version: 66.12
glider: 37
mission: 22
dive: 63
start: 11 21 115 18 15 21
data:
$ID,37
$MISSION,22
$DIVE,63
$N_DIVES,0
$D_SURF,2
$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
$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,78758
$MASS_COMP,9226.7002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$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,9
$N_NOCOMM,1
$NOCOMM_ACTION,256
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$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,3910
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1788
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2350
$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,-1069.0311
$PRESSURE_SLOPE,0.00091968128
$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,2000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,211115,180305,2938.5330,-7051.1846,27,1.1,30,-12.2,0.0,0.0,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.2
$GPS2,211115,181454,2938.5171,-7051.2471,4,0.8,12,-12.2,0.0,0.0,10,9.9
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,3_SW
$TGT_LATLONG,2857.110,-7216.640
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.112074,-0.143081
$KALMAN_X,-28376.074219,0.000000,0.000000,24896.144531,4044.476562
$KALMAN_Y,19841.541016,0.000000,0.000000,-25468.328125,9749.666016
$MHEAD_RNG_PITCHd_Wd,263.4,158211,-10.9,-5.333,-15.25,4133
$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
$STATE,13,begin dive
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$GC,153,-0.54,-146.6,168,1816,2681,2707,3.2,-3.4,13,176,12.18,2.35,-5.45,0.209,18948,0.291,0.060,2976,262,2856,2842,2871,0,0,0,0,0,0,25.59,26.07,25.79
$GC,375,-0.40,-146.6,2976,260,2843,2872,32.3,-10.5,32,386,0.17,2.20,0.00,0.000,3078,0.142,0.050,3029,1846,2857,2843,2871,0,0,0,0,0,0,26.07,26.44,26.15
$GC,685,-0.40,-146.6,3027,1846,2843,2871,54.8,-7.4,56,691,0.00,2.25,0.00,0.000,260,0.000,0.062,3018,3406,2857,2843,2871,0,0,0,0,0,0,26.92,26.53,26.94
$GC,784,-0.40,-146.6,3018,3406,2842,2871,62.0,-7.6,62,788,0.00,2.22,0.00,0.000,1030,0.000,0.047,3019,1810,2857,2843,2871,0,0,0,0,0,0,26.67,26.65,26.69
$GC,1098,-0.40,-146.6,3017,1810,2843,2871,84.2,-6.4,83,1104,0.00,2.33,0.00,0.000,260,0.000,0.060,3007,3411,2856,2842,2871,0,0,0,0,0,0,27.03,26.63,27.04
$GC,1195,-0.40,-146.6,3007,3412,2843,2871,90.8,-6.9,89,1200,0.00,2.12,0.00,0.000,1030,0.000,0.047,3007,1835,2857,2843,2871,0,0,0,0,0,0,26.79,26.77,26.80
$GC,1509,-0.40,-146.6,3007,1835,2843,2871,107.9,-5.0,110,1513,0.00,2.20,0.00,0.000,516,0.000,0.062,3007,304,2857,2843,2871,0,0,0,0,0,0,27.08,26.67,27.10
$GC,1609,-0.40,-146.6,3007,303,2843,2871,113.9,-6.2,116,1614,0.00,2.10,0.00,0.000,1030,0.000,0.050,2998,1858,2857,2843,2871,0,0,0,0,0,0,26.79,26.77,26.81
$GC,1924,-0.40,-146.6,2997,1859,2843,2871,133.3,-5.5,137,1930,0.00,2.22,0.00,0.000,516,0.000,0.062,2998,304,2856,2842,2871,0,0,0,0,0,0,27.11,26.70,27.13
$GC,1995,-0.40,-146.6,2997,304,2843,2871,137.9,-7.2,141,2004,0.00,2.12,0.00,0.000,1030,0.000,0.047,2988,1846,2857,2843,2871,0,0,0,0,0,0,26.81,26.79,26.84
$GC,2321,-0.40,-146.6,2988,1846,2843,2871,160.4,-6.9,158,2326,0.08,2.22,0.00,0.000,2308,0.184,0.060,3014,3409,2857,2843,2871,0,0,0,0,0,0,26.72,26.72,26.74
