version: 66.12
glider: 37
mission: 17
dive: 97
start: 7 8 117 17 17 56
data:
$ID,37
$MISSION,17
$DIVE,97
$N_DIVES,0
$STOP_T,7081718
$D_SURF,5
$D_FLARE,3
$D_TGT,2160
$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,720
$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,450
$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,45
$R_STBD_OVSHOOT,69
$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
$GPS1,080717,171449,2612.8428,-7606.2251,2,0.8,20,-8.8,0.6,281.3,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.1
$GPS2,080717,171725,2612.8491,-7606.2432,5,0.8,22,-8.8,0.0,0.0,11,5.0
$SPEED_LIMITS,0.173,0.370
$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,324.9,70919,-11.6,-10.000,-15.12,6583
$D_GRID,2160
$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
$STATE,13,begin dive
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$GC,398,-0.70,-438.0,2399,3185,3788,3911,33.9,-10.0,37,406,0.00,2.20,0.00,0.000,1030,0.000,0.052,2400,1579,3849,3788,3910,0,0,0,0,0,0,26.88,26.83,26.90,9.55,14.71
$GC,705,-0.70,-438.0,2399,1579,3788,3910,62.1,-8.6,68,715,0.00,2.33,0.00,0.000,260,0.000,0.062,2389,3201,3849,3788,3910,0,0,0,0,0,0,27.16,26.79,27.17,9.52,14.44
$GC,740,-0.70,-438.0,2388,3201,3787,3910,65.0,-9.1,71,749,0.08,2.20,0.00,0.000,3078,0.151,0.050,2420,1605,3849,3788,3910,0,0,0,0,0,0,26.64,26.86,26.69,9.52,14.99
$GC,1050,-0.79,-438.0,2418,1605,3787,3908,86.7,-7.6,102,1053,0.00,1.98,0.00,0.000,516,0.000,0.065,2420,216,3847,3787,3908,0,0,0,0,0,0,27.17,26.79,27.17,9.49,15.62
$GC,1104,-0.89,-438.0,2419,211,3788,3907,90.6,-7.7,107,1113,0.10,1.90,0.00,0.000,5126,0.124,0.052,2349,1646,3847,3788,3907,0,0,0,0,0,0,26.78,26.90,26.85,9.48,14.67
$GC,1411,-0.89,-438.0,2349,1646,3788,3905,124.1,-12.1,138,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1645,3846,3788,3905,0,0,0,0,0,0,27.17,27.18,27.18,9.45,14.99
$GC,1712,-0.89,-438.0,2348,1646,3788,3904,156.8,-10.8,165,1715,0.00,2.08,0.00,0.000,516,0.000,0.065,2349,232,3845,3787,3904,0,0,0,0,0,0,27.17,26.78,27.17,9.43,15.26
$GC,1761,-0.89,-438.0,2348,200,3787,3903,161.6,-11.1,167,1766,0.00,1.90,0.00,0.000,1030,0.000,0.052,2340,1617,3845,3788,3903,0,0,0,0,0,0,26.94,26.89,26.96,9.43,15.85
$GC,2074,-0.89,-438.0,2339,1617,3786,3902,198.2,-11.0,183,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1617,3844,3787,3902,0,0,0,0,0,0,27.16,27.18,27.17,9.39,15.74
$GC,2373,-0.89,-438.0,2339,1617,3785,3900,229.1,-10.8,198,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1617,3842,3785,3900,0,0,0,0,0,0,27.16,27.17,27.17,9.38,15.85
$GC,2673,-0.89,-438.0,2339,1617,3784,3899,260.8,-10.9,213,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1616,3841,3784,3899,0,0,0,0,0,0,27.16,27.18,27.17,9.36,15.93
$GC,2973,-0.89,-438.0,2340,1617,3783,3898,292.5,-11.0,228,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1617,3840,3783,3898,0,0,0,0,0,0,27.16,27.17,27.17,9.35,16.41
$GC,3293,-0.89,-438.0,2339,1617,3781,3894,328.3,-11.3,240,3299,0.00,2.10,0.00,0.000,516,0.000,0.065,2340,205,3837,3781,3894,0,0,0,0,0,0,27.16,26.77,27.17,9.34,16.84
