version: 66.12
glider: 37
mission: 22
dive: 68
start: 12 1 115 18 48 42
data:
$ID,37
$MISSION,22
$DIVE,68
$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,69
$R_STBD_OVSHOOT,92
$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
$GPS1,011215,183836,2846.7112,-7234.0698,26,1.0,28,-11.2,0.0,0.0,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-69.6
$GPS2,011215,184814,2846.6880,-7234.0415,4,1.0,11,-11.2,0.0,0.0,7,9.3
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,4_SW
$TGT_LATLONG,2744.630,-7432.070
$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,257.0,225024,-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,420,-0.41,-146.6,2981,282,2842,2869,43.9,-11.5,35,425,0.15,2.15,0.00,0.000,3078,0.159,0.050,3024,1853,2855,2842,2869,0,0,0,0,0,0,26.21,26.58,26.34
$GC,740,-0.41,-146.6,3024,1854,2842,2869,67.6,-7.4,56,746,0.00,2.22,0.00,0.000,260,0.000,0.062,3014,3393,2855,2842,2869,0,0,0,0,0,0,27.01,26.60,27.03
$GC,853,-0.41,-146.6,3014,3392,2842,2869,76.4,-7.8,63,857,0.00,2.15,0.00,0.000,1030,0.000,0.047,3014,1838,2855,2841,2869,0,0,0,0,0,0,26.79,26.74,26.80
$GC,1171,-0.41,-146.6,3014,1838,2841,2869,99.2,-6.1,84,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1838,2855,2842,2869,0,0,0,0,0,0,27.08,27.10,27.10
$GC,1472,-0.41,-146.6,3014,1838,2842,2869,115.9,-5.1,104,1478,0.00,2.25,0.00,0.000,260,0.000,0.062,3004,3405,2855,2842,2869,0,0,0,0,0,0,27.10,26.70,27.13
$GC,1741,-0.41,-146.6,3004,3405,2842,2869,131.2,-5.6,120,1749,0.00,2.17,0.00,0.000,1030,0.000,0.047,3004,1835,2855,2842,2869,0,0,0,0,0,0,26.85,26.83,26.86
$GC,2049,-0.41,-146.6,3004,1835,2842,2869,148.3,-5.3,141,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1835,2855,2842,2869,0,0,0,0,0,0,27.13,27.15,27.15
$GC,2364,-0.41,-146.6,3004,1835,2842,2869,165.9,-5.7,153,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1835,2855,2842,2869,0,0,0,0,0,0,27.14,27.16,27.16
$GC,2666,-0.41,-146.6,3004,1835,2842,2869,183.3,-6.1,163,2670,0.00,2.22,0.00,0.000,516,0.000,0.062,3005,294,2855,2842,2869,0,0,0,0,0,0,27.15,26.70,27.16
$GC,2712,-0.41,-146.6,3004,294,2842,2869,185.5,-6.1,164,2716,0.00,2.10,0.00,0.000,1030,0.000,0.047,2995,1862,2855,2841,2869,0,0,0,0,0,0,26.88,26.84,26.90
$GC,3026,-0.41,-146.6,2995,1862,2841,2869,206.0,-6.1,175,3031,0.00,2.20,0.00,0.000,260,0.000,0.062,2984,3394,2855,2842,2869,0,0,0,0,0,0,27.15,26.73,27.16
$GC,3087,-0.41,-146.6,2984,3394,2842,2869,209.8,-6.3,177,3093,0.10,2.08,0.00,0.000,3078,0.139,0.047,3024,1823,2855,2842,2869,0,0,0,0,0,0,26.56,26.85,26.61
$GC,3419,-0.41,-146.6,3023,1823,2841,2869,225.9,-4.6,188,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1823,2855,2842,2869,0,0,0,0,0,0,27.15,27.17,27.16
$GC,3717,-0.41,-146.6,3023,1823,2842,2869,240.7,-5.2,198,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1823,2855,2841,2869,0,0,0,0,0,0,27.15,27.17,27.17
$GC,4017,-0.41,-146.6,3023,1823,2841,2868,255.6,-4.9,208,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1823,2855,2842,2868,0,0,0,0,0,0,27.15,27.17,27.17
