version: 66.12
glider: 38
mission: 4
dive: 75
start: 8 3 115 16 52 52
data:
$ID,38
$MISSION,4
$DIVE,75
$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,103
$R_STBD_OVSHOOT,70
$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
$GPS1,030815,164151,3200.2988,-6402.7476,36,1.1,36,-15.0,0.0,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.1
$GPS2,030815,165228,3200.2231,-6402.6792,4,0.9,11,-15.0,0.0,0.0,10,9.6
$SPEED_LIMITS,0.060,0.218
$TGT_NAME,SS06
$TGT_LATLONG,3129.220,-6431.920
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.160802,-0.146526
$KALMAN_X,17937.302734,0.000000,0.000000,-1596.505249,14594.832031
$KALMAN_Y,-5601.865234,0.000000,0.000000,54900.070312,8912.470703
$MHEAD_RNG_PITCHd_Wd,242.7,73684,-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,13,begin dive
$GC,15,-0.61,-146.6,141,2203,954,920,0.0,0.0,0,141,0.00,0.00,-122.93,0.151,16390,0.000,0.000,142,2204,2506,2453,2560,0,0,0,0,0,0,26.73,26.35,26.20
$GC,143,-0.61,-146.6,142,2203,2453,2559,3.7,-4.7,12,161,10.95,0.00,0.00,0.000,2566,0.295,0.000,2765,2204,2507,2455,2560,0,0,0,0,0,0,25.98,26.25,26.15
$GC,461,-0.46,-146.6,2765,2204,2456,2560,35.7,-3.9,44,472,0.15,1.95,0.00,0.000,2308,0.194,0.077,2812,3587,2508,2456,2560,0,0,0,0,0,0,26.48,26.62,26.56
$GC,795,-0.37,-146.6,2812,3587,2456,2561,45.7,-2.8,69,801,0.10,1.83,0.00,0.000,3078,0.191,0.060,2852,2156,2508,2456,2561,0,0,0,0,0,0,26.64,26.85,26.71
$GC,1110,-0.37,-146.6,2852,2156,2456,2561,49.1,-1.7,90,1115,0.00,2.03,0.00,0.000,260,0.000,0.077,2842,3597,2509,2456,2562,0,0,0,0,0,0,27.13,26.84,27.13
$GC,1434,-0.37,-146.6,2842,3597,2455,2562,58.1,-2.1,110,1439,0.00,1.80,0.00,0.000,1030,0.000,0.060,2842,2213,2509,2456,2562,0,0,0,0,0,0,27.01,26.97,27.01
$GC,1749,-0.37,-146.6,2842,2213,2457,2562,65.3,-2.8,131,1755,0.00,1.95,0.00,0.000,260,0.000,0.077,2832,3609,2509,2456,2562,0,0,0,0,0,0,27.20,26.92,27.20
$GC,2073,-0.37,-146.6,2831,3609,2456,2562,74.6,-3.3,151,2078,0.00,1.83,0.00,0.000,1030,0.000,0.060,2831,2201,2510,2457,2563,0,0,0,0,0,0,27.05,27.01,27.06
$GC,2388,-0.37,-146.6,2830,2201,2457,2562,89.8,-5.4,172,2393,0.00,1.98,0.00,0.000,260,0.000,0.077,2820,3606,2509,2456,2562,0,0,0,0,0,0,27.22,26.94,27.24
$GC,2713,-0.37,-146.6,2820,3606,2456,2562,104.4,-3.6,192,2718,0.00,1.83,0.00,0.000,1030,0.000,0.060,2821,2200,2509,2456,2562,0,0,0,0,0,0,27.07,27.03,27.08
$GC,3027,-0.37,-146.6,2820,2200,2455,2561,116.7,-4.2,213,3033,0.00,2.00,0.00,0.000,260,0.000,0.077,2810,3610,2508,2456,2561,0,0,0,0,0,0,27.24,26.96,27.25
$GC,3124,-0.32,-146.6,2810,3610,2456,2561,121.5,-4.9,219,3129,0.17,1.83,0.00,0.000,3078,0.169,0.060,2872,2174,2509,2457,2561,0,0,0,0,0,0,26.82,27.04,26.95
$GC,3443,-0.32,-146.6,2872,2172,2456,2559,132.6,-3.6,240,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2172,2507,2456,2559,0,0,0,0,0,0,27.24,27.26,27.26
$GC,3743,-0.32,-146.6,2872,2172,2457,2558,142.5,-3.8,260,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2172,2507,2456,2558,0,0,0,0,0,0,27.24,27.26,27.26
