version: 66.12
glider: 38
mission: 4
dive: 114
start: 10 17 115 21 33 7
data:
$ID,38
$MISSION,4
$DIVE,114
$N_DIVES,0
$D_SURF,3
$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,0.30000001
$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,78712
$MASS_COMP,9134.2002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,1
$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,0.1286
$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,115
$R_STBD_OVSHOOT,86
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$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,0
$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
$GPS1,171015,212237,2840.2839,-7309.4893,26,1.1,31,-10.9,0.0,0.0,7,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.7
$GPS2,171015,213241,2840.1343,-7309.5972,5,1.1,16,-10.9,0.0,0.0,7,10.0
$SPEED_LIMITS,0.147,0.208
$TGT_NAME,4_SW
$TGT_LATLONG,2744.630,-7432.070
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.196643,-0.067499
$KALMAN_X,277051.062500,0.000000,0.000000,-871760.125000,15460.062500
$KALMAN_Y,158733.406250,0.000000,0.000000,-424200.437500,4468.718750
$MHEAD_RNG_PITCHd_Wd,236.1,169825,-9.8,-5.333,-14.39,4152
$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,-0.53,-146.6,127,2217,1077,1052,0.0,0.0,0,131,0.00,0.00,-113.78,0.154,16386,0.000,0.000,127,2217,2557,2496,2619,0,0,0,0,0,0,26.80,28.83,26.82
$GC,133,-0.53,-146.6,127,2217,2497,2619,4.4,-6.4,11,156,11.45,1.92,-3.10,0.288,18948,0.300,0.067,2797,841,2646,2592,2701,0,0,0,0,0,0,25.82,26.22,26.03
$GC,386,-0.34,-146.6,2797,840,2595,2697,41.1,-12.2,32,395,0.20,1.88,0.00,0.000,3078,0.176,0.062,2855,2177,2646,2595,2697,0,0,0,0,0,0,26.13,26.63,26.23
$GC,697,-0.29,-146.6,2855,2178,2594,2697,63.9,-6.5,53,701,0.00,2.00,0.00,0.000,260,0.000,0.077,2844,3598,2645,2594,2697,0,0,0,0,0,0,27.08,26.63,27.09
$GC,970,-0.23,-146.6,2844,3598,2595,2698,80.9,-5.9,69,979,0.15,1.85,0.00,0.000,3078,0.151,0.060,2899,2172,2645,2594,2697,0,0,0,0,0,0,26.47,26.88,26.54
$GC,1277,-0.23,-146.6,2899,2171,2595,2697,94.8,-4.1,90,1281,0.00,1.80,0.00,0.000,516,0.000,0.067,2900,890,2646,2595,2698,0,0,0,0,0,0,27.16,26.79,27.17
$GC,1426,-0.23,-146.6,2900,865,2596,2697,101.1,-4.1,99,1431,0.00,1.85,0.00,0.000,1030,0.000,0.062,2900,2219,2646,2596,2697,0,0,0,0,0,0,26.89,26.84,26.91
$GC,1741,-0.23,-146.6,2900,2219,2596,2697,114.0,-4.0,120,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2219,2646,2595,2697,0,0,0,0,0,0,27.18,27.20,27.20
$GC,2041,-0.23,-146.6,2899,2219,2596,2697,125.8,-3.7,140,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2219,2646,2596,2697,0,0,0,0,0,0,27.19,27.20,27.20
$GC,2341,-0.23,-146.6,2900,2219,2596,2697,138.1,-4.5,160,2347,0.00,1.88,0.00,0.000,516,0.000,0.067,2900,871,2646,2596,2697,0,0,0,0,0,0,27.19,26.81,27.20
$GC,2423,-0.23,-146.6,2899,871,2597,2697,141.5,-4.7,165,2428,0.00,1.85,0.00,0.000,1030,0.000,0.062,2900,2202,2646,2596,2697,0,0,0,0,0,0,26.89,26.87,26.91
$GC,2738,-0.28,-146.6,2899,2202,2596,2697,154.8,-3.8,182,2744,0.00,1.95,0.00,0.000,260,0.000,0.079,2900,3586,2646,2596,2697,0,0,0,0,0,0,27.19,26.72,27.21
