version: 66.12
glider: 36
mission: 20
dive: 94
start: 10 7 115 22 12 26
data:
$ID,36
$MISSION,20
$DIVE,94
$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,66
$R_STBD_OVSHOOT,168
$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
$GPS1,071015,220415,3935.9226,-6935.0000,28,1.1,68,-15.4,0.6,19.0,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-67.2
$GPS2,071015,221158,3935.9224,-6934.9868,15,1.1,55,-15.4,0.7,256.9,8,5.0
$SPEED_LIMITS,0.165,0.205
$TGT_NAME,9004
$TGT_LATLONG,3954.360,-6955.800
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,349.6,45170,-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
$STATE,13,begin dive
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$GC,317,-0.65,-146.6,2931,3005,2689,3002,31.7,-10.4,27,320,0.00,1.90,0.00,0.000,1030,0.000,0.045,2931,1682,2845,2689,3002,0,0,0,0,0,0,26.27,26.22,26.28
$GC,625,-0.48,-146.6,2930,1682,2689,3002,70.8,-11.9,49,627,0.20,0.00,0.00,0.000,2054,0.156,0.000,2995,1682,2846,2690,3002,0,0,0,0,0,0,25.91,26.08,26.03
$GC,926,-0.41,-146.6,2994,1682,2689,3002,101.0,-10.0,69,931,0.00,1.92,0.00,0.000,260,0.000,0.050,2988,3008,2845,2689,3002,0,0,0,0,0,0,26.73,26.32,26.75
$GC,1047,-0.34,-146.6,2988,3008,2689,3002,112.9,-10.0,76,1056,0.15,1.90,0.00,0.000,3078,0.139,0.045,3040,1685,2846,2690,3002,0,0,0,0,0,0,25.95,26.41,26.02
$GC,1355,-0.34,-146.6,3040,1685,2689,3002,139.6,-8.2,97,1361,0.00,1.98,0.00,0.000,516,0.000,0.057,3040,317,2845,2689,3002,0,0,0,0,0,0,26.76,26.25,26.77
$GC,1436,-0.34,-146.6,3040,317,2689,3002,147.1,-8.5,102,1442,0.00,1.80,0.00,0.000,1030,0.000,0.042,3036,1655,2845,2689,3002,0,0,0,0,0,0,26.53,26.51,26.55
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$GC,2068,-0.34,-146.6,3036,1655,2689,3002,203.6,-8.8,124,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1655,2845,2689,3002,0,0,0,0,0,0,26.76,26.78,26.77
$GC,2366,-0.34,-146.6,3036,1655,2689,3002,234.6,-10.4,134,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1655,2845,2689,3002,0,0,0,0,0,0,26.76,26.79,26.77
$GC,2666,-0.34,-146.6,3036,1655,2690,3002,266.5,-10.5,144,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1655,2845,2689,3002,0,0,0,0,0,0,26.76,26.78,26.77
$GC,2966,-0.34,-146.6,3036,1655,2689,3002,295.4,-9.6,154,2972,0.00,2.00,0.00,0.000,260,0.000,0.052,3026,3045,2845,2689,3002,0,0,0,0,0,0,26.76,26.32,26.77
$GC,3087,-0.34,-146.6,3026,3045,2690,3002,304.7,-9.8,157,3091,0.00,1.95,0.00,0.000,1030,0.000,0.045,3026,1706,2845,2689,3002,0,0,0,0,0,0,26.44,26.42,26.46
$GC,3421,-0.34,-146.6,3026,1706,2689,3002,342.1,-10.4,165,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1706,2845,2689,3002,0,0,0,0,0,0,26.75,26.77,26.77
$GC,3736,-0.34,-146.6,3026,1706,2689,3002,374.5,-10.2,172,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1706,2845,2689,3002,0,0,0,0,0,0,26.75,26.77,26.77
