version: 66.12
glider: 38
mission: 4
dive: 121
start: 10 30 115 22 52 57
data:
$ID,38
$MISSION,4
$DIVE,121
$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,102
$R_STBD_OVSHOOT,65
$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
$GPS1,301015,223810,2721.9209,-7514.9546,28,1.2,36,-9.6,0.0,0.0,8,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.4
$GPS2,301015,225231,2721.8889,-7515.0635,5,1.1,35,-9.6,0.0,0.0,8,9.8
$SPEED_LIMITS,0.147,0.208
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$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,256.1,176658,-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,-146.6,119,2210,812,768,0.0,0.0,0,151,0.00,0.00,-133.85,0.151,16386,0.000,0.000,119,2210,2503,2444,2563,0,0,0,0,0,0,26.80,28.83,26.82
$GC,154,-0.53,-146.6,119,2210,2444,2563,3.3,-2.8,13,177,11.18,2.03,-5.65,0.226,18692,0.291,0.077,2781,3594,2646,2591,2702,0,0,0,0,0,0,25.78,26.26,25.98
$GC,498,-0.34,-146.6,2781,3594,2591,2702,48.8,-11.5,41,505,0.25,1.85,0.00,0.000,3078,0.174,0.060,2865,2157,2646,2591,2701,0,0,0,0,0,0,26.17,26.73,26.36
$GC,815,-0.28,-146.6,2864,2157,2592,2701,73.2,-7.3,62,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2157,2646,2592,2701,0,0,0,0,0,0,27.10,27.11,27.11
$GC,1115,-0.28,-146.6,2864,2157,2592,2701,91.7,-6.0,82,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2157,2646,2591,2701,0,0,0,0,0,0,27.14,27.16,27.15
$GC,1414,-0.28,-146.6,2865,2157,2591,2701,108.3,-5.6,102,1419,0.00,2.03,0.00,0.000,260,0.000,0.077,2855,3593,2646,2591,2701,0,0,0,0,0,0,27.16,26.70,27.17
$GC,1546,-0.28,-146.6,2854,3592,2592,2701,116.0,-6.2,110,1551,0.00,1.83,0.00,0.000,1030,0.000,0.057,2854,2212,2646,2591,2701,0,0,0,0,0,0,26.93,26.91,26.94
$GC,1861,-0.28,-146.6,2854,2212,2591,2701,134.0,-5.4,131,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2212,2646,2592,2701,0,0,0,0,0,0,27.17,27.20,27.19
$GC,2161,-0.28,-146.6,2854,2211,2591,2701,148.3,-4.6,151,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2212,2646,2591,2701,0,0,0,0,0,0,27.17,27.20,27.19
$GC,2476,-0.28,-146.6,2854,2212,2591,2701,163.1,-4.9,163,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2211,2646,2592,2701,0,0,0,0,0,0,27.18,27.20,27.20
$GC,2775,-0.28,-146.6,2854,2212,2591,2700,178.0,-5.4,173,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2211,2646,2592,2701,0,0,0,0,0,0,27.18,27.20,27.20
$GC,3076,-0.28,-146.6,2855,2211,2591,2700,193.3,-5.1,183,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2211,2645,2591,2700,0,0,0,0,0,0,27.18,27.20,27.20
$GC,3375,-0.28,-146.6,2854,2212,2591,2698,206.8,-4.5,193,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2212,2645,2591,2699,0,0,0,0,0,0,27.18,27.20,27.20
$GC,3676,-0.28,-146.6,2854,2211,2592,2697,222.5,-5.2,203,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2211,2644,2592,2697,0,0,0,0,0,0,27.17,27.20,27.19
$GC,3975,-0.28,-146.6,2855,2212,2592,2696,238.1,-5.0,213,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2212,2643,2591,2696,0,0,0,0,0,0,27.17,27.20,27.19
$GC,4276,-0.28,-146.6,2854,2211,2592,2695,253.4,-5.4,223,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2211,2643,2592,2695,0,0,0,0,0,0,27.17,27.20,27.19
