version: 66.12
glider: 37
mission: 22
dive: 65
start: 11 26 115 1 32 50
data:
$ID,37
$MISSION,22
$DIVE,65
$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,54
$R_STBD_OVSHOOT,110
$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
$GPS1,261115,011840,2921.1128,-7142.1172,52,0.9,58,-11.7,1.3,46.5,9,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.0
$GPS2,261115,013224,2921.1067,-7142.2490,4,0.9,14,-11.7,0.0,0.0,9,9.9
$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,244.9,71283,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,113,-0.54,-146.6,184,1893,2601,2629,3.2,-3.9,9,145,11.65,2.38,-8.62,0.184,18948,0.283,0.062,2972,276,2856,2841,2871,0,0,0,0,0,0,25.60,26.03,25.82
$GC,476,-0.40,-146.6,2972,276,2840,2872,48.0,-12.8,39,481,0.17,2.15,0.00,0.000,3078,0.156,0.050,3023,1837,2856,2841,2871,0,0,0,0,0,0,26.21,26.58,26.35
$GC,785,-0.40,-146.6,3023,1838,2841,2871,72.5,-6.7,59,786,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1838,2856,2841,2871,0,0,0,0,0,0,27.01,27.03,27.03
$GC,1085,-0.40,-146.6,3023,1838,2841,2871,90.8,-2.7,79,1091,0.00,2.28,0.00,0.000,516,0.000,0.062,3023,261,2856,2841,2871,0,0,0,0,0,0,27.07,26.65,27.08
$GC,1198,-0.40,-146.6,3023,261,2841,2871,99.3,-10.2,86,1204,0.00,2.12,0.00,0.000,1030,0.000,0.047,3014,1856,2856,2841,2871,0,0,0,0,0,0,26.80,26.77,26.82
$GC,1513,-0.40,-146.6,3014,1856,2841,2871,114.0,-5.1,107,1518,0.00,2.20,0.00,0.000,260,0.000,0.062,3003,3399,2856,2841,2871,0,0,0,0,0,0,27.11,26.70,27.13
$GC,1569,-0.40,-146.6,3003,3399,2841,2871,116.9,-5.9,110,1578,0.00,2.17,0.00,0.000,1030,0.000,0.050,3003,1843,2856,2841,2871,0,0,0,0,0,0,26.82,26.79,26.86
$GC,1878,-0.40,-146.6,3003,1843,2841,2871,135.5,-6.2,131,1883,0.00,2.22,0.00,0.000,516,0.000,0.062,3003,277,2856,2841,2871,0,0,0,0,0,0,27.13,26.71,27.14
$GC,1926,-0.40,-146.6,3003,276,2841,2872,138.5,-6.5,134,1932,0.00,2.12,0.00,0.000,1030,0.000,0.047,2993,1855,2856,2841,2871,0,0,0,0,0,0,26.83,26.82,26.85
$GC,2241,-0.40,-146.6,2993,1855,2841,2871,157.7,-6.1,151,2246,0.00,2.22,0.00,0.000,260,0.000,0.062,2982,3407,2856,2841,2871,0,0,0,0,0,0,27.14,26.74,27.15
$GC,2366,-0.40,-146.6,2982,3407,2841,2871,166.4,-7.0,155,2372,0.12,2.15,0.00,0.000,3078,0.137,0.047,3030,1808,2856,2841,2871,0,0,0,0,0,0,26.52,26.85,26.58
$GC,2696,-0.40,-146.6,3029,1808,2841,2871,184.6,-5.7,166,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1808,2856,2841,2871,0,0,0,0,0,0,27.15,27.16,27.16
$GC,2996,-0.40,-146.6,3029,1808,2841,2870,200.9,-5.3,176,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1808,2856,2841,2871,0,0,0,0,0,0,27.15,27.17,27.17
$GC,3296,-0.40,-146.6,3029,1808,2841,2870,216.4,-5.2,186,3301,0.00,2.30,0.00,0.000,260,0.000,0.060,3020,3403,2855,2841,2870,0,0,0,0,0,0,27.15,26.75,27.17
$GC,3372,-0.40,-146.6,3019,3403,2841,2870,219.7,-5.3,188,3376,0.00,2.10,0.00,0.000,1030,0.000,0.047,3020,1844,2855,2841,2870,0,0,0,0,0,0,26.91,26.86,26.92
$GC,3685,-0.40,-146.6,3019,1843,2841,2869,236.7,-4.9,199,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1844,2855,2841,2869,0,0,0,0,0,0,27.15,27.17,27.17
