version: 66.14
glider: 37
mission: 21
dive: 83
start: 9 16 118 4 32 56
data:
$ID,37
$MISSION,21
$DIVE,83
$N_DIVES,0
$STOP_T,9201821
$D_SURF,5
$D_FLARE,3
$D_TGT,5400
$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,2400
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79151.398
$MASS_COMP,8995.7998
$NAV_MODE,0
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13.5
$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,3108
$C_ROLL_CLIMB,3140
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,127
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,1981
$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,-23.438587
$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,3000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$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,0.0043927636
$SEABIRD_T_H,0.00063406175
$SEABIRD_T_I,2.520242e-05
$SEABIRD_T_J,3.0515216e-06
$SEABIRD_C_G,-10.05458
$SEABIRD_C_H,1.1421854
$SEABIRD_C_I,-0.0012484327
$SEABIRD_C_J,0.00018427697
$SEABIRD_C_Z,2969.6799
$GPS1,160918,041834,2615.0730,-7634.5835,35,0.8,37,-8.6,0.4,149.8,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-59.6
$GPS2,160918,043219,2615.0173,-7634.6021,8,0.8,14,-8.6,0.0,218.3,10,4.7
$SPEED_LIMITS,0.107,0.279
$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,338.0,32235,-15.0,-7.500,-18.52,3460
$D_GRID,5400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,71,-1.16,-171.7,129,3100,480,680,0.9,0.1,6,192,0.00,0.00,-117.95,0.104,16386,0.000,0.000,129,3100,2490,2418,2562,0,0,0,0,0,0,26.84,28.83,26.85,8.36,21.72
$GC,194,-1.16,-171.7,130,3100,2418,2562,4.3,-6.1,18,213,8.02,1.23,-2.67,0.171,18692,0.278,0.065,2060,3937,2574,2506,2643,0,0,0,0,0,0,25.48,26.23,25.93,8.54,21.33
$GC,760,-0.74,-171.7,2059,3937,2505,2642,114.0,-13.8,74,764,0.45,1.05,0.00,0.000,3078,0.216,0.055,2198,3106,2574,2506,2642,0,0,0,0,0,0,25.98,26.82,26.29,8.53,20.66
$GC,1072,-0.53,-171.7,2198,3105,2505,2642,145.5,-10.4,105,1076,0.20,1.20,0.00,0.000,2308,0.201,0.067,2260,3925,2573,2505,2642,0,0,0,0,0,0,26.29,26.51,26.40,8.50,20.54
$GC,1582,-0.38,-171.7,2259,3925,2505,2641,194.9,-10.1,133,1586,0.17,1.02,0.00,0.000,3078,0.189,0.055,2315,3097,2573,2505,2641,0,0,0,0,0,0,26.32,26.89,26.44,8.48,21.25
$GC,1895,-0.32,-171.7,2314,3096,2505,2640,222.2,-8.5,149,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,3096,2572,2505,2640,0,0,0,0,0,0,27.12,27.13,27.13,8.46,22.39
$GC,2194,-0.27,-171.7,2314,3096,2505,2638,249.6,-9.2,164,2196,0.12,0.00,0.00,0.000,2054,0.196,0.000,2354,3095,2571,2505,2638,0,0,0,0,0,0,26.55,26.74,26.67,8.45,23.34
$GC,2494,-0.27,-171.7,2354,3095,2505,2637,275.5,-8.7,179,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,3095,2571,2505,2637,0,0,0,0,0,0,27.12,27.15,27.13,8.43,24.16
$GC,2804,-0.27,-171.7,2354,3095,2505,2636,303.3,-9.1,194,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,3095,2570,2505,2636,0,0,0,0,0,0,27.12,27.14,27.14,8.43,24.48
$GC,3104,-0.27,-171.7,2354,3095,2505,2635,329.0,-8.3,204,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,3095,2570,2506,2634,0,0,0,0,0,0,27.13,27.14,27.14,8.42,25.27