$GC,2800,-0.34,-146.6,2899,3586,2596,2697,157.3,-3.7,184,2804,0.00,1.77,0.00,0.000,5126,0.000,0.060,2900,2240,2646,2596,2697,0,0,0,0,0,0,26.98,26.94,26.99
$GC,3133,-0.41,-146.6,2900,2203,2596,2696,171.1,-4.5,195,3135,0.08,0.00,0.00,0.000,4102,0.154,0.000,2848,2204,2646,2596,2697,0,0,0,0,0,0,26.94,26.98,26.96
$GC,3433,-0.41,-146.6,2848,2204,2596,2696,189.0,-6.0,205,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2204,2645,2595,2696,0,0,0,0,0,0,27.19,27.21,27.20
$GC,3733,-0.41,-146.6,2848,2203,2596,2695,203.3,-4.5,215,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2203,2645,2596,2695,0,0,0,0,0,0,27.19,27.21,27.20
$GC,4033,-0.41,-146.6,2848,2204,2596,2694,217.2,-4.9,225,4039,0.00,2.00,0.00,0.000,260,0.000,0.077,2840,3608,2645,2596,2694,0,0,0,0,0,0,27.19,26.73,27.20
$GC,4127,-0.41,-146.6,2840,3608,2596,2694,222.2,-5.5,228,4133,0.00,1.88,0.00,0.000,1030,0.000,0.060,2840,2164,2645,2596,2694,0,0,0,0,0,0,26.96,26.93,26.98
$GC,4457,-0.41,-146.6,2840,2164,2596,2693,240.5,-5.4,239,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2164,2644,2596,2693,0,0,0,0,0,0,27.18,27.20,27.20
$GC,4757,-0.41,-146.6,2840,2164,2596,2692,256.0,-5.3,249,4763,0.00,2.03,0.00,0.000,260,0.000,0.077,2829,3586,2644,2596,2692,0,0,0,0,0,0,27.18,26.72,27.20
$GC,4809,-0.41,-146.6,2829,3586,2596,2692,257.9,-5.4,250,4819,0.00,1.83,0.00,0.000,1030,0.000,0.057,2829,2201,2644,2596,2692,0,0,0,0,0,0,26.94,26.95,26.95
$GC,5118,-0.41,-146.6,2829,2201,2596,2690,277.5,-5.8,261,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2201,2643,2596,2690,0,0,0,0,0,0,27.18,27.20,27.20
$GC,5419,-0.41,-146.6,2830,2201,2596,2689,294.6,-5.6,271,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2201,2642,2596,2689,0,0,0,0,0,0,27.18,27.20,27.20
$GC,5720,-0.41,-146.6,2829,2201,2596,2688,312.8,-6.2,279,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2201,2642,2596,2688,0,0,0,0,0,0,27.17,27.20,27.20
$GC,6033,-0.41,-146.6,2829,2201,2596,2686,331.2,-5.7,286,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2201,2641,2596,2686,0,0,0,0,0,0,27.17,27.20,27.20
$GC,6348,-0.41,-146.6,2829,2201,2596,2685,348.7,-5.6,293,6354,0.00,2.00,0.00,0.000,260,0.000,0.077,2821,3599,2640,2596,2685,0,0,0,0,0,0,27.17,26.71,27.20
$GC,6420,-0.41,-146.6,2820,3600,2596,2685,351.4,-5.6,294,6424,0.00,1.85,0.00,0.000,1030,0.000,0.057,2821,2201,2640,2596,2685,0,0,0,0,0,0,26.93,26.91,26.94
$GC,6754,-0.41,-146.6,2821,2201,2596,2682,373.3,-6.0,302,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2201,2639,2596,2683,0,0,0,0,0,0,27.17,27.20,27.19
$GC,7069,-0.41,-146.6,2821,2201,2596,2682,392.7,-6.2,309,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2201,2638,2595,2682,0,0,0,0,0,0,27.17,27.19,27.19
$GC,7384,-0.41,-146.6,2820,2201,2596,2681,411.3,-5.8,316,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2201,2638,2596,2681,0,0,0,0,0,0,27.17,27.20,27.19
$GC,7700,-0.41,-146.6,2821,2201,2596,2679,428.6,-5.4,323,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2201,2637,2596,2679,0,0,0,0,0,0,27.17,27.20,27.19
$GC,8014,-0.41,-146.6,2820,2201,2596,2678,447.3,-5.9,330,8019,0.00,2.03,0.00,0.000,260,0.000,0.077,2815,3599,2637,2596,2678,0,0,0,0,0,0,27.16,26.69,27.18
