version: 66.12
glider: 36
mission: 20
dive: 90
start: 10 5 115 20 17 3
data:
$ID,36
$MISSION,20
$DIVE,90
$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,61
$R_STBD_OVSHOOT,160
$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
$GPS1,051015,200419,3917.0393,-6924.2090,36,2.3,81,-15.4,0.9,271.2,6,8.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-60.8
$GPS2,051015,201635,3917.0696,-6924.2671,12,2.3,53,-15.4,1.0,120.0,6,8.9
$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,16.7,82319,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,125,-0.65,-146.6,129,1721,2171,2503,3.5,-2.6,10,168,11.27,1.98,-24.62,0.107,18692,0.246,0.050,2931,3021,2846,2724,2969,0,0,0,0,0,0,25.06,25.75,25.40
$GC,498,-0.48,-146.6,2931,3021,2724,2969,53.3,-10.2,39,505,0.20,1.90,0.00,0.000,3078,0.149,0.047,2994,1666,2847,2725,2969,0,0,0,0,0,0,25.72,26.32,25.79
$GC,814,-0.39,-146.6,2994,1666,2725,2969,76.1,-6.7,60,819,0.00,1.95,0.00,0.000,260,0.000,0.050,2987,3021,2847,2725,2969,0,0,0,0,0,0,26.73,26.32,26.74
$GC,1141,-0.31,-146.6,2987,3020,2725,2968,102.9,-9.4,80,1147,0.17,1.88,0.00,0.000,3078,0.151,0.047,3050,1696,2847,2725,2969,0,0,0,0,0,0,25.93,26.43,26.00
$GC,1456,-0.31,-146.6,3050,1696,2725,2968,126.1,-7.8,101,1461,0.00,1.92,0.00,0.000,260,0.000,0.050,3043,3021,2847,2725,2969,0,0,0,0,0,0,26.77,26.35,26.78
$GC,1502,-0.31,-146.6,3043,3021,2725,2969,130.2,-8.2,104,1508,0.00,1.85,0.00,0.000,1030,0.000,0.047,3043,1703,2847,2725,2969,0,0,0,0,0,0,26.48,26.44,26.50
$GC,1817,-0.31,-146.6,3043,1703,2725,2969,158.6,-9.1,122,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1703,2847,2725,2969,0,0,0,0,0,0,26.77,26.79,26.78
$GC,2117,-0.31,-146.6,3043,1703,2725,2969,186.4,-9.3,132,2122,0.00,2.03,0.00,0.000,516,0.000,0.057,3043,314,2847,2725,2969,0,0,0,0,0,0,26.77,26.29,26.78
$GC,2195,-0.31,-146.6,3043,314,2725,2969,193.0,-9.6,134,2199,0.00,1.83,0.00,0.000,1030,0.000,0.042,3036,1677,2846,2725,2968,0,0,0,0,0,0,26.55,26.52,26.56
$GC,2508,-0.31,-146.6,3035,1678,2725,2969,224.4,-9.2,145,2514,0.00,1.98,0.00,0.000,260,0.000,0.052,3028,3053,2847,2725,2969,0,0,0,0,0,0,26.77,26.34,26.78
$GC,2608,-0.31,-146.6,3027,3053,2725,2968,233.2,-9.3,148,2613,0.00,1.95,0.00,0.000,1030,0.000,0.045,3028,1705,2846,2724,2968,0,0,0,0,0,0,26.46,26.44,26.48
$GC,2933,-0.31,-146.6,3027,1705,2725,2969,264.7,-9.5,159,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1705,2847,2725,2969,0,0,0,0,0,0,26.76,26.79,26.78
$GC,3232,-0.31,-146.6,3027,1705,2725,2968,292.1,-9.2,169,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1705,2847,2725,2969,0,0,0,0,0,0,26.76,26.78,26.77
$GC,3547,-0.31,-146.6,3027,1705,2725,2969,323.8,-10.3,177,3554,0.00,2.00,0.00,0.000,516,0.000,0.057,3027,326,2846,2725,2968,0,0,0,0,0,0,26.76,26.28,26.77