$GC,4575,-0.28,-146.6,2855,2212,2592,2694,269.1,-5.4,233,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2212,2643,2592,2694,0,0,0,0,0,0,27.17,27.20,27.19
$GC,4876,-0.28,-146.6,2854,2211,2592,2693,285.6,-5.5,243,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2211,2642,2592,2693,0,0,0,0,0,0,27.17,27.20,27.18
$GC,5190,-0.28,-146.6,2854,2212,2592,2691,302.9,-5.4,253,5196,0.00,2.00,0.00,0.000,260,0.000,0.079,2851,3607,2641,2592,2691,0,0,0,0,0,0,27.17,26.71,27.18
$GC,5284,-0.28,-146.6,2851,3608,2592,2691,308.0,-5.5,255,5288,0.00,1.88,0.00,0.000,1030,0.000,0.057,2852,2199,2641,2592,2691,0,0,0,0,0,0,26.93,26.91,26.94
$GC,5598,-0.28,-146.6,2851,2199,2592,2689,325.4,-5.6,262,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2199,2640,2592,2689,0,0,0,0,0,0,27.17,27.19,27.18
$GC,5913,-0.28,-146.6,2851,2199,2592,2688,342.5,-5.4,269,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2199,2640,2592,2688,0,0,0,0,0,0,27.16,27.18,27.18
$GC,6228,-0.28,-146.6,2851,2199,2592,2686,359.1,-5.1,276,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2198,2639,2592,2686,0,0,0,0,0,0,27.16,27.18,27.17
$GC,6544,-0.28,-146.6,2851,2199,2592,2685,373.9,-4.7,283,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2199,2638,2592,2685,0,0,0,0,0,0,27.16,27.18,27.17
$GC,6858,-0.28,-146.6,2851,2199,2592,2683,389.5,-4.9,290,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2199,2637,2592,2683,0,0,0,0,0,0,27.16,27.18,27.17
$GC,7173,-0.28,-146.6,2851,2199,2591,2681,405.8,-5.3,297,7177,0.00,2.00,0.00,0.000,260,0.000,0.079,2843,3590,2637,2592,2682,0,0,0,0,0,0,27.15,26.68,27.17
$GC,7228,-0.28,-146.6,2842,3590,2592,2682,408.7,-5.5,298,7233,0.10,1.85,0.00,0.000,3078,0.144,0.057,2884,2184,2637,2592,2682,0,0,0,0,0,0,26.60,26.89,26.65
$GC,7537,-0.37,-146.6,2884,2184,2592,2681,423.5,-4.7,305,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2184,2636,2592,2681,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7852,-0.46,-146.6,2884,2183,2592,2679,438.6,-4.8,312,7854,0.10,0.00,0.00,0.000,4102,0.134,0.000,2821,2184,2636,2592,2680,0,0,0,0,0,0,26.88,26.93,26.91
$GC,8168,-0.46,-146.6,2820,2184,2592,2679,457.8,-6.1,319,8173,0.00,2.00,0.00,0.000,260,0.000,0.079,2813,3587,2635,2592,2679,0,0,0,0,0,0,27.15,26.67,27.17
$GC,8219,-0.46,-146.6,2813,3587,2591,2679,460.8,-6.2,320,8224,0.00,1.83,0.00,0.000,1030,0.000,0.057,2813,2219,2635,2592,2679,0,0,0,0,0,0,26.91,26.88,26.91
$GC,8529,-0.46,-146.6,2813,2220,2592,2677,480.4,-6.1,327,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2220,2635,2592,2678,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8843,-0.46,-146.6,2813,2220,2592,2677,498.9,-5.8,334,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2220,2634,2592,2677,0,0,0,0,0,0,27.15,27.17,27.16
$GC,9158,-0.46,-146.6,2813,2219,2592,2675,518.1,-6.1,341,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2220,2633,2592,2675,0,0,0,0,0,0,27.15,27.17,27.16
$GC,9473,-0.46,-146.6,2813,2220,2591,2674,538.2,-6.4,348,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2219,2632,2591,2674,0,0,0,0,0,0,27.15,27.16,27.16
$GC,9788,-0.46,-146.6,2813,2220,2592,2673,558.0,-6.2,355,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2219,2632,2592,2673,0,0,0,0,0,0,27.15,27.17,27.16
$GC,10103,-0.46,-146.6,2813,2220,2592,2671,575.9,-5.7,362,10107,0.00,1.98,0.00,0.000,260,0.000,0.077,2805,3589,2632,2592,2672,0,0,0,0,0,0,27.15,26.65,27.16
