version: 66.12
glider: 37
mission: 22
dive: 72
start: 12 9 115 4 8 32
data:
$ID,37
$MISSION,22
$DIVE,72
$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,74
$R_STBD_OVSHOOT,93
$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
$GPS1,091215,035809,2808.7732,-7355.4038,30,1.0,36,-10.4,0.0,0.0,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-65.5
$GPS2,091215,040806,2808.8345,-7355.3105,3,1.0,16,-10.4,0.0,0.0,8,9.2
$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,263.1,75098,-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
$STATE,14,begin dive
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$GC,301,-0.38,-146.6,2970,295,2844,2868,29.2,-12.3,25,311,0.20,2.15,0.00,0.000,3078,0.146,0.047,3031,1833,2856,2844,2868,0,0,0,0,0,0,26.06,26.51,26.15
$GC,622,-0.38,-146.6,3030,1833,2845,2867,53.3,-7.1,51,626,0.00,2.30,0.00,0.000,260,0.000,0.062,3020,3409,2855,2844,2867,0,0,0,0,0,0,26.98,26.57,27.00
$GC,689,-0.38,-146.6,3020,3409,2844,2868,58.8,-7.9,55,694,0.00,2.15,0.00,0.000,1030,0.000,0.047,3021,1834,2856,2844,2868,0,0,0,0,0,0,26.77,26.72,26.78
$GC,1008,-0.38,-146.6,3020,1834,2844,2868,82.8,-7.1,76,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1834,2856,2844,2868,0,0,0,0,0,0,27.07,27.10,27.08
$GC,1308,-0.38,-146.6,3020,1834,2844,2868,103.3,-5.8,96,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1834,2856,2844,2868,0,0,0,0,0,0,27.10,27.13,27.12
$GC,1608,-0.38,-146.6,3020,1834,2844,2868,119.9,-5.4,116,1614,0.00,2.25,0.00,0.000,260,0.000,0.060,3011,3407,2856,2844,2868,0,0,0,0,0,0,27.13,26.71,27.14
$GC,1695,-0.38,-146.6,3010,3408,2844,2867,124.8,-5.8,121,1705,0.00,2.15,0.00,0.000,1030,0.000,0.047,3010,1841,2855,2844,2867,0,0,0,0,0,0,26.88,26.86,26.89
$GC,2005,-0.38,-146.6,3010,1841,2844,2868,141.7,-5.7,142,2010,0.00,2.17,0.00,0.000,516,0.000,0.062,3010,303,2856,2844,2868,0,0,0,0,0,0,27.13,26.70,27.15
$GC,2100,-0.38,-146.6,3010,303,2844,2868,147.5,-6.3,148,2106,0.00,2.08,0.00,0.000,1030,0.000,0.047,3001,1868,2856,2844,2868,0,0,0,0,0,0,26.86,26.84,26.87
$GC,2417,-0.38,-146.6,3001,1868,2844,2868,165.4,-5.4,160,2422,0.00,2.17,0.00,0.000,260,0.000,0.062,2990,3402,2856,2844,2868,0,0,0,0,0,0,27.14,26.72,27.15
$GC,2496,-0.38,-146.6,2990,3402,2844,2868,169.0,-5.7,162,2501,0.12,2.10,0.00,0.000,3078,0.149,0.047,3036,1838,2856,2844,2868,0,0,0,0,0,0,26.55,26.88,26.65
$GC,2804,-0.38,-146.6,3036,1838,2844,2868,184.4,-4.9,172,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1838,2856,2844,2868,0,0,0,0,0,0,27.15,27.16,27.15
$GC,3104,-0.38,-146.6,3036,1838,2844,2868,198.4,-4.6,182,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1838,2856,2844,2868,0,0,0,0,0,0,27.15,27.17,27.16
$GC,3405,-0.43,-146.6,3036,1838,2844,2868,211.5,-4.3,192,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1838,2856,2844,2868,0,0,0,0,0,0,27.15,27.17,27.16
