version: 66.12
glider: 37
mission: 22
dive: 71
start: 12 7 115 9 14 42
data:
$ID,37
$MISSION,22
$DIVE,71
$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,61
$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
$GPS1,071215,090431,2819.4573,-7332.0400,38,1.0,42,-10.6,1.1,67.1,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.1
$GPS2,071215,091415,2819.5095,-7331.9922,3,1.0,13,-10.6,0.7,7.7,9,9.8
$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,265.3,117770,-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,123,-0.54,-146.6,194,1758,2846,2867,4.6,-7.3,10,144,11.85,2.17,0.00,0.000,2820,0.288,0.057,2980,264,2857,2847,2867,0,0,0,0,0,0,25.59,25.95,25.80
$GC,446,-0.41,-146.6,2980,264,2846,2866,52.6,-11.8,36,452,0.12,2.15,0.00,0.000,3078,0.149,0.050,3016,1846,2857,2847,2867,0,0,0,0,0,0,26.25,26.60,26.32
$GC,762,-0.41,-146.6,3016,1845,2847,2867,78.9,-8.6,57,768,0.00,2.25,0.00,0.000,260,0.000,0.062,3006,3414,2857,2847,2867,0,0,0,0,0,0,27.03,26.63,27.05
$GC,810,-0.41,-146.6,3006,3414,2846,2867,82.9,-8.6,60,815,0.00,2.20,0.00,0.000,1030,0.000,0.047,3006,1825,2857,2847,2867,0,0,0,0,0,0,26.77,26.74,26.79
$GC,1127,-0.41,-146.6,3006,1825,2847,2867,107.1,-6.0,81,1132,0.00,2.25,0.00,0.000,260,0.000,0.062,2996,3400,2856,2846,2867,0,0,0,0,0,0,27.09,26.67,27.10
$GC,1191,-0.41,-146.6,2996,3400,2847,2867,111.0,-5.9,85,1196,0.00,2.15,0.00,0.000,1030,0.000,0.045,2996,1829,2857,2847,2867,0,0,0,0,0,0,26.82,26.81,26.84
$GC,1505,-0.41,-146.6,2996,1829,2846,2867,129.3,-5.5,106,1510,0.00,2.20,0.00,0.000,516,0.000,0.062,2996,299,2857,2847,2867,0,0,0,0,0,0,27.12,26.68,27.14
$GC,1589,-0.41,-146.6,2996,298,2847,2867,134.6,-5.9,111,1596,0.10,2.10,0.00,0.000,3078,0.142,0.047,3026,1864,2857,2847,2867,0,0,0,0,0,0,26.52,26.82,26.58
$GC,1906,-0.41,-146.6,3026,1864,2847,2867,149.9,-5.4,132,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1864,2857,2847,2867,0,0,0,0,0,0,27.13,27.15,27.15
$GC,2221,-0.41,-146.6,3026,1864,2847,2867,167.6,-5.0,143,2226,0.00,2.20,0.00,0.000,260,0.000,0.062,3016,3397,2857,2847,2867,0,0,0,0,0,0,27.14,26.72,27.15
$GC,2296,-0.41,-146.6,3016,3396,2847,2867,171.1,-5.3,145,2300,0.00,2.10,0.00,0.000,1030,0.000,0.047,3016,1838,2857,2847,2867,0,0,0,0,0,0,26.91,26.88,26.92
$GC,2614,-0.41,-146.6,3016,1838,2847,2867,189.4,-5.8,156,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1838,2857,2847,2867,0,0,0,0,0,0,27.14,27.17,27.16
$GC,2914,-0.41,-146.6,3016,1837,2847,2867,206.8,-6.1,166,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1838,2857,2847,2867,0,0,0,0,0,0,27.15,27.16,27.16
$GC,3216,-0.41,-146.6,3016,1838,2847,2866,225.7,-6.4,176,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1838,2857,2848,2866,0,0,0,0,0,0,27.15,27.16,27.16
$GC,3514,-0.41,-146.6,3016,1838,2847,2865,244.1,-5.9,186,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1838,2856,2847,2865,0,0,0,0,0,0,27.15,27.17,27.16
