version: 66.12
glider: 38
mission: 4
dive: 100
start: 9 17 115 11 35 40
data:
$ID,38
$MISSION,4
$DIVE,100
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,4000
$T_MISSION,4060
$T_ABORT,4120
$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,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,120
$R_STBD_OVSHOOT,72
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,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
$GPS1,170915,112422,3034.1301,-6921.8418,39,0.8,41,-13.0,0.0,0.0,10,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.5
$GPS2,170915,113517,3034.0977,-6921.9004,3,0.8,17,-13.0,0.0,0.0,10,9.5
$SPEED_LIMITS,0.137,0.203
$TGT_NAME,2_SW
$TGT_LATLONG,3007.280,-6958.050
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.142591,-0.144066
$KALMAN_X,205342.265625,0.000000,0.000000,-675208.187500,14584.234375
$KALMAN_Y,100256.257812,0.000000,0.000000,-241785.968750,17380.640625
$MHEAD_RNG_PITCHd_Wd,237.7,76290,-9.0,-5.000,-13.86,4420
$D_GRID,6000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,12046,-0.49,-146.6,2792,2202,2598,2665,576.3,-6.7,445,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2202,2631,2597,2665,0,0,0,0,0,0,27.21,27.23,27.22
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$GC,88066,-1.58,-146.6,2426,3594,2575,2602,4800.7,-3.4,1172,88071,0.10,2.00,0.00,0.000,3078,0.139,0.057,2464,2195,2588,2575,2601,0,0,0,0,0,0,26.07,26.44,26.09
$GC,88470,-1.58,-146.6,2464,2194,2575,2602,4816.8,-3.3,1176,88475,0.00,2.20,0.00,0.000,260,0.000,0.079,2461,3582,2588,2575,2601,0,0,0,0,0,0,27.13,25.76,27.15
$GC,88566,-1.58,-146.6,2461,3581,2575,2601,4816.8,-3.3,1176,88570,0.00,1.98,0.00,0.000,1030,0.000,0.057,2461,2206,2588,2575,2602,0,0,0,0,0,0,26.45,26.43,26.48
$GC,88950,-1.58,-146.6,2461,2205,2576,2601,4835.0,-3.8,1180,88955,0.00,2.17,0.00,0.000,260,0.000,0.079,2459,3586,2588,2575,2601,0,0,0,0,0,0,27.13,25.77,27.15
$GC,89129,-1.58,-146.6,2459,3586,2575,2602,4839.5,-3.8,1181,89133,0.00,1.98,0.00,0.000,1030,0.000,0.057,2459,2191,2588,2575,2602,0,0,0,0,0,0,26.49,26.44,26.51
$GC,89546,-1.58,-146.6,2459,2189,2575,2601,4857.6,-3.8,1185,89552,0.00,2.22,0.00,0.000,260,0.000,0.077,2459,3592,2588,2575,2602,0,0,0,0,0,0,27.13,25.77,27.15
$GC,89689,-1.58,-146.6,2459,3593,2575,2601,4862.0,-3.8,1186,89694,0.00,2.00,0.00,0.000,1030,0.000,0.057,2459,2203,2588,2575,2602,0,0,0,0,0,0,26.46,26.44,26.48
$GC,90029,-1.58,-146.6,2459,2202,2575,2601,4875.5,-3.7,1189,90035,0.00,2.20,0.00,0.000,260,0.000,0.079,2458,3590,2588,2575,2602,0,0,0,0,0,0,27.13,25.77,27.15
$GC,90256,-1.58,-146.6,2458,3590,2575,2602,4879.8,-3.7,1190,90260,0.00,2.00,0.00,0.000,1030,0.000,0.057,2458,2195,2588,2575,2602,0,0,0,0,0,0,26.45,26.43,26.48
$GC,90630,-1.58,-146.6,2457,2193,2575,2601,4897.3,-3.6,1194,90635,0.00,2.17,0.00,0.000,260,0.000,0.077,2455,3582,2589,2576,2602,0,0,0,0,0,0,27.13,25.77,27.15
$GC,90828,-1.58,-146.6,2454,3582,2575,2602,4901.8,-3.7,1195,90832,0.00,1.98,0.00,0.000,1030,0.000,0.057,2455,2206,2587,2573,2602,0,0,0,0,0,0,26.46,26.43,26.47
$GC,91232,-1.58,-146.6,2455,2205,2575,2602,4918.9,-3.6,1199,91237,0.00,2.17,0.00,0.000,260,0.000,0.077,2453,3589,2588,2575,2602,0,0,0,0,0,0,27.13,25.77,27.15