$GC,4043,-0.32,-146.6,2872,2172,2456,2558,155.7,-4.6,276,4048,0.00,1.98,0.00,0.000,260,0.000,0.077,2864,3586,2507,2456,2558,0,0,0,0,0,0,27.24,26.96,27.27
$GC,4198,-0.32,-146.6,2864,3586,2456,2558,163.5,-4.9,281,4202,0.00,1.77,0.00,0.000,1030,0.000,0.060,2863,2254,2506,2455,2558,0,0,0,0,0,0,27.08,27.05,27.09
$GC,4530,-0.32,-146.6,2864,2218,2456,2556,177.2,-4.2,292,4536,0.00,1.98,0.00,0.000,260,0.000,0.077,2856,3597,2506,2456,2556,0,0,0,0,0,0,27.25,26.97,27.27
$GC,4645,-0.32,-146.6,2855,3597,2456,2556,181.7,-4.6,295,4654,0.00,1.83,0.00,0.000,1030,0.000,0.060,2856,2222,2505,2456,2555,0,0,0,0,0,0,27.06,27.05,27.08
$GC,4954,-0.32,-146.6,2855,2223,2456,2555,195.3,-3.8,306,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2223,2505,2456,2555,0,0,0,0,0,0,27.25,27.27,27.27
$GC,5254,-0.32,-146.6,2855,2223,2456,2553,206.5,-3.7,316,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2223,2505,2456,2554,0,0,0,0,0,0,27.24,27.27,27.27
$GC,5554,-0.32,-146.6,2855,2223,2456,2553,218.4,-4.1,326,5559,0.00,1.98,0.00,0.000,260,0.000,0.077,2847,3599,2504,2456,2553,0,0,0,0,0,0,27.25,26.97,27.27
$GC,5696,-0.32,-146.6,2847,3599,2456,2553,224.0,-4.6,330,5699,0.00,1.85,0.00,0.000,1030,0.000,0.060,2847,2187,2504,2456,2553,0,0,0,0,0,0,27.08,27.04,27.10
$GC,6009,-0.32,-146.6,2847,2187,2456,2552,241.4,-5.4,341,6015,0.00,1.98,0.00,0.000,260,0.000,0.077,2838,3588,2504,2456,2552,0,0,0,0,0,0,27.25,26.96,27.27
$GC,6093,-0.32,-146.6,2838,3588,2456,2551,245.1,-5.8,343,6102,0.00,1.85,0.00,0.000,1030,0.000,0.060,2838,2190,2503,2456,2551,0,0,0,0,0,0,27.07,27.05,27.08
$GC,6402,-0.32,-146.6,2838,2190,2456,2550,264.0,-5.6,354,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2190,2503,2456,2551,0,0,0,0,0,0,27.25,27.27,27.27
$GC,6702,-0.32,-146.6,2838,2190,2455,2550,280.5,-5.5,364,6707,0.00,2.00,0.00,0.000,260,0.000,0.077,2829,3599,2503,2456,2550,0,0,0,0,0,0,27.25,26.98,27.27
$GC,6801,-0.32,-146.6,2828,3599,2456,2550,285.5,-5.5,367,6806,0.10,1.85,0.00,0.000,3078,0.154,0.060,2868,2186,2503,2456,2550,0,0,0,0,0,0,26.86,27.05,26.93
$GC,7126,-0.39,-146.6,2868,2185,2456,2549,298.4,-3.6,378,7132,0.00,1.98,0.00,0.000,260,0.000,0.077,2860,3593,2502,2456,2549,0,0,0,0,0,0,27.25,26.96,27.27
$GC,7219,-0.46,-146.6,2859,3592,2456,2549,301.5,-3.4,381,7225,0.05,1.80,0.00,0.000,5126,0.191,0.060,2812,2206,2502,2456,2549,0,0,0,0,0,0,26.93,27.05,27.01
$GC,7534,-0.46,-146.6,2812,2205,2456,2548,315.4,-4.4,388,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2205,2502,2456,2548,0,0,0,0,0,0,27.25,27.27,27.27
$GC,7849,-0.46,-146.6,2812,2205,2456,2548,329.1,-4.5,395,7852,0.00,1.95,0.00,0.000,260,0.000,0.077,2804,3587,2501,2456,2547,0,0,0,0,0,0,27.25,26.96,27.27
$GC,7998,-0.46,-146.6,2804,3588,2456,2547,335.9,-4.8,398,8001,0.00,1.80,0.00,0.000,1030,0.000,0.060,2804,2247,2502,2456,2548,0,0,0,0,0,0,27.09,27.05,27.10
$GC,8305,-0.46,-146.6,2804,2202,2456,2547,353.5,-5.7,405,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2202,2501,2456,2546,0,0,0,0,0,0,27.26,27.27,27.27
$GC,8620,-0.46,-146.6,2803,2202,2456,2545,373.2,-6.5,412,8625,0.00,1.98,0.00,0.000,260,0.000,0.077,2796,3612,2500,2456,2545,0,0,0,0,0,0,27.26,26.97,27.27