$GC,3814,-0.41,-146.6,3016,1838,2847,2864,261.1,-5.5,196,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1838,2855,2847,2864,0,0,0,0,0,0,27.15,27.17,27.16
$GC,4114,-0.41,-146.6,3016,1838,2847,2863,277.5,-5.5,206,4120,0.00,2.22,0.00,0.000,260,0.000,0.060,3007,3395,2855,2847,2863,0,0,0,0,0,0,27.15,26.74,27.16
$GC,4167,-0.41,-146.6,3007,3394,2846,2863,279.2,-5.5,207,4176,0.00,2.12,0.00,0.000,1030,0.000,0.045,3007,1842,2854,2845,2863,0,0,0,0,0,0,26.91,26.89,26.92
$GC,4476,-0.41,-146.6,3006,1842,2846,2862,298.6,-5.8,218,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1842,2853,2845,2861,0,0,0,0,0,0,27.15,27.17,27.16
$GC,4776,-0.41,-146.6,3006,1842,2846,2861,315.2,-5.4,225,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1842,2853,2846,2861,0,0,0,0,0,0,27.15,27.17,27.16
$GC,5091,-0.41,-146.6,3006,1842,2846,2859,332.5,-5.4,232,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1842,2852,2846,2859,0,0,0,0,0,0,27.15,27.17,27.17
$GC,5406,-0.41,-146.6,3007,1842,2846,2858,348.8,-5.1,239,5411,0.00,2.20,0.00,0.000,260,0.000,0.060,2999,3390,2852,2846,2858,0,0,0,0,0,0,27.15,26.74,27.17
$GC,5459,-0.41,-146.6,2998,3390,2845,2858,351.0,-4.9,240,5463,0.00,2.10,0.00,0.000,1030,0.000,0.047,2998,1842,2851,2845,2858,0,0,0,0,0,0,26.93,26.89,26.94
$GC,5807,-0.41,-146.6,2998,1842,2845,2857,369.5,-5.3,248,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1842,2851,2845,2857,0,0,0,0,0,0,27.15,27.17,27.16
$GC,6123,-0.41,-146.6,2998,1841,2845,2857,387.7,-6.0,255,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1841,2851,2845,2857,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6437,-0.41,-146.6,2998,1842,2845,2856,406.6,-5.9,262,6441,0.00,2.25,0.00,0.000,260,0.000,0.060,2990,3394,2850,2845,2856,0,0,0,0,0,0,27.15,26.73,27.16
$GC,6485,-0.41,-146.6,2990,3394,2843,2855,409.3,-5.8,263,6491,0.00,2.08,0.00,0.000,1030,0.000,0.045,2990,1849,2849,2843,2856,0,0,0,0,0,0,26.91,26.90,26.92
$GC,6800,-0.41,-146.6,2990,1849,2843,2856,427.3,-5.7,270,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1849,2849,2843,2856,0,0,0,0,0,0,27.15,27.17,27.16
$GC,7115,-0.41,-146.6,2990,1849,2843,2855,446.0,-6.0,277,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1849,2849,2843,2855,0,0,0,0,0,0,27.15,27.17,27.16
$GC,7430,-0.41,-146.6,2990,1849,2843,2853,464.8,-5.9,284,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1849,2848,2843,2854,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7745,-0.41,-146.6,2989,1849,2843,2853,482.8,-5.8,291,7751,0.00,2.22,0.00,0.000,260,0.000,0.060,2982,3393,2848,2843,2853,0,0,0,0,0,0,27.15,26.72,27.17
$GC,7790,-0.41,-146.6,2982,3393,2842,2853,485.6,-5.8,292,7796,0.10,2.08,0.00,0.000,3078,0.127,0.045,3024,1845,2847,2841,2853,0,0,0,0,0,0,26.61,26.89,26.65