$GC,3625,-0.31,-146.6,3027,326,2725,2968,328.6,-10.4,178,3629,0.00,1.90,0.00,0.000,1030,0.000,0.042,3019,1691,2846,2724,2968,0,0,0,0,0,0,26.51,26.49,26.51
$GC,3954,-0.31,-146.6,3019,1691,2724,2968,368.1,-10.9,186,3958,0.00,2.00,0.00,0.000,260,0.000,0.052,3010,3052,2846,2724,2968,0,0,0,0,0,0,26.75,26.33,26.77
$GC,4061,-0.31,-146.6,3009,3052,2725,2965,378.7,-11.0,188,4066,0.12,1.92,0.00,0.000,3078,0.146,0.045,3054,1697,2845,2725,2965,0,0,0,0,0,0,26.11,26.42,26.20
$GC,4405,-0.31,-146.6,3054,1697,2724,2964,412.2,-9.2,196,4411,0.00,2.00,0.00,0.000,516,0.000,0.057,3053,322,2844,2724,2964,0,0,0,0,0,0,26.75,26.27,26.77
$GC,4467,-0.31,-146.6,3054,322,2724,2964,416.7,-9.3,197,4471,0.00,1.92,0.00,0.000,1030,0.000,0.042,3051,1695,2844,2724,2964,0,0,0,0,0,0,26.48,26.48,26.50
$GC,4811,-0.31,-146.6,3051,1696,2724,2961,450.6,-9.2,205,4817,0.00,2.00,0.00,0.000,260,0.000,0.052,3043,3059,2842,2724,2961,0,0,0,0,0,0,26.75,26.32,26.77
$GC,4893,-0.31,-146.6,3042,3059,2724,2961,454.7,-9.2,206,4902,0.00,1.98,0.00,0.000,1030,0.000,0.045,3042,1706,2842,2724,2961,0,0,0,0,0,0,26.43,26.41,26.44
$GC,5217,-0.31,-146.6,3042,1706,2724,2960,489.5,-9.7,214,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1706,2842,2724,2960,0,0,0,0,0,0,26.74,26.77,26.77
$GC,5532,-0.31,-146.6,3042,1706,2724,2957,519.9,-9.7,221,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1706,2840,2724,2957,0,0,0,0,0,0,26.74,26.77,26.76
$GC,5849,-0.31,-146.6,3042,1706,2724,2955,550.7,-9.7,228,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1706,2839,2724,2955,0,0,0,0,0,0,26.70,26.73,26.72
$GC,6164,-0.31,-146.6,3042,1706,2724,2953,580.0,-9.0,235,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1706,2838,2723,2954,0,0,0,0,0,0,26.71,26.74,26.73
$GC,6477,-0.37,-146.6,3042,1706,2720,2953,607.5,-8.7,242,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1706,2837,2720,2954,0,0,0,0,0,0,26.74,26.77,26.75
$GC,6792,-0.42,-146.6,3042,1706,2718,2953,634.6,-8.6,249,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1706,2835,2717,2953,0,0,0,0,0,0,26.74,26.76,26.75
$GC,7109,-0.48,-146.6,3042,1706,2716,2953,661.3,-8.5,256,7113,0.00,2.08,0.00,0.000,4612,0.000,0.057,3042,319,2834,2716,2953,0,0,0,0,0,0,26.72,26.23,26.72
$GC,7158,-0.54,-146.6,3042,312,2715,2953,665.8,-8.8,257,7164,0.05,1.92,0.00,0.000,5126,0.097,0.045,2959,1725,2834,2715,2953,0,0,0,0,0,0,26.29,26.44,26.32
$GC,7474,-0.54,-146.6,2959,1727,2715,2952,707.9,-13.5,264,7479,0.00,1.95,0.00,0.000,260,0.000,0.052,2950,3053,2833,2715,2952,0,0,0,0,0,0,26.73,26.29,26.75
$GC,7531,-0.54,-146.6,2950,3053,2715,2951,714.0,-13.5,265,7535,0.00,1.95,0.00,0.000,1030,0.000,0.045,2950,1701,2833,2715,2951,0,0,0,0,0,0,26.44,26.39,26.45
$GC,7881,-0.54,-146.6,2949,1700,2712,2950,765.3,-14.4,273,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1700,2832,2713,2951,0,0,0,0,0,0,26.70,26.72,26.71
