version: 66.12
glider: 37
mission: 17
dive: 96
start: 7 7 117 22 8 57
data:
$ID,37
$MISSION,17
$DIVE,96
$N_DIVES,0
$STOP_T,7071723
$D_SURF,5
$D_FLARE,3
$D_TGT,3240
$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,1080
$T_MISSION,1110
$T_ABORT,1140
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2645
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,1614
$C_ROLL_CLIMB,1625
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3700
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,070717,220448,2610.0352,-7602.4141,4,0.9,13,-8.9,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.1
$GPS2,070717,220829,2610.0525,-7602.4170,5,0.9,17,-8.9,0.8,82.0,9,4.7
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,342.6,78929,-20.9,-10.000,-23.52,2226
$D_GRID,3240
$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,int_press,humidity
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.09,-146.0,137,1635,850,1031,0.0,0.0,0,130,0.00,0.00,-112.47,0.102,16386,0.000,0.000,136,1636,2612,2544,2680,0,0,0,0,0,0,27.03,28.83,27.05,9.09,12.39
$GC,133,-1.09,-146.0,136,1636,2545,2680,3.9,-4.1,11,156,8.57,2.28,-8.80,0.122,18692,0.268,0.062,2281,3179,2845,2782,2908,0,0,0,0,0,0,25.82,26.44,26.02,9.27,13.06
$GC,694,-1.09,-146.0,2281,3185,2782,2908,84.5,-11.4,67,699,0.00,2.22,0.00,0.000,1030,0.000,0.052,2281,1590,2844,2782,2907,0,0,0,0,0,0,26.75,26.69,26.77,9.27,13.18
$GC,1006,-1.09,-146.0,2281,1588,2782,2906,119.3,-12.3,98,1010,0.00,2.03,0.00,0.000,516,0.000,0.067,2281,203,2844,2782,2906,0,0,0,0,0,0,27.08,26.60,27.10,9.25,12.94
$GC,1131,-1.09,-146.0,2281,190,2782,2905,134.5,-12.1,110,1138,0.00,1.98,0.00,0.000,1030,0.000,0.050,2270,1640,2843,2782,2905,0,0,0,0,0,0,26.83,26.78,26.84,9.24,12.82
$GC,1448,-1.09,-146.0,2270,1641,2781,2904,172.2,-12.4,133,1454,0.00,2.12,0.00,0.000,516,0.000,0.067,2271,194,2842,2782,2903,0,0,0,0,0,0,27.10,26.62,27.12,9.20,12.78
$GC,1541,-1.09,-146.0,2271,194,2782,2903,183.1,-13.8,137,1548,0.10,1.95,0.00,0.000,3078,0.216,0.052,2292,1621,2842,2782,2903,0,0,0,0,0,0,26.35,26.79,26.49,9.20,13.14
$GC,1848,-1.09,-146.0,2292,1621,2782,2902,221.0,-11.5,153,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1621,2842,2782,2902,0,0,0,0,0,0,27.11,27.13,27.13,9.18,13.33
$GC,2147,-1.09,-146.0,2292,1621,2782,2901,257.7,-12.4,168,2152,0.00,2.10,0.00,0.000,516,0.000,0.065,2293,202,2841,2782,2901,0,0,0,0,0,0,27.11,26.63,27.13,9.16,13.61
$GC,2209,-1.09,-146.0,2292,202,2782,2900,266.3,-13.5,171,2214,0.00,1.95,0.00,0.000,1030,0.000,0.052,2285,1615,2841,2782,2900,0,0,0,0,0,0,26.85,26.80,26.86,9.16,14.20
$GC,2531,-1.09,-146.0,2284,1615,2782,2898,308.3,-13.0,186,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1615,2840,2782,2899,0,0,0,0,0,0,27.12,27.13,27.13,9.14,14.08
$GC,2831,-1.09,-146.0,2284,1615,2782,2897,346.9,-12.5,196,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1615,2839,2782,2897,0,0,0,0,0,0,27.12,27.14,27.13,9.13,14.75