$GC,8106,-0.49,-146.6,3024,1845,2842,2853,501.1,-4.9,299,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1845,2847,2842,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8420,-0.57,-146.6,3024,1845,2842,2853,517.6,-5.3,306,8422,0.00,0.00,0.00,0.000,4102,0.000,0.000,3024,1845,2847,2842,2853,0,0,0,0,0,0,27.16,27.17,27.17
$GC,8735,-0.65,-146.6,3024,1845,2842,2852,533.6,-5.0,313,8742,0.08,2.20,0.00,0.000,4612,0.137,0.060,2962,307,2846,2842,2851,0,0,0,0,0,0,26.91,26.71,26.92
$GC,8781,-0.71,-146.6,2961,307,2842,2851,536.9,-5.4,314,8786,0.00,2.10,0.00,0.000,5126,0.000,0.047,2955,1843,2846,2842,2851,0,0,0,0,0,0,26.89,26.82,26.91
$GC,9100,-0.71,-146.6,2954,1843,2842,2850,560.1,-7.1,321,9106,0.00,2.25,0.00,0.000,4356,0.000,0.062,2944,3407,2846,2842,2850,0,0,0,0,0,0,27.16,26.72,27.17
$GC,9167,-0.71,-146.6,2944,3407,2841,2850,563.1,-7.2,322,9171,0.00,2.10,0.00,0.000,1030,0.000,0.045,2944,1841,2846,2841,2851,0,0,0,0,0,0,26.91,26.86,26.92
$GC,9501,-0.71,-146.6,2944,1840,2841,2850,591.1,-8.0,330,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1841,2846,2841,2851,0,0,0,0,0,0,27.15,27.17,27.16
$GC,9816,-0.71,-146.6,2944,1840,2840,2850,616.1,-8.0,337,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1841,2845,2840,2851,0,0,0,0,0,0,27.15,27.17,27.16
$GC,10132,-0.71,-146.6,2944,1840,2840,2850,641.0,-7.6,344,10137,0.00,2.28,0.00,0.000,260,0.000,0.060,2935,3402,2844,2839,2850,0,0,0,0,0,0,27.15,26.72,27.17
$GC,10203,-0.71,-146.6,2934,3403,2838,2850,644.3,-7.6,345,10208,0.00,2.15,0.00,0.000,1030,0.000,0.045,2935,1848,2843,2839,2848,0,0,0,0,0,0,26.90,26.88,26.91
$GC,10537,-0.71,-146.6,2935,1848,2838,2849,672.7,-7.7,353,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1849,2844,2839,2849,0,0,0,0,0,0,27.15,27.17,27.16
$GC,10853,-0.71,-146.6,2935,1848,2838,2848,698.2,-8.4,360,10858,0.00,2.22,0.00,0.000,260,0.000,0.060,2925,3399,2843,2838,2848,0,0,0,0,0,0,27.15,26.72,27.17
$GC,10910,-0.71,-146.6,2925,3399,2837,2848,702.2,-8.4,361,10914,0.00,2.12,0.00,0.000,1030,0.000,0.045,2925,1840,2842,2837,2848,0,0,0,0,0,0,26.91,26.88,26.93
$GC,11254,-0.71,-146.6,2925,1840,2837,2847,733.7,-8.9,369,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1840,2842,2837,2847,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11568,-0.71,-146.6,2925,1841,2837,2846,761.0,-8.7,376,11573,0.00,2.28,0.00,0.000,260,0.000,0.060,2915,3406,2841,2837,2846,0,0,0,0,0,0,27.15,26.71,27.16
$GC,11649,-0.71,-146.6,2915,3405,2836,2846,765.4,-8.9,377,11654,0.00,2.17,0.00,0.000,1030,0.000,0.047,2916,1841,2841,2836,2846,0,0,0,0,0,0,26.93,26.87,26.94
$GC,11979,-0.66,-146.6,2915,1842,2836,2845,798.0,-9.2,385,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1842,2840,2835,2845,0,0,0,0,0,0,27.15,27.17,27.16
$GC,12294,-0.61,-146.6,2915,1842,2836,2843,826.3,-8.9,392,12299,0.10,2.28,0.00,0.000,2308,0.166,0.057,2951,3413,2839,2835,2843,0,0,0,0,0,0,26.65,26.70,26.68
