,953.1,3263,1504,315,317,2695.1,13.2,318,23112,0.00,2.00,0.00,0.000,2308,0.000,0.047,3264,2860,317,315,319,0,0,0,0,0,0,26.65,26.35,26.65
$GC,23137,0.52,1066.7,3263,2860,315,318,2695.1,13.2,318,23142,0.00,2.03,0.00,0.000,3078,0.000,0.045,3272,1486,316,315,318,0,0,0,0,0,0,26.43,26.36,26.45
$GC,23466,0.55,1174.7,3271,1486,321,318,2646.9,13.4,321,23468,0.05,0.00,0.00,0.000,2054,0.159,0.000,3330,1486,316,315,318,0,0,0,0,0,0,26.47,26.51,26.49
$GC,23826,0.55,1174.7,3330,1488,315,318,2583.1,16.7,324,23831,0.00,2.03,0.00,0.000,260,0.000,0.047,3330,2861,316,315,318,0,0,0,0,0,0,26.67,26.37,26.70
$GC,23867,0.55,1174.7,3330,2861,315,318,2583.1,16.7,324,23871,0.00,2.05,0.00,0.000,1030,0.000,0.045,3339,1498,316,314,318,0,0,0,0,0,0,26.46,26.39,26.48
$GC,24186,0.50,1174.7,3338,1498,314,318,2517.4,18.2,327,24191,0.00,2.05,0.00,0.000,260,0.000,0.047,3339,2874,316,315,318,0,0,0,0,0,0,26.67,26.37,26.70
$GC,24221,0.44,1174.7,3338,2873,315,318,2517.4,18.2,327,24226,0.12,2.08,0.00,0.000,5126,0.149,0.047,3293,1494,316,315,318,0,0,0,0,0,0,26.01,26.39,26.20
$GC,24550,0.44,1174.7,3292,1494,315,318,2465.9,15.0,330,24551,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1494,316,315,318,0,0,0,0,0,0,26.68,26.71,26.70
$GC,24911,0.48,1298.3,3292,1493,314,318,2419.5,13.0,333,24912,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1494,316,315,318,0,0,0,0,0,0,26.68,26.71,26.70
$GC,25270,0.52,1427.0,3292,1494,314,318,2373.4,12.9,336,25271,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1493,316,315,318,0,0,0,0,0,0,26.69,26.71,26.71
$GC,25632,0.61,1566.7,3292,1494,315,318,2328.3,12.6,339,25633,0.00,0.00,0.00,0.000,2054,0.000,0.000,3293,1494,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,25990,0.72,1732.9,3293,1494,315,318,2285.6,11.9,342,25996,0.10,1.90,0.00,0.000,2564,0.099,0.057,3395,197,316,315,318,0,0,0,0,0,0,26.48,26.29,26.48
$GC,26022,0.83,1899.1,3394,197,314,318,2285.6,11.9,342,26026,0.00,1.80,0.00,0.000,1030,0.000,0.042,3395,1519,316,315,318,0,0,0,0,0,0,26.51,26.48,26.52
$GC,26345,0.83,1899.1,3394,1529,315,318,2212.8,18.7,345,26346,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1529,316,315,318,0,0,0,0,0,0,26.69,26.72,26.71
$GC,26705,0.74,1899.1,3395,1529,315,318,2141.6,20.0,348,26706,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1529,316,315,318,0,0,0,0,0,0,26.69,26.72,26.71
$GC,27066,0.66,1899.1,3394,1529,315,318,2071.0,19.6,351,27071,0.00,1.95,0.00,0.000,516,0.000,0.057,3404,203,316,315,318,0,0,0,0,0,0,26.70,26.27,26.71
$GC,27102,0.59,1899.1,3404,203,315,318,2071.0,19.6,351,27107,0.20,1.77,0.00,0.000,5126,0.149,0.042,3340,1525,316,315,318,0,0,0,0,0,0,25.96,26.48,26.14
$GC,27422,0.59,1899.1,3339,1527,315,318,2019.1,15.6,354,27427,0.00,1.92,0.00,0.000,260,0.000,0.050,3339,2832,316,315,318,0,0,0,0,0,0,26.70,26.34,26.71
$GC,27457,0.59,1899.1,3339,2832,315,318,2019.1,15.6,354,27461,0.00,2.00,0.00,0.000,1030,0.000,0.045,3345,1501,316,315,318,0,0,0,0,0,0,26.39,26.36,26.41
$GC,27781,0.59,1899.1,3345,1500,315,318,1967.7,14.2,357,27782,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1501,316,315,318,0,0,0,0,0,0,26.70,26.72,26.71
$GC,28141,0.61,1981.5,3345,1501,315,319,1917.7,14.0,360,28142,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1501,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,28501,0.65,2091.5,3345,1501,315,317,1870.2,13.3,363,28506,0.00,1.92,0.00,0.000,516,0.000,0.060,3355,185,316,315,318,0,0,0,0,0,0,26.70,26.25,26.72
$GC,28538,0.68,2201.6,3355,185,315,318,1870.2,13.3,363,28542,0.00,1.77,0.00,0.000,1030,0.000,0.042,3355,1447,316,315,318,0,0,0,0,0,0,26.50,26.47,26.51
$GC,28861,0.71,2300.4,3355,1517,315,318,1821.0,13.6,366,28862,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1517,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,29221,0.74,2407.5,3355,1517,315,316,1773.1,13.4,369,29222,0.00,0.00,0.00,0.000,2054,0.000,0.000,3355,1517,316,315,318,0,0,0,0,0,0,26.71,26.72,26.72
$GC,29581,0.78,2530.6,3355,1517,315,318,1726.5,13.0,372,29586,0.00,1.95,0.00,0.000,2564,0.000,0.060,3364,200,316,315,318,0,0,0,0,0,0,26.71,26.24,26.72