$GC,3404,-0.27,-171.7,2354,3094,2505,2634,353.6,-8.1,214,3408,0.00,1.23,0.00,0.000,260,0.000,0.072,2352,3919,2569,2505,2634,0,0,0,0,0,0,27.13,26.75,27.14,8.41,25.94
$GC,3483,-0.27,-171.7,2351,3919,2505,2633,358.8,-8.4,216,3487,0.00,1.02,0.00,0.000,1030,0.000,0.055,2351,3100,2569,2505,2633,0,0,0,0,0,0,26.91,26.90,26.92,8.41,25.74
$GC,3795,-0.27,-171.7,2351,3097,2505,2632,385.3,-7.9,227,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,3097,2568,2504,2632,0,0,0,0,0,0,27.13,27.14,27.14,8.40,25.94
$GC,4095,-0.27,-171.7,2351,3097,2505,2630,408.5,-7.6,237,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,3097,2567,2505,2630,0,0,0,0,0,0,27.13,27.15,27.14,8.39,26.64
$GC,4395,-0.27,-171.7,2351,3097,2505,2628,431.9,-7.9,247,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,3097,2567,2505,2629,0,0,0,0,0,0,27.13,27.15,27.14,8.39,26.17
$GC,4695,-0.27,-171.7,2351,3097,2505,2627,455.6,-7.8,257,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,3097,2566,2505,2627,0,0,0,0,0,0,27.13,27.15,27.14,8.38,26.92
$GC,4995,-0.27,-171.7,2351,3097,2505,2626,480.2,-8.5,267,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,3097,2565,2505,2626,0,0,0,0,0,0,27.13,27.15,27.15,8.37,26.33
$GC,5295,-0.27,-171.7,2351,3097,2503,2625,505.5,-8.5,277,5299,0.00,1.23,0.00,0.000,260,0.000,0.072,2345,3921,2564,2504,2625,0,0,0,0,0,0,27.13,26.76,27.15,8.36,26.72
$GC,5388,-0.27,-171.7,2345,3921,2502,2625,513.5,-8.8,280,5393,0.00,1.02,0.00,0.000,1030,0.000,0.052,2346,3104,2564,2503,2626,0,0,0,0,0,0,26.91,26.90,26.92,8.36,27.24
$GC,5716,-0.27,-171.7,2345,3103,2502,2625,540.3,-8.0,291,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,3103,2563,2502,2625,0,0,0,0,0,0,27.13,27.15,27.14,8.35,27.31
$GC,6016,-0.27,-171.7,2345,3103,2502,2624,564.7,-8.3,301,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,3102,2563,2503,2624,0,0,0,0,0,0,27.13,27.15,27.14,8.34,27.63
$GC,6316,-0.27,-171.7,2345,3103,2501,2623,589.8,-8.4,311,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,3103,2562,2501,2623,0,0,0,0,0,0,27.13,27.15,27.14,8.33,28.26
$GC,6616,-0.27,-171.7,2345,3103,2501,2622,614.1,-8.2,321,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,3104,2561,2501,2622,0,0,0,0,0,0,27.13,27.15,27.14,8.32,29.05
$GC,6916,-0.27,-171.7,2345,3103,2500,2621,638.3,-7.8,331,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,3103,2560,2500,2621,0,0,0,0,0,0,27.13,27.15,27.14,8.31,29.52
$GC,7216,-0.27,-171.7,2345,3103,2499,2620,662.4,-8.1,341,7220,0.00,1.23,0.00,0.000,260,0.000,0.072,2340,3921,2559,2499,2620,0,0,0,0,0,0,27.13,26.76,27.14,8.30,30.54
$GC,7310,-0.27,-171.7,2339,3921,2499,2620,669.9,-8.2,344,7314,0.00,1.02,0.00,0.000,1030,0.000,0.055,2340,3114,2559,2499,2620,0,0,0,0,0,0,26.91,26.89,26.92,8.29,29.91
$GC,7638,-0.27,-171.7,2339,3112,2498,2618,696.7,-8.2,355,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,3112,2558,2498,2618,0,0,0,0,0,0,27.13,27.15,27.14,8.28,30.31
$GC,7938,-0.27,-171.7,2339,3112,2498,2618,721.9,-8.5,365,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,3112,2558,2498,2618,0,0,0,0,0,0,27.13,27.15,27.14,8.26,31.09
$GC,8238,-0.27,-171.7,2339,3112,2497,2616,746.8,-8.3,375,8241,0.00,1.23,0.00,0.000,260,0.000,0.074,2334,3929,2556,2496,2617,0,0,0,0,0,0,27.13,26.75,27.14,8.25,30.94