$GC,3706,-0.48,-146.6,3036,1838,2844,2867,224.1,-4.2,202,3707,0.00,0.00,0.00,0.000,4102,0.000,0.000,3036,1838,2855,2844,2867,0,0,0,0,0,0,27.16,27.17,27.16
$GC,4005,-0.54,-146.6,3036,1838,2843,2867,237.9,-4.6,212,4006,0.00,0.00,0.00,0.000,4102,0.000,0.000,3036,1838,2855,2844,2867,0,0,0,0,0,0,27.16,27.17,27.17
$GC,4305,-0.60,-146.6,3036,1837,2844,2866,251.8,-4.6,222,4307,0.10,0.00,0.00,0.000,4102,0.112,0.000,2962,1837,2854,2843,2866,0,0,0,0,0,0,26.91,26.95,26.94
$GC,4604,-0.60,-146.6,2962,1837,2844,2864,273.5,-7.3,232,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1837,2853,2843,2864,0,0,0,0,0,0,27.15,27.17,27.16
$GC,4904,-0.60,-146.6,2962,1837,2844,2863,295.1,-7.2,242,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1837,2853,2843,2863,0,0,0,0,0,0,27.15,27.17,27.16
$GC,5219,-0.60,-146.6,2961,1837,2843,2862,318.3,-7.4,250,5225,0.00,2.28,0.00,0.000,260,0.000,0.062,2952,3399,2852,2843,2862,0,0,0,0,0,0,27.15,26.74,27.16
$GC,5296,-0.60,-146.6,2951,3399,2842,2862,321.5,-7.3,251,5300,0.00,2.12,0.00,0.000,1030,0.000,0.045,2951,1844,2852,2842,2862,0,0,0,0,0,0,26.91,26.90,26.92
$GC,5625,-0.60,-146.6,2951,1845,2843,2860,348.2,-7.3,259,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1845,2851,2842,2860,0,0,0,0,0,0,27.15,27.17,27.16
$GC,5941,-0.60,-146.6,2951,1845,2843,2858,371.1,-7.2,266,5946,0.00,2.22,0.00,0.000,260,0.000,0.060,2942,3398,2850,2842,2858,0,0,0,0,0,0,27.15,26.74,27.16
$GC,5998,-0.60,-146.6,2942,3398,2841,2858,374.4,-7.3,267,6002,0.00,2.12,0.00,0.000,1030,0.000,0.045,2942,1850,2850,2842,2858,0,0,0,0,0,0,26.91,26.89,26.93
$GC,6347,-0.55,-146.6,2942,1850,2842,2857,403.9,-8.2,275,6349,0.10,0.00,0.00,0.000,2054,0.166,0.000,2980,1849,2849,2842,2857,0,0,0,0,0,0,26.72,26.81,26.77
$GC,6662,-0.55,-146.6,2979,1849,2842,2857,425.2,-6.9,282,6667,0.00,2.25,0.00,0.000,260,0.000,0.060,2970,3406,2849,2842,2857,0,0,0,0,0,0,27.15,26.74,27.16
$GC,6708,-0.55,-146.6,2970,3406,2841,2857,428.2,-6.9,283,6714,0.00,2.12,0.00,0.000,1030,0.000,0.045,2970,1851,2849,2841,2857,0,0,0,0,0,0,26.90,26.89,26.93
$GC,7023,-0.55,-146.6,2970,1851,2842,2856,450.4,-7.1,290,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1851,2848,2841,2856,0,0,0,0,0,0,27.15,27.17,27.16
$GC,7338,-0.55,-146.6,2970,1851,2841,2855,471.0,-6.5,297,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1851,2848,2842,2855,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7653,-0.55,-146.6,2970,1851,2841,2854,490.8,-6.2,304,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1851,2848,2842,2854,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7968,-0.55,-146.6,2970,1852,2841,2853,510.0,-6.0,311,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1851,2847,2841,2853,0,0,0,0,0,0,27.15,27.17,27.16