$GC,2403,-0.40,-146.6,3013,3408,2843,2871,164.2,-6.2,160,2408,0.00,2.15,0.00,0.000,1030,0.000,0.047,3014,1843,2857,2843,2871,0,0,0,0,0,0,26.86,26.84,26.87
$GC,2717,-0.40,-146.6,3014,1843,2842,2871,182.3,-5.4,171,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1843,2857,2843,2871,0,0,0,0,0,0,27.13,27.16,27.15
$GC,3018,-0.40,-146.6,3014,1843,2843,2871,198.7,-5.5,181,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1843,2857,2843,2871,0,0,0,0,0,0,27.14,27.16,27.15
$GC,3317,-0.40,-146.6,3014,1843,2843,2870,215.1,-5.2,191,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1843,2856,2842,2870,0,0,0,0,0,0,27.15,27.16,27.16
$GC,3617,-0.40,-146.6,3014,1843,2842,2869,231.6,-5.6,201,3622,0.00,2.22,0.00,0.000,260,0.000,0.060,3005,3410,2855,2842,2869,0,0,0,0,0,0,27.15,26.74,27.16
$GC,3679,-0.40,-146.6,3005,3410,2842,2869,235.3,-5.7,203,3685,0.00,2.10,0.00,0.000,1030,0.000,0.047,3005,1835,2855,2842,2869,0,0,0,0,0,0,26.88,26.86,26.89
$GC,4008,-0.40,-146.6,3004,1833,2842,2868,254.7,-6.2,214,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1835,2855,2842,2868,0,0,0,0,0,0,27.15,27.17,27.17
$GC,4308,-0.40,-146.6,3004,1835,2843,2868,271.7,-5.6,224,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1834,2855,2842,2868,0,0,0,0,0,0,27.15,27.17,27.17
$GC,4608,-0.40,-146.6,3005,1835,2842,2867,288.1,-5.4,234,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1835,2855,2843,2867,0,0,0,0,0,0,27.15,27.17,27.16
$GC,4939,-0.40,-146.6,3005,1835,2843,2866,306.9,-5.8,244,4943,0.00,2.28,0.00,0.000,260,0.000,0.060,2996,3419,2854,2842,2866,0,0,0,0,0,0,27.15,26.74,27.17
$GC,4989,-0.40,-146.6,2995,3419,2842,2866,310.0,-5.9,245,4994,0.00,2.15,0.00,0.000,1030,0.000,0.045,2996,1857,2854,2842,2866,0,0,0,0,0,0,26.89,26.88,26.91
$GC,5303,-0.40,-146.6,2995,1857,2842,2864,329.5,-6.1,252,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2853,2842,2864,0,0,0,0,0,0,27.15,27.17,27.17
$GC,5618,-0.40,-146.6,2995,1857,2842,2863,349.9,-6.4,259,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1857,2852,2842,2863,0,0,0,0,0,0,27.15,27.17,27.17
$GC,5933,-0.40,-146.6,2995,1857,2842,2862,369.3,-5.9,266,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2852,2842,2862,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6249,-0.40,-146.6,2995,1857,2842,2861,388.1,-5.9,273,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2851,2842,2861,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6563,-0.40,-146.6,2995,1857,2842,2860,407.3,-6.1,280,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2851,2842,2860,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6878,-0.40,-146.6,2995,1857,2842,2859,426.5,-6.1,287,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2850,2842,2859,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7193,-0.40,-146.6,2995,1857,2842,2858,443.9,-5.4,294,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2850,2842,2858,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7509,-0.40,-146.6,2995,1857,2842,2857,461.0,-5.5,301,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1857,2850,2843,2857,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7823,-0.40,-146.6,2996,1857,2842,2856,479.2,-5.9,308,