$GC,3131,-1.09,-146.0,2284,1615,2782,2894,384.5,-13.0,206,3137,0.00,2.30,0.00,0.000,260,0.000,0.062,2273,3163,2838,2782,2894,0,0,0,0,0,0,27.12,26.65,27.13,9.12,14.44
$GC,3234,-1.09,-146.0,2272,3163,2780,2894,396.5,-13.3,209,3238,0.00,2.20,0.00,0.000,1030,0.000,0.050,2273,1617,2837,2780,2894,0,0,0,0,0,0,26.82,26.76,26.84,9.11,15.54
$GC,3551,-1.09,-146.0,2272,1610,2780,2894,439.9,-13.0,220,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1610,2837,2780,2894,0,0,0,0,0,0,27.12,27.13,27.13,9.10,14.79
$GC,3851,-1.09,-146.0,2272,1610,2780,2892,480.2,-13.3,230,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1610,2836,2780,2892,0,0,0,0,0,0,27.12,27.13,27.13,9.08,15.70
$GC,4151,-1.09,-146.0,2272,1610,2779,2891,519.5,-12.8,240,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1610,2834,2779,2890,0,0,0,0,0,0,27.12,27.14,27.13,9.07,14.79
$GC,4451,-1.09,-146.0,2272,1610,2778,2889,558.9,-13.1,250,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1610,2833,2778,2889,0,0,0,0,0,0,27.12,27.14,27.13,9.06,15.50
$GC,4751,-1.09,-146.0,2272,1610,2778,2887,599.3,-13.5,260,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1610,2833,2778,2888,0,0,0,0,0,0,27.12,27.14,27.13,9.03,15.03
$GC,5051,-1.09,-146.0,2272,1610,2776,2886,640.3,-13.5,270,5055,0.00,2.30,0.00,0.000,260,0.000,0.062,2262,3145,2831,2776,2886,0,0,0,0,0,0,27.12,26.63,27.13,9.01,15.66
$GC,5102,-1.09,-146.0,2261,3169,2775,2887,644.7,-13.7,271,5107,0.10,2.28,0.00,0.000,3078,0.209,0.052,2291,1608,2830,2775,2886,0,0,0,0,0,0,26.34,26.74,26.48,9.00,15.07
$GC,5415,-1.15,-146.0,2290,1607,2774,2884,687.1,-12.8,282,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1607,2829,2775,2884,0,0,0,0,0,0,27.12,27.13,27.13,8.98,15.46
$GC,5715,-1.22,-146.0,2290,1608,2774,2882,724.9,-12.7,292,5717,0.08,0.00,0.00,0.000,4102,0.171,0.000,2258,1607,2828,2774,2882,0,0,0,0,0,0,26.79,26.85,26.83,8.96,15.66
$GC,6014,-1.22,-146.0,2257,1607,2772,2880,769.1,-14.9,302,6019,0.00,2.15,0.00,0.000,516,0.000,0.070,2264,188,2826,2773,2880,0,0,0,0,0,0,27.12,26.57,27.13,8.94,15.70
$GC,6094,-1.22,-146.0,2264,189,2773,2879,779.0,-15.4,304,6099,0.00,2.05,0.00,0.000,1030,0.000,0.052,2256,1614,2826,2773,2879,0,0,0,0,0,0,26.82,26.76,26.84,8.94,15.89
$GC,6406,-1.22,-146.0,2255,1614,2772,2879,827.7,-14.4,315,6411,0.00,2.40,0.00,0.000,260,0.000,0.062,2245,3174,2825,2772,2879,0,0,0,0,0,0,27.12,26.60,27.13,8.92,15.93
$GC,6461,-1.22,-146.0,2243,3175,2771,2879,832.5,-14.6,316,6469,0.00,2.30,0.00,0.000,1030,0.000,0.052,2252,1608,2824,2770,2879,0,0,0,0,0,0,26.77,26.70,26.80,8.92,16.25
$GC,6769,-1.22,-146.0,2251,1609,2770,2878,881.3,-14.7,327,6775,0.00,2.15,0.00,0.000,516,0.000,0.070,2258,199,2823,2769,2878,0,0,0,0,0,0,27.11,26.54,27.13,8.90,15.78
$GC,6842,-1.22,-146.0,2258,199,2769,2877,890.4,-14.9,329,6846,0.00,2.08,0.00,0.000,1030,0.000,0.052,2251,1622,2823,2770,2877,0,0,0,0,0,0,26.81,26.74,26.83,8.89,16.49
$GC,7154,-1.22,-146.0,2250,1622,2766,2876,938.3,-14.7,340,7160,0.00,2.42,0.00,0.000,260,0.000,0.065,2238,3191,2821,2766,2877,0,0,0,0,0,0,27.11,26.58,27.13,8.86,15.82
