version: 66.12
glider: 37
mission: 22
dive: 111
start: 1 28 116 22 25 25
data:
$ID,37
$MISSION,22
$DIVE,111
$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,16
$R_STBD_OVSHOOT,78
$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
$GPS1,280116,215203,2702.7087,-7701.7393,84,2.6,124,-8.4,0.5,95.5,3,19.0
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-59.9
$GPS2,280116,222458,2702.7051,-7701.2646,48,99.9,88,-8.4,0.0,0.0,3,56.3
$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,165.2,162940,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.54,-146.6,115,1888,154,279,0.0,0.0,0,191,0.00,0.00,-173.32,0.139,16386,0.000,0.000,115,1892,2730,2710,2750,0,0,0,0,0,0,27.07,28.83,27.08
$GC,193,-0.54,-146.6,114,1891,2710,2750,3.7,-5.5,17,216,12.38,2.35,-3.80,0.236,18692,0.291,0.060,2958,3442,2858,2835,2881,0,0,0,0,0,0,25.53,26.21,25.75
$GC,363,-0.41,-146.6,2958,3442,2835,2882,30.9,-12.4,32,375,0.17,2.22,0.00,0.000,3078,0.159,0.047,3017,1798,2858,2835,2882,0,0,0,0,0,0,26.15,26.69,26.24
$GC,684,-0.41,-146.6,3017,1798,2835,2880,57.6,-8.2,57,686,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1798,2857,2834,2881,0,0,0,0,0,0,27.06,27.08,27.08
$GC,984,-0.41,-146.6,3017,1799,2835,2880,80.5,-7.5,77,990,0.00,2.42,0.00,0.000,260,0.000,0.062,3007,3443,2857,2834,2880,0,0,0,0,0,0,27.09,26.66,27.10
$GC,1063,-0.41,-146.6,3006,3443,2834,2880,87.3,-7.5,82,1068,0.00,2.25,0.00,0.000,1030,0.000,0.045,3007,1801,2857,2834,2880,0,0,0,0,0,0,26.86,26.82,26.87
$GC,1383,-0.35,-146.6,3006,1801,2834,2879,112.5,-8.6,103,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1801,2856,2834,2879,0,0,0,0,0,0,27.10,27.12,27.11
$GC,1682,-0.35,-146.6,3006,1801,2834,2879,140.0,-9.7,123,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1800,2856,2834,2879,0,0,0,0,0,0,27.10,27.12,27.12
$GC,1982,-0.35,-146.6,3006,1801,2834,2878,165.0,-7.8,137,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1800,2856,2834,2879,0,0,0,0,0,0,27.10,27.13,27.12
$GC,2282,-0.35,-146.6,3006,1801,2835,2878,186.1,-6.3,147,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1801,2856,2835,2878,0,0,0,0,0,0,27.10,27.13,27.12
$GC,2584,-0.35,-146.6,3006,1801,2834,2878,206.6,-6.5,157,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1801,2856,2835,2878,0,0,0,0,0,0,27.10,27.13,27.12
$GC,2882,-0.35,-146.6,3006,1801,2834,2878,224.5,-6.6,167,2888,0.00,2.20,0.00,0.000,516,0.000,0.062,3007,265,2855,2834,2877,0,0,0,0,0,0,27.10,26.66,27.12
$GC,3009,-0.35,-146.6,3006,265,2834,2877,233.3,-7.1,171,3015,0.10,2.25,0.00,0.000,3078,0.134,0.047,3039,1890,2855,2834,2877,0,0,0,0,0,0,26.50,26.77,26.54
$GC,3339,-0.35,-146.6,3039,1891,2834,2877,244.4,-3.4,182,3345,0.00,2.22,0.00,0.000,260,0.000,0.062,3030,3429,2856,2835,2877,0,0,0,0,0,0,27.10,26.67,27.12
$GC,3530,-0.40,-146.6,3030,3430,2834,2877,251.4,-3.8,188,3535,0.00,2.28,0.00,0.000,1030,0.000,0.045,3030,1800,2855,2834,2877,0,0,0,0,0,0,26.85,26.84,26.87
$GC,3859,-0.40,-146.6,3030,1800,2834,2876,262.0,-3.1,199,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1800,2855,2834,2876,0,0,0,0,0,0,27.10,27.13,27.12
