version: 66.12
glider: 37
mission: 22
dive: 70
start: 12 5 115 11 23 35
data:
$ID,37
$MISSION,22
$DIVE,70
$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,1
$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,71
$R_STBD_OVSHOOT,76
$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
$GPS1,051215,111306,2830.9321,-7312.8335,37,1.7,40,-10.8,0.0,0.0,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-69.7
$GPS2,051215,112308,2831.0354,-7312.8262,4,1.3,17,-10.8,0.6,104.1,7,9.0
$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,254.3,155747,-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,313,-0.41,-146.6,2983,272,2846,2866,32.8,-11.2,26,323,0.12,2.22,0.00,0.000,3078,0.149,0.047,3018,1865,2856,2845,2867,0,0,0,0,0,0,26.15,26.49,26.22
$GC,633,-0.41,-146.6,3018,1865,2846,2866,60.2,-8.3,50,638,0.00,2.22,0.00,0.000,260,0.000,0.062,3008,3402,2856,2846,2866,0,0,0,0,0,0,26.98,26.58,26.99
$GC,682,-0.35,-146.6,3008,3402,2846,2866,64.0,-8.0,53,688,0.00,2.15,0.00,0.000,1030,0.000,0.047,3008,1831,2856,2846,2867,0,0,0,0,0,0,26.74,26.72,26.75
$GC,997,-0.35,-146.6,3007,1831,2846,2866,91.6,-8.0,74,1002,0.00,2.17,0.00,0.000,516,0.000,0.062,3008,300,2856,2846,2867,0,0,0,0,0,0,27.06,26.63,27.08
$GC,1193,-0.35,-146.6,3008,300,2845,2866,104.4,-6.1,86,1199,0.10,2.10,0.00,0.000,3078,0.142,0.047,3037,1861,2856,2845,2867,0,0,0,0,0,0,26.48,26.78,26.54
$GC,1509,-0.35,-146.6,3038,1861,2846,2867,119.5,-5.0,107,1514,0.00,2.17,0.00,0.000,260,0.000,0.062,3028,3392,2856,2846,2867,0,0,0,0,0,0,27.11,26.69,27.13
$GC,1604,-0.35,-146.6,3027,3392,2846,2867,124.3,-4.9,113,1610,0.00,2.08,0.00,0.000,1030,0.000,0.047,3028,1841,2856,2845,2867,0,0,0,0,0,0,26.84,26.82,26.86
$GC,1919,-0.35,-146.6,3027,1841,2846,2867,141.0,-5.3,134,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1841,2856,2846,2866,0,0,0,0,0,0,27.13,27.15,27.15
$GC,2219,-0.35,-146.6,3027,1841,2845,2867,156.8,-5.5,150,2225,0.00,2.25,0.00,0.000,260,0.000,0.062,3018,3395,2856,2846,2867,0,0,0,0,0,0,27.13,26.72,27.15
$GC,2295,-0.35,-146.6,3018,3395,2846,2867,160.2,-5.7,152,2299,0.00,2.10,0.00,0.000,1030,0.000,0.047,3018,1842,2856,2846,2867,0,0,0,0,0,0,26.89,26.85,26.91
$GC,2608,-0.35,-146.6,3018,1842,2846,2867,177.4,-5.1,163,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1842,2855,2845,2866,0,0,0,0,0,0,27.14,27.17,27.16
$GC,2909,-0.35,-146.6,3018,1842,2845,2867,193.9,-5.7,173,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1842,2856,2846,2867,0,0,0,0,0,0,27.14,27.17,27.16
$GC,3208,-0.35,-146.6,3018,1842,2845,2866,210.8,-5.6,183,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1841,2855,2845,2866,0,0,0,0,0,0,27.15,27.17,27.16
$GC,3508,-0.35,-146.6,3018,1842,2845,2866,228.1,-5.8,193,3514,0.00,2.22,0.00,0.000,260,0.000,0.060,3009,3400,2855,2845,2866,0,0,0,0,0,0,27.15,26.72,27.16