$GC,91402,-1.58,-146.6,2453,3588,2575,2602,4923.0,-3.5,1200,91406,0.00,2.00,0.00,0.000,1030,0.000,0.057,2453,2199,2588,2575,2602,0,0,0,0,0,0,26.46,26.44,26.48
$GC,91716,-1.58,-146.6,2453,2199,2575,2602,4935.5,-3.4,1203,91721,0.00,2.05,0.00,0.000,772,0.000,0.065,2453,839,2588,2575,2602,0,0,0,0,0,0,27.13,26.17,27.15
$GC,91777,-1.58,-146.6,2453,839,2575,2602,4935.5,-3.4,1203,91781,0.00,2.05,0.00,0.000,1030,0.000,0.060,2451,2195,2588,2575,2601,0,0,0,0,0,0,26.39,26.36,26.40
$GC,92197,-1.58,-146.6,2451,2194,2575,2602,4951.1,-3.3,1207,92202,0.00,2.20,0.00,0.000,260,0.000,0.077,2446,3590,2588,2575,2602,0,0,0,0,0,0,27.08,25.76,27.10
$GC,92324,-1.58,-146.6,2446,3590,2575,2602,4954.9,-3.3,1208,92328,0.00,1.98,0.00,0.000,1030,0.000,0.057,2446,2225,2588,2575,2602,0,0,0,0,0,0,26.48,26.42,26.50
$GC,92678,-1.58,-146.6,2446,2197,2575,2602,4966.7,-3.2,1211,92684,0.00,2.22,0.00,0.000,260,0.000,0.077,2442,3595,2589,2576,2602,0,0,0,0,0,0,27.13,25.76,27.15
$GC,92942,-1.58,-146.6,2442,3596,2575,2602,4974.5,-3.2,1213,92946,0.00,2.03,0.00,0.000,1030,0.000,0.057,2442,2168,2588,2575,2602,0,0,0,0,0,0,26.48,26.43,26.50
$GC,93282,-1.58,-146.6,2442,2167,2575,2602,4985.7,-3.1,1216,93285,0.00,2.00,0.00,0.000,516,0.000,0.065,2442,843,2588,2575,2602,0,0,0,0,0,0,27.13,26.17,27.15
$GC,93300,-1.58,-146.6,2442,843,2575,2602,4985.7,-3.1,1216,93304,0.00,2.05,0.00,0.000,1030,0.000,0.060,2441,2201,2588,2575,2602,0,0,0,0,0,0,26.37,26.35,26.39
$GC,93645,-1.58,-146.6,2441,2201,2576,2602,4996.8,-3.1,1219,93650,0.00,2.08,0.00,0.000,516,0.000,0.065,2441,840,2589,2576,2602,0,0,0,0,0,0,27.13,26.17,27.15
$GC,93888,-1.58,-146.6,2440,841,2576,2602,5004.2,-3.1,1221,93893,0.00,2.03,0.00,0.000,1030,0.000,0.060,2439,2209,2588,2575,2602,0,0,0,0,0,0,26.37,26.35,26.39
$GC,94249,-1.58,-146.6,2438,2209,2575,2602,5014.9,-3.0,1224,94254,0.00,2.15,0.00,0.000,260,0.000,0.079,2430,3588,2588,2575,2601,0,0,0,0,0,0,27.13,25.76,27.15
$GC,94548,-1.58,-146.6,2430,3588,2575,2602,5021.8,-2.9,1226,94553,0.10,1.95,0.00,0.000,3078,0.156,0.057,2469,2186,2588,2575,2602,0,0,0,0,0,0,26.13,26.43,26.19
$GC,94973,-1.64,-146.6,2468,2183,2576,2602,5035.2,-2.8,1230,94979,0.00,2.25,0.00,0.000,260,0.000,0.079,2468,3591,2588,2575,2602,0,0,0,0,0,0,27.13,25.75,27.15
$GC,95238,-1.70,-146.6,2468,3591,2575,2602,5042.0,-2.8,1232,95243,0.08,1.95,0.00,0.000,5126,0.144,0.057,2419,2213,2588,2575,2602,0,0,0,0,0,0,26.29,26.43,26.34
$GC,95573,-1.70,-146.6,2419,2213,2575,2602,5053.0,-3.0,1235,95577,0.00,2.10,0.00,0.000,516,0.000,0.067,2419,844,2589,2576,2602,0,0,0,0,0,0,27.09,26.16,27.10
$GC,95870,-1.70,-146.6,2419,823,2575,2602,5060.8,-3.1,1237,95875,0.00,2.10,0.00,0.000,1030,0.000,0.060,2412,2208,2588,2575,2602,0,0,0,0,0,0,26.36,26.34,26.39
$GC,96181,-1.70,-146.6,2412,2208,2575,2603,5070.5,-2.8,1240,96182,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2208,2589,2576,2602,0,0,0,0,0,0,27.09,27.11,27.10
$GC,96540,-1.70,-146.6,2412,2208,2575,2602,5079.7,-2.6,1243,96541,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2208,2588,2575,2602,0,0,0,0,0,0,27.13,27.15,27.15
$GC,96901,-1.70,-146.6,2412,2208,2575,2601,5089.4,-2.7,1246,96902,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2208,2588,2575,2602,0,0,0,0,0,0,27.13,27.16,27.15