$GC,7207,-1.22,-146.0,2238,3191,2765,2877,942.8,-15.0,341,7214,0.00,2.35,0.00,0.000,1030,0.000,0.055,2238,1610,2821,2765,2877,0,0,0,0,0,0,26.76,26.67,26.79,8.86,15.89
$GC,7513,-1.22,-146.0,2238,1610,2764,2874,993.0,-15.2,352,7520,0.00,2.17,0.00,0.000,516,0.000,0.070,2243,197,2819,2764,2874,0,0,0,0,0,0,27.11,26.51,27.13,8.84,16.29
$GC,7573,-1.22,-146.0,2243,197,2764,2872,1002.6,-15.6,354,7580,0.00,2.08,0.00,0.000,1030,0.000,0.055,2236,1612,2818,2764,2873,0,0,0,0,0,0,26.79,26.72,26.81,8.83,15.78
$GC,7933,-1.22,-146.0,2234,1612,2763,2870,1059.1,-15.7,360,7938,0.00,2.47,0.00,0.000,260,0.000,0.065,2223,3195,2816,2762,2870,0,0,0,0,0,0,27.11,26.54,27.13,8.81,16.25
$GC,7983,-1.22,-146.0,2222,3195,2761,2871,1059.1,-15.7,360,7988,0.10,2.38,0.00,0.000,3078,0.226,0.055,2253,1609,2816,2762,2870,0,0,0,0,0,0,26.20,26.67,26.36,8.81,16.76
$GC,8291,-1.29,-146.0,2252,1608,2760,2868,1109.4,-13.8,365,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,1608,2814,2760,2868,0,0,0,0,0,0,27.11,27.13,27.13,8.79,15.85
$GC,8591,-1.36,-146.0,2252,1608,2760,2867,1151.7,-14.2,370,8593,0.10,0.00,0.00,0.000,4102,0.189,0.000,2218,1609,2813,2759,2867,0,0,0,0,0,0,26.60,26.70,26.66,8.78,16.72
$GC,8890,-1.36,-146.0,2217,1609,2758,2865,1200.6,-16.4,375,8897,0.00,2.50,0.00,0.000,260,0.000,0.065,2207,3195,2811,2757,2865,0,0,0,0,0,0,27.10,26.50,27.13,8.75,16.72
$GC,8924,-1.36,-146.0,2206,3195,2756,2865,1200.6,-16.4,375,8928,0.00,2.40,0.00,0.000,1030,0.000,0.052,2207,1614,2811,2757,2865,0,0,0,0,0,0,26.72,26.63,26.74,8.76,16.64
$GC,9245,-1.36,-146.0,2206,1613,2755,2863,1261.4,-17.1,381,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1614,2809,2756,2863,0,0,0,0,0,0,27.10,27.13,27.12,8.75,16.49
$GC,9546,-1.36,-146.0,2206,1613,2754,2861,1312.2,-16.8,386,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1613,2807,2754,2861,0,0,0,0,0,0,27.10,27.13,27.12,8.74,17.00
$GC,9845,-1.36,-146.0,2206,1613,2752,2859,1362.3,-16.8,391,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1613,2805,2752,2859,0,0,0,0,0,0,27.10,27.13,27.12,8.72,16.76
$GC,10146,-1.36,-146.0,2205,1613,2751,2858,1411.6,-16.3,396,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1613,2804,2751,2858,0,0,0,0,0,0,27.10,27.13,27.12,8.72,16.41
$GC,10446,-1.36,-146.0,2206,1613,2750,2856,1459.8,-16.0,401,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1613,2803,2750,2856,0,0,0,0,0,0,27.10,27.13,27.12,8.71,16.68
$GC,10746,-1.41,-146.0,2206,1613,2750,2855,1506.8,-15.7,406,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1613,2802,2750,2855,0,0,0,0,0,0,27.10,27.13,27.12,8.71,16.96
$GC,11046,-1.46,-146.0,2204,1613,2749,2854,1552.6,-15.1,411,11051,0.00,2.45,0.00,0.000,260,0.000,0.067,2197,3181,2801,2749,2854,0,0,0,0,0,0,27.10,26.39,27.12,8.69,16.41
$GC,11086,-1.52,-146.0,2196,3181,2749,2854,1552.6,-15.1,411,11091,0.08,2.42,0.00,0.000,5126,0.214,0.055,2170,1605,2801,2749,2854,0,0,0,0,0,0,26.28,26.55,26.39,8.70,16.88