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$GC,54613,-1.37,-146.6,2693,1849,2800,2805,3765.6,-5.9,775,54619,0.00,2.53,0.00,0.000,516,0.000,0.087,2693,303,2802,2800,2805,0,0,0,0,0,0,27.03,25.08,27.05
$GC,54668,-1.37,-146.6,2692,303,2801,2805,3765.6,-5.9,775,54673,0.00,2.42,0.00,0.000,1030,0.000,0.065,2684,1847,2802,2800,2805,0,0,0,0,0,0,25.72,25.58,25.77
$GC,55095,-1.37,-146.6,2683,1848,2801,2805,3795.3,-6.1,779,55101,0.00,2.50,0.00,0.000,260,0.000,0.072,2673,3432,2803,2801,2805,0,0,0,0,0,0,27.02,25.52,27.04
$GC,55151,-1.37,-146.6,2672,3432,2799,2805,3795.3,-6.1,779,55156,0.12,2.38,0.00,0.000,3078,0.146,0.055,2716,1850,2802,2800,2805,0,0,0,0,0,0,25.75,26.09,25.81
$GC,55571,-1.37,-146.6,2716,1849,2800,2805,3820.9,-5.3,783,55578,0.00,2.50,0.00,0.000,516,0.000,0.089,2717,301,2802,2800,2805,0,0,0,0,0,0,27.00,25.06,27.01
$GC,55628,-1.37,-146.6,2716,301,2800,2805,3820.9,-5.3,783,55632,0.00,2.45,0.00,0.000,1030,0.000,0.065,2708,1863,2802,2800,2805,0,0,0,0,0,0,25.70,25.57,25.75
$GC,56053,-1.37,-146.6,2708,1863,2800,2805,3846.5,-5.3,787,56058,0.00,2.50,0.00,0.000,260,0.000,0.072,2697,3435,2802,2800,2805,0,0,0,0,0,0,27.07,25.54,27.08
$GC,56098,-1.37,-146.6,2697,3434,2800,2805,3846.5,-5.3,787,56103,0.00,2.38,0.00,0.000,1030,0.000,0.052,2697,1843,2802,2800,2805,0,0,0,0,0,0,26.19,26.11,26.22
$GC,56414,-1.37,-146.6,2697,1843,2800,2805,3866.1,-5.4,790,56419,0.00,2.53,0.00,0.000,516,0.000,0.087,2697,292,2802,2800,2805,0,0,0,0,0,0,27.01,25.03,27.03
$GC,56469,-1.37,-146.6,2697,292,2799,2805,3866.1,-5.4,790,56473,0.00,2.45,0.00,0.000,1030,0.000,0.067,2687,1850,2802,2800,2805,0,0,0,0,0,0,25.70,25.56,25.75
$GC,56778,-1.37,-146.6,2687,1851,2799,2805,3887.3,-5.8,793,56779,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1851,2802,2800,2805,0,0,0,0,0,0,27.06,27.09,27.08
$GC,57138,-1.37,-146.6,2687,1851,2800,2805,3907.2,-5.5,796,57144,0.00,2.55,0.00,0.000,260,0.000,0.072,2677,3436,2802,2800,2805,0,0,0,0,0,0,27.07,25.49,27.09
$GC,57199,-1.37,-146.6,2676,3436,2800,2804,3907.2,-5.5,796,57204,0.10,2.38,0.00,0.000,3078,0.154,0.055,2712,1846,2802,2800,2805,0,0,0,0,0,0,25.80,26.08,25.87
$GC,57614,-1.37,-146.6,2712,1846,2800,2805,3930.4,-4.8,800,57621,0.00,2.55,0.00,0.000,516,0.000,0.089,2713,290,2802,2800,2805,0,0,0,0,0,0,26.99,25.03,27.01
$GC,57691,-1.37,-146.6,2712,290,2800,2805,3930.4,-4.8,800,57695,0.00,2.45,0.00,0.000,1030,0.000,0.067,2705,1850,2802,2800,2805,0,0,0,0,0,0,25.68,25.55,25.74
$GC,58096,-1.37,-146.6,2704,1852,2800,2805,3954.6,-5.0,804,58102,0.00,2.50,0.00,0.000,260,0.000,0.072,2693,3432,2802,2800,2805,0,0,0,0,0,0,26.99,25.50,27.01
$GC,58151,-1.37,-146.6,2693,3432,2799,2805,3954.6,-5.0,804,58156,0.00,2.38,0.00,0.000,1030,0.000,0.055,2693,1846,2802,2800,2805,0,0,0,0,0,0,26.16,26.08,26.20
$GC,58577,-1.37,-146.6,2693,1846,2800,2805,3979.4,-5.1,808,58582,0.00,2.53,0.00,0.000,516,0.000,0.089,2693,295,2802,2800,2805,0,0,0,0,0,0,27.07,25.01,27.08
