version: 66.12
glider: 38
mission: 4
dive: 82
start: 8 13 115 18 1 41
data:
$ID,38
$MISSION,4
$DIVE,82
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$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,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,9
$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,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,91
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$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,2
$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,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,50
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,130815,175103,3205.6145,-6519.6309,26,1.1,27,-14.7,0.0,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-68.3
$GPS2,130815,180117,3205.6023,-6519.6636,4,1.2,13,-14.7,0.0,0.0,9,8.3
$SPEED_LIMITS,0.060,0.218
$TGT_NAME,BDA_W
$TGT_LATLONG,3220.000,-6511.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.060834,0.121092
$KALMAN_X,47404.121094,0.000000,0.000000,-136021.796875,2403.441406
$KALMAN_Y,27427.154297,0.000000,0.000000,885.595947,4247.865234
$MHEAD_RNG_PITCHd_Wd,41.4,29913,-20.8,-6.000,-23.88,1277
$D_GRID,5400
$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
$GC,15,-1.05,-50.2,136,2230,892,857,0.0,0.0,0,132,0.00,0.00,-114.25,0.154,16390,0.000,0.000,137,2230,2313,2264,2363,0,0,0,0,0,0,26.74,26.36,26.20
$GC,134,-1.07,-115.6,137,2230,2264,2363,2.1,-0.8,11,165,10.35,1.92,-12.02,0.186,18692,0.295,0.077,2612,3588,2538,2485,2591,0,0,0,0,0,0,25.98,26.26,26.16
$GC,487,-0.90,-115.6,2612,3589,2485,2592,50.1,-9.5,40,491,0.22,1.88,0.00,0.000,3078,0.216,0.060,2680,2144,2537,2484,2591,0,0,0,0,0,0,26.39,26.73,26.59
$GC,801,-0.84,-115.6,2679,2143,2486,2591,68.7,-5.5,61,807,0.00,2.03,0.00,0.000,260,0.000,0.074,2670,3593,2538,2486,2591,0,0,0,0,0,0,27.05,26.77,27.07
$GC,1125,-0.76,-115.6,2670,3593,2486,2592,85.0,-4.5,81,1130,0.15,1.85,0.00,0.000,3078,0.209,0.060,2720,2132,2539,2486,2592,0,0,0,0,0,0,26.63,26.93,26.73
$GC,1440,-0.76,-115.6,2720,2131,2486,2592,100.1,-5.4,102,1445,0.00,2.03,0.00,0.000,260,0.000,0.077,2711,3580,2539,2486,2592,0,0,0,0,0,0,27.17,26.89,27.18
$GC,1762,-0.76,-115.6,2711,3580,2486,2592,119.9,-6.2,122,1768,0.00,1.85,0.00,0.000,1030,0.000,0.060,2711,2154,2539,2486,2592,0,0,0,0,0,0,27.03,26.99,27.04
$GC,2077,-0.76,-115.6,2710,2154,2486,2592,141.7,-6.9,143,2081,0.00,2.03,0.00,0.000,260,0.000,0.074,2700,3588,2539,2486,2592,0,0,0,0,0,0,27.21,26.92,27.22
$GC,2387,-0.76,-115.6,2700,3594,2486,2591,165.7,-8.6,156,2396,0.00,1.83,0.00,0.000,1030,0.000,0.060,2700,2208,2538,2486,2591,0,0,0,0,0,0,27.03,27.02,27.07
$GC,2696,-0.76,-115.6,2700,2208,2486,2590,192.7,-8.2,167,2701,0.00,1.95,0.00,0.000,260,0.000,0.077,2690,3594,2538,2486,2590,0,0,0,0,0,0,27.22,26.94,27.24
$GC,2807,-0.76,-115.6,2690,3594,2486,2590,201.1,-9.1,170,2812,0.12,1.80,0.00,0.000,3078,0.199,0.060,2730,2176,2537,2485,2590,0,0,0,0,0,0,26.76,27.02,26.91
$GC,3115,-0.76,-115.6,2730,2175,2486,2588,227.5,-8.2,180,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2176,2537,2486,2588,0,0,0,0,0,0,27.23,27.24,27.24