$GC,10159,-0.46,-146.6,2805,3589,2591,2672,578.8,-5.6,363,10163,0.00,1.85,0.00,0.000,1030,0.000,0.057,2805,2202,2631,2592,2671,0,0,0,0,0,0,26.89,26.87,26.91
$GC,10468,-0.46,-146.6,2805,2201,2592,2671,597.8,-6.0,370,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2200,2631,2592,2671,0,0,0,0,0,0,27.14,27.16,27.15
$GC,10783,-0.46,-146.6,2805,2200,2591,2670,616.9,-6.2,377,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2200,2631,2592,2670,0,0,0,0,0,0,27.14,27.16,27.15
$GC,11098,-0.46,-146.6,2805,2200,2591,2669,636.9,-6.4,384,11103,0.00,2.00,0.00,0.000,260,0.000,0.079,2804,3591,2630,2592,2669,0,0,0,0,0,0,27.14,26.65,27.15
$GC,11160,-0.46,-146.6,2804,3591,2591,2669,640.0,-6.5,385,11164,0.00,1.88,0.00,0.000,1030,0.000,0.057,2804,2192,2630,2591,2669,0,0,0,0,0,0,26.87,26.86,26.89
$GC,11504,-0.46,-146.6,2804,2192,2592,2668,663.7,-6.5,393,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2192,2629,2591,2667,0,0,0,0,0,0,27.14,27.16,27.15
$GC,11819,-0.46,-146.6,2804,2192,2592,2666,685.0,-6.8,400,11824,0.00,2.00,0.00,0.000,260,0.000,0.079,2801,3586,2629,2592,2666,0,0,0,0,0,0,27.14,26.63,27.15
$GC,11872,-0.46,-146.6,2801,3587,2591,2666,688.0,-6.9,401,11876,0.00,1.85,0.00,0.000,1030,0.000,0.060,2801,2201,2629,2592,2666,0,0,0,0,0,0,26.90,26.85,26.91
$GC,12180,-0.46,-146.6,2801,2194,2592,2665,711.1,-7.3,408,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2194,2628,2592,2665,0,0,0,0,0,0,27.14,27.17,27.15
$GC,12496,-0.46,-146.6,2801,2193,2591,2663,731.8,-6.6,415,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2193,2627,2591,2663,0,0,0,0,0,0,27.13,27.16,27.15
$GC,12810,-0.46,-146.6,2801,2193,2592,2662,751.1,-6.0,422,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2193,2626,2591,2662,0,0,0,0,0,0,27.14,27.16,27.15
$GC,13125,-0.46,-146.6,2801,2194,2591,2660,770.0,-6.2,429,13131,0.00,2.03,0.00,0.000,260,0.000,0.079,2797,3593,2626,2592,2660,0,0,0,0,0,0,27.14,26.62,27.16
$GC,13198,-0.46,-146.6,2796,3593,2591,2660,772.9,-6.3,430,13202,0.00,1.90,0.00,0.000,1030,0.000,0.057,2797,2185,2625,2591,2660,0,0,0,0,0,0,26.86,26.85,26.88
$GC,13532,-0.46,-146.6,2797,2184,2591,2657,796.7,-6.6,438,13533,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2184,2624,2591,2657,0,0,0,0,0,0,27.15,27.17,27.17
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$GC,70898,-1.60,-146.6,2465,2167,2572,2598,4416.3,-4.3,958,70899,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2167,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,71260,-1.60,-146.6,2465,2167,2572,2598,4431.6,-4.2,961,71264,0.00,2.35,0.00,0.000,260,0.000,0.079,2460,3593,2585,2572,2598,0,0,0,0,0,0,27.03,25.34,27.05
$GC,71369,-1.60,-146.6,2460,3593,2572,2599,4431.6,-4.2,961,71373,0.00,2.08,0.00,0.000,1030,0.000,0.057,2460,2199,2585,2572,2599,0,0,0,0,0,0,26.27,26.25,26.29
$GC,71744,-1.60,-146.6,2459,2197,2570,2598,4452.5,-4.3,965,71745,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2197,2585,2572,2598,0,0,0,0,0,0,27.01,27.04,27.03
$GC,72103,-1.60,-146.6,2460,2197,2572,2598,4467.8,-4.2,968,72104,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2197,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,72465,-1.60,-146.6,2459,2197,2572,2598,4482.4,-4.1,971,72470,0.00,2.30,0.00,0.000,260,0.000,0.079,2456,3588,2585,2572,2598,0,0,0,0,0,0,27.03,25.34,27.04
