version: 66.12
glider: 37
mission: 22
dive: 97
start: 1 22 116 21 7 46
data:
$ID,37
$MISSION,22
$DIVE,97
$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,87
$R_STBD_OVSHOOT,89
$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
$GPS1,210116,032507,2621.7910,-7633.5742,901,99.0,901,-8.6,0.6,93.0,9,13.5
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-52.4
$GPS2,210116,032507,2621.7910,-7633.5742,901,99.0,901,-8.6,0.6,93.0,9,13.5
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$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,273.6,23644,-16.3,-5.333,-20.00,2117
$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,361,-0.67,-146.6,2881,3435,2841,2870,32.9,-16.6,31,372,0.15,2.15,0.00,0.000,3078,0.179,0.047,2930,1854,2855,2841,2870,0,0,0,0,0,0,26.22,26.73,26.32
$GC,683,-0.61,-146.6,2930,1853,2842,2870,76.5,-13.7,54,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1854,2854,2840,2869,0,0,0,0,0,0,27.08,27.10,27.10
$GC,981,-0.61,-146.6,2930,1854,2841,2869,115.6,-13.2,74,987,0.00,2.12,0.00,0.000,516,0.000,0.062,2930,359,2855,2841,2869,0,0,0,0,0,0,27.10,26.72,27.13
$GC,1061,-0.55,-146.6,2930,359,2841,2868,126.0,-12.6,79,1067,0.15,2.05,0.00,0.000,3078,0.161,0.050,2973,1891,2854,2841,2868,0,0,0,0,0,0,26.40,26.82,26.48
$GC,1376,-0.55,-146.6,2973,1892,2841,2868,155.0,-7.7,98,1382,0.00,2.20,0.00,0.000,260,0.000,0.062,2963,3437,2854,2841,2868,0,0,0,0,0,0,27.12,26.74,27.13
$GC,1566,-0.55,-146.6,2962,3436,2841,2868,171.7,-8.8,104,1572,0.00,2.10,0.00,0.000,1030,0.000,0.047,2963,1897,2854,2841,2868,0,0,0,0,0,0,26.89,26.88,26.91
$GC,1897,-0.55,-146.6,2962,1897,2841,2868,196.8,-7.2,115,1904,0.00,2.20,0.00,0.000,516,0.000,0.062,2963,351,2854,2841,2868,0,0,0,0,0,0,27.12,26.74,27.13
$GC,1982,-0.55,-146.6,2963,351,2840,2867,201.7,-7.3,117,1991,0.00,2.12,0.00,0.000,1030,0.000,0.047,2953,1907,2854,2841,2867,0,0,0,0,0,0,26.88,26.84,26.88
$GC,2290,-0.55,-146.6,2952,1907,2841,2867,227.8,-8.1,128,2297,0.00,2.20,0.00,0.000,516,0.000,0.060,2953,349,2853,2839,2867,0,0,0,0,0,0,27.12,26.74,27.13
$GC,2360,-0.55,-146.6,2953,349,2841,2866,233.3,-8.7,130,2364,0.00,2.08,0.00,0.000,1030,0.000,0.047,2942,1889,2853,2841,2866,0,0,0,0,0,0,26.89,26.84,26.90
$GC,2684,-0.55,-146.6,2942,1889,2841,2866,260.8,-8.7,141,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1890,2853,2841,2865,0,0,0,0,0,0,27.12,27.14,27.13
$GC,2986,-0.55,-146.6,2942,1890,2840,2864,285.8,-7.8,151,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1889,2852,2841,2864,0,0,0,0,0,0,27.12,27.14,27.14
$GC,3299,-0.55,-146.6,2942,1889,2840,2863,311.0,-8.0,160,3304,0.00,2.20,0.00,0.000,260,0.000,0.062,2931,3427,2851,2840,2863,0,0,0,0,0,0,27.12,26.74,27.13