$GC,8085,-0.41,-146.6,2814,3599,2596,2678,450.3,-6.1,331,8089,0.00,1.85,0.00,0.000,1030,0.000,0.060,2815,2204,2637,2596,2678,0,0,0,0,0,0,26.91,26.89,26.93
$GC,8424,-0.41,-146.6,2814,2202,2596,2676,473.7,-6.4,339,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2202,2636,2596,2676,0,0,0,0,0,0,27.17,27.19,27.18
$GC,8739,-0.41,-146.6,2814,2203,2596,2675,493.9,-6.4,346,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2202,2635,2596,2675,0,0,0,0,0,0,27.16,27.19,27.18
$GC,9054,-0.41,-146.6,2814,2202,2596,2674,513.2,-6.1,353,9060,0.00,1.98,0.00,0.000,260,0.000,0.079,2807,3592,2635,2596,2674,0,0,0,0,0,0,27.16,26.68,27.17
$GC,9111,-0.41,-146.6,2807,3592,2596,2674,515.9,-6.0,354,9115,0.00,1.85,0.00,0.000,1030,0.000,0.057,2807,2193,2635,2597,2674,0,0,0,0,0,0,26.91,26.89,26.93
$GC,9460,-0.41,-146.6,2807,2192,2596,2672,537.4,-5.8,362,9462,0.10,0.00,0.00,0.000,2054,0.171,0.000,2846,2191,2634,2596,2672,0,0,0,0,0,0,26.74,26.83,26.79
$GC,9776,-0.46,-146.6,2845,2191,2596,2671,552.4,-4.8,369,9779,0.00,2.00,0.00,0.000,260,0.000,0.077,2839,3587,2633,2596,2671,0,0,0,0,0,0,27.16,26.67,27.17
$GC,9851,-0.52,-146.6,2839,3587,2595,2671,554.8,-4.8,370,9854,0.00,1.85,0.00,0.000,5126,0.000,0.057,2839,2171,2632,2595,2670,0,0,0,0,0,0,26.94,26.89,26.96
$GC,10184,-0.52,-146.6,2839,2171,2595,2670,573.9,-5.3,378,10185,0.00,0.00,0.00,0.000,4102,0.000,0.000,2839,2171,2633,2596,2670,0,0,0,0,0,0,27.17,27.18,27.17
$GC,10500,-0.57,-146.6,2839,2171,2596,2670,590.1,-5.1,385,10501,0.05,0.00,0.00,0.000,4102,0.189,0.000,2792,2171,2632,2595,2670,0,0,0,0,0,0,26.94,26.96,26.96
$GC,10814,-0.57,-146.6,2792,2171,2596,2669,612.0,-7.2,392,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2171,2632,2596,2669,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11130,-0.57,-146.6,2792,2171,2595,2667,634.3,-7.3,399,11135,0.00,2.05,0.00,0.000,260,0.000,0.077,2784,3591,2631,2595,2667,0,0,0,0,0,0,27.15,26.65,27.17
$GC,11220,-0.57,-146.6,2783,3591,2595,2668,641.0,-7.2,401,11226,0.00,1.83,0.00,0.000,1030,0.000,0.057,2784,2196,2632,2596,2668,0,0,0,0,0,0,26.91,26.87,26.93
$GC,11535,-0.57,-146.6,2783,2196,2595,2666,663.8,-7.2,408,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2196,2630,2596,2665,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11851,-0.57,-146.6,2783,2196,2595,2665,685.0,-6.6,415,11856,0.00,2.03,0.00,0.000,260,0.000,0.077,2776,3593,2630,2595,2665,0,0,0,0,0,0,27.15,26.65,27.16
$GC,11903,-0.57,-146.6,2775,3593,2595,2665,687.7,-6.5,416,11908,0.00,1.85,0.00,0.000,1030,0.000,0.057,2776,2206,2630,2595,2665,0,0,0,0,0,0,26.89,26.86,26.89
$GC,12212,-0.57,-146.6,2775,2204,2595,2663,709.5,-7.0,423,12216,0.00,1.88,0.00,0.000,516,0.000,0.067,2776,844,2629,2595,2664,0,0,0,0,0,0,27.15,26.75,27.17
$GC,12272,-0.57,-146.6,2775,844,2596,2663,713.3,-7.1,424,12276,0.00,1.88,0.00,0.000,1030,0.000,0.062,2772,2199,2629,2596,2663,0,0,0,0,0,0,26.86,26.80,26.89
$GC,12621,-0.57,-146.6,2772,2199,2595,2662,740.7,-7.6,432,12626,0.00,1.98,0.00,0.000,260,0.000,0.079,2771,3595,2628,2595,2662,0,0,0,0,0,0,27.15,26.63,27.17
