version: 66.12
glider: 38
mission: 4
dive: 67
start: 7 20 115 20 25 28
data:
$ID,38
$MISSION,4
$DIVE,67
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,101
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,50
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,200715,201805,3207.7961,-6427.0850,37,1.6,39,-14.9,0.0,0.0,7,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-59.0
$GPS2,200715,202502,3207.7954,-6427.0601,4,0.9,12,-14.9,0.0,0.0,10,8.7
$SPEED_LIMITS,0.060,0.218
$TGT_NAME,SS12
$TGT_LATLONG,3121.300,-6357.420
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.128209,-0.175754
$KALMAN_X,2724.120605,0.000000,0.000000,-25429.017578,3092.080566
$KALMAN_Y,-20595.023438,0.000000,0.000000,84530.312500,-16494.101562
$MHEAD_RNG_PITCHd_Wd,158.8,98042,-11.3,-6.000,-15.42,3702
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,172,-0.61,-146.6,152,2215,2454,2557,4.2,-6.9,15,192,10.80,1.95,0.00,0.000,2308,0.295,0.072,2759,3597,2506,2455,2558,0,0,0,0,0,0,26.05,26.29,26.20
$GC,516,-0.42,-146.6,2759,3597,2455,2560,44.0,-7.2,44,525,0.22,1.92,0.00,0.000,3078,0.179,0.060,2834,2150,2507,2456,2558,0,0,0,0,0,0,26.46,26.66,26.55
$GC,825,-0.35,-146.6,2833,2150,2457,2558,60.0,-4.4,65,831,0.00,2.05,0.00,0.000,260,0.000,0.077,2824,3595,2508,2457,2559,0,0,0,0,0,0,26.97,26.72,26.99
$GC,1149,-0.28,-146.6,2823,3595,2457,2560,71.1,-3.3,85,1155,0.12,1.77,0.00,0.000,3078,0.181,0.060,2876,2201,2508,2457,2560,0,0,0,0,0,0,26.70,26.87,26.77
$GC,1464,-0.28,-146.6,2876,2200,2458,2560,79.2,-2.9,106,1470,0.00,1.98,0.00,0.000,260,0.000,0.077,2867,3602,2509,2457,2561,0,0,0,0,0,0,27.10,26.86,27.13
$GC,1583,-0.28,-146.6,2866,3602,2458,2561,82.4,-3.1,113,1592,0.00,1.83,0.00,0.000,1030,0.000,0.060,2867,2221,2509,2457,2561,0,0,0,0,0,0,26.96,26.93,26.96
$GC,1892,-0.28,-146.6,2867,2221,2458,2561,91.6,-2.6,134,1897,0.00,1.90,0.00,0.000,516,0.000,0.067,2867,848,2509,2458,2561,0,0,0,0,0,0,27.16,26.92,27.17
$GC,2103,-0.28,-146.6,2866,848,2468,2551,97.8,-3.3,147,2107,0.00,1.85,0.00,0.000,1030,0.000,0.062,2857,2211,2509,2468,2551,0,0,0,0,0,0,27.01,26.96,27.02
$GC,2421,-0.28,-146.6,2857,2211,2468,2551,106.3,-3.1,168,2426,0.00,1.92,0.00,0.000,260,0.000,0.077,2847,3587,2509,2468,2551,0,0,0,0,0,0,27.20,26.94,27.21
$GC,2469,-0.28,-146.6,2846,3587,2467,2552,108.0,-3.3,171,2474,0.10,1.83,0.00,0.000,3078,0.161,0.057,2885,2185,2509,2468,2551,0,0,0,0,0,0,26.85,27.01,26.93
$GC,2784,-0.28,-146.6,2885,2185,2469,2551,119.2,-3.9,192,2789,0.00,1.98,0.00,0.000,260,0.000,0.077,2880,3591,2509,2468,2551,0,0,0,0,0,0,27.21,26.96,27.22
$GC,2880,-0.28,-146.6,2880,3591,2468,2551,123.0,-3.8,198,2883,0.00,1.77,0.00,0.000,1030,0.000,0.060,2879,2254,2509,2468,2551,0,0,0,0,0,0,27.06,27.03,27.07
$GC,3198,-0.28,-146.6,2879,2207,2468,2551,133.8,-3.4,219,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2207,2509,2468,2551,0,0,0,0,0,0,27.22,27.24,27.24
