version: 66.12
glider: 36
mission: 20
dive: 88
start: 10 4 115 4 11 56
data:
$ID,36
$MISSION,20
$DIVE,88
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,3600
$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,2000
$T_MISSION,2060
$T_ABORT,2120
$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,150
$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,114
$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,500
$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
$GPS1,041015,040448,3901.9048,-6919.5806,26,1.6,69,-15.3,0.7,133.4,6,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-54.0
$GPS2,041015,041128,3901.9294,-6919.7363,23,1.3,63,-15.3,0.3,266.7,8,4.9
$SPEED_LIMITS,0.165,0.205
$TGT_NAME,9004
$TGT_LATLONG,3954.360,-6955.800
$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,13.3,109789,-12.4,-6.000,-16.34,3688
$D_GRID,3600
$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,14,begin dive
$GC,15,-0.65,-146.6,130,1698,310,317,0.0,0.0,0,123,0.00,0.00,-105.15,0.104,16386,0.000,0.000,130,1697,1728,1603,1854,0,0,0,0,2,0,26.51,28.83,25.35
$GC,125,-0.65,-146.6,130,1697,1603,1854,3.1,-1.8,10,217,11.10,2.05,-74.18,0.102,18692,0.241,0.050,2934,3059,2845,2668,3023,0,0,0,0,0,0,25.10,25.76,25.42
$GC,544,-0.43,-146.6,2933,3059,2669,3023,52.8,-10.2,44,554,0.25,2.03,0.00,0.000,3078,0.154,0.045,3012,1665,2845,2668,3023,0,0,0,0,0,0,25.65,26.29,25.75
$GC,853,-0.33,-146.6,3012,1665,2668,3023,76.2,-7.9,65,860,0.08,2.00,0.00,0.000,2308,0.196,0.047,3039,3057,2845,2668,3023,0,0,0,0,0,0,26.25,26.30,26.26
$GC,1179,-0.27,-146.6,3039,3056,2668,3023,101.8,-8.3,85,1186,0.00,1.90,0.00,0.000,1030,0.000,0.045,3039,1704,2846,2669,3023,0,0,0,0,0,0,26.46,26.43,26.47
$GC,1497,-0.22,-146.6,3039,1704,2668,3024,129.1,-9.0,106,1498,0.12,0.00,0.00,0.000,2054,0.159,0.000,3082,1704,2845,2668,3023,0,0,0,0,0,0,26.24,26.34,26.31
$GC,1796,-0.22,-146.6,3081,1704,2669,3023,153.0,-7.5,125,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1704,2845,2668,3023,0,0,0,0,0,0,26.75,26.77,26.77
$GC,2094,-0.22,-146.6,3081,1704,2668,3023,176.8,-8.3,135,2100,0.00,2.00,0.00,0.000,516,0.000,0.057,3082,320,2846,2668,3024,0,0,0,0,0,0,26.75,26.32,26.77
$GC,2137,-0.22,-146.6,3082,320,2668,3023,179.3,-8.3,136,2142,0.00,1.92,0.00,0.000,1030,0.000,0.042,3075,1707,2846,2669,3023,0,0,0,0,0,0,26.52,26.51,26.53
$GC,2458,-0.22,-146.6,3075,1708,2668,3023,207.7,-8.6,147,2463,0.00,1.95,0.00,0.000,260,0.000,0.052,3071,3054,2845,2668,3023,0,0,0,0,0,0,26.75,26.36,26.77
$GC,2526,-0.22,-146.6,3071,3054,2668,3023,213.0,-8.5,149,2530,0.00,1.98,0.00,0.000,1030,0.000,0.045,3071,1695,2845,2668,3023,0,0,0,0,0,0,26.47,26.45,26.48
$GC,2852,-0.22,-146.6,3070,1695,2667,3022,242.1,-8.7,160,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1695,2845,2669,3022,0,0,0,0,0,0,26.75,26.77,26.77
$GC,3150,-0.22,-146.6,3071,1695,2668,3020,269.3,-9.5,170,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1695,2844,2669,3020,0,0,0,0,0,0,26.74,26.77,26.77