$GC,4159,-0.40,-146.6,3030,1799,2834,2874,272.1,-3.9,209,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1800,2854,2834,2874,0,0,0,0,0,0,27.10,27.13,27.12
$GC,4459,-0.40,-146.6,3030,1799,2835,2873,287.9,-5.9,219,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1799,2853,2834,2872,0,0,0,0,0,0,27.10,27.13,27.13
$GC,4774,-0.40,-146.6,3030,1800,2834,2872,310.6,-7.6,228,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1799,2852,2834,2871,0,0,0,0,0,0,27.10,27.13,27.12
$GC,5089,-0.40,-146.6,3029,1799,2834,2869,334.4,-7.1,235,5095,0.00,2.40,0.00,0.000,260,0.000,0.060,3020,3437,2852,2834,2870,0,0,0,0,0,0,27.10,26.67,27.12
$GC,5166,-0.40,-146.6,3020,3437,2833,2869,337.5,-7.2,236,5170,0.00,2.28,0.00,0.000,1030,0.000,0.045,3021,1800,2851,2833,2870,0,0,0,0,0,0,26.86,26.85,26.87
$GC,5495,-0.40,-146.6,3020,1800,2833,2869,366.1,-7.8,244,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1800,2850,2833,2868,0,0,0,0,0,0,27.10,27.13,27.12
$GC,5810,-0.40,-146.6,3020,1800,2833,2867,381.3,-4.2,251,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1800,2850,2833,2867,0,0,0,0,0,0,27.10,27.13,27.12
$GC,6125,-0.40,-146.6,3020,1799,2833,2865,396.3,-4.9,258,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1800,2849,2833,2865,0,0,0,0,0,0,27.10,27.13,27.12
$GC,6441,-0.40,-146.6,3020,1800,2833,2864,414.3,-6.1,265,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1800,2848,2833,2864,0,0,0,0,0,0,27.10,27.13,27.12
$GC,6755,-0.40,-146.6,3020,1800,2833,2862,437.4,-7.2,272,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1800,2847,2833,2862,0,0,0,0,0,0,27.10,27.13,27.12
$GC,7071,-0.45,-146.6,3020,1800,2833,2860,456.0,-5.4,279,7077,0.00,2.40,0.00,0.000,260,0.000,0.060,3012,3437,2846,2833,2860,0,0,0,0,0,0,27.10,26.65,27.12
$GC,7116,-0.51,-146.6,3011,3437,2832,2860,458.4,-5.2,280,7120,0.00,2.22,0.00,0.000,1030,0.000,0.045,3012,1808,2846,2832,2860,0,0,0,0,0,0,26.88,26.84,26.89
$GC,7434,-0.51,-146.6,3012,1808,2831,2859,474.8,-5.5,287,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1808,2845,2832,2859,0,0,0,0,0,0,27.10,27.13,27.12
$GC,7749,-0.51,-146.6,3012,1808,2831,2858,497.2,-7.5,294,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1808,2845,2832,2858,0,0,0,0,0,0,27.10,27.13,27.12
$GC,8065,-0.51,-146.6,3012,1808,2832,2857,525.0,-8.6,301,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1808,2844,2832,2857,0,0,0,0,0,0,27.10,27.13,27.12
$GC,8379,-0.51,-146.6,3011,1808,2832,2856,537.7,-2.4,308,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1808,2843,2831,2856,0,0,0,0,0,0,27.10,27.12,27.12
$GC,8694,-0.51,-146.6,3012,1808,2831,2854,549.6,-5.0,315,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1808,2842,2831,2854,0,0,0,0,0,0,27.10,27.13,27.11
$GC,9009,-0.51,-146.6,3012,1808,2831,2853,574.7,-8.0,322,9015,0.00,2.40,0.00,0.000,260,0.000,0.060,3004,3434,2841,2830,2853,0,0,0,0,0,0,27.10,26.65,27.12
$GC,9086,-0.51,-146.6,3004,3434,2829,2853,578.5,-8.0,323,9090,0.00,2.25,0.00,0.000,1030,0.000,0.045,3004,1800,2841,2830,2853,0,0,0,0,0,0,26.87,26.84,26.89
$GC,9415,-0.51,-146.6,3004,1798,2829,2853,606.2,-7.3,331,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1799,2841,2829,2853,0,0,0,0,0,0,27.10,27.13,27.12
