version: 66.12
glider: 37
mission: 22
dive: 87
start: 1 5 116 4 36 59
data:
$ID,37
$MISSION,22
$DIVE,87
$N_DIVES,0
$D_SURF,2
$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,3750
$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
$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,78758
$MASS_COMP,9226.7002
$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,624.55353
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,256
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$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,3910
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1788
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,1885
$C_ROLL_CLIMB,1663
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,110
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2350
$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,-1069.0311
$PRESSURE_SLOPE,0.00091968128
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,60
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,050116,041443,2631.1572,-7627.0029,39,0.9,50,-8.7,0.5,175.2,9,9.8
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.7
$GPS2,050116,043632,2630.9314,-7626.9092,5,0.8,17,-8.7,0.0,0.0,11,10.0
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,RM75_30
$TGT_LATLONG,2630.000,-7530.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.112074,-0.143081
$KALMAN_X,-28376.074219,0.000000,0.000000,24896.144531,4044.476562
$KALMAN_Y,19841.541016,0.000000,0.000000,-25468.328125,9749.666016
$MHEAD_RNG_PITCHd_Wd,86.4,94338,-10.9,-5.333,-15.25,4133
$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,363,-0.41,-146.6,2984,316,2839,2862,38.7,-10.7,31,374,0.12,2.12,0.00,0.000,3078,0.156,0.050,3019,1865,2850,2839,2862,0,0,0,0,0,0,26.20,26.58,26.27
$GC,672,-0.41,-146.6,3019,1866,2839,2862,65.1,-7.8,52,679,0.00,2.28,0.00,0.000,260,0.000,0.062,3009,3447,2850,2839,2862,0,0,0,0,0,0,27.03,26.61,27.03
$GC,720,-0.41,-146.6,3008,3447,2839,2862,68.1,-6.2,55,724,0.00,2.15,0.00,0.000,1030,0.000,0.047,3009,1860,2850,2839,2862,0,0,0,0,0,0,26.79,26.76,26.82
$GC,1040,-0.41,-146.6,3009,1860,2839,2862,86.4,-6.3,76,1046,0.00,2.17,0.00,0.000,516,0.000,0.062,3009,342,2850,2838,2862,0,0,0,0,0,0,27.08,26.65,27.10
$GC,1111,-0.41,-146.6,3007,342,2839,2862,90.8,-6.6,80,1119,0.00,2.15,0.00,0.000,1030,0.000,0.050,2999,1899,2850,2839,2862,0,0,0,0,0,0,26.79,26.77,26.81
$GC,1419,-0.41,-146.6,2999,1899,2839,2862,114.3,-8.1,101,1425,0.00,2.28,0.00,0.000,516,0.000,0.062,2999,328,2850,2839,2862,0,0,0,0,0,0,27.10,26.68,27.12
$GC,1467,-0.41,-146.6,2999,328,2839,2862,117.9,-7.4,104,1474,0.00,2.10,0.00,0.000,1030,0.000,0.050,2989,1885,2850,2839,2862,0,0,0,0,0,0,26.84,26.79,26.86
$GC,1783,-0.41,-146.6,2989,1885,2839,2862,139.1,-6.8,125,1788,0.00,2.25,0.00,0.000,516,0.000,0.062,2989,330,2850,2839,2862,0,0,0,0,0,0,27.11,26.70,27.13