$GC,8794,-0.46,-146.6,2795,3612,2456,2545,382.6,-6.7,415,8803,0.00,1.95,0.00,0.000,1030,0.000,0.060,2796,2148,2500,2456,2545,0,0,0,0,0,0,27.08,27.05,27.09
$GC,9118,-0.46,-146.6,2795,2148,2456,2544,406.1,-6.4,423,9124,0.00,2.03,0.00,0.000,260,0.000,0.077,2786,3590,2500,2456,2545,0,0,0,0,0,0,27.26,26.96,27.27
$GC,9237,-0.46,-146.6,2786,3590,2456,2544,412.4,-6.6,425,9242,0.10,1.90,0.00,0.000,3078,0.156,0.057,2824,2143,2500,2456,2545,0,0,0,0,0,0,26.86,27.04,26.92
$GC,9571,-0.46,-146.6,2824,2143,2456,2544,432.3,-5.5,433,9575,0.00,2.05,0.00,0.000,260,0.000,0.077,2814,3584,2500,2456,2544,0,0,0,0,0,0,27.26,26.96,27.27
$GC,9713,-0.46,-146.6,2814,3590,2456,2544,440.8,-5.8,436,9718,0.00,1.90,0.00,0.000,1030,0.000,0.060,2814,2159,2500,2456,2544,0,0,0,0,0,0,27.07,27.05,27.08
$GC,10027,-0.46,-146.6,2814,2158,2456,2543,459.6,-6.0,443,10031,0.00,2.03,0.00,0.000,260,0.000,0.077,2806,3588,2500,2456,2544,0,0,0,0,0,0,27.26,26.96,27.27
$GC,10133,-0.46,-146.6,2804,3588,2456,2543,465.2,-5.9,445,10137,0.00,1.85,0.00,0.000,1030,0.000,0.057,2806,2193,2499,2456,2543,0,0,0,0,0,0,27.08,27.05,27.08
$GC,10482,-0.46,-146.6,2805,2192,2456,2542,483.9,-4.9,453,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2192,2499,2456,2542,0,0,0,0,0,0,27.26,27.28,27.27
$GC,10797,-0.46,-146.6,2805,2192,2456,2541,497.3,-4.1,460,10802,0.00,1.98,0.00,0.000,260,0.000,0.077,2800,3600,2499,2456,2542,0,0,0,0,0,0,27.26,26.97,27.27
$GC,10958,-0.46,-146.6,2800,3600,2456,2541,503.4,-4.4,463,10962,0.00,1.85,0.00,0.000,1030,0.000,0.060,2800,2187,2498,2456,2541,0,0,0,0,0,0,27.09,27.05,27.10
$GC,11291,-0.46,-146.6,2800,2187,2456,2540,519.4,-4.7,471,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2187,2498,2457,2540,0,0,0,0,0,0,27.25,27.28,27.27
$GC,11606,-0.46,-146.6,2800,2187,2456,2539,535.7,-5.2,478,11611,0.00,2.00,0.00,0.000,260,0.000,0.079,2792,3595,2497,2456,2539,0,0,0,0,0,0,27.25,26.96,27.27
$GC,11685,-0.46,-146.6,2791,3595,2456,2540,538.3,-5.4,479,11688,0.00,1.83,0.00,0.000,1030,0.000,0.060,2792,2200,2497,2456,2539,0,0,0,0,0,0,27.09,27.05,27.09
$GC,12007,-0.46,-146.6,2792,2199,2456,2538,559.5,-6.0,486,12009,0.10,0.00,0.00,0.000,2054,0.179,0.000,2828,2198,2497,2456,2538,0,0,0,0,0,0,26.89,27.02,26.98
$GC,12322,-0.46,-146.6,2828,2198,2456,2538,576.3,-5.4,493,12326,0.00,1.98,0.00,0.000,260,0.000,0.077,2818,3590,2497,2456,2538,0,0,0,0,0,0,27.25,26.96,27.27
$GC,12484,-0.46,-146.6,2818,3590,2456,2538,584.4,-5.8,496,12489,0.00,1.85,0.00,0.000,1030,0.000,0.060,2818,2200,2497,2456,2538,0,0,0,0,0,0,27.07,27.05,27.08
$GC,12823,-0.46,-146.6,2817,2199,2456,2536,605.4,-5.7,504,12829,0.00,1.98,0.00,0.000,260,0.000,0.077,2810,3601,2496,2456,2536,0,0,0,0,0,0,27.26,26.96,27.27
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$GC,67069,-1.38,-146.6,2515,2180,2441,2477,3944.3,-3.9,1040,67074,0.00,2.08,0.00,0.000,260,0.000,0.079,2507,3574,2459,2441,2477,0,0,0,0,0,0,27.20,26.59,27.22
$GC,67150,-1.38,-146.6,2506,3574,2440,2477,3944.3,-3.9,1040,67154,0.00,1.92,0.00,0.000,1030,0.000,0.060,2507,2199,2459,2441,2477,0,0,0,0,0,0,26.85,26.81,26.86