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2849,2842,2856,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8138,-0.40,-146.6,2995,1857,2842,2856,497.7,-5.8,315,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2849,2842,2856,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8453,-0.40,-146.6,2995,1857,2842,2855,515.2,-5.5,322,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2848,2842,2855,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8769,-0.40,-146.6,2995,1857,2842,2854,533.3,-6.0,329,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2847,2842,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9083,-0.40,-146.6,2995,1857,2842,2853,552.6,-6.3,336,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1857,2848,2842,2854,0,0,0,0,0,0,27.15,27.17,27.16
$GC,9399,-0.40,-146.6,2995,1857,2842,2853,571.6,-6.0,343,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2846,2841,2852,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9713,-0.40,-146.6,2995,1857,2841,2853,588.6,-5.3,350,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2847,2841,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10029,-0.40,-146.6,2995,1857,2841,2852,605.3,-5.3,357,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2846,2841,2852,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10343,-0.40,-146.6,2995,1857,2842,2852,622.7,-5.5,364,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2846,2841,2852,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10658,-0.40,-146.6,2996,1857,2841,2850,639.8,-5.5,371,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2845,2841,2850,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10973,-0.40,-146.6,2995,1857,2841,2849,656.7,-5.3,378,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2845,2841,2849,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11289,-0.40,-146.6,2995,1857,2840,2848,673.9,-5.5,385,11290,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2844,2840,2849,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11604,-0.45,-146.6,2995,1857,2839,2849,691.7,-5.6,392,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2844,2839,2849,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11919,-0.51,-146.6,2996,1857,2838,2849,709.8,-5.7,399,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2842,2837,2848,0,0,0,0,0,0,27.15,27.17,27.17
$GC,12234,-0.56,-146.6,2995,1857,2836,2849,728.8,-6.2,406,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1857,2842,2836,2849,0,0,0,0,0,0,27.15,27.17,27.17
$GC,12549,-0.62,-146.6,2995,1857,2836,2847,748.0,-6.1,413,12555,0.00,2.22,0.00,0.000,4612,0.000,0.062,2996,303,2841,2835,2848,0,0,0,0,0,0,27.17,26.70,27.17
$GC,12596,-0.67,-146.6,2995,303,2835,2847,750.5,-6.1,414,12600,0.00,2.15,0.00,0.000,5126,0.000,0.050,2990,1857,2841,2835,2847,0,0,0,0,0,0,26.87,26.79,26.89
$GC,12911,-0.67,-146.6,2989,1857,2836,2846,769.7,-5.9,421,12916,0.00,2.22,0.00,0.000,4356,0.000,0.062,2978,3410,2840,2835,2846,0,0,0,0,0,0,27.17,26.70,27.17
$GC,12968,-0.67,-146.6,2978,3410,2834,2846,772.3,-5.9,422,12973,0.00,2.12,0.00,0.000,5126,0.000,0.047,2979,1840,2841,2835,2847,0,0,0,0,0,0,26.89,26.82,26.90