$GC,3571,-0.35,-146.6,3009,3400,2845,2866,231.6,-5.9,195,3577,0.00,2.08,0.00,0.000,1030,0.000,0.045,3008,1853,2856,2846,2866,0,0,0,0,0,0,26.89,26.86,26.91
$GC,3901,-0.35,-146.6,3008,1854,2845,2865,251.5,-5.8,206,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1853,2855,2845,2865,0,0,0,0,0,0,27.15,27.17,27.16
$GC,4201,-0.35,-146.6,3008,1853,2845,2864,269.1,-5.8,216,4207,0.00,2.22,0.00,0.000,260,0.000,0.062,3000,3402,2854,2845,2864,0,0,0,0,0,0,27.15,26.72,27.16
$GC,4243,-0.35,-146.6,2999,3402,2845,2864,270.9,-5.7,217,4248,0.10,2.12,0.00,0.000,3078,0.129,0.047,3050,1851,2854,2844,2864,0,0,0,0,0,0,26.55,26.88,26.65
$GC,4563,-0.44,-146.6,3050,1851,2845,2864,286.3,-4.6,228,4564,0.00,0.00,0.00,0.000,4102,0.000,0.000,3050,1851,2854,2844,2864,0,0,0,0,0,0,27.16,27.17,27.17
$GC,4863,-0.53,-146.6,3050,1851,2845,2863,300.7,-4.9,238,4865,0.08,0.00,0.00,0.000,4102,0.137,0.000,2984,1851,2854,2845,2863,0,0,0,0,0,0,26.91,26.96,26.94
$GC,5177,-0.53,-146.6,2984,1851,2845,2861,322.4,-6.8,245,5182,0.00,2.22,0.00,0.000,516,0.000,0.062,2984,307,2853,2845,2861,0,0,0,0,0,0,27.15,26.72,27.16
$GC,5244,-0.53,-146.6,2984,307,2845,2860,325.6,-6.8,246,5248,0.00,2.10,0.00,0.000,1030,0.000,0.047,2976,1851,2852,2845,2859,0,0,0,0,0,0,26.89,26.84,26.90
$GC,5582,-0.53,-146.6,2976,1852,2844,2858,349.0,-6.2,254,5587,0.00,2.22,0.00,0.000,260,0.000,0.060,2965,3406,2852,2845,2859,0,0,0,0,0,0,27.15,26.72,27.16
$GC,5658,-0.53,-146.6,2965,3406,2843,2859,352.2,-6.3,255,5662,0.00,2.12,0.00,0.000,1030,0.000,0.047,2965,1849,2851,2844,2859,0,0,0,0,0,0,26.89,26.87,26.91
$GC,5992,-0.53,-146.6,2965,1849,2843,2858,375.3,-6.3,263,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1849,2850,2843,2858,0,0,0,0,0,0,27.15,27.17,27.16
$GC,6307,-0.53,-146.6,2965,1849,2843,2858,396.6,-6.8,270,6311,0.00,2.25,0.00,0.000,260,0.000,0.060,2956,3399,2851,2844,2858,0,0,0,0,0,0,27.15,26.73,27.17
$GC,6368,-0.53,-146.6,2956,3399,2843,2858,400.0,-6.9,271,6373,0.00,2.12,0.00,0.000,1030,0.000,0.045,2957,1853,2850,2843,2858,0,0,0,0,0,0,26.91,26.89,26.92
$GC,6717,-0.53,-146.6,2957,1853,2843,2857,427.1,-7.6,279,6723,0.00,2.20,0.00,0.000,260,0.000,0.060,2948,3399,2849,2842,2857,0,0,0,0,0,0,27.15,26.73,27.16
$GC,6769,-0.53,-146.6,2948,3400,2842,2857,430.5,-7.7,280,6774,0.00,2.12,0.00,0.000,1030,0.000,0.045,2949,1850,2849,2842,2857,0,0,0,0,0,0,26.91,26.89,26.91
$GC,7078,-0.53,-146.6,2948,1851,2842,2857,456.7,-8.3,287,7080,0.10,0.00,0.00,0.000,2054,0.164,0.000,2986,1851,2849,2842,2857,0,0,0,0,0,0,26.72,26.81,26.77
$GC,7393,-0.53,-146.6,2986,1850,2842,2856,477.0,-6.2,294,7397,0.00,2.22,0.00,0.000,260,0.000,0.060,2977,3398,2849,2842,2856,0,0,0,0,0,0,27.15,26.72,27.17