$GC,67549,-1.38,-146.6,2506,2198,2441,2477,3964.6,-4.2,1044,67550,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2199,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.22
$GC,67908,-1.38,-146.6,2506,2199,2441,2477,3979.5,-4.2,1047,67914,0.00,2.05,0.00,0.000,260,0.000,0.079,2498,3576,2459,2441,2477,0,0,0,0,0,0,27.20,26.58,27.22
$GC,68029,-1.38,-146.6,2498,3576,2441,2477,3984.9,-4.2,1048,68033,0.00,1.88,0.00,0.000,1030,0.000,0.060,2498,2197,2458,2441,2476,0,0,0,0,0,0,26.88,26.82,26.90
$GC,68393,-1.38,-146.6,2498,2195,2441,2477,4000.1,-4.2,1051,68394,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2196,2459,2442,2477,0,0,0,0,0,0,27.17,27.19,27.18
$GC,68751,-1.38,-146.6,2498,2195,2441,2477,4015.9,-4.4,1054,68755,0.00,2.08,0.00,0.000,260,0.000,0.079,2490,3574,2459,2441,2477,0,0,0,0,0,0,27.20,26.58,27.22
$GC,68850,-1.38,-146.6,2490,3580,2441,2477,4015.9,-4.4,1054,68855,0.10,1.95,0.00,0.000,3078,0.156,0.060,2528,2185,2459,2441,2477,0,0,0,0,0,0,26.54,26.82,26.57
$GC,69234,-1.38,-146.6,2527,2184,2441,2477,4034.5,-3.8,1058,69238,0.00,2.10,0.00,0.000,260,0.000,0.079,2518,3569,2459,2441,2477,0,0,0,0,0,0,27.20,26.58,27.22
$GC,69343,-1.38,-146.6,2518,3584,2441,2477,4034.5,-3.8,1058,69347,0.00,1.95,0.00,0.000,1030,0.000,0.060,2518,2195,2459,2441,2477,0,0,0,0,0,0,26.84,26.81,26.87
$GC,69719,-1.38,-146.6,2518,2194,2441,2477,4051.5,-3.5,1062,69725,0.00,2.05,0.00,0.000,260,0.000,0.079,2511,3579,2459,2441,2477,0,0,0,0,0,0,27.18,26.58,27.20
$GC,69805,-1.38,-146.6,2510,3579,2441,2477,4051.5,-3.5,1062,69809,0.00,1.90,0.00,0.000,1030,0.000,0.060,2511,2200,2458,2441,2476,0,0,0,0,0,0,26.87,26.81,26.90
$GC,70199,-1.38,-146.6,2510,2199,2441,2477,4067.4,-3.3,1066,70200,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2199,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.22
$GC,70559,-1.38,-146.6,2510,2199,2440,2477,4079.2,-3.3,1069,70564,0.00,2.08,0.00,0.000,260,0.000,0.079,2502,3577,2459,2441,2477,0,0,0,0,0,0,27.20,26.57,27.22
$GC,70640,-1.38,-146.6,2502,3577,2441,2477,4079.2,-3.3,1069,70644,0.00,1.92,0.00,0.000,1030,0.000,0.060,2502,2204,2458,2441,2476,0,0,0,0,0,0,26.84,26.81,26.86
$GC,71039,-1.38,-146.6,2502,2203,2441,2477,4095.6,-3.4,1073,71040,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2203,2458,2440,2477,0,0,0,0,0,0,27.20,27.22,27.22
$GC,71399,-1.38,-146.6,2502,2203,2441,2476,4107.5,-3.3,1076,71400,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2203,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.22
$GC,71760,-1.38,-146.6,2501,2203,2441,2477,4119.0,-3.2,1079,71766,0.00,2.05,0.00,0.000,260,0.000,0.079,2494,3582,2459,2441,2477,0,0,0,0,0,0,27.20,26.57,27.22
$GC,71888,-1.38,-146.6,2494,3582,2441,2477,4123.1,-3.2,1080,71893,0.10,1.95,0.00,0.000,3078,0.166,0.060,2531,2170,2459,2441,2477,0,0,0,0,0,0,26.55,26.81,26.65
$GC,72243,-1.38,-146.6,2531,2170,2441,2477,4132.5,-2.8,1083,72246,0.00,2.15,0.00,0.000,260,0.000,0.079,2522,3575,2459,2441,2477,0,0,0,0,0,0,27.17,26.58,27.19