$GC,3986,-0.40,-146.6,3019,1844,2841,2868,250.4,-4.6,209,3992,0.00,2.17,0.00,0.000,516,0.000,0.062,3020,315,2854,2841,2868,0,0,0,0,0,0,27.15,26.73,27.16
$GC,4024,-0.40,-146.6,3020,315,2841,2867,251.9,-4.6,210,4028,0.00,2.12,0.00,0.000,1030,0.000,0.047,3012,1857,2854,2841,2868,0,0,0,0,0,0,26.90,26.84,26.91
$GC,4348,-0.40,-146.6,3012,1857,2841,2867,270.3,-5.6,221,4353,0.00,2.20,0.00,0.000,260,0.000,0.062,3001,3399,2854,2841,2867,0,0,0,0,0,0,27.15,26.74,27.16
$GC,4417,-0.40,-146.6,3001,3399,2841,2867,274.3,-6.1,223,4421,0.00,2.12,0.00,0.000,1030,0.000,0.047,3000,1847,2854,2841,2868,0,0,0,0,0,0,26.87,26.84,26.88
$GC,4741,-0.40,-146.6,3000,1847,2840,2866,294.9,-6.1,234,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1847,2853,2841,2866,0,0,0,0,0,0,27.15,27.17,27.17
$GC,5058,-0.40,-146.6,3000,1847,2841,2865,313.6,-5.8,242,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1847,2853,2841,2865,0,0,0,0,0,0,27.15,27.17,27.17
$GC,5371,-0.40,-146.6,3000,1847,2841,2864,332.0,-5.8,249,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1847,2852,2841,2864,0,0,0,0,0,0,27.15,27.17,27.17
$GC,5686,-0.40,-146.6,3001,1847,2841,2863,350.1,-5.9,256,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1847,2852,2841,2863,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6001,-0.40,-146.6,3000,1847,2841,2862,369.0,-5.9,263,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1847,2851,2841,2862,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6317,-0.40,-146.6,3001,1847,2841,2861,388.0,-6.1,270,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1847,2851,2841,2861,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6631,-0.40,-146.6,3000,1847,2841,2860,407.1,-6.2,277,6635,0.00,2.22,0.00,0.000,260,0.000,0.060,2992,3402,2850,2841,2860,0,0,0,0,0,0,27.15,26.74,27.17
$GC,6679,-0.40,-146.6,2991,3402,2841,2860,410.4,-6.2,278,6684,0.00,2.08,0.00,0.000,1030,0.000,0.047,2992,1853,2850,2841,2860,0,0,0,0,0,0,26.89,26.86,26.89
$GC,6994,-0.40,-146.6,2992,1853,2840,2859,432.1,-7.0,285,6996,0.10,0.00,0.00,0.000,2054,0.149,0.000,3032,1853,2849,2840,2859,0,0,0,0,0,0,26.77,26.85,26.82
$GC,7309,-0.48,-146.6,3031,1853,2840,2858,448.2,-4.9,292,7310,0.00,0.00,0.00,0.000,4102,0.000,0.000,3032,1853,2849,2841,2858,0,0,0,0,0,0,27.17,27.18,27.17
$GC,7624,-0.56,-146.6,3031,1853,2840,2856,462.3,-4.5,299,7626,0.05,0.00,0.00,0.000,4102,0.174,0.000,2979,1854,2848,2840,2857,0,0,0,0,0,0,26.95,26.98,26.96
$GC,7940,-0.56,-146.6,2979,1854,2840,2857,483.1,-6.8,306,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1854,2848,2840,2857,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8254,-0.56,-146.6,2979,1854,2840,2856,504.9,-6.9,313,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1854,2847,2839,2856,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8569,-0.56,-146.6,2978,1853,2840,2855,526.1,-6.8,320,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1854,2847,2840,2855,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8884,-0.56,-146.6,2979,1854,2840,2855,547.1,-6.5,327,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1854,2848,2841,2855,0,0,0,0,0,0,27.15,27.18,27.17