$GC,3498,-0.28,-146.6,2880,2207,2468,2550,146.1,-4.1,239,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2208,2509,2468,2550,0,0,0,0,0,0,27.23,27.25,27.24
$GC,3797,-0.28,-146.6,2879,2207,2468,2550,157.2,-3.6,253,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2208,2509,2468,2550,0,0,0,0,0,0,27.23,27.25,27.25
$GC,4098,-0.33,-146.6,2879,2207,2468,2549,168.1,-3.6,263,4103,0.00,1.95,0.00,0.000,260,0.000,0.077,2871,3586,2509,2468,2550,0,0,0,0,0,0,27.24,26.98,27.25
$GC,4192,-0.38,-146.6,2871,3586,2468,2549,171.8,-4.0,266,4195,0.00,1.77,0.00,0.000,1030,0.000,0.060,2872,2254,2509,2468,2550,0,0,0,0,0,0,27.09,27.05,27.10
$GC,4524,-0.38,-146.6,2871,2214,2467,2549,183.8,-3.6,277,4530,0.00,1.88,0.00,0.000,516,0.000,0.067,2872,853,2508,2468,2548,0,0,0,0,0,0,27.24,27.01,27.26
$GC,4618,-0.38,-146.6,2871,853,2468,2548,187.3,-3.8,280,4623,0.00,1.88,0.00,0.000,1030,0.000,0.062,2865,2200,2508,2468,2548,0,0,0,0,0,0,27.05,27.03,27.07
$GC,4948,-0.38,-146.6,2865,2200,2468,2547,199.9,-3.8,291,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2200,2508,2469,2547,0,0,0,0,0,0,27.24,27.27,27.27
$GC,5248,-0.38,-146.6,2864,2200,2468,2546,212.1,-4.0,301,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2200,2507,2468,2546,0,0,0,0,0,0,27.24,27.27,27.27
$GC,5548,-0.38,-146.6,2865,2200,2468,2545,223.5,-3.7,311,5553,0.00,1.85,0.00,0.000,516,0.000,0.067,2864,857,2506,2468,2545,0,0,0,0,0,0,27.25,27.02,27.27
$GC,5616,-0.38,-146.6,2864,857,2468,2544,225.7,-3.8,313,5620,0.00,1.88,0.00,0.000,1030,0.000,0.062,2858,2210,2506,2468,2545,0,0,0,0,0,0,27.05,27.03,27.08
$GC,5940,-0.38,-146.6,2857,2210,2468,2544,238.1,-3.8,324,5945,0.00,1.95,0.00,0.000,260,0.000,0.077,2849,3602,2506,2468,2544,0,0,0,0,0,0,27.25,27.00,27.27
$GC,5992,-0.38,-146.6,2849,3602,2468,2544,239.2,-3.7,325,6001,0.00,1.83,0.00,0.000,1030,0.000,0.057,2849,2222,2506,2468,2544,0,0,0,0,0,0,27.08,27.06,27.09
$GC,6301,-0.38,-146.6,2849,2221,2468,2544,252.9,-4.2,336,6306,0.00,1.88,0.00,0.000,516,0.000,0.067,2849,842,2506,2469,2543,0,0,0,0,0,0,27.25,27.03,27.27
$GC,6376,-0.38,-146.6,2849,842,2468,2543,255.8,-4.3,338,6380,0.00,1.85,0.00,0.000,1030,0.000,0.062,2841,2211,2505,2468,2543,0,0,0,0,0,0,27.08,27.03,27.09
$GC,6689,-0.38,-146.6,2840,2210,2468,2543,269.6,-4.2,349,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2505,2468,2543,0,0,0,0,0,0,27.25,27.28,27.27
$GC,6989,-0.38,-146.6,2840,2210,2468,2542,283.0,-4.7,359,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2505,2468,2542,0,0,0,0,0,0,27.26,27.28,27.27
$GC,7289,-0.38,-146.6,2840,2210,2468,2542,296.7,-4.6,369,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2504,2468,2541,0,0,0,0,0,0,27.26,27.28,27.27
$GC,7604,-0.38,-146.6,2840,2210,2468,2540,310.8,-4.3,377,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2504,2468,2540,0,0,0,0,0,0,27.26,27.28,27.27
$GC,7919,-0.38,-146.6,2840,2210,2468,2539,324.3,-4.3,384,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2503,2468,2539,0,0,0,0,0,0,27.26,27.28,27.28