$GC,72327,-1.38,-146.6,2521,3590,2441,2477,4132.5,-2.8,1083,72331,0.00,1.90,0.00,0.000,1030,0.000,0.060,2521,2201,2458,2441,2476,0,0,0,0,0,0,26.88,26.81,26.89
$GC,72726,-1.44,-146.6,2521,2199,2441,2477,4145.3,-2.6,1087,72727,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2200,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.21
$GC,73086,-1.49,-146.6,2521,2200,2441,2477,4154.7,-2.6,1090,73091,0.00,2.05,0.00,0.000,260,0.000,0.079,2516,3578,2459,2441,2477,0,0,0,0,0,0,27.20,26.57,27.22
$GC,73225,-1.54,-146.6,2515,3579,2441,2477,4158.4,-2.7,1091,73231,0.08,1.90,0.00,0.000,5126,0.144,0.060,2465,2200,2459,2441,2477,0,0,0,0,0,0,26.71,26.81,26.77
$GC,73568,-1.54,-146.6,2465,2199,2441,2476,4172.4,-3.7,1094,73570,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2199,2459,2441,2477,0,0,0,0,0,0,27.17,27.20,27.19
$GC,73927,-1.54,-146.6,2465,2199,2441,2477,4186.2,-3.9,1097,73931,0.00,2.08,0.00,0.000,260,0.000,0.079,2457,3573,2459,2441,2477,0,0,0,0,0,0,27.20,26.58,27.22
$GC,74031,-1.54,-146.6,2457,3580,2441,2477,4186.2,-3.9,1097,74035,0.00,1.95,0.00,0.000,1030,0.000,0.060,2457,2194,2459,2441,2477,0,0,0,0,0,0,26.84,26.80,26.86
$GC,74410,-1.54,-146.6,2457,2193,2441,2477,4205.2,-4.0,1101,74411,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2193,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.22
$GC,74770,-1.54,-146.6,2456,2193,2441,2477,4218.6,-3.7,1104,74773,0.00,2.10,0.00,0.000,260,0.000,0.079,2447,3575,2458,2441,2476,0,0,0,0,0,0,27.20,26.57,27.22
$GC,74922,-1.54,-146.6,2446,3582,2441,2477,4223.5,-3.8,1105,74926,0.00,1.92,0.00,0.000,1030,0.000,0.060,2447,2189,2459,2441,2477,0,0,0,0,0,0,26.86,26.80,26.89
$GC,75251,-1.54,-146.6,2446,2188,2441,2477,4237.4,-3.9,1108,75252,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2188,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.21
$GC,75611,-1.54,-146.6,2446,2188,2441,2476,4251.0,-3.8,1111,75617,0.00,2.10,0.00,0.000,260,0.000,0.079,2436,3580,2459,2441,2477,0,0,0,0,0,0,27.17,26.57,27.19
$GC,75768,-1.54,-146.6,2436,3580,2441,2477,4255.6,-3.8,1112,75773,0.12,1.95,0.00,0.000,3078,0.166,0.060,2481,2168,2458,2440,2477,0,0,0,0,0,0,26.47,26.80,26.58
$GC,76093,-1.54,-146.6,2480,2167,2441,2477,4266.3,-3.1,1115,76094,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2167,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.22
$GC,76452,-1.54,-146.6,2481,2167,2441,2477,4276.7,-2.9,1118,76456,0.00,2.12,0.00,0.000,260,0.000,0.079,2471,3567,2459,2441,2477,0,0,0,0,0,0,27.20,26.56,27.22
$GC,76628,-1.54,-146.6,2471,3581,2441,2477,4280.6,-2.9,1119,76632,0.00,1.92,0.00,0.000,1030,0.000,0.060,2471,2212,2459,2441,2477,0,0,0,0,0,0,26.87,26.80,26.89
$GC,76938,-1.54,-146.6,2471,2210,2441,2476,4291.7,-3.1,1122,76939,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2211,2459,2441,2477,0,0,0,0,0,0,27.17,27.20,27.19
$GC,77298,-1.54,-146.6,2470,2211,2441,2477,4302.8,-3.1,1125,77303,0.00,2.05,0.00,0.000,260,0.000,0.079,2463,3575,2459,2441,2477,0,0,0,0,0,0,27.17,26.55,27.19
$GC,77394,-1.54,-146.6,2462,3575,2441,2477,4302.8,-3.1,1125,77398,0.00,1.92,0.00,0.000,1030,0.000,0.062,2463,2183,2459,2441,2477,0,0,0,0,0,0,26.86,26.80,26.89