$GC,97260,-1.70,-146.6,2411,2208,2576,2602,5098.4,-2.5,1249,97261,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2208,2588,2575,2602,0,0,0,0,0,0,27.13,27.15,27.15
$GC,97620,-1.70,-146.6,2412,2208,2575,2602,5107.1,-2.4,1252,97621,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2208,2588,2575,2602,0,0,0,0,0,0,27.13,27.16,27.15
$GC,97980,-1.70,-146.6,2412,2208,2575,2602,5116.0,-2.5,1255,97981,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2208,2589,2576,2602,0,0,0,0,0,0,27.14,27.15,27.15
$GC,98340,-1.70,-146.6,2412,2208,2575,2602,5124.7,-2.4,1258,98341,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2208,2588,2575,2602,0,0,0,0,0,0,27.14,27.16,27.15
$GC,98700,-1.70,-146.6,2412,2208,2575,2602,5133.4,-2.4,1261,98701,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2208,2588,2575,2602,0,0,0,0,0,0,27.13,27.16,27.15
$GC,99061,-1.70,-146.6,2412,2209,2575,2602,5142.0,-2.4,1264,99066,0.00,2.17,0.00,0.000,260,0.000,0.079,2402,3586,2588,2575,2602,0,0,0,0,0,0,27.09,25.74,27.11
$GC,99141,-1.70,-146.6,2402,3586,2575,2602,5142.0,-2.4,1264,99145,0.00,2.00,0.00,0.000,1030,0.000,0.057,2402,2189,2588,2575,2602,0,0,0,0,0,0,26.47,26.41,26.49
$GC,99540,-1.70,-146.6,2402,2183,2575,2602,5153.9,-2.4,1268,99541,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2183,2588,2575,2602,0,0,0,0,0,0,27.13,27.15,27.15
$GC,99901,-1.70,-146.6,2402,2183,2575,2602,5162.9,-2.5,1271,99903,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2183,2588,2575,2602,0,0,0,0,0,0,27.09,27.11,27.10
$GC,100261,-1.70,-146.6,2402,2183,2575,2602,5172.1,-2.5,1274,100263,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2183,2588,2575,2602,0,0,0,0,0,0,27.09,27.11,27.10
$GC,100621,-1.70,-146.6,2402,2183,2575,2602,5181.0,-2.5,1277,100623,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2183,2589,2576,2602,0,0,0,0,0,0,27.09,27.11,27.10
$GC,100980,-1.70,-146.6,2402,2183,2575,2602,5189.7,-2.4,1280,100982,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2183,2588,2575,2602,0,0,0,0,0,0,27.14,27.16,27.15
$GC,101342,-1.70,-146.6,2402,2183,2575,2602,5197.7,-2.3,1283,101343,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2183,2589,2576,2602,0,0,0,0,0,0,27.14,27.16,27.15
$GC,101700,-1.70,-146.6,2402,2183,2575,2602,5205.7,-2.2,1286,101706,0.00,2.25,0.00,0.000,260,0.000,0.079,2394,3589,2589,2576,2602,0,0,0,0,0,0,27.13,25.75,27.15
$GC,101802,-1.70,-146.6,2394,3590,2575,2602,5205.7,-2.2,1286,101806,0.00,1.98,0.00,0.000,1030,0.000,0.057,2394,2186,2589,2576,2602,0,0,0,0,0,0,26.47,26.41,26.50
$GC,102175,-1.70,-146.6,2394,2183,2575,2602,5216.5,-2.3,1290,102177,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2183,2588,2575,2602,0,0,0,0,0,0,27.13,27.16,27.15
$GC,102535,-1.70,-146.6,2394,2183,2575,2602,5224.8,-2.3,1293,102537,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2183,2589,2576,2602,0,0,0,0,0,0,27.13,27.16,27.15
$GC,102895,-1.70,-146.6,2393,2183,2575,2603,5233.0,-2.3,1296,102897,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2183,2589,2576,2602,0,0,0,0,0,0,27.13,27.16,27.15
$GC,103256,-1.70,-146.6,2394,2183,2575,2602,5240.4,-2.1,1299,103262,0.00,2.25,0.00,0.000,260,0.000,0.079,2390,3590,2588,2575,2602,0,0,0,0,0,0,27.09,25.75,27.11