$GC,8196,-0.54,-146.6,2949,1700,2711,2949,811.1,-14.7,280,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1700,2830,2711,2950,0,0,0,0,0,0,26.69,26.72,26.71
$GC,8510,-0.54,-146.6,2949,1700,2710,2949,858.0,-14.8,287,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1700,2829,2710,2949,0,0,0,0,0,0,26.73,26.75,26.74
$GC,8826,-0.54,-146.6,2949,1700,2710,2947,903.7,-14.4,294,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1700,2829,2710,2948,0,0,0,0,0,0,26.68,26.71,26.70
$GC,9140,-0.54,-146.6,2950,1700,2709,2947,948.1,-14.0,301,9145,0.00,2.00,0.00,0.000,260,0.000,0.052,2947,3045,2828,2709,2947,0,0,0,0,0,0,26.72,26.27,26.74
$GC,9186,-0.54,-146.6,2946,3045,2709,2946,954.3,-14.0,302,9190,0.10,1.95,0.00,0.000,3078,0.156,0.047,2980,1697,2827,2709,2946,0,0,0,0,0,0,26.08,26.36,26.16
$GC,9505,-0.54,-146.6,2978,1695,2708,2945,995.1,-12.7,309,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1697,2826,2708,2945,0,0,0,0,0,0,26.69,26.71,26.71
$GC,9912,-0.54,-146.6,2980,1696,2708,2944,1045.8,-12.5,313,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1697,2826,2708,2944,0,0,0,0,0,0,26.70,26.72,26.72
$GC,10272,-0.54,-146.6,2980,1697,2707,2943,1089.5,-12.2,316,10277,0.00,2.05,0.00,0.000,516,0.000,0.057,2980,316,2825,2707,2943,0,0,0,0,0,0,26.70,26.18,26.72
$GC,10316,-0.54,-146.6,2980,316,2704,2943,1089.5,-12.2,316,10320,0.00,1.95,0.00,0.000,1030,0.000,0.042,2976,1686,2824,2705,2943,0,0,0,0,0,0,26.43,26.42,26.44
$GC,10637,-0.54,-146.6,2978,1687,2705,2943,1134.4,-12.1,319,10641,0.00,2.03,0.00,0.000,260,0.000,0.052,2966,3062,2824,2705,2943,0,0,0,0,0,0,26.68,26.25,26.72
$GC,10716,-0.54,-146.6,2966,3062,2705,2942,1134.4,-12.1,319,10720,0.00,2.00,0.00,0.000,1030,0.000,0.045,2966,1707,2823,2705,2942,0,0,0,0,0,0,26.37,26.36,26.39
$GC,11121,-0.54,-146.6,2966,1707,2705,2941,1194.1,-12.3,323,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1707,2823,2705,2941,0,0,0,0,0,0,26.67,26.70,26.70
$GC,11482,-0.54,-146.6,2965,1707,2704,2941,1238.3,-12.2,326,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1707,2822,2704,2941,0,0,0,0,0,0,26.68,26.71,26.70
$GC,11841,-0.54,-146.6,2966,1707,2704,2940,1282.4,-12.3,329,11847,0.00,2.08,0.00,0.000,516,0.000,0.057,2967,312,2823,2703,2944,0,0,0,0,0,0,26.67,26.17,26.69
$GC,11896,-0.54,-146.6,2966,312,2702,2940,1282.4,-12.3,329,11900,0.00,1.98,0.00,0.000,1030,0.000,0.042,2960,1699,2821,2702,2940,0,0,0,0,0,0,26.41,26.40,26.43
$GC,12206,-0.54,-146.6,2960,1699,2702,2940,1328.1,-12.5,332,12211,0.00,2.00,0.00,0.000,260,0.000,0.052,2952,3063,2821,2702,2940,0,0,0,0,0,0,26.67,26.22,26.69
$GC,12291,-0.54,-146.6,2951,3059,2702,2939,1328.1,-12.5,332,12295,0.00,2.03,0.00,0.000,1030,0.000,0.045,2952,1693,2820,2702,2939,0,0,0,0,0,0,26.36,26.34,26.38