$GC,11410,-1.52,-146.0,2169,1605,2749,2852,1613.3,-17.0,417,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1605,2800,2749,2852,0,0,0,0,0,0,27.10,27.12,27.12,8.69,16.64
$GC,11709,-1.52,-146.0,2169,1605,2749,2850,1662.8,-16.4,422,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1605,2799,2749,2850,0,0,0,0,0,0,27.10,27.12,27.11,8.69,16.56
$GC,12009,-1.52,-146.0,2169,1605,2748,2849,1712.0,-16.5,427,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1605,2799,2749,2849,0,0,0,0,0,0,27.10,27.12,27.12,8.68,16.56
$GC,12309,-1.52,-146.0,2169,1605,2748,2846,1759.9,-15.9,432,12310,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1605,2797,2748,2846,0,0,0,0,0,0,27.10,27.12,27.11,8.68,16.68
$GC,12609,-1.52,-146.0,2169,1605,2747,2846,1806.7,-15.6,437,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1605,2797,2748,2846,0,0,0,0,0,0,27.10,27.12,27.11,8.68,16.09
$GC,12909,-1.52,-146.0,2169,1605,2748,2845,1852.2,-15.1,442,12915,0.00,2.47,0.00,0.000,260,0.000,0.067,2158,3180,2796,2748,2845,0,0,0,0,0,0,27.10,26.30,27.11,8.67,16.33
$GC,12957,-1.52,-146.0,2157,3181,2747,2845,1852.2,-15.1,442,12962,0.00,2.42,0.00,0.000,1030,0.000,0.055,2158,1619,2795,2746,2845,0,0,0,0,0,0,26.58,26.49,26.62,8.67,16.56
$GC,13269,-1.52,-146.0,2157,1618,2746,2844,1909.1,-15.8,448,13270,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1618,2795,2746,2845,0,0,0,0,0,0,27.10,27.11,27.10,8.67,16.49
$GC,13569,-1.52,-146.0,2157,1617,2746,2843,1954.9,-15.1,453,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1617,2794,2746,2843,0,0,0,0,0,0,27.10,27.11,27.10,8.66,16.96
$GC,13869,-1.52,-146.0,2158,1618,2746,2843,1999.7,-14.9,458,13871,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1618,2794,2746,2843,0,0,0,0,0,0,27.09,27.11,27.10,8.67,16.88
$GC,14169,-1.57,-146.0,2157,1618,2745,2842,2044.5,-15.0,463,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1617,2793,2745,2842,0,0,0,0,0,0,27.10,27.11,27.10,8.65,16.13
$GC,14469,-1.63,-146.0,2157,1618,2745,2842,2088.5,-14.6,468,14471,0.08,0.00,0.00,0.000,4102,0.241,0.000,2136,1617,2793,2745,2842,0,0,0,0,0,0,26.55,26.62,26.58,8.65,16.29
$GC,14769,-1.63,-146.0,2136,1617,2744,2841,2135.8,-15.8,473,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1617,2792,2744,2841,0,0,0,0,0,0,27.09,27.11,27.11,8.65,15.97
$GC,15069,-1.63,-146.0,2136,1617,2743,2840,2182.0,-15.5,478,15071,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1617,2792,2744,2840,0,0,0,0,0,0,27.09,27.11,27.10,8.65,15.93
$GC,15369,-1.63,-146.0,2135,1617,2743,2840,2227.2,-15.0,483,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1617,2791,2743,2840,0,0,0,0,0,0,27.09,27.11,27.10,8.65,16.41
$GC,15669,-1.63,-146.0,2136,1617,2743,2839,2272.2,-15.1,488,15676,0.00,2.47,0.00,0.000,260,0.000,0.070,2125,3187,2791,2742,2840,0,0,0,0,0,0,27.09,26.17,27.10,8.65,16.80
$GC,15717,-1.63,-146.0,2124,3187,2741,2839,2272.2,-15.1,488,15721,0.00,2.45,0.00,0.000,1030,0.000,0.055,2125,1614,2790,2742,2839,0,0,0,0,0,0,26.50,26.39,26.53,8.64,16.64