$GC,103342,-1.70,-146.6,2390,3589,2575,2602,5240.4,-2.1,1299,103347,0.10,1.98,0.00,0.000,3078,0.161,0.057,2427,2203,2588,2575,2602,0,0,0,0,0,0,26.10,26.42,26.15
$GC,103736,-1.70,-146.6,2426,2201,2575,2602,5249.1,-1.8,1303,103737,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2201,2588,2575,2602,0,0,0,0,0,0,27.13,27.15,27.15
$GC,104097,-1.70,-146.6,2427,2201,2575,2602,5255.4,-1.7,1306,104099,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2201,2588,2575,2602,0,0,0,0,0,0,27.13,27.15,27.15
$GC,104457,-1.70,-146.6,2426,2201,2575,2602,5262.1,-1.8,1309,104458,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2201,2588,2575,2602,0,0,0,0,0,0,27.09,27.11,27.11
$GC,104817,-1.70,-146.6,2427,2201,2575,2602,5270.0,-2.2,1312,104823,0.00,2.22,0.00,0.000,260,0.000,0.079,2421,3596,2588,2575,2602,0,0,0,0,0,0,27.09,25.72,27.10
$GC,105115,-1.70,-146.6,2420,3595,2575,2603,5275.2,-2.2,1314,105119,0.00,2.00,0.00,0.000,1030,0.000,0.057,2420,2216,2588,2575,2602,0,0,0,0,0,0,26.46,26.40,26.48
$GC,105539,-1.70,-146.6,2420,2198,2575,2602,5285.6,-2.2,1318,105545,0.00,2.03,0.00,0.000,516,0.000,0.065,2421,823,2588,2575,2602,0,0,0,0,0,0,27.13,26.15,27.15
$GC,105841,-1.70,-146.6,2420,823,2575,2602,5291.4,-2.3,1320,105845,0.00,2.08,0.00,0.000,1030,0.000,0.060,2416,2212,2588,2575,2602,0,0,0,0,0,0,26.39,26.33,26.42
$GC,106260,-1.70,-146.6,2416,2212,2575,2602,5301.9,-2.2,1324,106266,0.00,2.17,0.00,0.000,260,0.000,0.077,2407,3589,2588,2575,2602,0,0,0,0,0,0,27.09,25.73,27.10
$GC,106558,-1.70,-146.6,2407,3589,2575,2603,5307.5,-2.2,1326,106562,0.00,2.00,0.00,0.000,1030,0.000,0.057,2407,2175,2588,2575,2602,0,0,0,0,0,0,26.46,26.41,26.48
$GC,106982,-1.70,-146.6,2407,2164,2575,2602,5318.9,-2.4,1330,106988,0.00,2.00,0.00,0.000,516,0.000,0.067,2407,830,2588,2575,2602,0,0,0,0,0,0,27.14,26.15,27.15
$GC,107248,-1.70,-146.6,2407,830,2575,2602,5324.4,-2.3,1332,107252,0.00,2.03,0.00,0.000,1030,0.000,0.062,2404,2203,2588,2575,2602,0,0,0,0,0,0,26.39,26.33,26.42
$GC,107588,-1.70,-146.6,2404,2203,2575,2602,5332.8,-2.3,1335,107594,0.00,2.20,0.00,0.000,260,0.000,0.077,2395,3589,2589,2576,2602,0,0,0,0,0,0,27.09,25.75,27.11
$GC,107888,-1.70,-146.6,2395,3589,2575,2602,5338.3,-2.3,1337,107892,0.00,1.98,0.00,0.000,1030,0.000,0.057,2395,2198,2588,2575,2602,0,0,0,0,0,0,26.46,26.41,26.49
$STATE,107947,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,107947,begin apogee
$GC,107951,-0.25,0.0,2394,2197,2575,2602,5340.8,-2.3,1338,108099,1.42,0.00,144.38,4.191,10246,0.114,0.000,2897,2197,2140,2143,2137,0,0,0,0,0,0,25.20,22.51,20.79
$STATE,108100,end apogee,CONTROL_FINISHED_OK
$STATE,108100,begin climb
$GC,108101,0.49,146.6,2897,2196,2143,2137,5337.0,0.0,1339,108277,0.68,0.00,172.07,4.137,10246,0.094,0.000,3141,2197,1635,1652,1618,0,0,0,0,0,0,23.08,22.51,20.92
$GC,108545,0.49,146.6,3141,2196,1651,1618,5211.8,29.8,1343,108551,0.00,2.12,0.00,0.000,516,0.000,0.062,3152,838,1635,1652,1618,0,0,0,0,0,0,25.79,25.53,25.80
$GC,108844,-0.08,146.6,3152,838,1652,1618,5139.8,30.3,1345,108850,0.65,2.08,0.00,0.000,5126,0.228,0.062,2969,2198,1635,1652,1618,0,0,0,0,0,0,25.67,26.13,25.95
$GC,109265,-0.50,146.6,2969,2198,1652,1618,5034.9,21.7,1349,109270,0.50,2.05,0.00,0.000,4612,0.201,0.065,2822,834,1633,1649,1618,0,0,0,0,0,0,26.01,26.25,26.15