$GC,7449,-0.53,-146.6,2977,3397,2842,2856,480.0,-6.2,295,7453,0.00,2.12,0.00,0.000,1030,0.000,0.045,2977,1850,2849,2842,2856,0,0,0,0,0,0,26.91,26.89,26.91
$GC,7758,-0.53,-146.6,2977,1850,2841,2855,498.3,-5.7,302,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1850,2848,2841,2855,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8073,-0.53,-146.6,2977,1850,2842,2855,517.0,-6.0,309,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1850,2848,2841,2855,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8388,-0.53,-146.6,2977,1850,2842,2854,536.4,-6.2,316,8393,0.00,2.22,0.00,0.000,260,0.000,0.060,2969,3402,2848,2842,2854,0,0,0,0,0,0,27.15,26.72,27.17
$GC,8450,-0.53,-146.6,2969,3402,2841,2854,539.3,-6.2,317,8454,0.00,2.15,0.00,0.000,1030,0.000,0.045,2969,1842,2847,2841,2854,0,0,0,0,0,0,26.90,26.89,26.91
$GC,8794,-0.53,-146.6,2969,1842,2841,2853,562.1,-6.3,325,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1842,2847,2841,2854,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9109,-0.53,-146.6,2969,1842,2840,2853,582.1,-6.3,332,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1841,2846,2840,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9425,-0.53,-146.6,2969,1841,2841,2853,602.3,-6.4,339,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1842,2846,2841,2852,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9739,-0.53,-146.6,2969,1842,2841,2851,623.4,-6.9,346,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1842,2846,2841,2851,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10054,-0.53,-146.6,2969,1842,2840,2849,645.6,-7.0,353,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1842,2845,2840,2850,0,0,0,0,0,0,27.15,27.17,27.16
$GC,10369,-0.53,-146.6,2969,1842,2841,2849,667.6,-6.9,360,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1842,2845,2841,2849,0,0,0,0,0,0,27.15,27.17,27.16
$GC,10685,-0.53,-146.6,2969,1842,2840,2847,687.5,-6.1,367,10690,0.00,2.25,0.00,0.000,260,0.000,0.060,2962,3402,2844,2841,2848,0,0,0,0,0,0,27.15,26.71,27.16
$GC,10767,-0.53,-146.6,2963,3402,2839,2848,690.4,-6.2,368,10775,0.00,2.15,0.00,0.000,1030,0.000,0.045,2962,1846,2843,2839,2848,0,0,0,0,0,0,26.90,26.89,26.91
$GC,11090,-0.53,-146.6,2962,1846,2838,2848,713.5,-6.4,376,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1846,2843,2838,2848,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11406,-0.53,-146.6,2962,1846,2836,2848,735.2,-6.9,383,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1846,2841,2836,2847,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11720,-0.53,-146.6,2962,1846,2836,2847,756.8,-6.8,390,11725,0.00,2.28,0.00,0.000,260,0.000,0.060,2955,3409,2841,2836,2847,0,0,0,0,0,0,27.15,26.70,27.16
$GC,11787,-0.53,-146.6,2955,3409,2835,2847,760.2,-6.8,391,11791,0.00,2.15,0.00,0.000,1030,0.000,0.045,2955,1838,2841,2835,2847,0,0,0,0,0,0,26.91,26.87,26.92