$GC,16024,-1.63,-146.0,2124,1614,2741,2839,2326.4,-15.2,493,16025,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,1614,2790,2741,2839,0,0,0,0,0,0,27.09,27.10,27.10,8.64,16.49
$GC,16324,-1.63,-146.0,2124,1614,2741,2838,2371.3,-14.9,498,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,1614,2790,2741,2839,0,0,0,0,0,0,27.09,27.11,27.10,8.64,16.05
$GC,16625,-1.68,-146.0,2124,1614,2741,2838,2414.6,-14.4,503,16626,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,1614,2789,2741,2838,0,0,0,0,0,0,27.08,27.10,27.10,8.63,15.70
$GC,16924,-1.73,-146.0,2124,1614,2740,2838,2455.5,-13.6,508,16931,0.08,2.45,0.00,0.000,4356,0.248,0.065,2091,3187,2789,2740,2838,0,0,0,0,0,0,26.53,26.12,26.54,8.63,16.05
$GC,16967,-1.79,-146.0,2090,3188,2740,2838,2455.5,-13.6,508,16972,0.00,2.45,0.00,0.000,1030,0.000,0.057,2092,1606,2789,2740,2838,0,0,0,0,0,0,26.45,26.36,26.49,8.64,16.25
$GC,17279,-1.79,-146.0,2090,1606,2740,2838,2509.4,-15.3,514,17280,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1606,2788,2739,2837,0,0,0,0,0,0,27.08,27.10,27.10,8.64,16.49
$GC,17579,-1.79,-146.0,2090,1606,2739,2837,2554.4,-15.0,519,17580,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1606,2788,2739,2837,0,0,0,0,0,0,27.08,27.10,27.10,8.64,16.09
$GC,17879,-1.79,-146.0,2090,1606,2739,2837,2599.3,-15.0,524,17883,0.00,2.47,0.00,0.000,260,0.000,0.067,2079,3183,2788,2739,2837,0,0,0,0,0,0,27.08,26.08,27.10,8.64,16.60
$GC,17924,-1.79,-146.0,2079,3183,2738,2837,2599.3,-15.0,524,17929,0.00,2.45,0.00,0.000,1030,0.000,0.055,2079,1613,2788,2739,2837,0,0,0,0,0,0,26.42,26.33,26.46,8.64,16.33
$GC,18236,-1.79,-146.0,2079,1613,2738,2837,2653.9,-15.3,530,18237,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,1613,2788,2739,2837,0,0,0,0,0,0,27.08,27.10,27.10,8.63,15.62
$GC,18536,-1.79,-146.0,2078,1613,2738,2837,2699.9,-15.2,535,18538,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,1613,2788,2739,2837,0,0,0,0,0,0,27.08,27.10,27.10,8.63,15.70
$GC,18836,-1.79,-146.0,2079,1613,2738,2837,2744.3,-14.7,540,18837,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,1613,2787,2738,2837,0,0,0,0,0,0,27.08,27.10,27.10,8.63,15.82
$GC,19136,-1.79,-146.0,2078,1613,2738,2837,2788.3,-14.6,545,19143,0.00,2.47,0.00,0.000,260,0.000,0.067,2067,3189,2788,2739,2837,0,0,0,0,0,0,27.08,26.03,27.10,8.63,16.37
$GC,19189,-1.79,-146.0,2067,3189,2737,2837,2788.3,-14.6,545,19196,0.00,2.45,0.00,0.000,1030,0.000,0.055,2067,1614,2787,2738,2837,0,0,0,0,0,0,26.39,26.29,26.43,8.63,16.13
$GC,19496,-1.79,-146.0,2067,1614,2738,2837,2841.4,-14.8,551,19497,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1614,2787,2737,2837,0,0,0,0,0,0,27.08,27.10,27.10,8.63,15.62
$GC,19797,-1.79,-146.0,2067,1614,2737,2837,2885.4,-14.6,556,19798,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1614,2787,2737,2837,0,0,0,0,0,0,27.08,27.10,27.09,8.63,16.60