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$GC,68422,-1.45,-146.6,2509,2194,2573,2600,4295.8,-4.4,946,68427,0.00,2.30,0.00,0.000,260,0.000,0.079,2500,3579,2586,2572,2600,0,0,0,0,0,0,27.09,25.41,27.10
$GC,68491,-1.45,-146.6,2500,3580,2573,2600,4295.8,-4.4,946,68495,0.00,2.03,0.00,0.000,1030,0.000,0.057,2500,2210,2587,2573,2601,0,0,0,0,0,0,26.32,26.29,26.34
$GC,68905,-1.45,-146.6,2500,2208,2573,2600,4316.7,-4.3,950,68906,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2208,2586,2573,2600,0,0,0,0,0,0,27.09,27.11,27.10
$GC,69266,-1.45,-146.6,2500,2209,2573,2600,4332.3,-4.3,953,69267,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2209,2586,2573,2600,0,0,0,0,0,0,27.03,27.05,27.05
$GC,69626,-1.45,-146.6,2500,2208,2573,2600,4347.5,-4.3,956,69627,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2208,2586,2572,2600,0,0,0,0,0,0,27.09,27.11,27.11
$GC,69986,-1.45,-146.6,2500,2208,2573,2600,4362.4,-4.2,959,69991,0.00,2.25,0.00,0.000,260,0.000,0.079,2492,3576,2586,2573,2600,0,0,0,0,0,0,27.03,25.39,27.05
$GC,70051,-1.45,-146.6,2492,3577,2573,2600,4362.4,-4.2,959,70055,0.00,2.03,0.00,0.000,1030,0.000,0.057,2493,2219,2586,2573,2600,0,0,0,0,0,0,26.34,26.29,26.36
$GC,70471,-1.45,-146.6,2492,2194,2573,2600,4382.6,-4.2,963,70472,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2194,2586,2573,2600,0,0,0,0,0,0,27.03,27.05,27.05
$GC,70830,-1.45,-146.6,2492,2194,2573,2600,4397.6,-4.2,966,70835,0.00,2.28,0.00,0.000,260,0.000,0.079,2488,3581,2586,2572,2600,0,0,0,0,0,0,27.09,25.39,27.10
$GC,70896,-1.45,-146.6,2488,3581,2573,2600,4397.6,-4.2,966,70900,0.00,2.08,0.00,0.000,1030,0.000,0.057,2488,2177,2586,2573,2600,0,0,0,0,0,0,26.30,26.28,26.33
$GC,71310,-1.45,-146.6,2487,2176,2572,2600,4417.9,-4.2,970,71311,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2176,2586,2573,2600,0,0,0,0,0,0,27.09,27.11,27.10
$GC,71672,-1.45,-146.6,2487,2176,2573,2600,4432.7,-4.2,973,71676,0.00,2.33,0.00,0.000,260,0.000,0.079,2486,3576,2586,2573,2600,0,0,0,0,0,0,27.05,25.38,27.07
$GC,71751,-1.45,-146.6,2485,3577,2573,2600,4432.7,-4.2,973,71756,0.00,2.03,0.00,0.000,1030,0.000,0.057,2486,2204,2587,2573,2601,0,0,0,0,0,0,26.30,26.26,26.32
$GC,72156,-1.45,-146.6,2486,2202,2573,2600,4452.4,-4.0,977,72157,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2202,2586,2573,2600,0,0,0,0,0,0,27.03,27.05,27.05
$GC,72515,-1.45,-146.6,2486,2202,2573,2600,4466.6,-4.0,980,72521,0.00,2.28,0.00,0.000,260,0.000,0.079,2484,3579,2586,2573,2600,0,0,0,0,0,0,27.09,25.37,27.11
$GC,72581,-1.45,-146.6,2484,3579,2573,2600,4466.6,-4.0,980,72586,0.00,2.05,0.00,0.000,1030,0.000,0.057,2485,2195,2586,2573,2600,0,0,0,0,0,0,26.29,26.25,26.32
$GC,72996,-1.45,-146.6,2484,2193,2572,2600,4484.9,-3.8,984,72997,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2194,2586,2572,2600,0,0,0,0,0,0,27.09,27.11,27.10
$GC,73355,-1.45,-146.6,2484,2194,2573,2600,4498.4,-3.8,987,73360,0.00,2.28,0.00,0.000,260,0.000,0.079,2483,3577,2586,2573,2600,0,0,0,0,0,0,27.09,25.37,27.10
$GC,73424,-1.45,-146.6,2482,3577,2573,2600,4498.4,-3.8,987,73429,0.00,2.05,0.00,0.000,1030,0.000,0.057,2483,2186,2587,2574,2600,0,0,0,0,0,0,26.29,26.27,26.31
