version: 66.14
glider: 46
mission: 5
dive: 136
start: 9 9 119 1 56 4
data:
$ID,46
$MISSION,5
$DIVE,136
$N_DIVES,0
$STOP_T,9091919
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,6050
$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,2400
$T_MISSION,2700
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,480
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79912.602
$MASS_COMP,10878
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3820
$C_PITCH,3045
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.73
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2215
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2285
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.768235
$PRESSURE_SLOPE,0
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,090919,013534,3550.7097,-6224.6348,36,1.0,70,-15.9,0.4,185.9,8,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-45.3
$GPS2,090919,015527,3550.6013,-6224.9287,8,1.0,34,-15.9,0.4,308.8,9,5.0
$SPEED_LIMITS,0.130,0.248
$TGT_NAME,SW
$TGT_LATLONG,3541.400,-6230.230
$TGT_RADIUS,10000.000
$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,176.0,18815,-27.5,-7.500,-30.00,1091
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
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$GC,255,-2.33,-198.2,2435,834,2597,2819,0.5,-0.2,24,286,0.32,3.35,-18.45,0.171,21510,0.074,0.057,2286,2222,2968,2852,3084,0,0,0,0,0,0,26.80,26.85,26.33,8.69,18.57
$GC,585,-2.21,-198.2,2285,2222,2854,3083,24.0,-11.1,57,596,0.15,3.47,0.00,0.000,2308,0.221,0.067,2313,3606,2969,2854,3084,0,0,0,0,0,0,26.53,26.72,26.63,8.73,18.65
$GC,761,-2.09,-219.0,2312,3606,2855,3084,33.2,3.9,74,770,0.20,3.33,-1.17,0.509,19462,0.196,0.052,2371,2188,3044,2934,3155,0,0,0,0,0,0,26.48,27.09,26.46,8.73,18.38
$GC,1068,-2.09,-219.0,2370,2188,2937,3158,33.4,1.8,105,1078,0.00,3.55,0.00,0.000,260,0.000,0.067,2355,3604,3047,2936,3158,0,0,0,0,0,0,27.33,26.93,27.34,8.74,18.18
$GC,1231,-1.99,-219.0,2355,3604,2937,3158,31.5,0.5,121,1241,0.15,3.22,0.00,0.000,3078,0.191,0.052,2399,2213,3047,2937,3158,0,0,0,0,0,0,26.58,27.13,26.68,8.74,18.49
$GC,1541,-1.99,-219.0,2399,2213,2937,3161,32.7,0.0,152,1550,0.00,3.35,0.00,0.000,516,0.000,0.070,2400,869,3049,2937,3161,0,0,0,0,0,0,27.34,26.94,27.36,8.73,18.22
$GC,2094,-1.93,-219.0,2399,869,2936,3162,36.8,0.5,207,2104,0.12,3.20,0.00,0.000,3078,0.191,0.055,2422,2223,3049,2937,3162,0,0,0,0,0,0,26.63,27.08,26.73,8.73,18.77
$GC,2403,-1.93,-219.0,2421,2223,2938,3162,36.5,0.3,238,2413,0.00,3.40,0.00,0.000,516,0.000,0.067,2422,865,3050,2938,3163,0,0,0,0,0,0,27.35,26.95,27.36,8.73,19.36
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$GC,2725,-1.93,-219.0,2407,2215,2938,3163,38.3,-2.0,270,2735,0.00,3.47,0.00,0.000,260,0.000,0.070,2390,3602,3051,2939,3163,0,0,0,0,0,0,27.35,26.97,27.36,8.73,18.93
$GC,3279,-1.85,-219.0,2389,3602,2938,3162,39.4,-1.1,325,3290,0.20,3.22,0.00,0.000,3078,0.191,0.052,2449,2206,3050,2939,3162,0,0,0,0,0,0,26.59,27.16,26.79,8.72,19.52