$GC,20096,-1.79,-146.0,2067,1614,2737,2837,2927.9,-14.2,561,20097,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1614,2786,2737,2836,0,0,0,0,0,0,27.08,27.10,27.09,8.63,16.41
$GC,20396,-1.79,-146.0,2067,1614,2737,2837,2970.5,-14.1,566,20397,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1614,2787,2737,2837,0,0,0,0,0,0,27.08,27.10,27.09,8.63,15.97
$GC,20696,-1.79,-146.0,2067,1614,2737,2836,3010.9,-13.5,571,20697,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1614,2786,2737,2836,0,0,0,0,0,0,27.08,27.10,27.09,8.62,16.21
$GC,20997,-1.84,-146.0,2067,1614,2736,2836,3050.5,-13.1,576,21003,0.00,2.45,0.00,0.000,260,0.000,0.067,2056,3184,2786,2737,2836,0,0,0,0,0,0,27.08,25.96,27.09,8.62,15.93
$GC,21035,-1.89,-146.0,2055,3184,2737,2836,3050.5,-13.1,576,21039,0.00,2.45,0.00,0.000,1030,0.000,0.057,2056,1612,2786,2736,2836,0,0,0,0,0,0,26.33,26.24,26.37,8.62,15.78
$GC,21352,-1.89,-146.0,2056,1611,2736,2836,3098.7,-13.5,582,21358,0.00,2.28,0.00,0.000,516,0.000,0.079,2059,195,2786,2736,2836,0,0,0,0,0,0,27.08,25.82,27.09,8.62,16.25
$GC,21399,-1.89,-146.0,2058,195,2736,2836,3098.7,-13.5,582,21403,0.00,2.12,0.00,0.000,1030,0.000,0.057,2051,1603,2786,2736,2836,0,0,0,0,0,0,26.41,26.32,26.44,8.62,15.66
$GC,21711,-1.89,-146.0,2050,1603,2736,2836,3147.0,-13.2,588,21718,0.00,2.55,0.00,0.000,260,0.000,0.070,2038,3195,2786,2736,2836,0,0,0,0,0,0,27.07,25.89,27.09,8.62,15.97
$GC,21789,-1.89,-146.0,2037,3195,2736,2836,3155.1,-13.2,589,21794,0.00,2.45,0.00,0.000,1030,0.000,0.057,2038,1609,2785,2735,2836,0,0,0,0,0,0,26.30,26.20,26.34,8.62,16.17
$GC,22126,-1.89,-146.0,2037,1609,2735,2836,3202.0,-13.0,595,22128,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1609,2785,2735,2836,0,0,0,0,0,0,27.07,27.09,27.09,8.62,15.58
$GC,22426,-1.89,-146.0,2037,1609,2735,2836,3239.9,-12.6,600,22434,0.00,2.50,0.00,0.000,260,0.000,0.070,2027,3195,2785,2735,2836,0,0,0,0,0,0,27.07,25.88,27.09,8.62,15.54
$GC,22469,-1.89,-146.0,2026,3195,2735,2837,3239.9,-12.6,600,22474,0.00,2.45,0.00,0.000,1030,0.000,0.055,2026,1614,2785,2735,2836,0,0,0,0,0,0,26.29,26.20,26.33,8.62,15.74
$STATE,22485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,22485,begin apogee
$GC,22489,-0.25,0.0,2026,1614,2735,2836,3248.0,-12.8,601,22618,2.12,0.00,123.68,2.952,10246,0.231,0.000,2556,1614,2340,2287,2394,0,0,0,0,0,0,23.94,23.29,21.66,8.61,16.45
$STATE,22619,end apogee,CONTROL_FINISHED_OK
$STATE,22619,begin climb
$GC,22620,1.09,146.0,2555,1614,2287,2394,3253.6,0.0,603,22769,1.48,0.00,143.23,2.910,10502,0.176,0.000,2987,1614,1836,1766,1907,0,0,0,0,0,0,23.65,23.22,21.68,8.58,15.66
$GC,23027,0.77,320.8,2986,1614,1766,1908,3264.7,1.9,610,23202,0.43,2.55,166.50,2.908,12804,0.333,0.092,2909,188,1235,1144,1326,0,0,0,0,0,0,25.29,22.98,21.81,8.54,15.82
$GC,23258,0.48,402.3,2908,188,1144,1324,3253.4,6.2,612,23348,0.47,2.35,81.43,2.833,13318,0.303,0.060,2807,1634,954,857,1052,0,0,0,0,0,0,24.39,24.76,21.78,8.50,14.83