$GC,3415,-0.81,-115.6,2730,2176,2486,2587,253.4,-8.7,190,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2176,2536,2486,2587,0,0,0,0,0,0,27.23,27.25,27.24
$GC,3715,-0.87,-115.6,2730,2175,2486,2585,279.9,-8.7,200,3717,0.08,0.00,0.00,0.000,4102,0.151,0.000,2681,2174,2535,2486,2585,0,0,0,0,0,0,27.01,27.06,27.05
$GC,4016,-0.87,-115.6,2681,2175,2487,2585,311.8,-10.8,209,4021,0.00,1.98,0.00,0.000,260,0.000,0.077,2671,3586,2535,2486,2585,0,0,0,0,0,0,27.24,26.95,27.25
$GC,4175,-0.87,-115.6,2669,3586,2486,2585,327.6,-11.4,212,4179,0.00,1.83,0.00,0.000,1030,0.000,0.060,2670,2206,2535,2486,2584,0,0,0,0,0,0,27.04,27.03,27.07
$GC,4514,-0.87,-115.6,2670,2206,2486,2582,366.0,-10.6,220,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2206,2533,2486,2581,0,0,0,0,0,0,27.24,27.25,27.25
$GC,4829,-0.87,-115.6,2670,2206,2486,2580,397.9,-10.2,227,4834,0.00,1.98,0.00,0.000,260,0.000,0.077,2660,3592,2533,2486,2580,0,0,0,0,0,0,27.24,26.95,27.26
$GC,4891,-0.87,-115.6,2660,3591,2486,2580,402.4,-10.2,228,4895,0.00,1.85,0.00,0.000,1030,0.000,0.060,2660,2197,2533,2486,2581,0,0,0,0,0,0,27.05,27.04,27.06
$GC,5235,-0.87,-115.6,2660,2196,2486,2579,439.6,-10.4,236,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2196,2532,2486,2579,0,0,0,0,0,0,27.24,27.26,27.25
$GC,5550,-0.87,-115.6,2660,2196,2486,2578,471.6,-10.0,243,5555,0.00,1.98,0.00,0.000,260,0.000,0.077,2649,3605,2532,2486,2578,0,0,0,0,0,0,27.24,26.95,27.25
$GC,5649,-0.87,-115.6,2649,3605,2486,2578,481.7,-10.6,245,5653,0.12,1.88,0.00,0.000,3078,0.184,0.060,2691,2172,2531,2485,2578,0,0,0,0,0,0,26.75,27.03,26.86
$GC,5958,-0.87,-115.6,2691,2172,2485,2576,512.2,-9.5,252,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2172,2531,2486,2577,0,0,0,0,0,0,27.24,27.26,27.25
$GC,6273,-0.87,-115.6,2691,2172,2486,2575,543.1,-9.8,259,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2172,2530,2486,2575,0,0,0,0,0,0,27.24,27.26,27.25
$GC,6588,-0.87,-115.6,2691,2172,2486,2573,573.4,-9.6,266,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2172,2529,2486,2573,0,0,0,0,0,0,27.24,27.27,27.26
$GC,6903,-0.87,-115.6,2691,2172,2486,2573,604.9,-10.1,273,6908,0.00,1.98,0.00,0.000,260,0.000,0.077,2681,3578,2529,2486,2573,0,0,0,0,0,0,27.24,26.95,27.26
$GC,7040,-0.87,-115.6,2681,3578,2486,2573,619.6,-10.6,276,7044,0.00,1.77,0.00,0.000,1030,0.000,0.060,2681,2254,2528,2485,2572,0,0,0,0,0,0,27.07,27.03,27.08
$GC,7357,-0.87,-115.6,2681,2215,2486,2570,652.7,-10.4,283,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2215,2527,2485,2570,0,0,0,0,0,0,27.24,27.26,27.26
$GC,7672,-0.87,-115.6,2681,2215,2485,2569,686.9,-10.9,290,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2215,2527,2486,2568,0,0,0,0,0,0,27.24,27.26,27.25
$GC,7987,-0.87,-115.6,2680,2215,2486,2566,720.2,-10.7,297,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2215,2526,2486,2566,0,0,0,0,0,0,27.24,27.26,27.26
$GC,8302,-0.87,-115.6,2681,2215,2486,2564,753.3,-10.6,304,8308,0.00,1.95,0.00,0.000,260,0.000,0.077,2671,3589,2525,2486,2564,0,0,0,0,0,0,27.24,26.94,27.26
$GC,8381,-0.87,-115.6,2671,3589,2486,2564,758.5,-10.8,305,8385,0.00,1.80,0.00,0.000,1030,0.000,0.057,2671,2217,2525,2486,2564,0,0,0,0,0,0,27.07,27.03,27.08