$GC,13317,-0.67,-146.6,2978,1840,2834,2845,794.2,-6.0,430,13318,0.00,0.00,0.00,0.000,4102,0.000,0.000,2978,1840,2839,2834,2845,0,0,0,0,0,0,27.17,27.17,27.17
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$GC,76982,-1.73,-146.6,2589,3438,2801,2806,4835.4,-4.9,1002,76987,0.00,2.47,0.00,0.000,1030,0.000,0.062,2589,1843,2803,2801,2806,0,0,0,0,0,0,25.78,25.66,25.83
$GC,77376,-1.73,-146.6,2589,1844,2801,2806,4859.4,-4.9,1006,77377,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1843,2803,2801,2806,0,0,0,0,0,0,27.06,27.08,27.08
$GC,77736,-1.73,-146.6,2589,1843,2801,2806,4876.7,-4.8,1009,77742,0.00,2.62,0.00,0.000,516,0.000,0.102,2589,260,2804,2802,2806,0,0,0,0,0,0,27.07,24.93,27.08
$GC,77797,-1.73,-146.6,2589,260,2801,2806,4876.7,-4.8,1009,77802,0.00,2.55,0.00,0.000,1030,0.000,0.077,2578,1853,2803,2801,2806,0,0,0,0,0,0,25.42,25.25,25.49
$GC,78213,-1.73,-146.6,2578,1854,2801,2807,4900.0,-4.9,1013,78218,0.00,2.62,0.00,0.000,260,0.000,0.089,2568,3440,2804,2801,2807,0,0,0,0,0,0,27.01,25.08,27.02
$GC,78308,-1.73,-146.6,2568,3440,2801,2807,4900.0,-4.9,1013,78312,0.00,2.47,0.00,0.000,1030,0.000,0.067,2568,1857,2804,2801,2807,0,0,0,0,0,0,25.68,25.56,25.74
$GC,78693,-1.73,-146.6,2568,1857,2801,2806,4924.3,-5.0,1017,78694,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1856,2804,2801,2807,0,0,0,0,0,0,26.99,27.01,27.01
$GC,79054,-1.73,-146.6,2567,1857,2801,2807,4942.6,-5.1,1020,79055,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1857,2803,2801,2806,0,0,0,0,0,0,27.01,27.03,27.03
$GC,79415,-1.73,-146.6,2567,1857,2801,2806,4960.3,-4.9,1023,79419,0.00,2.70,0.00,0.000,516,0.000,0.102,2571,261,2804,2801,2807,0,0,0,0,0,0,27.02,24.94,27.04
$GC,79474,-1.73,-146.6,2570,260,2801,2806,4960.3,-4.9,1023,79479,0.12,2.58,0.00,0.000,3078,0.166,0.077,2600,1854,2804,2801,2807,0,0,0,0,0,0,25.08,25.24,25.21
$GC,79900,-1.73,-146.6,2600,1854,2801,2807,4981.7,-4.4,1027,79906,0.00,2.58,0.00,0.000,260,0.000,0.087,2590,3434,2803,2801,2806,0,0,0,0,0,0,27.01,25.13,27.02
$GC,79976,-1.73,-146.6,2590,3434,2801,2806,4981.7,-4.4,1027,79981,0.00,2.47,0.00,0.000,1030,0.000,0.065,2590,1839,2804,2801,2807,0,0,0,0,0,0,25.73,25.60,25.78
$GC,80377,-1.73,-146.6,2590,1839,2801,2807,5001.9,-4.2,1031,80378,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1839,2804,2801,2807,0,0,0,0,0,0,27.01,27.03,27.02
$GC,80735,-1.73,-146.6,2590,1839,2801,2806,5017.3,-4.3,1034,80739,0.00,2.62,0.00,0.000,516,0.000,0.102,2590,266,2804,2801,2807,0,0,0,0,0,0,27.07,24.95,27.09
$GC,80794,-1.73,-146.6,2590,266,2801,2806,5017.3,-4.3,1034,80799,0.00,2.58,0.00,0.000,1030,0.000,0.079,2579,1860,2803,2801,2806,0,0,0,0,0,0,25.41,25.22,25.48
$GC,81219,-1.73,-146.6,2579,1860,2801,2806,5039.0,-4.5,1038,81225,0.00,2.60,0.00,0.000,260,0.000,0.092,2569,3436,2803,2801,2806,0,0,0,0,0,0,27.07,25.10,27.08
$GC,81315,-1.73,-146.6,2569,3436,2801,2807,5039.0,-4.5,1038,81319,0.00,2.47,0.00,0.000,1030,0.000,0.067,2569,1849,2804,2801,2807,0,0,0,0,0,0,25.70,25.57,25.75
$GC,81697,-1.73,-146.6,2569,1849,2801,2807,5060.8,-4.6,1042,81698,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1849,2804,2801,2807,0,0,0,0,0,0,27.03,27.05,27.04
$GC,82054,-1.73,-146.6,2569,1848,2801,2806,5077.0,-4.5,1045,82058,0.00,2.67,0.00,0.000,516,0.000,0.102,2571,264,2804,2801,2807,0,0,0,0,0,0,27.07,24.93,27.09