$GC,9199,-0.56,-146.6,2979,1854,2840,2854,566.0,-5.9,334,9205,0.00,2.20,0.00,0.000,260,0.000,0.062,2970,3399,2847,2840,2854,0,0,0,0,0,0,27.15,26.74,27.17
$GC,9266,-0.56,-146.6,2970,3399,2839,2854,568.7,-5.8,335,9270,0.00,2.12,0.00,0.000,1030,0.000,0.045,2971,1849,2846,2839,2853,0,0,0,0,0,0,26.90,26.88,26.91
$GC,9605,-0.56,-146.6,2970,1850,2839,2854,589.7,-5.7,343,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1850,2846,2839,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9921,-0.56,-146.6,2970,1850,2839,2853,609.3,-6.4,350,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1850,2846,2839,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10235,-0.56,-146.6,2970,1850,2839,2852,630.6,-6.8,357,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1850,2845,2839,2852,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10550,-0.56,-146.6,2970,1849,2839,2851,652.0,-6.8,364,10556,0.00,2.22,0.00,0.000,260,0.000,0.062,2963,3408,2845,2839,2851,0,0,0,0,0,0,27.15,26.73,27.17
$GC,10627,-0.56,-146.6,2963,3408,2837,2851,654.9,-6.7,365,10632,0.00,2.15,0.00,0.000,1030,0.000,0.047,2963,1845,2843,2836,2851,0,0,0,0,0,0,26.89,26.87,26.91
$GC,10956,-0.56,-146.6,2963,1845,2837,2851,678.4,-6.5,373,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1845,2844,2837,2851,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11271,-0.56,-146.6,2963,1845,2837,2850,701.5,-7.5,380,11278,0.00,2.22,0.00,0.000,260,0.000,0.060,2956,3405,2843,2837,2849,0,0,0,0,0,0,27.16,26.73,27.17
$GC,11319,-0.56,-146.6,2955,3405,2836,2850,705.0,-7.6,381,11323,0.00,2.12,0.00,0.000,1030,0.000,0.047,2956,1840,2842,2836,2849,0,0,0,0,0,0,26.91,26.86,26.92
$GC,11632,-0.56,-146.6,2956,1840,2836,2849,728.2,-7.2,388,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1840,2842,2836,2849,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11948,-0.56,-146.6,2955,1840,2836,2848,750.3,-7.2,395,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1840,2842,2836,2848,0,0,0,0,0,0,27.15,27.17,27.17
$GC,12263,-0.56,-146.6,2956,1840,2836,2846,773.8,-7.6,402,12268,0.00,2.28,0.00,0.000,260,0.000,0.060,2948,3404,2841,2836,2846,0,0,0,0,0,0,27.15,26.72,27.17
$GC,12307,-0.56,-146.6,2948,3405,2833,2846,777.5,-7.8,403,12313,0.00,2.10,0.00,0.000,1030,0.000,0.047,2948,1847,2840,2835,2846,0,0,0,0,0,0,26.88,26.86,26.89
$GC,12623,-0.56,-146.6,2948,1847,2834,2846,801.5,-7.5,410,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1847,2840,2834,2846,0,0,0,0,0,0,27.15,27.17,27.17
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$GC,78155,-1.69,-146.6,2607,266,2801,2806,4912.7,-4.4,994,78159,0.00,2.55,0.00,0.000,1030,0.000,0.077,2597,1851,2803,2800,2806,0,0,0,0,0,0,25.36,25.18,25.43
$GC,78570,-1.69,-146.6,2597,1851,2801,2806,4933.5,-4.3,998,78576,0.00,2.60,0.00,0.000,260,0.000,0.089,2587,3434,2803,2801,2806,0,0,0,0,0,0,26.99,25.01,27.01