$GC,72530,-1.60,-146.6,2456,3588,2572,2599,4482.4,-4.1,971,72534,0.00,2.08,0.00,0.000,1030,0.000,0.057,2456,2192,2585,2572,2598,0,0,0,0,0,0,26.28,26.25,26.29
$GC,72945,-1.60,-146.6,2456,2192,2572,2598,4501.9,-4.0,975,72946,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2192,2585,2572,2598,0,0,0,0,0,0,27.01,27.04,27.03
$GC,73304,-1.60,-146.6,2456,2192,2571,2599,4516.4,-4.0,978,73305,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2192,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,73666,-1.60,-146.6,2456,2192,2571,2598,4531.2,-4.1,981,73671,0.00,2.28,0.00,0.000,260,0.000,0.079,2448,3585,2584,2571,2598,0,0,0,0,0,0,27.03,25.34,27.05
$GC,73751,-1.60,-146.6,2448,3585,2572,2599,4531.2,-4.1,981,73756,0.00,2.05,0.00,0.000,1030,0.000,0.060,2448,2210,2585,2572,2599,0,0,0,0,0,0,26.27,26.25,26.29
$GC,74147,-1.60,-146.6,2448,2208,2572,2598,4552.1,-4.4,985,74148,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2208,2584,2571,2598,0,0,0,0,0,0,27.02,27.05,27.04
$GC,74505,-1.60,-146.6,2448,2208,2571,2598,4567.2,-4.2,988,74506,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2208,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,74866,-1.60,-146.6,2448,2208,2572,2598,4582.7,-4.3,991,74867,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2208,2585,2572,2598,0,0,0,0,0,0,27.01,27.04,27.03
$GC,75225,-1.60,-146.6,2447,2208,2571,2598,4598.0,-4.3,994,75226,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2208,2584,2571,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,75587,-1.60,-146.6,2448,2208,2572,2598,4613.9,-4.4,997,75588,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2208,2585,2572,2598,0,0,0,0,0,0,27.03,27.05,27.04
$GC,75945,-1.60,-146.6,2448,2208,2572,2598,4629.6,-4.3,1000,75946,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2208,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,76306,-1.60,-146.6,2448,2208,2572,2598,4645.1,-4.3,1003,76312,0.00,2.28,0.00,0.000,260,0.000,0.082,2440,3582,2584,2571,2598,0,0,0,0,0,0,27.01,25.30,27.03
$GC,76382,-1.60,-146.6,2440,3582,2572,2598,4645.1,-4.3,1003,76386,0.00,2.03,0.00,0.000,1030,0.000,0.057,2441,2190,2585,2572,2598,0,0,0,0,0,0,26.29,26.23,26.31
$GC,76786,-1.60,-146.6,2440,2189,2572,2598,4665.7,-4.3,1007,76787,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2189,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,77148,-1.60,-146.6,2440,2189,2572,2598,4680.5,-4.1,1010,77149,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2189,2585,2572,2598,0,0,0,0,0,0,27.03,27.05,27.05
$GC,77506,-1.60,-146.6,2440,2189,2572,2598,4695.7,-4.2,1013,77507,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2189,2584,2571,2598,0,0,0,0,0,0,27.08,27.10,27.10
$GC,77867,-1.60,-146.6,2440,2189,2572,2598,4711.0,-4.3,1016,77873,0.00,2.30,0.00,0.000,260,0.000,0.082,2433,3589,2584,2571,2598,0,0,0,0,0,0,27.01,25.30,27.03
$GC,77940,-1.60,-146.6,2433,3589,2572,2599,4711.0,-4.3,1016,77943,0.00,2.05,0.00,0.000,1030,0.000,0.057,2433,2188,2585,2571,2599,0,0,0,0,0,0,26.29,26.24,26.32
$GC,78344,-1.60,-146.6,2433,2187,2572,2598,4731.4,-4.3,1020,78345,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2187,2585,2572,2598,0,0,0,0,0,0,27.02,27.05,27.05