$GC,9730,-0.51,-146.6,3004,1798,2828,2853,621.3,-4.1,338,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1798,2840,2828,2853,0,0,0,0,0,0,27.10,27.13,27.12
$GC,10046,-0.51,-146.6,3003,1798,2826,2853,642.4,-7.7,345,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1798,2839,2826,2853,0,0,0,0,0,0,27.10,27.13,27.12
$GC,10360,-0.51,-146.6,3004,1799,2825,2853,671.8,-9.1,352,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1799,2839,2825,2853,0,0,0,0,0,0,27.10,27.13,27.12
$GC,10675,-0.51,-146.6,3003,1798,2825,2851,687.4,-4.1,359,10682,0.00,2.45,0.00,0.000,260,0.000,0.060,2996,3430,2838,2825,2851,0,0,0,0,0,0,27.10,26.63,27.12
$GC,10728,-0.51,-146.6,2996,3429,2824,2851,689.1,-3.9,360,10732,0.00,2.25,0.00,0.000,1030,0.000,0.045,2996,1805,2837,2823,2851,0,0,0,0,0,0,26.86,26.82,26.88
$GC,11037,-0.51,-146.6,2996,1802,2824,2850,710.4,-8.3,367,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1802,2837,2824,2850,0,0,0,0,0,0,27.10,27.13,27.12
$GC,11352,-0.51,-146.6,2996,1802,2823,2848,744.1,-10.5,374,11357,0.00,2.42,0.00,0.000,260,0.000,0.060,2987,3433,2836,2824,2848,0,0,0,0,0,0,27.10,26.61,27.11
$GC,11399,-0.51,-146.6,2987,3433,2822,2849,748.8,-10.3,375,11403,0.00,2.30,0.00,0.000,1030,0.000,0.045,2988,1805,2835,2822,2849,0,0,0,0,0,0,26.84,26.82,26.86
$GC,11713,-0.51,-146.6,2987,1804,2821,2848,772.0,-6.4,382,11714,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1804,2834,2821,2848,0,0,0,0,0,0,27.10,27.12,27.11
$GC,12029,-0.51,-146.6,2986,1804,2821,2846,797.0,-8.8,389,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1804,2833,2821,2846,0,0,0,0,0,0,27.09,27.12,27.11
$GC,12343,-0.51,-146.6,2987,1804,2821,2844,824.5,-8.2,396,12347,0.00,2.47,0.00,0.000,260,0.000,0.060,2978,3444,2832,2821,2844,0,0,0,0,0,0,27.10,26.60,27.11
$GC,12399,-0.51,-146.6,2978,3444,2819,2844,828.1,-8.0,397,12403,0.00,2.28,0.00,0.000,1030,0.000,0.045,2978,1813,2831,2819,2844,0,0,0,0,0,0,26.85,26.82,26.86
$GC,12708,-0.51,-146.6,2978,1810,2818,2844,851.9,-7.3,404,12709,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1810,2831,2818,2844,0,0,0,0,0,0,27.09,27.12,27.11
$GC,13023,-0.51,-146.6,2978,1810,2817,2842,873.4,-6.5,411,13029,0.00,2.47,0.00,0.000,260,0.000,0.060,2970,3440,2830,2818,2842,0,0,0,0,0,0,27.09,26.58,27.11
$GC,13115,-0.51,-146.6,2970,3440,2816,2842,879.3,-6.5,413,13121,0.00,2.25,0.00,0.000,1030,0.000,0.045,2970,1816,2829,2816,2842,0,0,0,0,0,0,26.82,26.81,26.84
$GC,13429,-0.51,-146.6,2970,1816,2816,2841,901.3,-7.4,420,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1816,2828,2816,2840,0,0,0,0,0,0,27.10,27.11,27.11
$GC,13744,-0.51,-146.6,2970,1816,2816,2838,921.8,-6.7,427,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1816,2827,2816,2838,0,0,0,0,0,0,27.09,27.11,27.11
$GC,14059,-0.51,-146.6,2970,1816,2816,2837,947.5,-8.2,434,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1817,2826,2816,2837,0,0,0,0,0,0,27.09,27.11,27.11
$GC,14375,-0.51,-146.6,2970,1816,2813,2837,972.9,-8.2,441,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1816,2825,2813,2837,0,0,0,0,0,0,27.09,27.11,27.10
$GC,14689,-0.51,-146.6,2970,1816,2812,2836,995.7,-7.0,448,14691,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1816,2823,2811,2836,0,0,0,0,0,0,27.09,27.11,27.10