$GC,78651,-1.69,-146.6,2586,3434,2801,2806,4933.5,-4.3,998,78655,0.00,2.47,0.00,0.000,1030,0.000,0.065,2586,1841,2803,2801,2806,0,0,0,0,0,0,25.69,25.56,25.74
$GC,79046,-1.69,-146.6,2586,1841,2801,2806,4955.0,-4.5,1002,79047,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1840,2803,2800,2806,0,0,0,0,0,0,26.98,27.01,27.01
$GC,79408,-1.69,-146.6,2586,1841,2801,2806,4970.7,-4.4,1005,79409,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1841,2803,2800,2806,0,0,0,0,0,0,27.02,27.04,27.03
$GC,79765,-1.69,-146.6,2586,1840,2800,2806,4986.6,-4.4,1008,79771,0.00,2.62,0.00,0.000,516,0.000,0.102,2587,282,2803,2801,2806,0,0,0,0,0,0,27.07,24.77,27.08
$GC,79851,-1.69,-146.6,2586,281,2801,2806,4986.6,-4.4,1008,79856,0.10,2.55,0.00,0.000,3078,0.171,0.079,2608,1856,2803,2801,2806,0,0,0,0,0,0,25.09,25.18,25.22
$GC,80240,-1.69,-146.6,2608,1855,2801,2806,5005.6,-4.0,1012,80246,0.00,2.58,0.00,0.000,260,0.000,0.087,2598,3431,2803,2801,2806,0,0,0,0,0,0,27.06,25.06,27.08
$GC,80296,-1.69,-146.6,2598,3431,2801,2806,5005.6,-4.0,1012,80301,0.00,2.47,0.00,0.000,1030,0.000,0.065,2598,1845,2803,2800,2806,0,0,0,0,0,0,25.72,25.59,25.77
$GC,80716,-1.69,-146.6,2598,1844,2801,2806,5025.1,-4.1,1016,80722,0.00,2.65,0.00,0.000,516,0.000,0.102,2598,275,2803,2801,2806,0,0,0,0,0,0,27.06,24.78,27.08
$GC,80786,-1.69,-146.6,2598,275,2801,2806,5025.1,-4.1,1016,80791,0.00,2.55,0.00,0.000,1030,0.000,0.079,2587,1862,2803,2801,2806,0,0,0,0,0,0,25.37,25.18,25.43
$GC,81195,-1.69,-146.6,2588,1862,2801,2805,5046.5,-4.4,1020,81200,0.00,2.60,0.00,0.000,260,0.000,0.089,2578,3432,2803,2801,2806,0,0,0,0,0,0,27.06,25.03,27.08
$GC,81270,-1.69,-146.6,2578,3432,2801,2806,5046.5,-4.4,1020,81275,0.10,2.47,0.00,0.000,3078,0.166,0.067,2610,1845,2803,2801,2806,0,0,0,0,0,0,25.34,25.52,25.44
$GC,81674,-1.69,-146.6,2610,1845,2800,2806,5065.0,-3.8,1024,81676,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1845,2803,2801,2806,0,0,0,0,0,0,27.06,27.08,27.08
$GC,82035,-1.69,-146.6,2610,1845,2801,2806,5078.2,-3.7,1027,82040,0.00,2.62,0.00,0.000,516,0.000,0.102,2610,272,2803,2801,2806,0,0,0,0,0,0,27.06,24.79,27.08
$GC,82115,-1.69,-146.6,2610,272,2801,2806,5078.2,-3.7,1027,82119,0.00,2.55,0.00,0.000,1030,0.000,0.079,2601,1849,2803,2801,2806,0,0,0,0,0,0,25.35,25.16,25.41
$GC,82514,-1.69,-146.6,2601,1850,2801,2806,5096.4,-3.8,1031,82518,0.00,2.62,0.00,0.000,260,0.000,0.089,2591,3437,2803,2800,2806,0,0,0,0,0,0,27.06,25.04,27.08
$GC,82584,-1.69,-146.6,2591,3437,2801,2806,5096.4,-3.8,1031,82588,0.00,2.47,0.00,0.000,1030,0.000,0.065,2591,1851,2803,2801,2806,0,0,0,0,0,0,25.70,25.56,25.75
$GC,82992,-1.69,-146.6,2591,1851,2801,2806,5115.2,-4.0,1035,82998,0.00,2.65,0.00,0.000,516,0.000,0.102,2591,278,2803,2801,2806,0,0,0,0,0,0,27.06,24.79,27.08
$GC,83058,-1.69,-146.6,2591,278,2801,2806,5115.2,-4.0,1035,83063,0.00,2.55,0.00,0.000,1030,0.000,0.082,2581,1850,2803,2801,2806,0,0,0,0,0,0,25.37,25.18,25.44
$GC,83474,-1.69,-146.6,2581,1850,2800,2806,5135.1,-4.1,1039,83479,0.00,2.62,0.00,0.000,260,0.000,0.092,2571,3432,2803,2801,2806,0,0,0,0,0,0,27.06,25.03,27.08