$GC,58657,-1.37,-146.6,2693,295,2800,2805,3979.4,-5.1,808,58661,0.00,2.45,0.00,0.000,1030,0.000,0.067,2685,1858,2802,2799,2805,0,0,0,0,0,0,25.67,25.53,25.72
$GC,59058,-1.37,-146.6,2684,1859,2800,2805,4005.0,-5.3,812,59059,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1859,2802,2800,2805,0,0,0,0,0,0,27.01,27.03,27.02
$GC,59418,-1.37,-146.6,2684,1859,2800,2805,4023.9,-5.2,815,59424,0.00,2.50,0.00,0.000,260,0.000,0.074,2674,3432,2802,2800,2805,0,0,0,0,0,0,26.99,25.44,27.01
$GC,59474,-1.37,-146.6,2674,3432,2800,2805,4023.9,-5.2,815,59479,0.12,2.35,0.00,0.000,3078,0.146,0.055,2719,1849,2802,2800,2805,0,0,0,0,0,0,25.72,26.05,25.79
$GC,59893,-1.37,-146.6,2718,1849,2800,2804,4045.5,-4.5,819,59899,0.00,2.55,0.00,0.000,516,0.000,0.089,2719,296,2802,2800,2805,0,0,0,0,0,0,27.06,25.00,27.08
$GC,59969,-1.37,-146.6,2718,296,2799,2804,4045.5,-4.5,819,59973,0.00,2.45,0.00,0.000,1030,0.000,0.067,2712,1851,2802,2800,2805,0,0,0,0,0,0,25.64,25.50,25.70
$GC,60367,-1.37,-146.6,2711,1851,2800,2805,4066.3,-4.4,823,60369,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1851,2802,2800,2805,0,0,0,0,0,0,27.06,27.09,27.08
$GC,60729,-1.37,-146.6,2712,1851,2800,2805,4081.8,-4.3,826,60730,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1851,2802,2800,2805,0,0,0,0,0,0,26.99,27.02,27.01
$GC,61088,-1.42,-146.6,2712,1852,2800,2805,4097.2,-4.2,829,61090,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1852,2802,2800,2805,0,0,0,0,0,0,27.07,27.09,27.09
$GC,61449,-1.47,-146.6,2712,1852,2800,2805,4112.1,-4.1,832,61450,0.00,0.00,0.00,0.000,4102,0.000,0.000,2712,1851,2802,2800,2805,0,0,0,0,0,0,27.02,27.03,27.03
$GC,61808,-1.53,-146.6,2712,1851,2800,2805,4126.9,-4.1,835,61814,0.00,2.62,0.00,0.000,4612,0.000,0.087,2712,291,2802,2800,2805,0,0,0,0,0,0,27.09,24.95,27.09
$GC,61855,-1.58,-146.6,2712,290,2800,2805,4126.9,-4.1,835,61859,0.00,2.42,0.00,0.000,5126,0.000,0.067,2704,1855,2802,2800,2805,0,0,0,0,0,0,25.68,25.51,25.73
$GC,62166,-1.63,-146.6,2704,1855,2800,2805,4142.7,-4.4,838,62168,0.08,0.00,0.00,0.000,4102,0.139,0.000,2655,1856,2802,2800,2804,0,0,0,0,0,0,26.75,26.77,26.76
$GC,62525,-1.63,-146.6,2655,1856,2800,2805,4164.0,-5.6,841,62526,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1856,2802,2799,2805,0,0,0,0,0,0,27.00,27.02,27.02
$GC,62886,-1.63,-146.6,2655,1856,2800,2804,4184.5,-5.8,844,62887,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2802,2800,2804,0,0,0,0,0,0,27.02,27.05,27.04
$GC,63245,-1.63,-146.6,2655,1856,2800,2804,4205.2,-5.7,847,63246,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2802,2800,2805,0,0,0,0,0,0,27.01,27.03,27.03
$GC,63605,-1.63,-146.6,2655,1856,2800,2805,4225.5,-5.7,850,63606,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2802,2800,2804,0,0,0,0,0,0,26.99,27.02,27.01
$GC,63966,-1.63,-146.6,2655,1856,2800,2804,4245.7,-5.6,853,63967,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1856,2802,2800,2805,0,0,0,0,0,0,27.03,27.05,27.04