$GC,4051,-0.34,-146.6,3026,1706,2689,3002,408.4,-10.7,179,4057,0.00,2.03,0.00,0.000,516,0.000,0.057,3026,316,2845,2689,3002,0,0,0,0,0,0,26.75,26.25,26.77
$GC,4108,-0.34,-146.6,3026,316,2689,3002,413.6,-10.9,180,4112,0.00,1.92,0.00,0.000,1030,0.000,0.042,3020,1686,2845,2689,3002,0,0,0,0,0,0,26.49,26.48,26.50
$GC,4457,-0.34,-146.6,3020,1686,2689,3001,454.7,-11.3,188,4461,0.00,2.00,0.00,0.000,260,0.000,0.052,3010,3057,2845,2689,3001,0,0,0,0,0,0,26.74,26.30,26.77
$GC,4513,-0.34,-146.6,3009,3057,2689,3000,460.1,-11.2,189,4517,0.00,1.98,0.00,0.000,1030,0.000,0.045,3010,1706,2844,2689,3000,0,0,0,0,0,0,26.42,26.40,26.44
$GC,4822,-0.34,-146.6,3009,1706,2689,2999,496.5,-11.6,196,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1706,2844,2689,2999,0,0,0,0,0,0,26.74,26.77,26.76
$GC,5138,-0.34,-146.6,3009,1706,2689,2997,532.9,-11.5,203,5144,0.00,2.03,0.00,0.000,516,0.000,0.057,3010,321,2843,2689,2997,0,0,0,0,0,0,26.70,26.23,26.72
$GC,5207,-0.34,-146.6,3009,321,2689,2997,538.7,-11.6,204,5212,0.12,1.90,0.00,0.000,3078,0.149,0.042,3046,1703,2843,2689,2997,0,0,0,0,0,0,26.08,26.46,26.17
$GC,5541,-0.40,-146.6,3046,1703,2689,2995,575.6,-9.9,212,5547,0.00,1.98,0.00,0.000,260,0.000,0.052,3042,3063,2842,2689,2995,0,0,0,0,0,0,26.74,26.29,26.76
$GC,5610,-0.46,-146.6,3042,3063,2689,2994,580.6,-10.0,213,5614,0.00,1.95,0.00,0.000,5126,0.000,0.045,3042,1699,2841,2689,2994,0,0,0,0,0,0,26.45,26.39,26.46
$GC,5945,-0.52,-146.6,3041,1698,2689,2992,620.4,-11.1,221,5946,0.05,0.00,0.00,0.000,4102,0.161,0.000,2966,1698,2840,2689,2992,0,0,0,0,0,0,26.51,26.54,26.53
$GC,6258,-0.52,-146.6,2964,1698,2689,2990,666.8,-15.0,228,6263,0.00,2.03,0.00,0.000,516,0.000,0.057,2965,313,2839,2689,2990,0,0,0,0,0,0,26.73,26.20,26.75
$GC,6306,-0.52,-146.6,2964,313,2689,2990,673.9,-15.0,229,6311,0.00,1.95,0.00,0.000,1030,0.000,0.042,2957,1692,2839,2689,2990,0,0,0,0,0,0,26.46,26.45,26.47
$GC,6620,-0.52,-146.6,2957,1692,2689,2988,719.3,-14.2,236,6626,0.00,2.00,0.00,0.000,260,0.000,0.050,2949,3063,2838,2689,2988,0,0,0,0,0,0,26.73,26.27,26.74
$GC,6694,-0.52,-146.6,2949,3064,2688,2988,725.5,-14.1,237,6699,0.12,1.98,0.00,0.000,3078,0.149,0.045,2991,1686,2838,2689,2988,0,0,0,0,0,0,26.02,26.37,26.11
$GC,7023,-0.52,-146.6,2990,1686,2689,2986,769.4,-12.1,245,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1686,2837,2689,2986,0,0,0,0,0,0,26.72,26.75,26.74
$GC,7341,-0.52,-146.6,2990,1686,2686,2985,804.6,-11.3,252,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1686,2836,2686,2986,0,0,0,0,0,0,26.70,26.72,26.72
$GC,7655,-0.52,-146.6,2991,1686,2685,2986,840.4,-11.4,259,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1686,2837,2685,2989,0,0,0,0,0,0,26.70,26.72,26.72