$GC,83539,-1.69,-146.6,2571,3432,2801,2806,5135.1,-4.1,1039,83544,0.12,2.50,0.00,0.000,3078,0.159,0.070,2612,1843,2803,2801,2806,0,0,0,0,0,0,25.24,25.45,25.36
$GC,83950,-1.69,-146.6,2611,1842,2801,2806,5152.2,-3.6,1043,83956,0.00,2.65,0.00,0.000,516,0.000,0.104,2612,276,2803,2801,2806,0,0,0,0,0,0,27.00,24.78,27.01
$GC,84026,-1.69,-146.6,2612,276,2801,2806,5152.2,-3.6,1043,84030,0.00,2.58,0.00,0.000,1030,0.000,0.082,2603,1859,2803,2801,2806,0,0,0,0,0,0,25.37,25.18,25.43
$GC,84426,-1.69,-146.6,2603,1860,2800,2806,5168.6,-3.4,1047,84427,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1859,2803,2801,2806,0,0,0,0,0,0,27.06,27.08,27.08
$GC,84786,-1.69,-146.6,2603,1860,2801,2806,5180.9,-3.4,1050,84787,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1860,2803,2801,2806,0,0,0,0,0,0,26.98,27.01,27.01
$GC,85150,-1.69,-146.6,2603,1860,2801,2806,5192.7,-3.3,1053,85151,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1860,2803,2801,2806,0,0,0,0,0,0,27.01,27.04,27.03
$GC,85505,-1.69,-146.6,2603,1860,2801,2806,5205.2,-3.4,1056,85506,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1860,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.09
$GC,85866,-1.69,-146.6,2603,1859,2801,2806,5217.1,-3.3,1059,85867,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1860,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,86225,-1.69,-146.6,2603,1860,2800,2806,5228.7,-3.2,1062,86230,0.00,2.75,0.00,0.000,516,0.000,0.102,2603,266,2803,2801,2806,0,0,0,0,0,0,27.07,24.78,27.08
$GC,86285,-1.69,-146.6,2603,265,2800,2805,5228.7,-3.2,1062,86290,0.00,2.60,0.00,0.000,1030,0.000,0.079,2593,1862,2803,2801,2806,0,0,0,0,0,0,25.39,25.21,25.46
$GC,86709,-1.69,-146.6,2592,1863,2801,2806,5244.9,-3.4,1066,86710,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1863,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,87069,-1.69,-146.6,2593,1863,2802,2806,5256.8,-3.3,1069,87070,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1863,2803,2800,2806,0,0,0,0,0,0,27.07,27.09,27.09
$GC,87430,-1.69,-146.6,2593,1863,2801,2806,5268.1,-3.2,1072,87431,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1862,2803,2801,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,87789,-1.69,-146.6,2593,1863,2800,2806,5279.6,-3.2,1075,87790,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1863,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,88149,-1.69,-146.6,2592,1863,2801,2806,5291.3,-3.2,1078,88150,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1863,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,88509,-1.69,-146.6,2592,1863,2801,2806,5303.0,-3.2,1081,88514,0.00,2.75,0.00,0.000,516,0.000,0.102,2592,276,2803,2801,2806,0,0,0,0,0,0,27.08,24.78,27.09
$GC,88570,-1.69,-146.6,2593,275,2801,2806,5303.0,-3.2,1081,88574,0.00,2.55,0.00,0.000,1030,0.000,0.082,2583,1853,2803,2801,2806,0,0,0,0,0,0,25.40,25.22,25.46