$GC,3588,-1.85,-219.0,2449,2206,2939,3163,43.3,-1.7,356,3598,0.00,3.30,0.00,0.000,516,0.000,0.067,2449,878,3051,2939,3163,0,0,0,0,0,0,27.36,26.96,27.37,8.71,19.28
$GC,4141,-1.85,-219.0,2449,879,2939,3163,48.4,0.4,411,4150,0.00,3.15,0.00,0.000,1030,0.000,0.052,2435,2210,3051,2939,3163,0,0,0,0,0,0,27.12,27.11,27.13,8.71,19.48
$GC,4452,-1.85,-219.0,2435,2210,2938,3163,52.5,-1.3,442,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2209,3051,2939,3163,0,0,0,0,0,0,27.36,27.37,27.37,8.70,19.67
$GC,4751,-1.85,-219.0,2435,2210,2938,3163,56.1,-2.6,472,4761,0.00,3.33,0.00,0.000,516,0.000,0.067,2436,876,3051,2939,3163,0,0,0,0,0,0,27.36,26.98,27.37,8.70,19.79
$GC,5046,-1.85,-219.0,2435,876,2939,3163,60.3,0.4,501,5055,0.10,3.20,0.00,0.000,3078,0.209,0.052,2448,2220,3051,2939,3163,0,0,0,0,0,0,26.75,27.10,26.90,8.69,20.07
$GC,5354,-1.85,-219.0,2447,2221,2939,3163,63.6,-2.6,532,5364,0.00,3.35,0.00,0.000,516,0.000,0.067,2448,878,3051,2939,3163,0,0,0,0,0,0,27.36,26.98,27.37,8.69,19.99
$GC,5906,-1.85,-219.0,2447,878,2939,3163,73.7,-1.7,587,5911,0.00,3.20,0.00,0.000,1030,0.000,0.052,2434,2211,3050,2938,3163,0,0,0,0,0,0,27.15,27.10,27.16,8.68,20.62
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$GC,7989,-1.85,-219.0,2414,3600,2938,3160,122.0,-3.2,794,8000,0.12,3.30,0.00,0.000,3078,0.194,0.052,2452,2201,3049,2938,3160,0,0,0,0,0,0,26.75,27.16,26.89,8.65,20.70
$GC,8299,-1.85,-219.0,2452,2201,2939,3160,131.0,-3.4,825,8309,0.00,3.35,0.00,0.000,516,0.000,0.067,2453,858,3049,2938,3160,0,0,0,0,0,0,27.36,26.99,27.39,8.64,20.78
$GC,8850,-1.85,-219.0,2452,858,2938,3158,151.2,-4.0,878,8856,0.00,3.22,0.00,0.000,1030,0.000,0.052,2438,2208,3048,2938,3158,0,0,0,0,0,0,27.15,27.11,27.17,8.62,20.90
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$GC,12851,-1.85,-219.0,2422,2216,2933,3149,484.2,-10.3,1047,12858,0.00,3.40,0.00,0.000,516,0.000,0.067,2423,857,3041,2933,3149,0,0,0,0,0,0,27.38,27.00,27.39,8.55,22.55
$GC,13109,-1.85,-219.0,2423,857,2932,3148,513.9,-12.8,1055,13115,0.15,3.28,0.00,0.000,3078,0.196,0.052,2451,2217,3040,2932,3149,0,0,0,0,0,0,26.70,27.10,26.89,8.54,22.27
$GC,13416,-1.85,-219.0,2450,2217,2931,3148,552.5,-11.8,1065,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2217,3040,2932,3148,0,0,0,0,0,0,27.38,27.39,27.39,8.53,22.35
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$GC,13914,-1.85,-219.0,2450,854,2930,3148,611.3,-12.9,1081,13919,0.00,3.28,0.00,0.000,1030,0.000,0.052,2436,2212,3039,2931,3147,0,0,0,0,0,0,27.15,27.10,27.17,8.51,22.51
$GC,14221,-1.85,-219.0,2435,2212,2930,3147,651.5,-12.9,1091,14228,0.00,3.38,0.00,0.000,516,0.000,0.067,2436,860,3038,2930,3147,0,0,0,0,0,0,27.38,27.00,27.39,8.50,22.35
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$GC,30387,-2.18,-219.0,2357,855,2884,3088,3667.4,-16.0,1395,30392,0.00,3.40,0.00,0.000,1030,0.000,0.052,2343,2222,2986,2884,3088,0,0,0,0,0,0,27.02,26.96,27.04,7.99,27.04
$GC,30695,-2.18,-219.0,2342,2222,2884,3087,3724.3,-15.7,1400,30701,0.00,3.50,0.00,0.000,516,0.000,0.067,2343,858,2986,2884,3088,0,0,0,0,0,0,27.38,26.75,27.39,7.98,27.35