$GC,82118,-1.73,-146.6,2570,263,2801,2807,5077.0,-4.5,1045,82124,0.12,2.58,0.00,0.000,3078,0.166,0.079,2600,1862,2803,2801,2806,0,0,0,0,0,0,25.09,25.25,25.22
$GC,82532,-1.73,-146.6,2599,1862,2801,2807,5095.5,-3.8,1049,82538,0.00,2.60,0.00,0.000,260,0.000,0.089,2591,3439,2804,2801,2807,0,0,0,0,0,0,27.06,25.12,27.08
$GC,82593,-1.73,-146.6,2590,3439,2801,2807,5095.5,-3.8,1049,82598,0.00,2.45,0.00,0.000,1030,0.000,0.065,2591,1845,2804,2801,2807,0,0,0,0,0,0,25.75,25.62,25.79
$GC,83010,-1.73,-146.6,2590,1845,2801,2807,5114.0,-3.9,1053,83014,0.00,2.65,0.00,0.000,516,0.000,0.102,2591,260,2804,2801,2807,0,0,0,0,0,0,27.01,24.94,27.02
$GC,83079,-1.73,-146.6,2590,260,2801,2806,5114.0,-3.9,1053,83084,0.00,2.55,0.00,0.000,1030,0.000,0.077,2580,1852,2804,2801,2807,0,0,0,0,0,0,25.43,25.25,25.49
$GC,83490,-1.73,-146.6,2580,1852,2801,2806,5133.7,-4.1,1057,83495,0.00,2.62,0.00,0.000,260,0.000,0.094,2570,3439,2804,2801,2807,0,0,0,0,0,0,26.99,25.10,27.01
$GC,83575,-1.73,-146.6,2570,3439,2801,2806,5133.7,-4.1,1057,83580,0.00,2.50,0.00,0.000,1030,0.000,0.067,2570,1842,2803,2801,2806,0,0,0,0,0,0,25.67,25.53,25.72
$GC,83971,-1.73,-146.6,2570,1842,2801,2807,5154.2,-4.3,1061,83977,0.00,2.65,0.00,0.000,516,0.000,0.102,2571,260,2803,2801,2806,0,0,0,0,0,0,27.01,24.96,27.02
$GC,84036,-1.73,-146.6,2571,260,2801,2806,5154.2,-4.3,1061,84042,0.12,2.58,0.00,0.000,3078,0.161,0.079,2602,1850,2803,2801,2806,0,0,0,0,0,0,25.11,25.26,25.25
$GC,84449,-1.73,-146.6,2601,1850,2801,2807,5171.5,-3.6,1065,84455,0.00,2.60,0.00,0.000,260,0.000,0.092,2591,3428,2803,2800,2807,0,0,0,0,0,0,27.02,25.07,27.04
$GC,84500,-1.73,-146.6,2591,3428,2801,2807,5171.5,-3.6,1065,84504,0.00,2.47,0.00,0.000,1030,0.000,0.067,2591,1843,2804,2801,2807,0,0,0,0,0,0,25.70,25.57,25.76
$GC,84810,-1.73,-146.6,2591,1842,2801,2807,5184.4,-3.5,1068,84815,0.00,2.62,0.00,0.000,516,0.000,0.104,2591,268,2803,2801,2806,0,0,0,0,0,0,27.06,24.97,27.07
$GC,84886,-1.73,-146.6,2591,268,2801,2806,5184.4,-3.5,1068,84890,0.00,2.55,0.00,0.000,1030,0.000,0.079,2581,1856,2804,2801,2807,0,0,0,0,0,0,25.44,25.25,25.51
$GC,85287,-1.73,-146.6,2581,1856,2801,2807,5201.8,-3.6,1072,85293,0.00,2.62,0.00,0.000,260,0.000,0.094,2571,3437,2803,2801,2806,0,0,0,0,0,0,27.01,25.11,27.03
$GC,85363,-1.73,-146.6,2571,3437,2801,2807,5201.8,-3.6,1072,85368,0.00,2.47,0.00,0.000,1030,0.000,0.067,2572,1851,2804,2801,2807,0,0,0,0,0,0,25.67,25.53,25.72
$GC,85764,-1.73,-146.6,2571,1851,2801,2806,5219.8,-3.8,1076,85770,0.00,2.67,0.00,0.000,516,0.000,0.104,2571,266,2804,2801,2807,0,0,0,0,0,0,27.06,24.96,27.08
$GC,85840,-1.73,-146.6,2571,266,2801,2806,5219.8,-3.8,1076,85845,0.12,2.58,0.00,0.000,3078,0.161,0.082,2601,1850,2803,2801,2806,0,0,0,0,0,0,25.10,25.24,25.23
$GC,86240,-1.73,-146.6,2601,1851,2801,2807,5235.3,-3.2,1080,86241,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1851,2804,2801,2807,0,0,0,0,0,0,27.06,27.08,27.08
$GC,86599,-1.73,-146.6,2601,1851,2802,2806,5246.3,-3.0,1083,86600,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1850,2803,2801,2806,0,0,0,0,0,0,27.06,27.08,27.08