$GC,15019,-0.51,-146.6,2970,1816,2811,2833,1013.3,-5.2,452,15021,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1817,2822,2812,2833,0,0,0,0,0,0,27.09,27.11,27.10
$GC,15379,-0.51,-146.6,2969,1816,2811,2831,1035.5,-6.0,455,15386,0.00,2.50,0.00,0.000,260,0.000,0.060,2965,3434,2820,2810,2831,0,0,0,0,0,0,27.09,26.52,27.10
$GC,15426,-0.51,-146.6,2965,3434,2810,2831,1035.5,-6.0,455,15430,0.00,2.30,0.00,0.000,1030,0.000,0.045,2965,1813,2820,2810,2830,0,0,0,0,0,0,26.81,26.77,26.82
$GC,15735,-0.51,-146.6,2965,1813,2809,2831,1059.2,-6.7,458,15739,0.00,2.38,0.00,0.000,516,0.000,0.062,2964,265,2820,2809,2831,0,0,0,0,0,0,27.09,26.50,27.10
$GC,15779,-0.51,-146.6,2965,264,2809,2830,1059.2,-6.7,458,15784,0.00,2.30,0.00,0.000,1030,0.000,0.047,2959,1877,2819,2809,2830,0,0,0,0,0,0,26.72,26.65,26.74
$GC,16095,-0.51,-146.6,2959,1878,2808,2830,1085.7,-7.3,461,16100,0.00,2.38,0.00,0.000,260,0.000,0.062,2949,3443,2819,2808,2830,0,0,0,0,0,0,27.08,26.49,27.10
$GC,16136,-0.51,-146.6,2949,3443,2807,2830,1085.7,-7.3,461,16141,0.12,2.30,0.00,0.000,3078,0.142,0.045,2997,1809,2818,2806,2830,0,0,0,0,0,0,26.43,26.75,26.51
$GC,16450,-0.57,-146.6,2997,1810,2807,2829,1105.4,-5.9,464,16452,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1809,2817,2806,2829,0,0,0,0,0,0,27.08,27.10,27.10
$GC,16811,-0.65,-146.6,2997,1809,2806,2827,1121.8,-4.6,467,16812,0.00,0.00,0.00,0.000,4102,0.000,0.000,2998,1810,2817,2807,2827,0,0,0,0,0,0,27.10,27.11,27.10
$GC,17170,-0.73,-146.6,2997,1809,2806,2826,1140.5,-5.0,470,17175,0.08,2.35,0.00,0.000,4612,0.142,0.060,2938,267,2816,2807,2825,0,0,0,0,0,0,26.81,26.45,26.82
$GC,17211,-0.82,-146.6,2938,267,2806,2824,1140.5,-5.0,470,17215,0.00,2.38,0.00,0.000,5126,0.000,0.047,2930,1885,2815,2807,2824,0,0,0,0,0,0,26.71,26.63,26.72
$GC,17534,-0.82,-146.6,2930,1885,2805,2824,1165.9,-6.7,473,17540,0.00,2.40,0.00,0.000,4356,0.000,0.060,2919,3442,2814,2805,2823,0,0,0,0,0,0,27.10,26.45,27.10
$GC,17586,-0.82,-146.6,2918,3442,2804,2824,1165.9,-6.7,473,17590,0.00,2.30,0.00,0.000,1030,0.000,0.045,2919,1820,2813,2804,2823,0,0,0,0,0,0,26.77,26.73,26.79
$GC,18010,-0.82,-146.6,2919,1820,2803,2823,1207.2,-8.6,477,18011,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1821,2813,2803,2823,0,0,0,0,0,0,27.08,27.10,27.10
$GC,18369,-0.82,-146.6,2919,1820,2802,2823,1241.7,-9.5,480,18375,0.00,2.45,0.00,0.000,260,0.000,0.060,2909,3448,2812,2802,2823,0,0,0,0,0,0,27.08,26.41,27.10
$GC,18425,-0.82,-146.6,2909,3448,2802,2824,1241.7,-9.5,480,18429,0.00,2.35,0.00,0.000,1030,0.000,0.045,2910,1816,2813,2802,2824,0,0,0,0,0,0,26.75,26.71,26.77
$GC,18849,-0.82,-146.6,2909,1806,2801,2822,1283.4,-8.6,484,18850,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1805,2811,2801,2822,0,0,0,0,0,0,27.08,27.10,27.10
$GC,19210,-0.82,-146.6,2909,1806,2802,2822,1311.5,-7.8,487,19215,0.00,2.62,0.00,0.000,260,0.000,0.060,2900,3439,2811,2802,2821,0,0,0,0,0,0,27.08,26.39,27.09
$GC,19290,-0.82,-146.6,2900,3439,2801,2821,1311.5,-7.8,487,19294,0.00,2.33,0.00,0.000,1030,0.000,0.045,2900,1820,2811,2801,2822,0,0,0,0,0,0,26.74,26.70,26.76