$GC,8316,-0.27,-171.7,2333,3929,2496,2617,752.4,-8.9,377,8320,0.00,1.05,0.00,0.000,1030,0.000,0.055,2334,3116,2555,2495,2616,0,0,0,0,0,0,26.90,26.88,26.91,8.25,30.94
$GC,8630,-0.27,-171.7,2333,3114,2495,2615,781.2,-8.6,388,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,3115,2555,2495,2615,0,0,0,0,0,0,27.13,27.15,27.14,8.23,30.90
$GC,8929,-0.27,-171.7,2333,3114,2495,2614,805.9,-8.0,398,8932,0.00,1.23,0.00,0.000,260,0.000,0.074,2328,3928,2554,2495,2614,0,0,0,0,0,0,27.13,26.74,27.14,8.21,30.90
$GC,8998,-0.27,-171.7,2328,3928,2494,2614,811.2,-8.3,400,9002,0.00,1.08,0.00,0.000,1030,0.000,0.055,2328,3106,2554,2494,2614,0,0,0,0,0,0,26.90,26.88,26.91,8.21,31.65
$GC,9321,-0.27,-171.7,2327,3103,2494,2612,838.9,-8.1,411,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3103,2553,2494,2612,0,0,0,0,0,0,27.13,27.15,27.14,8.19,31.61
$GC,9620,-0.27,-171.7,2327,3103,2493,2611,864.0,-8.4,421,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3103,2551,2492,2611,0,0,0,0,0,0,27.13,27.15,27.14,8.17,32.31
$GC,9920,-0.27,-171.7,2328,3103,2490,2610,890.5,-8.7,431,9924,0.00,1.25,0.00,0.000,260,0.000,0.074,2322,3926,2550,2490,2610,0,0,0,0,0,0,27.13,26.73,27.14,8.16,31.68
$GC,9989,-0.27,-171.7,2322,3927,2490,2610,896.0,-8.8,433,9993,0.00,1.08,0.00,0.000,1030,0.000,0.055,2323,3114,2550,2490,2610,0,0,0,0,0,0,26.89,26.87,26.91,8.15,31.96
$GC,10312,-0.27,-171.7,2322,3112,2490,2608,925.4,-8.8,444,10316,0.10,1.23,0.00,0.000,2308,0.216,0.072,2351,3919,2548,2489,2608,0,0,0,0,0,0,26.55,26.69,26.61,8.13,32.00
$GC,10392,-0.32,-171.7,2350,3920,2489,2608,930.6,-8.8,446,10395,0.00,1.08,0.00,0.000,1030,0.000,0.057,2351,3111,2548,2488,2608,0,0,0,0,0,0,26.88,26.86,26.89,8.13,31.49
$GC,10705,-0.40,-171.7,2350,3109,2488,2606,955.6,-7.3,457,10707,0.08,0.00,0.00,0.000,4102,0.196,0.000,2321,3106,2547,2488,2606,0,0,0,0,0,0,26.75,26.84,26.81,8.11,31.92
$GC,11004,-0.40,-171.7,2321,3106,2487,2603,982.3,-9.1,467,11007,0.00,1.23,0.00,0.000,260,0.000,0.077,2316,3914,2545,2487,2604,0,0,0,0,0,0,27.12,26.71,27.13,8.10,31.80
$GC,11073,-0.40,-171.7,2315,3914,2486,2604,988.1,-9.0,469,11076,0.00,1.08,0.00,0.000,1030,0.000,0.055,2316,3111,2545,2486,2604,0,0,0,0,0,0,26.88,26.86,26.89,8.09,32.43
$GC,11395,-0.40,-171.7,2315,3109,2485,2602,1018.9,-9.3,477,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,3109,2543,2485,2602,0,0,0,0,0,0,27.13,27.14,27.13,8.09,32.31
$GC,11695,-0.40,-171.7,2315,3109,2484,2602,1045.8,-9.0,482,11698,0.00,1.25,0.00,0.000,260,0.000,0.077,2310,3926,2542,2484,2601,0,0,0,0,0,0,27.12,26.70,27.13,8.08,32.43
$GC,11749,-0.40,-171.7,2309,3925,2484,2601,1045.8,-9.0,482,11756,0.00,1.10,0.00,0.000,1030,0.000,0.055,2310,3112,2542,2484,2601,0,0,0,0,0,0,26.86,26.84,26.89,8.08,32.39
$GC,12056,-0.40,-171.7,2309,3111,2483,2600,1080.3,-9.5,488,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,3111,2541,2484,2599,0,0,0,0,0,0,27.12,27.14,27.13,8.07,32.24
$GC,12356,-0.40,-171.7,2309,3111,2482,2598,1108.9,-9.6,493,12360,0.00,1.25,0.00,0.000,260,0.000,0.077,2303,3924,2540,2482,2598,0,0,0,0,0,0,27.12,26.68,27.13,8.06,32.39
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$GC,46845,-1.35,-171.7,2022,3102,2462,2574,4114.3,-7.4,1066,46846,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,3103,2517,2460,2574,0,0,0,0,0,0,27.08,27.10,27.09,7.91,31.92