$GC,8704,-0.87,-115.6,2671,2217,2486,2562,799.6,-11.6,312,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2217,2524,2486,2562,0,0,0,0,0,0,27.24,27.26,27.26
$GC,9019,-0.87,-115.6,2671,2217,2486,2559,835.5,-11.5,319,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2217,2522,2486,2559,0,0,0,0,0,0,27.24,27.26,27.25
$GC,9334,-0.87,-115.6,2671,2217,2486,2556,873.3,-12.3,326,9339,0.00,1.95,0.00,0.000,260,0.000,0.077,2661,3586,2521,2486,2557,0,0,0,0,0,0,27.24,26.94,27.26
$GC,9380,-0.87,-115.6,2661,3586,2486,2556,879.2,-12.4,327,9385,0.00,1.85,0.00,0.000,1030,0.000,0.057,2661,2206,2521,2486,2556,0,0,0,0,0,0,27.04,27.03,27.05
$GC,9695,-0.87,-115.6,2660,2205,2486,2554,918.5,-12.2,334,9700,0.00,2.00,0.00,0.000,260,0.000,0.077,2650,3597,2519,2486,2553,0,0,0,0,0,0,27.23,26.93,27.25
$GC,9767,-0.87,-115.6,2650,3597,2486,2553,924.2,-12.2,335,9772,0.10,1.88,0.00,0.000,3078,0.184,0.060,2686,2191,2519,2486,2553,0,0,0,0,0,0,26.77,27.02,26.85
$GC,10102,-0.94,-115.6,2686,2190,2486,2550,965.0,-11.1,343,10107,0.00,1.98,0.00,0.000,260,0.000,0.077,2676,3581,2518,2486,2550,0,0,0,0,0,0,27.24,26.94,27.25
$GC,10169,-1.01,-115.6,2676,3582,2486,2550,970.3,-11.3,344,10173,0.00,1.83,0.00,0.000,1030,0.000,0.060,2676,2210,2518,2486,2550,0,0,0,0,0,0,27.06,27.02,27.08
$GC,10538,-1.07,-115.6,2676,2209,2485,2546,1015.0,-11.4,351,10540,0.08,0.00,0.00,0.000,4102,0.151,0.000,2622,2209,2516,2486,2546,0,0,0,0,0,0,27.01,27.06,27.04
$GC,10897,-1.07,-115.6,2621,2209,2486,2542,1067.3,-13.9,354,10903,0.00,2.00,0.00,0.000,260,0.000,0.077,2611,3598,2514,2486,2542,0,0,0,0,0,0,27.23,26.96,27.25
$GC,10948,-1.07,-115.6,2610,3598,2486,2543,1067.3,-13.9,354,10953,0.00,1.88,0.00,0.000,1030,0.000,0.060,2611,2208,2514,2486,2542,0,0,0,0,0,0,27.04,27.05,27.05
$GC,11259,-1.07,-115.6,2611,2206,2486,2539,1122.8,-15.4,357,11264,0.00,2.00,0.00,0.000,260,0.000,0.077,2600,3594,2512,2486,2538,0,0,0,0,0,0,27.23,26.92,27.25
$GC,11314,-1.07,-115.6,2600,3594,2486,2540,1122.8,-15.4,357,11318,0.00,1.90,0.00,0.000,1030,0.000,0.060,2600,2199,2512,2485,2539,0,0,0,0,0,0,27.03,27.01,27.05
$GC,11738,-1.07,-115.6,2600,2199,2485,2534,1196.2,-15.3,361,11743,0.00,2.00,0.00,0.000,260,0.000,0.077,2590,3593,2509,2485,2534,0,0,0,0,0,0,27.23,26.92,27.25
$GC,11799,-1.07,-115.6,2590,3593,2486,2534,1196.2,-15.3,361,11804,0.10,1.90,0.00,0.000,3078,0.184,0.057,2623,2184,2510,2486,2534,0,0,0,0,0,0,26.72,27.01,26.79
$GC,12218,-1.07,-115.6,2623,2183,2486,2531,1261.3,-13.5,365,12223,0.00,2.00,0.00,0.000,260,0.000,0.077,2614,3580,2508,2485,2531,0,0,0,0,0,0,27.23,26.91,27.25
$GC,12289,-1.07,-115.6,2614,3580,2485,2531,1261.3,-13.5,365,12293,0.00,1.88,0.00,0.000,1030,0.000,0.060,2614,2207,2508,2485,2531,0,0,0,0,0,0,27.03,27.01,27.04
$GC,12698,-1.07,-115.6,2613,2206,2485,2527,1328.8,-14.1,369,12703,0.00,1.98,0.00,0.000,260,0.000,0.077,2604,3583,2506,2485,2527,0,0,0,0,0,0,27.23,26.91,27.24
$GC,12759,-1.07,-115.6,2603,3583,2485,2527,1328.8,-14.1,369,12763,0.00,1.90,0.00,0.000,1030,0.000,0.060,2604,2193,2506,2485,2527,0,0,0,0,0,0,27.02,27.00,27.03
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$GC,31719,-1.72,-115.6,2431,2188,2472,2503,3598.2,-8.9,527,31724,0.00,2.08,0.00,0.000,260,0.000,0.077,2421,3577,2487,2472,2503,0,0,0,0,0,0,27.17,26.68,27.19