$GC,8283,-0.55,-146.6,2970,1851,2841,2852,528.8,-6.1,318,8288,0.00,2.20,0.00,0.000,260,0.000,0.060,2963,3394,2846,2841,2852,0,0,0,0,0,0,27.15,26.73,27.16
$GC,8336,-0.55,-146.6,2963,3394,2840,2852,531.6,-6.1,319,8340,0.00,2.10,0.00,0.000,1030,0.000,0.045,2963,1843,2846,2840,2852,0,0,0,0,0,0,26.93,26.89,26.94
$GC,8684,-0.55,-146.6,2964,1844,2840,2852,556.3,-7.1,327,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1844,2846,2840,2853,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9000,-0.55,-146.6,2964,1843,2839,2852,578.1,-7.0,334,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1844,2845,2838,2852,0,0,0,0,0,0,27.15,27.17,27.16
$GC,9314,-0.55,-146.6,2964,1843,2839,2850,600.9,-7.1,341,9319,0.00,2.25,0.00,0.000,260,0.000,0.060,2956,3403,2844,2839,2850,0,0,0,0,0,0,27.15,26.72,27.17
$GC,9385,-0.55,-146.6,2956,3403,2837,2850,604.3,-7.2,342,9389,0.00,2.15,0.00,0.000,1030,0.000,0.047,2956,1846,2843,2837,2850,0,0,0,0,0,0,26.94,26.89,26.95
$GC,9724,-0.55,-146.6,2956,1846,2837,2850,631.4,-7.5,350,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1845,2843,2837,2849,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10039,-0.55,-146.6,2955,1845,2837,2848,654.4,-7.1,357,10043,0.00,2.28,0.00,0.000,260,0.000,0.060,2951,3402,2842,2837,2848,0,0,0,0,0,0,27.15,26.72,27.16
$GC,10120,-0.55,-146.6,2950,3402,2836,2849,658.1,-7.2,358,10125,0.00,2.15,0.00,0.000,1030,0.000,0.045,2950,1841,2842,2836,2849,0,0,0,0,0,0,26.90,26.88,26.91
$GC,10449,-0.55,-146.6,2950,1841,2836,2848,683.9,-7.2,366,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1842,2842,2836,2848,0,0,0,0,0,0,27.14,27.17,27.16
$GC,10764,-0.55,-146.6,2950,1841,2836,2846,706.3,-7.2,373,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1841,2840,2835,2846,0,0,0,0,0,0,27.15,27.17,27.16
$GC,11079,-0.55,-146.6,2950,1841,2836,2845,728.6,-7.0,380,11085,0.00,2.22,0.00,0.000,260,0.000,0.060,2942,3394,2840,2835,2845,0,0,0,0,0,0,27.15,26.70,27.17
$GC,11136,-0.55,-146.6,2942,3394,2835,2845,732.1,-7.2,381,11141,0.08,2.12,0.00,0.000,3078,0.134,0.045,2986,1840,2839,2835,2844,0,0,0,0,0,0,26.56,26.89,26.66
$GC,11485,-0.55,-146.6,2985,1841,2834,2845,754.0,-6.0,389,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1841,2839,2834,2845,0,0,0,0,0,0,27.15,27.17,27.16
$GC,11800,-0.55,-146.6,2985,1841,2832,2844,773.1,-6.1,396,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1840,2838,2832,2844,0,0,0,0,0,0,27.15,27.17,27.16
$GC,12115,-0.55,-146.6,2985,1840,2832,2842,792.4,-6.2,403,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1841,2837,2832,2842,0,0,0,0,0,0,27.15,27.17,27.16
$GC,12431,-0.55,-146.6,2985,1841,2832,2840,811.2,-5.9,410,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1841,2836,2832,2841,0,0,0,0,0,0,27.14,27.17,27.16