$GC,8234,-0.38,-146.6,2840,2210,2468,2539,338.1,-4.4,391,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2210,2503,2468,2539,0,0,0,0,0,0,27.27,27.28,27.27
$GC,8549,-0.38,-146.6,2840,2210,2468,2538,353.1,-4.8,398,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2503,2469,2538,0,0,0,0,0,0,27.27,27.28,27.28
$GC,8864,-0.38,-146.6,2840,2210,2468,2538,368.8,-5.1,405,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2503,2468,2538,0,0,0,0,0,0,27.27,27.28,27.28
$GC,9179,-0.38,-146.6,2840,2210,2468,2537,384.8,-5.1,412,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2502,2468,2537,0,0,0,0,0,0,27.27,27.29,27.28
$GC,9494,-0.38,-146.6,2840,2210,2468,2537,400.1,-4.9,419,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2210,2502,2468,2537,0,0,0,0,0,0,27.27,27.29,27.28
$GC,9809,-0.38,-146.6,2840,2210,2468,2537,415.9,-5.0,426,9814,0.00,1.95,0.00,0.000,260,0.000,0.077,2831,3598,2502,2469,2536,0,0,0,0,0,0,27.27,27.01,27.28
$GC,9871,-0.38,-146.6,2831,3598,2468,2536,418.0,-4.9,427,9875,0.00,1.85,0.00,0.000,1030,0.000,0.057,2831,2203,2502,2468,2536,0,0,0,0,0,0,27.09,27.08,27.10
$GC,10215,-0.38,-146.6,2831,2202,2468,2535,435.7,-4.9,435,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2202,2502,2468,2536,0,0,0,0,0,0,27.26,27.29,27.28
$GC,10530,-0.38,-146.6,2830,2202,2468,2535,450.5,-4.6,442,10535,0.00,1.98,0.00,0.000,260,0.000,0.077,2822,3608,2501,2468,2535,0,0,0,0,0,0,27.27,27.01,27.28
$GC,10582,-0.38,-146.6,2821,3609,2469,2535,452.6,-4.5,443,10586,0.00,1.88,0.00,0.000,1030,0.000,0.057,2822,2199,2501,2468,2535,0,0,0,0,0,0,27.09,27.07,27.10
$GC,10891,-0.38,-146.6,2821,2198,2468,2534,466.4,-4.4,450,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2198,2501,2468,2534,0,0,0,0,0,0,27.27,27.29,27.28
$GC,11206,-0.38,-146.6,2821,2198,2467,2534,482.1,-5.1,457,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2198,2501,2468,2534,0,0,0,0,0,0,27.27,27.29,27.28
$GC,11521,-0.38,-146.6,2821,2198,2468,2534,497.6,-4.8,464,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2198,2500,2468,2533,0,0,0,0,0,0,27.27,27.29,27.28
$GC,11836,-0.38,-146.6,2821,2198,2468,2533,513.1,-4.9,471,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2198,2500,2468,2533,0,0,0,0,0,0,27.27,27.29,27.28
$GC,12151,-0.38,-146.6,2821,2198,2468,2533,527.9,-4.7,478,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2198,2500,2468,2533,0,0,0,0,0,0,27.27,27.29,27.28
$GC,12466,-0.38,-146.6,2822,2199,2468,2533,541.7,-4.3,485,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2198,2500,2468,2533,0,0,0,0,0,0,27.27,27.29,27.28
$GC,12781,-0.38,-146.6,2821,2198,2468,2532,556.8,-4.9,492,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2198,2500,2468,2532,0,0,0,0,0,0,27.27,27.29,27.29
$GC,13096,-0.38,-146.6,2821,2198,2468,2532,573.5,-5.5,499,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2199,2500,2468,2532,0,0,0,0,0,0,27.27,27.29,27.29