$GC,12691,-0.54,-146.6,2951,1692,2702,2938,1387.7,-12.3,336,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1692,2820,2702,2939,0,0,0,0,0,0,26.68,26.70,26.70
$GC,13051,-0.54,-146.6,2951,1693,2701,2938,1429.4,-11.7,339,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1693,2819,2701,2938,0,0,0,0,0,0,26.67,26.70,26.69
$GC,13411,-0.54,-146.6,2951,1693,2700,2935,1468.8,-11.1,342,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1692,2819,2701,2937,0,0,0,0,0,0,26.67,26.70,26.69
$GC,13771,-0.54,-146.6,2951,1693,2700,2936,1507.8,-10.9,345,13772,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1693,2818,2699,2937,0,0,0,0,0,0,26.67,26.70,26.69
$GC,14131,-0.54,-146.6,2951,1692,2700,2936,1543.9,-10.2,348,14136,0.00,2.08,0.00,0.000,260,0.000,0.052,2949,3060,2818,2700,2936,0,0,0,0,0,0,26.67,26.20,26.70
$GC,14186,-0.54,-146.6,2949,3061,2700,2936,1543.9,-10.2,348,14190,0.00,1.98,0.00,0.000,1030,0.000,0.045,2949,1698,2818,2700,2936,0,0,0,0,0,0,26.37,26.32,26.39
$GC,14496,-0.54,-146.6,2949,1697,2700,2936,1577.7,-9.4,351,14497,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1697,2817,2700,2935,0,0,0,0,0,0,26.67,26.69,26.69
$GC,14855,-0.54,-146.6,2949,1697,2700,2936,1610.5,-9.1,354,14857,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1697,2817,2699,2935,0,0,0,0,0,0,26.66,26.69,26.69
$GC,15216,-0.59,-146.6,2949,1697,2699,2936,1643.5,-9.2,357,15221,0.00,2.08,0.00,0.000,516,0.000,0.057,2949,308,2820,2704,2936,0,0,0,0,0,0,26.67,26.11,26.70
$GC,15257,-0.64,-146.6,2948,307,2698,2936,1643.5,-9.2,357,15261,0.00,1.95,0.00,0.000,1030,0.000,0.042,2949,1698,2816,2698,2935,0,0,0,0,0,0,26.41,26.37,26.43
$GC,15577,-0.69,-146.6,2949,1698,2698,2935,1674.7,-8.8,360,15582,0.00,2.00,0.00,0.000,260,0.000,0.052,2942,3064,2817,2698,2936,0,0,0,0,0,0,26.67,26.20,26.70
$GC,15662,-0.75,-146.6,2943,3064,2698,2935,1674.7,-8.8,360,15667,0.00,1.98,0.00,0.000,5126,0.000,0.045,2944,1699,2816,2698,2935,0,0,0,0,0,0,26.38,26.32,26.39
$GC,16059,-0.80,-146.6,2944,1700,2698,2935,1713.6,-8.1,364,16060,0.00,0.00,0.00,0.000,4102,0.000,0.000,2943,1699,2816,2698,2935,0,0,0,0,0,0,26.71,26.72,26.71
$GC,16419,-0.86,-146.6,2944,1699,2698,2935,1740.3,-7.6,367,16424,0.08,2.05,0.00,0.000,4612,0.124,0.055,2849,317,2819,2704,2935,0,0,0,0,0,0,26.47,26.10,26.47
$GC,16464,-0.91,-146.6,2849,317,2697,2936,1740.3,-7.6,367,16468,0.00,1.95,0.00,0.000,1030,0.000,0.042,2841,1705,2815,2696,2935,0,0,0,0,0,0,26.40,26.36,26.42
$GC,16781,-0.91,-146.6,2840,1705,2696,2936,1784.1,-11.2,370,16786,0.00,2.03,0.00,0.000,260,0.000,0.052,2838,3071,2815,2696,2935,0,0,0,0,0,0,26.69,26.16,26.71
$GC,16891,-0.91,-146.6,2838,3071,2696,2935,1784.1,-11.2,370,16895,0.00,2.00,0.00,0.000,1030,0.000,0.045,2838,1700,2815,2696,2935,0,0,0,0,0,0,26.34,26.29,26.36