$GC,78702,-1.60,-146.6,2432,2187,2571,2598,4746.0,-4.1,1023,78703,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2187,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,79065,-1.60,-146.6,2432,2187,2572,2598,4760.6,-4.0,1026,79066,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2187,2585,2571,2599,0,0,0,0,0,0,27.03,27.06,27.05
$GC,79422,-1.60,-146.6,2432,2187,2572,2599,4774.7,-3.9,1029,79423,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2187,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.09
$GC,79783,-1.60,-146.6,2432,2187,2571,2599,4788.4,-3.8,1032,79784,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2187,2585,2572,2598,0,0,0,0,0,0,27.08,27.10,27.10
$STATE,79905,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,79905,begin apogee
$GC,79909,-0.25,0.0,2432,2187,2572,2598,4793.1,-3.8,1033,80054,1.33,0.00,140.82,3.883,10246,0.117,0.000,2893,2187,2140,2145,2136,0,0,0,0,0,0,24.73,22.71,20.87
$STATE,80055,end apogee,CONTROL_FINISHED_OK
$STATE,80055,begin climb
$GC,80056,0.53,146.6,2893,2187,2145,2136,4792.9,0.0,1034,80228,0.70,2.42,161.50,3.851,10756,0.089,0.092,3170,835,1634,1649,1620,0,0,0,0,0,0,23.31,22.78,21.01
$GC,80345,0.53,146.6,3169,835,1650,1620,4758.0,21.1,1036,80349,0.00,2.20,0.00,0.000,1030,0.000,0.062,3170,2225,1634,1649,1620,0,0,0,0,0,0,24.98,24.92,25.00
$GC,80744,0.01,146.6,3169,2225,1649,1620,4636.3,25.3,1040,80749,0.65,2.15,0.00,0.000,4612,0.221,0.062,2987,863,1634,1649,1620,0,0,0,0,0,0,25.68,25.96,25.85
$GC,80933,-0.47,146.6,2987,832,1651,1620,4615.0,23.6,1041,80939,0.45,2.08,0.00,0.000,5126,0.184,0.062,2849,2208,1635,1650,1620,0,0,0,0,0,0,25.94,26.30,26.15
$GC,81350,-0.65,146.6,2848,2209,1649,1620,4562.7,10.7,1045,81352,0.25,0.00,0.00,0.000,4102,0.161,0.000,2763,2209,1634,1649,1620,0,0,0,0,0,0,26.20,26.44,26.36
$GC,81710,-0.72,146.6,2762,2209,1648,1620,4539.5,7.2,1048,81715,0.00,2.08,0.00,0.000,516,0.000,0.067,2772,841,1634,1649,1620,0,0,0,0,0,0,26.87,26.55,26.89
$GC,81761,-0.79,146.6,2772,840,1650,1620,4539.5,7.2,1048,81766,0.17,2.05,0.00,0.000,5126,0.146,0.062,2708,2215,1634,1649,1620,0,0,0,0,0,0,26.35,26.58,26.48
$GC,82185,-0.79,146.6,2708,2214,1649,1620,4517.2,4.6,1052,82186,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2214,1634,1649,1620,0,0,0,0,0,0,26.94,26.96,26.95
$GC,82545,-0.73,146.6,2707,2214,1649,1620,4501.1,4.5,1055,82546,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2214,1634,1649,1620,0,0,0,0,0,0,26.97,26.99,26.99
$GC,82905,-0.66,146.6,2707,2214,1649,1620,4484.2,4.6,1058,82907,0.05,0.00,0.00,0.000,2054,0.179,0.000,2741,2214,1634,1649,1620,0,0,0,0,0,0,26.79,26.82,26.81
$GC,83266,-0.57,146.6,2741,2214,1649,1620,4462.8,5.8,1061,83272,0.05,2.08,0.00,0.000,2564,0.189,0.065,2783,833,1634,1649,1620,0,0,0,0,0,0,26.79,26.65,26.82
$GC,83287,-0.49,146.6,2782,833,1649,1620,4462.8,5.8,1061,83291,0.00,2.03,0.00,0.000,3078,0.000,0.062,2782,2207,1634,1649,1620,0,0,0,0,0,0,26.77,26.68,26.78
$GC,83626,-0.49,146.6,2782,2207,1649,1620,4440.1,6.2,1064,83633,0.00,2.15,0.00,0.000,2308,0.000,0.082,2782,3585,1635,1649,1621,0,0,0,0,0,0,27.05,26.51,27.05