$GC,3344,-0.55,-146.6,2931,3427,2839,2863,314.5,-7.9,161,3350,0.12,2.08,0.00,0.000,3078,0.146,0.047,2977,1864,2851,2840,2863,0,0,0,0,0,0,26.52,26.87,26.59
$GC,3660,-0.64,-146.6,2977,1864,2840,2862,335.6,-6.6,168,3661,0.00,0.00,0.00,0.000,4102,0.000,0.000,2977,1864,2850,2839,2861,0,0,0,0,0,0,27.13,27.14,27.14
$GC,3975,-0.74,-146.6,2977,1865,2839,2860,357.4,-7.0,175,3982,0.05,2.12,0.00,0.000,4612,0.181,0.060,2911,356,2849,2839,2859,0,0,0,0,0,0,26.90,26.74,26.92
$GC,4038,-0.81,-146.6,2910,356,2840,2858,361.9,-7.5,176,4042,0.00,2.10,0.00,0.000,1030,0.000,0.047,2900,1892,2848,2839,2858,0,0,0,0,0,0,26.89,26.84,26.90
$GC,4377,-0.81,-146.6,2900,1893,2839,2857,399.8,-10.5,184,4382,0.00,2.22,0.00,0.000,260,0.000,0.062,2888,3429,2848,2839,2857,0,0,0,0,0,0,27.12,26.74,27.14
$GC,4423,-0.81,-146.6,2888,3430,2838,2857,404.7,-10.7,185,4428,0.00,2.10,0.00,0.000,1030,0.000,0.045,2888,1895,2848,2839,2858,0,0,0,0,0,0,26.89,26.88,26.90
$GC,4738,-0.81,-146.6,2888,1896,2838,2856,438.3,-10.6,192,4744,0.00,2.20,0.00,0.000,516,0.000,0.060,2888,355,2847,2839,2856,0,0,0,0,0,0,27.13,26.74,27.13
$GC,4796,-0.81,-146.6,2888,355,2839,2856,443.5,-10.7,193,4799,0.00,2.10,0.00,0.000,1030,0.000,0.047,2877,1891,2847,2839,2856,0,0,0,0,0,0,26.89,26.84,26.90
$GC,5140,-0.81,-146.6,2877,1891,2838,2854,482.5,-11.2,201,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1892,2846,2839,2854,0,0,0,0,0,0,27.12,27.14,27.14
$GC,5454,-0.81,-146.6,2877,1892,2838,2853,519.4,-11.4,208,5458,0.00,2.25,0.00,0.000,260,0.000,0.062,2866,3428,2845,2838,2853,0,0,0,0,0,0,27.11,26.74,27.13
$GC,5525,-0.81,-146.6,2866,3429,2837,2853,525.1,-11.4,209,5529,0.00,2.15,0.00,0.000,1030,0.000,0.047,2866,1885,2845,2837,2853,0,0,0,0,0,0,26.89,26.86,26.90
$GC,5865,-0.81,-146.6,2866,1885,2836,2853,565.5,-11.3,217,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1885,2844,2836,2853,0,0,0,0,0,0,27.12,27.14,27.13
$GC,6179,-0.81,-146.6,2866,1885,2836,2850,602.3,-11.9,224,6183,0.00,2.28,0.00,0.000,260,0.000,0.060,2856,3437,2843,2836,2850,0,0,0,0,0,0,27.12,26.73,27.13
$GC,6213,-0.81,-146.6,2855,3437,2835,2850,602.3,-11.9,224,6218,0.08,2.15,0.00,0.000,3078,0.161,0.045,2894,1865,2843,2835,2851,0,0,0,0,0,0,26.51,26.86,26.64
$GC,6542,-0.81,-146.6,2894,1865,2834,2850,642.9,-11.0,232,6547,0.00,2.33,0.00,0.000,260,0.000,0.062,2884,3437,2842,2834,2850,0,0,0,0,0,0,27.12,26.72,27.13
$GC,6592,-0.81,-146.6,2884,3437,2832,2850,648.0,-10.9,233,6597,0.00,2.12,0.00,0.000,1030,0.000,0.045,2884,1898,2841,2833,2850,0,0,0,0,0,0,26.89,26.87,26.90
$GC,6907,-0.81,-146.6,2884,1897,2832,2849,683.6,-11.3,240,6911,0.00,2.25,0.00,0.000,516,0.000,0.060,2884,350,2840,2832,2849,0,0,0,0,0,0,27.12,26.73,27.14
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$GC,7270,-0.81,-146.6,2874,1885,2833,2846,728.5,-12.1,248,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1885,2838,2832,2845,0,0,0,0,0,0,27.12,27.14,27.13