$GC,3450,-0.22,-146.6,3071,1696,2668,3019,298.8,-10.2,180,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1696,2843,2668,3018,0,0,0,0,0,0,26.74,26.77,26.76
$GC,3750,-0.22,-146.6,3071,1695,2668,3016,329.0,-9.9,187,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1695,2842,2668,3016,0,0,0,0,0,0,26.74,26.77,26.77
$GC,4065,-0.22,-146.6,3071,1695,2668,3014,361.4,-10.4,194,4071,0.00,2.00,0.00,0.000,516,0.000,0.057,3071,323,2841,2667,3015,0,0,0,0,0,0,26.74,26.30,26.76
$GC,4110,-0.22,-146.6,3071,323,2668,3015,366.3,-10.6,195,4114,0.00,1.88,0.00,0.000,1030,0.000,0.042,3065,1701,2841,2668,3015,0,0,0,0,0,0,26.53,26.49,26.53
$GC,4427,-0.22,-146.6,3064,1702,2668,3012,400.3,-10.6,202,4433,0.00,1.98,0.00,0.000,260,0.000,0.052,3056,3067,2840,2668,3012,0,0,0,0,0,0,26.74,26.35,26.75
$GC,4500,-0.22,-146.6,3056,3067,2668,3011,405.1,-10.7,203,4504,0.00,2.00,0.00,0.000,1030,0.000,0.045,3056,1701,2839,2668,3011,0,0,0,0,0,0,26.45,26.44,26.46
$GC,4834,-0.22,-146.6,3056,1701,2669,3008,442.5,-10.1,211,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1701,2838,2669,3008,0,0,0,0,0,0,26.74,26.76,26.75
$GC,5149,-0.22,-146.6,3056,1701,2669,3007,473.1,-9.7,218,5155,0.00,2.00,0.00,0.000,516,0.000,0.057,3056,323,2837,2668,3007,0,0,0,0,0,0,26.74,26.29,26.75
$GC,5211,-0.22,-146.6,3056,323,2668,3007,477.9,-10.0,219,5216,0.00,1.92,0.00,0.000,1030,0.000,0.042,3051,1691,2837,2668,3007,0,0,0,0,0,0,26.49,26.48,26.50
$GC,5555,-0.22,-146.6,3051,1691,2668,3003,515.7,-10.3,227,5559,0.00,2.00,0.00,0.000,260,0.000,0.052,3042,3060,2835,2668,3003,0,0,0,0,0,0,26.74,26.34,26.75
$GC,5626,-0.22,-146.6,3042,3061,2669,3002,520.5,-10.2,228,5631,0.10,2.00,0.00,0.000,3078,0.129,0.045,3080,1692,2835,2668,3002,0,0,0,0,0,0,26.14,26.43,26.19
$GC,5968,-0.29,-146.6,3079,1692,2668,3001,551.7,-8.7,236,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1693,2835,2669,3001,0,0,0,0,0,0,26.71,26.73,26.72
$GC,6282,-0.36,-146.6,3079,1692,2669,2998,579.8,-9.0,243,6283,0.00,0.00,0.00,0.000,4102,0.000,0.000,3079,1693,2833,2668,2998,0,0,0,0,0,0,26.74,26.76,26.75
$GC,6596,-0.43,-146.6,3079,1693,2669,2995,607.1,-8.7,250,6602,0.08,1.98,0.00,0.000,4612,0.122,0.055,2994,330,2832,2669,2995,0,0,0,0,0,0,26.53,26.28,26.54
$GC,6646,-0.43,-146.6,2994,329,2668,2995,612.8,-9.4,251,6650,0.00,1.90,0.00,0.000,1030,0.000,0.042,2988,1700,2831,2668,2995,0,0,0,0,0,0,26.51,26.47,26.51
$GC,6955,-0.38,-146.6,2987,1701,2668,2992,655.9,-13.8,258,6961,0.10,1.98,0.00,0.000,2308,0.174,0.050,3020,3070,2830,2669,2992,0,0,0,0,0,0,26.20,26.28,26.23
$GC,7015,-0.38,-146.6,3019,3070,2668,2991,661.6,-13.6,259,7019,0.00,1.95,0.00,0.000,1030,0.000,0.045,3019,1708,2829,2669,2990,0,0,0,0,0,0,26.46,26.41,26.47
$GC,7358,-0.38,-146.6,3020,1708,2668,2989,704.1,-11.6,267,7364,0.00,2.05,0.00,0.000,516,0.000,0.057,3020,313,2829,2669,2989,0,0,0,0,0,0,26.69,26.27,26.70
$GC,7404,-0.38,-146.6,3020,313,2669,2989,709.8,-11.9,268,7410,0.00,1.98,0.00,0.000,1030,0.000,0.042,3012,1704,2829,2669,2989,0,0,0,0,0,0,26.47,26.46,26.48