$GC,83683,-0.49,146.6,2782,3585,1649,1620,4440.1,6.2,1064,83687,0.00,2.00,0.00,0.000,1030,0.000,0.060,2787,2221,1634,1649,1620,0,0,0,0,0,0,26.72,26.70,26.74
$GC,84107,-0.49,146.6,2787,2220,1648,1620,4410.1,6.2,1068,84112,0.00,2.10,0.00,0.000,516,0.000,0.067,2792,820,1634,1649,1620,0,0,0,0,0,0,27.04,26.63,27.06
$GC,84182,-0.49,146.6,2792,820,1649,1620,4410.1,6.2,1068,84187,0.00,2.08,0.00,0.000,1030,0.000,0.062,2792,2197,1634,1649,1620,0,0,0,0,0,0,26.71,26.68,26.74
$GC,84587,-0.49,146.6,2792,2196,1649,1620,4380.8,6.1,1072,84588,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2196,1634,1649,1620,0,0,0,0,0,0,27.05,27.08,27.07
$GC,84946,-0.49,146.6,2791,2196,1649,1620,4359.3,6.0,1075,84948,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2196,1634,1649,1620,0,0,0,0,0,0,27.06,27.08,27.08
$GC,85306,-0.49,146.6,2792,2196,1648,1620,4337.9,5.9,1078,85308,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2196,1634,1649,1620,0,0,0,0,0,0,27.07,27.09,27.08
$GC,85667,-0.49,146.6,2792,2196,1649,1620,4317.0,5.8,1081,85672,0.00,2.12,0.00,0.000,516,0.000,0.067,2799,807,1634,1649,1620,0,0,0,0,0,0,27.07,26.63,27.09
$GC,85722,-0.49,146.6,2799,807,1649,1620,4317.0,5.8,1081,85727,0.00,2.10,0.00,0.000,1030,0.000,0.062,2799,2203,1634,1649,1620,0,0,0,0,0,0,26.71,26.67,26.73
$GC,86147,-0.49,146.6,2799,2203,1649,1619,4287.4,6.2,1085,86148,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2203,1634,1649,1620,0,0,0,0,0,0,27.07,27.10,27.09
$GC,86506,-0.49,146.6,2799,2203,1648,1620,4265.0,6.2,1088,86508,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2203,1634,1649,1619,0,0,0,0,0,0,27.08,27.10,27.09
$GC,86866,-0.49,146.6,2798,2203,1648,1620,4242.8,6.2,1091,86872,0.00,2.12,0.00,0.000,516,0.000,0.065,2803,813,1634,1648,1620,0,0,0,0,0,0,27.08,26.59,27.10
$GC,86917,-0.49,146.6,2803,814,1648,1620,4242.8,6.2,1091,86922,0.00,2.10,0.00,0.000,1030,0.000,0.062,2803,2204,1634,1648,1620,0,0,0,0,0,0,26.70,26.65,26.72
$GC,87227,-0.49,146.6,2803,2204,1648,1620,4220.4,6.2,1094,87228,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2204,1634,1648,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,87587,-0.49,146.6,2803,2204,1648,1620,4198.9,6.0,1097,87588,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2204,1634,1648,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,87946,-0.49,146.6,2802,2204,1647,1620,4177.9,5.9,1100,87948,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2204,1634,1648,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,88306,-0.49,146.6,2803,2204,1648,1619,4158.0,5.6,1103,88312,0.00,2.12,0.00,0.000,516,0.000,0.067,2803,814,1634,1648,1620,0,0,0,0,0,0,27.08,26.57,27.10
$GC,88358,-0.49,146.6,2803,814,1648,1620,4158.0,5.6,1103,88362,0.00,2.08,0.00,0.000,1030,0.000,0.062,2804,2201,1634,1648,1620,0,0,0,0,0,0,26.71,26.64,26.74
$GC,88667,-0.49,146.6,2803,2203,1648,1620,4138.5,5.4,1106,88668,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,1634,1648,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,89026,-0.49,146.6,2803,2203,1648,1620,4119.4,5.3,1109,89028,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,1634,1648,1620,0,0,0,0,0,0,27.08,27.11,27.10
$GC,89386,-0.49,146.6,2803,2203,1648,1619,4100.3,5.3,1112,89392,0.00,2.10,0.00,0.000,516,0.000,0.065,2803,816,1634,1648,1620,0,0,0,0,0,0,27.08,26.55,27.10