$GC,7969,-0.52,-146.6,2991,1686,2684,2985,875.3,-11.0,266,7975,0.00,2.00,0.00,0.000,516,0.000,0.057,2991,324,2834,2684,2985,0,0,0,0,0,0,26.72,26.19,26.74
$GC,8033,-0.52,-146.6,2990,325,2682,2986,881.0,-11.1,267,8037,0.00,1.95,0.00,0.000,1030,0.000,0.042,2987,1699,2834,2682,2986,0,0,0,0,0,0,26.45,26.44,26.46
$GC,8379,-0.52,-146.6,2987,1699,2682,2984,921.4,-11.2,275,8383,0.00,2.00,0.00,0.000,260,0.000,0.050,2977,3061,2833,2683,2984,0,0,0,0,0,0,26.70,26.25,26.72
$GC,8439,-0.52,-146.6,2977,3061,2683,2983,926.9,-11.1,276,8444,0.00,2.00,0.00,0.000,1030,0.000,0.045,2977,1707,2832,2682,2983,0,0,0,0,0,0,26.38,26.36,26.39
$GC,8789,-0.52,-146.6,2977,1706,2682,2982,967.6,-11.3,284,8794,0.00,2.05,0.00,0.000,516,0.000,0.057,2977,313,2832,2682,2982,0,0,0,0,0,0,26.72,26.17,26.74
$GC,8834,-0.52,-146.6,2977,313,2681,2982,972.9,-11.3,285,8840,0.00,1.92,0.00,0.000,1030,0.000,0.042,2970,1699,2831,2681,2982,0,0,0,0,0,0,26.45,26.42,26.46
$GC,9225,-0.52,-146.6,2970,1703,2681,2982,1017.1,-11.3,292,9230,0.00,1.98,0.00,0.000,260,0.000,0.052,2962,3056,2831,2681,2982,0,0,0,0,0,0,26.69,26.24,26.71
$GC,9305,-0.52,-146.6,2962,3056,2681,2982,1017.1,-11.3,292,9309,0.00,2.00,0.00,0.000,1030,0.000,0.045,2962,1700,2831,2681,2982,0,0,0,0,0,0,26.36,26.35,26.38
$GC,9707,-0.52,-146.6,2962,1700,2681,2981,1072.0,-11.4,296,9712,0.00,2.05,0.00,0.000,516,0.000,0.057,2962,317,2831,2681,2981,0,0,0,0,0,0,26.70,26.15,26.71
$GC,9762,-0.52,-146.6,2962,317,2680,2982,1072.0,-11.4,296,9766,0.00,1.98,0.00,0.000,1030,0.000,0.042,2954,1702,2830,2680,2981,0,0,0,0,0,0,26.43,26.41,26.44
$GC,10072,-0.52,-146.6,2954,1702,2680,2982,1115.1,-11.7,299,10077,0.00,2.00,0.00,0.000,260,0.000,0.050,2946,3061,2830,2680,2981,0,0,0,0,0,0,26.67,26.22,26.70
$GC,10147,-0.52,-146.6,2946,3061,2680,2981,1115.1,-11.7,299,10152,0.12,1.98,0.00,0.000,3078,0.144,0.045,2989,1687,2830,2680,2981,0,0,0,0,0,0,26.01,26.34,26.09
$GC,10553,-0.52,-146.6,2989,1687,2680,2981,1162.6,-9.9,303,10559,0.00,2.05,0.00,0.000,516,0.000,0.057,2989,322,2830,2680,2981,0,0,0,0,0,0,26.69,26.15,26.70
$GC,10599,-0.52,-146.6,2989,323,2678,2981,1162.6,-9.9,303,10603,0.00,1.92,0.00,0.000,1030,0.000,0.042,2989,1704,2829,2677,2981,0,0,0,0,0,0,26.43,26.39,26.44
$GC,10920,-0.57,-146.6,2988,1705,2678,2981,1197.6,-9.5,306,10925,0.00,2.00,0.00,0.000,260,0.000,0.050,2980,3071,2829,2677,2981,0,0,0,0,0,0,26.68,26.22,26.70
$GC,10971,-0.62,-146.6,2980,3071,2678,2980,1197.6,-9.5,306,10975,0.00,1.98,0.00,0.000,1030,0.000,0.045,2980,1704,2828,2677,2980,0,0,0,0,0,0,26.38,26.33,26.40
$GC,11397,-0.68,-146.6,2980,1703,2678,2980,1241.4,-9.2,310,11403,0.00,2.10,0.00,0.000,4612,0.000,0.057,2980,308,2828,2677,2980,0,0,0,0,0,0,26.71,26.13,26.72
$GC,11453,-0.73,-146.6,2980,308,2676,2980,1241.4,-9.2,310,11457,0.08,1.95,0.00,0.000,5126,0.119,0.042,2915,1706,2828,2676,2980,0,0,0,0,0,0,26.27,26.39,26.32