$GC,4317,-0.41,-146.6,3022,1823,2842,2868,270.8,-5.1,218,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1823,2854,2841,2868,0,0,0,0,0,0,27.15,27.17,27.17
$GC,4619,-0.41,-146.6,3023,1823,2841,2867,286.1,-5.1,228,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1823,2854,2841,2867,0,0,0,0,0,0,27.15,27.17,27.17
$GC,4932,-0.46,-146.6,3023,1823,2841,2866,302.5,-5.4,238,4938,0.00,2.28,0.00,0.000,260,0.000,0.062,3014,3389,2853,2841,2866,0,0,0,0,0,0,27.15,26.73,27.17
$GC,5037,-0.51,-146.6,3014,3390,2841,2866,307.7,-5.5,240,5041,0.00,2.08,0.00,0.000,1030,0.000,0.047,3014,1862,2853,2841,2866,0,0,0,0,0,0,26.93,26.89,26.94
$GC,5386,-0.51,-146.6,3014,1862,2842,2864,328.2,-5.7,248,5391,0.00,2.20,0.00,0.000,516,0.000,0.062,3014,309,2853,2842,2864,0,0,0,0,0,0,27.15,26.72,27.17
$GC,5452,-0.51,-146.6,3014,309,2842,2864,330.8,-5.7,249,5457,0.00,2.12,0.00,0.000,1030,0.000,0.047,3007,1849,2852,2842,2863,0,0,0,0,0,0,26.86,26.84,26.88
$GC,5791,-0.51,-146.6,3007,1849,2841,2863,351.4,-5.7,257,5797,0.00,2.22,0.00,0.000,260,0.000,0.062,2996,3401,2852,2841,2863,0,0,0,0,0,0,27.15,26.72,27.17
$GC,5859,-0.51,-146.6,2996,3401,2841,2863,354.0,-5.7,258,5863,0.00,2.15,0.00,0.000,1030,0.000,0.047,2996,1836,2852,2842,2863,0,0,0,0,0,0,26.87,26.86,26.89
$GC,6198,-0.51,-146.6,2996,1835,2841,2861,374.5,-5.5,266,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1835,2851,2841,2861,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6513,-0.51,-146.6,2996,1836,2842,2860,393.1,-6.0,273,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1836,2850,2841,2860,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6828,-0.51,-146.6,2996,1835,2841,2858,412.9,-6.3,280,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1835,2849,2841,2858,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7143,-0.51,-146.6,2996,1836,2841,2858,431.4,-5.7,287,7147,0.00,2.28,0.00,0.000,260,0.000,0.060,2987,3403,2849,2841,2858,0,0,0,0,0,0,27.15,26.74,27.17
$GC,7193,-0.51,-146.6,2987,3403,2840,2858,434.1,-5.6,288,7198,0.00,2.12,0.00,0.000,1030,0.000,0.045,2988,1856,2849,2841,2858,0,0,0,0,0,0,26.91,26.89,26.92
$GC,7507,-0.51,-146.6,2987,1856,2841,2857,452.7,-5.8,295,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1856,2849,2841,2857,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7822,-0.51,-146.6,2987,1856,2840,2857,471.3,-5.8,302,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1856,2849,2841,2857,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8137,-0.51,-146.6,2988,1856,2840,2856,489.2,-5.9,309,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1856,2848,2841,2856,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8453,-0.51,-146.6,2987,1856,2840,2855,507.9,-6.0,316,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1857,2848,2841,2856,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8767,-0.51,-146.6,2988,1857,2841,2855,526.7,-6.0,323,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1856,2848,2841,2855,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9082,-0.51,-146.6,2987,1856,2841,2854,544.9,-5.6,330,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1856,2846,2840,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9397,-0.51,-146.6,2987,1856,2840,2853,563.9,-6.2,337,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1857,2846,2840,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9714,-0.57,-146.6,2987,1857,2841,2853,584.2,-6.6,344,9719,0.00,2.22,0.00,0.000,516,0.000,0.062,2987,312,2846,2841,2852,0,0,0,0,0,0,27.15,26.72,27.17