$GC,73839,-1.45,-146.6,2482,2184,2572,2600,4517.0,-3.8,991,73840,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2184,2586,2573,2600,0,0,0,0,0,0,27.09,27.11,27.10
$GC,74201,-1.45,-146.6,2482,2184,2572,2600,4530.5,-3.8,994,74206,0.00,2.28,0.00,0.000,260,0.000,0.079,2476,3574,2586,2573,2600,0,0,0,0,0,0,27.05,25.37,27.07
$GC,74281,-1.45,-146.6,2476,3574,2573,2600,4530.5,-3.8,994,74285,0.00,2.05,0.00,0.000,1030,0.000,0.057,2476,2194,2587,2573,2601,0,0,0,0,0,0,26.28,26.27,26.32
$GC,74681,-1.45,-146.6,2476,2192,2573,2600,4548.5,-3.7,998,74682,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2192,2586,2573,2600,0,0,0,0,0,0,27.09,27.11,27.10
$GC,75042,-1.45,-146.6,2476,2193,2573,2600,4561.4,-3.6,1001,75047,0.00,2.28,0.00,0.000,260,0.000,0.079,2474,3575,2586,2573,2600,0,0,0,0,0,0,27.05,25.35,27.07
$GC,75107,-1.45,-146.6,2474,3575,2573,2600,4561.4,-3.6,1001,75111,0.00,2.03,0.00,0.000,1030,0.000,0.057,2474,2205,2587,2573,2601,0,0,0,0,0,0,26.32,26.26,26.34
$GC,75526,-1.45,-146.6,2474,2185,2573,2600,4578.1,-3.4,1005,75527,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2186,2586,2573,2600,0,0,0,0,0,0,27.09,27.11,27.10
$GC,75888,-1.45,-146.6,2474,2185,2573,2600,4590.1,-3.3,1008,75890,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2185,2586,2572,2600,0,0,0,0,0,0,27.05,27.08,27.07
$GC,76247,-1.45,-146.6,2474,2186,2573,2600,4602.5,-3.4,1011,76253,0.00,2.30,0.00,0.000,260,0.000,0.082,2474,3578,2586,2573,2600,0,0,0,0,0,0,27.04,25.34,27.05
$GC,76314,-1.45,-146.6,2474,3578,2573,2600,4602.5,-3.4,1011,76318,0.00,2.05,0.00,0.000,1030,0.000,0.057,2474,2173,2586,2573,2600,0,0,0,0,0,0,26.30,26.25,26.32
$GC,76721,-1.45,-146.6,2474,2172,2573,2600,4619.2,-3.5,1015,76722,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2172,2586,2573,2600,0,0,0,0,0,0,27.09,27.11,27.10
$GC,77083,-1.45,-146.6,2474,2172,2573,2600,4632.0,-3.6,1018,77084,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2172,2586,2573,2600,0,0,0,0,0,0,27.03,27.05,27.05
$GC,77442,-1.45,-146.6,2474,2172,2573,2600,4644.8,-3.5,1021,77448,0.00,2.33,0.00,0.000,260,0.000,0.079,2473,3578,2586,2572,2600,0,0,0,0,0,0,27.09,25.35,27.11
$GC,77518,-1.45,-146.6,2473,3578,2573,2600,4644.8,-3.5,1021,77523,0.10,2.03,0.00,0.000,3078,0.151,0.057,2511,2191,2587,2573,2601,0,0,0,0,0,0,25.96,26.25,26.00
$GC,77918,-1.54,-146.6,2510,2190,2573,2600,4663.7,-4.0,1025,77925,0.00,2.30,0.00,0.000,4356,0.000,0.079,2506,3580,2586,2573,2600,0,0,0,0,0,0,27.10,25.36,27.11
$GC,77930,-1.63,-146.6,2505,3580,2573,2600,4663.7,-4.0,1025,77935,0.05,2.05,0.00,0.000,5126,0.109,0.057,2466,2203,2586,2573,2600,0,0,0,0,0,0,26.06,26.25,26.08
$STATE,78039,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,78039,begin apogee
$GC,78042,-0.25,0.0,2466,2202,2573,2600,4668.7,-4.2,1026,78184,1.20,0.00,138.25,3.789,10246,0.109,0.000,2897,2202,2140,2145,2136,0,0,0,0,0,0,25.02,22.78,21.06
$STATE,78185,end apogee,CONTROL_FINISHED_OK
$STATE,78185,begin climb
$GC,78187,0.53,146.6,2897,2202,2145,2135,4671.4,0.0,1027,78356,0.68,2.55,160.45,3.749,10500,0.092,0.107,3154,3578,1635,1651,1619,0,0,0,0,0,0,23.33,22.84,21.20