$GC,1839,-0.35,-146.6,2989,330,2839,2861,142.5,-6.9,128,1848,0.15,2.15,0.00,0.000,3078,0.134,0.050,3036,1886,2850,2838,2862,0,0,0,0,0,0,26.47,26.80,26.51
$GC,2163,-0.35,-146.6,3036,1886,2839,2862,161.5,-6.0,144,2168,0.00,2.25,0.00,0.000,260,0.000,0.060,3027,3451,2850,2839,2862,0,0,0,0,0,0,27.12,26.72,27.13
$GC,2337,-0.35,-146.6,3026,3451,2839,2862,171.6,-6.6,149,2341,0.00,2.15,0.00,0.000,1030,0.000,0.047,3026,1868,2850,2839,2862,0,0,0,0,0,0,26.91,26.86,26.91
$GC,2646,-0.35,-146.6,3026,1868,2839,2862,190.1,-4.8,159,2652,0.00,2.15,0.00,0.000,516,0.000,0.062,3027,356,2850,2839,2861,0,0,0,0,0,0,27.12,26.72,27.14
$GC,2698,-0.35,-146.6,3026,356,2839,2861,191.4,-4.7,160,2707,0.00,2.12,0.00,0.000,1030,0.000,0.050,3018,1901,2850,2839,2861,0,0,0,0,0,0,26.85,26.82,26.86
$GC,3007,-0.35,-146.6,3018,1901,2838,2861,207.3,-5.0,171,3011,0.00,2.25,0.00,0.000,516,0.000,0.060,3018,352,2850,2839,2861,0,0,0,0,0,0,27.12,26.72,27.14
$GC,3119,-0.35,-146.6,3018,352,2839,2860,212.9,-5.6,174,3124,0.00,2.08,0.00,0.000,1030,0.000,0.047,3009,1889,2849,2839,2859,0,0,0,0,0,0,26.87,26.82,26.89
$GC,3433,-0.35,-146.6,3010,1889,2839,2860,232.9,-5.8,185,3439,0.00,2.22,0.00,0.000,260,0.000,0.062,2999,3430,2849,2839,2860,0,0,0,0,0,0,27.12,26.73,27.14
$GC,3533,-0.35,-146.6,2999,3430,2838,2860,237.5,-5.0,188,3538,0.10,2.12,0.00,0.000,3078,0.137,0.045,3048,1892,2849,2838,2860,0,0,0,0,0,0,26.54,26.87,26.65
$GC,3857,-0.43,-146.6,3048,1892,2839,2859,250.0,-4.6,199,3862,0.00,2.22,0.00,0.000,4612,0.000,0.060,3048,341,2848,2838,2858,0,0,0,0,0,0,27.13,26.73,27.14
$GC,3904,-0.51,-146.6,3048,341,2839,2858,251.9,-4.9,200,3908,0.00,2.10,0.00,0.000,5126,0.000,0.047,3043,1901,2848,2838,2858,0,0,0,0,0,0,26.89,26.84,26.91
$GC,4218,-0.58,-146.6,3043,1902,2839,2858,266.7,-4.4,211,4224,0.08,2.22,0.00,0.000,4612,0.134,0.060,2966,350,2847,2838,2857,0,0,0,0,0,0,26.89,26.73,26.89
$GC,4260,-0.58,-146.6,2966,349,2839,2857,268.9,-5.0,212,4264,0.00,2.08,0.00,0.000,1030,0.000,0.047,2957,1878,2848,2839,2857,0,0,0,0,0,0,26.87,26.82,26.89
$GC,4579,-0.58,-146.6,2956,1878,2838,2857,294.3,-8.0,223,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1878,2848,2839,2857,0,0,0,0,0,0,27.13,27.15,27.14
$GC,4895,-0.58,-146.6,2957,1878,2838,2856,320.2,-8.4,231,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1878,2847,2838,2856,0,0,0,0,0,0,27.13,27.15,27.14
$GC,5209,-0.58,-146.6,2957,1878,2838,2855,342.8,-6.3,238,5214,0.00,2.25,0.00,0.000,260,0.000,0.062,2946,3441,2846,2838,2855,0,0,0,0,0,0,27.13,26.74,27.14
$GC,5276,-0.58,-146.6,2945,3440,2837,2855,345.5,-6.1,239,5281,0.00,2.15,0.00,0.000,1030,0.000,0.045,2946,1883,2846,2837,2855,0,0,0,0,0,0,26.89,26.86,26.90
$GC,5615,-0.58,-146.6,2945,1883,2837,2854,372.0,-7.8,247,5621,0.00,2.22,0.00,0.000,516,0.000,0.062,2946,338,2845,2837,2853,0,0,0,0,0,0,27.11,26.74,27.14
$GC,5668,-0.58,-146.6,2945,338,2837,2853,375.8,-8.2,248,5672,0.00,2.15,0.00,0.000,1030,0.000,0.047,2936,1885,2845,2837,2853,0,0,0,0,0,0,26.90,26.83,26.91