$GC,31853,-1.77,-115.6,2421,3577,2472,2503,3609.6,-9.0,528,31857,0.00,1.90,0.00,0.000,1030,0.000,0.060,2422,2190,2487,2472,2503,0,0,0,0,0,0,26.93,26.86,26.94
$GC,32204,-1.83,-115.6,2421,2189,2472,2503,3642.4,-9.1,531,32206,0.05,0.00,0.00,0.000,4102,0.184,0.000,2382,2188,2487,2472,2503,0,0,0,0,0,0,26.96,27.00,26.98
$GC,32563,-1.83,-115.6,2382,2188,2472,2502,3677.8,-9.6,534,32570,0.00,2.10,0.00,0.000,260,0.000,0.077,2371,3582,2487,2472,2503,0,0,0,0,0,0,27.17,26.67,27.18
$GC,32693,-1.83,-115.6,2371,3581,2472,2502,3691.1,-10.0,535,32697,0.00,1.95,0.00,0.000,1030,0.000,0.060,2371,2203,2487,2471,2503,0,0,0,0,0,0,26.88,26.85,26.91
$GC,33052,-1.83,-115.6,2371,2202,2472,2503,3727.5,-10.2,538,33054,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2202,2487,2472,2503,0,0,0,0,0,0,27.16,27.19,27.19
$GC,33412,-1.83,-115.6,2371,2202,2472,2503,3761.8,-9.6,541,33419,0.00,2.08,0.00,0.000,260,0.000,0.079,2361,3579,2487,2472,2502,0,0,0,0,0,0,27.17,26.67,27.18
$GC,33540,-1.83,-115.6,2361,3579,2471,2503,3774.4,-9.6,542,33545,0.00,1.92,0.00,0.000,1030,0.000,0.060,2361,2183,2487,2472,2503,0,0,0,0,0,0,26.91,26.85,26.93
$GC,33900,-1.83,-115.6,2360,2183,2472,2502,3808.5,-9.6,545,33901,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2183,2487,2472,2503,0,0,0,0,0,0,27.17,27.19,27.18
$GC,34260,-1.83,-115.6,2361,2183,2472,2502,3841.1,-9.1,548,34264,0.00,2.10,0.00,0.000,260,0.000,0.077,2350,3576,2486,2471,2502,0,0,0,0,0,0,27.17,26.66,27.18
$GC,34388,-1.83,-115.6,2350,3576,2472,2503,3853.5,-9.3,549,34393,0.10,1.95,0.00,0.000,3078,0.181,0.057,2384,2187,2487,2471,2503,0,0,0,0,0,0,26.45,26.84,26.51
$GC,34749,-1.83,-115.6,2383,2186,2472,2503,3885.5,-9.1,552,34752,0.00,2.12,0.00,0.000,260,0.000,0.079,2374,3567,2487,2472,2502,0,0,0,0,0,0,27.16,26.65,27.18
$GC,34827,-1.83,-115.6,2374,3584,2472,2503,3885.5,-9.1,552,34831,0.00,1.95,0.00,0.000,1030,0.000,0.060,2374,2201,2487,2471,2503,0,0,0,0,0,0,26.87,26.84,26.89
$GC,35232,-1.83,-115.6,2374,2201,2471,2502,3928.2,-8.8,556,35233,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2200,2487,2471,2503,0,0,0,0,0,0,27.17,27.19,27.18
$GC,35592,-1.83,-115.6,2373,2201,2472,2502,3959.8,-8.7,559,35597,0.00,2.05,0.00,0.000,260,0.000,0.079,2364,3572,2487,2471,2503,0,0,0,0,0,0,27.17,26.64,27.18
$GC,35717,-1.83,-115.6,2363,3572,2471,2503,3970.8,-8.9,560,35720,0.00,1.90,0.00,0.000,1030,0.000,0.060,2364,2201,2487,2472,2503,0,0,0,0,0,0,26.90,26.84,26.92
$GC,36072,-1.83,-115.6,2364,2200,2472,2502,4001.8,-8.8,563,36073,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2200,2486,2471,2502,0,0,0,0,0,0,27.17,27.20,27.19
$GC,36432,-1.83,-115.6,2363,2200,2472,2502,4033.0,-8.6,566,36434,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2200,2486,2471,2502,0,0,0,0,0,0,27.17,27.20,27.20
$GC,36792,-1.83,-115.6,2363,2200,2472,2502,4063.5,-8.5,569,36797,0.00,2.08,0.00,0.000,260,0.000,0.079,2353,3580,2487,2471,2503,0,0,0,0,0,0,27.17,26.64,27.19
$GC,36935,-1.83,-115.6,2353,3580,2472,2503,4074.5,-8.6,570,36939,0.00,1.95,0.00,0.000,1030,0.000,0.060,2353,2197,2487,2472,2502,0,0,0,0,0,0,26.86,26.83,26.88
$GC,37275,-1.83,-115.6,2353,2197,2471,2502,4105.4,-8.7,573,37281,0.08,2.05,0.00,0.000,2308,0.209,0.077,2374,3573,2487,2472,2502,0,0,0,0,0,0,26.67,26.64,26.70