$GC,19689,-0.82,-146.6,2900,1812,2801,2821,1351.4,-8.5,491,19690,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1812,2810,2800,2821,0,0,0,0,0,0,27.08,27.10,27.09
$GC,20050,-0.99,-146.6,2900,1812,2800,2821,1351.5,-1.2,494,20052,0.17,0.00,0.00,0.000,4102,0.107,0.000,2820,1811,2811,2801,2821,0,0,0,0,0,0,26.63,26.69,26.66
$STATE,20288,end dive,NO_VERTICAL_VELOCITY
$STATE,20288,begin apogee
$GC,20293,-0.23,0.0,2819,1632,2801,2820,1351.5,0.0,496,20410,0.55,0.00,110.57,1.634,10246,0.082,0.000,3044,1631,2349,2329,2370,0,0,0,0,0,0,26.38,23.75,22.76
$STATE,20411,end apogee,CONTROL_FINISHED_OK
$STATE,20411,begin climb
$GC,20412,0.54,146.6,3044,1631,2329,2370,1352.3,0.0,497,20541,0.77,0.00,125.45,1.592,10246,0.082,0.000,3338,1632,1845,1813,1878,0,0,0,0,0,0,24.77,23.58,22.28
$GC,20889,0.54,146.6,3339,1631,1813,1878,1351.3,0.2,501,20890,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1631,1845,1813,1878,0,0,0,0,0,0,26.77,26.79,26.79
$GC,21250,0.77,361.1,3339,1631,1813,1878,1351.3,0.0,504,21431,0.00,0.00,178.95,1.604,10246,0.000,0.000,3339,1631,1106,1046,1167,0,0,0,0,0,0,26.97,23.65,22.45
$GC,21730,0.77,361.1,3339,1631,1046,1166,1327.8,5.2,508,21731,0.00,0.00,0.00,0.000,2054,0.000,0.000,3340,1631,1106,1046,1166,0,0,0,0,0,0,26.70,26.72,26.72
$GC,22090,0.71,361.1,3339,1631,1046,1166,1301.8,7.2,511,22091,0.00,0.00,0.00,0.000,2054,0.000,0.000,3339,1631,1106,1046,1166,0,0,0,0,0,0,26.95,26.96,26.95
$GC,22451,0.65,361.1,3339,1631,1046,1166,1276.3,7.1,514,22457,0.00,2.12,0.00,0.000,516,0.000,0.062,3347,259,1106,1046,1166,0,0,0,0,0,0,27.00,26.58,27.01
$GC,22508,0.59,361.1,3347,259,1046,1165,1276.3,7.1,514,22512,0.00,2.00,0.00,0.000,1030,0.000,0.047,3347,1656,1105,1046,1165,0,0,0,0,0,0,26.72,26.66,26.74
$GC,22927,0.53,361.1,3348,1656,1046,1165,1240.5,7.5,518,22928,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1656,1105,1046,1165,0,0,0,0,0,0,27.03,27.05,27.05
$GC,23287,0.46,361.1,3347,1656,1046,1165,1210.0,8.4,521,23289,0.15,0.00,0.00,0.000,4102,0.151,0.000,3294,1659,1105,1045,1165,0,0,0,0,0,0,26.46,26.60,26.55
$GC,23646,0.46,361.1,3294,1658,1046,1164,1187.1,6.8,524,23647,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1658,1105,1045,1165,0,0,0,0,0,0,27.05,27.07,27.06
$GC,24008,0.46,361.1,3294,1658,1045,1165,1166.8,5.8,527,24009,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1659,1105,1046,1165,0,0,0,0,0,0,27.05,27.07,27.06
$GC,24367,0.46,361.1,3293,1659,1045,1164,1148.5,5.1,530,24368,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1658,1104,1045,1164,0,0,0,0,0,0,27.05,27.08,27.07
$GC,24726,0.46,361.1,3294,1659,1046,1165,1129.4,5.3,533,24727,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1658,1105,1046,1164,0,0,0,0,0,0,27.05,27.08,27.07
$GC,25086,0.46,361.1,3294,1658,1045,1164,1114.6,4.4,536,25087,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1658,1104,1045,1164,0,0,0,0,0,0,27.05,27.08,27.07
$GC,25447,0.49,444.2,3294,1658,1045,1164,1102.8,3.3,539,25523,0.00,0.00,74.38,1.460,8198,0.000,0.000,3294,1658,820,755,885,0,0,0,0,0,0,27.05,24.74,23.48
$GC,25807,0.49,444.2,3294,1658,755,885,1081.2,5.3,542,25812,0.00,2.60,0.00,0.000,260,0.000,0.057,3293,3232,820,756,885,0,0,0,0,0,0,26.74,26.38,26.77