$GC,30824,-2.18,-219.0,2342,858,2884,3088,3745.1,-16.4,1402,30832,0.00,3.40,0.00,0.000,1030,0.000,0.052,2327,2221,2984,2882,3087,0,0,0,0,0,0,27.01,26.95,27.03,7.98,27.63
$GC,31174,-2.18,-219.0,2326,2221,2883,3087,3802.9,-15.9,1408,31181,0.00,3.53,0.00,0.000,516,0.000,0.065,2327,854,2986,2884,3088,0,0,0,0,0,0,27.38,26.74,27.39,7.99,27.08
$GC,31249,-2.18,-219.0,2326,854,2884,3087,3813.1,-16.1,1409,31256,0.00,3.40,0.00,0.000,1030,0.000,0.052,2310,2218,2985,2883,3087,0,0,0,0,0,0,27.01,26.95,27.02,7.99,27.16
$GC,31594,-2.18,-219.0,2310,2217,2883,3087,3871.6,-16.0,1415,31603,0.10,3.50,0.00,0.000,2564,0.216,0.065,2340,858,2985,2883,3087,0,0,0,0,0,0,26.70,26.74,26.74,7.98,27.16
$GC,31724,-2.18,-219.0,2339,858,2882,3087,3891.6,-16.2,1417,31729,0.00,3.38,0.00,0.000,1030,0.000,0.052,2326,2215,2984,2882,3087,0,0,0,0,0,0,27.01,26.94,27.03,7.98,27.16
$GC,32071,-2.18,-219.0,2325,2215,2882,3087,3945.9,-15.1,1423,32079,0.00,3.50,0.00,0.000,516,0.000,0.065,2326,855,2984,2882,3087,0,0,0,0,0,0,27.38,26.74,27.39,7.98,27.08
$GC,32284,-2.18,-219.0,2325,855,2882,3087,3974.8,-15.9,1426,32290,0.12,3.40,0.00,0.000,3078,0.211,0.052,2342,2219,2984,2882,3087,0,0,0,0,0,0,26.39,26.94,26.53,7.98,27.27
$GC,32609,-2.24,-219.0,2341,2219,2882,3087,4024.3,-13.5,1432,32616,0.00,3.53,0.00,0.000,516,0.000,0.067,2342,853,2984,2882,3087,0,0,0,0,0,0,27.32,26.72,27.33,7.98,27.16
$GC,32711,-2.24,-219.0,2342,853,2881,3087,4033.2,-13.7,1433,32716,0.00,3.38,0.00,0.000,1030,0.000,0.052,2328,2215,2984,2881,3087,0,0,0,0,0,0,26.99,26.94,27.01,7.98,27.35
$GC,33029,-2.24,-219.0,2328,2215,2881,3087,4083.6,-13.6,1439,33036,0.00,3.50,0.00,0.000,516,0.000,0.067,2329,857,2984,2881,3087,0,0,0,0,0,0,27.31,26.71,27.32,7.98,27.27
$GC,33154,-2.24,-219.0,2328,857,2881,3086,4101.2,-14.2,1441,33161,0.00,3.40,0.00,0.000,1030,0.000,0.052,2312,2218,2983,2880,3087,0,0,0,0,0,0,26.98,26.92,27.01,7.98,27.31
$GC,33510,-2.24,-219.0,2311,2218,2880,3087,4151.1,-13.7,1447,33516,0.00,3.50,0.00,0.000,516,0.000,0.067,2312,859,2983,2880,3087,0,0,0,0,0,0,27.37,26.72,27.39,7.98,27.00
$GC,33653,-2.24,-219.0,2311,859,2880,3087,4169.2,-14.4,1449,33659,0.10,3.38,0.00,0.000,3078,0.221,0.052,2321,2216,2983,2880,3087,0,0,0,0,0,0,26.46,26.93,26.57,7.98,27.08
$GC,33987,-2.24,-219.0,2320,2217,2879,3086,4218.0,-13.3,1455,33993,0.00,3.50,0.00,0.000,516,0.000,0.067,2321,858,2983,2879,3087,0,0,0,0,0,0,27.37,26.70,27.39,7.98,27.59
$GC,34122,-2.24,-219.0,2321,858,2879,3087,4236.0,-14.0,1457,34127,0.00,3.40,0.00,0.000,1030,0.000,0.052,2307,2218,2983,2879,3087,0,0,0,0,0,0,26.98,26.92,27.00,7.98,27.27
$GC,34471,-2.24,-219.0,2306,2220,2879,3087,4285.0,-13.5,1463,34477,0.00,3.50,0.00,0.000,516,0.000,0.067,2307,861,2983,2879,3087,0,0,0,0,0,0,27.30,26.70,27.32,7.98,27.83
$GC,34644,-2.24,-219.0,2306,860,2879,3087,4302.8,-14.0,1465,34652,0.12,3.38,0.00,0.000,3078,0.209,0.052,2323,2217,2982,2879,3086,0,0,0,0,0,0,26.36,26.92,26.50,7.98,26.96
$GC,34951,-2.29,-219.0,2322,2217,2879,3086,4349.8,-12.6,1471,34958,0.00,3.50,0.00,0.000,516,0.000,0.065,2323,859,2983,2879,3087,0,0,0,0,0,0,27.37,26.69,27.39,7.97,26.96