$GC,89438,-0.49,146.6,2803,816,1648,1620,4100.3,5.3,1112,89442,0.00,2.08,0.00,0.000,1030,0.000,0.062,2804,2205,1634,1648,1620,0,0,0,0,0,0,26.70,26.63,26.72
$GC,89862,-0.49,146.6,2803,2205,1648,1620,4075.5,5.2,1116,89863,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2205,1633,1647,1620,0,0,0,0,0,0,27.09,27.11,27.10
$GC,90221,-0.49,146.6,2803,2205,1648,1620,4057.2,5.1,1119,90223,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2205,1634,1648,1620,0,0,0,0,0,0,27.09,27.11,27.10
$GC,90581,-0.49,146.6,2803,2205,1648,1620,4039.4,5.0,1122,90583,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2205,1634,1648,1620,0,0,0,0,0,0,27.09,27.11,27.10
$GC,90942,-0.49,146.6,2803,2205,1648,1620,4021.0,5.1,1125,90947,0.00,2.10,0.00,0.000,516,0.000,0.067,2803,819,1634,1648,1620,0,0,0,0,0,0,27.09,26.54,27.10
$GC,90992,-0.49,146.6,2803,819,1648,1620,4021.0,5.1,1125,90997,0.00,2.10,0.00,0.000,1030,0.000,0.062,2803,2203,1634,1648,1620,0,0,0,0,0,0,26.63,26.60,26.65
$GC,91303,-0.49,146.6,2803,2203,1647,1620,4003.4,4.9,1128,91304,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,1634,1648,1620,0,0,0,0,0,0,27.09,27.11,27.10
$GC,91661,-0.49,146.6,2803,2203,1648,1620,3986.3,4.8,1131,91663,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,1634,1648,1620,0,0,0,0,0,0,27.09,27.11,27.10
$GC,92022,-0.49,146.6,2803,2203,1648,1620,3969.0,4.8,1134,92023,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,1633,1647,1620,0,0,0,0,0,0,27.09,27.11,27.11
$GC,92381,-0.49,146.6,2803,2203,1648,1620,3952.0,4.7,1137,92386,0.00,2.12,0.00,0.000,516,0.000,0.065,2803,814,1633,1647,1620,0,0,0,0,0,0,27.09,26.51,27.11
$GC,92430,-0.49,146.6,2803,814,1648,1620,3952.0,4.7,1137,92434,0.00,2.10,0.00,0.000,1030,0.000,0.062,2803,2202,1634,1648,1620,0,0,0,0,0,0,26.62,26.58,26.65
$GC,92744,-0.49,146.6,2803,2202,1648,1620,3936.1,4.4,1140,92746,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2202,1634,1648,1620,0,0,0,0,0,0,27.09,27.11,27.10
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$STATE,180277,end climb,SURFACE_DEPTH_REACHED
$STATE,180278,begin surface coast
$FINISH,0.0,1.023699
$STATE,180329,end surface coast,CONTROL_FINISHED_OK
$STATE,180329,begin surface
$SM_CCo,180403,0.00,0.000,0,0,1079,308.21
$SM_GC,1.45,7.53,0.00,0.00,0.072,0.000,0.000,153,2202,1079,-8.71,0.06,308.21,0,0,0,0,0,0,26.73,27.19,26.79
$IRIDIUM_FIX,2710.51,-7514.27,260808,120750
$TT8_MAMPS,0.025466,0.025466
$HUMID,74.96
$INTERNAL_PRESSURE,9.52429
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4793.1,24.6
$24V_AH,20.87,40.947
$10V_AH,10.24,28.848
$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,25.000,828.800,461.950,0.000,139.500,55.099,76.858,450.157,20.500,0.000,36.417,9267.645,154870.219,1077.724,15354.123,606.016,0.000,6849.880,0.000,14411.318,0.000,149.100,0.000
$DEVICE_MAMPS,292.994,91.871,3883.412,0.000,225.953,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
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$SENSOR_SECS,1567.789,7475.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329900
$DATA_FILE_SIZE,140256,2285
$CAP_FILE_SIZE,960557,0
$CFSIZE,1024409600,995426304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,232.21,1
$GPS,021115,010101,2714.748,-7540.433,40,0.9,43,-9.3,0.0,0.0,9,9.3