$GC,3346,-0.89,-438.0,2339,204,3781,3894,331.7,-11.2,241,3353,0.00,1.92,0.00,0.000,1030,0.000,0.052,2331,1613,3837,3781,3894,0,0,0,0,0,0,26.92,26.87,26.94,9.34,16.37
$GC,3653,-0.89,-438.0,2330,1612,3779,3893,368.9,-11.0,252,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1613,3836,3779,3893,0,0,0,0,0,0,27.16,27.17,27.17,9.32,16.45
$GC,3953,-0.89,-438.0,2330,1612,3779,3891,401.0,-10.5,262,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1612,3834,3778,3891,0,0,0,0,0,0,27.16,27.17,27.17,9.31,16.49
$GC,4253,-0.89,-438.0,2330,1612,3777,3890,431.4,-10.1,272,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1612,3833,3777,3890,0,0,0,0,0,0,27.15,27.17,27.17,9.30,17.12
$GC,4553,-0.89,-438.0,2330,1612,3776,3889,462.8,-10.3,282,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1613,3832,3776,3889,0,0,0,0,0,0,27.15,27.17,27.17,9.28,16.84
$GC,4853,-0.89,-438.0,2330,1612,3775,3887,493.3,-10.3,292,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1613,3831,3775,3887,0,0,0,0,0,0,27.15,27.17,27.17,9.26,16.25
$GC,5153,-0.89,-438.0,2330,1612,3774,3885,523.6,-10.0,302,5159,0.00,2.33,0.00,0.000,260,0.000,0.062,2320,3162,3829,3773,3885,0,0,0,0,0,0,27.15,26.75,27.17,9.25,16.25
$GC,5191,-0.89,-438.0,2319,3162,3773,3886,526.4,-10.0,303,5196,0.12,2.20,0.00,0.000,3078,0.166,0.052,2364,1614,3829,3773,3886,0,0,0,0,0,0,26.55,26.83,26.67,9.25,16.29
$GC,5510,-0.97,-438.0,2363,1614,3772,3883,552.4,-7.9,314,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1614,3827,3772,3883,0,0,0,0,0,0,27.15,27.17,27.17,9.23,16.80
$GC,5810,-1.06,-438.0,2363,1614,3771,3881,576.4,-8.2,324,5812,0.12,0.00,0.00,0.000,4102,0.137,0.000,2306,1614,3826,3771,3881,0,0,0,0,0,0,26.77,26.86,26.83,9.21,16.92
$GC,6108,-1.06,-438.0,2305,1614,3769,3879,612.4,-12.2,334,6115,0.00,2.10,0.00,0.000,516,0.000,0.065,2306,207,3824,3770,3879,0,0,0,0,0,0,27.15,26.72,27.17,9.19,16.60
$GC,6157,-1.06,-438.0,2305,207,3770,3879,616.3,-12.3,335,6160,0.00,1.98,0.00,0.000,1030,0.000,0.052,2296,1603,3824,3770,3879,0,0,0,0,0,0,26.90,26.84,26.91,9.20,16.64
$GC,6469,-1.06,-438.0,2295,1613,3767,3878,657.8,-12.7,346,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1613,3822,3767,3878,0,0,0,0,0,0,27.15,27.17,27.16,9.17,16.88
$GC,6768,-1.06,-438.0,2295,1613,3766,3877,694.7,-12.3,356,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1613,3821,3766,3877,0,0,0,0,0,0,27.15,27.17,27.16,9.15,16.52
$GC,7069,-1.06,-438.0,2295,1613,3764,3875,730.6,-12.0,366,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1613,3819,3764,3875,0,0,0,0,0,0,27.15,27.17,27.16,9.12,16.52
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$GC,7669,-1.06,-438.0,2295,1613,3759,3872,801.0,-11.5,386,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1613,3815,3760,3871,0,0,0,0,0,0,27.15,27.16,27.16,9.07,17.08
$GC,7968,-1.06,-438.0,2295,1613,3758,3870,835.8,-11.8,396,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1613,3814,3758,3870,0,0,0,0,0,0,27.14,27.16,27.15,9.05,16.49
$GC,8269,-1.06,-438.0,2295,1613,3756,3867,871.8,-12.1,406,8275,0.00,2.42,0.00,0.000,260,0.000,0.065,2284,3181,3811,3756,3867,0,0,0,0,0,0,27.14,26.68,27.15,9.03,16.96