$GC,5977,-0.52,-146.6,2936,1885,2837,2852,400.9,-7.7,255,5979,0.15,0.00,0.00,0.000,2054,0.154,0.000,2991,1885,2845,2837,2853,0,0,0,0,0,0,26.59,26.73,26.69
$GC,6291,-0.52,-146.6,2991,1885,2837,2850,418.5,-5.8,262,6297,0.00,2.22,0.00,0.000,260,0.000,0.062,2982,3436,2843,2837,2850,0,0,0,0,0,0,27.13,26.74,27.14
$GC,6336,-0.52,-146.6,2981,3435,2836,2851,421.3,-6.0,263,6343,0.00,2.12,0.00,0.000,1030,0.000,0.045,2981,1874,2843,2836,2851,0,0,0,0,0,0,26.91,26.87,26.92
$GC,6652,-0.52,-146.6,2981,1874,2836,2849,441.2,-6.2,270,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1874,2842,2836,2849,0,0,0,0,0,0,27.13,27.15,27.14
$GC,6967,-0.52,-146.6,2981,1874,2836,2847,461.0,-6.2,277,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1874,2841,2836,2847,0,0,0,0,0,0,27.13,27.15,27.14
$GC,7281,-0.52,-146.6,2981,1874,2836,2845,482.2,-6.7,284,7286,0.00,2.22,0.00,0.000,516,0.000,0.060,2982,340,2841,2837,2845,0,0,0,0,0,0,27.13,26.73,27.14
$GC,7315,-0.52,-146.6,2981,340,2836,2844,482.2,-6.7,284,7319,0.00,2.17,0.00,0.000,1030,0.000,0.047,2974,1890,2840,2836,2844,0,0,0,0,0,0,26.84,26.82,26.86
$GC,7644,-0.52,-146.6,2973,1890,2834,2844,508.3,-7.1,292,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1891,2839,2834,2845,0,0,0,0,0,0,27.13,27.15,27.14
$GC,7959,-0.52,-146.6,2974,1891,2831,2844,529.5,-6.7,299,7965,0.00,2.25,0.00,0.000,260,0.000,0.060,2964,3432,2837,2831,2844,0,0,0,0,0,0,27.13,26.74,27.14
$GC,8012,-0.52,-146.6,2964,3432,2830,2844,533.0,-7.1,300,8016,0.00,2.12,0.00,0.000,1030,0.000,0.045,2964,1863,2837,2830,2844,0,0,0,0,0,0,26.90,26.86,26.91
$GC,8321,-0.52,-146.6,2964,1864,2830,2842,557.2,-7.8,307,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1864,2836,2830,2843,0,0,0,0,0,0,27.13,27.15,27.15
$GC,8636,-0.52,-146.6,2964,1863,2830,2841,580.3,-7.5,314,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1863,2835,2830,2841,0,0,0,0,0,0,27.13,27.15,27.14
$GC,8951,-0.52,-146.6,2963,1863,2830,2838,602.3,-6.9,321,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1863,2834,2830,2838,0,0,0,0,0,0,27.13,27.15,27.14
$GC,9266,-0.52,-146.6,2964,1863,2829,2838,625.6,-7.3,328,9270,0.00,2.22,0.00,0.000,516,0.000,0.060,2964,343,2833,2829,2838,0,0,0,0,0,0,27.13,26.72,27.14
$GC,9332,-0.52,-146.6,2964,342,2829,2837,629.6,-7.5,329,9336,0.00,2.12,0.00,0.000,1030,0.000,0.047,2957,1883,2833,2829,2837,0,0,0,0,0,0,26.87,26.82,26.89
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$GC,9726,-0.52,-146.6,2945,3442,2826,2837,664.0,-8.7,338,9731,0.10,2.17,0.00,0.000,3078,0.132,0.045,2985,1880,2831,2826,2837,0,0,0,0,0,0,26.55,26.86,26.61
$GC,10035,-0.52,-146.6,2985,1881,2826,2837,686.8,-7.0,345,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1880,2831,2826,2837,0,0,0,0,0,0,27.12,27.14,27.14
$GC,10350,-0.52,-146.6,2984,1881,2826,2835,708.7,-6.9,352,10356,0.00,2.20,0.00,0.000,516,0.000,0.060,2986,337,2830,2826,2834,0,0,0,0,0,0,27.12,26.72,27.14