$GC,37351,-1.83,-115.6,2374,3573,2470,2502,4105.4,-8.7,573,37355,0.00,1.95,0.00,0.000,1030,0.000,0.060,2375,2189,2486,2471,2502,0,0,0,0,0,0,26.86,26.82,26.89
$GC,37757,-1.83,-115.6,2374,2188,2472,2502,4143.2,-7.8,577,37758,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2188,2487,2471,2503,0,0,0,0,0,0,27.17,27.20,27.19
$GC,38117,-1.83,-115.6,2374,2188,2471,2502,4170.6,-7.6,580,38118,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2188,2486,2471,2502,0,0,0,0,0,0,27.17,27.20,27.19
$GC,38476,-1.88,-115.6,2374,2188,2471,2502,4197.1,-7.4,583,38477,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2188,2487,2471,2503,0,0,0,0,0,0,27.17,27.19,27.18
$GC,38836,-1.94,-115.6,2374,2189,2471,2502,4223.1,-7.2,586,38842,0.00,2.10,0.00,0.000,260,0.000,0.079,2365,3573,2486,2471,2502,0,0,0,0,0,0,27.17,26.62,27.19
$GC,38947,-1.99,-115.6,2364,3573,2472,2502,4223.1,-7.2,586,38959,0.00,1.92,0.00,0.000,1030,0.000,0.060,2364,2202,2486,2471,2502,0,0,0,0,0,0,26.86,26.82,26.87
$GC,39316,-1.99,-115.6,2364,2202,2472,2503,4258.7,-7.4,590,39317,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2202,2487,2471,2503,0,0,0,0,0,0,27.16,27.19,27.18
$GC,39676,-1.99,-115.6,2364,2202,2471,2502,4284.8,-7.2,593,39677,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2202,2486,2471,2502,0,0,0,0,0,0,27.17,27.19,27.18
$GC,40035,-1.99,-115.6,2364,2202,2471,2502,4309.5,-7.0,596,40036,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2202,2487,2472,2502,0,0,0,0,0,0,27.20,27.22,27.21
$GC,40397,-2.04,-115.6,2364,2203,2471,2502,4334.1,-6.8,599,40399,0.08,0.00,0.00,0.000,4102,0.146,0.000,2313,2201,2487,2472,2502,0,0,0,0,0,0,26.92,26.96,26.95
$GC,40756,-2.04,-115.6,2313,2201,2471,2502,4362.4,-7.6,602,40762,0.00,2.08,0.00,0.000,260,0.000,0.079,2302,3575,2487,2472,2502,0,0,0,0,0,0,27.16,26.61,27.18
$GC,40856,-2.04,-115.6,2302,3576,2471,2503,4362.4,-7.6,602,40860,0.00,1.95,0.00,0.000,1030,0.000,0.060,2302,2193,2486,2471,2502,0,0,0,0,0,0,26.85,26.82,26.87
$GC,41238,-2.04,-115.6,2302,2193,2471,2502,4400.4,-7.9,606,41239,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2193,2487,2472,2502,0,0,0,0,0,0,27.17,27.20,27.19
$GC,41596,-2.04,-115.6,2302,2193,2471,2502,4427.4,-7.6,609,41600,0.00,2.10,0.00,0.000,260,0.000,0.077,2292,3558,2487,2472,2502,0,0,0,0,0,0,27.16,26.60,27.18
$GC,41695,-2.04,-115.6,2292,3575,2471,2502,4427.4,-7.6,609,41699,0.00,1.92,0.00,0.000,1030,0.000,0.060,2292,2205,2487,2472,2502,0,0,0,0,0,0,26.84,26.81,26.87
$GC,42080,-2.04,-115.6,2292,2204,2471,2502,4464.7,-7.7,613,42081,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2204,2487,2472,2502,0,0,0,0,0,0,27.16,27.18,27.17
$GC,42442,-2.04,-115.6,2292,2204,2472,2502,4490.8,-7.3,616,42443,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2204,2486,2471,2501,0,0,0,0,0,0,27.16,27.18,27.17
$STATE,42682,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,42682,begin apogee
$GC,42685,-0.25,0.0,2292,2204,2471,2502,4507.8,-7.1,618,42789,1.83,0.00,99.85,3.724,10246,0.161,0.000,2893,2204,2140,2141,2139,0,0,0,0,0,0,26.10,22.85,21.37
$STATE,42790,end apogee,CONTROL_FINISHED_OK
$STATE,42790,begin climb