$GC,77778,-1.54,-146.6,2462,2182,2441,2477,4316.9,-2.9,1129,77779,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2182,2458,2441,2476,0,0,0,0,0,0,27.20,27.22,27.22
$GC,78139,-1.54,-146.6,2462,2182,2441,2477,4327.6,-2.9,1132,78144,0.00,2.10,0.00,0.000,260,0.000,0.079,2454,3576,2459,2441,2477,0,0,0,0,0,0,27.20,26.56,27.22
$GC,78278,-1.54,-146.6,2454,3576,2441,2477,4331.5,-3.0,1133,78282,0.00,1.90,0.00,0.000,1030,0.000,0.060,2454,2206,2459,2441,2477,0,0,0,0,0,0,26.86,26.79,26.89
$GC,78618,-1.54,-146.6,2453,2205,2441,2477,4343.1,-3.2,1136,78619,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2205,2458,2441,2476,0,0,0,0,0,0,27.17,27.20,27.19
$GC,78976,-1.54,-146.6,2454,2205,2441,2477,4354.6,-3.2,1139,78982,0.00,2.08,0.00,0.000,260,0.000,0.079,2444,3584,2459,2441,2477,0,0,0,0,0,0,27.20,26.56,27.22
$GC,79097,-1.54,-146.6,2444,3584,2441,2477,4358.9,-3.3,1140,79102,0.00,1.92,0.00,0.000,1030,0.000,0.060,2444,2190,2459,2441,2477,0,0,0,0,0,0,26.86,26.79,26.87
$GC,79459,-1.54,-146.6,2444,2189,2441,2477,4370.3,-3.3,1143,79461,0.10,0.00,0.00,0.000,2054,0.176,0.000,2480,2189,2459,2441,2477,0,0,0,0,0,0,26.72,26.82,26.77
$GC,79816,-1.54,-146.6,2480,2189,2441,2477,4379.5,-2.7,1146,79822,0.00,2.08,0.00,0.000,260,0.000,0.079,2471,3573,2459,2441,2477,0,0,0,0,0,0,27.20,26.56,27.22
$GC,79951,-1.54,-146.6,2471,3573,2441,2477,4383.1,-2.6,1147,79955,0.00,1.92,0.00,0.000,1030,0.000,0.060,2471,2184,2459,2441,2477,0,0,0,0,0,0,26.86,26.79,26.89
$GC,80300,-1.54,-146.6,2470,2182,2441,2477,4393.6,-2.9,1150,80302,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2182,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.21
$GC,80660,-1.54,-146.6,2471,2182,2441,2476,4403.8,-2.8,1153,80665,0.00,2.08,0.00,0.000,260,0.000,0.079,2463,3578,2459,2441,2477,0,0,0,0,0,0,27.20,26.55,27.22
$GC,80802,-1.54,-146.6,2462,3578,2441,2477,4407.5,-2.9,1154,80806,0.00,1.90,0.00,0.000,1030,0.000,0.060,2463,2224,2459,2441,2477,0,0,0,0,0,0,26.86,26.79,26.88
$GC,81143,-1.54,-146.6,2462,2206,2441,2477,4419.0,-3.2,1157,81144,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2206,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.21
$GC,81502,-1.54,-146.6,2462,2206,2441,2477,4430.5,-3.2,1160,81503,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2206,2459,2441,2477,0,0,0,0,0,0,27.17,27.20,27.19
$GC,81862,-1.54,-146.6,2462,2206,2441,2477,4441.8,-3.2,1163,81868,0.00,2.05,0.00,0.000,260,0.000,0.079,2455,3583,2459,2441,2477,0,0,0,0,0,0,27.17,26.55,27.19
$GC,81995,-1.54,-146.6,2454,3583,2441,2477,4445.9,-3.2,1164,81998,0.00,1.95,0.00,0.000,1030,0.000,0.060,2455,2171,2459,2441,2477,0,0,0,0,0,0,26.86,26.79,26.88
$GC,82339,-1.54,-146.6,2454,2170,2441,2477,4457.6,-3.3,1167,82340,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2170,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.22
$GC,82700,-1.54,-146.6,2454,2170,2441,2477,4468.5,-3.1,1170,82705,0.00,2.10,0.00,0.000,260,0.000,0.079,2446,3578,2459,2441,2477,0,0,0,0,0,0,27.20,26.55,27.22