$GC,12745,-0.55,-146.6,2985,1840,2831,2839,829.7,-6.0,417,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1840,2835,2831,2839,0,0,0,0,0,0,27.15,27.16,27.16
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$GC,53507,-1.35,-146.6,2702,296,2797,2802,3703.8,-6.2,789,53512,0.00,2.42,0.00,0.000,1030,0.000,0.065,2692,1856,2799,2796,2802,0,0,0,0,0,0,25.77,25.64,25.82
$GC,53920,-1.35,-146.6,2692,1856,2797,2802,3737.5,-7.1,793,53921,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1856,2799,2797,2802,0,0,0,0,0,0,27.03,27.06,27.05
$GC,54279,-1.35,-146.6,2691,1856,2797,2802,3761.0,-6.5,796,54283,0.00,2.50,0.00,0.000,260,0.000,0.072,2681,3431,2799,2797,2802,0,0,0,0,0,0,27.02,25.52,27.04
$GC,54384,-1.35,-146.6,2681,3431,2797,2802,3761.0,-6.5,796,54389,0.12,2.35,0.00,0.000,3078,0.146,0.052,2725,1855,2799,2797,2802,0,0,0,0,0,0,25.75,26.10,25.82
$GC,54758,-1.35,-146.6,2725,1855,2797,2802,3788.1,-5.5,800,54763,0.00,2.55,0.00,0.000,516,0.000,0.087,2726,296,2799,2797,2802,0,0,0,0,0,0,27.07,25.09,27.08
$GC,54819,-1.35,-146.6,2725,296,2797,2802,3788.1,-5.5,800,54823,0.00,2.40,0.00,0.000,1030,0.000,0.065,2718,1854,2799,2797,2802,0,0,0,0,0,0,25.72,25.58,25.77
$GC,55235,-1.35,-146.6,2718,1854,2797,2802,3813.1,-5.2,804,55236,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1854,2799,2796,2802,0,0,0,0,0,0,27.01,27.03,27.02
$GC,55594,-1.35,-146.6,2718,1854,2797,2802,3831.8,-5.3,807,55600,0.00,2.50,0.00,0.000,260,0.000,0.072,2707,3434,2799,2797,2802,0,0,0,0,0,0,27.00,25.53,27.01
$GC,55641,-1.35,-146.6,2708,3434,2797,2802,3831.8,-5.3,807,55645,0.00,2.38,0.00,0.000,1030,0.000,0.055,2707,1842,2799,2797,2802,0,0,0,0,0,0,26.16,26.08,26.19
$GC,55953,-1.35,-146.6,2707,1841,2797,2802,3851.4,-5.4,810,55957,0.00,2.53,0.00,0.000,516,0.000,0.087,2707,292,2799,2797,2802,0,0,0,0,0,0,27.02,25.06,27.05
$GC,56012,-1.35,-146.6,2707,292,2797,2801,3851.4,-5.4,810,56017,0.00,2.45,0.00,0.000,1030,0.000,0.065,2697,1854,2799,2797,2802,0,0,0,0,0,0,25.75,25.61,25.79
$GC,56437,-1.35,-146.6,2697,1855,2797,2801,3879.5,-5.8,814,56443,0.00,2.50,0.00,0.000,260,0.000,0.072,2686,3439,2799,2797,2801,0,0,0,0,0,0,27.07,25.52,27.08
$GC,56483,-1.35,-146.6,2686,3440,2797,2802,3879.5,-5.8,814,56488,0.00,2.38,0.00,0.000,1030,0.000,0.052,2686,1843,2799,2797,2802,0,0,0,0,0,0,26.15,26.07,26.18
$GC,56794,-1.35,-146.6,2686,1842,2796,2802,3900.8,-5.9,817,56798,0.00,2.55,0.00,0.000,516,0.000,0.087,2686,290,2799,2797,2802,0,0,0,0,0,0,26.99,25.03,27.01
$GC,56848,-1.35,-146.6,2686,290,2797,2801,3900.8,-5.9,817,56853,0.12,2.42,0.00,0.000,3078,0.149,0.067,2719,1852,2799,2797,2802,0,0,0,0,0,0,25.37,25.57,25.47
$GC,57272,-1.35,-146.6,2719,1852,2797,2801,3926.8,-5.3,821,57273,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1852,2799,2797,2801,0,0,0,0,0,0,27.06,27.09,27.08