$GC,11763,-0.73,-146.6,2911,1708,2676,2980,1286.7,-11.6,313,11768,0.00,2.00,0.00,0.000,260,0.000,0.050,2902,3065,2828,2676,2980,0,0,0,0,0,0,26.67,26.21,26.70
$GC,11822,-0.73,-146.6,2901,3065,2677,2979,1286.7,-11.6,313,11827,0.00,2.03,0.00,0.000,1030,0.000,0.045,2902,1703,2827,2676,2978,0,0,0,0,0,0,26.33,26.31,26.35
$GC,12250,-0.73,-146.6,2901,1702,2676,2978,1350.2,-13.1,317,12255,0.00,2.08,0.00,0.000,516,0.000,0.057,2902,309,2827,2676,2978,0,0,0,0,0,0,26.69,26.11,26.71
$GC,12294,-0.73,-146.6,2901,309,2675,2978,1350.2,-13.1,317,12299,0.00,1.98,0.00,0.000,1030,0.000,0.042,2894,1690,2827,2675,2979,0,0,0,0,0,0,26.40,26.39,26.41
$GC,12615,-0.73,-146.6,2894,1690,2675,2978,1400.0,-13.5,320,12619,0.00,2.03,0.00,0.000,260,0.000,0.050,2884,3064,2827,2675,2979,0,0,0,0,0,0,26.67,26.20,26.69
$GC,12685,-0.73,-146.6,2884,3064,2675,2977,1400.0,-13.5,320,12690,0.10,2.00,0.00,0.000,3078,0.161,0.045,2917,1686,2826,2675,2977,0,0,0,0,0,0,25.98,26.30,26.06
$GC,13096,-0.73,-146.6,2917,1686,2675,2977,1459.3,-12.3,324,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1686,2826,2675,2977,0,0,0,0,0,0,26.68,26.70,26.70
$GC,13454,-0.73,-146.6,2917,1686,2675,2977,1502.8,-12.2,327,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1686,2826,2675,2977,0,0,0,0,0,0,26.66,26.69,26.68
$GC,13814,-0.73,-146.6,2917,1686,2675,2981,1544.4,-11.7,330,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1686,2826,2675,2977,0,0,0,0,0,0,26.66,26.69,26.68
$GC,14174,-0.73,-146.6,2917,1686,2675,2976,1584.2,-11.1,333,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1686,2825,2675,2976,0,0,0,0,0,0,26.66,26.69,26.67
$GC,14535,-0.73,-146.6,2917,1686,2675,2976,1621.4,-10.5,336,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1687,2826,2676,2976,0,0,0,0,0,0,26.67,26.70,26.69
$GC,14894,-0.73,-146.6,2922,1686,2675,2976,1658.2,-10.2,339,14900,0.00,2.05,0.00,0.000,516,0.000,0.057,2918,312,2825,2675,2976,0,0,0,0,0,0,26.66,26.08,26.67
$GC,14945,-0.73,-146.6,2918,312,2674,2977,1658.2,-10.2,339,14949,0.00,1.95,0.00,0.000,1030,0.000,0.042,2911,1698,2825,2674,2976,0,0,0,0,0,0,26.41,26.37,26.41
$GC,15260,-0.73,-146.6,2910,1698,2674,2976,1700.5,-11.2,342,15261,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1698,2825,2674,2976,0,0,0,0,0,0,26.66,26.69,26.68
$GC,15620,-0.73,-146.6,2911,1698,2674,2976,1741.5,-11.6,345,15625,0.00,2.03,0.00,0.000,260,0.000,0.050,2901,3068,2825,2674,2976,0,0,0,0,0,0,26.66,26.16,26.68
$GC,15694,-0.73,-146.6,2901,3068,2675,2976,1741.5,-11.6,345,15699,0.00,2.03,0.00,0.000,1030,0.000,0.045,2901,1702,2825,2674,2976,0,0,0,0,0,0,26.30,26.28,26.32
$GC,16104,-0.73,-146.6,2901,1702,2674,2976,1796.2,-11.3,349,16106,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1702,2825,2674,2976,0,0,0,0,0,0,26.66,26.67,26.67