$GC,47145,-1.35,-171.7,2022,3102,2462,2574,4135.7,-7.2,1071,47146,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,3102,2518,2462,2574,0,0,0,0,0,0,27.07,27.09,27.09,7.91,32.00
$GC,47445,-1.35,-171.7,2022,3103,2462,2574,4157.3,-7.2,1076,47446,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,3103,2518,2462,2574,0,0,0,0,0,0,27.08,27.10,27.09,7.91,32.28
$GC,47745,-1.35,-171.7,2022,3103,2462,2575,4178.1,-7.0,1081,47746,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,3102,2518,2462,2574,0,0,0,0,0,0,27.08,27.10,27.09,7.91,32.24
$GC,48058,-1.35,-171.7,2022,3102,2461,2574,4200.3,-7.3,1086,48060,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,3102,2518,2462,2575,0,0,0,0,0,0,27.05,27.07,27.06,7.91,32.24
$GC,48357,-1.35,-171.7,2022,3102,2461,2574,4221.9,-7.1,1091,48359,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,3103,2518,2462,2574,0,0,0,0,0,0,27.04,27.05,27.05,7.91,32.20
$GC,48657,-1.35,-171.7,2022,3102,2462,2574,4240.8,-6.3,1096,48658,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,3103,2518,2462,2574,0,0,0,0,0,0,27.04,27.06,27.05,7.91,32.08
$GC,48945,-1.35,-171.7,2022,3102,2462,2574,4259.3,-6.1,1101,48946,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,3102,2518,2462,2574,0,0,0,0,0,0,27.08,27.10,27.09,7.91,31.72
$GC,49245,-1.35,-171.7,2022,3102,2461,2574,4276.3,-5.6,1106,49246,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,3103,2518,2462,2574,0,0,0,0,0,0,27.08,27.10,27.09,7.91,32.43
$GC,49545,-1.37,-243.5,2022,3102,2462,2574,4292.9,-5.4,1111,49546,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,3103,2518,2462,2574,0,0,0,0,0,0,27.08,27.10,27.09,7.91,32.00
$GC,49845,-1.42,-243.5,2022,3103,2462,2574,4310.1,-5.8,1116,49847,0.08,0.00,0.00,0.000,4102,0.281,0.000,2004,3102,2518,2462,2575,0,0,0,0,0,0,26.44,26.51,26.46,7.90,32.20
$GC,50145,-1.42,-243.5,2003,3102,2462,2574,4329.9,-6.7,1121,50146,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,3102,2518,2462,2574,0,0,0,0,0,0,27.08,27.10,27.08,7.91,31.88
$GC,50445,-1.42,-243.5,2003,3103,2462,2574,4352.6,-7.6,1126,50446,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,3103,2518,2462,2574,0,0,0,0,0,0,27.07,27.09,27.09,7.91,31.84
$GC,50745,-1.42,-243.5,2003,3103,2462,2574,4372.6,-6.5,1131,50746,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,3103,2518,2462,2574,0,0,0,0,0,0,27.08,27.10,27.09,7.91,32.04
$GC,51045,-1.42,-243.5,2004,3102,2462,2574,4390.7,-5.9,1136,51049,0.00,1.30,0.00,0.000,260,0.000,0.084,1997,3911,2518,2462,2574,0,0,0,0,0,0,27.08,26.08,27.09,7.91,32.20
$GC,51110,-1.42,-243.5,1997,3912,2462,2574,4394.2,-5.8,1137,51114,0.00,1.17,0.00,0.000,1030,0.000,0.060,1998,3112,2518,2462,2574,0,0,0,0,0,0,26.55,26.53,26.58,7.91,32.55
$GC,51467,-1.42,-243.5,1997,3111,2462,2574,4415.9,-6.3,1143,51473,0.00,2.50,0.00,0.000,516,0.000,0.087,1997,1545,2518,2462,2574,0,0,0,0,0,0,27.08,26.06,27.09,7.91,31.92
$GC,51519,-1.42,-243.5,1997,1545,2463,2574,4415.9,-6.3,1143,51527,0.00,2.47,0.00,0.000,1030,0.000,0.089,1987,3101,2518,2462,2574,0,0,0,0,0,0,26.03,25.84,26.10,7.91,31.80