$GC,64325,-1.63,-146.6,2655,1856,2800,2805,4265.9,-5.6,856,64326,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2802,2800,2805,0,0,0,0,0,0,26.99,27.02,27.01
$GC,64685,-1.63,-146.6,2655,1856,2799,2805,4285.5,-5.5,859,64686,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1856,2802,2800,2805,0,0,0,0,0,0,27.01,27.03,27.02
$GC,65046,-1.63,-146.6,2655,1856,2800,2805,4304.8,-5.4,862,65047,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1856,2802,2800,2805,0,0,0,0,0,0,27.02,27.05,27.04
$GC,65405,-1.63,-146.6,2655,1857,2800,2805,4323.5,-5.2,865,65406,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1856,2802,2800,2805,0,0,0,0,0,0,27.00,27.02,27.01
$GC,65765,-1.63,-146.6,2656,1856,2800,2804,4341.2,-4.9,868,65766,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2802,2799,2805,0,0,0,0,0,0,27.00,27.02,27.01
$GC,66124,-1.63,-146.6,2655,1856,2800,2804,4358.9,-4.8,871,66125,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1856,2802,2800,2805,0,0,0,0,0,0,27.07,27.10,27.09
$GC,66483,-1.63,-146.6,2655,1856,2800,2806,4375.7,-4.9,874,66484,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1856,2802,2800,2805,0,0,0,0,0,0,27.07,27.10,27.09
$GC,66846,-1.63,-146.6,2655,1856,2800,2804,4393.0,-4.7,877,66847,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2802,2799,2805,0,0,0,0,0,0,27.03,27.05,27.04
$GC,67203,-1.63,-146.6,2655,1856,2799,2805,4409.9,-4.7,880,67204,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1856,2802,2800,2804,0,0,0,0,0,0,27.07,27.10,27.09
$GC,67564,-1.63,-146.6,2655,1855,2800,2805,4426.7,-4.7,883,67565,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2802,2800,2805,0,0,0,0,0,0,27.07,27.10,27.09
$GC,67926,-1.63,-146.6,2655,1856,2800,2804,4443.0,-4.6,886,67927,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2802,2800,2804,0,0,0,0,0,0,27.02,27.05,27.04
$GC,68283,-1.63,-146.6,2655,1856,2800,2804,4458.2,-4.3,889,68289,0.00,2.65,0.00,0.000,516,0.000,0.092,2655,301,2802,2799,2805,0,0,0,0,0,0,27.08,24.80,27.09
$GC,68339,-1.63,-146.6,2655,301,2800,2805,4458.2,-4.3,889,68343,0.00,2.42,0.00,0.000,1030,0.000,0.070,2647,1848,2802,2800,2805,0,0,0,0,0,0,25.58,25.42,25.63
$GC,68765,-1.63,-146.6,2647,1849,2800,2805,4480.4,-4.6,893,68771,0.00,2.58,0.00,0.000,260,0.000,0.077,2637,3436,2802,2799,2805,0,0,0,0,0,0,27.01,25.27,27.02
$GC,68821,-1.63,-146.6,2637,3436,2799,2805,4480.4,-4.6,893,68825,0.00,2.40,0.00,0.000,1030,0.000,0.060,2637,1851,2802,2800,2805,0,0,0,0,0,0,25.90,25.80,25.94
$GC,69243,-1.63,-146.6,2637,1851,2800,2805,4502.9,-4.7,897,69248,0.00,2.60,0.00,0.000,516,0.000,0.092,2636,289,2802,2800,2805,0,0,0,0,0,0,27.02,24.84,27.04
$GC,69328,-1.63,-146.6,2637,289,2800,2805,4502.9,-4.7,897,69332,0.00,2.45,0.00,0.000,1030,0.000,0.072,2627,1851,2802,2799,2805,0,0,0,0,0,0,25.51,25.35,25.56