$GC,12125,-0.53,-146.6,2955,1838,2835,2846,786.3,-7.3,399,12130,0.00,2.28,0.00,0.000,260,0.000,0.060,2948,3402,2840,2835,2846,0,0,0,0,0,0,27.15,26.70,27.16
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$GC,54336,-1.44,-146.6,2698,1842,2798,2806,3815.3,-5.7,795,54337,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1842,2802,2798,2806,0,0,0,0,0,0,27.02,27.04,27.03
$GC,54695,-1.44,-146.6,2698,1842,2798,2807,3835.4,-5.6,798,54702,0.00,2.53,0.00,0.000,516,0.000,0.087,2698,285,2802,2798,2807,0,0,0,0,0,0,27.01,25.10,27.02
$GC,54742,-1.44,-146.6,2698,285,2798,2806,3835.4,-5.6,798,54746,0.00,2.45,0.00,0.000,1030,0.000,0.067,2687,1853,2802,2798,2806,0,0,0,0,0,0,25.75,25.63,25.80
$GC,55054,-1.44,-146.6,2687,1853,2798,2806,3856.3,-5.8,801,55058,0.00,2.53,0.00,0.000,260,0.000,0.072,2677,3434,2802,2799,2806,0,0,0,0,0,0,27.03,25.50,27.05
$GC,55113,-1.44,-146.6,2677,3434,2798,2806,3856.3,-5.8,801,55118,0.00,2.40,0.00,0.000,1030,0.000,0.055,2677,1847,2802,2798,2806,0,0,0,0,0,0,26.15,26.07,26.18
$GC,55539,-1.44,-146.6,2677,1848,2798,2806,3887.0,-6.3,805,55540,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1848,2802,2799,2806,0,0,0,0,0,0,27.01,27.03,27.03
$GC,55898,-1.44,-146.6,2677,1848,2798,2806,3909.4,-6.2,808,55903,0.00,2.53,0.00,0.000,516,0.000,0.087,2677,290,2802,2798,2806,0,0,0,0,0,0,27.07,25.08,27.09
$GC,55943,-1.44,-146.6,2677,290,2798,2806,3909.4,-6.2,808,55948,0.00,2.45,0.00,0.000,1030,0.000,0.065,2667,1859,2802,2799,2806,0,0,0,0,0,0,25.71,25.58,25.77
$GC,56259,-1.44,-146.6,2667,1860,2798,2806,3933.4,-6.6,811,56264,0.00,2.53,0.00,0.000,260,0.000,0.072,2656,3441,2802,2798,2806,0,0,0,0,0,0,27.01,25.46,27.03
$GC,56314,-1.44,-146.6,2656,3442,2798,2806,3933.4,-6.6,811,56319,0.10,2.42,0.00,0.000,3078,0.164,0.055,2691,1843,2802,2798,2806,0,0,0,0,0,0,25.71,26.00,25.79
$GC,56739,-1.44,-146.6,2691,1843,2798,2806,3960.7,-5.7,815,56744,0.00,2.55,0.00,0.000,516,0.000,0.087,2690,290,2802,2798,2806,0,0,0,0,0,0,26.99,25.06,27.01
$GC,56790,-1.44,-146.6,2691,289,2799,2806,3960.7,-5.7,815,56794,0.00,2.45,0.00,0.000,1030,0.000,0.067,2682,1854,2802,2798,2806,0,0,0,0,0,0,25.71,25.58,25.76
$GC,57214,-1.44,-146.6,2682,1854,2798,2806,3988.4,-5.8,819,57218,0.00,2.55,0.00,0.000,260,0.000,0.072,2671,3434,2802,2798,2806,0,0,0,0,0,0,27.06,25.46,27.08
$GC,57273,-1.44,-146.6,2671,3434,2798,2806,3988.4,-5.8,819,57278,0.00,2.42,0.00,0.000,1030,0.000,0.055,2671,1841,2802,2798,2806,0,0,0,0,0,0,26.11,26.03,26.15
$GC,57697,-1.44,-146.6,2671,1841,2799,2805,4017.4,-6.0,823,57698,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1841,2802,2798,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,58057,-1.44,-146.6,2671,1841,2799,2806,4037.7,-5.7,826,58062,0.00,2.53,0.00,0.000,516,0.000,0.087,2671,285,2802,2798,2806,0,0,0,0,0,0,27.07,25.05,27.09