$GC,17267,-0.86,-146.6,2838,1699,2696,2935,1842.8,-12.1,374,17269,0.12,0.00,0.00,0.000,2054,0.156,0.000,2880,1699,2815,2696,2935,0,0,0,0,0,0,26.14,26.22,26.19
$GC,17627,-0.86,-146.6,2880,1699,2696,2935,1876.7,-10.0,377,17628,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1699,2815,2696,2935,0,0,0,0,0,0,26.67,26.70,26.70
$GC,17987,-0.86,-146.6,2879,1700,2696,2935,1909.6,-9.2,380,17988,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1700,2815,2696,2935,0,0,0,0,0,0,26.67,26.70,26.70
$GC,18347,-0.86,-146.6,2879,1699,2696,2935,1942.6,-9.1,383,18348,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1700,2815,2696,2935,0,0,0,0,0,0,26.68,26.72,26.70
$GC,18707,-0.86,-146.6,2880,1699,2696,2935,1975.8,-9.2,386,18708,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1699,2815,2696,2935,0,0,0,0,0,0,26.67,26.70,26.70
$GC,19067,-0.86,-146.6,2879,1699,2696,2934,2008.7,-9.1,389,19068,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1700,2815,2696,2934,0,0,0,0,0,0,26.67,26.70,26.70
$GC,19427,-0.86,-146.6,2879,1699,2696,2934,2040.3,-8.9,392,19428,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1700,2815,2696,2934,0,0,0,0,0,0,26.67,26.70,26.69
$GC,19787,-0.86,-146.6,2879,1700,2697,2934,2071.0,-8.5,395,19788,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1700,2815,2696,2934,0,0,0,0,0,0,26.68,26.70,26.70
$GC,20147,-0.86,-146.6,2877,1700,2696,2934,2101.5,-8.4,398,20148,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1700,2815,2696,2934,0,0,0,0,0,0,26.67,26.70,26.69
$GC,20507,-0.86,-146.6,2879,1699,2696,2934,2129.7,-8.0,401,20508,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1699,2815,2696,2934,0,0,0,0,0,0,26.67,26.70,26.69
$GC,20867,-0.86,-146.6,2879,1699,2695,2934,2154.7,-7.1,404,20871,0.00,2.08,0.00,0.000,516,0.000,0.057,2880,311,2814,2694,2934,0,0,0,0,0,0,26.67,26.06,26.68
$GC,20906,-0.86,-146.6,2880,311,2695,2934,2154.7,-7.1,404,20910,0.00,2.00,0.00,0.000,1030,0.000,0.042,2875,1687,2815,2696,2934,0,0,0,0,0,0,26.36,26.35,26.39
$GC,21232,-0.86,-146.6,2875,1687,2695,2933,2180.7,-7.0,407,21236,0.00,2.08,0.00,0.000,260,0.000,0.050,2866,3085,2814,2695,2934,0,0,0,0,0,0,26.66,26.13,26.67
$GC,21311,-0.86,-146.6,2865,3085,2695,2933,2180.7,-7.0,407,21315,0.00,2.08,0.00,0.000,1030,0.000,0.045,2866,1696,2814,2695,2934,0,0,0,0,0,0,26.28,26.26,26.30
$GC,21717,-0.86,-146.6,2865,1696,2695,2934,2217.9,-7.7,411,21718,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1696,2814,2695,2933,0,0,0,0,0,0,26.67,26.70,26.69
$GC,22077,-0.86,-146.6,2865,1696,2695,2933,2245.0,-7.5,414,22078,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1696,2814,2695,2933,0,0,0,0,0,0,26.67,26.70,26.69
$GC,22438,-0.86,-146.6,2865,1696,2695,2933,2276.7,-8.6,417,22439,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1696,2814,2695,2934,0,0,0,0,0,0,26.67,26.70,26.69