$GC,78554,0.53,146.6,3155,3578,1650,1619,4604.9,23.8,1030,78559,0.00,2.15,0.00,0.000,1030,0.000,0.060,3165,2231,1634,1650,1619,0,0,0,0,0,0,25.32,25.28,25.32
$GC,78884,0.00,146.6,3164,2231,1650,1618,4516.5,24.8,1033,78891,0.65,2.22,0.00,0.000,4612,0.226,0.062,2985,794,1634,1650,1619,0,0,0,0,0,0,25.57,25.88,25.74
$GC,79068,-0.47,146.6,2985,794,1651,1618,4496.3,22.8,1034,79074,0.45,2.10,0.00,0.000,5126,0.184,0.062,2847,2206,1635,1651,1619,0,0,0,0,0,0,25.84,26.27,26.07
$GC,79488,-0.64,146.6,2846,2205,1650,1617,4447.8,9.9,1038,79490,0.25,0.00,0.00,0.000,4102,0.159,0.000,2761,2205,1634,1650,1618,0,0,0,0,0,0,26.14,26.37,26.31
$GC,79848,-0.70,146.6,2761,2205,1650,1618,4427.4,6.3,1041,79854,0.00,2.17,0.00,0.000,516,0.000,0.067,2766,795,1634,1650,1619,0,0,0,0,0,0,26.85,26.51,26.87
$GC,79904,-0.76,146.6,2766,795,1650,1619,4427.4,6.3,1041,79909,0.12,2.12,0.00,0.000,5126,0.151,0.062,2719,2211,1634,1650,1618,0,0,0,0,0,0,26.34,26.54,26.46
$GC,80323,-0.76,146.6,2718,2211,1650,1618,4406.2,4.4,1045,80324,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2211,1634,1650,1618,0,0,0,0,0,0,26.93,26.95,26.94
$GC,80683,-0.76,146.6,2718,2211,1650,1618,4390.9,4.2,1048,80684,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2211,1634,1651,1618,0,0,0,0,0,0,26.96,26.98,26.98
$GC,81044,-0.71,146.6,2718,2211,1650,1618,4376.3,4.1,1051,81045,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2211,1634,1650,1618,0,0,0,0,0,0,26.99,27.01,27.01
$GC,81403,-0.65,146.6,2718,2211,1650,1618,4362.5,3.9,1054,81405,0.00,0.00,0.00,0.000,2054,0.000,0.000,2719,2211,1634,1650,1618,0,0,0,0,0,0,27.03,27.04,27.03
$GC,81763,-0.60,146.6,2718,2211,1650,1618,4348.9,3.8,1057,81765,0.08,0.00,0.00,0.000,2054,0.144,0.000,2764,2211,1634,1650,1618,0,0,0,0,0,0,26.79,26.83,26.82
$GC,82123,-0.60,146.6,2764,2211,1650,1618,4332.2,4.5,1060,82128,0.00,2.17,0.00,0.000,516,0.000,0.065,2766,798,1634,1650,1618,0,0,0,0,0,0,27.04,26.60,27.06
$GC,82174,-0.60,146.6,2766,798,1650,1618,4332.2,4.5,1060,82178,0.00,2.10,0.00,0.000,1030,0.000,0.060,2766,2208,1634,1650,1618,0,0,0,0,0,0,26.73,26.66,26.75
$GC,82598,-0.60,146.6,2765,2208,1650,1618,4310.1,4.7,1064,82599,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2208,1634,1650,1618,0,0,0,0,0,0,27.05,27.08,27.07
$GC,82958,-0.60,146.6,2765,2208,1649,1618,4293.1,4.7,1067,82959,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2208,1634,1650,1618,0,0,0,0,0,0,27.06,27.09,27.08
$GC,83318,-0.60,146.6,2765,2208,1650,1618,4276.1,4.7,1070,83323,0.00,2.17,0.00,0.000,516,0.000,0.065,2766,799,1634,1650,1618,0,0,0,0,0,0,27.07,26.60,27.09
$GC,83369,-0.60,146.6,2766,799,1649,1618,4276.1,4.7,1070,83373,0.00,2.10,0.00,0.000,1030,0.000,0.060,2766,2200,1634,1650,1618,0,0,0,0,0,0,26.72,26.65,26.75
$GC,83793,-0.60,146.6,2765,2200,1650,1618,4254.2,4.6,1074,83794,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2200,1634,1650,1618,0,0,0,0,0,0,27.08,27.10,27.10
$GC,84153,-0.60,146.6,2765,2200,1650,1618,4238.1,4.5,1077,84154,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2200,1634,1650,1618,0,0,0,0,0,0,27.08,27.10,27.10
$GC,84513,-0.60,146.6,2765,2200,1650,1618,4221.6,4.6,1080,84518,0.00,2.17,0.00,0.000,516,0.000,0.065,2766,792,1633,1649,1618,0,0,0,0,0,0,27.08,26.58,27.10