$GC,7718,-0.38,-146.6,3012,1705,2669,2987,748.6,-12.2,275,7724,0.00,1.98,0.00,0.000,260,0.000,0.052,3003,3061,2827,2668,2986,0,0,0,0,0,0,26.72,26.33,26.74
$GC,7766,-0.38,-146.6,3003,3061,2669,2986,754.0,-12.2,276,7772,0.00,2.03,0.00,0.000,1030,0.000,0.045,3003,1692,2827,2668,2986,0,0,0,0,0,0,26.42,26.39,26.44
$GC,8083,-0.38,-146.6,3002,1692,2669,2984,792.3,-12.0,283,8089,0.00,2.03,0.00,0.000,516,0.000,0.057,3002,312,2826,2669,2984,0,0,0,0,0,0,26.70,26.26,26.72
$GC,8127,-0.38,-146.6,3002,312,2669,2984,798.5,-12.3,284,8133,0.00,1.92,0.00,0.000,1030,0.000,0.042,2996,1699,2826,2668,2984,0,0,0,0,0,0,26.48,26.45,26.49
$GC,8443,-0.38,-146.6,2996,1700,2668,2982,837.8,-12.4,291,8448,0.00,1.98,0.00,0.000,260,0.000,0.052,2987,3057,2825,2669,2982,0,0,0,0,0,0,26.72,26.32,26.74
$GC,8516,-0.38,-146.6,2987,3056,2669,2982,843.4,-12.5,292,8520,0.12,1.95,0.00,0.000,3078,0.149,0.045,3030,1697,2825,2669,2981,0,0,0,0,0,0,26.07,26.39,26.17
$GC,8851,-0.38,-146.6,3030,1697,2668,2981,881.9,-10.2,300,8857,0.00,2.03,0.00,0.000,516,0.000,0.060,3030,319,2825,2669,2981,0,0,0,0,0,0,26.69,26.25,26.70
$GC,8913,-0.38,-146.6,3030,318,2669,2981,886.8,-10.2,301,8918,0.00,1.98,0.00,0.000,1030,0.000,0.042,3026,1704,2825,2669,2981,0,0,0,0,0,0,26.46,26.45,26.47
$GC,9258,-0.38,-146.6,3026,1706,2669,2978,923.9,-10.2,309,9262,0.00,2.00,0.00,0.000,260,0.000,0.052,3017,3065,2823,2668,2978,0,0,0,0,0,0,26.68,26.30,26.70
$GC,9308,-0.38,-146.6,3016,3065,2669,2977,929.1,-10.2,310,9313,0.00,2.00,0.00,0.000,1030,0.000,0.045,3016,1706,2822,2669,2976,0,0,0,0,0,0,26.41,26.39,26.43
$GC,9624,-0.38,-146.6,3016,1706,2669,2976,962.1,-10.3,317,9628,0.00,2.08,0.00,0.000,516,0.000,0.057,3016,307,2822,2669,2976,0,0,0,0,0,0,26.68,26.25,26.70
$GC,9674,-0.38,-146.6,3016,306,2669,2976,967.5,-10.5,318,9679,0.00,2.00,0.00,0.000,1030,0.000,0.042,3009,1708,2822,2668,2977,0,0,0,0,0,0,26.45,26.44,26.48
$GC,9991,-0.38,-146.6,3009,1709,2668,2976,1001.2,-10.6,325,9995,0.00,2.00,0.00,0.000,260,0.000,0.050,3000,3068,2822,2669,2976,0,0,0,0,0,0,26.70,26.29,26.71
$GC,10055,-0.38,-146.6,2999,3068,2669,2975,1001.2,-10.6,325,10059,0.00,1.98,0.00,0.000,1030,0.000,0.045,3000,1700,2822,2669,2975,0,0,0,0,0,0,26.43,26.38,26.45
$GC,10475,-0.38,-146.6,2999,1699,2669,2973,1053.1,-10.7,329,10482,0.00,2.05,0.00,0.000,516,0.000,0.057,2999,318,2821,2669,2974,0,0,0,0,0,0,26.67,26.23,26.70
$GC,10541,-0.38,-146.6,2999,317,2668,2974,1053.1,-10.7,329,10547,0.10,1.98,0.00,0.000,3078,0.137,0.042,3028,1704,2821,2669,2974,0,0,0,0,0,0,26.09,26.44,26.14
$GC,10963,-0.44,-146.6,3028,1704,2668,2972,1100.1,-9.6,333,10969,0.00,2.00,0.00,0.000,260,0.000,0.050,3020,3065,2820,2669,2972,0,0,0,0,0,0,26.69,26.29,26.70
$GC,11034,-0.49,-146.6,3020,3065,2669,2971,1100.1,-9.6,333,11039,0.00,1.98,0.00,0.000,1030,0.000,0.045,3020,1698,2820,2669,2971,0,0,0,0,0,0,26.42,26.37,26.44
$GC,11450,-0.55,-146.6,3020,1698,2668,2972,1143.0,-8.8,337,11456,0.00,2.05,0.00,0.000,4612,0.000,0.057,3020,320,2820,2669,2971,0,0,0,0,0,0,26.70,26.22,26.72