$GC,86960,-1.73,-146.6,2601,1850,2801,2806,5257.0,-3.0,1086,86961,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1851,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,87319,-1.73,-146.6,2601,1851,2801,2807,5267.7,-3.0,1089,87324,0.00,2.70,0.00,0.000,516,0.000,0.102,2601,266,2804,2801,2807,0,0,0,0,0,0,27.07,24.96,27.09
$GC,87384,-1.73,-146.6,2601,266,2801,2807,5267.7,-3.0,1089,87389,0.00,2.55,0.00,0.000,1030,0.000,0.079,2592,1850,2804,2801,2807,0,0,0,0,0,0,25.48,25.30,25.54
$GC,87798,-1.73,-146.6,2590,1851,2801,2806,5283.1,-3.2,1093,87799,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1851,2804,2802,2807,0,0,0,0,0,0,27.07,27.09,27.08
$GC,88158,-1.73,-146.6,2591,1851,2801,2806,5294.5,-3.2,1096,88160,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1851,2804,2801,2807,0,0,0,0,0,0,27.07,27.10,27.09
$GC,88518,-1.73,-146.6,2591,1851,2801,2807,5305.3,-3.0,1099,88519,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1851,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,88878,-1.73,-146.6,2591,1851,2801,2806,5316.2,-3.1,1102,88879,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1851,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,89238,-1.73,-146.6,2591,1851,2801,2806,5326.6,-2.9,1105,89243,0.00,2.70,0.00,0.000,516,0.000,0.102,2591,260,2804,2801,2807,0,0,0,0,0,0,27.08,24.96,27.10
$GC,89294,-1.73,-146.6,2591,260,2802,2806,5326.6,-2.9,1105,89299,0.00,2.58,0.00,0.000,1030,0.000,0.079,2581,1858,2803,2801,2806,0,0,0,0,0,0,25.47,25.29,25.53
$GC,89713,-1.73,-146.6,2581,1858,2801,2806,5342.2,-3.3,1109,89714,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1858,2803,2801,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,90073,-1.73,-146.6,2581,1858,2801,2807,5353.6,-3.2,1112,90074,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1858,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,90434,-1.73,-146.6,2580,1858,2801,2806,5364.9,-3.2,1115,90435,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1858,2804,2801,2807,0,0,0,0,0,0,27.08,27.10,27.09
$GC,90793,-1.73,-146.6,2581,1858,2801,2807,5376.4,-3.2,1118,90795,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1858,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.10
$GC,91153,-1.73,-146.6,2581,1858,2801,2807,5387.7,-3.1,1121,91154,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1858,2804,2801,2807,0,0,0,0,0,0,27.08,27.10,27.10
$GC,91513,-1.73,-146.6,2581,1858,2801,2807,5398.8,-3.1,1124,91519,0.00,2.67,0.00,0.000,516,0.000,0.102,2581,261,2803,2801,2806,0,0,0,0,0,0,27.08,24.95,27.10
$GC,91579,-1.73,-146.6,2581,260,2801,2806,5398.8,-3.1,1124,91584,0.00,2.55,0.00,0.000,1030,0.000,0.079,2572,1849,2804,2801,2807,0,0,0,0,0,0,25.47,25.29,25.53
$GC,91989,-1.73,-146.6,2572,1850,2801,2806,5414.7,-3.3,1128,91990,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1850,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,92348,-1.73,-146.6,2572,1850,2801,2806,5426.4,-3.3,1131,92349,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1850,2804,2801,2807,0,0,0,0,0,0,27.08,27.10,27.10
$GC,92709,-1.73,-146.6,2572,1850,2801,2806,5438.3,-3.3,1134,92711,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1850,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.10
$GC,93068,-1.73,-146.6,2572,1850,2801,2806,5449.9,-3.3,1137,93069,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1850,2804,2801,2807,0,0,0,0,0,0,27.08,27.10,27.10