$GC,7585,-0.81,-146.6,2874,1885,2831,2845,766.4,-11.7,255,7591,0.00,2.28,0.00,0.000,260,0.000,0.060,2863,3437,2837,2830,2845,0,0,0,0,0,0,27.11,26.73,27.13
$GC,7642,-0.81,-146.6,2862,3437,2830,2845,772.2,-12.0,256,7646,0.00,2.17,0.00,0.000,1030,0.000,0.045,2863,1882,2837,2830,2844,0,0,0,0,0,0,26.91,26.86,26.93
$GC,7991,-0.81,-146.6,2862,1882,2828,2843,815.8,-12.1,264,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1882,2836,2829,2844,0,0,0,0,0,0,27.11,27.13,27.13
$GC,8306,-0.81,-146.6,2862,1882,2828,2841,853.8,-12.2,271,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1882,2834,2828,2841,0,0,0,0,0,0,27.11,27.14,27.13
$GC,8621,-0.81,-146.6,2862,1882,2826,2839,891.5,-11.9,278,8627,0.00,2.28,0.00,0.000,260,0.000,0.062,2853,3429,2832,2826,2839,0,0,0,0,0,0,27.11,26.70,27.13
$GC,8668,-0.81,-146.6,2852,3429,2824,2839,897.2,-12.0,279,8674,0.10,2.15,0.00,0.000,3078,0.146,0.045,2891,1871,2832,2825,2839,0,0,0,0,0,0,26.53,26.85,26.59
$GC,8983,-0.81,-146.6,2891,1871,2823,2838,930.1,-10.2,286,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1871,2830,2823,2837,0,0,0,0,0,0,27.11,27.13,27.13
$GC,9298,-0.81,-146.6,2890,1872,2823,2835,964.3,-11.0,293,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1871,2829,2823,2835,0,0,0,0,0,0,27.11,27.13,27.13
$GC,9613,-0.81,-146.6,2891,1871,2820,2835,997.5,-10.2,300,9617,0.00,2.35,0.00,0.000,260,0.000,0.060,2881,3441,2827,2820,2835,0,0,0,0,0,0,27.11,26.68,27.13
$GC,9661,-0.81,-146.6,2881,3441,2819,2835,1002.4,-10.2,301,9667,0.00,2.10,0.00,0.000,1030,0.000,0.045,2881,1887,2827,2819,2835,0,0,0,0,0,0,26.86,26.85,26.88
$GC,9976,-0.81,-146.6,2881,1887,2819,2832,1035.4,-10.5,304,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1887,2825,2819,2831,0,0,0,0,0,0,27.11,27.13,27.13
$GC,10337,-0.81,-146.6,2881,1887,2816,2830,1074.4,-10.7,307,10342,0.00,2.25,0.00,0.000,516,0.000,0.062,2881,363,2822,2815,2830,0,0,0,0,0,0,27.10,26.67,27.13
$GC,10377,-0.81,-146.6,2881,363,2816,2829,1074.4,-10.7,307,10381,0.00,2.15,0.00,0.000,1030,0.000,0.050,2871,1884,2822,2816,2829,0,0,0,0,0,0,26.84,26.77,26.85
$GC,10696,-0.81,-146.6,2871,1887,2815,2828,1114.3,-11.1,310,10702,0.00,2.33,0.00,0.000,260,0.000,0.062,2860,3445,2821,2815,2828,0,0,0,0,0,0,27.10,26.66,27.13
$GC,10772,-0.81,-146.6,2860,3445,2813,2828,1114.3,-11.1,310,10776,0.00,2.17,0.00,0.000,1030,0.000,0.045,2860,1864,2820,2813,2828,0,0,0,0,0,0,26.88,26.84,26.89
$GC,11176,-0.81,-146.6,2860,1864,2813,2825,1169.4,-11.5,314,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1864,2819,2813,2825,0,0,0,0,0,0,27.10,27.13,27.13