$GC,58118,-1.44,-146.6,2671,285,2798,2806,4037.7,-5.7,826,58122,0.00,2.47,0.00,0.000,1030,0.000,0.067,2662,1860,2802,2798,2806,0,0,0,0,0,0,25.65,25.52,25.71
$GC,58534,-1.44,-146.6,2661,1860,2798,2806,4065.9,-5.9,830,58539,0.00,2.53,0.00,0.000,260,0.000,0.074,2650,3433,2802,2798,2806,0,0,0,0,0,0,27.01,25.40,27.02
$GC,58594,-1.44,-146.6,2650,3434,2798,2806,4065.9,-5.9,830,58599,0.12,2.42,0.00,0.000,3078,0.156,0.055,2694,1838,2802,2798,2806,0,0,0,0,0,0,25.62,25.96,25.70
$GC,59019,-1.44,-146.6,2693,1838,2799,2806,4090.1,-4.9,834,59026,0.00,2.53,0.00,0.000,516,0.000,0.089,2694,286,2801,2798,2805,0,0,0,0,0,0,26.99,25.01,27.01
$GC,59081,-1.44,-146.6,2694,286,2798,2806,4090.1,-4.9,834,59086,0.00,2.50,0.00,0.000,1030,0.000,0.067,2686,1861,2802,2798,2806,0,0,0,0,0,0,25.67,25.53,25.72
$GC,59502,-1.44,-146.6,2685,1861,2798,2806,4113.3,-4.8,838,59503,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1861,2802,2798,2806,0,0,0,0,0,0,27.01,27.03,27.02
$GC,59863,-1.44,-146.6,2686,1861,2798,2806,4130.5,-4.8,841,59865,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1861,2802,2798,2806,0,0,0,0,0,0,27.03,27.05,27.04
$GC,60220,-1.44,-146.6,2686,1861,2798,2806,4147.9,-4.9,844,60221,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1861,2801,2796,2806,0,0,0,0,0,0,27.08,27.09,27.08
$GC,60583,-1.44,-146.6,2685,1861,2799,2806,4164.9,-4.7,847,60584,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1861,2802,2798,2806,0,0,0,0,0,0,27.02,27.05,27.04
$GC,60941,-1.44,-146.6,2686,1861,2798,2806,4181.5,-4.6,850,60943,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1861,2802,2798,2806,0,0,0,0,0,0,26.99,27.02,27.01
$GC,61300,-1.44,-146.6,2686,1861,2798,2806,4197.6,-4.5,853,61302,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1861,2802,2798,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,61663,-1.44,-146.6,2686,1861,2799,2806,4213.8,-4.5,856,61667,0.00,2.65,0.00,0.000,516,0.000,0.084,2686,284,2802,2798,2806,0,0,0,0,0,0,27.02,24.99,27.04
$GC,61712,-1.44,-146.6,2686,283,2798,2806,4213.8,-4.5,856,61716,0.00,2.47,0.00,0.000,1030,0.000,0.067,2676,1854,2802,2798,2806,0,0,0,0,0,0,25.70,25.57,25.75
$GC,62025,-1.44,-146.6,2676,1854,2799,2805,4231.2,-4.7,859,62026,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1854,2802,2798,2806,0,0,0,0,0,0,27.03,27.05,27.05
$GC,62381,-1.44,-146.6,2676,1854,2798,2806,4248.4,-4.8,862,62382,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1854,2802,2798,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,62741,-1.44,-146.6,2676,1854,2798,2806,4265.6,-4.8,865,62742,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1854,2802,2799,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,63104,-1.44,-146.6,2676,1854,2798,2806,4281.7,-4.5,868,63105,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1854,2802,2798,2806,0,0,0,0,0,0,27.02,27.05,27.04