$GC,88984,-1.69,-146.6,2583,1854,2801,2806,5319.2,-3.4,1085,88985,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1854,2803,2801,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,89344,-1.69,-146.6,2583,1854,2801,2806,5331.3,-3.4,1088,89345,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1854,2803,2801,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,89704,-1.69,-146.6,2583,1854,2800,2806,5342.1,-3.1,1091,89705,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1854,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$STATE,90063,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,90063,begin apogee
$GC,90068,-0.23,0.0,2583,1740,2801,2806,5353.1,-3.0,1094,90223,1.48,0.00,151.10,4.075,10246,0.124,0.000,3080,1738,2350,2336,2364,0,0,0,0,0,0,24.74,22.41,20.34
$STATE,90224,end apogee,CONTROL_FINISHED_OK
$STATE,90224,begin climb
$GC,90225,0.54,146.6,3080,1739,2336,2364,5354.0,0.0,1095,90402,0.70,0.00,173.60,4.050,10246,0.079,0.000,3337,1739,1845,1814,1876,0,0,0,0,0,0,23.13,22.44,20.51
$GC,90663,0.54,146.6,3336,1739,1814,1875,5238.1,28.8,1099,90669,0.00,2.45,0.00,0.000,516,0.000,0.087,3347,258,1844,1814,1875,0,0,0,0,0,0,25.70,25.33,25.71
$GC,90963,-0.01,146.6,3348,258,1814,1875,5165.4,30.0,1101,90968,0.55,2.38,0.00,0.000,5126,0.241,0.074,3201,1753,1845,1815,1875,0,0,0,0,0,0,25.55,25.98,25.84
$GC,91382,-0.43,146.6,3200,1753,1815,1875,5053.4,23.2,1105,91389,0.45,2.42,0.00,0.000,4612,0.216,0.092,3074,234,1845,1815,1875,0,0,0,0,0,0,25.83,26.12,25.97
$GC,91683,-0.75,146.6,3074,234,1815,1875,5014.4,19.1,1107,91689,0.52,2.33,0.00,0.000,5126,0.184,0.074,2913,1750,1844,1814,1875,0,0,0,0,0,0,25.96,26.32,26.21
$GC,92108,-0.81,146.6,2913,1750,1815,1875,4971.5,8.7,1111,92114,0.00,2.42,0.00,0.000,516,0.000,0.094,2923,250,1845,1815,1875,0,0,0,0,0,0,26.84,26.32,26.86
$GC,92237,-0.81,146.6,2922,250,1815,1875,4962.5,7.6,1112,92241,0.00,2.38,0.00,0.000,1030,0.000,0.087,2923,1752,1845,1815,1875,0,0,0,0,0,0,26.53,26.39,26.57
$GC,92586,-0.81,146.6,2923,1752,1815,1875,4935.5,7.5,1115,92587,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1752,1845,1815,1875,0,0,0,0,0,0,26.91,26.93,26.92
$GC,92945,-0.81,146.6,2922,1752,1814,1875,4908.7,7.4,1118,92951,0.00,2.42,0.00,0.000,516,0.000,0.094,2932,250,1845,1815,1875,0,0,0,0,0,0,26.94,26.37,26.96
$GC,93026,-0.81,146.6,2932,251,1815,1875,4908.7,7.4,1118,93032,0.12,2.35,0.00,0.000,5126,0.166,0.077,2890,1763,1845,1816,1875,0,0,0,0,0,0,26.28,26.45,26.44
$GC,93425,-0.81,146.6,2890,1763,1815,1875,4878.1,6.3,1122,93427,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1763,1845,1815,1875,0,0,0,0,0,0,26.97,26.99,26.99
$GC,93786,-0.81,146.6,2890,1764,1815,1875,4856.5,6.0,1125,93792,0.00,2.40,0.00,0.000,516,0.000,0.094,2900,259,1845,1815,1875,0,0,0,0,0,0,26.99,26.39,27.01
$GC,93862,-0.81,146.6,2899,259,1815,1875,4856.5,6.0,1125,93866,0.00,2.30,0.00,0.000,1030,0.000,0.074,2899,1753,1845,1815,1875,0,0,0,0,0,0,26.60,26.46,26.64
$GC,94261,-0.81,146.6,2899,1753,1815,1875,4827.5,6.1,1129,94262,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1754,1845,1815,1875,0,0,0,0,0,0,27.01,27.03,27.03
$GC,94621,-0.81,146.6,2899,1754,1815,1875,4805.1,6.2,1132,94626,0.00,2.42,0.00,0.000,516,0.000,0.094,2908,249,1845,1815,1875,0,0,0,0,0,0,27.02,26.38,27.03