$GC,11537,-0.81,-146.6,2860,1864,2810,2824,1211.4,-11.6,317,11542,0.00,2.35,0.00,0.000,260,0.000,0.060,2850,3447,2817,2810,2824,0,0,0,0,0,0,27.10,26.64,27.13
$GC,11637,-0.81,-146.6,2850,3447,2809,2824,1211.4,-11.6,317,11642,0.12,2.17,0.00,0.000,3078,0.151,0.045,2896,1872,2816,2809,2824,0,0,0,0,0,0,26.48,26.82,26.58
$GC,12017,-0.87,-146.6,2896,1872,2809,2821,1262.3,-10.5,321,12021,0.00,2.25,0.00,0.000,516,0.000,0.060,2896,365,2815,2809,2821,0,0,0,0,0,0,27.10,26.63,27.12
$GC,12057,-0.94,-146.6,2896,366,2809,2821,1262.3,-10.5,321,12061,0.00,2.15,0.00,0.000,5126,0.000,0.047,2888,1887,2815,2809,2821,0,0,0,0,0,0,26.82,26.75,26.84
$GC,12380,-1.02,-146.6,2888,1889,2807,2821,1299.7,-10.1,324,12382,0.05,0.00,0.00,0.000,4102,0.176,0.000,2836,1889,2813,2807,2820,0,0,0,0,0,0,26.89,26.91,26.90
$GC,12741,-1.02,-146.6,2836,1890,2805,2819,1343.7,-11.9,327,12746,0.00,2.33,0.00,0.000,260,0.000,0.062,2825,3452,2812,2805,2819,0,0,0,0,0,0,27.10,26.61,27.12
$GC,12851,-1.02,-146.6,2824,3451,2804,2819,1343.7,-11.9,327,12861,0.00,2.20,0.00,0.000,1030,0.000,0.045,2825,1890,2811,2804,2819,0,0,0,0,0,0,26.82,26.79,26.84
$GC,13220,-1.02,-146.6,2825,1890,2803,2818,1403.5,-12.4,331,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1890,2810,2803,2817,0,0,0,0,0,0,27.10,27.13,27.12
$GC,13580,-1.02,-146.6,2825,1890,2803,2815,1447.1,-12.2,334,13586,0.00,2.33,0.00,0.000,260,0.000,0.062,2814,3442,2809,2803,2815,0,0,0,0,0,0,27.10,26.59,27.11
$GC,13666,-1.02,-146.6,2814,3443,2802,2815,1447.1,-12.2,334,13671,0.00,2.17,0.00,0.000,1030,0.000,0.045,2814,1888,2809,2803,2815,0,0,0,0,0,0,26.84,26.79,26.85
$GC,14056,-1.02,-146.6,2814,1888,2802,2815,1505.2,-12.2,338,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1887,2808,2801,2815,0,0,0,0,0,0,27.10,27.13,27.12
$GC,14415,-1.02,-146.6,2814,1888,2802,2814,1550.2,-12.4,341,14419,0.00,2.33,0.00,0.000,260,0.000,0.060,2804,3448,2807,2801,2814,0,0,0,0,0,0,27.10,26.56,27.11
$GC,14499,-1.02,-146.6,2804,3448,2800,2815,1550.2,-12.4,341,14504,0.00,2.17,0.00,0.000,1030,0.000,0.045,2804,1882,2807,2800,2815,0,0,0,0,0,0,26.82,26.77,26.84
$GC,14893,-1.02,-146.6,2804,1883,2800,2814,1613.2,-13.2,345,14898,0.00,2.30,0.00,0.000,260,0.000,0.062,2793,3441,2807,2800,2814,0,0,0,0,0,0,27.10,26.55,27.11
$GC,14934,-1.02,-146.6,2793,3440,2800,2814,1613.2,-13.2,345,14938,0.00,2.20,0.00,0.000,1030,0.000,0.045,2793,1885,2806,2798,2814,0,0,0,0,0,0,26.82,26.77,26.84
$GC,15253,-1.02,-146.6,2793,1878,2798,2814,1659.9,-13.0,348,15254,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1877,2806,2799,2813,0,0,0,0,0,0,27.10,27.12,27.11
$GC,15613,-1.02,-146.6,2793,1878,2798,2812,1707.8,-13.2,351,15619,0.00,2.33,0.00,0.000,260,0.000,0.062,2783,3439,2805,2798,2812,0,0,0,0,0,0,27.10,26.53,27.11