$GC,51827,-1.42,-243.5,1986,3101,2462,2574,4438.8,-6.2,1149,51828,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,3101,2517,2461,2574,0,0,0,0,0,0,27.07,27.08,27.08,7.92,31.72
$GC,52127,-1.42,-243.5,1986,3101,2462,2574,4457.1,-6.1,1154,52128,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,3101,2518,2462,2574,0,0,0,0,0,0,27.08,27.09,27.08,7.91,31.41
$GC,52427,-1.42,-243.5,1986,3101,2461,2574,4476.7,-6.5,1159,52428,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,3101,2518,2462,2574,0,0,0,0,0,0,27.07,27.09,27.08,7.90,31.84
$GC,52727,-1.42,-243.5,1986,3101,2462,2574,4495.8,-6.4,1164,52728,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,3101,2518,2462,2574,0,0,0,0,0,0,27.08,27.09,27.09,7.92,31.49
$GC,53027,-1.42,-243.5,1986,3101,2462,2574,4514.2,-6.0,1169,53028,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,3101,2518,2462,2574,0,0,0,0,0,0,27.08,27.10,27.09,7.92,31.80
$GC,53327,-1.42,-243.5,1986,3101,2461,2574,4532.9,-6.3,1174,53328,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,3101,2517,2462,2573,0,0,0,0,0,0,27.07,27.09,27.09,7.92,32.39
$GC,53627,-1.43,-292.0,1986,3101,2461,2574,4549.7,-5.5,1179,53628,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,3101,2517,2461,2574,0,0,0,0,0,0,27.08,27.09,27.09,7.91,31.76
$GC,53927,-1.43,-292.0,1986,3101,2462,2574,4565.3,-5.1,1184,53933,0.00,2.47,0.00,0.000,516,0.000,0.087,1987,1551,2518,2462,2574,0,0,0,0,0,0,27.07,26.03,27.08,7.91,31.80
$GC,53995,-1.43,-292.0,1986,1551,2462,2574,4568.6,-5.1,1185,53999,0.00,2.47,0.00,0.000,1030,0.000,0.087,1977,3110,2518,2462,2574,0,0,0,0,0,0,26.02,25.83,26.08,7.91,32.20
$GC,54342,-1.43,-292.0,1976,3110,2462,2574,4588.7,-5.6,1191,54343,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,3110,2517,2461,2574,0,0,0,0,0,0,27.07,27.09,27.08,7.91,31.57
$GC,54642,-1.43,-292.0,1976,3110,2462,2574,4603.8,-5.0,1196,54643,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,3110,2517,2461,2574,0,0,0,0,0,0,27.07,27.09,27.08,7.91,31.61
$GC,54954,-1.43,-292.0,1976,3110,2462,2574,4620.6,-5.6,1201,54955,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,3110,2518,2462,2574,0,0,0,0,0,0,27.03,27.05,27.05,7.90,32.67
$GC,55242,-1.43,-292.0,1976,3109,2461,2574,4638.7,-6.1,1206,55243,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,3110,2518,2462,2574,0,0,0,0,0,0,27.08,27.09,27.08,7.91,31.53
$GC,55542,-1.43,-292.0,1976,3110,2462,2574,4656.2,-5.7,1211,55543,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,3110,2517,2461,2574,0,0,0,0,0,0,27.07,27.09,27.09,7.91,32.39
$GC,55842,-1.43,-292.0,1976,3110,2462,2574,4672.4,-5.3,1216,55843,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,3110,2518,2462,2574,0,0,0,0,0,0,27.07,27.09,27.08,7.92,31.57
$GC,56142,-1.43,-292.0,1976,3110,2461,2574,4688.8,-5.6,1221,56143,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,3110,2518,2462,2574,0,0,0,0,0,0,27.07,27.09,27.08,7.92,31.76
$GC,56442,-1.43,-292.0,1976,3110,2462,2574,4703.0,-4.6,1226,56446,0.00,1.27,0.00,0.000,260,0.000,0.082,1971,3915,2518,2462,2574,0,0,0,0,0,0,27.08,26.05,27.08,7.89,31.65
$GC,56526,-1.43,-292.0,1970,3916,2462,2574,4706.2,-4.7,1227,56530,0.00,1.20,0.00,0.000,1030,0.000,0.060,1971,3097,2518,2462,2574,0,0,0,0,0,0,26.53,26.51,26.55,7.91,31.45
