version: 66.12
glider: 37
mission: 22
dive: 73
start: 12 10 115 20 58 17
data:
$ID,37
$MISSION,22
$DIVE,73
$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,66
$R_STBD_OVSHOOT,96
$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
$GPS1,101215,204433,2806.0706,-7418.5601,38,0.9,45,-10.2,0.5,319.0,9,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-70.0
$GPS2,101215,205735,2806.1858,-7418.6851,4,1.0,17,-10.2,0.0,0.0,9,9.4
$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,207.4,45553,-11.3,-5.333,-15.63,3887
$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
$GC,16,-0.56,-137.7,186,1759,949,1037,0.0,0.0,0,142,0.00,0.00,-121.88,0.139,16390,0.000,0.000,187,1759,2827,2814,2841,0,0,0,0,0,0,26.76,26.09,25.89
$GC,144,-0.56,-137.7,186,1759,2814,2841,4.7,-6.6,12,165,11.90,2.42,0.00,0.000,2308,0.288,0.060,2952,3398,2828,2815,2841,0,0,0,0,0,0,25.59,25.94,25.79
$GC,179,0.40,-137.7,2952,3398,2814,2841,16.2,-29.3,15,191,0.82,2.15,0.00,0.000,3078,0.159,0.047,3223,1823,2827,2814,2841,0,0,0,0,0,0,25.80,26.37,25.92
$GC,490,0.14,-137.7,3224,1823,2815,2841,35.2,-7.9,46,500,0.00,2.28,0.00,0.000,260,0.000,0.060,3224,3399,2827,2814,2841,0,0,0,0,0,0,26.91,26.51,26.93
$GC,540,-0.10,-137.7,3223,3399,2814,2840,39.3,-8.2,50,549,0.15,2.15,0.00,0.000,5126,0.087,0.047,3150,1842,2828,2815,2841,0,0,0,0,0,0,26.49,26.69,26.53
$GC,850,-0.32,-137.7,3150,1842,2814,2841,61.5,-7.1,71,856,0.15,2.22,0.00,0.000,4356,0.117,0.060,3075,3398,2827,2814,2841,0,0,0,0,0,0,26.73,26.63,26.75
$GC,922,-0.44,-137.7,3074,3399,2814,2840,66.4,-7.2,75,931,0.05,2.12,0.00,0.000,5126,0.119,0.047,3011,1831,2827,2814,2841,0,0,0,0,0,0,26.61,26.78,26.65
$GC,1232,-0.44,-137.7,3010,1831,2814,2840,87.2,-6.1,96,1237,0.00,2.12,0.00,0.000,516,0.000,0.062,3011,321,2827,2814,2840,0,0,0,0,0,0,27.09,26.67,27.10
$GC,1328,-0.44,-137.7,3010,321,2814,2840,93.6,-6.7,102,1332,0.00,2.08,0.00,0.000,1030,0.000,0.047,3001,1859,2827,2814,2840,0,0,0,0,0,0,26.84,26.79,26.85
$GC,1646,-0.44,-137.7,3002,1859,2814,2840,112.9,-6.6,123,1652,0.00,2.17,0.00,0.000,260,0.000,0.062,2991,3391,2827,2814,2841,0,0,0,0,0,0,27.12,26.70,27.13
$GC,1777,-0.44,-137.7,2990,3391,2814,2840,121.4,-6.5,131,1782,0.00,2.10,0.00,0.000,1030,0.000,0.045,2990,1857,2827,2814,2840,0,0,0,0,0,0,26.86,26.85,26.87
$GC,2092,-0.44,-137.7,2990,1857,2814,2840,139.3,-5.6,152,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1857,2827,2814,2841,0,0,0,0,0,0,27.13,27.15,27.14
$GC,2392,-0.44,-137.7,2990,1857,2814,2840,155.5,-5.4,169,2398,0.00,2.20,0.00,0.000,260,0.000,0.060,2981,3390,2827,2814,2841,0,0,0,0,0,0,27.13,26.74,27.15
$GC,2470,-0.44,-137.7,2981,3390,2814,2841,159.7,-6.3,171,2474,0.00,2.10,0.00,0.000,1030,0.000,0.047,2981,1853,2827,2814,2841,0,0,0,0,0,0,26.89,26.87,26.90