$GC,15674,-1.02,-146.6,2783,3440,2797,2812,1707.8,-13.2,351,15680,0.12,2.20,0.00,0.000,3078,0.159,0.047,2827,1873,2804,2797,2812,0,0,0,0,0,0,26.36,26.76,26.46
$GC,16093,-1.02,-146.6,2827,1873,2797,2811,1763.2,-11.5,355,16095,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1874,2804,2798,2811,0,0,0,0,0,0,27.10,27.12,27.11
$GC,16454,-1.02,-146.6,2827,1873,2797,2810,1801.3,-10.6,358,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1873,2803,2797,2810,0,0,0,0,0,0,27.09,27.12,27.11
$GC,16814,-1.07,-146.6,2827,1873,2797,2809,1837.0,-10.0,361,16818,0.00,2.40,0.00,0.000,260,0.000,0.062,2817,3449,2803,2797,2809,0,0,0,0,0,0,27.09,26.49,27.10
$GC,16859,-1.13,-146.6,2816,3448,2796,2810,1837.0,-10.0,361,16863,0.00,2.20,0.00,0.000,1030,0.000,0.047,2817,1886,2802,2796,2809,0,0,0,0,0,0,26.79,26.74,26.80
$GC,17173,-1.13,-146.6,2816,1886,2796,2809,1873.5,-10.1,364,17174,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1886,2803,2797,2809,0,0,0,0,0,0,27.09,27.11,27.10
$GC,17532,-1.13,-146.6,2816,1886,2796,2809,1912.1,-10.5,367,17533,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1886,2802,2796,2809,0,0,0,0,0,0,27.09,27.11,27.11
$GC,17892,-1.18,-146.6,2816,1886,2795,2809,1949.2,-10.5,370,17894,0.00,0.00,0.00,0.000,4102,0.000,0.000,2817,1886,2802,2795,2809,0,0,0,0,0,0,27.10,27.12,27.11
$GC,18252,-1.24,-146.6,2817,1886,2795,2808,1984.8,-10.0,373,18254,0.05,0.00,0.00,0.000,4102,0.174,0.000,2768,1886,2802,2796,2808,0,0,0,0,0,0,26.88,26.90,26.89
$GC,18614,-1.24,-146.6,2768,1885,2795,2808,2026.8,-11.2,376,18620,0.00,2.33,0.00,0.000,260,0.000,0.062,2758,3440,2802,2796,2808,0,0,0,0,0,0,27.06,26.44,27.08
$GC,18679,-1.24,-146.6,2757,3440,2795,2808,2026.8,-11.2,376,18684,0.00,2.22,0.00,0.000,1030,0.000,0.047,2758,1882,2801,2795,2808,0,0,0,0,0,0,26.73,26.71,26.75
$GC,19100,-1.24,-146.6,2758,1881,2794,2808,2084.4,-11.8,380,19101,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1882,2801,2795,2808,0,0,0,0,0,0,27.05,27.08,27.07
$GC,19460,-1.24,-146.6,2757,1882,2794,2808,2125.8,-11.7,383,19465,0.00,2.35,0.00,0.000,260,0.000,0.062,2748,3438,2801,2795,2808,0,0,0,0,0,0,27.05,26.41,27.07
$GC,19516,-1.24,-146.6,2748,3438,2793,2808,2125.8,-11.7,383,19520,0.00,2.20,0.00,0.000,1030,0.000,0.047,2748,1884,2800,2793,2807,0,0,0,0,0,0,26.74,26.68,26.76
$GC,19943,-1.16,-146.6,2748,1879,2791,2808,2171.3,-10.0,387,19949,0.00,2.30,0.00,0.000,516,0.000,0.065,2748,346,2799,2791,2808,0,0,0,0,0,0,27.06,26.38,27.08
$GC,20243,-0.91,-146.6,2748,345,2791,2808,2171.1,-3.4,389,20249,0.43,2.25,0.00,0.000,3078,0.211,0.052,2857,1893,2800,2792,2808,0,0,0,0,0,0,25.11,26.55,25.42
$STATE,20428,end dive,NO_VERTICAL_VELOCITY
$STATE,20428,begin apogee
$GC,20432,-0.23,0.0,2858,1693,2791,2808,2171.3,0.0,391,20553,0.75,0.00,117.65,2.150,10246,0.209,0.000,3071,1692,2350,2337,2363,0,0,0,0,0,0,24.91,23.37,21.73