$GC,11491,-0.61,-146.6,3020,320,2669,2971,1143.0,-8.8,337,11496,0.05,1.92,0.00,0.000,5126,0.156,0.042,2969,1696,2819,2668,2971,0,0,0,0,0,0,26.31,26.43,26.36
$GC,11811,-0.61,-146.6,2947,1708,2669,2971,1186.1,-11.1,340,11816,0.00,2.00,0.00,0.000,260,0.000,0.052,2944,3065,2820,2669,2971,0,0,0,0,0,0,26.68,26.28,26.70
$GC,11865,-0.61,-146.6,2944,3065,2668,2971,1186.1,-11.1,340,11870,0.00,2.03,0.00,0.000,1030,0.000,0.045,2944,1702,2820,2669,2971,0,0,0,0,0,0,26.39,26.36,26.40
$GC,12176,-0.61,-146.6,2943,1702,2669,2971,1232.9,-12.8,343,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1702,2819,2668,2971,0,0,0,0,0,0,26.68,26.70,26.70
$GC,12535,-0.61,-146.6,2944,1702,2669,2970,1279.4,-12.9,346,12541,0.00,2.08,0.00,0.000,516,0.000,0.057,2944,306,2819,2669,2970,0,0,0,0,0,0,26.67,26.21,26.69
$GC,12581,-0.61,-146.6,2944,306,2668,2970,1279.4,-12.9,346,12585,0.00,1.95,0.00,0.000,1030,0.000,0.042,2942,1693,2819,2668,2970,0,0,0,0,0,0,26.46,26.42,26.47
$GC,12901,-0.61,-146.6,2941,1693,2669,2969,1327.5,-13.1,349,12908,0.00,2.05,0.00,0.000,260,0.000,0.052,2931,3084,2818,2669,2968,0,0,0,0,0,0,26.67,26.27,26.70
$GC,12968,-0.61,-146.6,2931,3084,2669,2967,1327.5,-13.1,349,12972,0.00,2.05,0.00,0.000,1030,0.000,0.045,2931,1702,2818,2669,2967,0,0,0,0,0,0,26.37,26.36,26.39
$GC,13388,-0.61,-146.6,2931,1702,2668,2966,1390.0,-12.8,353,13395,0.00,2.08,0.00,0.000,516,0.000,0.057,2931,307,2817,2668,2967,0,0,0,0,0,0,26.67,26.20,26.70
$GC,13440,-0.61,-146.6,2931,308,2668,2967,1390.0,-12.8,353,13444,0.00,2.00,0.00,0.000,1030,0.000,0.042,2924,1721,2817,2668,2967,0,0,0,0,0,0,26.45,26.41,26.46
$GC,13756,-0.61,-146.6,2923,1722,2668,2967,1439.1,-13.3,356,13761,0.00,2.00,0.00,0.000,260,0.000,0.050,2912,3078,2817,2668,2967,0,0,0,0,0,0,26.69,26.26,26.70
$GC,13815,-0.61,-146.6,2914,3079,2668,2967,1439.1,-13.3,356,13820,0.12,2.05,0.00,0.000,3078,0.134,0.045,2957,1688,2817,2668,2967,0,0,0,0,0,0,25.97,26.35,26.03
$GC,14242,-0.61,-146.6,2957,1688,2668,2967,1493.3,-11.1,360,14247,0.00,2.03,0.00,0.000,516,0.000,0.057,2957,323,2817,2668,2967,0,0,0,0,0,0,26.68,26.19,26.70
$GC,14287,-0.61,-146.6,2956,323,2667,2967,1493.3,-11.1,360,14291,0.00,1.98,0.00,0.000,1030,0.000,0.042,2952,1705,2817,2667,2967,0,0,0,0,0,0,26.43,26.41,26.44
$GC,14607,-0.61,-146.6,2952,1706,2667,2967,1531.5,-10.5,363,14613,0.00,2.00,0.00,0.000,260,0.000,0.052,2947,3062,2817,2667,2967,0,0,0,0,0,0,26.67,26.25,26.69
$GC,14667,-0.61,-146.6,2947,3062,2667,2966,1531.5,-10.5,363,14672,0.00,2.00,0.00,0.000,1030,0.000,0.045,2946,1708,2816,2667,2966,0,0,0,0,0,0,26.37,26.35,26.39
$GC,15094,-0.61,-146.6,2947,1708,2667,2966,1583.3,-10.7,367,15099,0.00,2.08,0.00,0.000,516,0.000,0.057,2947,314,2816,2667,2966,0,0,0,0,0,0,26.69,26.17,26.70
$GC,15134,-0.61,-146.6,2947,314,2666,2966,1583.3,-10.7,367,15138,0.00,1.98,0.00,0.000,1030,0.000,0.042,2947,1695,2816,2666,2966,0,0,0,0,0,0,26.43,26.41,26.44
$GC,15460,-0.61,-146.6,2946,1695,2666,2966,1626.1,-11.5,370,15464,0.00,2.03,0.00,0.000,260,0.000,0.052,2943,3067,2816,2666,2966,0,0,0,0,0,0,26.68,26.25,26.70