$GC,2785,-0.44,-137.7,2981,1853,2814,2840,181.5,-6.3,182,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1853,2827,2814,2840,0,0,0,0,0,0,27.13,27.16,27.15
$GC,3085,-0.44,-137.7,2981,1853,2814,2840,199.9,-6.0,192,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1853,2827,2814,2840,0,0,0,0,0,0,27.14,27.16,27.16
$GC,3386,-0.44,-137.7,2981,1853,2814,2839,218.1,-6.0,202,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1853,2827,2814,2840,0,0,0,0,0,0,27.15,27.17,27.15
$GC,3685,-0.44,-137.7,2981,1853,2814,2838,236.9,-6.5,212,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1853,2826,2814,2838,0,0,0,0,0,0,27.15,27.16,27.16
$GC,3984,-0.44,-137.7,2981,1853,2814,2837,255.7,-6.1,222,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1853,2825,2814,2837,0,0,0,0,0,0,27.15,27.16,27.16
$GC,4285,-0.44,-137.7,2981,1853,2814,2837,274.4,-6.3,232,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1853,2825,2814,2836,0,0,0,0,0,0,27.14,27.16,27.16
$GC,4585,-0.44,-137.7,2981,1853,2814,2835,293.4,-6.3,242,4590,0.00,2.20,0.00,0.000,260,0.000,0.062,2973,3394,2825,2814,2836,0,0,0,0,0,0,27.14,26.74,27.16
$GC,4654,-0.44,-137.7,2972,3394,2813,2835,297.5,-6.5,244,4659,0.12,2.10,0.00,0.000,3078,0.149,0.047,3020,1832,2824,2813,2836,0,0,0,0,0,0,26.56,26.87,26.66
$GC,4978,-0.49,-137.7,3019,1832,2813,2834,313.7,-4.7,252,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1832,2823,2813,2834,0,0,0,0,0,0,27.14,27.16,27.16
$GC,5293,-0.55,-137.7,3019,1832,2813,2833,329.3,-5.0,259,5294,0.00,0.00,0.00,0.000,4102,0.000,0.000,3019,1833,2822,2812,2833,0,0,0,0,0,0,27.16,27.17,27.16
$GC,5608,-0.62,-137.7,3019,1832,2813,2831,345.7,-5.1,266,5610,0.08,0.00,0.00,0.000,4102,0.134,0.000,2961,1831,2822,2813,2831,0,0,0,0,0,0,26.92,26.95,26.94
$GC,5923,-0.62,-137.7,2961,1831,2813,2830,366.9,-6.8,273,5929,0.00,2.22,0.00,0.000,260,0.000,0.060,2951,3396,2821,2813,2830,0,0,0,0,0,0,27.15,26.74,27.16
$GC,6052,-0.62,-137.7,2951,3395,2811,2830,373.6,-7.0,275,6060,0.00,2.10,0.00,0.000,1030,0.000,0.047,2951,1860,2821,2812,2830,0,0,0,0,0,0,26.89,26.88,26.91
$GC,6375,-0.62,-137.7,2951,1860,2812,2829,401.2,-7.7,283,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1860,2820,2812,2829,0,0,0,0,0,0,27.14,27.16,27.16
$GC,6690,-0.62,-137.7,2951,1860,2811,2828,425.2,-7.7,290,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1860,2819,2811,2828,0,0,0,0,0,0,27.15,27.17,27.16
$GC,7006,-0.62,-137.7,2951,1860,2811,2827,449.0,-7.6,297,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1859,2818,2811,2826,0,0,0,0,0,0,27.15,27.17,27.16
$GC,7320,-0.62,-137.7,2951,1860,2811,2826,472.2,-7.3,304,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1859,2819,2812,2826,0,0,0,0,0,0,27.15,27.17,27.16