$GC,10395,-0.52,-146.6,2985,337,2826,2834,711.8,-6.8,353,10400,0.00,2.15,0.00,0.000,1030,0.000,0.047,2980,1900,2830,2826,2834,0,0,0,0,0,0,26.86,26.81,26.89
$GC,10713,-0.52,-146.6,2979,1900,2824,2833,733.7,-6.9,360,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1900,2828,2824,2833,0,0,0,0,0,0,27.13,27.14,27.14
$GC,11028,-0.52,-146.6,2979,1900,2822,2833,756.7,-7.5,367,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1900,2827,2822,2832,0,0,0,0,0,0,27.12,27.15,27.14
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$GC,53727,-1.48,-146.6,2665,1889,2793,2794,3884.5,-6.4,772,53729,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1889,2793,2793,2794,0,0,0,0,0,0,27.03,27.05,27.04
$GC,54089,-1.48,-146.6,2665,1889,2793,2794,3907.0,-6.2,775,54090,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1889,2793,2793,2794,0,0,0,0,0,0,27.04,27.06,27.05
$GC,54445,-1.48,-146.6,2665,1889,2793,2794,3929.7,-6.2,778,54450,0.00,2.50,0.00,0.000,516,0.000,0.077,2666,352,2793,2793,2794,0,0,0,0,0,0,27.07,25.56,27.08
$GC,54515,-1.48,-146.6,2666,352,2793,2794,3929.7,-6.2,778,54519,0.00,2.35,0.00,0.000,1030,0.000,0.060,2656,1891,2793,2793,2794,0,0,0,0,0,0,26.03,25.92,26.08
$GC,54931,-1.48,-146.6,2656,1892,2793,2794,3962.7,-6.8,782,54932,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1892,2793,2793,2794,0,0,0,0,0,0,27.01,27.03,27.03
$GC,55290,-1.48,-146.6,2656,1891,2793,2794,3986.7,-6.7,785,55295,0.00,2.47,0.00,0.000,516,0.000,0.077,2656,349,2793,2793,2794,0,0,0,0,0,0,27.01,25.55,27.03
$GC,55335,-1.48,-146.6,2656,349,2793,2794,3986.7,-6.7,785,55340,0.00,2.35,0.00,0.000,1030,0.000,0.062,2646,1890,2793,2793,2794,0,0,0,0,0,0,26.01,25.91,26.06
$GC,55651,-1.48,-146.6,2646,1890,2792,2794,4011.9,-6.9,788,55652,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1890,2793,2793,2794,0,0,0,0,0,0,27.02,27.04,27.03
$GC,56012,-1.48,-146.6,2646,1891,2793,2794,4035.7,-6.7,791,56013,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1890,2793,2793,2794,0,0,0,0,0,0,27.03,27.05,27.05
$GC,56369,-1.48,-146.6,2645,1891,2793,2794,4059.3,-6.6,794,56375,0.00,2.47,0.00,0.000,516,0.000,0.079,2646,355,2793,2793,2794,0,0,0,0,0,0,27.07,25.52,27.08
$GC,56425,-1.48,-146.6,2646,355,2793,2794,4059.3,-6.6,794,56430,0.12,2.35,0.00,0.000,3078,0.161,0.062,2678,1890,2793,2793,2794,0,0,0,0,0,0,25.57,25.88,25.67
$GC,56846,-1.48,-146.6,2677,1890,2793,2794,4084.1,-5.2,798,56847,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1890,2793,2792,2794,0,0,0,0,0,0,27.01,27.03,27.03
$GC,57207,-1.48,-146.6,2677,1890,2793,2794,4102.3,-5.0,801,57213,0.00,2.47,0.00,0.000,516,0.000,0.077,2678,356,2793,2793,2794,0,0,0,0,0,0,27.03,25.51,27.05
$GC,57283,-1.48,-146.6,2677,356,2793,2794,4102.3,-5.0,801,57287,0.00,2.35,0.00,0.000,1030,0.000,0.062,2670,1892,2793,2793,2794,0,0,0,0,0,0,26.01,25.89,26.05
$GC,57687,-1.48,-146.6,2670,1892,2793,2794,4128.0,-5.3,805,57688,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1892,2793,2793,2794,0,0,0,0,0,0,27.06,27.09,27.08