$GC,42792,1.07,115.6,2892,2203,2141,2139,4507.8,0.0,618,42930,1.12,2.42,129.25,3.640,10756,0.089,0.089,3318,840,1742,1751,1733,0,0,0,0,0,0,23.28,22.26,20.85
$GC,43222,1.07,115.6,3318,840,1751,1733,4421.3,23.6,622,43227,0.00,2.10,0.00,0.000,1030,0.000,0.062,3318,2189,1742,1751,1733,0,0,0,0,0,0,25.58,25.55,25.60
$GC,43642,0.64,115.6,3318,2189,1751,1733,4297.0,25.8,626,43648,0.50,2.00,0.00,0.000,4612,0.248,0.065,3188,831,1742,1751,1733,0,0,0,0,0,0,25.88,26.13,26.03
$GC,43942,0.27,115.6,3188,831,1751,1733,4247.0,23.0,628,43947,0.45,2.03,0.00,0.000,5126,0.223,0.062,3057,2207,1742,1751,1733,0,0,0,0,0,0,26.10,26.42,26.32
$GC,44361,0.08,115.6,3057,2207,1751,1733,4170.8,15.8,632,44367,0.17,2.00,0.00,0.000,4612,0.216,0.065,3007,837,1742,1751,1733,0,0,0,0,0,0,26.29,26.50,26.41
$GC,44661,-0.05,115.6,3007,838,1751,1733,4138.7,14.2,634,44666,0.12,2.03,0.00,0.000,5126,0.211,0.062,2971,2213,1742,1751,1733,0,0,0,0,0,0,26.36,26.63,26.55
$GC,45081,-0.11,115.6,2970,2212,1751,1733,4082.9,11.7,638,45086,0.12,2.00,0.00,0.000,4612,0.214,0.065,2943,838,1742,1751,1733,0,0,0,0,0,0,26.49,26.65,26.58
$GC,45288,-0.11,115.6,2943,838,1751,1733,4070.6,11.3,639,45292,0.00,2.03,0.00,0.000,1030,0.000,0.062,2943,2196,1742,1751,1733,0,0,0,0,0,0,26.75,26.73,26.77
$GC,45682,-0.11,115.6,2943,2196,1751,1733,4022.9,9.9,643,45687,0.00,2.00,0.00,0.000,516,0.000,0.067,2953,834,1741,1750,1733,0,0,0,0,0,0,27.01,26.74,27.03
$GC,45815,-0.11,115.6,2953,833,1751,1733,4011.0,9.9,644,45818,0.00,2.03,0.00,0.000,1030,0.000,0.062,2953,2207,1742,1751,1733,0,0,0,0,0,0,26.83,26.77,26.84
$GC,46163,-0.11,115.6,2953,2209,1750,1733,3974.4,10.1,647,46169,0.00,2.03,0.00,0.000,516,0.000,0.067,2963,842,1742,1751,1733,0,0,0,0,0,0,27.04,26.77,27.06
$GC,46259,-0.11,115.6,2963,842,1751,1733,3974.4,10.1,647,46263,0.00,2.03,0.00,0.000,1030,0.000,0.062,2963,2200,1742,1751,1733,0,0,0,0,0,0,26.83,26.80,26.85
$GC,46643,-0.11,115.6,2963,2200,1750,1733,3924.8,10.4,651,46649,0.00,2.00,0.00,0.000,516,0.000,0.067,2972,831,1741,1750,1733,0,0,0,0,0,0,27.07,26.80,27.08
$GC,46776,-0.11,115.6,2971,831,1751,1733,3912.6,10.3,652,46781,0.05,2.03,0.00,0.000,5126,0.233,0.062,2957,2225,1741,1750,1733,0,0,0,0,0,0,26.66,26.82,26.78
$GC,47125,-0.11,115.6,2956,2225,1751,1733,3877.7,9.8,655,47130,0.00,2.05,0.00,0.000,516,0.000,0.067,2967,831,1742,1751,1733,0,0,0,0,0,0,27.09,26.82,27.10
$GC,47245,-0.11,115.6,2966,831,1751,1733,3866.4,9.6,656,47248,0.00,2.00,0.00,0.000,1030,0.000,0.062,2966,2203,1742,1751,1733,0,0,0,0,0,0,26.90,26.84,26.91
$GC,47607,-0.11,115.6,2966,2203,1751,1733,3832.0,9.5,659,47613,0.00,2.03,0.00,0.000,516,0.000,0.067,2977,831,1742,1751,1733,0,0,0,0,0,0,27.10,26.83,27.13
$GC,47688,-0.11,115.6,2976,831,1752,1732,3832.0,9.5,659,47693,0.05,2.03,0.00,0.000,5126,0.189,0.062,2959,2199,1741,1750,1733,0,0,0,0,0,0,26.65,26.85,26.72
$GC,48087,-0.11,115.6,2959,2199,1750,1733,3789.3,8.9,663,48092,0.00,2.00,0.00,0.000,516,0.000,0.067,2969,828,1742,1751,1733,0,0,0,0,0,0,27.12,26.84,27.13
$GC,48226,-0.11,115.6,2969,828,1751,1732,3778.6,8.8,664,48231,0.10,2.00,0.00,0.000,5126,0.196,0.062,2938,2210,1741,1751,1732,0,0,0,0,0,0,26.61,26.86,26.77