$GC,25857,0.49,444.2,3294,3232,753,885,1081.2,5.3,542,25862,0.00,2.35,0.00,0.000,1030,0.000,0.045,3302,1652,819,753,885,0,0,0,0,0,0,26.54,26.48,26.55
$GC,26166,0.49,444.2,3302,1652,753,885,1055.8,7.1,545,26167,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1652,819,753,885,0,0,0,0,0,0,26.94,26.96,26.96
$GC,26526,0.49,444.2,3302,1652,753,885,1035.2,6.0,548,26532,0.00,2.08,0.00,0.000,516,0.000,0.060,3311,268,819,753,886,0,0,0,0,0,0,27.01,26.52,27.02
$GC,26578,0.49,444.2,3311,269,753,885,1035.2,6.0,548,26582,0.00,2.00,0.00,0.000,1030,0.000,0.045,3311,1681,819,753,885,0,0,0,0,0,0,26.70,26.63,26.72
$GC,27002,0.49,444.2,3311,1681,754,885,1006.7,6.0,552,27003,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1681,819,753,885,0,0,0,0,0,0,27.03,27.06,27.05
$GC,27302,0.49,444.2,3311,1681,753,885,984.4,6.7,557,27303,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1681,819,753,885,0,0,0,0,0,0,27.04,27.06,27.06
$GC,27616,0.49,444.2,3311,1681,753,885,965.2,6.0,564,27617,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1681,818,753,884,0,0,0,0,0,0,27.05,27.07,27.06
$GC,27931,0.49,444.2,3311,1681,753,885,941.5,8.0,571,27932,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1681,819,753,885,0,0,0,0,0,0,27.05,27.07,27.07
$GC,28246,0.49,444.2,3311,1681,753,885,911.0,9.8,578,28252,0.00,2.38,0.00,0.000,260,0.000,0.057,3311,3226,819,753,885,0,0,0,0,0,0,27.05,26.51,27.07
$GC,28365,0.49,444.2,3311,3226,753,885,902.2,9.5,580,28369,0.00,2.28,0.00,0.000,1030,0.000,0.047,3320,1651,819,753,885,0,0,0,0,0,0,26.71,26.65,26.73
$GC,28699,0.49,444.2,3320,1650,753,885,884.4,4.0,588,28704,0.00,2.10,0.00,0.000,516,0.000,0.062,3329,262,819,753,885,0,0,0,0,0,0,27.05,26.45,27.07
$GC,28786,0.49,444.2,3329,262,753,885,882.5,3.9,589,28794,0.00,2.03,0.00,0.000,1030,0.000,0.047,3329,1660,819,753,885,0,0,0,0,0,0,26.65,26.63,26.67
$GC,29110,0.49,444.2,3329,1660,753,885,860.6,7.3,597,29111,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1660,819,753,885,0,0,0,0,0,0,27.05,27.08,27.07
$GC,29424,0.49,444.2,3329,1660,753,885,833.3,8.9,604,29425,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1660,819,753,885,0,0,0,0,0,0,27.05,27.08,27.07
$GC,29739,0.49,444.2,3329,1660,753,885,806.2,8.2,611,29746,0.00,2.42,0.00,0.000,260,0.000,0.057,3329,3237,819,753,885,0,0,0,0,0,0,27.05,26.46,27.07
$GC,29797,0.49,444.2,3329,3237,753,885,802.6,7.8,612,29801,0.00,2.30,0.00,0.000,1030,0.000,0.047,3336,1667,819,753,885,0,0,0,0,0,0,26.67,26.65,26.70
$GC,30146,0.49,444.2,3335,1667,753,885,776.1,7.1,620,30150,0.00,2.10,0.00,0.000,516,0.000,0.062,3345,261,819,753,885,0,0,0,0,0,0,27.05,26.42,27.07
$GC,30194,0.49,444.2,3345,261,753,885,772.2,7.3,621,30200,0.10,1.95,0.00,0.000,5126,0.124,0.047,3305,1684,819,753,885,0,0,0,0,0,0,26.30,26.61,26.35
$GC,30509,0.54,444.2,3305,1684,753,885,754.5,5.2,628,30514,0.00,2.30,0.00,0.000,260,0.000,0.057,3305,3233,819,753,885,0,0,0,0,0,0,27.05,26.44,27.07
$GC,30549,0.59,444.2,3305,3233,753,885,754.5,5.2,628,30559,0.00,2.30,0.00,0.000,1030,0.000,0.047,3311,1657,819,753,885,0,0,0,0,0,0,26.65,26.65,26.68