$GC,109437,-0.84,146.6,2821,834,1652,1618,5018.8,19.1,1350,109442,0.38,2.05,0.00,0.000,5126,0.161,0.060,2697,2201,1634,1651,1618,0,0,0,0,0,0,26.17,26.48,26.34
$GC,109861,-0.84,146.6,2696,2201,1652,1618,4985.4,6.9,1354,109862,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2201,1634,1651,1618,0,0,0,0,0,0,26.86,26.88,26.88
$GC,110221,-0.84,146.6,2696,2201,1651,1618,4963.3,6.1,1357,110222,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2202,1635,1652,1618,0,0,0,0,0,0,26.92,26.94,26.94
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$GC,187188,0.34,327.9,3058,3590,1034,988,1463.8,5.7,1998,187192,0.00,1.95,0.00,0.000,1030,0.000,0.055,3059,2202,1011,1034,988,0,0,0,0,0,0,26.86,26.80,26.87
$GC,187518,0.34,327.9,3059,2192,1034,987,1442.7,5.8,2001,187523,0.00,2.00,0.00,0.000,516,0.000,0.065,3059,821,1011,1034,988,0,0,0,0,0,0,27.15,26.65,27.17
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$GC,197779,0.34,327.9,3058,2209,1034,993,950.9,5.3,2099,197780,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2209,1013,1034,993,0,0,0,0,0,0,27.16,27.18,27.17
$GC,198094,0.34,327.9,3059,2209,1034,993,934.1,5.2,2106,198095,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2209,1013,1034,993,0,0,0,0,0,0,27.15,27.18,27.17
$GC,198409,0.34,327.9,3059,2209,1034,994,919.5,4.5,2113,198414,0.00,2.00,0.00,0.000,516,0.000,0.065,3060,827,1014,1034,994,0,0,0,0,0,0,27.16,26.62,27.17
$GC,198476,0.34,327.9,3059,826,1034,994,917.4,4.5,2114,198480,0.00,2.00,0.00,0.000,1030,0.000,0.060,3059,2198,1014,1034,994,0,0,0,0,0,0,26.74,26.71,26.77
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$GC,199130,0.34,327.9,3059,2198,1034,995,890.8,4.0,2129,199131,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2198,1014,1034,995,0,0,0,0,0,0,27.16,27.18,27.17
$GC,199445,0.34,327.9,3059,2198,1034,996,878.3,4.1,2136,199449,0.00,2.00,0.00,0.000,516,0.000,0.065,3059,828,1014,1034,995,0,0,0,0,0,0,27.15,26.63,27.17
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$GC,199964,0.42,327.9,3120,3590,1034,997,850.2,6.7,2147,199968,0.00,1.95,0.00,0.000,1030,0.000,0.057,3124,2186,1015,1034,997,0,0,0,0,0,0,26.83,26.81,26.84
$GC,200309,0.36,327.9,3124,2186,1034,997,828.0,6.2,2155,200315,0.10,1.90,0.00,0.000,4612,0.179,0.065,3086,840,1015,1033,997,0,0,0,0,0,0,26.63,26.63,26.65
$GC,200387,0.36,327.9,3086,840,1034,997,825.7,6.0,2156,200391,0.00,1.95,0.00,0.000,1030,0.000,0.060,3086,2206,1015,1034,997,0,0,0,0,0,0,26.78,26.71,26.80
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$GC,201025,0.36,327.9,3086,2207,1034,999,792.9,5.1,2170,201026,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2206,1016,1034,999,0,0,0,0,0,0,27.16,27.18,27.17
$GC,201340,0.36,327.9,3086,2207,1034,1000,776.9,5.0,2177,201341,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2207,1017,1034,1000,0,0,0,0,0,0,27.16,27.18,27.17
$GC,201655,0.36,327.9,3086,2207,1034,1001,761.1,5.1,2184,201660,0.00,1.98,0.00,0.000,516,0.000,0.065,3087,820,1017,1034,1000,0,0,0,0,0,0,27.16,26.63,27.17
$GC,201717,0.36,327.9,3086,820,1035,1000,758.7,5.2,2185,201727,0.00,1.98,3.47,0.668,9222,0.000,0.060,3086,2213,1011,1028,994,0,0,0,0,0,0,26.79,26.72,25.41