$STATE,20554,end apogee,CONTROL_FINISHED_OK
$STATE,20554,begin climb
$GC,20556,0.79,146.6,3071,1692,2337,2362,2171.7,0.0,392,20700,1.00,2.62,135.20,2.113,10500,0.209,0.072,3343,3219,1845,1817,1873,0,0,0,0,0,0,23.68,23.32,21.75
$GC,20745,0.79,146.6,3343,3219,1817,1873,2171.2,0.0,393,20749,0.00,2.42,0.00,0.000,3078,0.000,0.045,3349,1660,1845,1817,1873,0,0,0,0,0,0,24.87,24.82,24.89
$GC,21145,1.09,251.7,3349,1660,1817,1873,2169.7,0.3,397,21246,0.22,2.38,91.82,2.113,10756,0.082,0.074,3481,262,1483,1446,1520,0,0,0,0,0,0,26.50,23.62,22.13
$GC,21540,1.00,251.7,3480,262,1445,1520,2140.7,6.1,400,21544,0.00,2.03,0.00,0.000,1030,0.000,0.047,3480,1665,1483,1446,1520,0,0,0,0,0,0,26.38,26.31,26.40
$GC,21869,0.72,251.7,3480,1669,1445,1520,2108.9,9.8,403,21875,0.30,2.10,0.00,0.000,4612,0.199,0.065,3393,252,1483,1446,1520,0,0,0,0,0,0,26.03,26.29,26.17
$GC,22170,0.49,251.7,3393,252,1446,1520,2103.6,4.5,405,22175,0.28,2.00,0.00,0.000,5126,0.171,0.047,3305,1671,1483,1446,1520,0,0,0,0,0,0,26.15,26.64,26.37
$GC,22590,0.42,351.3,3305,1672,1446,1520,2100.4,0.5,409,22684,0.00,2.38,87.82,2.083,8708,0.000,0.070,3314,259,1140,1108,1173,0,0,0,0,0,0,27.01,23.80,22.30
$GC,22980,0.59,411.7,3314,258,1104,1173,2090.8,2.4,412,23044,0.00,2.05,57.47,2.051,9222,0.000,0.050,3312,1645,933,888,978,0,0,0,0,0,0,26.36,26.29,22.82
$GC,23434,1.05,520.6,3312,1645,888,977,2090.5,0.1,416,23554,0.45,2.35,110.30,2.063,10756,0.107,0.070,3494,254,558,513,603,0,0,0,0,0,0,26.29,23.08,22.04
$GC,23692,1.38,586.3,3494,252,514,603,2077.5,2.2,418,23773,0.12,2.15,74.53,2.026,11270,0.107,0.047,3559,1685,331,281,381,0,0,0,0,0,0,25.62,25.67,22.00
$GC,24158,1.12,586.3,3558,1685,281,381,1999.1,16.5,422,24164,0.15,2.35,0.00,0.000,4356,0.211,0.060,3510,3230,331,282,381,0,0,0,0,0,0,25.99,26.22,26.12
$GC,24459,0.87,586.3,3509,3231,281,384,1962.1,15.9,424,24464,0.30,2.30,0.00,0.000,5126,0.196,0.047,3429,1645,332,281,384,0,0,0,0,0,0,26.08,26.60,26.32
$GC,24878,0.87,586.3,3428,1645,282,383,1902.0,12.4,428,24885,0.00,2.08,0.00,0.000,516,0.000,0.065,3437,263,333,285,382,0,0,0,0,0,0,26.97,26.60,26.99
$GC,24914,0.87,586.3,3437,263,285,381,1902.0,12.4,428,24918,0.00,2.05,0.00,0.000,1030,0.000,0.047,3438,1679,333,285,382,0,0,0,0,0,0,26.70,26.67,26.72
$GC,25240,0.87,586.3,3437,1680,285,382,1859.8,11.9,431,25246,0.00,2.30,0.00,0.000,260,0.000,0.060,3437,3220,334,284,384,0,0,0,0,0,0,27.01,26.63,27.02
$GC,25316,0.87,586.3,3437,3220,283,385,1859.8,11.9,431,25320,0.00,2.25,0.00,0.000,1030,0.000,0.047,3449,1657,334,283,385,0,0,0,0,0,0,26.78,26.72,26.79
$GC,25715,0.87,586.3,3449,1657,284,384,1797.7,13.1,435,25721,0.00,2.33,0.00,0.000,260,0.000,0.057,3449,3223,334,283,385,0,0,0,0,0,0,27.03,26.65,27.05