$GC,93428,-1.73,-146.6,2572,1850,2801,2806,5461.0,-3.1,1140,93430,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1850,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.10
$GC,93788,-1.73,-146.6,2572,1850,2801,2806,5471.6,-3.0,1143,93793,0.00,2.75,0.00,0.000,516,0.000,0.102,2572,260,2804,2801,2807,0,0,0,0,0,0,27.08,24.94,27.10
$GC,93883,-1.73,-146.6,2572,260,2801,2806,5471.6,-3.0,1143,93888,0.10,2.58,0.00,0.000,3078,0.169,0.082,2594,1861,2804,2801,2807,0,0,0,0,0,0,25.21,25.29,25.34
$STATE,94147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,94147,begin apogee
$GC,94152,-0.23,0.0,2594,1737,2801,2807,5482.4,-3.0,1146,94308,1.42,0.00,151.90,4.157,10246,0.119,0.000,3084,1735,2350,2336,2365,0,0,0,0,0,0,24.89,22.39,20.31
$STATE,94309,end apogee,CONTROL_FINISHED_OK
$STATE,94309,begin climb
$GC,94310,0.54,146.6,3083,1734,2336,2365,5484.2,0.0,1147,94488,0.70,0.00,174.70,4.124,10246,0.079,0.000,3340,1735,1845,1815,1875,0,0,0,0,0,0,23.13,22.43,20.49
$GC,94747,0.54,146.6,3339,1735,1815,1875,5361.5,30.2,1151,94752,0.00,2.47,0.00,0.000,516,0.000,0.094,3351,231,1845,1815,1875,0,0,0,0,0,0,25.68,25.34,25.70
$GC,95046,-0.02,146.6,3351,231,1815,1875,5285.1,31.5,1153,95052,0.60,2.42,0.00,0.000,5126,0.243,0.077,3192,1760,1845,1815,1875,0,0,0,0,0,0,25.53,25.95,25.83
$GC,95466,-0.45,146.6,3191,1760,1815,1875,5168.9,24.1,1157,95473,0.45,2.42,0.00,0.000,4612,0.221,0.097,3067,244,1845,1815,1875,0,0,0,0,0,0,25.82,26.12,25.98
$GC,95767,-0.78,146.6,3067,244,1815,1875,5128.3,19.7,1159,95773,0.55,2.35,0.00,0.000,5126,0.191,0.079,2900,1752,1845,1815,1875,0,0,0,0,0,0,25.94,26.30,26.20
$GC,96192,-0.85,146.6,2900,1752,1815,1875,5084.1,8.9,1163,96198,0.00,2.45,0.00,0.000,516,0.000,0.099,2911,243,1845,1816,1875,0,0,0,0,0,0,26.84,26.33,26.85
$GC,96284,-0.91,146.6,2910,243,1815,1875,5084.1,8.9,1163,96289,0.17,2.35,0.00,0.000,5126,0.161,0.077,2852,1753,1845,1815,1875,0,0,0,0,0,0,26.19,26.37,26.36
$GC,96669,-0.91,146.6,2852,1753,1815,1876,5054.0,6.2,1167,96670,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1753,1845,1815,1875,0,0,0,0,0,0,26.90,26.92,26.92
$GC,97029,-0.85,146.6,2852,1753,1815,1875,5033.7,5.6,1170,97034,0.00,2.45,0.00,0.000,516,0.000,0.102,2861,241,1845,1815,1875,0,0,0,0,0,0,26.94,26.35,26.95
$GC,97079,-0.79,146.6,2861,241,1815,1875,5033.7,5.6,1170,97084,0.00,2.33,0.00,0.000,3078,0.000,0.079,2861,1751,1845,1815,1875,0,0,0,0,0,0,26.61,26.44,26.64
$GC,97389,-0.74,146.6,2861,1751,1815,1875,5012.7,5.8,1173,97390,0.00,0.00,0.00,0.000,2054,0.000,0.000,2862,1751,1845,1816,1875,0,0,0,0,0,0,26.98,26.98,26.98
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$GC,179460,0.47,422.1,3302,245,845,949,449.7,7.6,1946,179466,0.00,2.05,0.00,0.000,1030,0.000,0.047,3303,1743,896,844,949,0,0,0,0,0,0,26.71,26.69,26.73
$GC,179776,0.47,422.1,3302,1743,844,949,422.3,8.7,1953,179777,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1743,897,844,950,0,0,0,0,0,0,27.10,27.12,27.12
$GC,180090,0.47,422.1,3303,1743,844,949,393.5,9.3,1960,180091,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1743,896,844,949,0,0,0,0,0,0,27.11,27.13,27.13
$GC,180405,0.47,422.1,3302,1743,845,950,364.5,9.1,1967,180412,0.00,2.20,0.00,0.000,516,0.000,0.062,3311,251,897,845,950,0,0,0,0,0,0,27.11,26.52,27.13