$GC,56865,-1.43,-292.0,1970,3096,2462,2574,4724.4,-5.3,1233,56866,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,3096,2518,2462,2574,0,0,0,0,0,0,27.07,27.09,27.08,7.92,31.88
$GC,57176,-1.43,-292.0,1970,3096,2462,2574,4740.7,-5.5,1238,57177,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,3096,2518,2462,2574,0,0,0,0,0,0,27.04,27.05,27.05,7.92,32.16
$GC,57463,-1.43,-292.0,1970,3096,2462,2574,4758.8,-6.1,1243,57465,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,3096,2518,2462,2574,0,0,0,0,0,0,27.07,27.09,27.09,7.91,31.72
$GC,57764,-1.43,-292.0,1970,3096,2462,2574,4776.9,-6.1,1248,57765,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,3096,2518,2462,2574,0,0,0,0,0,0,27.07,27.08,27.09,7.92,32.28
$GC,58064,-1.43,-292.0,1970,3096,2461,2574,4793.7,-5.5,1253,58065,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,3096,2518,2462,2574,0,0,0,0,0,0,27.08,27.09,27.09,7.92,31.09
$GC,58364,-1.43,-292.0,1970,3096,2462,2574,4807.8,-4.7,1258,58370,0.00,2.47,0.00,0.000,516,0.000,0.087,1971,1549,2518,2462,2574,0,0,0,0,0,0,27.08,25.98,27.09,7.91,31.80
$GC,58452,-1.43,-292.0,1970,1548,2461,2574,4810.0,-4.4,1259,58456,0.00,2.50,0.00,0.000,1030,0.000,0.089,1960,3105,2518,2462,2574,0,0,0,0,0,0,25.96,25.77,26.03,7.91,31.80
$STATE,58777,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,58777,begin apogee
$GC,58782,-0.37,0.0,1960,3104,2462,2574,4828.8,-5.5,1265,58972,1.33,0.00,186.00,4.027,10246,0.216,0.000,2316,3104,1981,1915,2047,0,0,0,0,0,0,24.34,22.10,19.71,7.92,31.72
$STATE,58973,end apogee,CONTROL_FINISHED_OK
$STATE,58973,begin climb
$GC,58975,1.19,292.0,2316,3104,1915,2047,4827.1,0.0,1268,59332,1.73,1.52,344.62,3.970,11012,0.166,0.104,2813,3922,974,880,1069,0,0,0,0,0,0,22.82,22.30,20.08,7.89,31.13
$GC,59849,0.70,292.0,2813,3922,874,1069,4541.8,40.5,1282,59854,0.70,1.17,0.00,0.000,5126,0.345,0.062,2673,3124,971,873,1069,0,0,0,0,0,0,25.62,26.28,26.03,7.81,24.32
$GC,60162,0.40,292.0,2672,3123,874,1068,4433.8,27.5,1288,60164,0.45,0.00,0.00,0.000,4102,0.325,0.000,2575,3122,971,874,1068,0,0,0,0,0,0,25.87,26.39,26.26,7.80,24.68
$GC,60462,0.24,292.0,2574,3122,873,1068,4367.9,21.6,1293,60464,0.22,0.00,0.00,0.000,4102,0.313,0.000,2526,3121,971,874,1069,0,0,0,0,0,0,25.95,26.46,26.33,7.79,25.03
$GC,60762,0.14,292.0,2525,3121,874,1068,4313.6,17.8,1298,60766,0.12,1.27,0.00,0.000,4356,0.310,0.079,2496,3923,971,874,1068,0,0,0,0,0,0,26.08,26.42,26.27,7.80,25.34
$GC,60837,0.06,292.0,2495,3923,874,1068,4303.0,17.5,1299,60841,0.12,1.15,0.00,0.000,5126,0.286,0.062,2469,3130,971,874,1068,0,0,0,0,0,0,26.09,26.69,26.28,7.78,25.94
$GC,61183,0.06,292.0,2469,3129,874,1068,4253.9,13.3,1305,61185,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,3129,971,874,1068,0,0,0,0,0,0,26.98,27.01,26.99,7.79,26.21
$GC,61483,0.06,292.0,2469,3129,874,1068,4215.0,13.0,1310,61487,0.00,1.25,0.00,0.000,260,0.000,0.082,2470,3920,971,874,1068,0,0,0,0,0,0,27.01,26.60,27.01,7.78,27.04
$GC,61584,0.06,292.0,2469,3920,874,1068,4206.9,13.1,1311,61587,0.00,1.12,0.00,0.000,1030,0.000,0.062,2474,3143,970,873,1068,0,0,0,0,0,0,26.77,26.74,26.78,7.78,27.43