$GC,35063,-2.29,-219.0,2323,859,2879,3087,4358.2,-12.9,1472,35074,0.00,3.38,0.00,0.000,1030,0.000,0.052,2309,2214,2982,2879,3086,0,0,0,0,0,0,26.98,26.91,27.00,7.98,27.12
$GC,35373,-2.29,-219.0,2309,2214,2879,3087,4404.9,-12.7,1478,35380,0.00,3.50,0.00,0.000,516,0.000,0.065,2310,855,2983,2879,3087,0,0,0,0,0,0,27.32,26.69,27.33,7.98,27.71
$GC,35501,-2.29,-219.0,2308,855,2879,3086,4421.6,-13.3,1480,35506,0.00,3.40,0.00,0.000,1030,0.000,0.052,2293,2218,2982,2879,3086,0,0,0,0,0,0,26.97,26.91,27.00,7.98,26.92
$GC,35849,-2.29,-219.0,2292,2218,2879,3086,4469.1,-13.2,1486,35855,0.00,3.50,0.00,0.000,516,0.000,0.065,2293,859,2982,2879,3086,0,0,0,0,0,0,27.37,26.67,27.38,7.98,27.04
$GC,36013,-2.29,-219.0,2292,859,2879,3085,4486.2,-13.7,1488,36019,0.12,3.38,0.00,0.000,3078,0.206,0.052,2310,2215,2982,2879,3085,0,0,0,0,0,0,26.34,26.91,26.48,7.98,27.08
$GC,36326,-2.34,-219.0,2310,2215,2879,3085,4532.7,-12.6,1494,36334,0.00,3.53,0.00,0.000,516,0.000,0.065,2310,851,2982,2879,3085,0,0,0,0,0,0,27.37,26.67,27.38,7.97,27.39
$GC,36447,-2.34,-219.0,2310,851,2879,3085,4549.4,-13.2,1496,36454,0.00,3.38,0.00,0.000,1030,0.000,0.052,2295,2212,2981,2879,3084,0,0,0,0,0,0,26.94,26.91,26.96,7.98,27.00
$GC,36807,-2.34,-219.0,2295,2212,2879,3085,4595.0,-12.6,1502,36813,0.00,3.50,0.00,0.000,516,0.000,0.065,2295,858,2982,2879,3085,0,0,0,0,0,0,27.37,26.66,27.38,7.97,27.12
$GC,36946,-2.34,-219.0,2295,858,2878,3084,4611.8,-13.3,1504,36952,0.00,3.38,0.00,0.000,1030,0.000,0.052,2279,2214,2981,2878,3085,0,0,0,0,0,0,26.97,26.91,26.99,7.98,27.31
$GC,37284,-2.34,-219.0,2278,2215,2878,3085,4656.6,-12.5,1510,37291,0.00,3.50,0.00,0.000,516,0.000,0.065,2279,858,2981,2878,3084,0,0,0,0,0,0,27.36,26.65,27.38,7.98,27.31
$GC,37458,-2.34,-219.0,2278,858,2878,3084,4672.5,-12.7,1512,37469,0.10,3.40,0.00,0.000,3078,0.209,0.052,2288,2221,2981,2878,3084,0,0,0,0,0,0,26.43,26.91,26.53,7.98,26.92
$GC,37765,-2.34,-219.0,2288,2221,2878,3085,4715.7,-11.6,1518,37772,0.00,3.53,0.00,0.000,516,0.000,0.065,2289,858,2981,2878,3084,0,0,0,0,0,0,27.36,26.65,27.38,7.98,27.35
$GC,37864,-2.34,-219.0,2288,858,2878,3084,4723.2,-11.8,1519,37869,0.00,3.40,0.00,0.000,1030,0.000,0.052,2274,2221,2981,2878,3084,0,0,0,0,0,0,26.96,26.90,26.98,7.98,26.76
$GC,38182,-2.34,-219.0,2273,2222,2878,3084,4765.5,-11.8,1525,38189,0.00,3.53,0.00,0.000,516,0.000,0.067,2273,858,2981,2878,3084,0,0,0,0,0,0,27.29,26.63,27.31,7.97,27.24
$GC,38325,-2.34,-219.0,2273,858,2878,3083,4780.7,-12.2,1527,38331,0.12,3.40,0.00,0.000,3078,0.209,0.052,2291,2222,2981,2878,3084,0,0,0,0,0,0,26.32,26.90,26.45,7.97,26.84
$GC,38661,-2.34,-219.0,2290,2221,2878,3083,4821.5,-11.2,1533,38662,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2222,2980,2877,3084,0,0,0,0,0,0,27.32,27.33,27.33,7.98,27.47
$GC,38958,-2.34,-219.0,2290,2222,2878,3084,4854.0,-10.8,1538,38966,0.00,3.50,0.00,0.000,516,0.000,0.065,2291,864,2980,2878,3083,0,0,0,0,0,0,27.37,26.60,27.38,7.97,27.16
$GC,39093,-2.34,-219.0,2290,864,2877,3083,4868.5,-11.4,1540,39098,0.00,3.38,0.00,0.000,1030,0.000,0.052,2276,2220,2980,2878,3083,0,0,0,0,0,0,26.95,26.90,26.97,7.98,27.08