$GC,84564,-0.60,146.6,2766,791,1650,1618,4221.6,4.6,1080,84568,0.00,2.12,0.00,0.000,1030,0.000,0.060,2766,2207,1634,1650,1618,0,0,0,0,0,0,26.72,26.65,26.74
$GC,84988,-0.60,146.6,2765,2207,1649,1618,4200.0,4.5,1084,84989,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2207,1634,1650,1618,0,0,0,0,0,0,27.09,27.11,27.10
$GC,85348,-0.60,146.6,2766,2207,1649,1618,4183.2,4.7,1087,85349,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2207,1634,1650,1618,0,0,0,0,0,0,27.09,27.11,27.10
$GC,85708,-0.60,146.6,2766,2207,1649,1618,4166.5,4.7,1090,85713,0.00,2.17,0.00,0.000,516,0.000,0.065,2766,799,1633,1649,1618,0,0,0,0,0,0,27.09,26.55,27.11
$GC,85754,-0.60,146.6,2766,798,1649,1618,4166.5,4.7,1090,85759,0.00,2.12,0.00,0.000,1030,0.000,0.060,2766,2200,1633,1649,1618,0,0,0,0,0,0,26.67,26.63,26.70
$GC,86068,-0.60,146.6,2766,2200,1649,1618,4149.4,4.8,1093,86069,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2200,1633,1649,1618,0,0,0,0,0,0,27.10,27.12,27.11
$GC,86428,-0.60,146.6,2766,2200,1649,1618,4132.4,4.7,1096,86429,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2200,1633,1649,1618,0,0,0,0,0,0,27.10,27.12,27.11
$GC,86788,-0.60,146.6,2766,2200,1649,1618,4115.0,4.8,1099,86789,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2200,1633,1649,1618,0,0,0,0,0,0,27.10,27.12,27.11
$GC,87148,-0.60,146.6,2765,2199,1649,1618,4097.5,4.8,1102,87154,0.00,2.17,0.00,0.000,516,0.000,0.065,2766,797,1633,1649,1618,0,0,0,0,0,0,27.10,26.53,27.12
$GC,87199,-0.60,146.6,2766,797,1649,1618,4097.5,4.8,1102,87204,0.00,2.12,0.00,0.000,1030,0.000,0.060,2766,2200,1633,1649,1618,0,0,0,0,0,0,26.65,26.62,26.67
$GC,87508,-0.60,146.6,2766,2200,1649,1618,4080.2,4.8,1105,87509,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2200,1633,1649,1618,0,0,0,0,0,0,27.10,27.13,27.12
$GC,87868,-0.60,146.6,2765,2200,1649,1618,4064.1,4.6,1108,87869,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2200,1633,1649,1618,0,0,0,0,0,0,27.10,27.13,27.12
$GC,88228,-0.60,146.6,2765,2200,1649,1618,4048.3,4.4,1111,88230,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2200,1633,1649,1618,0,0,0,0,0,0,27.10,27.13,27.12
$GC,88588,-0.60,146.6,2766,2200,1649,1618,4032.1,4.5,1114,88592,0.00,2.17,0.00,0.000,516,0.000,0.067,2766,794,1633,1649,1618,0,0,0,0,0,0,27.10,26.51,27.12
$GC,88647,-0.60,146.6,2766,794,1649,1618,4032.1,4.5,1114,88652,0.00,2.12,0.00,0.000,1030,0.000,0.062,2766,2195,1633,1649,1618,0,0,0,0,0,0,26.63,26.60,26.65
$GC,89071,-0.60,146.6,2765,2195,1649,1618,4010.8,4.4,1118,89072,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2194,1633,1649,1618,0,0,0,0,0,0,27.10,27.13,27.12
$GC,89431,-0.60,146.6,2766,2195,1649,1618,3995.9,4.2,1121,89432,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2194,1633,1649,1618,0,0,0,0,0,0,27.10,27.13,27.12
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$GC,170493,0.52,311.8,3128,2199,1088,1053,330.4,6.5,1974,170500,0.00,1.95,0.00,0.000,516,0.000,0.065,3128,823,1071,1089,1053,0,0,0,0,0,0,27.15,26.65,27.17