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$GC,8623,-1.06,-438.0,2284,1626,3754,3866,916.6,-12.7,417,8627,0.00,2.17,0.00,0.000,516,0.000,0.070,2284,193,3809,3754,3865,0,0,0,0,0,0,27.14,26.62,27.15,9.01,16.52
$GC,8663,-1.06,-438.0,2283,193,3754,3865,920.9,-13.0,418,8667,0.10,2.08,0.00,0.000,3078,0.196,0.055,2305,1620,3809,3754,3865,0,0,0,0,0,0,26.42,26.79,26.56,9.00,16.68
$GC,8985,-1.06,-438.0,2304,1619,3753,3861,956.0,-10.3,429,8989,0.00,2.42,0.00,0.000,260,0.000,0.065,2296,3181,3806,3752,3861,0,0,0,0,0,0,27.14,26.64,27.15,8.98,17.00
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$GC,9347,-1.06,-438.0,2295,1615,3751,3858,995.3,-10.9,441,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1615,3804,3751,3858,0,0,0,0,0,0,27.13,27.15,27.15,8.96,16.09
$GC,9647,-1.06,-438.0,2295,1614,3749,3856,1026.3,-10.3,447,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1614,3802,3749,3856,0,0,0,0,0,0,27.13,27.15,27.15,8.93,16.52
$GC,9947,-1.06,-438.0,2295,1615,3748,3853,1056.1,-9.9,452,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1615,3800,3748,3853,0,0,0,0,0,0,27.13,27.15,27.15,8.92,16.05
$GC,10247,-1.06,-438.0,2295,1614,3747,3852,1085.7,-9.9,457,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1614,3799,3747,3851,0,0,0,0,0,0,27.13,27.15,27.15,8.92,16.96
$GC,10547,-1.06,-438.0,2295,1615,3745,3850,1115.5,-9.9,462,10554,0.00,2.42,0.00,0.000,260,0.000,0.067,2285,3187,3797,3745,3850,0,0,0,0,0,0,27.13,26.56,27.14,8.91,16.56
$GC,10585,-1.06,-438.0,2285,3187,3744,3850,1115.5,-9.9,462,10589,0.00,2.38,0.00,0.000,1030,0.000,0.055,2286,1619,3797,3744,3850,0,0,0,0,0,0,26.77,26.68,26.79,8.91,17.12
$GC,10902,-1.06,-438.0,2285,1619,3742,3848,1152.1,-10.4,468,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1618,3795,3743,3848,0,0,0,0,0,0,27.13,27.15,27.14,8.89,16.72
$GC,11202,-1.06,-438.0,2285,1618,3741,3846,1183.5,-10.4,473,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1618,3793,3741,3845,0,0,0,0,0,0,27.13,27.15,27.14,8.88,16.92
$GC,11503,-1.06,-438.0,2285,1618,3739,3844,1213.8,-10.1,478,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1618,3791,3739,3844,0,0,0,0,0,0,27.13,27.15,27.14,8.87,16.56
$GC,11802,-1.06,-438.0,2285,1618,3738,3843,1243.8,-9.9,483,11808,0.00,2.42,0.00,0.000,260,0.000,0.067,2276,3178,3790,3738,3843,0,0,0,0,0,0,27.13,26.50,27.13,8.86,16.64
$GC,11830,-1.06,-438.0,2275,3178,3737,3843,1243.8,-9.9,483,11835,0.00,2.40,0.00,0.000,1030,0.000,0.055,2276,1601,3789,3736,3843,0,0,0,0,0,0,26.72,26.64,26.75,8.86,16.64
$GC,12162,-1.06,-438.0,2276,1601,3736,3840,1281.2,-10.5,489,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1601,3788,3736,3840,0,0,0,0,0,0,27.12,27.14,27.13,8.85,16.13
$GC,12462,-1.06,-438.0,2276,1601,3735,3838,1312.9,-10.5,494,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1601,3786,3735,3838,0,0,0,0,0,0,27.12,27.14,27.13,8.84,15.89
$GC,12763,-1.06,-438.0,2275,1601,3733,3837,1344.4,-10.6,499,12769,0.00,2.50,0.00,0.000,260,0.000,0.067,2266,3173,3785,3733,3837,0,0,0,0,0,0,27.12,26.46,27.13,8.83,15.89