$GC,22797,-0.86,-146.6,2865,1696,2695,2933,2311.9,-9.7,420,22798,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1696,2814,2695,2933,0,0,0,0,0,0,26.67,26.70,26.68
$GC,23157,-0.86,-146.6,2865,1695,2695,2933,2345.1,-9.3,423,23158,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1696,2814,2695,2933,0,0,0,0,0,0,26.67,26.70,26.68
$GC,23517,-0.86,-146.6,2865,1696,2695,2933,2378.7,-9.3,426,23522,0.00,2.08,0.00,0.000,516,0.000,0.057,2866,308,2814,2695,2933,0,0,0,0,0,0,26.66,26.02,26.67
$GC,23566,-0.86,-146.6,2865,308,2694,2932,2378.7,-9.3,426,23571,0.00,2.03,0.00,0.000,1030,0.000,0.042,2858,1704,2813,2694,2933,0,0,0,0,0,0,26.34,26.33,26.36
$GC,23882,-0.86,-146.6,2858,1704,2694,2932,2415.2,-9.8,429,23887,0.00,2.03,0.00,0.000,260,0.000,0.052,2849,3067,2813,2694,2933,0,0,0,0,0,0,26.65,26.11,26.67
$GC,23962,-0.86,-146.6,2848,3067,2694,2933,2415.2,-9.8,429,23967,0.00,2.05,0.00,0.000,1030,0.000,0.045,2848,1696,2813,2694,2933,0,0,0,0,0,0,26.27,26.25,26.29
$GC,24367,-0.86,-146.6,2848,1696,2694,2933,2464.7,-10.2,433,24368,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1695,2813,2694,2933,0,0,0,0,0,0,26.65,26.67,26.66
$GC,24727,-0.86,-146.6,2848,1696,2694,2932,2502.4,-10.4,436,24728,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1695,2813,2694,2933,0,0,0,0,0,0,26.65,26.67,26.66
$GC,25088,-0.86,-146.6,2848,1696,2694,2932,2539.7,-10.4,439,25089,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1696,2813,2694,2933,0,0,0,0,0,0,26.65,26.68,26.67
$GC,25446,-0.86,-146.6,2848,1695,2694,2933,2570.0,-8.8,442,25447,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1695,2813,2694,2933,0,0,0,0,0,0,26.70,26.72,26.72
$GC,25806,-0.86,-146.6,2848,1695,2694,2933,2594.7,-7.0,445,25807,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1695,2813,2694,2932,0,0,0,0,0,0,26.70,26.72,26.72
$GC,26166,-0.86,-146.6,2848,1695,2694,2932,2626.0,-8.2,448,26167,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1696,2813,2694,2932,0,0,0,0,0,0,26.70,26.72,26.72
$STATE,26526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,26526,begin apogee
$GC,26530,-0.24,0.0,2848,1499,2693,2932,2656.3,-8.9,451,26659,0.65,0.00,125.70,2.639,10246,0.109,0.000,3074,1498,2340,2222,2458,0,0,0,0,0,0,25.51,22.31,19.94
$STATE,26660,end apogee,CONTROL_FINISHED_OK
$STATE,26660,begin climb
$GC,26661,0.65,146.6,3075,1498,2222,2458,2660.7,0.0,452,26798,0.85,2.28,128.35,2.610,10756,0.072,0.070,3390,216,1833,1699,1968,0,0,0,0,0,0,23.14,22.32,19.97
$GC,27091,0.65,146.6,3390,216,1696,1968,2660.5,2.3,455,27095,0.00,1.90,0.00,0.000,1030,0.000,0.040,3387,1539,1832,1696,1968,0,0,0,0,0,0,25.72,25.71,25.73
$GC,27491,0.37,146.6,3387,1542,1696,1968,2639.5,4.4,459,27496,0.35,2.00,0.00,0.000,4612,0.174,0.055,3285,212,1831,1695,1968,0,0,0,0,0,0,25.58,25.82,25.71