$GC,29622,0.82,2653.7,3364,200,315,317,1726.5,13.0,372,29626,0.00,1.80,0.00,0.000,3078,0.000,0.042,3364,1507,316,315,318,0,0,0,0,0,0,26.47,26.45,26.48
$GC,29942,0.86,2790.0,3363,1510,315,318,1680.9,12.7,375,29944,0.05,0.00,0.00,0.000,2054,0.154,0.000,3420,1510,316,315,318,0,0,0,0,0,0,26.51,26.53,26.53
$GC,30301,0.86,2790.0,3420,1510,315,318,1620.2,16.0,378,30302,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1510,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,30661,0.86,2790.0,3420,1510,315,318,1560.5,16.6,381,30666,0.00,1.95,0.00,0.000,260,0.000,0.050,3420,2831,316,315,318,0,0,0,0,0,0,26.70,26.32,26.72
$GC,30702,0.86,2790.0,3420,2831,315,318,1560.5,16.6,381,30706,0.00,2.00,0.00,0.000,1030,0.000,0.045,3429,1499,316,315,318,0,0,0,0,0,0,26.36,26.34,26.38
$GC,31021,0.86,2790.0,3428,1499,315,318,1500.1,16.7,384,31022,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1499,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,31381,0.86,2790.0,3428,1500,315,318,1442.5,16.2,387,31387,0.00,1.98,0.00,0.000,260,0.000,0.047,3429,2834,316,314,318,0,0,0,0,0,0,26.70,26.32,26.72
$GC,31417,0.86,2790.0,3428,2834,315,318,1442.5,16.2,387,31421,0.00,2.00,0.00,0.000,1030,0.000,0.045,3437,1504,316,315,318,0,0,0,0,0,0,26.36,26.33,26.38
$GC,31741,0.86,2790.0,3436,1504,315,318,1384.3,16.1,390,31742,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1504,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,32101,0.86,2790.0,3436,1504,315,317,1327.3,15.9,393,32102,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1504,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,32461,0.86,2790.0,3436,1504,315,318,1271.6,15.5,396,32462,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1504,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,32821,0.86,2790.0,3436,1504,315,318,1216.4,15.4,399,32822,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1504,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,33181,0.86,2790.0,3436,1504,315,318,1162.6,15.0,402,33183,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1504,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
$GC,33541,0.86,2790.0,3436,1504,315,318,1109.7,14.8,405,33545,0.00,1.98,0.00,0.000,260,0.000,0.047,3437,2839,316,315,318,0,0,0,0,0,0,26.70,26.31,26.72
$GC,33575,0.86,2790.0,3436,2839,315,318,1109.7,14.8,405,33579,0.00,2.03,0.00,0.000,1030,0.000,0.045,3444,1495,316,315,318,0,0,0,0,0,0,26.34,26.32,26.37
$GC,33904,0.86,2790.0,3444,1496,315,318,1053.6,15.2,408,33905,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1496,316,315,318,0,0,0,0,0,0,26.70,26.72,26.71
$GC,34264,0.86,2790.0,3444,1496,315,318,999.3,15.2,411,34270,0.00,1.92,0.00,0.000,516,0.000,0.060,3453,184,316,315,318,0,0,0,0,0,0,26.70,26.19,26.72
$GC,34294,0.86,2790.0,3453,184,315,318,999.3,15.2,411,34300,0.00,1.83,0.00,0.000,1030,0.000,0.042,3454,1518,316,315,318,0,0,0,0,0,0,26.46,26.45,26.47
$GC,34624,0.86,2790.0,3453,1524,315,318,945.8,14.8,419,34625,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1524,316,315,318,0,0,0,0,0,0,26.70,26.72,26.72
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$STATE,41192,end climb,SURFACE_DEPTH_REACHED
$STATE,41192,begin surface coast
$FINISH,2.0,1.002569
$STATE,41213,end surface coast,CONTROL_FINISHED_OK
$STATE,41213,begin surface
$SM_CCo,41289,0.00,0.000,0,0,316,587.95
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$IRIDIUM_FIX,3815.45,-6855.38,280708,194312
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.49
$INTERNAL_PRESSURE,8.71199
$TCM_TEMP,15.60
$XPDR_PINGS,1
$24V_AH,19.91,59.084
$10V_AH,9.35,27.789
$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
$DEVICE_SECS,24.625,181.850,1107.725,0.000,273.925,26.510,45.740,212.231,0.250,0.000,50.748,2302.065,34085.410,1400.726,3785.661,133.841,0.000,2811.634,0.000,3396.158,0.000,1.010,0.000
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$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329492
$DATA_FILE_SIZE,40324,638
$CAP_FILE_SIZE,231041,0
$CFSIZE,1024409600,1001586688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,1882.97,0x235780,0,24
$CURRENT,0.043,238.43,1
$GPS,031015,062145,3845.823,-6902.658,30,1.4,70,-15.4,0.5,107.3,7,5.7