$GC,58047,-1.48,-146.6,2670,1892,2793,2793,4147.0,-5.2,808,58053,0.00,2.47,0.00,0.000,516,0.000,0.079,2670,355,2793,2793,2794,0,0,0,0,0,0,27.07,25.50,27.08
$GC,58143,-1.48,-146.6,2670,355,2793,2794,4147.0,-5.2,808,58148,0.00,2.35,0.00,0.000,1030,0.000,0.062,2660,1893,2793,2793,2794,0,0,0,0,0,0,25.98,25.86,26.03
$GC,58523,-1.48,-146.6,2660,1893,2793,2794,4172.4,-5.3,812,58524,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1893,2793,2793,2794,0,0,0,0,0,0,27.01,27.03,27.03
$GC,58883,-1.48,-146.6,2659,1893,2793,2794,4192.1,-5.5,815,58889,0.00,2.47,0.00,0.000,516,0.000,0.079,2660,355,2793,2793,2794,0,0,0,0,0,0,27.01,25.47,27.03
$GC,58959,-1.48,-146.6,2660,355,2793,2794,4192.1,-5.5,815,58963,0.00,2.35,0.00,0.000,1030,0.000,0.062,2649,1889,2793,2793,2794,0,0,0,0,0,0,25.96,25.85,26.01
$GC,59358,-1.48,-146.6,2649,1888,2793,2794,4219.8,-5.8,819,59359,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1889,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,59719,-1.48,-146.6,2649,1889,2793,2794,4241.0,-5.9,822,59725,0.00,2.50,0.00,0.000,516,0.000,0.079,2649,353,2793,2793,2794,0,0,0,0,0,0,27.01,25.46,27.03
$GC,59795,-1.48,-146.6,2649,354,2793,2794,4241.0,-5.9,822,59800,0.12,2.38,0.00,0.000,3078,0.156,0.062,2682,1895,2794,2794,2794,0,0,0,0,0,0,25.55,25.84,25.65
$GC,60197,-1.48,-146.6,2682,1895,2793,2794,4263.6,-4.7,826,60198,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1896,2793,2793,2794,0,0,0,0,0,0,27.03,27.05,27.05
$GC,60554,-1.48,-146.6,2682,1896,2793,2794,4279.7,-4.5,829,60559,0.00,2.53,0.00,0.000,516,0.000,0.077,2682,348,2793,2792,2794,0,0,0,0,0,0,27.06,25.46,27.08
$GC,60644,-1.48,-146.6,2682,348,2793,2794,4279.7,-4.5,829,60648,0.00,2.40,0.00,0.000,1030,0.000,0.062,2675,1894,2793,2793,2794,0,0,0,0,0,0,25.98,25.87,26.03
$GC,61039,-1.48,-146.6,2674,1894,2793,2794,4303.8,-5.0,833,61040,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1894,2793,2793,2794,0,0,0,0,0,0,27.01,27.03,27.03
$GC,61401,-1.48,-146.6,2674,1894,2793,2794,4321.7,-5.0,836,61406,0.00,2.50,0.00,0.000,516,0.000,0.079,2674,353,2793,2793,2794,0,0,0,0,0,0,27.03,25.44,27.05
$GC,61501,-1.48,-146.6,2674,353,2793,2794,4321.7,-5.0,836,61505,0.00,2.35,0.00,0.000,1030,0.000,0.062,2666,1888,2793,2793,2794,0,0,0,0,0,0,25.97,25.86,26.01
$GC,61880,-1.48,-146.6,2666,1888,2793,2794,4347.8,-5.4,840,61881,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1888,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,62240,-1.48,-146.6,2666,1888,2793,2795,4366.8,-5.3,843,62244,0.00,2.53,0.00,0.000,516,0.000,0.079,2666,355,2793,2793,2794,0,0,0,0,0,0,27.06,25.42,27.08
$GC,62329,-1.48,-146.6,2666,355,2793,2794,4366.8,-5.3,843,62333,0.00,2.35,0.00,0.000,1030,0.000,0.062,2657,1888,2793,2793,2794,0,0,0,0,0,0,25.96,25.84,26.00
$GC,62720,-1.48,-146.6,2656,1888,2792,2794,4393.3,-5.5,847,62721,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1888,2793,2792,2794,0,0,0,0,0,0,27.01,27.04,27.03