$GC,30873,0.59,444.2,3311,1658,753,885,729.0,7.4,636,30874,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1658,819,753,885,0,0,0,0,0,0,27.05,27.08,27.06
$GC,31188,0.59,444.2,3311,1658,753,885,707.8,6.4,643,31194,0.00,2.08,0.00,0.000,516,0.000,0.062,3322,268,819,753,885,0,0,0,0,0,0,27.05,26.41,27.07
$GC,31240,0.59,444.2,3322,268,754,885,705.1,6.2,644,31244,0.00,1.98,0.00,0.000,1030,0.000,0.045,3322,1659,819,753,885,0,0,0,0,0,0,26.65,26.62,26.65
$GC,31549,0.59,444.2,3321,1660,753,885,687.6,5.7,651,31550,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1660,819,753,885,0,0,0,0,0,0,27.05,27.08,27.07
$GC,31864,0.59,444.2,3321,1660,753,885,665.3,7.7,658,31865,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1660,819,754,885,0,0,0,0,0,0,27.05,27.08,27.08
$GC,32180,0.59,444.2,3322,1660,754,885,641.7,7.4,665,32181,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1660,819,754,885,0,0,0,0,0,0,27.05,27.08,27.08
$GC,32494,0.59,444.2,3322,1660,754,885,616.7,8.5,672,32499,0.00,2.33,0.00,0.000,260,0.000,0.057,3322,3234,819,754,885,0,0,0,0,0,0,27.06,26.44,27.08
$GC,32545,0.59,444.2,3322,3234,754,885,612.1,8.7,673,32549,0.00,2.30,0.00,0.000,1030,0.000,0.045,3327,1664,819,754,885,0,0,0,0,0,0,26.65,26.63,26.68
$GC,32859,0.59,444.2,3327,1664,754,885,588.8,6.8,680,32864,0.00,2.10,0.00,0.000,516,0.000,0.062,3337,264,819,754,885,0,0,0,0,0,0,27.05,26.40,27.08
$GC,32910,0.59,444.2,3337,264,754,885,585.8,6.6,681,32914,0.00,2.00,0.00,0.000,1030,0.000,0.045,3337,1671,819,754,885,0,0,0,0,0,0,26.65,26.63,26.67
$GC,33224,0.59,444.2,3336,1671,754,885,563.1,7.4,688,33229,0.00,2.30,0.00,0.000,260,0.000,0.057,3337,3242,819,754,885,0,0,0,0,0,0,27.06,26.43,27.08
$GC,33275,0.59,444.2,3337,3243,754,885,559.6,7.1,689,33280,0.00,2.28,0.00,0.000,1030,0.000,0.045,3342,1664,820,755,885,0,0,0,0,0,0,26.67,26.64,26.68
$GC,33590,0.59,444.2,3342,1664,754,885,535.9,7.7,696,33594,0.00,2.10,0.00,0.000,516,0.000,0.062,3351,254,819,754,885,0,0,0,0,0,0,27.06,26.40,27.08
$GC,33661,0.59,444.2,3351,254,753,885,531.8,7.9,697,33665,0.00,2.00,0.00,0.000,1030,0.000,0.045,3352,1669,819,754,885,0,0,0,0,0,0,26.70,26.63,26.72
$GC,34000,0.59,444.2,3352,1669,754,885,501.5,8.2,705,34006,0.00,2.28,0.00,0.000,260,0.000,0.057,3351,3239,819,754,885,0,0,0,0,0,0,27.06,26.43,27.08
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$GC,34460,0.59,444.2,3369,271,755,884,456.4,9.7,715,34464,0.00,1.92,0.00,0.000,1030,0.000,0.045,3371,1666,820,754,886,0,0,0,0,0,0,26.69,26.63,26.70
$GC,34768,0.59,444.2,3370,1667,754,885,427.5,8.7,722,34769,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1667,819,754,885,0,0,0,0,0,0,27.06,27.08,27.08
$GC,35084,0.59,444.2,3370,1667,754,885,402.7,7.7,729,35085,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1667,819,754,885,0,0,0,0,0,0,27.06,27.09,27.08
$GC,35398,0.59,444.2,3370,1667,754,885,373.3,10.1,736,35399,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1666,819,754,885,0,0,0,0,0,0,27.06,27.08,27.08
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$GC,36328,0.59,444.2,3370,1667,758,885,274.6,10.0,759,36329,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1666,821,757,885,0,0,0,0,0,0,27.07,27.09,27.08