$GC,25837,0.87,586.3,3449,3223,283,386,1781.7,13.2,436,25842,0.00,2.25,0.00,0.000,1030,0.000,0.047,3460,1657,334,282,386,0,0,0,0,0,0,26.79,26.74,26.81
$GC,26197,0.87,586.3,3460,1657,284,385,1734.0,13.2,439,26203,0.00,2.33,0.00,0.000,260,0.000,0.057,3460,3225,335,284,386,0,0,0,0,0,0,27.03,26.64,27.05
$GC,26330,0.87,586.3,3460,3225,282,387,1718.5,13.2,440,26335,0.12,2.25,0.00,0.000,5126,0.179,0.047,3430,1664,334,283,386,0,0,0,0,0,0,26.34,26.74,26.48
$GC,26679,0.87,586.3,3430,1664,284,385,1676.8,11.8,443,26686,0.00,2.33,0.00,0.000,260,0.000,0.060,3430,3220,335,284,387,0,0,0,0,0,0,27.05,26.64,27.06
$GC,26715,0.87,586.3,3430,3220,283,388,1676.8,11.8,443,26720,0.00,2.25,0.00,0.000,1030,0.000,0.047,3439,1652,335,284,387,0,0,0,0,0,0,26.78,26.73,26.80
$GC,27042,0.87,586.3,3439,1652,285,386,1636.6,11.1,446,27047,0.00,2.35,0.00,0.000,260,0.000,0.057,3439,3224,335,285,386,0,0,0,0,0,0,27.05,26.63,27.06
$GC,27082,0.87,586.3,3439,3224,283,388,1636.6,11.1,446,27086,0.00,2.25,0.00,0.000,1030,0.000,0.047,3450,1653,335,283,388,0,0,0,0,0,0,26.79,26.73,26.80
$GC,27396,0.87,586.3,3449,1653,285,386,1594.2,11.8,449,27401,0.00,2.33,0.00,0.000,260,0.000,0.057,3449,3222,336,285,387,0,0,0,0,0,0,27.05,26.62,27.06
$GC,27442,0.87,586.3,3449,3222,283,388,1594.2,11.8,449,27446,0.00,2.25,0.00,0.000,1030,0.000,0.047,3460,1663,335,283,388,0,0,0,0,0,0,26.78,26.73,26.80
$GC,27756,0.87,586.3,3460,1662,285,386,1550.6,12.1,452,27760,0.00,2.10,0.00,0.000,516,0.000,0.062,3471,267,336,286,386,0,0,0,0,0,0,27.05,26.58,27.07
$GC,27855,0.87,586.3,3470,267,288,384,1550.6,12.1,452,27860,0.12,2.00,0.00,0.000,5126,0.156,0.045,3428,1669,336,288,384,0,0,0,0,0,0,26.28,26.68,26.50
$GC,28240,0.92,586.3,3428,1670,287,385,1492.6,12.0,456,28241,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1670,335,286,385,0,0,0,0,0,0,27.05,27.08,27.07
$GC,28600,0.99,586.3,3428,1670,287,385,1454.1,11.0,459,28605,0.00,2.33,0.00,0.000,2308,0.000,0.060,3428,3223,336,286,386,0,0,0,0,0,0,27.07,26.58,27.08
$GC,28681,1.06,586.3,3428,3223,285,387,1454.1,11.0,459,28685,0.00,2.25,0.00,0.000,3078,0.000,0.047,3437,1656,336,285,388,0,0,0,0,0,0,26.77,26.70,26.79
$GC,29075,1.13,586.3,3436,1654,287,386,1403.9,10.6,463,29080,0.08,2.08,0.00,0.000,2564,0.137,0.060,3521,267,336,286,386,0,0,0,0,0,0,26.79,26.54,26.81
$GC,29155,1.20,586.3,3521,266,288,384,1403.9,10.6,463,29159,0.00,1.95,0.00,0.000,1030,0.000,0.047,3522,1653,336,288,384,0,0,0,0,0,0,26.73,26.67,26.75
$GC,29559,1.10,586.3,3522,1654,288,385,1342.4,12.8,467,29565,0.00,2.10,0.00,0.000,516,0.000,0.062,3532,266,336,288,385,0,0,0,0,0,0,27.05,26.51,27.07
$GC,29595,1.01,586.3,3531,265,288,384,1342.4,12.8,467,29600,0.20,2.00,0.00,0.000,5126,0.181,0.047,3468,1679,336,288,384,0,0,0,0,0,0,26.00,26.67,26.20