$GC,16464,-0.73,-146.6,2901,1702,2674,2976,1836.7,-11.2,352,16469,0.00,2.08,0.00,0.000,516,0.000,0.057,2900,312,2827,2679,2976,0,0,0,0,0,0,26.65,26.06,26.67
$GC,16504,-0.73,-146.6,2901,312,2673,2976,1836.7,-11.2,352,16508,0.00,2.00,0.00,0.000,1030,0.000,0.042,2895,1700,2824,2673,2976,0,0,0,0,0,0,26.37,26.36,26.39
$GC,16833,-0.73,-146.6,2895,1701,2673,2976,1879.8,-11.7,355,16838,0.00,2.03,0.00,0.000,260,0.000,0.050,2885,3074,2824,2673,2976,0,0,0,0,0,0,26.68,26.15,26.70
$GC,16883,-0.73,-146.6,2885,3074,2673,2976,1879.8,-11.7,355,16887,0.00,2.05,0.00,0.000,1030,0.000,0.045,2886,1699,2825,2674,2976,0,0,0,0,0,0,26.29,26.27,26.31
$GC,17200,-0.73,-146.6,2885,1700,2673,2976,1924.6,-12.2,358,17206,0.00,2.05,0.00,0.000,516,0.000,0.057,2885,317,2824,2673,2976,0,0,0,0,0,0,26.65,26.04,26.67
$GC,17241,-0.73,-146.6,2885,317,2673,2976,1924.6,-12.2,358,17246,0.10,2.00,0.00,0.000,3078,0.139,0.042,2915,1697,2824,2673,2976,0,0,0,0,0,0,25.95,26.36,25.99
$GC,17561,-0.73,-146.6,2914,1697,2673,2976,1960.5,-10.2,361,17566,0.00,2.00,0.00,0.000,260,0.000,0.050,2906,3066,2824,2673,2976,0,0,0,0,0,0,26.71,26.14,26.72
$GC,17606,-0.73,-146.6,2906,3066,2674,2975,1960.5,-10.2,361,17610,0.00,2.05,0.00,0.000,1030,0.000,0.045,2906,1691,2824,2673,2976,0,0,0,0,0,0,26.29,26.27,26.31
$GC,17920,-0.73,-146.6,2906,1691,2673,2976,1994.7,-9.5,364,17926,0.00,2.05,0.00,0.000,516,0.000,0.057,2906,321,2825,2674,2976,0,0,0,0,0,0,26.71,26.05,26.72
$GC,17971,-0.73,-146.6,2906,321,2673,2976,1994.7,-9.5,364,17975,0.00,2.00,0.00,0.000,1030,0.000,0.042,2900,1703,2824,2673,2976,0,0,0,0,0,0,26.38,26.36,26.39
$STATE,18281,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,18281,begin apogee
$GC,18285,-0.24,0.0,2899,1485,2673,2976,2030.9,-10.0,367,18404,0.50,0.00,115.47,2.255,10246,0.112,0.000,3075,1485,2340,2196,2484,0,0,0,0,0,0,25.67,22.88,20.99
$STATE,18405,end apogee,CONTROL_FINISHED_OK
$STATE,18405,begin climb
$GC,18406,0.65,146.6,3075,1485,2196,2483,2036.0,0.0,368,18532,0.80,2.40,115.97,2.210,11012,0.079,0.060,3367,2867,1835,1698,1972,0,0,0,0,0,0,23.52,22.70,20.82
$GC,18825,0.65,146.6,3366,2867,1698,1973,2049.0,-2.7,371,18830,0.00,2.08,0.00,0.000,1030,0.000,0.045,3374,1517,1835,1698,1973,0,0,0,0,0,0,25.80,25.78,25.82
$GC,19245,0.71,362.9,3374,1517,1697,1973,2049.0,-0.0,375,19516,0.00,2.33,263.90,2.247,8452,0.000,0.057,3374,2874,1086,1081,1092,0,0,0,0,0,0,26.52,22.21,20.93
$GC,19678,0.62,362.9,3374,2875,1072,1081,2023.7,5.2,378,19683,0.12,2.12,0.00,0.000,5126,0.164,0.045,3346,1504,1076,1072,1081,0,0,0,0,0,0,24.92,25.18,25.09
$GC,20078,0.53,362.9,3346,1504,1065,1081,1972.1,10.8,382,20083,0.00,1.95,0.00,0.000,516,0.000,0.060,3354,187,1073,1066,1081,0,0,0,0,0,0,26.43,26.08,26.46
$GC,20148,0.45,362.9,3354,187,1064,1082,1972.1,10.8,382,20153,0.20,1.85,0.00,0.000,5126,0.149,0.042,3289,1551,1072,1064,1081,0,0,0,0,0,0,25.84,26.27,26.03