$GC,15519,-0.61,-146.6,2943,3067,2666,2965,1626.1,-11.5,370,15523,0.00,1.98,0.00,0.000,1030,0.000,0.045,2943,1698,2815,2666,2965,0,0,0,0,0,0,26.39,26.34,26.41
$GC,15946,-0.61,-146.6,2943,1698,2666,2965,1682.0,-11.5,374,15947,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1699,2815,2666,2965,0,0,0,0,0,0,26.68,26.71,26.70
$GC,16305,-0.61,-146.6,2943,1698,2666,2965,1720.8,-11.0,377,16310,0.00,2.05,0.00,0.000,516,0.000,0.057,2943,320,2815,2666,2965,0,0,0,0,0,0,26.70,26.17,26.70
$GC,16360,-0.61,-146.6,2943,320,2664,2965,1720.8,-11.0,377,16364,0.00,1.98,0.00,0.000,1030,0.000,0.042,2942,1704,2815,2665,2965,0,0,0,0,0,0,26.43,26.41,26.44
$GC,16670,-0.61,-146.6,2942,1704,2665,2965,1757.8,-10.2,380,16676,0.00,1.98,0.00,0.000,260,0.000,0.052,2937,3058,2815,2665,2965,0,0,0,0,0,0,26.67,26.24,26.69
$GC,16730,-0.61,-146.6,2937,3058,2665,2965,1757.8,-10.2,380,16735,0.00,2.03,0.00,0.000,1030,0.000,0.045,2937,1694,2815,2665,2965,0,0,0,0,0,0,26.36,26.34,26.38
$GC,17152,-0.61,-146.6,2937,1694,2665,2964,1805.0,-9.8,384,17153,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1694,2815,2665,2965,0,0,0,0,0,0,26.68,26.71,26.70
$GC,17512,-0.61,-146.6,2937,1694,2664,2964,1840.3,-9.8,387,17516,0.00,2.05,0.00,0.000,516,0.000,0.057,2937,318,2814,2665,2964,0,0,0,0,0,0,26.68,26.15,26.70
$GC,17566,-0.61,-146.6,2937,318,2663,2964,1840.3,-9.8,387,17570,0.00,1.98,0.00,0.000,1030,0.000,0.042,2931,1695,2813,2663,2964,0,0,0,0,0,0,26.43,26.41,26.44
$GC,17876,-0.61,-146.6,2930,1696,2663,2964,1878.3,-10.3,390,17882,0.00,2.00,0.00,0.000,260,0.000,0.050,2922,3063,2816,2663,2969,0,0,0,0,0,0,26.67,26.22,26.69
$GC,17946,-0.61,-146.6,2921,3063,2663,2964,1878.3,-10.3,390,17952,0.10,2.03,0.00,0.000,3078,0.132,0.045,2957,1697,2814,2664,2964,0,0,0,0,0,0,26.01,26.32,26.06
$GC,18359,-0.67,-146.6,2957,1696,2663,2964,1921.5,-8.9,394,18365,0.00,2.05,0.00,0.000,516,0.000,0.057,2957,320,2813,2663,2964,0,0,0,0,0,0,26.68,26.14,26.70
$GC,18415,-0.72,-146.6,2957,320,2663,2964,1921.5,-8.9,394,18419,0.00,1.92,0.00,0.000,5126,0.000,0.042,2953,1701,2813,2663,2964,0,0,0,0,0,0,26.45,26.41,26.46
$GC,18726,-0.79,-146.6,2953,1703,2663,2964,1954.0,-8.7,397,18732,0.05,1.98,0.00,0.000,4356,0.159,0.047,2883,3063,2813,2662,2964,0,0,0,0,0,0,26.48,26.22,26.50
$GC,18787,-0.86,-146.6,2882,3063,2663,2963,1954.0,-8.7,397,18791,0.00,1.98,0.00,0.000,1030,0.000,0.045,2883,1698,2813,2663,2964,0,0,0,0,0,0,26.37,26.32,26.39
$GC,19209,-0.86,-146.6,2882,1698,2663,2963,2008.7,-11.4,401,19210,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1698,2813,2663,2963,0,0,0,0,0,0,26.68,26.71,26.70
$GC,19568,-0.86,-146.6,2882,1698,2663,2963,2048.5,-11.1,404,19573,0.00,2.05,0.00,0.000,516,0.000,0.057,2883,319,2814,2665,2963,0,0,0,0,0,0,26.67,26.13,26.70
$GC,19614,-0.86,-146.6,2882,320,2661,2963,2048.5,-11.1,404,19617,0.00,1.92,0.00,0.000,1030,0.000,0.042,2875,1693,2813,2662,2964,0,0,0,0,0,0,26.44,26.40,26.45