$GC,48565,-0.11,115.6,2937,2209,1751,1733,3751.0,8.0,667,48570,0.00,2.00,0.00,0.000,516,0.000,0.067,2947,839,1741,1751,1732,0,0,0,0,0,0,27.13,26.84,27.15
$GC,48645,-0.11,115.6,2947,839,1751,1732,3751.0,8.0,667,48650,0.00,2.03,0.00,0.000,1030,0.000,0.062,2948,2203,1741,1751,1732,0,0,0,0,0,0,26.90,26.86,26.92
$GC,49045,-0.11,115.6,2947,2203,1751,1733,3713.9,7.7,671,49046,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2203,1741,1750,1733,0,0,0,0,0,0,27.13,27.16,27.15
$GC,49404,-0.11,115.6,2947,2203,1751,1733,3686.6,7.6,674,49410,0.00,2.00,0.00,0.000,516,0.000,0.067,2957,829,1741,1751,1732,0,0,0,0,0,0,27.15,26.85,27.16
$GC,49524,-0.11,115.6,2957,828,1751,1732,3677.2,7.6,675,49529,0.00,2.00,0.00,0.000,1030,0.000,0.062,2957,2207,1741,1751,1732,0,0,0,0,0,0,26.91,26.87,26.93
$GC,49885,-0.11,115.6,2957,2207,1750,1732,3648.5,8.0,678,49890,0.00,2.03,0.00,0.000,516,0.000,0.067,2967,838,1741,1751,1732,0,0,0,0,0,0,27.15,26.86,27.17
$GC,49995,-0.11,115.6,2967,838,1751,1733,3648.5,8.0,678,50004,0.00,2.03,0.00,0.000,1030,0.000,0.060,2967,2200,1741,1751,1732,0,0,0,0,0,0,26.91,26.86,26.94
$GC,50364,-0.11,115.6,2967,2200,1751,1732,3609.1,8.2,682,50370,0.00,2.00,0.00,0.000,516,0.000,0.067,2977,834,1741,1751,1732,0,0,0,0,0,0,27.15,26.86,27.17
$GC,50517,-0.11,115.6,2977,834,1751,1732,3599.2,8.2,683,50521,0.08,2.03,0.00,0.000,5126,0.184,0.062,2952,2202,1741,1751,1732,0,0,0,0,0,0,26.65,26.88,26.73
$GC,50846,-0.11,115.6,2951,2202,1751,1732,3572.4,7.6,686,50851,0.00,2.00,0.00,0.000,516,0.000,0.067,2961,831,1741,1750,1732,0,0,0,0,0,0,27.15,26.86,27.17
$GC,50988,-0.11,115.6,2961,831,1751,1732,3563.8,7.3,687,50992,0.00,2.00,0.00,0.000,1030,0.000,0.062,2961,2197,1741,1751,1732,0,0,0,0,0,0,26.95,26.88,26.96
$GC,51327,-0.11,115.6,2961,2197,1750,1732,3537.3,7.3,690,51328,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2197,1741,1751,1732,0,0,0,0,0,0,27.16,27.18,27.17
$GC,51687,-0.11,115.6,2961,2197,1751,1732,3511.7,7.2,693,51688,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2197,1741,1750,1732,0,0,0,0,0,0,27.17,27.19,27.18
$GC,52047,-0.11,115.6,2961,2197,1750,1732,3486.7,7.0,696,52052,0.00,2.00,0.00,0.000,516,0.000,0.067,2971,829,1741,1750,1732,0,0,0,0,0,0,27.17,26.86,27.18
$GC,52169,-0.11,115.6,2971,829,1751,1732,3478.0,7.0,697,52174,0.05,2.03,0.00,0.000,5126,0.184,0.062,2954,2199,1741,1751,1732,0,0,0,0,0,0,26.70,26.89,26.77
$GC,52528,-0.11,115.6,2953,2198,1750,1732,3453.1,7.0,700,52529,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2199,1741,1751,1732,0,0,0,0,0,0,27.17,27.19,27.18
$GC,52888,-0.11,115.6,2954,2198,1751,1731,3428.9,6.7,703,52893,0.00,2.00,0.00,0.000,516,0.000,0.067,2963,830,1741,1751,1732,0,0,0,0,0,0,27.17,26.86,27.19
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$GC,101952,0.79,247.2,3231,2204,1305,1273,497.6,10.7,1202,101956,0.00,1.92,0.00,0.000,516,0.000,0.067,3241,832,1289,1305,1273,0,0,0,0,0,0,27.17,26.90,27.18
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$GC,102676,0.79,247.2,3240,2201,1305,1276,418.1,10.7,1218,102681,0.00,1.92,0.00,0.000,516,0.000,0.065,3250,828,1290,1305,1276,0,0,0,0,0,0,27.19,26.91,27.20
$GC,102789,0.79,247.2,3250,828,1307,1276,407.7,11.0,1220,102793,0.00,1.95,0.00,0.000,1030,0.000,0.060,3250,2201,1291,1307,1276,0,0,0,0,0,0,27.01,26.94,27.02