$GC,7635,-0.62,-137.7,2951,1860,2811,2825,494.9,-7.2,311,7641,0.00,2.20,0.00,0.000,260,0.000,0.060,2942,3392,2817,2811,2824,0,0,0,0,0,0,27.15,26.74,27.16
$GC,7703,-0.62,-137.7,2941,3393,2810,2825,498.3,-7.3,312,7707,0.00,2.10,0.00,0.000,1030,0.000,0.047,2942,1878,2817,2810,2825,0,0,0,0,0,0,26.91,26.86,26.93
$GC,8041,-0.62,-137.7,2942,1850,2810,2824,526.0,-7.7,320,8046,0.00,2.25,0.00,0.000,260,0.000,0.060,2932,3402,2817,2810,2824,0,0,0,0,0,0,27.15,26.73,27.16
$GC,8117,-0.62,-137.7,2932,3402,2809,2824,529.9,-7.7,321,8121,0.00,2.17,0.00,0.000,1030,0.000,0.045,2932,1829,2817,2809,2825,0,0,0,0,0,0,26.88,26.86,26.90
$GC,8452,-0.62,-137.7,2932,1828,2808,2823,557.7,-7.7,329,8457,0.00,2.22,0.00,0.000,260,0.000,0.060,2923,3392,2816,2809,2824,0,0,0,0,0,0,27.15,26.73,27.16
$GC,8496,-0.62,-137.7,2923,3392,2809,2824,561.3,-7.7,330,8501,0.00,2.08,0.00,0.000,1030,0.000,0.045,2923,1849,2816,2809,2824,0,0,0,0,0,0,26.89,26.87,26.90
$GC,8812,-0.62,-137.7,2923,1850,2809,2823,587.4,-8.4,337,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1850,2816,2809,2823,0,0,0,0,0,0,27.15,27.17,27.16
$GC,9126,-0.62,-137.7,2923,1850,2808,2821,614.0,-8.5,344,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1850,2815,2809,2822,0,0,0,0,0,0,27.14,27.17,27.16
$GC,9441,-0.62,-137.7,2922,1850,2809,2820,640.6,-8.6,351,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1850,2814,2808,2821,0,0,0,0,0,0,27.14,27.17,27.16
$GC,9756,-0.62,-137.7,2923,1850,2809,2820,668.0,-8.9,358,9762,0.00,2.22,0.00,0.000,260,0.000,0.060,2914,3391,2814,2808,2820,0,0,0,0,0,0,27.15,26.72,27.16
$GC,9819,-0.62,-137.7,2913,3391,2807,2820,672.0,-8.8,359,9823,0.12,2.12,0.00,0.000,3078,0.156,0.045,2959,1848,2813,2807,2820,0,0,0,0,0,0,26.53,26.86,26.63
$GC,10163,-0.62,-137.7,2959,1848,2806,2819,696.8,-6.5,367,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1848,2812,2806,2819,0,0,0,0,0,0,27.14,27.17,27.16
$GC,10478,-0.62,-137.7,2958,1848,2805,2818,717.3,-6.5,374,10483,0.00,2.25,0.00,0.000,260,0.000,0.060,2951,3398,2811,2805,2818,0,0,0,0,0,0,27.14,26.72,27.16
$GC,10522,-0.62,-137.7,2950,3399,2804,2819,720.0,-6.3,375,10529,0.00,2.10,0.00,0.000,1030,0.000,0.047,2951,1851,2811,2804,2818,0,0,0,0,0,0,26.90,26.86,26.91
$GC,10838,-0.62,-137.7,2950,1851,2804,2817,742.9,-7.4,382,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1851,2810,2804,2817,0,0,0,0,0,0,27.15,27.16,27.16
$GC,11153,-0.62,-137.7,2951,1851,2804,2814,765.9,-7.1,389,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1851,2809,2804,2814,0,0,0,0,0,0,27.14,27.16,27.16
$GC,11468,-0.62,-137.7,2950,1851,2804,2813,788.6,-7.3,396,11472,0.00,2.25,0.00,0.000,260,0.000,0.060,2942,3402,2808,2804,2813,0,0,0,0,0,0,27.15,26.70,27.15