$GC,19934,-0.86,-146.6,2875,1699,2662,2963,2089.9,-11.2,407,19938,0.00,2.03,0.00,0.000,260,0.000,0.050,2865,3073,2812,2662,2963,0,0,0,0,0,0,26.66,26.22,26.68
$GC,20004,-0.86,-146.6,2865,3073,2662,2963,2089.9,-11.2,407,20008,0.00,2.00,0.00,0.000,1030,0.000,0.045,2865,1692,2812,2662,2963,0,0,0,0,0,0,26.36,26.31,26.38
$GC,20419,-0.86,-146.6,2864,1692,2662,2963,2147.0,-11.8,411,20420,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1692,2812,2662,2963,0,0,0,0,0,0,26.66,26.69,26.68
$GC,20778,-0.86,-146.6,2865,1692,2662,2963,2189.0,-11.7,414,20779,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1693,2812,2662,2963,0,0,0,0,0,0,26.65,26.68,26.67
$GC,21138,-0.86,-146.6,2865,1692,2662,2963,2228.8,-11.1,417,21139,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1692,2812,2662,2963,0,0,0,0,0,0,26.65,26.68,26.67
$GC,21498,-0.86,-146.6,2865,1692,2662,2963,2267.4,-10.8,420,21503,0.00,2.05,0.00,0.000,516,0.000,0.057,2865,319,2812,2662,2963,0,0,0,0,0,0,26.66,26.11,26.67
$GC,21542,-0.86,-146.6,2865,317,2661,2963,2267.4,-10.8,420,21547,0.00,2.00,0.00,0.000,1030,0.000,0.040,2857,1709,2812,2661,2963,0,0,0,0,0,0,26.41,26.39,26.41
$GC,21863,-0.86,-146.6,2857,1713,2661,2963,2308.8,-11.2,423,21868,0.00,2.00,0.00,0.000,260,0.000,0.050,2848,3066,2812,2661,2963,0,0,0,0,0,0,26.66,26.20,26.67
$GC,21928,-0.86,-146.6,2848,3066,2661,2963,2308.8,-11.2,423,21932,0.00,2.03,0.00,0.000,1030,0.000,0.045,2848,1680,2812,2661,2963,0,0,0,0,0,0,26.35,26.29,26.36
$GC,22348,-0.86,-146.6,2847,1679,2661,2963,2364.2,-11.4,427,22349,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1679,2812,2661,2963,0,0,0,0,0,0,26.65,26.68,26.67
$GC,22708,-0.86,-146.6,2847,1679,2661,2963,2404.7,-11.3,430,22709,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1679,2812,2661,2963,0,0,0,0,0,0,26.65,26.67,26.67
$GC,23068,-0.86,-146.6,2847,1679,2661,2963,2444.3,-11.0,433,23073,0.00,2.05,0.00,0.000,516,0.000,0.057,2848,304,2812,2661,2963,0,0,0,0,0,0,26.66,26.10,26.68
$GC,23114,-0.86,-146.6,2847,304,2660,2963,2444.3,-11.0,433,23119,0.12,1.98,0.00,0.000,3078,0.156,0.042,2882,1720,2811,2660,2963,0,0,0,0,0,0,25.94,26.37,26.03
$GC,23431,-0.86,-146.6,2881,1722,2660,2963,2478.8,-9.9,436,23436,0.00,1.98,0.00,0.000,260,0.000,0.050,2873,3075,2810,2660,2961,0,0,0,0,0,0,26.67,26.19,26.68
$GC,23490,-0.86,-146.6,2873,3075,2659,2963,2478.8,-9.9,436,23495,0.00,2.05,0.00,0.000,1030,0.000,0.045,2874,1698,2811,2660,2963,0,0,0,0,0,0,26.32,26.29,26.33
$GC,23912,-0.86,-146.6,2873,1698,2660,2963,2525.3,-9.7,440,23918,0.00,2.08,0.00,0.000,516,0.000,0.057,2877,307,2811,2660,2963,0,0,0,0,0,0,26.66,26.09,26.68
$GC,23954,-0.86,-146.6,2873,308,2660,2963,2525.3,-9.7,440,23957,0.00,1.95,0.00,0.000,1030,0.000,0.042,2869,1700,2811,2660,2963,0,0,0,0,0,0,26.41,26.37,26.43
$GC,24279,-0.86,-146.6,2868,1700,2660,2963,2561.1,-9.8,443,24286,0.00,2.03,0.00,0.000,260,0.000,0.050,2858,3071,2811,2660,2963,0,0,0,0,0,0,26.66,26.19,26.67
$GC,24365,-0.86,-146.6,2858,3071,2660,2963,2561.1,-9.8,443,24370,0.00,2.05,0.00,0.000,1030,0.000,0.045,2858,1692,2811,2660,2963,0,0,0,0,0,0,26.31,26.29,26.33