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$GC,68818,-1.28,-146.6,2531,3584,2446,2474,3865.7,-3.6,1060,68822,0.00,1.90,0.00,0.000,1030,0.000,0.060,2531,2197,2460,2447,2474,0,0,0,0,0,0,26.94,26.88,26.96
$GC,69222,-1.28,-146.6,2531,2197,2447,2474,3883.5,-3.8,1064,69223,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2197,2460,2446,2474,0,0,0,0,0,0,27.21,27.24,27.23
$GC,69582,-1.28,-146.6,2531,2197,2447,2474,3896.6,-3.6,1067,69583,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2197,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,69942,-1.28,-146.6,2531,2197,2446,2474,3908.7,-3.4,1070,69943,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2197,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,70302,-1.28,-146.6,2531,2197,2447,2474,3920.9,-3.4,1073,70303,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2197,2460,2446,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,70662,-1.28,-146.6,2531,2197,2447,2474,3932.1,-3.2,1076,70663,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2197,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.24
$GC,71022,-1.28,-146.6,2531,2197,2447,2474,3943.5,-3.1,1079,71023,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2197,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,71382,-1.28,-146.6,2531,2197,2447,2474,3955.6,-3.4,1082,71383,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2197,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,71743,-1.33,-146.6,2530,2197,2447,2474,3968.7,-3.6,1085,71748,0.00,2.03,0.00,0.000,260,0.000,0.082,2526,3570,2460,2446,2474,0,0,0,0,0,0,27.22,26.70,27.23
$GC,71814,-1.38,-146.6,2527,3571,2447,2474,3968.7,-3.6,1085,71818,0.00,1.90,0.00,0.000,1030,0.000,0.060,2527,2194,2460,2446,2474,0,0,0,0,0,0,26.94,26.87,26.96
$GC,72217,-1.38,-146.6,2527,2194,2447,2474,3989.0,-4.3,1089,72218,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2194,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,72578,-1.38,-146.6,2527,2194,2447,2474,4003.9,-4.2,1092,72579,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2194,2460,2447,2474,0,0,0,0,0,0,27.18,27.21,27.20
$GC,72937,-1.38,-146.6,2527,2194,2446,2474,4017.7,-3.9,1095,72938,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2194,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,73300,-1.38,-146.6,2527,2194,2446,2473,4031.5,-3.8,1098,73301,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2194,2460,2447,2474,0,0,0,0,0,0,27.20,27.22,27.22
$GC,73658,-1.43,-146.6,2527,2194,2447,2474,4044.4,-3.6,1101,73663,0.00,1.98,0.00,0.000,516,0.000,0.067,2527,819,2460,2447,2473,0,0,0,0,0,0,27.22,26.81,27.23
$GC,73714,-1.48,-146.6,2527,819,2447,2474,4044.4,-3.6,1101,73718,0.00,1.95,0.00,0.000,1030,0.000,0.062,2521,2193,2460,2446,2474,0,0,0,0,0,0,26.92,26.85,26.95
$GC,74133,-1.48,-146.6,2521,2193,2447,2474,4061.8,-3.7,1105,74139,0.00,2.05,0.00,0.000,260,0.000,0.079,2511,3590,2460,2447,2473,0,0,0,0,0,0,27.19,26.70,27.21