$GC,103128,0.79,247.2,3250,2201,1307,1278,364.6,12.1,1228,103132,0.00,1.92,0.00,0.000,516,0.000,0.065,3260,824,1292,1307,1278,0,0,0,0,0,0,27.19,26.91,27.21
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$GC,103665,0.84,247.2,3229,828,1308,1280,307.2,11.1,1239,103674,0.00,1.92,0.00,0.000,1030,0.000,0.062,3229,2197,1294,1309,1280,0,0,0,0,0,0,26.98,26.95,27.00
$GC,103988,0.84,247.2,3229,2197,1309,1282,267.7,11.1,1250,103994,0.00,1.92,0.00,0.000,516,0.000,0.067,3239,820,1295,1308,1282,0,0,0,0,0,0,27.20,26.93,27.22
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$GC,104465,0.84,247.2,3248,821,1305,1271,215.3,11.8,1265,104474,0.00,1.95,0.00,0.000,1030,0.000,0.060,3248,2201,1288,1305,1272,0,0,0,0,0,0,26.96,26.94,26.98
$GC,104774,0.84,247.2,3248,2201,1305,1273,176.6,11.6,1276,104775,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2201,1288,1304,1273,0,0,0,0,0,0,27.19,27.21,27.20
$GC,105074,0.84,247.2,3248,2201,1305,1274,141.9,11.9,1288,105079,0.00,1.92,0.00,0.000,516,0.000,0.067,3258,818,1290,1306,1274,0,0,0,0,0,0,27.20,26.92,27.21
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$GC,105551,0.90,247.2,3258,2205,1306,1274,87.5,11.3,1319,105557,0.00,1.92,0.00,0.000,516,0.000,0.067,3268,821,1290,1306,1275,0,0,0,0,0,0,27.20,26.93,27.22
$GC,105664,0.95,247.2,3267,821,1307,1275,75.5,10.6,1326,105669,0.00,1.90,0.00,0.000,1030,0.000,0.062,3268,2209,1291,1307,1275,0,0,0,0,0,0,26.98,26.96,27.01
$GC,105979,1.02,247.2,3268,2209,1307,1276,45.0,9.6,1347,105984,0.00,1.95,0.00,0.000,260,0.000,0.077,3268,3602,1292,1307,1277,0,0,0,0,0,0,27.21,26.90,27.22
$GC,106048,1.02,247.2,3267,3602,1307,1277,40.1,7.8,1351,106057,0.00,1.90,0.00,0.000,1030,0.000,0.057,3278,2187,1292,1307,1277,0,0,0,0,0,0,27.01,26.99,27.05
$GC,106358,1.11,247.2,3277,2186,1307,1279,21.3,5.6,1382,106368,0.08,1.83,0.00,0.000,2564,0.146,0.065,3354,831,1293,1307,1279,0,0,0,0,0,0,26.99,26.93,27.01
$STATE,106583,end climb,SURFACE_DEPTH_REACHED
$STATE,106583,begin surface coast
$FINISH,-0.5,0.997759
$STATE,106619,end surface coast,CONTROL_FINISHED_OK
$STATE,106619,begin surface
$SM_CCo,106635,3.60,0.452,0,0,1279,250.11
$SM_GC,1.75,8.02,1.95,3.60,0.079,0.062,0.452,136,2214,1279,-8.75,-1.61,250.11,0,0,0,0,0,0,26.96,26.95,26.00
$IRIDIUM_FIX,3137.94,-6535.46,070608,090659
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.39
$INTERNAL_PRESSURE,9.36803
$TCM_TEMP,21.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,49.2,47.2
$ALTIM_BOTTOM_PING,4507.8,26.6
$24V_AH,20.85,21.975
$10V_AH,10.23,11.756
$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,27.300,624.350,351.100,3.600,126.275,23.486,46.463,346.148,51.250,0.000,13.531,6000.863,86924.617,783.803,13020.932,429.793,0.605,5893.582,0.000,12141.474,0.000,378.532,0.000
$DEVICE_MAMPS,295.477,89.388,3724.500,451.906,186.225,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.610,4595.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330348
$DATA_FILE_SIZE,90137,1405
$CAP_FILE_SIZE,735669,0
$CFSIZE,1024409600,1008648192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140815,234122,3215.147,-6511.464,103,0.8,104,-14.8,0.0,0.0,11,8.4