$GC,9851,-0.64,-146.6,2987,312,2840,2852,593.7,-7.0,347,9856,0.00,2.10,0.00,0.000,5126,0.000,0.047,2982,1853,2846,2840,2852,0,0,0,0,0,0,26.90,26.84,26.91
$GC,10170,-0.73,-146.6,2981,1853,2841,2851,614.8,-6.9,354,10177,0.05,2.20,0.00,0.000,4356,0.181,0.060,2932,3399,2845,2839,2852,0,0,0,0,0,0,26.94,26.72,26.94
$GC,10448,-0.73,-146.6,2932,3399,2838,2852,636.5,-8.0,360,10453,0.00,2.10,0.00,0.000,1030,0.000,0.047,2932,1842,2845,2838,2852,0,0,0,0,0,0,26.88,26.86,26.89
$GC,10763,-0.73,-146.6,2932,1842,2838,2850,662.6,-8.3,367,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1842,2844,2837,2851,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11078,-0.73,-146.6,2931,1842,2838,2849,688.8,-8.3,374,11084,0.00,2.25,0.00,0.000,260,0.000,0.060,2922,3397,2843,2838,2849,0,0,0,0,0,0,27.15,26.72,27.17
$GC,11150,-0.73,-146.6,2922,3397,2837,2850,692.7,-8.4,375,11154,0.00,2.10,0.00,0.000,1030,0.000,0.045,2922,1843,2843,2836,2850,0,0,0,0,0,0,26.91,26.87,26.93
$GC,11484,-0.73,-146.6,2922,1842,2836,2849,724.3,-8.7,383,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1842,2842,2836,2849,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11799,-0.68,-146.6,2921,1841,2836,2848,751.4,-8.4,390,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1842,2842,2836,2848,0,0,0,0,0,0,27.15,27.17,27.17
$GC,12114,-0.68,-146.6,2922,1842,2836,2846,777.1,-8.2,397,12119,0.00,2.22,0.00,0.000,260,0.000,0.060,2912,3398,2841,2836,2846,0,0,0,0,0,0,27.15,26.71,27.17
$GC,12191,-0.68,-146.6,2912,3398,2835,2846,781.0,-8.3,398,12195,0.00,2.15,0.00,0.000,1030,0.000,0.045,2912,1841,2840,2835,2846,0,0,0,0,0,0,26.89,26.86,26.90
$GC,12520,-0.62,-146.6,2912,1841,2834,2846,814.4,-9.5,406,12522,0.12,0.00,0.00,0.000,2054,0.159,0.000,2958,1841,2840,2834,2846,0,0,0,0,0,0,26.63,26.74,26.70
$GC,12835,-0.62,-146.6,2958,1841,2831,2845,838.4,-7.5,413,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1840,2839,2833,2845,0,0,0,0,0,0,27.15,27.17,27.16
$GC,13150,-0.62,-146.6,2958,1841,2833,2844,861.6,-7.2,420,13156,0.00,2.25,0.00,0.000,260,0.000,0.060,2950,3391,2838,2833,2844,0,0,0,0,0,0,27.15,26.70,27.17
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$GC,56535,-1.45,-146.6,2650,3436,2800,2805,3938.7,-6.3,804,56540,0.12,2.38,0.00,0.000,3078,0.159,0.055,2693,1848,2802,2800,2805,0,0,0,0,0,0,25.63,25.98,25.71
$GC,56946,-1.45,-146.6,2693,1848,2800,2805,3963.8,-5.2,808,56952,0.00,2.55,0.00,0.000,516,0.000,0.089,2693,283,2802,2800,2805,0,0,0,0,0,0,27.00,25.08,27.02
$GC,57007,-1.45,-146.6,2693,283,2800,2805,3963.8,-5.2,808,57012,0.00,2.47,0.00,0.000,1030,0.000,0.067,2685,1865,2802,2799,2805,0,0,0,0,0,0,25.63,25.48,25.68
$GC,57427,-1.45,-146.6,2685,1865,2800,2806,3988.1,-5.0,812,57428,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.07,27.09,27.09