$GC,74214,-1.48,-146.6,2511,3590,2447,2474,4061.8,-3.7,1105,74218,0.00,1.90,0.00,0.000,1030,0.000,0.060,2511,2195,2460,2447,2474,0,0,0,0,0,0,26.94,26.86,26.96
$GC,74614,-1.48,-146.6,2511,2193,2447,2473,4080.7,-3.9,1109,74615,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2193,2460,2447,2473,0,0,0,0,0,0,27.18,27.21,27.20
$GC,74973,-1.48,-146.6,2511,2193,2447,2474,4094.8,-3.9,1112,74974,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2193,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,75333,-1.48,-146.6,2511,2193,2447,2474,4108.5,-3.8,1115,75334,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2193,2460,2447,2474,0,0,0,0,0,0,27.21,27.24,27.23
$GC,75695,-1.48,-146.6,2511,2193,2447,2474,4121.0,-3.6,1118,75700,0.00,2.05,0.00,0.000,260,0.000,0.079,2505,3590,2460,2447,2474,0,0,0,0,0,0,27.20,26.70,27.22
$GC,75765,-1.48,-146.6,2504,3590,2446,2473,4121.0,-3.6,1118,75769,0.00,1.90,0.00,0.000,1030,0.000,0.060,2504,2200,2460,2447,2474,0,0,0,0,0,0,26.94,26.86,26.96
$GC,76174,-1.48,-146.6,2504,2199,2447,2474,4137.9,-3.5,1122,76176,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2199,2460,2446,2474,0,0,0,0,0,0,27.21,27.24,27.22
$GC,76535,-1.48,-146.6,2504,2198,2447,2474,4150.4,-3.5,1125,76537,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2199,2460,2447,2474,0,0,0,0,0,0,27.19,27.21,27.20
$GC,76896,-1.48,-146.6,2504,2199,2447,2474,4162.6,-3.4,1128,76899,0.00,2.08,0.00,0.000,260,0.000,0.082,2498,3585,2460,2447,2474,0,0,0,0,0,0,27.19,26.69,27.20
$GC,76964,-1.48,-146.6,2498,3591,2447,2473,4162.6,-3.4,1128,76968,0.00,1.90,0.00,0.000,1030,0.000,0.062,2498,2197,2460,2447,2473,0,0,0,0,0,0,26.93,26.86,26.95
$GC,77380,-1.48,-146.6,2498,2196,2447,2474,4179.0,-3.4,1132,77381,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2196,2460,2447,2474,0,0,0,0,0,0,27.21,27.23,27.23
$GC,77740,-1.48,-146.6,2497,2195,2447,2473,4191.3,-3.4,1135,77741,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2196,2460,2447,2474,0,0,0,0,0,0,27.21,27.24,27.22
$GC,78098,-1.48,-146.6,2498,2196,2447,2474,4203.5,-3.4,1138,78099,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2196,2460,2447,2474,0,0,0,0,0,0,27.22,27.24,27.23
$GC,78458,-1.48,-146.6,2497,2196,2446,2473,4215.6,-3.4,1141,78464,0.00,2.05,0.00,0.000,260,0.000,0.082,2493,3585,2460,2446,2474,0,0,0,0,0,0,27.21,26.68,27.23
$GC,78530,-1.48,-146.6,2493,3585,2447,2474,4215.6,-3.4,1141,78533,0.00,1.90,0.00,0.000,1030,0.000,0.060,2493,2212,2460,2447,2473,0,0,0,0,0,0,26.93,26.86,26.95
$GC,78938,-1.48,-146.6,2493,2194,2447,2474,4231.9,-3.4,1145,78939,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2194,2460,2447,2474,0,0,0,0,0,0,27.21,27.24,27.23
$GC,79298,-1.48,-146.6,2493,2194,2447,2474,4243.8,-3.3,1148,79299,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2194,2460,2447,2473,0,0,0,0,0,0,27.21,27.24,27.23
$STATE,79537,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,79537,begin apogee