$GC,202061,0.36,327.9,3086,2212,1029,994,739.5,5.3,2193,202062,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2212,1011,1029,994,0,0,0,0,0,0,27.13,27.15,27.15
$GC,202376,0.36,327.9,3086,2212,1029,994,722.5,5.5,2200,202380,0.00,2.00,0.00,0.000,516,0.000,0.065,3086,826,1011,1029,994,0,0,0,0,0,0,27.15,26.68,27.16
$GC,202461,0.36,327.9,3086,825,1029,993,719.9,5.5,2201,202470,0.00,1.98,0.00,0.000,1030,0.000,0.060,3086,2201,1011,1029,994,0,0,0,0,0,0,26.78,26.76,26.82
$GC,202785,0.36,327.9,3086,2201,1029,994,699.2,5.7,2209,202786,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2201,1011,1029,994,0,0,0,0,0,0,27.15,27.17,27.17
$GC,203100,0.36,327.9,3086,2201,1030,995,681.9,5.5,2216,203105,0.00,1.98,0.00,0.000,516,0.000,0.065,3086,831,1012,1030,995,0,0,0,0,0,0,27.15,26.68,27.17
$GC,203152,0.36,327.9,3086,831,1030,995,679.5,5.5,2217,203157,0.00,1.95,0.00,0.000,1030,0.000,0.060,3086,2199,1012,1030,995,0,0,0,0,0,0,26.80,26.78,26.82
$GC,203461,0.36,327.9,3086,2198,1030,996,662.5,5.4,2224,203462,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2198,1013,1030,996,0,0,0,0,0,0,27.16,27.18,27.17
$GC,203776,0.36,327.9,3086,2198,1029,997,644.3,5.9,2231,203781,0.00,1.98,0.00,0.000,516,0.000,0.065,3087,824,1013,1030,997,0,0,0,0,0,0,27.16,26.69,27.17
$GC,203821,0.36,327.9,3086,824,1031,997,641.8,5.8,2232,203826,0.00,1.92,0.00,0.000,1030,0.000,0.060,3087,2201,1013,1029,997,0,0,0,0,0,0,26.82,26.77,26.84
$GC,204136,0.36,327.9,3086,2201,1031,999,624.0,5.4,2239,204137,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2201,1015,1031,999,0,0,0,0,0,0,27.16,27.18,27.18
$GC,204451,0.36,327.9,3086,2201,1031,1000,607.5,5.2,2246,204452,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2201,1015,1031,1000,0,0,0,0,0,0,27.17,27.18,27.19
$GC,204766,0.36,327.9,3086,2201,1030,1001,590.9,5.3,2253,204767,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2201,1016,1031,1001,0,0,0,0,0,0,27.17,27.19,27.18
$GC,205081,0.36,327.9,3086,2201,1032,1001,573.9,5.2,2260,205086,0.00,1.92,0.00,0.000,516,0.000,0.065,3087,832,1017,1033,1001,0,0,0,0,0,0,27.17,26.70,27.18
$GC,205148,0.36,327.9,3086,832,1033,1001,571.6,5.2,2261,205152,0.00,1.92,0.00,0.000,1030,0.000,0.060,3087,2195,1017,1034,1001,0,0,0,0,0,0,26.82,26.79,26.83
$GC,205487,0.36,327.9,3086,2195,1034,1001,550.7,6.0,2269,205488,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2195,1017,1034,1001,0,0,0,0,0,0,27.17,27.19,27.19
$GC,205802,0.36,327.9,3086,2195,1034,1003,531.3,6.2,2276,205812,0.00,2.00,3.62,0.601,8708,0.000,0.065,3086,819,1010,1029,992,0,0,0,0,0,0,27.17,26.61,25.58
$GC,205847,0.36,327.9,3086,819,1030,992,528.7,6.0,2277,205853,0.00,1.92,0.00,0.000,1030,0.000,0.060,3086,2207,1011,1030,992,0,0,0,0,0,0,26.86,26.82,26.87
$GC,206162,0.36,327.9,3086,2206,1030,992,511.4,5.4,2284,206164,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2207,1011,1030,992,0,0,0,0,0,0,27.15,27.17,27.16
$GC,206477,0.36,327.9,3086,2207,1030,992,495.0,5.3,2291,206481,0.00,1.95,0.00,0.000,516,0.000,0.065,3087,820,1011,1030,992,0,0,0,0,0,0,27.15,26.74,27.17
$GC,206526,0.36,327.9,3086,820,1030,992,492.6,5.3,2292,206531,0.00,1.92,0.00,0.000,1030,0.000,0.060,3087,2208,1011,1031,992,0,0,0,0,0,0,26.86,26.81,26.87