$GC,63080,-1.48,-146.6,2656,1887,2793,2794,4411.7,-5.1,850,63085,0.00,2.47,0.00,0.000,516,0.000,0.079,2657,362,2793,2793,2794,0,0,0,0,0,0,27.02,25.41,27.03
$GC,63170,-1.48,-146.6,2657,361,2793,2794,4411.7,-5.1,850,63175,0.00,2.38,0.00,0.000,1030,0.000,0.062,2647,1890,2793,2792,2794,0,0,0,0,0,0,25.94,25.82,25.98
$GC,63559,-1.48,-146.6,2647,1890,2793,2794,4437.7,-5.4,854,63560,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1890,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,63919,-1.48,-146.6,2647,1890,2793,2794,4457.3,-5.4,857,63925,0.00,2.50,0.00,0.000,516,0.000,0.079,2647,355,2793,2793,2794,0,0,0,0,0,0,27.07,25.41,27.08
$GC,63980,-1.48,-146.6,2647,355,2793,2794,4457.3,-5.4,857,63986,0.12,2.35,0.00,0.000,3078,0.154,0.062,2682,1888,2793,2793,2794,0,0,0,0,0,0,25.54,25.82,25.64
$GC,64400,-1.48,-146.6,2682,1887,2793,2794,4478.1,-4.3,861,64401,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1888,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,64762,-1.54,-146.6,2681,1888,2793,2794,4495.3,-4.6,864,64768,0.00,2.50,0.00,0.000,516,0.000,0.079,2682,352,2793,2793,2794,0,0,0,0,0,0,27.03,25.40,27.04
$GC,64869,-1.60,-146.6,2682,352,2793,2794,4495.3,-4.6,864,64873,0.00,2.35,0.00,0.000,5126,0.000,0.062,2676,1883,2793,2793,2794,0,0,0,0,0,0,26.00,25.86,26.04
$GC,65237,-1.65,-146.6,2675,1883,2792,2794,4518.1,-4.9,867,65238,0.00,0.00,0.00,0.000,4102,0.000,0.000,2675,1884,2793,2793,2794,0,0,0,0,0,0,27.08,27.09,27.08
$GC,65600,-1.71,-146.6,2674,1883,2793,2795,4534.5,-4.5,870,65606,0.08,2.47,0.00,0.000,4612,0.144,0.079,2613,356,2793,2793,2794,0,0,0,0,0,0,26.71,25.39,26.72
$GC,65707,-1.76,-146.6,2613,356,2793,2794,4534.5,-4.5,870,65711,0.00,2.35,0.00,0.000,1030,0.000,0.065,2602,1887,2793,2793,2794,0,0,0,0,0,0,25.94,25.82,25.98
$GC,66082,-1.76,-146.6,2602,1887,2793,2794,4564.7,-6.3,874,66083,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1887,2793,2793,2794,0,0,0,0,0,0,27.01,27.04,27.03
$GC,66441,-1.76,-146.6,2602,1887,2792,2794,4585.4,-5.8,877,66442,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1887,2793,2793,2794,0,0,0,0,0,0,27.01,27.03,27.02
$GC,66803,-1.76,-146.6,2602,1887,2792,2794,4606.4,-5.8,880,66809,0.00,2.47,0.00,0.000,516,0.000,0.079,2602,360,2793,2793,2794,0,0,0,0,0,0,27.03,25.39,27.04
$GC,66879,-1.76,-146.6,2601,360,2793,2794,4606.4,-5.8,880,66883,0.00,2.35,0.00,0.000,1030,0.000,0.065,2591,1887,2793,2793,2794,0,0,0,0,0,0,25.94,25.82,25.98
$GC,67285,-1.76,-146.6,2591,1888,2793,2794,4635.0,-5.9,884,67286,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1888,2793,2793,2794,0,0,0,0,0,0,27.01,27.04,27.03
$GC,67646,-1.76,-146.6,2591,1887,2794,2794,4655.3,-5.6,887,67651,0.00,2.50,0.00,0.000,516,0.000,0.082,2591,356,2793,2793,2794,0,0,0,0,0,0,27.03,25.37,27.05
$GC,67716,-1.76,-146.6,2591,356,2793,2795,4655.3,-5.6,887,67721,0.00,2.38,0.00,0.000,1030,0.000,0.065,2581,1894,2793,2793,2794,0,0,0,0,0,0,25.93,25.81,25.97