$GC,61905,0.06,292.0,2473,3143,873,1068,4160.7,12.6,1317,61906,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,3143,971,874,1068,0,0,0,0,0,0,27.02,27.04,27.03,7.78,29.64
$GC,62205,0.06,292.0,2473,3143,873,1068,4126.2,11.5,1322,62209,0.00,1.25,0.00,0.000,260,0.000,0.084,2473,3932,970,873,1068,0,0,0,0,0,0,27.03,26.60,27.04,7.77,30.46
$GC,62289,0.06,292.0,2473,3932,874,1068,4118.9,11.6,1323,62293,0.00,1.15,0.00,0.000,1030,0.000,0.062,2479,3143,970,873,1068,0,0,0,0,0,0,26.78,26.75,26.79,7.77,30.54
$GC,62626,0.06,292.0,2479,3142,873,1068,4077.3,11.4,1329,62630,0.00,1.25,0.00,0.000,260,0.000,0.082,2479,3932,970,873,1068,0,0,0,0,0,0,27.04,26.60,27.05,7.77,30.86
$GC,62690,0.06,292.0,2479,3932,872,1068,4069.8,11.6,1330,62694,0.00,1.15,0.00,0.000,1030,0.000,0.062,2485,3141,970,872,1068,0,0,0,0,0,0,26.78,26.75,26.80,7.77,31.09
$GC,63047,0.06,292.0,2484,3140,872,1068,4028.4,11.4,1336,63049,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,3140,970,872,1068,0,0,0,0,0,0,27.04,27.06,27.05,7.77,31.57
$GC,63347,0.06,292.0,2484,3140,872,1068,3995.3,11.0,1341,63351,0.00,1.25,0.00,0.000,260,0.000,0.082,2485,3929,970,873,1068,0,0,0,0,0,0,27.05,26.59,27.07,7.77,31.61
$GC,63441,0.06,292.0,2485,3929,872,1068,3988.4,11.0,1342,63446,0.10,1.15,0.00,0.000,5126,0.295,0.062,2469,3136,969,871,1067,0,0,0,0,0,0,26.08,26.75,26.23,7.77,31.13
$GC,63769,0.06,292.0,2468,3135,871,1068,3953.0,9.5,1348,63770,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,3135,969,871,1068,0,0,0,0,0,0,27.05,27.07,27.07,7.77,31.45
$GC,64069,0.06,292.0,2468,3135,872,1068,3925.2,9.4,1353,64072,0.00,1.27,0.00,0.000,260,0.000,0.082,2469,3931,969,871,1068,0,0,0,0,0,0,27.05,26.58,27.07,7.77,30.98
$GC,64154,0.06,292.0,2468,3931,871,1068,3919.0,9.6,1354,64157,0.00,1.15,0.00,0.000,1030,0.000,0.062,2472,3140,969,871,1068,0,0,0,0,0,0,26.78,26.75,26.79,7.77,31.29
$GC,64490,0.06,292.0,2471,3139,871,1068,3883.2,9.9,1360,64491,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,3139,969,871,1068,0,0,0,0,0,0,27.05,27.08,27.07,7.76,31.29
$GC,64790,0.06,292.0,2472,3139,871,1068,3853.6,9.9,1365,64794,0.00,1.25,0.00,0.000,260,0.000,0.084,2472,3927,969,871,1068,0,0,0,0,0,0,27.06,26.56,27.08,7.76,32.39
$GC,64899,0.06,292.0,2472,3927,871,1068,3847.5,9.9,1366,64903,0.00,1.15,0.00,0.000,1030,0.000,0.060,2478,3132,969,871,1068,0,0,0,0,0,0,26.77,26.74,26.79,7.77,32.12
$GC,65211,0.06,292.0,2478,3132,871,1068,3811.8,9.8,1372,65212,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,3132,969,871,1068,0,0,0,0,0,0,27.06,27.08,27.08,7.76,31.53
$GC,65511,0.06,292.0,2477,3132,871,1068,3783.0,9.6,1377,65515,0.00,1.25,0.00,0.000,260,0.000,0.082,2478,3921,969,871,1068,0,0,0,0,0,0,27.06,26.55,27.08,7.76,31.33
$GC,65595,0.06,292.0,2477,3921,871,1068,3776.6,9.7,1378,65599,0.00,1.15,0.00,0.000,1030,0.000,0.060,2483,3126,969,871,1068,0,0,0,0,0,0,26.77,26.74,26.79,7.76,31.76
$GC,65932,0.06,292.0,2482,3125,871,1068,3741.8,9.5,1384,65934,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,3125,969,871,1068,0,0,0,0,0,0,27.06,27.08,27.08,7.76,31.96
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$GC,102517,1.03,446.4,2788,3151,330,549,876.2,10.0,2014,102518,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3151,440,331,549,0,0,0,0,0,0,27.05,27.07,27.06,7.75,26.96