$GC,36629,0.59,444.2,3370,1667,758,885,242.7,11.5,769,36634,0.00,2.30,0.00,0.000,260,0.000,0.057,3370,3234,822,759,885,0,0,0,0,0,0,27.07,26.46,27.08
$GC,36671,0.59,444.2,3370,3234,758,885,239.3,11.8,770,36676,0.12,2.22,0.00,0.000,5126,0.156,0.045,3333,1646,821,758,885,0,0,0,0,0,0,26.29,26.67,26.38
$GC,36985,0.66,444.2,3333,1646,759,885,214.2,8.4,781,36991,0.00,2.03,0.00,0.000,516,0.000,0.062,3338,273,822,760,885,0,0,0,0,0,0,27.07,26.44,27.08
$GC,37047,0.74,444.2,3338,273,760,885,209.1,8.7,783,37052,0.00,1.92,0.00,0.000,3078,0.000,0.045,3338,1688,822,760,885,0,0,0,0,0,0,26.71,26.67,26.72
$GC,37376,0.82,444.2,3338,1688,760,885,185.6,6.8,794,37382,0.08,2.20,0.00,0.000,2308,0.137,0.057,3418,3216,822,760,885,0,0,0,0,0,0,26.79,26.48,26.79
$GC,37424,0.82,444.2,3418,3216,761,885,182.4,7.6,795,37428,0.00,2.20,0.00,0.000,1030,0.000,0.045,3429,1657,822,760,885,0,0,0,0,0,0,26.74,26.69,26.75
$GC,37739,0.82,444.2,3429,1657,761,885,144.8,10.3,807,37745,0.00,2.03,0.00,0.000,516,0.000,0.062,3438,260,823,762,885,0,0,0,0,0,0,27.07,26.46,27.09
$GC,37787,0.82,444.2,3438,260,762,885,139.6,11.0,810,37792,0.00,1.95,0.00,0.000,1030,0.000,0.045,3438,1662,823,762,885,0,0,0,0,0,0,26.72,26.70,26.73
$GC,38105,0.76,444.2,3438,1662,763,885,101.4,11.8,831,38107,0.15,0.00,0.00,0.000,4102,0.159,0.000,3385,1663,824,763,885,0,0,0,0,0,0,26.43,26.55,26.50
$GC,38402,0.76,444.2,3384,1664,763,885,75.4,8.1,851,38403,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1664,824,764,885,0,0,0,0,0,0,27.08,27.10,27.09
$GC,38702,0.76,444.2,3385,1664,765,885,52.6,7.2,871,38703,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1664,824,764,885,0,0,0,0,0,0,27.08,27.10,27.09
$GC,39002,0.81,444.2,3385,1664,767,885,34.0,6.5,894,39003,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1664,826,767,885,0,0,0,0,0,0,27.08,27.10,27.09
$GC,39303,0.81,444.2,3385,1664,767,885,13.6,7.0,924,39310,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1664,826,767,885,0,0,0,0,0,0,27.08,27.10,27.10
$STATE,39491,end climb,SURFACE_DEPTH_REACHED
$STATE,39491,begin surface coast
$FINISH,0.3,1.024533
$STATE,39513,end surface coast,CONTROL_FINISHED_OK
$STATE,39513,begin surface
$SM_CCo,39529,126.07,0.641,0,0,200,624.55
$SM_GC,0.33,8.20,0.25,126.07,0.077,0.070,0.641,193,1928,200,-9.20,-2.23,624.55,0,0,0,0,0,0,25.98,26.83,24.67
$IRIDIUM_FIX,2612.58,-7546.74,041108,121359
$TT8_MAMPS,0.02247,0.02247
$HUMID,64.96
$INTERNAL_PRESSURE,9.19169
$TCM_TEMP,25.30
$XPDR_PINGS,20
$ALTIM_TOP_PING,59.0,0.0
$24V_AH,22.28,53.083
$10V_AH,10.25,40.231
$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,23.150,167.050,489.350,126.075,177.125,661.108,104.183,0.000,5.250,0.000,89.792,2994.034,32300.963,886.190,5102.110,341.484,0.000,2258.314,0.000,4172.013,0.000,3.346,0.000
$DEVICE_MAMPS,290.511,104.286,1633.814,640.614,235.885,14.900,160.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.749,3084.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353388
$DATA_FILE_SIZE,56940,945
$CAP_FILE_SIZE,233288,0
$CFSIZE,1024409600,941752320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,15.15,1
$GPS,290116,093003,2702.956,-7657.527,146,0.8,186,-8.5,0.8,95.8,10,10.3