$GC,57636,-1.35,-146.6,2719,1852,2797,2802,3944.4,-5.0,824,57637,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1852,2799,2797,2802,0,0,0,0,0,0,27.02,27.05,27.04
$GC,57994,-1.35,-146.6,2719,1852,2797,2801,3962.3,-4.9,827,57995,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1851,2799,2797,2801,0,0,0,0,0,0,26.99,27.02,27.01
$GC,58353,-1.40,-146.6,2719,1851,2796,2802,3979.3,-4.7,830,58354,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1851,2799,2797,2801,0,0,0,0,0,0,27.07,27.09,27.09
$GC,58713,-1.46,-146.6,2719,1852,2796,2801,3995.7,-4.6,833,58718,0.00,2.60,0.00,0.000,4612,0.000,0.087,2719,293,2799,2797,2802,0,0,0,0,0,0,27.09,24.98,27.09
$GC,58759,-1.51,-146.6,2719,293,2796,2802,3995.7,-4.6,833,58763,0.00,2.45,0.00,0.000,5126,0.000,0.067,2711,1859,2799,2796,2802,0,0,0,0,0,0,25.74,25.58,25.79
$GC,59076,-1.51,-146.6,2711,1859,2796,2802,4012.7,-4.7,836,59077,0.00,0.00,0.00,0.000,4102,0.000,0.000,2711,1859,2799,2797,2802,0,0,0,0,0,0,27.04,27.05,27.05
$GC,59432,-1.51,-146.6,2711,1859,2797,2801,4029.1,-4.6,839,59433,0.00,0.00,0.00,0.000,4102,0.000,0.000,2711,1859,2799,2797,2802,0,0,0,0,0,0,27.08,27.10,27.09
$GC,59794,-1.51,-146.6,2711,1858,2797,2801,4045.5,-4.5,842,59795,0.00,0.00,0.00,0.000,4102,0.000,0.000,2711,1859,2799,2797,2801,0,0,0,0,0,0,27.01,27.03,27.03
$GC,60156,-1.51,-146.6,2711,1859,2797,2801,4061.3,-4.5,845,60157,0.00,0.00,0.00,0.000,4102,0.000,0.000,2711,1859,2799,2797,2801,0,0,0,0,0,0,27.04,27.05,27.05
$GC,60512,-1.51,-146.6,2711,1859,2797,2801,4078.9,-4.7,848,60513,0.00,0.00,0.00,0.000,4102,0.000,0.000,2711,1859,2799,2797,2801,0,0,0,0,0,0,27.09,27.10,27.09
$GC,60873,-1.56,-146.6,2710,1859,2796,2801,4098.7,-5.4,851,60874,0.05,0.00,0.00,0.000,4102,0.174,0.000,2672,1860,2799,2797,2801,0,0,0,0,0,0,26.85,26.86,26.86
$GC,61234,-1.56,-146.6,2672,1861,2797,2802,4122.4,-6.4,854,61239,0.00,2.65,0.00,0.000,516,0.000,0.087,2672,290,2799,2797,2801,0,0,0,0,0,0,27.00,24.94,27.02
$GC,61284,-1.56,-146.6,2672,290,2797,2802,4122.4,-6.4,854,61289,0.00,2.45,0.00,0.000,1030,0.000,0.067,2664,1850,2799,2797,2802,0,0,0,0,0,0,25.67,25.54,25.72
$GC,61710,-1.56,-146.6,2664,1851,2797,2802,4152.8,-6.4,858,61711,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2799,2797,2802,0,0,0,0,0,0,27.01,27.03,27.02
$GC,62069,-1.56,-146.6,2664,1851,2797,2802,4171.1,-5.2,861,62071,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1851,2799,2797,2801,0,0,0,0,0,0,26.99,27.02,27.01
$GC,62428,-1.56,-146.6,2664,1851,2797,2801,4190.0,-5.2,864,62429,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2799,2797,2802,0,0,0,0,0,0,27.07,27.09,27.09
$GC,62788,-1.56,-146.6,2664,1850,2796,2801,4208.6,-5.2,867,62790,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2799,2797,2802,0,0,0,0,0,0,27.07,27.09,27.09