$GC,94697,-0.81,146.6,2908,249,1815,1875,4805.1,6.2,1132,94701,0.00,2.33,0.00,0.000,1030,0.000,0.074,2909,1759,1845,1815,1875,0,0,0,0,0,0,26.60,26.46,26.64
$GC,95102,-0.81,146.6,2908,1760,1816,1875,4774.1,6.5,1136,95103,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1760,1845,1815,1875,0,0,0,0,0,0,27.03,27.05,27.05
$GC,95461,-0.81,146.6,2908,1760,1815,1875,4751.2,6.4,1139,95465,0.00,2.42,0.00,0.000,516,0.000,0.092,2917,243,1844,1814,1875,0,0,0,0,0,0,27.04,26.36,27.05
$GC,95525,-0.81,146.6,2917,243,1815,1875,4751.2,6.4,1139,95529,0.00,2.30,0.00,0.000,1030,0.000,0.072,2917,1753,1845,1815,1876,0,0,0,0,0,0,26.58,26.44,26.63
$GC,95939,-0.81,146.6,2916,1753,1815,1875,4720.3,6.5,1143,95940,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1753,1845,1815,1875,0,0,0,0,0,0,27.04,27.07,27.06
$GC,96300,-0.81,146.6,2916,1753,1815,1875,4697.6,6.3,1146,96305,0.00,2.38,0.00,0.000,516,0.000,0.092,2923,257,1845,1815,1875,0,0,0,0,0,0,27.05,26.34,27.07
$GC,96365,-0.81,146.6,2924,257,1815,1875,4697.6,6.3,1146,96369,0.00,2.33,0.00,0.000,1030,0.000,0.070,2924,1757,1845,1815,1875,0,0,0,0,0,0,26.50,26.43,26.54
$GC,96779,-0.81,146.6,2923,1756,1815,1875,4666.5,6.5,1150,96781,0.10,0.00,0.00,0.000,4102,0.176,0.000,2890,1759,1845,1815,1875,0,0,0,0,0,0,26.57,26.67,26.63
$GC,97139,-0.81,146.6,2889,1759,1815,1875,4647.6,5.6,1153,97145,0.00,2.42,0.00,0.000,516,0.000,0.092,2897,242,1845,1815,1875,0,0,0,0,0,0,27.06,26.32,27.08
$GC,97210,-0.81,146.6,2897,242,1815,1875,4647.6,5.6,1153,97214,0.00,2.30,0.00,0.000,1030,0.000,0.070,2897,1753,1845,1815,1875,0,0,0,0,0,0,26.57,26.43,26.61
$GC,97615,-0.81,146.6,2897,1753,1815,1875,4622.1,5.4,1157,97616,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1753,1845,1815,1875,0,0,0,0,0,0,27.06,27.08,27.08
$GC,97974,-0.76,146.6,2897,1754,1815,1875,4603.9,5.1,1160,97979,0.00,2.40,0.00,0.000,516,0.000,0.089,2905,240,1845,1815,1875,0,0,0,0,0,0,27.06,26.30,27.08
$GC,98024,-0.70,146.6,2905,241,1815,1875,4603.9,5.1,1160,98028,0.00,2.30,0.00,0.000,1030,0.000,0.070,2905,1757,1845,1815,1875,0,0,0,0,0,0,26.56,26.43,26.60
$GC,98335,-0.70,146.6,2905,1757,1815,1875,4584.6,5.3,1163,98336,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1757,1845,1815,1875,0,0,0,0,0,0,27.06,27.09,27.08
$GC,98692,-0.70,146.6,2905,1757,1815,1875,4564.8,5.4,1166,98693,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1757,1845,1815,1875,0,0,0,0,0,0,27.07,27.09,27.09
$GC,99052,-0.70,146.6,2905,1757,1815,1875,4545.4,5.4,1169,99058,0.00,2.40,0.00,0.000,516,0.000,0.089,2911,249,1844,1814,1875,0,0,0,0,0,0,27.07,26.26,27.09
$GC,99119,-0.70,146.6,2911,250,1814,1875,4545.4,5.4,1169,99123,0.00,2.28,0.00,0.000,1030,0.000,0.067,2911,1753,1845,1815,1875,0,0,0,0,0,0,26.53,26.40,26.58
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$GC,182277,0.47,315.8,3284,1744,1223,1304,345.3,7.7,2017,182278,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1744,1263,1223,1303,0,0,0,0,0,0,27.11,27.13,27.13