$GC,79540,-0.25,0.0,2493,2194,2447,2474,4251.7,-3.3,1150,79671,1.10,0.00,126.62,3.573,10246,0.119,0.000,2894,2193,2000,2011,1990,0,0,0,0,0,0,26.50,22.30,20.92
$STATE,79672,end apogee,CONTROL_FINISHED_OK
$STATE,79672,begin climb
$GC,79673,0.61,146.6,2893,2193,2011,1990,4249.5,0.0,1151,79835,0.77,2.40,153.45,3.499,10756,0.092,0.089,3184,829,1495,1516,1474,0,0,0,0,0,0,22.73,21.96,20.60
$GC,79986,0.61,146.6,3184,829,1516,1474,4206.3,23.6,1153,79991,0.00,2.17,0.00,0.000,1030,0.000,0.060,3184,2192,1494,1515,1474,0,0,0,0,0,0,24.68,24.65,24.70
$GC,80376,0.15,146.6,3184,2191,1515,1474,4085.0,25.2,1157,80382,0.52,2.03,0.00,0.000,4612,0.216,0.065,3036,823,1495,1516,1475,0,0,0,0,0,0,25.58,25.76,25.70
$GC,80529,-0.27,146.6,3036,823,1516,1474,4063.2,23.7,1158,80534,0.45,2.05,0.00,0.000,5126,0.186,0.062,2899,2214,1495,1516,1474,0,0,0,0,0,0,25.79,25.98,25.95
$GC,80854,-0.49,146.6,2899,2214,1516,1474,4020.4,13.3,1161,80856,0.28,0.00,0.00,0.000,4102,0.164,0.000,2808,2214,1494,1515,1474,0,0,0,0,0,0,26.09,26.27,26.22
$GC,81213,-0.49,146.6,2808,2214,1515,1474,3994.3,8.1,1164,81218,0.00,2.03,0.00,0.000,516,0.000,0.070,2808,824,1495,1516,1474,0,0,0,0,0,0,26.65,26.41,26.67
$GC,81269,-0.49,146.6,2808,824,1515,1474,3994.3,8.1,1164,81273,0.00,2.05,0.00,0.000,1030,0.000,0.062,2808,2206,1494,1515,1474,0,0,0,0,0,0,26.46,26.44,26.48
$GC,81693,-0.49,146.6,2808,2206,1515,1474,3961.8,6.8,1168,81694,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2206,1495,1515,1475,0,0,0,0,0,0,26.79,26.82,26.82
$GC,82053,-0.49,146.6,2808,2206,1515,1474,3937.5,6.8,1171,82058,0.00,2.03,0.00,0.000,516,0.000,0.070,2808,809,1494,1515,1474,0,0,0,0,0,0,26.86,26.62,26.89
$GC,82109,-0.49,146.6,2808,809,1515,1473,3937.5,6.8,1171,82113,0.00,2.05,0.00,0.000,1030,0.000,0.062,2809,2201,1495,1516,1474,0,0,0,0,0,0,26.67,26.65,26.68
$GC,82533,-0.49,146.6,2808,2201,1515,1474,3905.7,6.6,1175,82534,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2201,1494,1515,1474,0,0,0,0,0,0,26.94,26.96,26.95
$GC,82893,-0.49,146.6,2808,2201,1514,1474,3883.0,6.3,1178,82894,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2201,1494,1515,1473,0,0,0,0,0,0,26.97,26.99,26.99
$GC,83253,-0.49,146.6,2808,2201,1516,1474,3861.2,6.1,1181,83258,0.00,2.00,0.00,0.000,516,0.000,0.070,2808,810,1494,1515,1474,0,0,0,0,0,0,27.00,26.74,27.02
$GC,83309,-0.49,146.6,2808,810,1515,1474,3861.2,6.1,1181,83313,0.00,2.05,0.00,0.000,1030,0.000,0.062,2809,2206,1494,1515,1474,0,0,0,0,0,0,26.80,26.76,26.82
$GC,83733,-0.49,146.6,2808,2206,1515,1474,3832.9,5.9,1185,83734,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2206,1494,1515,1474,0,0,0,0,0,0,27.03,27.05,27.05
$GC,84093,-0.49,146.6,2808,2206,1515,1474,3811.8,5.9,1188,84098,0.00,2.00,0.00,0.000,516,0.000,0.067,2808,812,1494,1515,1474,0,0,0,0,0,0,27.05,26.79,27.07
$GC,84144,-0.49,146.6,2808,812,1515,1474,3811.8,5.9,1188,84148,0.00,2.03,0.00,0.000,1030,0.000,0.062,2809,2198,1494,1515,1474,0,0,0,0,0,0,26.85,26.81,26.86