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$GC,103717,1.03,446.4,2788,3151,330,550,755.3,11.1,2054,103718,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,3151,440,331,550,0,0,0,0,0,0,27.07,27.08,27.08,7.81,26.37
$GC,104017,1.03,446.4,2788,3151,330,549,723.3,10.4,2064,104018,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3151,439,330,549,0,0,0,0,0,0,27.07,27.08,27.08,7.83,27.27
$GC,104317,1.03,446.4,2788,3151,330,549,689.7,11.4,2074,104318,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3151,440,331,549,0,0,0,0,0,0,27.07,27.09,27.08,7.85,26.41
$GC,104617,1.03,446.4,2788,3151,331,550,656.6,10.8,2084,104618,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3151,440,330,550,0,0,0,0,0,0,27.07,27.09,27.09,7.87,25.74
$GC,104917,1.03,446.4,2788,3151,331,550,624.9,10.3,2094,104918,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3151,440,331,550,0,0,0,0,0,0,27.08,27.09,27.09,7.89,25.62
$GC,105217,1.03,446.4,2788,3151,332,550,590.8,11.8,2104,105218,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3151,440,332,548,0,0,0,0,0,0,27.08,27.10,27.09,7.90,24.99
$GC,105517,1.03,446.4,2788,3151,332,549,555.1,11.8,2114,105518,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,3151,441,333,549,0,0,0,0,0,0,27.08,27.10,27.10,7.92,24.87
$GC,105817,1.03,446.4,2788,3150,333,549,521.2,11.5,2124,105818,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3151,440,332,549,0,0,0,0,0,0,27.08,27.10,27.09,7.93,24.83
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$GC,107017,1.20,446.4,2788,3151,336,549,386.8,10.9,2164,107019,0.08,0.00,0.00,0.000,2054,0.189,0.000,2822,3151,443,336,550,0,0,0,0,0,0,26.71,26.78,26.75,8.01,24.95
$GC,107317,1.20,446.4,2822,3151,337,550,346.3,13.5,2174,107323,0.00,2.33,0.00,0.000,516,0.000,0.062,2834,1564,444,338,550,0,0,0,0,0,0,27.09,26.65,27.10,8.02,24.05
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$STATE,110117,end climb,SURFACE_DEPTH_REACHED
$STATE,110117,begin surface coast
$FINISH,-0.8,1.006809
$STATE,110169,end surface coast,CONTROL_FINISHED_OK
$STATE,110170,begin surface
$SM_CCo,110245,0.00,0.000,0,0,448,445.32
$SM_GC,0.38,7.20,0.00,0.00,0.087,0.000,0.000,115,3080,448,-7.18,-0.79,445.32,0,0,0,0,0,0,26.52,27.11,26.61
$IRIDIUM_FIX,2618.42,-7619.41,140918,173340
$TT8_MAMPS,0.021721,0.261401
$HUMID,24.68
$INTERNAL_PRESSURE,8.20222
$TCM_TEMP,28.40
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.3,19.5
$ALTIM_BOTTOM_PING,4780.7,60.7
$24V_AH,19.71,49.251
$10V_AH,10.17,32.097
$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,23.325,295.775,677.300,0.000,120.625,22.702,18.182,561.182,148.250,0.000,15.745,8412.259,92077.945,940.558,8892.169,660.417,0.000,4902.591,0.000,7099.501,0.000,1505.634,0.000
$DEVICE_MAMPS,345.137,104.286,4027.426,0.000,171.327,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1663.191,3153.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311376
$DATA_FILE_SIZE,169625,2382
$CAP_FILE_SIZE,696714,0
$CFSIZE,2047311872,2018181120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170918,111134,2623.446,-7645.096,27,0.8,29,-8.5,0.2,244.4,11,4.6