$GC,57788,-1.45,-146.6,2685,1865,2800,2804,4005.7,-4.9,815,57789,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.01,27.03,27.03
$GC,58149,-1.45,-146.6,2685,1865,2800,2805,4023.6,-5.0,818,58150,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2799,2805,0,0,0,0,0,0,27.03,27.05,27.04
$GC,58508,-1.45,-146.6,2685,1865,2801,2805,4041.3,-4.9,821,58509,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.00,27.02,27.02
$GC,58866,-1.45,-146.6,2685,1865,2800,2805,4058.5,-4.8,824,58867,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1866,2803,2801,2805,0,0,0,0,0,0,27.08,27.10,27.09
$GC,59230,-1.45,-146.6,2685,1865,2800,2805,4075.5,-4.8,827,59231,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2804,0,0,0,0,0,0,27.03,27.06,27.05
$GC,59588,-1.45,-146.6,2685,1865,2800,2805,4091.9,-4.6,830,59589,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.00,27.03,27.02
$GC,59946,-1.45,-146.6,2685,1865,2800,2805,4108.0,-4.5,833,59947,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.10
$GC,60309,-1.45,-146.6,2685,1866,2800,2805,4124.6,-4.6,836,60310,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.03,27.05,27.05
$GC,60668,-1.45,-146.6,2685,1865,2800,2805,4141.0,-4.6,839,60670,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.02,27.04,27.03
$GC,61026,-1.45,-146.6,2685,1865,2800,2805,4158.0,-4.7,842,61027,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.10
$GC,61389,-1.45,-146.6,2685,1865,2800,2805,4174.9,-4.7,845,61390,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2802,2800,2805,0,0,0,0,0,0,27.03,27.05,27.05
$GC,61748,-1.45,-146.6,2685,1865,2800,2805,4191.8,-4.7,848,61749,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2803,2800,2806,0,0,0,0,0,0,27.00,27.03,27.02
$GC,62107,-1.45,-146.6,2685,1865,2800,2805,4208.5,-4.7,851,62108,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1865,2803,2801,2805,0,0,0,0,0,0,27.08,27.10,27.10
$GC,62466,-1.45,-146.6,2685,1865,2800,2805,4225.3,-4.7,854,62471,0.00,2.70,0.00,0.000,516,0.000,0.087,2685,287,2802,2800,2805,0,0,0,0,0,0,27.08,24.96,27.10
$GC,62516,-1.45,-146.6,2685,286,2800,2805,4225.3,-4.7,854,62520,0.00,2.47,0.00,0.000,1030,0.000,0.067,2676,1853,2802,2800,2805,0,0,0,0,0,0,25.64,25.51,25.70
$GC,62829,-1.45,-146.6,2675,1853,2800,2805,4242.4,-4.7,857,62830,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.03,27.06,27.05
$GC,63184,-1.45,-146.6,2675,1853,2800,2804,4259.3,-4.7,860,63186,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.09
$GC,63544,-1.45,-146.6,2675,1853,2800,2805,4276.2,-4.8,863,63546,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1853,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.09
$GC,63907,-1.45,-146.6,2676,1853,2800,2805,4293.7,-4.8,866,63909,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.03,27.05,27.05
$GC,64267,-1.45,-146.6,2675,1853,2800,2805,4310.9,-4.8,869,64268,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.01,27.03,27.03
$GC,64625,-1.45,-146.6,2676,1853,2800,2805,4327.9,-4.7,872,64626,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.10