$GC,29915,1.01,586.3,3468,1679,288,384,1301.5,11.7,470,29920,0.00,2.12,0.00,0.000,516,0.000,0.065,3478,272,336,288,385,0,0,0,0,0,0,27.05,26.51,27.07
$GC,30039,1.01,586.3,3477,272,289,384,1288.0,11.3,471,30043,0.00,1.98,0.00,0.000,1030,0.000,0.045,3477,1664,336,289,384,0,0,0,0,0,0,26.73,26.67,26.76
$GC,30403,1.01,586.3,3477,1663,289,385,1248.4,10.9,474,30408,0.00,2.10,0.00,0.000,516,0.000,0.062,3488,266,336,288,385,0,0,0,0,0,0,27.05,26.51,27.07
$GC,30474,1.01,586.3,3487,266,289,384,1248.4,10.9,474,30478,0.00,1.98,0.00,0.000,1030,0.000,0.045,3488,1659,336,289,384,0,0,0,0,0,0,26.74,26.67,26.76
$GC,30877,1.01,586.3,3488,1659,288,385,1194.1,11.5,478,30882,0.00,2.10,0.00,0.000,516,0.000,0.065,3498,269,336,288,385,0,0,0,0,0,0,27.05,26.48,27.07
$GC,30962,1.01,586.3,3498,269,289,384,1194.1,11.5,478,30965,0.00,1.98,0.00,0.000,1030,0.000,0.045,3498,1663,336,289,384,0,0,0,0,0,0,26.73,26.67,26.75
$GC,31360,1.01,586.3,3498,1666,289,384,1135.6,12.1,482,31367,0.00,2.30,0.00,0.000,260,0.000,0.060,3497,3222,337,287,387,0,0,0,0,0,0,27.05,26.52,27.07
$GC,31391,1.01,586.3,3497,3223,286,388,1135.6,12.1,482,31396,0.12,2.25,0.00,0.000,5126,0.184,0.047,3468,1663,337,287,388,0,0,0,0,0,0,26.20,26.68,26.33
$GC,31722,1.01,586.3,3468,1663,288,387,1094.5,11.6,485,31727,0.00,2.35,0.00,0.000,772,0.000,0.057,3468,3230,337,287,387,0,0,0,0,0,0,27.05,26.53,27.07
$GC,31742,1.01,586.3,3468,3230,286,389,1094.5,11.6,485,31746,0.00,2.30,0.00,0.000,1030,0.000,0.047,3478,1664,337,286,389,0,0,0,0,0,0,26.74,26.68,26.76
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$STATE,40781,end climb,SURFACE_DEPTH_REACHED
$STATE,40781,begin surface coast
$FINISH,0.6,1.024541
$STATE,40790,end surface coast,CONTROL_FINISHED_OK
$STATE,40790,begin surface
$SM_CCo,40806,26.77,0.651,0,0,200,624.55
$SM_GC,0.16,8.82,0.28,26.77,0.082,0.070,0.651,182,1916,200,-9.21,-2.35,624.55,0,0,0,0,0,0,26.36,26.81,24.82
$IRIDIUM_FIX,2612.58,-7546.74,041108,121359
$TT8_MAMPS,0.02247,0.02247
$HUMID,68.42
$INTERNAL_PRESSURE,9.11356
$TCM_TEMP,24.10
$XPDR_PINGS,19
$ALTIM_TOP_PING,60.0,0.0
$24V_AH,21.73,49.684
$10V_AH,10.19,38.365
$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,26.600,320.925,682.650,26.775,173.900,661.333,106.893,0.000,10.000,0.000,902.053,3013.229,32399.879,888.674,6937.323,286.590,0.000,3078.345,0.000,5101.701,0.000,48.789,0.000
$DEVICE_MAMPS,283.062,104.286,2150.278,650.546,181.259,14.900,160.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.767,2401.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353364
$DATA_FILE_SIZE,47021,736
$CAP_FILE_SIZE,321679,0
$CFSIZE,1024409600,945176576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,275.74,1
$GPS,210116,032507,2621.791,-7633.574,901,99.0,901,-8.6,0.6,93.0,9,13.5