$GC,68127,-1.76,-146.6,2581,1895,2793,2794,4684.5,-6.0,891,68129,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1894,2793,2793,2794,0,0,0,0,0,0,27.01,27.03,27.03
$GC,68487,-1.76,-146.6,2581,1894,2793,2794,4704.9,-5.7,894,68493,0.00,2.53,0.00,0.000,516,0.000,0.082,2581,356,2793,2792,2794,0,0,0,0,0,0,27.01,25.35,27.02
$GC,68553,-1.76,-146.6,2582,356,2793,2794,4704.9,-5.7,894,68557,0.00,2.38,0.00,0.000,1030,0.000,0.065,2571,1894,2793,2793,2794,0,0,0,0,0,0,25.91,25.79,25.96
$GC,68965,-1.71,-146.6,2571,1894,2793,2794,4732.9,-5.9,898,68967,0.10,0.00,0.00,0.000,2054,0.179,0.000,2605,1894,2793,2793,2794,0,0,0,0,0,0,26.46,26.49,26.46
$GC,69322,-1.71,-146.6,2605,1894,2793,2794,4749.8,-4.9,901,69323,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1894,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,69682,-1.71,-146.6,2605,1894,2793,2794,4765.5,-4.4,904,69683,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1894,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,70045,-1.71,-146.6,2605,1894,2793,2794,4781.1,-4.3,907,70046,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1894,2793,2793,2794,0,0,0,0,0,0,27.03,27.05,27.04
$GC,70402,-1.71,-146.6,2605,1894,2793,2794,4797.5,-4.5,910,70408,0.00,2.50,0.00,0.000,516,0.000,0.082,2605,360,2793,2793,2794,0,0,0,0,0,0,27.06,25.34,27.08
$GC,70473,-1.71,-146.6,2605,360,2793,2794,4797.5,-4.5,910,70477,0.00,2.38,0.00,0.000,1030,0.000,0.065,2596,1894,2793,2793,2794,0,0,0,0,0,0,25.90,25.79,25.95
$GC,70882,-1.71,-146.6,2596,1894,2793,2794,4819.8,-4.7,914,70883,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1894,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,71242,-1.71,-146.6,2596,1894,2793,2794,4836.0,-4.5,917,71243,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1894,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,71605,-1.71,-146.6,2596,1894,2793,2794,4852.2,-4.5,920,71606,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1894,2793,2793,2794,0,0,0,0,0,0,27.03,27.05,27.04
$GC,71962,-1.71,-146.6,2596,1894,2793,2794,4869.2,-4.7,923,71963,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1894,2793,2793,2794,0,0,0,0,0,0,27.06,27.08,27.08
$GC,72322,-1.71,-146.6,2596,1894,2793,2794,4886.1,-4.7,926,72323,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1894,2793,2793,2794,0,0,0,0,0,0,27.07,27.09,27.08
$STATE,72441,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,72441,begin apogee
$GC,72445,-0.23,0.0,2596,1725,2793,2794,4891.6,-4.7,927,72601,1.42,0.00,151.80,3.797,10246,0.119,0.000,3081,1724,2350,2337,2363,0,0,0,0,0,0,24.78,22.15,19.85
$STATE,72602,end apogee,CONTROL_FINISHED_OK
$STATE,72602,begin climb
$GC,72603,0.54,146.6,3081,1724,2337,2363,4895.7,0.0,928,72781,0.70,0.00,174.70,3.784,10246,0.079,0.000,3336,1724,1845,1816,1874,0,0,0,0,0,0,22.94,22.20,20.09
$GC,73041,0.54,146.6,3336,1724,1816,1873,4814.5,22.6,932,73047,0.00,2.30,0.00,0.000,516,0.000,0.074,3347,301,1845,1816,1874,0,0,0,0,0,0,25.83,25.53,25.85