$GC,24765,-0.86,-146.6,2858,1692,2660,2963,2610.7,-10.2,447,24772,0.00,2.05,0.00,0.000,516,0.000,0.057,2858,316,2811,2660,2963,0,0,0,0,0,0,26.65,26.08,26.67
$GC,24818,-0.86,-146.6,2858,316,2660,2963,2610.7,-10.2,447,24822,0.00,1.95,0.00,0.000,1030,0.000,0.042,2854,1713,2811,2660,2963,0,0,0,0,0,0,26.41,26.37,26.41
$GC,25133,-0.86,-146.6,2854,1714,2660,2963,2650.2,-10.7,450,25139,0.00,2.00,0.00,0.000,260,0.000,0.050,2845,3066,2811,2660,2963,0,0,0,0,0,0,26.67,26.17,26.68
$GC,25199,-0.86,-146.6,2844,3066,2660,2963,2650.2,-10.7,450,25202,0.00,2.00,0.00,0.000,1030,0.000,0.045,2845,1690,2811,2660,2963,0,0,0,0,0,0,26.33,26.28,26.34
$GC,25620,-0.86,-146.6,2845,1689,2660,2963,2700.7,-10.4,454,25625,0.00,2.05,0.00,0.000,516,0.000,0.057,2845,316,2811,2660,2963,0,0,0,0,0,0,26.67,26.07,26.68
$GC,25680,-0.86,-146.6,2844,316,2660,2963,2700.7,-10.4,454,25684,0.10,1.98,0.00,0.000,3078,0.142,0.042,2874,1703,2811,2660,2963,0,0,0,0,0,0,25.97,26.36,26.01
$GC,26106,-0.86,-146.6,2874,1703,2660,2963,2743.8,-8.8,458,26111,0.00,2.00,0.00,0.000,260,0.000,0.050,2866,3067,2811,2660,2963,0,0,0,0,0,0,26.66,26.16,26.68
$GC,26177,-0.86,-146.6,2865,3067,2660,2962,2743.8,-8.8,458,26181,0.00,2.00,0.00,0.000,1030,0.000,0.045,2866,1706,2811,2660,2962,0,0,0,0,0,0,26.33,26.28,26.34
$GC,26587,-0.86,-146.6,2865,1694,2660,2962,2781.7,-7.9,462,26593,0.00,2.08,0.00,0.000,516,0.000,0.057,2865,298,2811,2660,2962,0,0,0,0,0,0,26.66,26.06,26.67
$GC,26637,-0.86,-146.6,2865,297,2659,2962,2781.7,-7.9,462,26642,0.00,2.03,0.00,0.000,1030,0.000,0.042,2859,1699,2810,2659,2962,0,0,0,0,0,0,26.41,26.37,26.39
$GC,26946,-0.86,-146.6,2858,1700,2659,2962,2809.3,-7.7,465,26947,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1699,2810,2659,2962,0,0,0,0,0,0,26.70,26.72,26.72
$GC,27306,-0.86,-146.6,2858,1699,2659,2962,2835.3,-7.3,468,27307,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1699,2811,2659,2963,0,0,0,0,0,0,26.70,26.72,26.72
$GC,27667,-0.86,-146.6,2858,1699,2659,2962,2861.7,-7.2,471,27668,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1699,2810,2659,2962,0,0,0,0,0,0,26.70,26.72,26.71
$GC,28026,-0.86,-146.6,2858,1699,2659,2962,2892.2,-8.3,474,28027,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1699,2810,2659,2962,0,0,0,0,0,0,26.70,26.72,26.72
$GC,28387,-0.91,-146.6,2858,1699,2659,2962,2921.7,-8.3,477,28388,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1699,2810,2659,2962,0,0,0,0,0,0,26.70,26.72,26.72
$GC,28747,-0.97,-146.6,2858,1699,2659,2962,2951.3,-8.2,480,28748,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1699,2810,2659,2962,0,0,0,0,0,0,26.70,26.72,26.72
$GC,29107,-1.02,-146.6,2858,1699,2659,2962,2980.9,-8.2,483,29108,0.00,0.00,0.00,0.000,4102,0.000,0.000,2859,1699,2810,2659,2962,0,0,0,0,0,0,26.71,26.72,26.72
$STATE,29227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,29227,begin apogee
$GC,29231,-0.24,0.0,2858,1493,2659,2962,2990.5,-8.2,484,29363,0.62,0.00,129.27,2.821,10246,0.107,0.000,3079,1493,2340,2212,2468,0,0,0,0,0,0,25.66,22.10,19.61