$GC,20557,0.45,362.9,3288,1554,1064,1081,1931.7,8.3,386,20562,0.00,2.03,0.00,0.000,516,0.000,0.060,3297,199,1072,1064,1081,0,0,0,0,0,0,26.60,26.20,26.62
$GC,20631,0.45,362.9,3296,199,1064,1081,1931.7,8.3,386,20635,0.00,1.88,0.00,0.000,1030,0.000,0.042,3297,1553,1072,1064,1081,0,0,0,0,0,0,26.40,26.39,26.41
$GC,21040,0.45,362.9,3296,1557,1064,1081,1894.5,7.7,390,21046,0.00,2.00,0.00,0.000,516,0.000,0.060,3309,202,1074,1067,1081,0,0,0,0,0,0,26.65,26.23,26.67
$GC,21087,0.45,362.9,3304,202,1063,1081,1894.5,7.7,390,21091,0.00,1.88,0.00,0.000,1030,0.000,0.042,3305,1581,1072,1063,1081,0,0,0,0,0,0,26.46,26.41,26.47
$GC,21402,0.45,362.9,3304,1595,1062,1081,1865.3,8.1,393,21408,0.00,2.08,0.00,0.000,516,0.000,0.060,3312,194,1072,1063,1081,0,0,0,0,0,0,26.67,26.22,26.69
$GC,21478,0.45,362.9,3311,194,1061,1081,1865.3,8.1,393,21482,0.00,1.88,0.00,0.000,1030,0.000,0.042,3312,1545,1071,1062,1081,0,0,0,0,0,0,26.48,26.44,26.49
$GC,21881,0.45,362.9,3312,1551,1062,1081,1825.7,8.2,397,21882,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1551,1071,1062,1081,0,0,0,0,0,0,26.68,26.70,26.70
$GC,22241,0.45,362.9,3311,1551,1062,1081,1795.9,8.3,400,22248,0.00,2.00,0.00,0.000,516,0.000,0.060,3319,201,1071,1061,1081,0,0,0,0,0,0,26.68,26.22,26.70
$GC,22334,0.45,362.9,3319,200,1062,1081,1795.9,8.3,400,22337,0.00,1.75,0.00,0.000,1030,0.000,0.042,3319,1448,1071,1061,1081,0,0,0,0,0,0,26.47,26.44,26.48
$GC,22721,0.45,362.9,3319,1510,1062,1081,1755.8,8.4,404,22727,0.00,1.95,0.00,0.000,516,0.000,0.060,3326,194,1073,1066,1081,0,0,0,0,0,0,26.69,26.20,26.71
$GC,22782,0.45,362.9,3326,194,1062,1081,1755.8,8.4,404,22787,0.10,1.80,0.00,0.000,5126,0.127,0.042,3290,1504,1071,1062,1081,0,0,0,0,0,0,26.10,26.44,26.15
$GC,23202,0.45,362.9,3289,1507,1061,1081,1724.2,6.5,408,23204,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1506,1071,1061,1081,0,0,0,0,0,0,26.69,26.72,26.70
$GC,23561,0.45,362.9,3289,1506,1061,1081,1702.2,6.2,411,23566,0.00,1.95,0.00,0.000,516,0.000,0.060,3297,199,1071,1062,1081,0,0,0,0,0,0,26.70,26.18,26.71
$GC,23620,0.45,362.9,3297,199,1061,1081,1702.2,6.2,411,23625,0.00,1.80,0.00,0.000,1030,0.000,0.042,3297,1505,1071,1062,1081,0,0,0,0,0,0,26.44,26.43,26.45
$GC,24044,0.45,362.9,3296,1509,1062,1081,1670.5,6.6,415,24045,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1509,1071,1062,1081,0,0,0,0,0,0,26.69,26.72,26.72
$GC,24404,0.45,362.9,3297,1509,1062,1081,1648.0,6.3,418,24410,0.00,1.95,0.00,0.000,516,0.000,0.057,3304,193,1071,1062,1081,0,0,0,0,0,0,26.70,26.16,26.71
$GC,24465,0.45,362.9,3303,193,1062,1081,1648.0,6.3,418,24470,0.00,1.80,0.00,0.000,1030,0.000,0.042,3304,1503,1071,1061,1081,0,0,0,0,0,0,26.44,26.42,26.45