$GC,63462,-1.44,-146.6,2676,1854,2798,2806,4299.0,-4.7,871,63463,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1854,2802,2798,2806,0,0,0,0,0,0,27.08,27.09,27.09
$GC,63824,-1.44,-146.6,2676,1854,2798,2806,4316.0,-4.7,874,63825,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1854,2802,2798,2806,0,0,0,0,0,0,27.02,27.05,27.04
$GC,64182,-1.44,-146.6,2676,1854,2798,2806,4332.5,-4.7,877,64184,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1854,2802,2798,2806,0,0,0,0,0,0,27.00,27.02,27.01
$GC,64541,-1.44,-146.6,2676,1854,2798,2806,4349.1,-4.6,880,64546,0.00,2.65,0.00,0.000,516,0.000,0.087,2677,289,2802,2798,2806,0,0,0,0,0,0,27.08,24.93,27.09
$GC,64597,-1.44,-146.6,2677,288,2798,2806,4349.1,-4.6,880,64601,0.00,2.47,0.00,0.000,1030,0.000,0.067,2668,1858,2802,2798,2806,0,0,0,0,0,0,25.70,25.58,25.75
$GC,65018,-1.44,-146.6,2668,1858,2799,2806,4372.2,-4.8,884,65019,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1858,2802,2799,2806,0,0,0,0,0,0,27.01,27.03,27.02
$GC,65376,-1.44,-146.6,2667,1858,2798,2806,4389.7,-4.9,887,65377,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1858,2802,2798,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,65736,-1.44,-146.6,2668,1858,2798,2806,4406.6,-4.7,890,65737,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1858,2802,2798,2806,0,0,0,0,0,0,27.07,27.09,27.09
$GC,66099,-1.44,-146.6,2668,1858,2798,2806,4422.7,-4.5,893,66105,0.00,2.62,0.00,0.000,516,0.000,0.087,2668,286,2802,2798,2806,0,0,0,0,0,0,27.03,24.91,27.05
$GC,66150,-1.44,-146.6,2668,286,2798,2806,4422.7,-4.5,893,66155,0.00,2.47,0.00,0.000,1030,0.000,0.067,2660,1849,2802,2798,2806,0,0,0,0,0,0,25.67,25.53,25.72
$GC,66462,-1.44,-146.6,2660,1849,2798,2806,4440.1,-4.7,896,66463,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2798,2806,0,0,0,0,0,0,27.03,27.05,27.04
$GC,66819,-1.44,-146.6,2660,1849,2798,2806,4456.9,-4.7,899,66820,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1850,2802,2798,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,67181,-1.44,-146.6,2660,1849,2798,2806,4473.8,-4.7,902,67182,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1850,2802,2798,2806,0,0,0,0,0,0,27.01,27.03,27.01
$GC,67542,-1.44,-146.6,2660,1849,2798,2806,4490.5,-4.6,905,67543,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2798,2806,0,0,0,0,0,0,27.02,27.05,27.04
$GC,67899,-1.44,-146.6,2660,1849,2798,2806,4506.7,-4.6,908,67900,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2798,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,68262,-1.44,-146.6,2660,1849,2798,2806,4523.0,-4.5,911,68263,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2798,2806,0,0,0,0,0,0,27.02,27.05,27.03