$GC,73341,0.03,146.6,3347,301,1816,1874,4754.2,24.8,934,73346,0.65,2.08,0.00,0.000,5126,0.226,0.062,3165,1687,1844,1816,1873,0,0,0,0,0,0,25.75,26.23,26.05
$GC,73761,-0.31,146.6,3165,1687,1816,1874,4670.5,17.2,938,73766,0.17,2.22,0.00,0.000,4612,0.206,0.079,3115,292,1845,1816,1874,0,0,0,0,0,0,26.10,26.35,26.22
$GC,73973,-0.59,146.6,3114,291,1817,1873,4652.9,15.7,939,73979,0.50,2.08,0.00,0.000,5126,0.176,0.062,2957,1665,1845,1817,1873,0,0,0,0,0,0,26.08,26.50,26.32
$GC,74363,-0.65,146.6,2956,1665,1817,1874,4610.4,8.6,943,74364,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1665,1845,1817,1873,0,0,0,0,0,0,26.94,26.96,26.96
$GC,74723,-0.65,146.6,2956,1665,1817,1874,4586.0,6.9,946,74728,0.00,2.15,0.00,0.000,516,0.000,0.077,2965,300,1845,1816,1874,0,0,0,0,0,0,26.97,26.51,26.99
$GC,74779,-0.65,146.6,2965,300,1817,1872,4586.0,6.9,946,74783,0.00,2.05,0.00,0.000,1030,0.000,0.060,2965,1666,1845,1817,1874,0,0,0,0,0,0,26.67,26.58,26.70
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$GC,159409,0.75,399.2,3359,1658,933,1024,61.7,7.7,1922,159414,0.00,2.00,0.00,0.000,2564,0.000,0.065,3366,266,979,933,1025,0,0,0,0,0,0,27.12,26.58,27.13
$GC,159479,0.81,399.2,3366,266,934,1025,55.0,9.8,1926,159483,0.00,1.90,0.00,0.000,3078,0.000,0.045,3366,1680,979,934,1025,0,0,0,0,0,0,26.84,26.78,26.85
$GC,159793,0.81,399.2,3366,1680,935,1025,32.4,7.0,1950,159800,0.00,0.00,0.00,0.000,2054,0.000,0.000,3366,1680,980,935,1025,0,0,0,0,0,0,27.12,27.13,27.13
$GC,160103,0.81,399.2,3366,1681,937,1025,7.3,6.4,1981,160111,0.00,0.00,0.00,0.000,2054,0.000,0.000,3366,1681,981,937,1025,0,0,0,0,0,0,27.12,27.13,27.13
$STATE,160190,end climb,SURFACE_DEPTH_REACHED
$STATE,160191,begin surface coast
$FINISH,-0.3,1.024323
$STATE,160212,end surface coast,CONTROL_FINISHED_OK
$STATE,160212,begin surface
$SM_CCo,160227,155.45,0.653,0,0,199,624.55
$SM_GC,0.65,7.80,0.20,155.45,0.060,0.072,0.653,184,1954,199,-9.21,-2.60,624.55,0,0,0,0,0,0,26.48,26.91,24.72
$IRIDIUM_FIX,2619.79,-7628.20,311008,180016
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.67
$INTERNAL_PRESSURE,9.19169
$TCM_TEMP,26.10
$XPDR_PINGS,10
$ALTIM_TOP_PING,58.8,56.9
$ALTIM_BOTTOM_PING,4880.5,36.8
$24V_AH,19.85,44.284
$10V_AH,10.18,35.129
$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,27.150,677.150,573.875,155.450,133.225,329.728,189.726,146.261,75.250,0.000,18.682,7805.222,139417.031,1305.166,12531.706,571.207,0.000,5698.803,0.000,11239.488,0.000,665.891,0.000
$DEVICE_MAMPS,285.545,81.939,3796.507,653.029,139.048,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1368.606,6500.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353100
$DATA_FILE_SIZE,123761,1992
$CAP_FILE_SIZE,849693,0
$CFSIZE,1024409600,949714944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,22.38,0x235806,0,24
$CURRENT,0.018,310.59,1
$GPS,070116,011151,2636.446,-7607.526,51,1.2,68,-8.9,0.0,0.0,7,9.7