$GC,24885,0.45,362.9,3304,1508,1061,1081,1616.0,6.7,422,24890,0.00,1.92,0.00,0.000,516,0.000,0.057,3311,202,1071,1062,1081,0,0,0,0,0,0,26.70,26.15,26.71
$GC,24925,0.45,362.9,3310,202,1062,1081,1616.0,6.7,422,24930,0.00,1.80,0.00,0.000,1030,0.000,0.042,3311,1506,1071,1062,1081,0,0,0,0,0,0,26.44,26.42,26.44
$GC,25246,0.45,362.9,3311,1511,1062,1081,1591.2,6.9,425,25247,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1510,1071,1062,1081,0,0,0,0,0,0,26.69,26.72,26.72
$GC,25604,0.45,362.9,3310,1511,1062,1080,1567.3,6.7,428,25610,0.00,1.95,0.00,0.000,516,0.000,0.060,3317,195,1071,1062,1081,0,0,0,0,0,0,26.70,26.14,26.72
$GC,25656,0.45,362.9,3317,195,1061,1081,1567.3,6.7,428,25660,0.00,1.80,0.00,0.000,1030,0.000,0.042,3317,1495,1071,1062,1081,0,0,0,0,0,0,26.43,26.41,26.44
$GC,25964,0.45,362.9,3317,1505,1062,1081,1542.7,6.8,431,25965,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1504,1071,1062,1081,0,0,0,0,0,0,26.70,26.72,26.72
$GC,26324,0.45,362.9,3316,1505,1061,1081,1517.3,7.0,434,26330,0.00,1.95,0.00,0.000,516,0.000,0.060,3322,192,1071,1061,1081,0,0,0,0,0,0,26.70,26.13,26.72
$GC,26371,0.45,362.9,3322,192,1062,1081,1517.3,7.0,434,26374,0.00,1.80,0.00,0.000,1030,0.000,0.042,3321,1495,1071,1062,1081,0,0,0,0,0,0,26.42,26.41,26.44
$GC,26685,0.45,362.9,3322,1506,1062,1081,1492.6,6.8,437,26686,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1506,1071,1061,1081,0,0,0,0,0,0,26.70,26.72,26.72
$GC,27044,0.45,362.9,3321,1505,1062,1081,1467.8,6.8,440,27049,0.00,1.95,0.00,0.000,516,0.000,0.057,3329,200,1071,1062,1081,0,0,0,0,0,0,26.70,26.12,26.72
$GC,27098,0.45,362.9,3327,200,1062,1081,1467.8,6.8,440,27103,0.10,1.80,0.00,0.000,5126,0.119,0.042,3292,1503,1071,1062,1081,0,0,0,0,0,0,26.08,26.40,26.12
$GC,27407,0.45,362.9,3291,1507,1061,1081,1445.6,6.3,443,27408,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1507,1071,1062,1081,0,0,0,0,0,0,26.70,26.72,26.72
$GC,27769,0.52,362.9,3291,1507,1061,1081,1425.2,5.6,446,27774,0.00,1.95,0.00,0.000,516,0.000,0.060,3298,195,1071,1062,1081,0,0,0,0,0,0,26.70,26.10,26.72
$GC,27829,0.59,362.9,3298,195,1061,1081,1425.2,5.6,446,27833,0.00,1.80,0.00,0.000,3078,0.000,0.042,3298,1502,1071,1061,1081,0,0,0,0,0,0,26.42,26.40,26.43
$GC,28248,0.65,362.9,3298,1509,1061,1081,1397.1,5.9,450,28250,0.05,0.00,0.00,0.000,2054,0.161,0.000,3356,1509,1071,1061,1081,0,0,0,0,0,0,26.50,26.53,26.51
$GC,28608,0.65,362.9,3355,1509,1062,1081,1370.6,7.0,453,28614,0.00,1.95,0.00,0.000,516,0.000,0.057,3362,194,1071,1062,1081,0,0,0,0,0,0,26.70,26.10,26.72
$GC,28704,0.65,362.9,3362,194,1061,1081,1370.6,7.0,453,28708,0.00,1.80,0.00,0.000,1030,0.000,0.042,3363,1507,1071,1062,1081,0,0,0,0,0,0,26.42,26.41,26.43
$GC,29088,0.65,362.9,3362,1512,1061,1081,1334.6,7.5,457,29089,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1512,1071,1062,1081,0,0,0,0,0,0,26.70,26.72,26.72