$GC,39435,-2.34,-219.0,2275,2219,2878,3083,4906.8,-10.6,1546,39443,0.00,3.50,0.00,0.000,516,0.000,0.065,2276,863,2980,2878,3083,0,0,0,0,0,0,27.36,26.63,27.37,7.97,26.88
$GC,39579,-2.34,-219.0,2275,864,2878,3083,4920.9,-11.2,1548,39585,0.12,3.38,0.00,0.000,3078,0.206,0.052,2293,2217,2981,2879,3083,0,0,0,0,0,0,26.32,26.89,26.44,7.97,27.00
$GC,39913,-2.40,-219.0,2292,2216,2878,3083,4957.8,-10.1,1554,39920,0.00,3.50,0.00,0.000,516,0.000,0.067,2293,863,2980,2878,3083,0,0,0,0,0,0,27.36,26.63,27.38,7.97,27.67
$GC,39995,-2.40,-219.0,2292,863,2877,3083,4964.2,-10.1,1555,40000,0.00,3.38,0.00,0.000,1030,0.000,0.052,2278,2216,2980,2878,3083,0,0,0,0,0,0,26.94,26.89,26.96,7.98,27.16
$STATE,40211,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,40211,begin apogee
$GC,40215,-0.68,0.0,2278,2217,2878,3083,4989.3,-10.4,1559,40466,1.85,0.00,240.98,4.035,10246,0.171,0.000,2819,2217,2284,2177,2391,0,0,0,0,1,0,25.39,22.53,20.26,7.97,27.59
$STATE,40467,end apogee,CONTROL_FINISHED_OK
$STATE,40467,begin climb
$GC,40468,1.93,219.0,2818,2216,2177,2391,4987.6,0.0,1563,40727,2.72,0.00,253.10,3.988,10246,0.109,0.000,3648,2217,1531,1437,1625,0,0,0,0,0,0,23.27,22.59,20.49,7.96,26.41
$GC,40993,1.85,219.0,3647,2217,1436,1625,4850.4,29.9,1572,40994,0.00,0.00,0.00,0.000,6,0.000,0.000,3648,2217,1530,1436,1625,0,0,0,0,0,0,26.59,26.60,26.60,7.90,24.83
$GC,41293,1.77,219.0,3647,2217,1436,1626,4762.4,29.2,1577,41300,0.10,3.50,0.00,0.000,4356,0.211,0.067,3618,3562,1530,1436,1625,0,0,0,0,0,0,26.60,26.77,26.70,7.89,25.27
$GC,41346,1.69,219.0,3617,3562,1436,1625,4762.4,29.2,1577,41354,0.15,3.38,0.00,0.000,5126,0.214,0.050,3591,2199,1530,1436,1625,0,0,0,0,0,0,26.53,26.90,26.74,7.89,25.15
$GC,41653,1.69,219.0,3591,2199,1436,1626,4666.2,25.7,1583,41654,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2199,1531,1436,1626,0,0,0,0,0,0,27.24,27.26,27.25,7.88,25.27
$GC,41952,1.69,219.0,3592,2199,1436,1626,4591.7,24.8,1588,41954,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2199,1531,1436,1626,0,0,0,0,0,0,27.28,27.29,27.29,7.87,25.78
$GC,42252,1.69,219.0,3591,2199,1436,1626,4518.0,24.6,1593,42260,0.00,3.53,0.00,0.000,260,0.000,0.067,3591,3559,1531,1436,1626,0,0,0,0,0,0,27.30,26.93,27.32,7.86,26.33
$GC,42295,1.69,219.0,3590,3560,1436,1625,4518.0,24.6,1593,42301,0.00,3.45,0.00,0.000,1030,0.000,0.050,3607,2172,1530,1435,1626,0,0,0,0,0,0,27.09,27.05,27.10,7.86,26.25
$GC,42613,1.69,219.0,3606,2162,1436,1626,4425.9,25.3,1599,42614,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,2163,1531,1436,1626,0,0,0,0,0,0,27.32,27.34,27.33,7.85,26.61
$GC,42913,1.69,219.0,3607,2163,1436,1626,4351.8,24.7,1604,42920,0.00,3.60,0.00,0.000,260,0.000,0.067,3607,3557,1531,1436,1626,0,0,0,0,0,0,27.33,26.94,27.34,7.85,26.57
$GC,42960,1.69,219.0,3606,3557,1436,1626,4351.8,24.7,1604,42967,0.12,3.45,0.00,0.000,5126,0.216,0.050,3590,2156,1531,1436,1626,0,0,0,0,0,0,26.61,27.05,26.81,7.84,26.25
$GC,43268,1.69,219.0,3590,2156,1436,1625,4265.3,23.7,1609,43269,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2156,1531,1436,1626,0,0,0,0,0,0,27.34,27.35,27.34,7.84,26.61