$GC,69722,-1.63,-146.6,2627,1850,2800,2805,4527.5,-5.1,901,69723,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1850,2801,2798,2805,0,0,0,0,0,0,27.06,27.08,27.08
$GC,70085,-1.63,-146.6,2627,1850,2800,2805,4545.4,-5.0,904,70086,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1850,2802,2800,2805,0,0,0,0,0,0,27.03,27.05,27.04
$GC,70443,-1.63,-146.6,2627,1850,2800,2805,4562.8,-4.9,907,70444,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1850,2802,2800,2805,0,0,0,0,0,0,26.99,27.01,27.01
$GC,70803,-1.63,-146.6,2628,1850,2800,2805,4580.4,-4.8,910,70804,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1850,2802,2800,2805,0,0,0,0,0,0,26.99,27.01,27.01
$GC,71162,-1.63,-146.6,2627,1850,2799,2805,4598.0,-4.9,913,71163,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1850,2802,2800,2805,0,0,0,0,0,0,27.07,27.09,27.09
$GC,71522,-1.63,-146.6,2627,1850,2800,2805,4615.0,-4.8,916,71523,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1850,2802,2800,2805,0,0,0,0,0,0,27.07,27.09,27.08
$GC,71881,-1.63,-146.6,2627,1850,2800,2805,4632.1,-4.7,919,71883,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1850,2802,2800,2805,0,0,0,0,0,0,27.07,27.09,27.09
$STATE,72001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,72001,begin apogee
$GC,72005,-0.23,0.0,2627,1742,2800,2804,4637.5,-4.7,920,72153,1.33,0.00,143.98,3.640,10246,0.117,0.000,3084,1742,2350,2337,2364,0,0,0,0,0,0,24.71,22.49,20.49
$STATE,72154,end apogee,CONTROL_FINISHED_OK
$STATE,72154,begin climb
$GC,72156,0.54,146.6,3083,1742,2337,2363,4642.0,0.0,921,72328,0.65,2.75,163.07,3.610,10756,0.079,0.102,3346,261,1844,1815,1874,0,0,0,0,0,0,23.20,22.58,20.66
$GC,72624,0.54,146.6,3345,261,1815,1874,4562.5,22.0,925,72628,0.00,2.38,0.00,0.000,1030,0.000,0.065,3342,1753,1845,1816,1875,0,0,0,0,0,0,25.60,25.52,25.63
$GC,72963,0.04,146.6,3342,1754,1815,1875,4481.8,22.9,928,72969,0.60,2.38,0.00,0.000,4612,0.221,0.079,3176,260,1845,1816,1875,0,0,0,0,0,0,25.65,25.95,25.82
$GC,73263,-0.37,146.6,3176,260,1816,1874,4443.0,19.2,930,73268,0.30,2.28,0.00,0.000,5126,0.189,0.065,3085,1759,1845,1816,1875,0,0,0,0,0,0,25.89,26.30,26.14
$GC,73683,-0.56,146.6,3085,1759,1816,1874,4387.0,11.6,934,73688,0.32,2.40,0.00,0.000,4612,0.171,0.079,2984,260,1845,1816,1875,0,0,0,0,0,0,26.04,26.27,26.16
$GC,73851,-0.71,146.6,2983,260,1816,1874,4378.1,10.2,935,73856,0.20,2.25,0.00,0.000,5126,0.144,0.062,2915,1749,1845,1816,1874,0,0,0,0,0,0,26.21,26.43,26.37
$GC,74165,-0.71,146.6,2915,1749,1816,1875,4360.2,5.5,938,74167,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1749,1845,1816,1875,0,0,0,0,0,0,26.89,26.91,26.91
$GC,74525,-0.65,146.6,2915,1749,1816,1874,4343.8,4.6,941,74530,0.00,2.40,0.00,0.000,516,0.000,0.084,2923,258,1845,1816,1874,0,0,0,0,0,0,26.93,26.38,26.96
$GC,74575,-0.59,146.6,2923,258,1816,1874,4343.8,4.6,941,74580,0.00,2.25,0.00,0.000,3078,0.000,0.065,2923,1758,1845,1816,1874,0,0,0,0,0,0,26.63,26.49,26.65