$GC,23686,0.39,402.3,2807,1634,853,1051,3138.7,21.2,620,23688,0.15,0.00,0.00,0.000,4102,0.313,0.000,2776,1636,951,853,1050,0,0,0,0,0,0,25.64,26.06,25.97,8.47,15.30
$GC,23986,0.39,402.3,2775,1636,853,1051,3081.6,18.9,625,23987,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1636,951,853,1050,0,0,0,0,0,0,26.71,26.73,26.72,8.46,15.30
$GC,24285,0.39,402.3,2775,1636,853,1051,3027.1,18.2,630,24290,0.00,2.33,0.00,0.000,516,0.000,0.082,2785,185,951,852,1050,0,0,0,0,0,0,26.84,26.40,26.85,8.46,15.11
$GC,24347,0.39,402.3,2784,185,853,1049,3015.8,18.0,631,24352,0.00,2.20,0.00,0.000,1030,0.000,0.067,2785,1634,951,853,1049,0,0,0,0,0,0,26.61,26.52,26.63,8.46,15.70
$GC,24710,0.39,402.3,2784,1634,853,1049,2950.8,18.0,637,24711,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1634,951,853,1050,0,0,0,0,0,0,26.92,26.94,26.94,8.45,15.22
$GC,25009,0.39,402.3,2784,1634,852,1049,2897.7,17.7,642,25015,0.00,2.33,0.00,0.000,516,0.000,0.082,2795,179,950,852,1049,0,0,0,0,0,0,26.96,26.47,26.97,8.45,15.46
$GC,25057,0.39,402.3,2795,179,852,1049,2897.7,17.7,642,25062,0.00,2.20,0.00,0.000,1030,0.000,0.065,2795,1639,950,852,1049,0,0,0,0,0,0,26.69,26.60,26.72,8.45,15.93
$GC,25369,0.39,402.3,2794,1639,852,1049,2834.8,17.2,648,25371,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1639,951,853,1049,0,0,0,0,0,0,26.98,27.01,27.00,8.44,15.58
$GC,25669,0.39,402.3,2795,1639,852,1049,2783.5,17.1,653,25671,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1639,950,852,1049,0,0,0,0,0,0,27.01,27.02,27.02,8.44,15.58
$GC,25970,0.39,402.3,2794,1639,852,1049,2732.5,17.0,658,25971,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1639,950,852,1049,0,0,0,0,0,0,27.01,27.03,27.03,8.43,15.85
$GC,26269,0.39,402.3,2794,1639,851,1049,2682.2,16.8,663,26276,0.00,2.33,0.00,0.000,516,0.000,0.079,2806,184,950,852,1049,0,0,0,0,0,0,27.03,26.46,27.04,8.43,16.29
$GC,26317,0.39,402.3,2805,184,851,1049,2682.2,16.8,663,26323,0.12,2.17,0.00,0.000,5126,0.305,0.065,2779,1638,950,852,1049,0,0,0,0,0,0,25.85,26.62,26.17,8.43,15.93
$GC,26630,0.39,402.3,2778,1638,852,1049,2625.9,15.2,669,26631,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1638,950,851,1049,0,0,0,0,0,0,27.03,27.05,27.05,8.43,15.82
$GC,26930,0.39,402.3,2778,1638,852,1049,2581.1,15.0,674,26931,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1638,950,851,1049,0,0,0,0,0,0,27.04,27.06,27.05,8.43,15.62
$GC,27231,0.39,402.3,2778,1638,851,1049,2536.3,14.9,679,27237,0.00,2.33,0.00,0.000,516,0.000,0.079,2788,179,950,851,1049,0,0,0,0,0,0,27.04,26.42,27.06,8.42,16.13
$GC,27283,0.39,402.3,2787,178,851,1049,2536.3,14.9,679,27291,0.00,2.17,0.00,0.000,1030,0.000,0.065,2788,1627,950,851,1049,0,0,0,0,0,0,26.70,26.61,26.73,8.43,15.42
$GC,27590,0.39,402.3,2787,1626,850,1049,2482.0,15.0,685,27591,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1627,950,851,1049,0,0,0,0,0,0,27.05,27.07,27.06,8.43,15.97
$GC,27890,0.39,402.3,2787,1626,851,1049,2438.9,14.3,690,27891,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1627,950,851,1049,0,0,0,0,0,0,27.05,27.07,27.06,8.43,15.89