$GC,43568,1.69,219.0,3590,2156,1436,1625,4195.4,23.2,1614,43575,0.00,3.62,0.00,0.000,260,0.000,0.067,3591,3559,1531,1436,1626,0,0,0,0,0,0,27.34,26.94,27.35,7.84,26.29
$GC,43615,1.69,219.0,3590,3559,1435,1626,4195.4,23.2,1614,43621,0.00,3.42,0.00,0.000,1030,0.000,0.050,3606,2181,1531,1436,1626,0,0,0,0,0,0,27.11,27.06,27.13,7.84,26.92
$GC,43928,1.69,219.0,3606,2169,1435,1625,4110.2,23.2,1620,43929,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2169,1530,1435,1625,0,0,0,0,0,0,27.34,27.36,27.36,7.83,27.00
$GC,44228,1.69,219.0,3606,2169,1434,1626,4041.6,22.9,1625,44235,0.00,3.60,0.00,0.000,260,0.000,0.067,3606,3557,1529,1434,1625,0,0,0,0,0,0,27.34,26.92,27.36,7.83,26.72
$GC,44288,1.69,219.0,3606,3558,1435,1626,4026.6,23.3,1626,44296,0.08,3.47,0.00,0.000,5126,0.204,0.050,3603,2153,1529,1434,1625,0,0,0,0,0,0,26.68,27.05,26.76,7.83,26.68
$GC,44649,1.69,219.0,3603,2153,1434,1625,3947.3,21.7,1632,44650,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2152,1529,1434,1625,0,0,0,0,0,0,27.34,27.36,27.36,7.82,26.84
$GC,44948,1.69,219.0,3602,2153,1434,1625,3882.6,21.6,1637,44955,0.00,3.65,0.00,0.000,260,0.000,0.067,3603,3561,1529,1434,1625,0,0,0,0,0,0,27.35,26.91,27.36,7.82,26.64
$GC,44996,1.69,219.0,3602,3561,1434,1625,3882.6,21.6,1637,45001,0.00,3.45,0.00,0.000,1030,0.000,0.050,3618,2178,1529,1434,1625,0,0,0,0,0,0,27.10,27.05,27.12,7.82,26.45
$GC,45308,1.69,219.0,3618,2167,1434,1625,3801.9,22.2,1643,45309,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,2167,1529,1433,1625,0,0,0,0,0,0,27.34,27.36,27.36,7.82,26.84
$GC,45608,1.69,219.0,3618,2167,1434,1625,3737.2,21.5,1648,45615,0.00,3.60,0.00,0.000,260,0.000,0.067,3618,3559,1529,1433,1625,0,0,0,0,0,0,27.35,26.89,27.36,7.82,26.68
$GC,45661,1.69,219.0,3617,3559,1434,1625,3737.2,21.5,1648,45670,0.15,3.47,0.00,0.000,5126,0.199,0.050,3593,2154,1529,1434,1625,0,0,0,0,0,0,26.52,27.05,26.72,7.82,26.61
$GC,45969,1.69,219.0,3593,2154,1433,1625,3664.4,19.4,1654,45970,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,2154,1529,1434,1625,0,0,0,0,0,0,27.35,27.36,27.36,7.81,26.41
$GC,46268,1.69,219.0,3593,2154,1433,1625,3607.2,19.1,1659,46269,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2154,1529,1433,1625,0,0,0,0,0,0,27.35,27.36,27.36,7.81,26.37
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$GC,50585,1.91,219.0,3606,2169,1433,1625,2813.3,16.2,1730,50592,0.10,3.62,0.00,0.000,2308,0.117,0.067,3677,3561,1529,1433,1626,0,0,0,0,0,0,27.08,26.82,27.10,7.80,26.25
$GC,50654,1.91,219.0,3676,3561,1434,1625,2801.4,16.9,1731,50662,0.12,3.45,0.00,0.000,5126,0.201,0.050,3660,2166,1529,1433,1625,0,0,0,0,0,0,26.51,27.02,26.66,7.80,26.37
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$GC,52757,1.91,219.0,3663,3561,1434,1629,2428.4,16.1,1765,52762,0.00,3.45,0.00,0.000,1030,0.000,0.050,3679,2167,1531,1434,1629,0,0,0,0,0,0,27.05,27.01,27.08,7.80,25.74
$GC,53095,1.91,219.0,3678,2167,1434,1630,2370.2,16.1,1771,53096,0.00,0.00,0.00,0.000,6,0.000,0.000,3679,2167,1531,1433,1630,0,0,0,0,0,0,27.36,27.37,27.36,7.80,26.17