$GC,63148,-1.56,-146.6,2664,1851,2797,2801,4226.9,-5.2,870,63149,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1851,2799,2797,2802,0,0,0,0,0,0,27.07,27.10,27.08
$GC,63511,-1.56,-146.6,2664,1851,2798,2802,4244.6,-5.0,873,63512,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1851,2799,2796,2802,0,0,0,0,0,0,27.02,27.04,27.04
$GC,63869,-1.56,-146.6,2664,1851,2797,2802,4261.1,-4.6,876,63871,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2799,2797,2802,0,0,0,0,0,0,26.99,27.02,27.01
$GC,64229,-1.56,-146.6,2664,1851,2797,2802,4278.3,-4.7,879,64230,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2799,2797,2802,0,0,0,0,0,0,27.07,27.10,27.09
$GC,64588,-1.56,-146.6,2664,1850,2797,2801,4297.8,-5.2,882,64589,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2799,2797,2802,0,0,0,0,0,0,27.07,27.10,27.09
$GC,64948,-1.56,-146.6,2664,1851,2797,2801,4318.2,-5.7,885,64949,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1851,2799,2797,2802,0,0,0,0,0,0,27.07,27.10,27.09
$GC,65308,-1.56,-146.6,2664,1851,2797,2802,4338.9,-5.7,888,65309,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2798,2796,2801,0,0,0,0,0,0,27.08,27.10,27.09
$GC,65668,-1.56,-146.6,2664,1851,2797,2801,4358.3,-5.4,891,65670,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1851,2799,2797,2802,0,0,0,0,0,0,27.07,27.10,27.08
$GC,66028,-1.56,-146.6,2664,1851,2797,2802,4378.0,-5.5,894,66029,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2799,2796,2802,0,0,0,0,0,0,27.07,27.10,27.09
$GC,66388,-1.56,-146.6,2664,1851,2797,2801,4397.1,-5.4,897,66389,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1851,2799,2796,2802,0,0,0,0,0,0,27.07,27.10,27.09
$GC,66751,-1.56,-146.6,2664,1851,2797,2802,4415.4,-5.1,900,66756,0.00,2.65,0.00,0.000,516,0.000,0.089,2664,292,2799,2797,2802,0,0,0,0,0,0,27.02,24.87,27.04
$GC,66811,-1.56,-146.6,2664,292,2797,2802,4415.4,-5.1,900,66816,0.00,2.45,0.00,0.000,1030,0.000,0.070,2656,1856,2799,2797,2801,0,0,0,0,0,0,25.60,25.47,25.66
$GC,67227,-1.56,-146.6,2656,1856,2797,2802,4441.3,-5.4,904,67228,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2799,2797,2802,0,0,0,0,0,0,27.01,27.03,27.02
$GC,67585,-1.56,-146.6,2656,1855,2797,2801,4458.7,-4.9,907,67586,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1856,2799,2796,2802,0,0,0,0,0,0,27.07,27.09,27.08
$GC,67945,-1.56,-146.6,2657,1855,2797,2802,4475.5,-4.7,910,67946,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2799,2797,2801,0,0,0,0,0,0,27.07,27.09,27.08
$GC,68306,-1.56,-146.6,2656,1856,2797,2801,4490.9,-4.3,913,68307,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1856,2799,2797,2802,0,0,0,0,0,0,27.07,27.09,27.09
$STATE,68424,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,68424,begin apogee