$GC,84454,-0.49,146.6,2808,2199,1515,1474,3791.2,5.7,1191,84455,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2199,1494,1515,1474,0,0,0,0,0,0,27.07,27.09,27.09
$GC,84813,-0.49,146.6,2808,2199,1515,1474,3772.2,5.4,1194,84814,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2198,1494,1515,1474,0,0,0,0,0,0,27.08,27.11,27.10
$GC,85173,-0.49,146.6,2808,2199,1515,1474,3752.6,5.4,1197,85178,0.00,1.98,0.00,0.000,516,0.000,0.067,2809,818,1494,1515,1474,0,0,0,0,0,0,27.10,26.84,27.12
$GC,85224,-0.49,146.6,2808,817,1515,1474,3752.6,5.4,1197,85228,0.00,2.03,0.00,0.000,1030,0.000,0.062,2809,2205,1494,1515,1474,0,0,0,0,0,0,26.89,26.86,26.90
$GC,85534,-0.49,146.6,2808,2205,1515,1474,3734.2,5.2,1200,85535,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2206,1495,1516,1474,0,0,0,0,0,0,27.10,27.13,27.13
$GC,85893,-0.49,146.6,2808,2205,1515,1474,3715.9,5.1,1203,85894,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2205,1494,1515,1474,0,0,0,0,0,0,27.12,27.14,27.13
$GC,86253,-0.49,146.6,2808,2205,1515,1474,3697.2,5.2,1206,86258,0.00,2.00,0.00,0.000,516,0.000,0.070,2808,808,1494,1515,1474,0,0,0,0,0,0,27.13,26.86,27.15
$GC,86314,-0.49,146.6,2808,807,1515,1474,3697.2,5.2,1206,86318,0.00,2.03,0.00,0.000,1030,0.000,0.062,2809,2199,1494,1515,1474,0,0,0,0,0,0,26.91,26.89,26.94
$GC,86733,-0.49,146.6,2808,2198,1514,1474,3671.9,5.3,1210,86734,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2199,1494,1515,1474,0,0,0,0,0,0,27.14,27.16,27.15
$GC,87093,-0.49,146.6,2808,2199,1515,1474,3652.7,5.3,1213,87094,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2198,1494,1515,1474,0,0,0,0,0,0,27.15,27.17,27.16
$GC,87453,-0.49,146.6,2809,2199,1515,1474,3633.8,5.3,1216,87458,0.00,1.98,0.00,0.000,516,0.000,0.070,2808,818,1494,1515,1474,0,0,0,0,0,0,27.15,26.89,27.17
$GC,87504,-0.49,146.6,2808,817,1515,1474,3633.8,5.3,1216,87508,0.00,2.03,0.00,0.000,1030,0.000,0.062,2809,2203,1494,1515,1474,0,0,0,0,0,0,26.91,26.90,26.95
$GC,87814,-0.44,146.6,2809,2204,1515,1474,3614.9,5.2,1219,87816,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2203,1494,1515,1474,0,0,0,0,0,0,27.15,27.17,27.17
$GC,88173,-0.38,146.6,2808,2203,1515,1475,3596.1,5.2,1222,88175,0.05,0.00,0.00,0.000,2054,0.184,0.000,2842,2204,1494,1515,1474,0,0,0,0,0,0,26.95,27.00,26.98
$GC,88533,-0.38,146.6,2842,2204,1515,1474,3573.2,6.1,1225,88538,0.00,2.03,0.00,0.000,516,0.000,0.070,2843,807,1494,1515,1474,0,0,0,0,0,0,27.16,26.89,27.18
$GC,88599,-0.38,146.6,2843,807,1515,1474,3573.2,6.1,1225,88603,0.00,2.05,0.00,0.000,1030,0.000,0.062,2843,2208,1494,1515,1474,0,0,0,0,0,0,26.94,26.92,26.96
$GC,89013,-0.38,146.6,2843,2209,1515,1474,3542.8,6.3,1229,89014,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2208,1494,1515,1474,0,0,0,0,0,0,27.16,27.19,27.18
$GC,89373,-0.38,146.6,2842,2208,1515,1474,3521.0,6.1,1232,89378,0.00,2.00,0.00,0.000,516,0.000,0.070,2843,809,1494,1515,1474,0,0,0,0,0,0,27.17,26.89,27.19