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$GC,53762,1.91,219.0,3678,3558,1434,1630,2264.2,16.3,1782,53769,0.12,3.45,0.00,0.000,5126,0.199,0.050,3661,2162,1532,1434,1631,0,0,0,0,0,0,26.49,27.01,26.63,7.80,26.57
$GC,54112,1.91,219.0,3661,2161,1434,1631,2208.1,15.5,1788,54113,0.00,0.00,0.00,0.000,6,0.000,0.000,3661,2161,1532,1434,1630,0,0,0,0,0,0,27.36,27.37,27.36,7.80,25.97
$GC,54411,1.91,219.0,3661,2161,1434,1631,2160.9,15.7,1793,54418,0.00,3.62,0.00,0.000,260,0.000,0.067,3661,3556,1532,1433,1631,0,0,0,0,0,0,27.36,26.77,27.37,7.80,26.01
$GC,54474,1.91,219.0,3660,3556,1434,1631,2150.4,16.1,1794,54479,0.00,3.42,0.00,0.000,1030,0.000,0.050,3676,2173,1532,1434,1631,0,0,0,0,0,0,27.05,27.01,27.07,7.80,25.86
$GC,54826,1.91,219.0,3675,2173,1434,1632,2093.2,16.0,1800,54833,0.00,3.62,0.00,0.000,260,0.000,0.067,3676,3562,1533,1434,1632,0,0,0,0,0,0,27.36,26.76,27.36,7.80,26.61
$GC,54869,1.91,219.0,3675,3562,1434,1632,2093.2,16.0,1800,54875,0.12,3.45,0.00,0.000,5126,0.196,0.050,3658,2165,1532,1434,1631,0,0,0,0,0,0,26.50,27.00,26.63,7.80,25.46
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$GC,55243,1.97,219.0,3657,3558,1435,1632,2025.5,15.8,1807,55250,0.00,3.42,0.00,0.000,1030,0.000,0.050,3673,2175,1533,1434,1632,0,0,0,0,0,0,27.04,27.00,27.05,7.80,25.86
$GC,55603,1.97,219.0,3672,2175,1434,1632,1966.9,16.2,1813,55610,0.00,3.60,0.00,0.000,260,0.000,0.067,3672,3558,1533,1434,1632,0,0,0,0,0,0,27.36,26.76,27.36,7.80,25.54
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$GC,56023,1.97,219.0,3690,2157,1435,1633,1897.1,16.2,1820,56024,0.00,0.00,0.00,0.000,6,0.000,0.000,3690,2157,1534,1435,1633,0,0,0,0,0,0,27.36,27.37,27.37,7.80,25.90
$GC,56323,1.97,219.0,3690,2157,1434,1633,1849.5,15.9,1825,56330,0.00,3.65,0.00,0.000,260,0.000,0.067,3690,3561,1534,1435,1633,0,0,0,0,0,0,27.36,26.75,27.36,7.80,25.82
$GC,56383,1.97,219.0,3690,3561,1435,1633,1838.7,16.3,1826,56390,0.10,3.42,0.00,0.000,5126,0.189,0.050,3679,2170,1533,1435,1632,0,0,0,0,0,0,26.52,27.00,26.58,7.79,26.21
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$GC,60267,2.07,219.0,3689,2171,1438,1635,1235.4,14.7,1891,60268,0.00,0.00,0.00,0.000,6,0.000,0.000,3690,2171,1536,1438,1635,0,0,0,0,0,0,27.36,27.37,27.36,7.82,26.09
$GC,60567,2.13,219.0,3690,2171,1438,1635,1191.1,14.8,1896,60574,0.08,3.62,0.00,0.000,2308,0.132,0.067,3732,3563,1536,1438,1635,0,0,0,0,0,0,27.13,26.72,27.14,7.82,25.23
$GC,60614,2.19,219.0,3731,3563,1438,1635,1191.1,14.8,1896,60620,0.00,3.45,0.00,0.000,1030,0.000,0.050,3750,2171,1536,1438,1635,0,0,0,0,0,0,27.03,26.99,27.05,7.83,25.54
$GC,60921,2.19,219.0,3749,2171,1438,1636,1131.4,16.6,1901,60926,0.00,3.62,0.00,0.000,260,0.000,0.067,3750,3561,1536,1438,1635,0,0,0,0,0,0,27.36,26.72,27.36,7.82,25.82
$GC,61017,2.19,219.0,3749,3565,1438,1635,1119.6,17.1,1902,61022,0.00,3.45,0.00,0.000,1030,0.000,0.050,3767,2172,1536,1438,1635,0,0,0,0,0,0,27.03,26.98,27.05,7.83,25.46
$GC,61339,2.19,219.0,3767,2171,1439,1636,1058.2,16.9,1908,61346,0.00,3.60,0.00,0.000,260,0.000,0.067,3767,3557,1538,1440,1636,0,0,0,0,0,0,27.36,26.73,27.36,7.83,25.42