$GC,64987,-1.45,-146.6,2675,1853,2801,2805,4343.6,-4.5,875,64989,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.03,27.05,27.05
$GC,65344,-1.45,-146.6,2676,1853,2800,2805,4359.8,-4.4,878,65346,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.09
$GC,65708,-1.45,-146.6,2676,1853,2800,2805,4375.2,-4.3,881,65709,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.03,27.05,27.05
$GC,66066,-1.45,-146.6,2675,1853,2800,2805,4390.6,-4.3,884,66067,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.00,27.02,27.02
$GC,66424,-1.45,-146.6,2675,1853,2800,2805,4405.8,-4.3,887,66426,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1852,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.10
$GC,66787,-1.45,-146.6,2675,1853,2800,2805,4421.2,-4.3,890,66789,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2803,2800,2806,0,0,0,0,0,0,27.03,27.05,27.05
$GC,67145,-1.45,-146.6,2676,1852,2800,2805,4436.6,-4.3,893,67146,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.09
$GC,67507,-1.45,-146.6,2676,1853,2801,2805,4452.2,-4.3,896,67509,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1853,2802,2800,2805,0,0,0,0,0,0,27.03,27.05,27.04
$GC,67864,-1.45,-146.6,2675,1853,2800,2805,4467.0,-4.2,899,67870,0.00,2.65,0.00,0.000,516,0.000,0.089,2676,279,2802,2800,2805,0,0,0,0,0,0,27.08,24.89,27.09
$GC,67915,-1.45,-146.6,2675,279,2800,2805,4467.0,-4.2,899,67920,0.00,2.50,0.00,0.000,1030,0.000,0.070,2669,1857,2802,2800,2805,0,0,0,0,0,0,25.57,25.43,25.62
$GC,68341,-1.45,-146.6,2668,1857,2800,2805,4486.8,-4.1,903,68342,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1857,2803,2801,2805,0,0,0,0,0,0,27.07,27.10,27.09
$GC,68701,-1.45,-146.6,2668,1857,2801,2805,4502.1,-4.2,906,68702,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1857,2802,2800,2805,0,0,0,0,0,0,26.99,27.02,27.01
$GC,69059,-1.45,-146.6,2668,1857,2801,2805,4517.5,-4.3,909,69061,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1857,2802,2800,2805,0,0,0,0,0,0,27.07,27.10,27.09
$GC,69424,-1.45,-146.6,2668,1857,2800,2804,4532.5,-4.2,912,69425,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1857,2803,2800,2806,0,0,0,0,0,0,27.01,27.03,27.03
$GC,69780,-1.45,-146.6,2669,1857,2801,2805,4547.6,-4.2,915,69781,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1857,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.09
$GC,70139,-1.45,-146.6,2668,1857,2800,2805,4562.7,-4.2,918,70141,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1857,2802,2800,2805,0,0,0,0,0,0,27.08,27.10,27.09
$STATE,70378,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,70378,begin apogee
$GC,70383,-0.23,0.0,2668,1749,2800,2805,4572.4,-4.1,920,70529,1.17,0.00,142.23,3.598,10246,0.109,0.000,3084,1748,2350,2337,2363,0,0,0,0,0,0,24.94,22.54,20.58
$STATE,70530,end apogee,CONTROL_FINISHED_OK
$STATE,70530,begin climb
$GC,70531,0.54,146.6,3083,1748,2337,2363,4577.7,0.0,921,70702,0.65,2.62,162.02,3.571,10756,0.079,0.102,3345,260,1845,1815,1875,0,0,0,0,0,0,23.22,22.23,20.75