$GC,182592,0.47,315.8,3285,1744,1224,1304,322.0,7.2,2024,182597,0.00,2.17,0.00,0.000,516,0.000,0.062,3291,264,1264,1225,1304,0,0,0,0,0,0,27.12,26.55,27.13
$GC,182665,0.47,315.8,3291,264,1225,1303,318.7,7.2,2025,182669,0.00,2.05,0.00,0.000,1030,0.000,0.047,3291,1760,1263,1224,1303,0,0,0,0,0,0,26.79,26.74,26.82
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$GC,183278,0.47,315.8,3291,1760,1226,1303,276.6,6.3,2043,183279,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1760,1265,1226,1304,0,0,0,0,0,0,27.12,27.15,27.14
$GC,183578,0.47,315.8,3291,1761,1227,1304,259.4,5.7,2053,183584,0.00,2.20,0.00,0.000,516,0.000,0.062,3297,260,1266,1228,1304,0,0,0,0,0,0,27.13,26.58,27.14
$GC,183652,0.47,315.8,3297,260,1228,1304,256.1,5.5,2055,183656,0.00,2.05,0.00,0.000,1030,0.000,0.047,3297,1754,1266,1228,1304,0,0,0,0,0,0,26.81,26.76,26.82
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$GC,184266,0.47,315.8,3297,1755,1228,1304,216.3,6.8,2076,184272,0.00,2.17,0.00,0.000,516,0.000,0.062,3304,265,1266,1229,1304,0,0,0,0,0,0,27.13,26.58,27.14
$GC,184345,0.47,315.8,3303,265,1229,1304,212.3,6.6,2078,184348,0.00,2.03,0.00,0.000,1030,0.000,0.047,3303,1750,1266,1229,1304,0,0,0,0,0,0,26.82,26.77,26.84
$GC,184658,0.47,315.8,3303,1750,1229,1304,188.8,7.6,2089,184660,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1750,1266,1229,1304,0,0,0,0,0,0,27.13,27.15,27.15
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$GC,185320,0.47,315.8,3310,1759,1231,1304,143.0,7.2,2114,185321,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1759,1267,1231,1304,0,0,0,0,0,0,27.13,27.15,27.15
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$GC,187066,0.71,315.8,3322,1748,1219,1304,32.0,8.6,2232,187075,0.00,0.00,0.00,0.000,2054,0.000,0.000,3322,1748,1261,1219,1304,0,0,0,0,0,0,27.13,27.14,27.13
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$STATE,187465,end climb,SURFACE_DEPTH_REACHED
$STATE,187465,begin surface coast
$FINISH,0.6,1.024618
$STATE,187486,end surface coast,CONTROL_FINISHED_OK
$STATE,187486,begin surface
$SM_CCo,187562,0.00,0.000,0,0,1261,316.05
$SM_GC,1.09,8.20,0.08,0.00,0.079,0.129,0.000,187,1877,1261,-9.21,-2.23,316.05,0,0,0,0,0,0,26.32,26.94,26.46
$IRIDIUM_FIX,2905.46,-7227.85,210908,145308
$TT8_MAMPS,0.021721,0.021721
$HUMID,39.68
$INTERNAL_PRESSURE,9.19169
$TCM_TEMP,25.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,5232.9,149.5
$24V_AH,20.34,32.658
$10V_AH,10.23,27.358
$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,29.150,842.974,496.350,0.000,102.250,62.846,71.673,412.349,82.500,0.000,15.519,9270.977,162326.250,1175.823,14832.852,679.710,0.000,6510.386,0.000,13605.506,0.000,748.583,0.000
$DEVICE_MAMPS,283.062,129.116,4074.603,0.000,183.742,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1563.931,7420.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,140148,2274
$CAP_FILE_SIZE,1010540,0
$CFSIZE,1024409600,956088320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,285.52,1
$GPS,281115,054009,2912.733,-7209.023,31,1.3,37,-11.5,1.1,313.2,7,7.9