$GC,61412,2.19,219.0,3766,3557,1439,1635,1047.1,17.2,1909,61419,0.12,3.42,0.00,0.000,5126,0.214,0.050,3752,2168,1537,1439,1636,0,0,0,0,0,0,26.38,26.98,26.53,7.84,25.94
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$GC,62836,2.19,219.0,3752,2168,1439,1636,802.1,17.3,1952,62837,0.00,0.00,0.00,0.000,6,0.000,0.000,3753,2168,1537,1439,1636,0,0,0,0,0,0,27.35,27.36,27.36,7.91,25.66
$GC,63136,2.19,219.0,3752,2168,1439,1636,749.7,17.6,1962,63143,0.00,3.60,0.00,0.000,260,0.000,0.067,3753,3563,1537,1439,1636,0,0,0,0,0,0,27.35,26.73,27.36,7.93,26.25
$GC,63209,2.19,219.0,3752,3563,1439,1636,737.9,18.3,1964,63214,0.00,3.42,0.00,0.000,1030,0.000,0.050,3768,2171,1537,1439,1636,0,0,0,0,0,0,27.04,26.99,27.05,7.95,25.70
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$GC,63925,2.11,219.0,3767,3558,1439,1636,585.6,23.7,1988,63931,0.22,3.40,0.00,0.000,5126,0.209,0.050,3723,2170,1537,1439,1636,0,0,0,0,0,0,26.06,26.99,26.29,8.02,25.58
$GC,64238,2.11,219.0,3723,2169,1439,1637,515.4,21.6,1999,64245,0.00,3.58,0.00,0.000,260,0.000,0.065,3724,3561,1538,1439,1637,0,0,0,0,0,0,27.34,26.74,27.36,8.05,25.38
$GC,64301,2.11,219.0,3723,3561,1439,1637,500.9,22.9,2001,64306,0.00,3.40,0.00,0.000,1030,0.000,0.050,3738,2171,1538,1439,1637,0,0,0,0,0,0,27.04,27.00,27.06,8.05,25.38
$GC,64623,2.11,219.0,3738,2171,1439,1639,422.2,24.5,2012,64636,0.00,3.65,4.30,0.693,8452,0.000,0.065,3738,3567,1530,1431,1629,0,0,0,0,0,0,27.34,24.63,23.64,8.10,24.95
$GC,64694,2.06,219.0,3738,3567,1431,1629,405.5,26.1,2014,64701,0.15,3.40,0.00,0.000,5126,0.204,0.050,3713,2176,1530,1431,1629,0,0,0,0,0,0,26.24,26.96,26.33,8.11,25.03
$GC,65013,2.06,219.0,3713,2175,1431,1632,322.0,25.3,2025,65015,0.00,0.00,0.00,0.000,6,0.000,0.000,3713,2175,1531,1431,1632,0,0,0,0,0,0,27.33,27.34,27.34,8.14,24.75
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$STATE,66308,end climb,SURFACE_DEPTH_REACHED
$STATE,66308,begin surface coast
$FINISH,1.1,1.023388
$STATE,66319,end surface coast,CONTROL_FINISHED_OK
$STATE,66319,begin surface
$SM_CCo,66336,131.02,0.797,0,0,941,390.14
$SM_GC,1.70,9.10,0.08,131.02,0.067,0.127,0.797,195,2226,941,-8.82,-1.22,390.14,0,0,0,0,0,0,26.81,27.16,24.48
$IRIDIUM_FIX,3551.41,-6220.68,090919,013921
$TT8_MAMPS,0.02247,0.173768
$HUMID,23.34
$INTERNAL_PRESSURE,8.22378
$TCM_TEMP,24.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4945.8,56.2
$24V_AH,20.26,58.484
$10V_AH,10.17,28.550
$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,29.850,811.400,498.375,131.025,118.100,48.606,55.911,742.333,12.750,0.000,35.352,8012.602,49176.109,1431.207,8543.270,382.112,0.000,5399.906,0.000,7403.799,0.000,101.371,0.000
$DEVICE_MAMPS,235.885,126.633,4034.875,797.043,509.015,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1460.783,2767.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318916
$DATA_FILE_SIZE,149037,2120
$CAP_FILE_SIZE,553278,0
$CFSIZE,2046525440,2011791360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.201,242.57,1
$GPS,090919,202525,3539.675,-6225.854,26,0.8,51,-15.8,0.9,227.7,8,5.0