$GC,82863,-1.54,-146.6,2445,3578,2441,2477,4472.2,-3.0,1171,82867,0.00,1.92,0.00,0.000,1030,0.000,0.062,2446,2191,2459,2441,2477,0,0,0,0,0,0,26.86,26.79,26.88
$GC,83186,-1.54,-146.6,2446,2190,2441,2477,4483.6,-3.1,1174,83187,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2190,2458,2440,2477,0,0,0,0,0,0,27.17,27.20,27.20
$GC,83542,-1.54,-146.6,2445,2190,2441,2477,4494.6,-3.1,1177,83547,0.00,2.10,0.00,0.000,260,0.000,0.079,2435,3583,2459,2441,2477,0,0,0,0,0,0,27.20,26.55,27.22
$GC,83674,-1.54,-146.6,2435,3583,2441,2477,4498.6,-3.1,1178,83679,0.12,1.92,0.00,0.000,3078,0.161,0.060,2481,2182,2459,2441,2477,0,0,0,0,0,0,26.48,26.79,26.58
$GC,84018,-1.54,-146.6,2481,2182,2441,2477,4508.0,-2.8,1181,84019,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2181,2459,2441,2477,0,0,0,0,0,0,27.20,27.22,27.21
$GC,84378,-1.54,-146.6,2480,2181,2441,2477,4515.6,-2.2,1184,84384,0.00,2.10,0.00,0.000,260,0.000,0.079,2471,3573,2459,2441,2477,0,0,0,0,0,0,27.20,26.54,27.21
$STATE,84497,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,84498,begin apogee
$GC,84503,-0.25,0.0,2471,2204,2442,2477,4518.2,-2.1,1185,84643,1.17,0.00,135.62,3.739,10246,0.122,0.000,2898,2204,2000,2007,1993,0,0,0,0,0,0,26.31,22.10,20.65
$STATE,84644,end apogee,CONTROL_FINISHED_OK
$STATE,84644,begin climb
$GC,84645,0.61,146.6,2897,2204,2007,1993,4515.4,0.0,1186,84819,0.80,2.38,166.85,3.650,10756,0.089,0.089,3188,869,1495,1517,1473,0,0,0,0,0,0,22.61,22.04,20.62
$GC,85112,0.61,146.6,3188,843,1516,1473,4403.1,26.5,1190,85117,0.00,2.08,0.00,0.000,1030,0.000,0.062,3189,2178,1494,1516,1473,0,0,0,0,0,0,25.39,25.37,25.41
$GC,85463,0.11,146.6,3189,2178,1517,1473,4306.5,26.8,1193,85469,0.60,1.98,0.00,0.000,4612,0.223,0.065,3018,841,1494,1516,1473,0,0,0,0,0,0,25.78,25.98,25.91
$GC,85762,-0.32,146.6,3018,840,1516,1473,4261.7,22.7,1195,85767,0.43,2.03,0.00,0.000,5126,0.194,0.062,2889,2216,1494,1516,1473,0,0,0,0,0,0,26.05,26.29,26.22
$GC,86181,-0.49,146.6,2889,2216,1517,1473,4203.2,12.1,1199,86187,0.20,2.00,0.00,0.000,4612,0.176,0.067,2825,841,1495,1517,1473,0,0,0,0,0,0,26.29,26.44,26.39
$GC,86481,-0.59,146.6,2825,840,1516,1473,4184.1,9.5,1201,86486,0.12,2.03,0.00,0.000,5126,0.166,0.062,2781,2214,1494,1515,1473,0,0,0,0,0,0,26.41,26.56,26.54
$GC,86900,-0.59,146.6,2780,2215,1516,1473,4153.8,6.3,1205,86905,0.00,2.00,0.00,0.000,516,0.000,0.070,2781,843,1494,1516,1473,0,0,0,0,0,0,26.89,26.63,26.91
$GC,86996,-0.59,146.6,2781,843,1516,1473,4153.8,6.3,1205,87000,0.00,2.03,0.00,0.000,1030,0.000,0.062,2781,2203,1494,1516,1473,0,0,0,0,0,0,26.70,26.66,26.72
$GC,87380,-0.59,146.6,2781,2203,1516,1473,4125.2,5.9,1209,87385,0.00,2.03,0.00,0.000,516,0.000,0.067,2781,831,1494,1516,1473,0,0,0,0,0,0,26.96,26.70,26.97
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$GC,158799,0.55,304.0,3147,2207,977,935,202.2,7.3,1990,158804,0.00,1.92,0.00,0.000,516,0.000,0.067,3147,823,955,976,935,0,0,0,0,0,0,27.22,26.96,27.24
$GC,158841,0.55,304.0,3147,822,977,935,199.9,7.4,1991,158846,0.00,1.92,0.00,0.000,1030,0.000,0.060,3147,2197,956,977,935,0,0,0,0,0,0,27.01,26.98,27.02