$GC,89434,-0.38,146.6,2843,809,1515,1474,3521.0,6.1,1232,89438,0.00,2.05,0.00,0.000,1030,0.000,0.062,2843,2211,1494,1515,1474,0,0,0,0,0,0,26.95,26.92,26.97
$GC,89853,-0.38,146.6,2843,2211,1515,1474,3493.0,5.8,1236,89854,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2211,1494,1515,1474,0,0,0,0,0,0,27.17,27.20,27.19
$GC,90213,-0.38,146.6,2843,2210,1515,1474,3473.1,5.6,1239,90218,0.00,2.00,0.00,0.000,516,0.000,0.067,2843,810,1494,1515,1474,0,0,0,0,0,0,27.17,26.90,27.19
$GC,90279,-0.38,146.6,2843,811,1515,1474,3473.1,5.6,1239,90283,0.00,2.03,0.00,0.000,1030,0.000,0.062,2843,2201,1494,1515,1474,0,0,0,0,0,0,26.96,26.93,26.97
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$GC,149277,0.54,297.4,3159,2212,1003,963,78.4,7.4,1982,149283,0.00,1.92,0.00,0.000,516,0.000,0.067,3159,826,983,1003,964,0,0,0,0,0,0,27.24,27.00,27.26
$GC,149327,0.60,297.4,3159,825,1003,964,75.1,6.8,1985,149332,0.00,1.90,0.00,0.000,1030,0.000,0.062,3159,2210,983,1003,964,0,0,0,0,0,0,27.07,27.01,27.08
$GC,149641,0.67,297.4,3159,2210,1003,964,55.7,6.3,2006,149647,0.00,0.00,3.85,0.497,8198,0.000,0.000,3159,2210,975,995,956,0,0,0,0,0,0,27.24,26.78,26.11
$GC,149947,0.75,297.4,3159,2210,996,956,38.3,5.5,2027,149957,0.08,1.88,0.00,0.000,2564,0.151,0.065,3224,836,976,996,956,0,0,0,0,0,0,26.98,26.98,27.01
$GC,149993,0.75,297.4,3223,836,996,956,35.0,6.7,2031,149997,0.00,1.85,0.00,0.000,1030,0.000,0.062,3224,2199,976,996,956,0,0,0,0,0,0,27.05,27.00,27.06
$GC,150307,0.75,297.4,3223,2199,996,956,14.1,6.4,2062,150317,0.00,1.98,0.00,0.000,260,0.000,0.077,3223,3589,976,996,957,0,0,0,0,0,0,27.23,26.96,27.24
$GC,150367,0.75,297.4,3223,3589,995,958,8.9,9.0,2067,150376,0.00,1.88,0.00,0.000,1030,0.000,0.057,3224,2182,976,996,957,0,0,0,0,0,0,27.05,27.03,27.07
$STATE,150445,end climb,SURFACE_DEPTH_REACHED
$STATE,150445,begin surface coast
$FINISH,0.7,1.023538
$STATE,150477,end surface coast,CONTROL_FINISHED_OK
$STATE,150478,begin surface
$SM_CCo,150552,0.00,0.000,0,0,976,297.46
$SM_GC,0.84,7.65,0.00,0.00,0.077,0.000,0.000,151,2181,976,-8.74,-0.57,297.46,0,0,0,0,0,0,26.95,27.25,27.01
$IRIDIUM_FIX,3143.01,-6420.62,150508,121807
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.82
$INTERNAL_PRESSURE,9.3778
$TCM_TEMP,22.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,49.6,47.2
$ALTIM_BOTTOM_PING,4183.1,95.8
$24V_AH,20.60,15.661
$10V_AH,10.44,6.209
$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,24.775,799.874,415.950,0.000,145.900,26.005,45.745,218.783,5.500,0.000,13.917,8105.087,125501.992,937.608,15862.276,533.429,0.606,7194.089,0.000,15219.603,0.000,40.089,0.000
$DEVICE_MAMPS,295.477,89.388,3573.037,0.000,148.980,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1422.226,6797.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,130142,2078
$CAP_FILE_SIZE,932396,0
$CFSIZE,1024409600,1012744192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220715,141556,3152.311,-6423.808,34,0.9,39,-14.9,0.9,284.9,8,5.7