$GC,74886,-0.54,146.6,2923,1759,1816,1874,4326.9,4.7,944,74887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2924,1758,1845,1816,1874,0,0,0,0,0,0,26.97,26.98,26.98
$GC,75244,-0.49,146.6,2923,1758,1816,1875,4310.1,4.7,947,75249,0.08,2.38,0.00,0.000,2564,0.142,0.077,3003,259,1845,1816,1874,0,0,0,0,0,0,26.70,26.41,26.72
$GC,75304,-0.44,146.6,3002,260,1816,1874,4310.1,4.7,947,75309,0.00,2.25,0.00,0.000,1030,0.000,0.060,3003,1756,1845,1816,1875,0,0,0,0,0,0,26.63,26.52,26.66
$GC,75728,-0.44,146.6,3003,1756,1816,1875,4276.1,7.0,951,75734,0.00,2.35,0.00,0.000,516,0.000,0.079,3012,252,1845,1816,1875,0,0,0,0,0,0,27.01,26.41,27.02
$GC,75809,-0.44,146.6,3012,251,1816,1874,4276.1,7.0,951,75814,0.00,2.22,0.00,0.000,1030,0.000,0.060,3013,1751,1845,1817,1874,0,0,0,0,0,0,26.63,26.52,26.67
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$GC,152563,0.70,329.3,3367,268,1173,1259,84.1,7.3,1853,152568,0.00,2.00,0.00,0.000,1030,0.000,0.047,3367,1750,1216,1173,1259,0,0,0,0,0,0,26.78,26.76,26.79
$GC,152879,0.70,329.3,3367,1750,1174,1260,61.5,7.1,1874,152884,0.00,2.25,0.00,0.000,260,0.000,0.060,3367,3303,1217,1174,1260,0,0,0,0,0,0,27.11,26.63,27.13
$GC,152925,0.70,329.3,3367,3303,1173,1260,58.0,7.3,1877,152930,0.00,2.12,0.00,0.000,1030,0.000,0.047,3377,1744,1217,1174,1260,0,0,0,0,0,0,26.80,26.78,26.82
$GC,153236,0.70,329.3,3375,1743,1177,1260,33.7,8.4,1900,153247,0.00,2.08,0.00,0.000,516,0.000,0.062,3387,280,1219,1178,1260,0,0,0,0,0,0,27.12,26.60,27.14
$GC,153379,0.70,329.3,3387,280,1178,1259,22.4,7.7,1912,153388,0.00,2.03,0.00,0.000,1030,0.000,0.047,3387,1754,1218,1178,1259,0,0,0,0,0,0,26.79,26.77,26.82
$STATE,153637,end climb,SURFACE_DEPTH_REACHED
$STATE,153637,begin surface coast
$FINISH,-0.7,1.023894
$STATE,153657,end surface coast,CONTROL_FINISHED_OK
$STATE,153657,begin surface
$SM_CCo,153733,0.00,0.000,0,0,1219,328.54
$SM_GC,0.91,8.05,0.05,0.00,0.072,0.166,0.000,192,1860,1219,-9.19,-2.46,328.54,0,0,0,0,0,0,26.36,26.97,26.48
$IRIDIUM_FIX,2806.51,-7332.35,021008,223347
$TT8_MAMPS,0.020972,0.020972
$HUMID,38.22
$INTERNAL_PRESSURE,9.23076
$TCM_TEMP,26.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4603.7,61.0
$24V_AH,20.49,35.540
$10V_AH,10.12,29.524
$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,28.825,837.151,494.700,0.000,103.025,28.953,18.118,340.113,65.750,0.000,16.374,8168.910,130824.359,1092.500,13540.242,603.420,0.000,6192.730,0.000,12568.274,0.000,603.532,0.000
$DEVICE_MAMPS,288.028,166.361,3640.078,0.000,141.531,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1331.603,6331.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,120094,1940
$CAP_FILE_SIZE,908028,0
$CFSIZE,1024409600,954449920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,198.08,1
$GPS,091215,035809,2808.773,-7355.404,30,1.0,36,-10.4,0.0,0.0,8,9.6