$GC,159161,0.55,304.0,3147,2197,977,935,173.6,8.1,2002,159166,0.00,1.92,0.00,0.000,516,0.000,0.067,3147,827,956,977,936,0,0,0,0,0,0,27.22,26.96,27.24
$GC,159204,0.55,304.0,3147,827,977,936,171.3,8.0,2003,159208,0.00,1.90,0.00,0.000,1030,0.000,0.062,3147,2207,956,978,935,0,0,0,0,0,0,27.04,26.98,27.05
$GC,159517,0.55,304.0,3147,2207,978,935,146.8,7.6,2015,159522,0.00,1.95,0.00,0.000,516,0.000,0.065,3147,819,956,978,935,0,0,0,0,0,0,27.22,26.96,27.24
$GC,159566,0.61,304.0,3147,819,979,935,143.4,7.2,2018,159571,0.00,1.90,0.00,0.000,1030,0.000,0.060,3147,2201,957,979,936,0,0,0,0,0,0,27.04,26.99,27.05
$GC,159881,0.61,304.0,3147,2201,979,936,121.2,6.6,2039,159882,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2201,957,979,936,0,0,0,0,0,0,27.23,27.24,27.24
$GC,160180,0.61,304.0,3147,2202,979,936,101.4,6.2,2059,160184,0.00,1.92,0.00,0.000,516,0.000,0.067,3147,816,957,979,936,0,0,0,0,0,0,27.23,26.97,27.24
$GC,160247,0.67,304.0,3147,816,979,936,97.5,5.8,2063,160253,0.05,1.90,0.00,0.000,3078,0.129,0.062,3191,2203,957,979,936,0,0,0,0,0,0,26.89,26.99,26.94
$GC,160562,0.67,304.0,3190,2203,980,936,73.2,8.5,2084,160563,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2203,958,980,936,0,0,0,0,0,0,27.23,27.25,27.24
$GC,160862,0.67,304.0,3190,2203,980,938,47.4,8.1,2104,160867,0.00,1.90,0.00,0.000,516,0.000,0.067,3192,831,958,980,937,0,0,0,0,0,0,27.23,26.97,27.24
$GC,160958,0.67,304.0,3192,831,980,937,40.2,7.3,2110,160964,0.00,1.88,0.00,0.000,1030,0.000,0.062,3193,2198,959,980,938,0,0,0,0,0,0,27.05,27.00,27.06
$GC,161274,0.73,304.0,3192,2198,980,938,19.5,5.2,2141,161275,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2198,959,980,939,0,0,0,0,0,0,27.23,27.25,27.25
$GC,161575,0.79,304.0,3192,2198,980,940,3.9,5.5,2171,161585,0.00,1.92,0.00,0.000,516,0.000,0.067,3193,821,960,981,940,0,0,0,0,0,0,27.23,26.98,27.24
$STATE,161599,end climb,SURFACE_DEPTH_REACHED
$STATE,161599,begin surface coast
$FINISH,-0.5,1.007522
$STATE,161657,end surface coast,CONTROL_FINISHED_OK
$STATE,161657,begin surface
$SM_CCo,161734,0.00,0.000,0,0,960,302.11
$SM_GC,0.94,7.62,1.92,0.00,0.079,0.060,0.000,134,2204,960,-8.78,-2.04,302.11,0,0,0,0,0,0,26.94,27.01,26.99
$IRIDIUM_FIX,3137.94,-6343.12,280508,073924
$TT8_MAMPS,0.025466,0.025466
$HUMID,57.99
$INTERNAL_PRESSURE,9.38756
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,49.9,48.6
$ALTIM_BOTTOM_PING,4501.7,45.2
$24V_AH,20.62,19.126
$10V_AH,10.33,9.481
$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,26.300,1155.975,444.450,0.000,122.925,25.617,25.834,355.804,13.500,0.000,12.566,9302.956,131478.109,1154.554,19678.396,632.276,0.610,9172.659,0.000,18767.562,0.000,101.507,0.000
$DEVICE_MAMPS,295.477,89.388,3739.398,0.000,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1492.693,7124.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330360
$DATA_FILE_SIZE,137103,2178
$CAP_FILE_SIZE,1150311,0
$CFSIZE,1024409600,1010040832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050815,134934,3150.719,-6423.261,30,0.9,30,-14.9,0.5,121.1,9,9.0