$GC,68619,-1.44,-146.6,2660,1849,2799,2806,4538.7,-4.4,914,68620,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2799,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,68981,-1.44,-146.6,2660,1849,2798,2806,4554.4,-4.3,917,68983,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2798,2806,0,0,0,0,0,0,27.02,27.04,27.04
$GC,69339,-1.44,-146.6,2660,1848,2798,2806,4569.5,-4.2,920,69340,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2798,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,69702,-1.44,-146.6,2659,1849,2798,2806,4584.1,-4.1,923,69703,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2799,2806,0,0,0,0,0,0,27.02,27.05,27.04
$GC,70059,-1.44,-146.6,2661,1849,2798,2806,4598.4,-4.0,926,70060,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1849,2802,2798,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,70422,-1.44,-146.6,2660,1849,2798,2806,4612.9,-4.0,929,70426,0.00,2.67,0.00,0.000,516,0.000,0.087,2660,282,2802,2798,2806,0,0,0,0,0,0,27.02,24.84,27.04
$GC,70476,-1.44,-146.6,2660,282,2798,2806,4612.9,-4.0,929,70481,0.12,2.50,0.00,0.000,3078,0.149,0.070,2695,1857,2802,2798,2806,0,0,0,0,0,0,25.27,25.48,25.38
$GC,70904,-1.54,-146.6,2695,1857,2798,2806,4635.0,-4.6,933,70909,0.00,2.55,0.00,0.000,4356,0.000,0.079,2689,3436,2802,2798,2806,0,0,0,0,0,0,27.00,25.22,27.01
$GC,71056,-1.66,-146.6,2689,3436,2798,2806,4641.3,-5.0,934,71061,0.08,2.40,0.00,0.000,5126,0.146,0.060,2649,1848,2802,2798,2806,0,0,0,0,0,0,25.74,25.83,25.81
$GC,71381,-1.74,-146.6,2649,1848,2798,2806,4659.6,-5.1,937,71388,0.00,2.53,0.00,0.000,4356,0.000,0.079,2644,3427,2802,2798,2806,0,0,0,0,0,0,27.08,25.24,27.08
$GC,71429,-1.82,-146.6,2644,3428,2798,2806,4659.6,-5.1,937,71434,0.10,2.42,0.00,0.000,5126,0.122,0.060,2584,1845,2802,2798,2806,0,0,0,0,0,0,25.69,25.75,25.77
$GC,71737,-1.82,-146.6,2583,1846,2798,2806,4679.9,-5.6,940,71742,0.00,2.60,0.00,0.000,516,0.000,0.094,2584,270,2802,2798,2806,0,0,0,0,0,0,27.06,24.78,27.08
$STATE,71862,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,71862,begin apogee
$GC,71869,-0.23,0.0,2573,1765,2798,2806,4687.8,-5.8,941,72017,1.52,0.00,144.30,3.667,10246,0.127,0.000,3076,1765,2350,2337,2364,0,0,0,0,0,0,24.40,22.49,20.48
$STATE,72018,end apogee,CONTROL_FINISHED_OK
$STATE,72018,begin climb
$GC,72020,0.54,146.6,3076,1765,2338,2364,4691.5,0.0,942,72193,0.68,2.88,163.68,3.645,10500,0.079,0.102,3331,3336,1845,1816,1875,0,0,0,0,0,0,23.19,22.58,20.65
$GC,72361,0.54,146.6,3331,3336,1816,1875,4640.0,21.2,945,72366,0.00,2.55,0.00,0.000,1030,0.000,0.057,3341,1757,1845,1816,1875,0,0,0,0,0,0,25.13,25.05,25.15