$GC,12800,-1.06,-438.0,2265,3173,3733,3838,1344.4,-10.6,499,12806,0.12,2.40,0.00,0.000,3078,0.219,0.055,2301,1614,3785,3733,3837,0,0,0,0,0,0,26.05,26.60,26.22,8.84,16.33
$GC,13119,-1.14,-438.0,2301,1614,3732,3836,1377.2,-9.0,505,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,1613,3784,3732,3836,0,0,0,0,0,0,27.12,27.14,27.13,8.82,16.29
$GC,13419,-1.23,-438.0,2300,1614,3732,3834,1404.2,-9.0,510,13421,0.12,0.00,0.00,0.000,4102,0.189,0.000,2259,1613,3782,3730,3834,0,0,0,0,0,0,26.46,26.59,26.53,8.82,16.52
$GC,13718,-1.23,-438.0,2258,1613,3731,3833,1438.7,-11.7,515,13726,0.00,2.45,0.00,0.000,260,0.000,0.070,2248,3180,3781,3730,3833,0,0,0,0,0,0,27.11,26.39,27.13,8.82,16.09
$GC,13751,-1.23,-438.0,2248,3181,3730,3832,1438.7,-11.7,515,13755,0.00,2.42,0.00,0.000,1030,0.000,0.055,2251,1608,3781,3730,3833,0,0,0,0,0,0,26.65,26.56,26.68,8.82,16.41
$GC,14073,-1.23,-438.0,2250,1608,3729,3832,1478.5,-11.1,521,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1608,3781,3730,3832,0,0,0,0,0,0,27.11,27.13,27.13,8.81,16.45
$GC,14373,-1.23,-438.0,2250,1608,3728,3831,1509.9,-10.4,526,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1608,3780,3729,3831,0,0,0,0,0,0,27.11,27.13,27.13,8.80,15.93
$GC,14674,-1.23,-438.0,2250,1608,3727,3830,1540.6,-10.2,531,14680,0.00,2.42,0.00,0.000,260,0.000,0.067,2243,3168,3778,3726,3830,0,0,0,0,0,0,27.11,26.34,27.13,8.80,16.37
$GC,14706,-1.23,-438.0,2242,3168,3726,3830,1540.6,-10.2,531,14711,0.00,2.40,0.00,0.000,1030,0.000,0.057,2242,1612,3778,3726,3830,0,0,0,0,0,0,26.62,26.52,26.65,8.80,16.64
$GC,15033,-1.23,-438.0,2242,1612,3726,3830,1578.5,-10.6,537,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1612,3778,3726,3831,0,0,0,0,0,0,27.11,27.13,27.13,8.79,16.37
$GC,15333,-1.23,-438.0,2241,1612,3725,3829,1610.5,-10.8,542,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1612,3777,3725,3829,0,0,0,0,0,0,27.11,27.13,27.13,8.79,15.62
$GC,15633,-1.23,-438.0,2242,1612,3725,3828,1642.1,-10.4,547,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1612,3776,3725,3828,0,0,0,0,0,0,27.10,27.13,27.13,8.79,15.66
$GC,15934,-1.23,-438.0,2242,1612,3724,3827,1672.6,-10.2,552,15940,0.00,2.42,0.00,0.000,260,0.000,0.067,2233,3173,3775,3724,3827,0,0,0,0,0,0,27.10,26.27,27.13,8.79,16.01
$GC,15972,-1.23,-438.0,2233,3173,3723,3826,1672.6,-10.2,552,15976,0.00,2.42,0.00,0.000,1030,0.000,0.057,2233,1604,3775,3724,3827,0,0,0,0,0,0,26.56,26.47,26.60,8.78,16.29
$GC,16289,-1.23,-438.0,2232,1604,3723,3826,1709.3,-10.4,558,16290,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1604,3774,3723,3826,0,0,0,0,0,0,27.10,27.13,27.12,8.78,16.56
$GC,16588,-1.23,-438.0,2232,1604,3723,3825,1739.6,-10.0,563,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1604,3774,3723,3825,0,0,0,0,0,0,27.10,27.13,27.12,8.77,16.13
$GC,16888,-1.23,-438.0,2232,1604,3722,3824,1769.7,-10.0,568,16895,0.00,2.45,0.00,0.000,260,0.000,0.067,2223,3170,3773,3723,3824,0,0,0,0,0,0,27.10,26.22,27.12,8.78,15.70
$GC,16921,-1.23,-438.0,2223,3170,3722,3824,1769.7,-10.0,568,16926,0.00,2.40,0.00,0.000,1030,0.000,0.057,2223,1618,3773,3722,3824,0,0,0,0,0,0,26.53,26.43,26.56,8.77,15.78