$GC,27789,0.15,146.6,3281,211,1694,1968,2627.2,4.8,461,27793,0.28,1.77,0.00,0.000,5126,0.151,0.042,3193,1511,1831,1694,1968,0,0,0,0,0,0,25.77,26.34,25.95
$GC,28213,0.20,305.3,3193,1512,1694,1968,2618.6,1.6,465,28398,0.00,0.00,179.88,2.620,8710,0.000,0.000,3193,1512,1286,1262,1311,0,0,0,0,0,0,26.63,21.67,20.11
$GC,28814,0.27,305.3,3193,1512,1259,1311,2585.1,5.8,470,28819,0.00,1.98,0.00,0.000,2308,0.000,0.050,3193,2842,1285,1259,1311,0,0,0,0,0,0,26.20,25.91,26.21
$GC,28864,0.34,305.3,3193,2842,1259,1311,2585.1,5.8,470,28869,0.08,2.00,0.00,0.000,3078,0.119,0.045,3262,1505,1284,1258,1311,0,0,0,0,0,0,25.91,25.98,25.98
$GC,29173,0.34,305.3,3262,1506,1259,1311,2558.6,7.0,473,29179,0.00,1.95,0.00,0.000,516,0.000,0.060,3271,204,1284,1258,1311,0,0,0,0,0,0,26.49,26.10,26.51
$GC,29249,0.34,305.3,3270,203,1259,1311,2558.6,7.0,473,29253,0.00,1.80,0.00,0.000,1030,0.000,0.042,3271,1494,1285,1259,1311,0,0,0,0,0,0,26.32,26.29,26.32
$GC,29653,0.28,305.3,3269,1497,1259,1311,2514.7,9.3,477,29655,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1497,1285,1259,1311,0,0,0,0,0,0,26.61,26.63,26.62
$GC,30014,0.22,305.3,3271,1497,1259,1311,2484.0,8.6,480,30020,0.15,1.90,0.00,0.000,4612,0.154,0.057,3222,218,1285,1259,1311,0,0,0,0,0,0,26.05,26.16,26.10
$GC,30070,0.15,305.3,3222,218,1259,1311,2484.0,8.6,480,30074,0.00,1.75,0.00,0.000,1030,0.000,0.042,3223,1469,1285,1259,1311,0,0,0,0,0,0,26.44,26.41,26.45
$GC,30494,0.15,305.3,3222,1510,1259,1311,2451.5,6.7,484,30499,0.00,1.95,0.00,0.000,516,0.000,0.060,3230,211,1285,1259,1311,0,0,0,0,0,0,26.66,26.21,26.68
$GC,30539,0.15,305.3,3230,212,1259,1311,2451.5,6.7,484,30542,0.00,1.85,0.00,0.000,1030,0.000,0.042,3230,1565,1285,1259,1311,0,0,0,0,0,0,26.45,26.41,26.46
$GC,30857,0.15,305.3,3230,1576,1259,1311,2424.2,7.5,487,30863,0.00,2.05,0.00,0.000,516,0.000,0.060,3238,205,1284,1258,1311,0,0,0,0,0,0,26.67,26.20,26.69
$GC,30918,0.15,305.3,3238,204,1259,1311,2424.2,7.5,487,30923,0.12,1.85,0.00,0.000,5126,0.122,0.042,3193,1543,1285,1259,1311,0,0,0,0,0,0,26.06,26.42,26.11
$GC,31338,0.15,305.3,3193,1546,1259,1311,2394.0,6.3,491,31343,0.00,2.00,0.00,0.000,516,0.000,0.060,3201,210,1285,1259,1311,0,0,0,0,0,0,26.68,26.20,26.70
$GC,31388,0.15,305.3,3200,210,1259,1311,2394.0,6.3,491,31393,0.00,1.77,0.00,0.000,1030,0.000,0.042,3201,1490,1285,1259,1311,0,0,0,0,0,0,26.44,26.42,26.45
$GC,31699,0.21,305.3,3201,1494,1258,1311,2373.5,5.7,494,31700,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1494,1285,1259,1311,0,0,0,0,0,0,26.68,26.70,26.70
$GC,32058,0.26,305.3,3200,1495,1257,1311,2353.0,5.6,497,32059,0.00,0.00,0.00,0.000,2054,0.000,0.000,3201,1494,1285,1259,1311,0,0,0,0,0,0,26.70,26.71,26.70