$GC,28190,0.39,402.3,2787,1627,851,1049,2397.1,13.9,695,28195,0.00,2.30,0.00,0.000,516,0.000,0.079,2798,184,950,851,1049,0,0,0,0,0,0,27.05,26.38,27.07,8.42,15.78
$GC,28245,0.39,402.3,2797,184,851,1049,2397.1,13.9,695,28252,0.00,2.17,0.00,0.000,1030,0.000,0.065,2798,1628,950,851,1049,0,0,0,0,0,0,26.68,26.59,26.71,8.42,15.85
$GC,28553,0.39,402.3,2798,1629,851,1049,2345.9,14.0,701,28554,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1628,950,851,1049,0,0,0,0,0,0,27.05,27.07,27.07,8.42,15.58
$GC,28852,0.39,402.3,2798,1628,851,1048,2304.5,13.8,706,28853,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1628,950,851,1049,0,0,0,0,0,0,27.05,27.08,27.07,8.42,15.19
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$GC,46311,0.95,402.3,2938,1618,868,1049,188.5,14.5,1118,46316,0.00,2.17,0.00,0.000,516,0.000,0.070,2950,186,958,868,1049,0,0,0,0,0,0,27.08,26.23,27.09,8.76,14.48
$GC,46333,0.95,402.3,2949,185,868,1049,185.0,14.6,1119,46338,0.00,2.08,0.00,0.000,1030,0.000,0.055,2949,1633,959,869,1049,0,0,0,0,0,0,26.62,26.54,26.64,8.76,15.38
$GC,46646,0.95,402.3,2949,1634,869,1049,138.6,15.2,1138,46647,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1633,959,869,1049,0,0,0,0,0,0,27.08,27.10,27.09,8.79,15.11
$GC,46946,0.95,402.3,2949,1633,871,1049,95.2,13.9,1168,46947,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1633,960,871,1049,0,0,0,0,0,0,27.08,27.10,27.09,8.80,14.56
$GC,47247,1.01,402.3,2948,1633,872,1049,54.6,12.9,1198,47248,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1634,960,872,1049,0,0,0,0,0,0,27.08,27.10,27.10,8.83,15.07
$GC,47549,1.13,402.3,2948,1634,874,1049,19.4,9.8,1228,47558,0.08,0.00,3.83,0.407,10246,0.159,0.000,2998,1634,955,862,1049,0,0,0,0,0,0,26.72,25.23,24.18,8.87,15.34
$STATE,47674,end climb,SURFACE_DEPTH_REACHED
$STATE,47674,begin surface coast
$FINISH,-0.2,1.023399
$STATE,47716,end surface coast,CONTROL_FINISHED_OK
$STATE,47717,begin surface
$SM_CCo,47792,0.00,0.000,0,0,955,402.33
$SM_GC,0.57,7.40,0.00,0.00,0.079,0.000,0.000,128,1634,955,-7.78,0.57,402.33,0,0,0,0,0,0,26.22,27.08,26.33
$IRIDIUM_FIX,2558.17,-7603.07,070717,215033
$TT8_MAMPS,0.021721,0.19474
$HUMID,15.42
$INTERNAL_PRESSURE,8.84678
$TCM_TEMP,29.40
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.4,18.9
$24V_AH,21.66,50.207
$10V_AH,10.36,19.611
$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,22.450,233.050,518.650,0.000,121.275,0.000,0.000,0.000,8.500,0.000,18.756,4214.039,39527.148,746.806,3122.100,261.305,0.000,2524.353,0.000,3051.610,0.000,2.656,0.000
$DEVICE_MAMPS,332.722,91.871,2952.287,0.000,121.667,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.278,1646.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284744
$DATA_FILE_SIZE,90396,1245
$CAP_FILE_SIZE,301631,0
$CFSIZE,2047311872,2021851136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.187,158.04,1
$GPS,080717,112637,2613.270,-7603.862,27,0.8,32,-8.9,0.0,0.0,11,4.9