$GC,17243,-1.23,-438.0,2223,1618,3721,3824,1805.9,-10.2,574,17245,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1618,3773,3722,3824,0,0,0,0,0,0,27.10,27.12,27.11,8.77,15.85
$GC,17543,-1.23,-438.0,2222,1619,3721,3823,1836.0,-9.9,579,17545,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1618,3772,3721,3823,0,0,0,0,0,0,27.10,27.13,27.11,8.76,16.05
$GC,17844,-1.23,-438.0,2223,1618,3721,3822,1865.2,-9.8,584,17845,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1618,3772,3721,3823,0,0,0,0,0,0,27.10,27.12,27.11,8.76,15.93
$GC,18143,-1.23,-438.0,2223,1618,3721,3822,1893.5,-9.4,589,18150,0.00,2.42,0.00,0.000,260,0.000,0.070,2214,3169,3771,3720,3822,0,0,0,0,0,0,27.10,26.15,27.11,8.76,16.25
$GC,18177,-1.23,-438.0,2213,3169,3720,3823,1893.5,-9.4,589,18182,0.12,2.42,0.00,0.000,3078,0.236,0.055,2247,1606,3771,3720,3822,0,0,0,0,0,0,25.72,26.40,25.88,8.75,16.56
$GC,18500,-1.30,-438.0,2247,1606,3720,3822,1922.9,-8.3,595,18501,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1606,3770,3719,3822,0,0,0,0,0,0,27.10,27.12,27.11,8.75,15.70
$GC,18800,-1.38,-438.0,2246,1606,3719,3821,1945.7,-7.4,600,18808,0.10,2.45,0.00,0.000,4356,0.228,0.067,2202,3173,3770,3719,3821,0,0,0,0,0,0,26.32,26.11,26.34,8.74,16.17
$GC,18844,-1.46,-438.0,2202,3173,3718,3822,1945.7,-7.4,600,18849,0.00,2.42,0.00,0.000,1030,0.000,0.057,2203,1614,3770,3718,3822,0,0,0,0,0,0,26.45,26.35,26.48,8.75,16.49
$GC,19161,-1.46,-438.0,2201,1615,3718,3822,1980.6,-9.9,606,19162,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1614,3769,3718,3821,0,0,0,0,0,0,27.10,27.11,27.11,8.75,15.62
$GC,19462,-1.46,-438.0,2202,1614,3718,3821,2010.3,-9.9,611,19463,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1614,3769,3718,3821,0,0,0,0,0,0,27.09,27.11,27.10,8.74,15.62
$GC,19761,-1.46,-438.0,2202,1615,3718,3821,2040.6,-10.1,616,19767,0.00,2.45,0.00,0.000,260,0.000,0.070,2191,3172,3769,3718,3821,0,0,0,0,0,0,27.09,26.06,27.10,8.75,15.82
$GC,19799,-1.46,-438.0,2191,3172,3717,3821,2040.6,-10.1,616,19803,0.00,2.42,0.00,0.000,1030,0.000,0.057,2191,1608,3769,3718,3821,0,0,0,0,0,0,26.41,26.32,26.45,8.74,16.25
$GC,20116,-1.46,-438.0,2190,1608,3717,3821,2077.8,-10.6,622,20117,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1608,3769,3718,3821,0,0,0,0,0,0,27.09,27.11,27.10,8.74,15.46
$GC,20416,-1.46,-438.0,2191,1608,3717,3821,2110.4,-11.1,627,20417,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1608,3769,3717,3821,0,0,0,0,0,0,27.09,27.11,27.10,8.74,16.01
$GC,20716,-1.46,-438.0,2190,1608,3717,3820,2144.1,-11.2,632,20721,0.00,2.45,0.00,0.000,260,0.000,0.070,2180,3172,3769,3717,3821,0,0,0,0,0,0,27.09,26.01,27.10,8.74,16.17
$GC,20762,-1.46,-438.0,2180,3172,3716,3820,2144.1,-11.2,632,20766,0.00,2.42,0.00,0.000,1030,0.000,0.057,2180,1605,3768,3717,3820,0,0,0,0,0,0,26.37,26.27,26.41,8.74,16.09
$STATE,20892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20892,begin apogee
$GC,20897,-0.25,0.0,2180,1605,3717,3820,2164.7,-11.4,635,21269,1.35,0.00,368.23,2.237,10246,0.201,0.000,2557,1605,2340,2268,2413,0,0,0,0,0,0,24.37,23.65,22.41,8.74,15.62
$STATE,21270,end apogee,CONTROL_FINISHED_OK
$STATE,21270,begin climb