$GC,170538,0.52,311.8,3128,823,1089,1053,327.5,6.5,1975,170543,0.00,1.92,0.00,0.000,1030,0.000,0.060,3128,2211,1071,1089,1053,0,0,0,0,0,0,26.79,26.73,26.82
$GC,170857,0.52,311.8,3128,2211,1090,1053,307.8,6.0,1982,170858,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2211,1071,1090,1053,0,0,0,0,0,0,27.15,27.17,27.17
$GC,171171,0.52,311.8,3128,2211,1091,1053,289.1,6.0,1991,171176,0.00,1.98,0.00,0.000,516,0.000,0.067,3128,817,1072,1091,1054,0,0,0,0,0,0,27.16,26.66,27.17
$GC,171222,0.52,311.8,3128,818,1091,1054,287.0,6.1,1992,171226,0.00,1.95,0.00,0.000,1030,0.000,0.060,3128,2201,1072,1091,1053,0,0,0,0,0,0,26.77,26.74,26.79
$GC,171536,0.52,311.8,3128,2200,1091,1054,266.4,5.9,2003,171537,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2201,1072,1091,1054,0,0,0,0,0,0,27.16,27.18,27.17
$GC,171836,0.52,311.8,3128,2201,1091,1055,249.8,5.6,2013,171840,0.00,1.95,0.00,0.000,516,0.000,0.065,3128,823,1073,1091,1055,0,0,0,0,0,0,27.16,26.67,27.17
$GC,171886,0.52,311.8,3128,822,1092,1055,247.9,5.6,2014,171901,0.00,1.92,3.67,0.499,9222,0.000,0.060,3128,2198,1065,1078,1053,0,0,0,0,0,0,26.78,26.76,25.18
$GC,172200,0.52,311.8,3128,2198,1079,1053,227.8,5.9,2025,172201,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2197,1066,1079,1053,0,0,0,0,0,0,27.14,27.16,27.16
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$GC,172864,0.57,311.8,3127,817,1079,1053,187.6,5.9,2047,172868,0.00,1.95,0.00,0.000,1030,0.000,0.060,3128,2206,1067,1080,1054,0,0,0,0,0,0,26.81,26.78,26.82
$GC,173193,0.63,311.8,3128,2206,1079,1054,170.7,5.2,2058,173194,0.00,0.00,0.00,0.000,2054,0.000,0.000,3128,2206,1066,1080,1053,0,0,0,0,0,0,27.17,27.18,27.18
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$GC,173861,0.69,311.8,3190,2205,1083,1053,126.9,7.1,2090,173862,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2204,1068,1082,1054,0,0,0,0,0,0,27.16,27.18,27.18
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$STATE,175919,end climb,SURFACE_DEPTH_REACHED
$STATE,175919,begin surface coast
$FINISH,0.9,1.023547
$STATE,175960,end surface coast,CONTROL_FINISHED_OK
$STATE,175960,begin surface
$SM_CCo,176034,0.00,0.000,0,0,1073,309.95
$SM_GC,1.53,7.75,0.00,0.00,0.087,0.000,0.000,168,2204,1073,-8.70,0.11,309.95,0,0,0,0,0,0,26.49,27.20,26.60
$IRIDIUM_FIX,2835.91,-7246.24,110808,115310
$TT8_MAMPS,0.026215,0.026215
$HUMID,72.99
$INTERNAL_PRESSURE,9.55359
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,4640.3,57.7
$24V_AH,21.06,37.541
$10V_AH,10.19,26.165
$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,26.175,966.900,456.400,0.000,116.875,37.123,25.923,337.978,16.500,0.000,17.553,9618.658,148773.172,1125.491,16409.242,619.943,0.000,7554.272,0.000,15624.749,0.000,121.930,0.000
$DEVICE_MAMPS,300.443,106.769,3789.058,0.000,288.028,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1543.659,7367.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329948
$DATA_FILE_SIZE,140030,2252
$CAP_FILE_SIZE,1023120,0
$CFSIZE,1024409600,997457920
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,30955.44,0x23577e,0,24
$INTR,1,39489.38,0x23577e,0,24
$CURRENT,0.094,237.29,1
$GPS,191015,222826,2825.874,-7335.514,28,1.0,47,-10.6,0.5,169.9,9,9.0