$GC,180468,0.47,422.1,3311,252,847,950,360.3,9.0,1968,180472,0.00,2.10,0.00,0.000,1030,0.000,0.045,3311,1753,898,847,950,0,0,0,0,0,0,26.73,26.70,26.75
$GC,180812,0.47,422.1,3311,1754,847,950,327.5,9.1,1976,180813,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1754,898,847,950,0,0,0,0,0,0,27.11,27.13,27.13
$GC,181127,0.47,422.1,3310,1754,847,950,299.9,8.7,1983,181133,0.00,2.20,0.00,0.000,516,0.000,0.062,3319,256,898,847,950,0,0,0,0,0,0,27.11,26.53,27.13
$GC,181189,0.47,422.1,3319,257,848,950,294.8,8.5,1985,181195,0.00,2.05,0.00,0.000,1030,0.000,0.047,3319,1758,899,848,950,0,0,0,0,0,0,26.74,26.72,26.76
$GC,181519,0.47,422.1,3318,1757,849,950,263.2,9.6,1996,181520,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1758,899,849,950,0,0,0,0,0,0,27.11,27.14,27.13
$GC,181819,0.47,422.1,3319,1756,850,949,234.3,9.8,2006,181825,0.00,2.17,0.00,0.000,516,0.000,0.062,3328,257,900,850,950,0,0,0,0,0,0,27.12,26.56,27.13
$GC,181866,0.47,422.1,3327,257,850,950,231.5,9.6,2007,181870,0.00,2.05,0.00,0.000,1030,0.000,0.047,3327,1750,900,850,950,0,0,0,0,0,0,26.79,26.73,26.80
$GC,182180,0.47,422.1,3327,1750,851,950,200.2,9.3,2018,182181,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1750,900,851,950,0,0,0,0,0,0,27.12,27.14,27.13
$GC,182482,0.47,422.1,3327,1750,852,949,172.5,9.1,2028,182487,0.00,2.20,0.00,0.000,516,0.000,0.062,3335,246,901,853,950,0,0,0,0,0,0,27.12,26.56,27.13
$GC,182550,0.47,422.1,3335,246,853,950,166.7,9.1,2030,182555,0.08,2.10,0.00,0.000,5126,0.129,0.045,3291,1761,901,852,950,0,0,0,0,0,0,26.46,26.74,26.55
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$GC,183877,0.72,422.1,3374,243,858,950,53.4,7.3,2110,183892,0.00,2.10,3.78,0.452,9222,0.000,0.047,3375,1754,895,841,949,0,0,0,0,0,0,26.78,26.76,25.18
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$STATE,184430,end climb,SURFACE_DEPTH_REACHED
$STATE,184430,begin surface coast
$FINISH,0.3,1.024566
$STATE,184451,end surface coast,CONTROL_FINISHED_OK
$STATE,184452,begin surface
$SM_CCo,184527,0.00,0.000,0,0,896,422.66
$SM_GC,0.61,7.88,0.05,0.00,0.062,0.166,0.000,180,1844,896,-9.21,-2.49,422.66,0,0,0,0,0,0,26.53,26.94,26.62
$IRIDIUM_FIX,2922.76,-7048.45,170908,073343
$TT8_MAMPS,0.021721,0.021721
$HUMID,39.48
$INTERNAL_PRESSURE,9.1038
$TCM_TEMP,24.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,5271.6,238.1
$24V_AH,20.31,31.546
$10V_AH,10.23,26.533
$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,28.475,950.775,583.900,0.000,139.100,33.014,39.411,371.360,82.750,0.000,13.532,9165.873,159044.109,1291.640,14888.095,689.891,0.000,6884.122,0.000,13763.930,0.000,761.280,0.000
$DEVICE_MAMPS,290.511,166.361,4156.542,0.000,208.572,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1487.742,7054.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353308
$DATA_FILE_SIZE,133315,2162
$CAP_FILE_SIZE,1040112,0
$CFSIZE,1024409600,956710912
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12970.09,0x235806,0,24
$INTR,1,118191.88,0x235808,1,24
$INTR,2,118964.88,0x235808,1,24
$INTR,3,143245.44,0x235806,1,24
$CURRENT,0.024,209.80,1
$GPS,231115,213205,2932.403,-7116.427,33,1.1,35,-11.9,0.0,0.0,8,9.7