$GC,21272,0.70,438.0,2557,1605,2267,2413,2201.8,0.0,641,21676,0.98,2.75,390.12,2.215,11012,0.171,0.079,2852,3187,832,732,932,0,0,0,0,0,0,23.89,23.42,22.50,8.61,15.30
$GC,21860,0.47,438.0,2851,3187,726,932,2167.1,17.3,651,21867,0.25,2.47,0.00,0.000,5126,0.263,0.060,2803,1630,829,726,932,0,0,0,0,0,0,25.56,25.91,25.74,8.48,14.71
$GC,22221,0.33,438.0,2802,1629,726,932,2116.8,13.7,657,22227,0.17,2.28,0.00,0.000,4612,0.268,0.077,2765,180,829,726,932,0,0,0,0,0,0,26.03,26.34,26.21,8.47,15.42
$GC,22282,0.19,438.0,2765,179,726,932,2109.4,13.4,658,22287,0.20,2.15,0.00,0.000,5126,0.256,0.062,2715,1622,829,727,932,0,0,0,0,0,0,26.05,26.51,26.34,8.46,14.91
$GC,22640,0.19,438.0,2714,1622,726,932,2078.0,8.5,664,22641,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1622,829,726,932,0,0,0,0,0,0,26.92,26.94,26.93,8.46,15.46
$GC,22940,0.19,438.0,2714,1622,726,932,2051.3,9.0,669,22941,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1622,829,726,932,0,0,0,0,0,0,26.96,26.98,26.98,8.45,16.01
$GC,23240,0.19,438.0,2714,1622,726,932,2025.1,8.8,674,23241,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1622,828,726,931,0,0,0,0,0,0,27.00,27.01,27.01,8.45,15.46
$GC,23540,0.19,438.0,2714,1622,726,932,1999.1,8.6,679,23541,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1622,828,726,931,0,0,0,0,0,0,27.02,27.03,27.03,8.45,15.97
$GC,23840,0.19,438.0,2714,1622,726,931,1972.9,8.7,684,23846,0.00,2.28,0.00,0.000,516,0.000,0.079,2723,186,829,726,932,0,0,0,0,0,0,27.03,26.52,27.05,8.45,15.85
$GC,23888,0.19,438.0,2723,186,726,931,1972.9,8.7,684,23892,0.00,2.17,0.00,0.000,1030,0.000,0.065,2723,1634,829,726,932,0,0,0,0,0,0,26.75,26.67,26.78,8.45,15.54
$GC,24195,0.19,438.0,2722,1635,726,931,1941.8,8.8,689,24196,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1635,828,725,931,0,0,0,0,0,0,27.04,27.06,27.05,8.45,15.82
$GC,24495,0.19,438.0,2722,1635,726,931,1916.8,8.3,694,24496,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1634,828,726,931,0,0,0,0,0,0,27.05,27.07,27.06,8.45,15.58
$GC,24795,0.19,438.0,2723,1635,725,931,1890.1,9.0,699,24797,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1635,828,726,931,0,0,0,0,0,0,27.05,27.07,27.07,8.44,15.50
$GC,25095,0.19,438.0,2723,1635,725,931,1863.5,8.9,704,25101,0.00,2.30,0.00,0.000,516,0.000,0.079,2734,178,828,725,931,0,0,0,0,0,0,27.06,26.46,27.08,8.44,15.66
$GC,25163,0.19,438.0,2733,178,725,931,1858.1,9.0,705,25167,0.00,2.20,0.00,0.000,1030,0.000,0.065,2734,1641,828,725,931,0,0,0,0,0,0,26.73,26.65,26.76,8.44,15.50
$GC,25515,0.19,438.0,2733,1642,725,931,1824.9,9.1,711,25516,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1641,828,726,931,0,0,0,0,0,0,27.06,27.08,27.08,8.44,15.70
$GC,25815,0.19,438.0,2733,1641,725,931,1798.4,8.8,716,25819,0.00,2.33,0.00,0.000,516,0.000,0.079,2745,179,828,725,931,0,0,0,0,0,0,27.06,26.43,27.08,8.44,15.58
$GC,25865,0.19,438.0,2744,179,725,931,1798.4,8.8,716,25870,0.12,2.20,0.00,0.000,5126,0.268,0.065,2715,1637,828,725,931,0,0,0,0,0,0,25.95,26.63,26.20,8.43,16.33
$GC,26172,0.23,579.5,2715,1638,725,931,1769.6,7.8,721,26313,0.00,0.00,138.27,1.989,8198,0.000,0.000,2715,1638,345,232,459,0,0,0,0,0,0,27.06,23.84,22.73,8.43,15.70