$GC,32418,0.32,305.3,3201,1495,1258,1311,2332.1,5.8,500,32419,0.00,0.00,0.00,0.000,2054,0.000,0.000,3201,1495,1285,1259,1311,0,0,0,0,0,0,26.70,26.71,26.71
$GC,32778,0.38,305.3,3201,1495,1259,1311,2311.6,5.7,503,32780,0.10,0.00,0.00,0.000,2054,0.109,0.000,3279,1494,1285,1259,1311,0,0,0,0,0,0,26.44,26.48,26.46
$GC,33137,0.38,305.3,3279,1494,1259,1311,2280.2,8.1,506,33138,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1494,1285,1259,1311,0,0,0,0,0,0,26.69,26.71,26.71
$GC,33497,0.38,305.3,3279,1495,1259,1311,2247.4,9.1,509,33502,0.00,1.95,0.00,0.000,516,0.000,0.060,3288,196,1284,1259,1309,0,0,0,0,0,0,26.69,26.16,26.71
$GC,33563,0.38,305.3,3287,197,1259,1311,2247.4,9.1,509,33568,0.00,1.83,0.00,0.000,1030,0.000,0.042,3288,1506,1285,1259,1311,0,0,0,0,0,0,26.42,26.41,26.44
$GC,33978,0.38,305.3,3287,1510,1257,1311,2201.3,9.6,513,33979,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1510,1285,1259,1311,0,0,0,0,0,0,26.69,26.72,26.71
$GC,34337,0.38,305.3,3287,1510,1259,1311,2169.6,9.0,516,34341,0.00,2.00,0.00,0.000,516,0.000,0.060,3294,197,1285,1259,1311,0,0,0,0,0,0,26.69,26.14,26.71
$GC,34426,0.38,305.3,3294,198,1259,1311,2169.6,9.0,516,34430,0.00,1.83,0.00,0.000,1030,0.000,0.042,3294,1507,1285,1259,1311,0,0,0,0,0,0,26.42,26.40,26.43
$GC,34820,0.38,305.3,3294,1510,1258,1311,2131.6,7.9,520,34821,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1510,1285,1259,1311,0,0,0,0,0,0,26.71,26.71,26.71
$GC,35180,0.38,305.3,3294,1510,1259,1311,2106.0,7.2,523,35185,0.00,1.98,0.00,0.000,516,0.000,0.060,3302,189,1285,1259,1311,0,0,0,0,0,0,26.69,26.13,26.71
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$STATE,69040,end climb,SURFACE_DEPTH_REACHED
$STATE,69040,begin surface coast
$FINISH,1.5,1.024610
$STATE,69070,end surface coast,CONTROL_FINISHED_OK
$STATE,69070,begin surface
$SM_CCo,69146,0.00,0.000,0,0,1015,384.90
$SM_GC,2.54,8.68,0.08,0.00,0.052,0.114,0.000,175,1657,1015,-9.16,-4.98,384.90,0,0,0,0,0,0,26.26,26.58,26.31
$IRIDIUM_FIX,3854.07,-6925.66,310708,143933
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.63
$INTERNAL_PRESSURE,8.81941
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,2560.6,123.1
$24V_AH,19.94,62.363
$10V_AH,9.42,28.594
$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,24.575,298.925,531.775,0.000,129.725,77.140,75.138,281.731,51.500,0.000,54.556,4243.908,57531.992,807.267,7028.285,239.006,0.000,3197.111,0.000,6258.205,0.000,378.520,0.000
$DEVICE_MAMPS,245.817,114.218,2639.429,0.000,106.769,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.258,3715.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329460
$DATA_FILE_SIZE,70191,1140
$CAP_FILE_SIZE,407811,0
$CFSIZE,1024409600,1000751104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.100,245.63,1
$GPS,061015,153117,3925.215,-6927.318,29,1.6,71,-15.4,0.4,315.4,5,5.9