$GC,206840,0.36,327.9,3086,2208,1031,993,475.1,5.6,2299,206841,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2208,1012,1031,993,0,0,0,0,0,0,27.17,27.18,27.17
$GC,207155,0.36,327.9,3086,2208,1031,995,457.3,5.7,2306,207160,0.00,1.95,0.00,0.000,516,0.000,0.065,3087,831,1012,1031,994,0,0,0,0,0,0,27.17,26.74,27.18
$GC,207218,0.36,327.9,3086,831,1031,994,454.5,5.9,2307,207221,0.00,1.92,0.00,0.000,1030,0.000,0.060,3087,2200,1012,1031,994,0,0,0,0,0,0,26.85,26.82,26.86
$GC,207561,0.36,327.9,3086,2200,1031,996,433.3,5.8,2315,207562,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2200,1013,1031,996,0,0,0,0,0,0,27.17,27.20,27.19
$GC,207876,0.36,327.9,3086,2200,1031,997,414.9,5.9,2322,207882,0.00,1.95,0.00,0.000,516,0.000,0.065,3087,821,1014,1031,997,0,0,0,0,0,0,27.17,26.75,27.19
$GC,207929,0.36,327.9,3086,821,1032,997,412.4,5.7,2323,207933,0.00,1.92,0.00,0.000,1030,0.000,0.060,3086,2197,1014,1031,997,0,0,0,0,0,0,26.86,26.84,26.87
$GC,208238,0.36,327.9,3086,2197,1032,998,394.6,5.6,2330,208239,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2197,1015,1032,998,0,0,0,0,0,0,27.17,27.20,27.19
$GC,208553,0.36,327.9,3086,2197,1031,999,378.0,5.2,2337,208554,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2198,1015,1032,999,0,0,0,0,0,0,27.18,27.20,27.19
$GC,208868,0.36,327.9,3086,2197,1032,1000,362.2,5.1,2344,208873,0.00,1.92,0.00,0.000,516,0.000,0.065,3087,819,1016,1032,1000,0,0,0,0,0,0,27.18,26.76,27.20
$GC,208904,0.36,327.9,3087,819,1032,1000,362.2,5.1,2344,208912,0.00,1.92,0.00,0.000,1030,0.000,0.060,3087,2197,1016,1032,1000,0,0,0,0,0,0,26.86,26.84,26.88
$GC,209228,0.36,327.9,3086,2197,1033,1000,342.8,5.4,2352,209229,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2197,1016,1033,1000,0,0,0,0,0,0,27.18,27.20,27.20
$GC,209543,0.36,327.9,3086,2197,1033,1000,326.1,5.3,2359,209548,0.00,1.92,0.00,0.000,516,0.000,0.065,3087,831,1016,1033,1000,0,0,0,0,0,0,27.18,26.77,27.20
$GC,209579,0.36,327.9,3086,831,1034,1000,326.1,5.3,2359,209588,0.00,1.92,0.00,0.000,1030,0.000,0.060,3087,2207,1016,1033,1000,0,0,0,0,0,0,26.86,26.84,26.89
$GC,209903,0.41,327.9,3086,2207,1034,1001,306.8,5.3,2367,209904,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2207,1017,1034,1000,0,0,0,0,0,0,27.18,27.20,27.20
$GC,210218,0.46,327.9,3087,2207,1034,1002,290.4,5.2,2376,210223,0.00,0.00,3.45,0.489,8198,0.000,0.000,3087,2207,1011,1030,992,0,0,0,0,0,0,27.18,26.54,25.68
$GC,210518,0.52,327.9,3086,2207,1030,992,275.4,5.1,2386,210524,0.08,1.90,0.00,0.000,2564,0.154,0.062,3147,823,1011,1030,992,0,0,0,0,0,0,26.89,26.78,26.91
$GC,210581,0.52,327.9,3147,823,1030,992,271.2,5.8,2388,210586,0.00,1.92,0.00,0.000,1030,0.000,0.060,3146,2196,1011,1030,992,0,0,0,0,0,0,26.86,26.84,26.89
$GC,210910,0.52,327.9,3147,2196,1030,992,248.2,7.1,2399,210916,0.00,1.92,0.00,0.000,516,0.000,0.065,3147,829,1011,1030,992,0,0,0,0,0,0,27.17,26.78,27.20
$GC,210958,0.52,327.9,3147,830,1030,992,246.1,7.0,2400,210962,0.00,1.92,0.00,0.000,1030,0.000,0.060,3147,2203,1011,1030,992,0,0,0,0,0,0,26.88,26.86,26.89
$GC,211272,0.52,327.9,3147,2202,1030,992,223.6,6.7,2411,211273,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2203,1011,1030,992,0,0,0,0,0,0,27.18,27.20,27.20