$GC,26592,0.28,579.5,2714,1637,229,458,1733.1,8.8,728,26594,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1638,344,229,459,0,0,0,0,0,0,26.39,26.41,26.41,8.38,15.42
$GC,26892,0.34,579.5,2715,1638,228,458,1706.9,8.7,733,26894,0.08,0.00,0.00,0.000,2054,0.256,0.000,2734,1638,343,229,458,0,0,0,0,0,0,26.23,26.41,26.34,8.38,15.62
$GC,27193,0.34,579.5,2734,1637,229,459,1678.0,9.7,738,27194,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1637,344,229,459,0,0,0,0,0,0,26.86,26.89,26.88,8.38,15.42
$GC,27492,0.34,579.5,2734,1638,228,458,1650.1,9.2,743,27493,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1638,343,229,458,0,0,0,0,0,0,26.93,26.95,26.94,8.38,15.58
$GC,27792,0.34,579.5,2733,1637,229,458,1622.6,9.2,748,27793,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1638,343,229,458,0,0,0,0,0,0,26.97,26.99,26.98,8.37,15.82
$GC,28092,0.34,579.5,2734,1637,229,458,1596.5,8.6,753,28093,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1637,343,229,458,0,0,0,0,0,0,26.99,27.02,27.01,8.37,15.42
$GC,28393,0.38,721.1,2733,1638,229,458,1572.8,7.8,758,28455,0.00,0.00,59.88,1.855,8198,0.000,0.000,2734,1638,140,44,236,0,0,0,0,0,0,27.01,25.01,23.89,8.37,16.05
$GC,28753,0.48,871.3,2733,1637,43,234,1545.3,7.7,764,28755,0.15,0.00,0.00,0.000,2054,0.211,0.000,2782,1638,138,43,234,0,0,0,0,0,0,25.94,26.25,26.17,8.35,15.62
$GC,29052,0.48,871.3,2781,1638,43,234,1514.9,10.3,769,29053,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1638,138,43,234,0,0,0,0,0,0,26.81,26.84,26.83,8.35,15.85
$GC,29353,0.48,871.3,2781,1638,43,235,1482.9,10.6,774,29354,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1638,139,43,235,0,0,0,0,0,0,26.91,26.93,26.92,8.35,15.62
$GC,29652,0.48,871.3,2781,1638,43,235,1451.4,10.5,779,29653,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1638,139,43,235,0,0,0,0,0,0,26.96,26.98,26.98,8.34,15.70
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$STATE,42554,end climb,SURFACE_DEPTH_REACHED
$STATE,42555,begin surface coast
$FINISH,-0.4,1.023370
$STATE,42605,end surface coast,CONTROL_FINISHED_OK
$STATE,42605,begin surface
$SM_CCo,42681,0.00,0.000,0,0,141,638.79
$SM_GC,0.46,7.15,0.00,0.00,0.077,0.000,0.000,134,1628,141,-7.75,0.40,638.79,0,0,0,0,0,0,26.35,27.10,26.45
$IRIDIUM_FIX,2602.97,-7605.40,080717,170003
$TT8_MAMPS,0.021721,0.181258
$HUMID,14.95
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,32.00
$XPDR_PINGS,530
$ALTIM_TOP_PING,19.3,19.2
$24V_AH,22.41,51.061
$10V_AH,10.42,19.855
$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,20.725,193.400,969.700,0.000,160.600,0.000,0.000,0.000,132.750,0.000,22.748,3953.631,34730.895,1191.904,2646.870,244.188,0.000,2748.996,0.000,2590.323,0.000,2.658,0.000
$DEVICE_MAMPS,268.164,79.456,2237.183,0.000,104.286,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.968,1640.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90202,1241
$CAP_FILE_SIZE,530127,0
$CFSIZE,2047311872,2021425152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,149.33,1
$GPS,090717,051039,2615.769,-7610.545,39,0.8,46,-8.8,0.0,0.0,10,5.0