$GC,70998,0.54,146.6,3345,259,1815,1875,4502.0,21.2,925,71002,0.00,2.38,0.00,0.000,1030,0.000,0.065,3345,1764,1844,1815,1874,0,0,0,0,0,0,25.58,25.49,25.60
$GC,71338,0.05,146.6,3345,1765,1815,1875,4423.9,22.1,928,71343,0.60,2.40,0.00,0.000,4612,0.219,0.079,3179,250,1845,1815,1875,0,0,0,0,0,0,25.63,25.92,25.79
$GC,71636,-0.37,146.6,3179,250,1815,1874,4386.2,18.7,930,71642,0.32,2.30,0.00,0.000,5126,0.189,0.062,3080,1765,1845,1815,1875,0,0,0,0,0,0,25.86,26.27,26.10
$GC,72056,-0.56,146.6,3080,1765,1815,1875,4333.0,11.0,934,72061,0.30,2.38,0.00,0.000,4612,0.171,0.079,2986,261,1845,1815,1875,0,0,0,0,0,0,26.03,26.26,26.15
$GC,72357,-0.67,146.6,2986,261,1816,1875,4316.0,8.7,936,72364,0.15,2.25,0.00,0.000,5126,0.156,0.065,2934,1746,1845,1816,1875,0,0,0,0,0,0,26.21,26.41,26.36
$GC,72784,-0.67,146.6,2935,1746,1816,1875,4290.3,5.3,940,72790,0.00,2.35,0.00,0.000,516,0.000,0.084,2943,264,1845,1815,1875,0,0,0,0,0,0,26.91,26.39,26.93
$GC,72840,-0.67,146.6,2942,264,1816,1875,4290.3,5.3,940,72844,0.00,2.28,0.00,0.000,1030,0.000,0.062,2943,1763,1845,1816,1875,0,0,0,0,0,0,26.57,26.46,26.60
$GC,73264,-0.67,146.6,2942,1764,1816,1875,4265.8,5.1,944,73265,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1764,1845,1816,1875,0,0,0,0,0,0,26.95,26.97,26.97
$GC,73625,-0.67,146.6,2942,1764,1816,1875,4247.6,5.1,947,73630,0.00,2.35,0.00,0.000,516,0.000,0.082,2951,260,1845,1816,1875,0,0,0,0,0,0,26.98,26.41,26.99
$GC,73685,-0.67,146.6,2951,260,1816,1875,4247.6,5.1,947,73689,0.00,2.25,0.00,0.000,1030,0.000,0.062,2951,1756,1845,1816,1875,0,0,0,0,0,0,26.60,26.48,26.63
$GC,74104,-0.67,146.6,2950,1756,1816,1875,4222.4,5.3,951,74105,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1756,1845,1815,1875,0,0,0,0,0,0,27.00,27.02,27.01
$GC,74464,-0.67,146.6,2950,1756,1816,1875,4204.3,5.0,954,74465,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1756,1845,1816,1875,0,0,0,0,0,0,27.01,27.03,27.03
$GC,74825,-0.67,146.6,2950,1756,1816,1875,4187.1,4.9,957,74831,0.00,2.35,0.00,0.000,516,0.000,0.079,2959,248,1845,1816,1875,0,0,0,0,0,0,27.03,26.40,27.04
$GC,74886,-0.67,146.6,2958,248,1816,1875,4187.1,4.9,957,74890,0.00,2.28,0.00,0.000,1030,0.000,0.060,2959,1759,1845,1816,1875,0,0,0,0,0,0,26.60,26.48,26.64
$GC,75305,-0.67,146.6,2958,1759,1815,1874,4163.1,5.0,961,75306,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1759,1845,1816,1875,0,0,0,0,0,0,27.03,27.05,27.05
$GC,75665,-0.67,146.6,2958,1760,1816,1875,4145.1,5.0,964,75669,0.00,2.40,0.00,0.000,516,0.000,0.079,2967,244,1845,1816,1875,0,0,0,0,0,0,27.04,26.39,27.05
$GC,75729,-0.67,146.6,2967,245,1816,1875,4145.1,5.0,964,75733,0.00,2.28,0.00,0.000,1030,0.000,0.060,2967,1757,1845,1816,1875,0,0,0,0,0,0,26.60,26.48,26.63
$GC,76143,-0.67,146.6,2967,1757,1816,1875,4121.1,5.0,968,76144,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1757,1844,1815,1874,0,0,0,0,0,0,27.05,27.07,27.07
$GC,76503,-0.67,146.6,2967,1758,1815,1875,4102.7,5.1,971,76509,0.00,2.35,0.00,0.000,516,0.000,0.079,2977,260,1844,1815,1874,0,0,0,0,0,0,27.05,26.37,27.07
$GC,76574,-0.67,146.6,2976,260,1816,1875,4102.7,5.1,971,76580,0.12,2.25,0.00,0.000,5126,0.146,0.060,2930,1762,1845,1816,1875,0,0,0,0,0,0,26.32,26.48,26.44