$GC,68428,-0.23,0.0,2656,1750,2797,2802,4495.9,-4.3,914,68574,1.23,0.00,142.02,3.556,10246,0.114,0.000,3082,1748,2350,2338,2363,0,0,0,0,0,0,24.79,22.51,20.53
$STATE,68575,end apogee,CONTROL_FINISHED_OK
$STATE,68575,begin climb
$GC,68577,0.54,146.6,3082,1749,2338,2362,4500.6,0.0,915,68748,0.65,2.92,162.35,3.536,10500,0.082,0.094,3334,3338,1844,1814,1875,0,0,0,0,0,0,23.21,22.61,20.70
$GC,68784,0.54,146.6,3334,3339,1815,1875,4484.0,15.6,917,68789,0.00,2.67,0.00,0.000,1030,0.000,0.055,3344,1763,1844,1815,1874,0,0,0,0,0,0,24.25,24.21,24.28
$GC,69144,0.05,146.6,3344,1763,1815,1874,4405.1,20.7,920,69151,0.62,2.42,0.00,0.000,4612,0.233,0.082,3182,239,1845,1815,1875,0,0,0,0,0,0,25.32,25.63,25.49
$GC,69442,-0.35,146.6,3181,239,1816,1875,4367.5,18.5,922,69449,0.32,2.33,0.00,0.000,5126,0.189,0.062,3083,1758,1845,1816,1875,0,0,0,0,0,0,25.79,26.17,26.03
$GC,69870,-0.54,146.6,3083,1758,1816,1875,4316.4,10.5,926,69875,0.30,2.42,0.00,0.000,4612,0.171,0.079,2989,236,1845,1815,1875,0,0,0,0,0,0,26.02,26.25,26.15
$GC,69926,-0.73,146.6,2991,236,1816,1875,4316.4,10.5,926,69931,0.22,2.30,0.00,0.000,5126,0.146,0.062,2913,1756,1845,1816,1875,0,0,0,0,0,0,26.15,26.37,26.32
$GC,70345,-0.73,146.6,2912,1756,1816,1875,4295.3,4.4,930,70346,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1756,1845,1816,1875,0,0,0,0,0,0,26.86,26.89,26.88
$GC,70705,-0.66,146.6,2912,1756,1816,1875,4280.2,4.1,933,70706,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1756,1845,1816,1875,0,0,0,0,0,0,26.91,26.93,26.93
$GC,71066,-0.58,146.6,2912,1757,1816,1875,4266.2,4.0,936,71072,0.00,2.38,0.00,0.000,2564,0.000,0.082,2919,247,1845,1816,1875,0,0,0,0,0,0,26.96,26.39,26.97
$GC,71122,-0.51,146.6,2919,247,1817,1875,4266.2,4.0,936,71127,0.05,2.25,0.00,0.000,3078,0.179,0.062,2958,1759,1845,1816,1875,0,0,0,0,0,0,26.47,26.51,26.56
$GC,71541,-0.51,146.6,2958,1760,1816,1875,4243.1,4.8,940,71542,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1760,1845,1816,1875,0,0,0,0,0,0,26.98,27.00,27.00
$GC,71901,-0.51,146.6,2958,1760,1816,1874,4221.6,5.9,943,71902,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1760,1845,1816,1875,0,0,0,0,0,0,27.00,27.03,27.01
$GC,72261,-0.51,146.6,2958,1760,1816,1875,4200.7,5.9,946,72266,0.00,2.40,0.00,0.000,516,0.000,0.079,2968,239,1845,1816,1875,0,0,0,0,0,0,27.01,26.42,27.03
$GC,72347,-0.51,146.6,2967,240,1816,1875,4200.7,5.9,946,72352,0.00,2.25,0.00,0.000,1030,0.000,0.060,2968,1751,1845,1816,1875,0,0,0,0,0,0,26.63,26.52,26.66
$GC,72741,-0.51,146.6,2967,1751,1816,1875,4176.5,5.0,950,72743,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1751,1845,1816,1875,0,0,0,0,0,0,27.03,27.05,27.04
$GC,73102,-0.51,146.6,2967,1751,1816,1874,4161.5,4.3,953,73107,0.00,2.38,0.00,0.000,516,0.000,0.079,2978,244,1845,1817,1874,0,0,0,0,0,0,27.03,26.39,27.05