$GC,72696,0.03,146.6,3340,1757,1816,1875,4556.5,23.7,948,72702,0.62,2.35,0.00,0.000,4612,0.238,0.084,3179,252,1846,1816,1876,0,0,0,0,0,0,25.44,25.77,25.63
$GC,72997,-0.39,146.6,3178,252,1816,1875,4515.8,20.0,950,73002,0.35,2.30,0.00,0.000,5126,0.196,0.065,3074,1756,1845,1816,1875,0,0,0,0,0,0,25.79,26.23,26.06
$GC,73416,-0.58,146.6,3074,1755,1816,1875,4460.0,11.5,954,73422,0.32,2.40,0.00,0.000,4612,0.174,0.082,2973,251,1845,1816,1875,0,0,0,0,0,0,26.01,26.25,26.14
$GC,73614,-0.72,146.6,2973,252,1816,1875,4451.2,10.0,955,73619,0.17,2.28,0.00,0.000,5126,0.146,0.065,2912,1753,1846,1817,1875,0,0,0,0,0,0,26.21,26.41,26.36
$GC,74018,-0.72,146.6,2912,1754,1816,1875,4427.5,4.9,959,74019,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1754,1845,1815,1875,0,0,0,0,0,0,26.89,26.91,26.90
$GC,74379,-0.66,146.6,2912,1754,1817,1874,4411.3,4.5,962,74385,0.00,2.40,0.00,0.000,516,0.000,0.084,2921,249,1845,1816,1875,0,0,0,0,0,0,26.93,26.36,26.95
$GC,74440,-0.60,146.6,2921,249,1816,1875,4411.3,4.5,962,74444,0.00,2.28,0.00,0.000,3078,0.000,0.065,2921,1753,1845,1816,1875,0,0,0,0,0,0,26.63,26.50,26.65
$GC,74855,-0.60,146.6,2921,1754,1816,1875,4389.7,4.5,966,74856,0.00,0.00,0.00,0.000,2054,0.000,0.000,2921,1753,1845,1816,1875,0,0,0,0,0,0,26.98,26.99,26.98
$GC,75214,-0.60,146.6,2921,1753,1816,1875,4373.1,4.6,969,75219,0.00,2.38,0.00,0.000,2564,0.000,0.084,2929,243,1845,1816,1875,0,0,0,0,0,0,27.00,26.36,27.01
$GC,75275,-0.60,146.6,2929,243,1816,1875,4373.1,4.6,969,75279,0.00,2.28,0.00,0.000,1030,0.000,0.062,2930,1756,1845,1816,1875,0,0,0,0,0,0,26.63,26.52,26.66
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$STATE,164280,end climb,SURFACE_DEPTH_REACHED
$STATE,164280,begin surface coast
$FINISH,0.8,1.024296
$STATE,164301,end surface coast,CONTROL_FINISHED_OK
$STATE,164301,begin surface
$SM_CCo,164376,0.00,0.000,0,0,1289,308.21
$SM_GC,0.94,8.02,0.00,0.00,0.077,0.000,0.000,195,1753,1289,-9.19,-2.77,308.21,0,0,0,0,0,0,26.32,27.15,26.44
$IRIDIUM_FIX,2818.74,-7314.76,011008,004224
$TT8_MAMPS,0.02247,0.02247
$HUMID,38.22
$INTERNAL_PRESSURE,9.22099
$TCM_TEMP,26.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4635.0,77.2
$24V_AH,20.48,35.045
$10V_AH,10.21,29.163
$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,28.700,830.175,472.075,0.000,105.525,29.862,43.926,324.501,66.500,0.000,19.131,8532.688,140913.688,1064.450,13760.425,617.047,0.000,6166.738,0.000,12779.724,0.000,613.790,0.000
$DEVICE_MAMPS,292.994,101.803,3667.391,0.000,459.355,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1433.125,6810.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353316
$DATA_FILE_SIZE,126702,2087
$CAP_FILE_SIZE,925537,0
$CFSIZE,1024409600,954728448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,176.23,1
$GPS,071215,090431,2819.457,-7332.040,38,1.0,42,-10.6,1.1,67.1,9,9.6