$STATE,29364,end apogee,CONTROL_FINISHED_OK
$STATE,29364,begin climb
$GC,29366,0.65,146.6,3078,1493,2212,2468,2995.2,0.0,485,29508,0.82,2.45,133.25,2.798,10500,0.072,0.062,3385,2870,1834,1696,1973,0,0,0,0,0,0,23.00,22.11,19.51
$GC,29802,0.65,146.6,3385,2870,1696,1969,2987.8,5.3,488,29807,0.12,2.12,0.00,0.000,5126,0.179,0.045,3359,1509,1833,1696,1970,0,0,0,0,0,0,25.20,25.58,25.30
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$GC,71474,0.86,403.1,3403,1507,921,952,300.3,6.2,985,71475,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1508,936,921,952,0,0,0,0,0,0,26.71,26.73,26.73
$GC,71790,0.93,403.1,3403,1507,921,952,282.1,5.6,995,71791,0.00,0.00,0.00,0.000,2054,0.000,0.000,3403,1507,936,920,952,0,0,0,0,0,0,26.72,26.74,26.74
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$GC,72141,1.00,403.1,3482,203,921,952,265.2,5.0,1006,72150,0.00,1.75,0.00,0.000,1030,0.000,0.042,3483,1500,936,921,952,0,0,0,0,0,0,26.42,26.41,26.43
$GC,72450,1.00,403.1,3482,1503,921,952,236.0,9.0,1017,72451,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,1503,936,921,952,0,0,0,0,0,0,26.71,26.74,26.73
$GC,72751,1.00,403.1,3482,1503,921,952,207.9,9.6,1027,72757,0.00,1.92,0.00,0.000,516,0.000,0.057,3490,193,936,921,952,0,0,0,0,0,0,26.72,26.11,26.74
$GC,72788,1.00,403.1,3490,193,921,952,204.8,9.9,1028,72792,0.00,1.77,0.00,0.000,1030,0.000,0.042,3490,1504,936,921,952,0,0,0,0,0,0,26.44,26.42,26.44
$GC,73112,0.95,403.1,3490,1509,921,952,170.7,10.4,1039,73114,0.12,0.00,0.00,0.000,4102,0.149,0.000,3448,1510,936,921,952,0,0,0,0,0,0,26.22,26.29,26.27
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$GC,74788,1.04,554.3,3471,1519,921,952,35.5,1.8,1143,74943,0.00,2.15,146.93,0.988,8708,0.000,0.062,3472,193,429,413,445,0,0,0,0,0,0,26.73,24.49,23.43
$STATE,75111,end climb,SURFACE_DEPTH_REACHED
$STATE,75111,begin surface coast
$FINISH,1.5,1.024119
$STATE,75135,end surface coast,CONTROL_FINISHED_OK
$STATE,75136,begin surface
$SM_CCo,75213,0.00,0.000,0,0,421,557.45
$SM_GC,2.51,8.52,2.10,0.00,0.052,0.040,0.000,185,1685,421,-9.16,-4.41,557.45,0,0,0,0,0,0,25.89,26.01,25.93
$IRIDIUM_FIX,3837.48,-6912.06,300708,070103
$TT8_MAMPS,0.023219,0.023219
$HUMID,42.51
$INTERNAL_PRESSURE,8.76082
$TCM_TEMP,17.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,2791.2,225.5
$24V_AH,19.51,61.438
$10V_AH,9.06,28.202
$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,24.475,386.725,720.225,0.000,179.325,23.931,29.437,192.743,59.000,0.000,63.962,4557.584,62190.609,930.859,7670.203,267.237,0.000,3852.299,0.000,7029.250,0.000,425.347,0.000
$DEVICE_MAMPS,240.851,74.490,2820.688,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.566,3828.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329912
$DATA_FILE_SIZE,73676,1175
$CAP_FILE_SIZE,468258,0
$CFSIZE,1024409600,1001013248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.124,223.28,1
$GPS,051015,010715,3909.177,-6923.199,29,1.2,69,-15.3,0.5,222.3,8,4.7