$GC,211572,0.52,327.9,3147,2203,1030,992,203.0,6.9,2421,211573,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2202,1011,1030,992,0,0,0,0,0,0,27.19,27.20,27.20
$GC,211872,0.52,327.9,3147,2203,1031,992,181.3,7.0,2431,211878,0.00,1.92,0.00,0.000,516,0.000,0.065,3147,819,1011,1031,992,0,0,0,0,0,0,27.18,26.79,27.20
$GC,211940,0.52,327.9,3147,819,1031,992,177.0,7.2,2433,211945,0.00,1.92,0.00,0.000,1030,0.000,0.060,3147,2200,1011,1031,992,0,0,0,0,0,0,26.88,26.85,26.90
$GC,212264,0.52,327.9,3147,2200,1031,993,152.7,7.4,2444,212266,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2200,1012,1031,993,0,0,0,0,0,0,27.19,27.21,27.20
$GC,212566,0.52,327.9,3147,2200,1031,994,133.9,5.9,2462,212571,0.00,1.92,0.00,0.000,516,0.000,0.067,3147,829,1012,1031,994,0,0,0,0,0,0,27.19,26.79,27.20
$GC,212619,0.52,327.9,3147,830,1031,994,131.4,5.5,2465,212628,0.00,1.92,0.00,0.000,1030,0.000,0.060,3147,2207,1012,1031,994,0,0,0,0,0,0,26.88,26.86,26.91
$GC,212930,0.52,327.9,3147,2207,1031,994,113.1,6.3,2486,212931,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2207,1012,1031,994,0,0,0,0,0,0,27.19,27.21,27.21
$GC,213228,0.52,327.9,3146,2207,1031,996,94.2,6.7,2506,213234,0.00,1.95,0.00,0.000,516,0.000,0.067,3147,819,1013,1032,995,0,0,0,0,0,0,27.19,26.81,27.21
$GC,213282,0.52,327.9,3147,819,1032,996,91.2,6.2,2509,213292,0.00,1.92,0.00,0.000,1030,0.000,0.060,3147,2200,1014,1032,996,0,0,0,0,0,0,26.89,26.86,26.91
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$GC,214198,0.66,327.9,3147,2200,1032,999,39.1,4.7,2571,214209,0.00,1.92,0.00,0.000,2564,0.000,0.067,3147,815,1015,1033,998,0,0,0,0,0,0,27.21,26.82,27.22
$GC,214360,0.83,327.9,3147,815,1033,998,30.5,5.9,2585,214369,0.17,1.92,0.00,0.000,3078,0.109,0.060,3227,2206,1016,1033,999,0,0,0,0,0,0,26.67,26.88,26.72
$GC,214670,0.83,327.9,3227,2207,1033,1000,10.1,5.0,2616,214680,0.00,1.95,0.00,0.000,260,0.000,0.077,3227,3606,1017,1033,1002,0,0,0,0,0,0,27.20,26.74,27.21
$STATE,214760,end climb,SURFACE_DEPTH_REACHED
$STATE,214761,begin surface coast
$FINISH,-0.4,1.000914
$STATE,214798,end surface coast,CONTROL_FINISHED_OK
$STATE,214798,begin surface
$SM_CCo,214875,0.00,0.000,0,0,1017,326.22
$SM_GC,0.91,7.82,1.90,0.00,0.082,0.057,0.000,136,2201,1017,-8.80,3.11,326.22,0,0,0,0,0,0,26.63,26.89,26.72
$IRIDIUM_FIX,3034.97,-6911.08,110708,161744
$TT8_MAMPS,0.024717,0.024717
$HUMID,71.93
$INTERNAL_PRESSURE,9.49499
$TCM_TEMP,23.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,5340.8,19.9
$24V_AH,20.79,30.535
$10V_AH,10.16,20.192
$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,26.150,1179.627,484.775,0.000,122.325,23.995,19.013,374.617,34.000,0.000,19.165,10788.004,181123.891,1272.505,21446.400,766.671,0.612,9788.556,0.000,20455.975,0.000,252.137,0.000
$DEVICE_MAMPS,292.994,81.939,4191.304,0.000,201.123,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1804.581,8594.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329884
$DATA_FILE_SIZE,163539,2627
$CAP_FILE_SIZE,1307156,0
$CFSIZE,1024409600,1001668608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,182480.22,0x235780,1,24
$GPS,190915,231804,3022.480,-6938.454,29,0.8,30,-12.8,0.0,0.0,10,7.1