$GC,29448,0.65,362.9,3362,1514,1062,1081,1308.6,7.2,460,29454,0.00,1.95,0.00,0.000,516,0.000,0.057,3370,194,1071,1061,1081,0,0,0,0,0,0,26.70,26.08,26.72
$GC,29519,0.65,362.9,3369,194,1062,1081,1308.6,7.2,460,29524,0.00,1.80,0.00,0.000,1030,0.000,0.042,3370,1500,1071,1062,1081,0,0,0,0,0,0,26.41,26.39,26.42
$GC,29928,0.65,362.9,3369,1505,1062,1081,1275.6,6.9,464,29929,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1505,1071,1062,1081,0,0,0,0,0,0,26.70,26.72,26.72
$GC,30288,0.65,362.9,3369,1505,1060,1081,1252.9,6.4,467,30294,0.00,1.95,0.00,0.000,516,0.000,0.057,3375,199,1070,1060,1081,0,0,0,0,0,0,26.70,26.07,26.72
$GC,30344,0.65,362.9,3374,199,1062,1081,1252.9,6.4,467,30348,0.00,1.80,0.00,0.000,1030,0.000,0.042,3375,1503,1071,1062,1081,0,0,0,0,0,0,26.42,26.39,26.41
$GC,30768,0.65,362.9,3374,1507,1061,1081,1218.6,7.1,471,30769,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1507,1071,1062,1081,0,0,0,0,0,0,26.70,26.72,26.72
$GC,31128,0.65,362.9,3374,1507,1062,1082,1192.6,7.3,474,31133,0.00,1.95,0.00,0.000,516,0.000,0.057,3380,196,1071,1062,1081,0,0,0,0,0,0,26.68,26.06,26.72
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$GC,48579,0.97,362.9,3466,2809,1061,1082,33.7,6.0,922,48589,0.00,1.95,0.00,0.000,1030,0.000,0.045,3467,1493,1071,1061,1081,0,0,0,0,0,0,26.33,26.31,26.34
$GC,48890,1.03,362.9,3466,1493,1062,1081,16.2,5.8,953,48901,0.00,1.92,0.00,0.000,516,0.000,0.060,3476,193,1071,1062,1081,0,0,0,0,0,0,26.74,26.11,26.76
$GC,48985,1.09,362.9,3476,193,1062,1081,9.5,6.2,961,48989,0.00,1.70,0.00,0.000,1030,0.000,0.042,3476,1445,1071,1061,1081,0,0,0,0,0,0,26.49,26.46,26.50
$STATE,49097,end climb,SURFACE_DEPTH_REACHED
$STATE,49097,begin surface coast
$FINISH,1.3,1.025008
$STATE,49138,end surface coast,CONTROL_FINISHED_OK
$STATE,49138,begin surface
$SM_CCo,49213,0.00,0.000,0,0,1071,368.63
$SM_GC,2.63,8.23,0.00,0.00,0.047,0.000,0.000,208,1527,1071,-9.05,-4.89,368.63,0,0,0,0,0,0,26.21,26.77,26.26
$IRIDIUM_FIX,3916.30,-6921.41,020808,192639
$TT8_MAMPS,0.023219,0.023219
$HUMID,42.16
$INTERNAL_PRESSURE,8.80965
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1924.6,127.6
$24V_AH,20.82,63.340
$10V_AH,9.79,29.066
$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,23.100,282.125,495.350,0.000,134.950,24.982,25.948,251.397,35.750,0.000,55.912,3664.102,39025.605,684.892,6089.230,193.294,0.000,2842.461,0.000,5517.506,0.000,263.868,0.000
$DEVICE_MAMPS,245.817,62.075,2254.564,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.417,3180.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352884
$DATA_FILE_SIZE,60175,976
$CAP_FILE_SIZE,337449,0
$CFSIZE,1024409600,1000390656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.080,267.64,1
$GPS,081015,115433,3942.808,-6940.979,38,1.1,78,-15.4,0.0,266.0,10,4.3