$GC,73152,-0.51,146.6,2977,243,1816,1874,4161.5,4.3,953,73156,0.00,2.25,0.00,0.000,1030,0.000,0.060,2978,1751,1845,1816,1875,0,0,0,0,0,0,26.63,26.51,26.66
$GC,73466,-0.51,146.6,2977,1751,1816,1875,4146.1,4.2,956,73467,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1751,1845,1816,1874,0,0,0,0,0,0,27.04,27.06,27.05
$GC,73827,-0.51,146.6,2977,1751,1816,1875,4128.6,4.7,959,73833,0.00,2.38,0.00,0.000,516,0.000,0.077,2987,245,1845,1816,1874,0,0,0,0,0,0,27.05,26.37,27.07
$GC,73883,-0.51,146.6,2986,244,1816,1875,4128.6,4.7,959,73887,0.00,2.25,0.00,0.000,1030,0.000,0.057,2987,1751,1845,1816,1875,0,0,0,0,0,0,26.62,26.51,26.65
$GC,74302,-0.51,146.6,2987,1751,1816,1875,4102.4,5.5,963,74308,0.00,2.38,0.00,0.000,516,0.000,0.077,2996,242,1845,1816,1874,0,0,0,0,0,0,27.05,26.37,27.07
$GC,74358,-0.51,146.6,2996,242,1816,1875,4102.4,5.5,963,74362,0.00,2.25,0.00,0.000,1030,0.000,0.057,2996,1751,1845,1816,1875,0,0,0,0,0,0,26.61,26.51,26.65
$GC,74782,-0.51,146.6,2996,1751,1816,1874,4074.5,5.8,967,74783,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1751,1845,1816,1875,0,0,0,0,0,0,27.05,27.08,27.07
$GC,75142,-0.51,146.6,2996,1751,1816,1875,4054.7,5.6,970,75143,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1751,1845,1816,1875,0,0,0,0,0,0,27.06,27.08,27.08
$GC,75502,-0.51,146.6,2996,1751,1816,1874,4034.8,5.5,973,75506,0.00,2.40,0.00,0.000,516,0.000,0.077,3005,236,1845,1816,1875,0,0,0,0,0,0,27.07,26.34,27.08
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$STATE,145982,end climb,SURFACE_DEPTH_REACHED
$STATE,145982,begin surface coast
$FINISH,-0.4,1.024033
$STATE,146004,end surface coast,CONTROL_FINISHED_OK
$STATE,146004,begin surface
$SM_CCo,146079,0.00,0.000,0,0,993,394.19
$SM_GC,0.46,7.95,0.00,0.00,0.067,0.000,0.000,187,1755,993,-9.20,-2.69,394.19,0,0,0,0,0,0,26.47,27.14,26.56
$IRIDIUM_FIX,2756.73,-7356.90,041008,172721
$TT8_MAMPS,0.020972,0.020972
$HUMID,38.42
$INTERNAL_PRESSURE,9.18193
$TCM_TEMP,26.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4453.1,70.6
$24V_AH,20.53,36.040
$10V_AH,10.18,29.856
$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,28.275,717.600,540.050,0.000,102.550,29.626,17.488,354.695,62.000,0.000,18.261,7572.431,125219.633,1056.347,12188.860,553.290,0.000,5554.990,0.000,11263.175,0.000,568.738,0.000
$DEVICE_MAMPS,290.511,94.354,3555.656,0.000,183.742,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1281.313,6095.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353356
$DATA_FILE_SIZE,113537,1868
$CAP_FILE_SIZE,822101,0
$CFSIZE,1024409600,954253312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,276.64,1
$GPS,101215,204433,2806.071,-7418.560,38,0.9,45,-10.2,0.5,319.0,9,9.4