$GC,76984,-0.61,146.6,2930,1763,1816,1875,4083.0,4.1,975,76985,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1763,1845,1815,1875,0,0,0,0,0,0,27.05,27.08,27.08
$GC,77344,-0.55,146.6,2930,1763,1815,1875,4069.2,3.9,978,77345,0.00,0.00,0.00,0.000,2054,0.000,0.000,2930,1763,1845,1816,1875,0,0,0,0,0,0,27.08,27.08,27.08
$GC,77704,-0.48,146.6,2930,1763,1815,1875,4055.3,3.8,981,77710,0.05,2.35,0.00,0.000,2564,0.179,0.077,2985,261,1845,1816,1875,0,0,0,0,0,0,26.84,26.34,26.86
$GC,77765,-0.41,146.6,2984,261,1815,1875,4055.3,3.8,981,77769,0.00,2.22,0.00,0.000,3078,0.000,0.057,2984,1753,1845,1816,1875,0,0,0,0,0,0,26.62,26.48,26.65
$GC,78179,-0.41,146.6,2984,1753,1816,1875,4031.4,5.0,985,78180,0.00,0.00,0.00,0.000,2054,0.000,0.000,2984,1753,1845,1816,1875,0,0,0,0,0,0,27.08,27.09,27.09
$GC,78539,-0.41,146.6,2984,1753,1816,1875,4013.4,5.0,988,78540,0.00,0.00,0.00,0.000,2054,0.000,0.000,2984,1753,1845,1815,1875,0,0,0,0,0,0,27.08,27.10,27.09
$GC,78900,-0.41,146.6,2984,1753,1816,1875,3996.4,4.8,991,78905,0.00,2.35,0.00,0.000,2564,0.000,0.077,2995,249,1845,1816,1875,0,0,0,0,0,0,27.08,26.32,27.09
$GC,78991,-0.41,146.6,2994,250,1814,1875,3996.4,4.8,991,78995,0.00,2.25,0.00,0.000,1030,0.000,0.057,2993,1757,1844,1815,1874,0,0,0,0,0,0,26.58,26.46,26.61
$GC,79374,-0.41,146.6,2994,1757,1815,1875,3973.3,4.9,995,79375,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1757,1845,1816,1875,0,0,0,0,0,0,27.07,27.10,27.08
$GC,79734,-0.41,146.6,2994,1757,1815,1875,3956.1,4.8,998,79735,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1757,1845,1815,1875,0,0,0,0,0,0,27.07,27.10,27.09
$GC,80094,-0.41,146.6,2994,1757,1816,1875,3938.5,4.9,1001,80099,0.00,2.35,0.00,0.000,516,0.000,0.077,3003,245,1845,1816,1875,0,0,0,0,0,0,27.08,26.29,27.09
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$STATE,151570,end climb,SURFACE_DEPTH_REACHED
$STATE,151570,begin surface coast
$FINISH,-0.1,1.024388
$STATE,151593,end surface coast,CONTROL_FINISHED_OK
$STATE,151593,begin surface
$SM_CCo,151668,0.00,0.000,0,0,961,403.49
$SM_GC,0.61,7.72,0.08,0.00,0.055,0.129,0.000,172,1879,961,-9.19,-2.23,403.49,0,0,0,0,0,0,26.70,26.91,26.74
$IRIDIUM_FIX,2848.21,-7213.63,250908,095159
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.13
$INTERNAL_PRESSURE,9.15263
$TCM_TEMP,25.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4532.5,69.3
$24V_AH,20.58,34.090
$10V_AH,10.26,28.411
$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,26.650,630.500,543.825,0.000,106.275,32.918,28.911,320.166,64.500,0.000,12.961,7551.663,131091.250,1047.063,11919.039,546.969,0.000,5339.894,0.000,11017.722,0.000,589.540,0.000
$DEVICE_MAMPS,288.028,129.116,3597.867,0.000,521.430,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1305.323,6203.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353340
$DATA_FILE_SIZE,116820,1901
$CAP_FILE_SIZE,802560,0
$CFSIZE,1024409600,955432960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,243.69,1
$GPS,031215,125734,2840.730,-7254.315,25,1.0,26,-11.0,0.0,0.0,8,9.6