$GC,11518,-0.62,-137.7,2942,3402,2803,2813,792.3,-7.5,397,11522,0.00,2.15,0.00,0.000,1030,0.000,0.045,2942,1848,2808,2803,2813,0,0,0,0,0,0,26.87,26.85,26.89
$GC,11832,-0.62,-137.7,2942,1848,2802,2813,818.3,-8.2,404,11837,0.00,2.28,0.00,0.000,260,0.000,0.060,2934,3397,2807,2802,2813,0,0,0,0,0,0,27.14,26.70,27.15
$GC,11871,-0.62,-137.7,2934,3396,2801,2813,818.3,-8.2,404,11881,0.00,2.15,0.00,0.000,1030,0.000,0.045,2934,1850,2807,2801,2813,0,0,0,0,0,0,26.86,26.85,26.89
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$GC,54542,-1.40,-137.7,2685,1860,2767,2774,3924.1,-5.5,791,54543,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1859,2771,2767,2775,0,0,0,0,0,0,27.01,27.03,27.03
$GC,54901,-1.40,-137.7,2685,1860,2767,2775,3942.6,-5.2,794,54907,0.00,2.53,0.00,0.000,260,0.000,0.072,2674,3434,2771,2767,2775,0,0,0,0,0,0,27.00,25.51,27.01
$GC,54972,-1.40,-137.7,2674,3434,2767,2775,3942.6,-5.2,794,54976,0.00,2.40,0.00,0.000,1030,0.000,0.055,2674,1851,2770,2766,2775,0,0,0,0,0,0,26.12,26.09,26.20
$GC,55381,-1.40,-137.7,2674,1850,2767,2775,3969.6,-5.6,798,55386,0.00,2.55,0.00,0.000,516,0.000,0.087,2674,290,2771,2767,2775,0,0,0,0,0,0,27.07,25.08,27.08
$GC,55457,-1.40,-137.7,2674,289,2767,2775,3969.6,-5.6,798,55462,0.12,2.45,0.00,0.000,3078,0.146,0.067,2708,1856,2770,2767,2774,0,0,0,0,0,0,25.40,25.60,25.51
$GC,55859,-1.40,-137.7,2708,1856,2767,2775,3993.1,-4.9,802,55860,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1856,2771,2767,2775,0,0,0,0,0,0,27.03,27.05,27.04
$GC,56216,-1.40,-137.7,2708,1856,2767,2774,4009.7,-4.6,805,56217,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1856,2770,2767,2774,0,0,0,0,0,0,27.07,27.09,27.08
$GC,56576,-1.45,-137.7,2708,1856,2767,2775,4027.0,-4.8,808,56577,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1856,2770,2767,2774,0,0,0,0,0,0,27.07,27.10,27.09
$GC,56940,-1.50,-137.7,2708,1856,2767,2775,4044.6,-4.9,811,56941,0.00,0.00,0.00,0.000,4102,0.000,0.000,2708,1856,2770,2767,2774,0,0,0,0,0,0,27.05,27.06,27.05
$GC,57298,-1.55,-137.7,2708,1856,2766,2775,4062.0,-4.9,814,57299,0.00,0.00,0.00,0.000,4102,0.000,0.000,2708,1856,2771,2767,2775,0,0,0,0,0,0,27.02,27.03,27.03
$GC,57656,-1.61,-137.7,2708,1856,2767,2775,4079.9,-4.9,817,57658,0.08,0.00,0.00,0.000,4102,0.137,0.000,2659,1857,2770,2767,2774,0,0,0,0,0,0,26.81,26.83,26.82
$GC,58018,-1.61,-137.7,2658,1858,2767,2775,4101.9,-5.9,820,58019,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1858,2771,2767,2775,0,0,0,0,0,0,27.01,27.03,27.02
$GC,58380,-1.61,-137.7,2658,1858,2766,2774,4124.3,-6.3,823,58381,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1858,2771,2768,2775,0,0,0,0,0,0,27.03,27.05,27.05
$GC,58737,-1.61,-137.7,2658,1858,2767,2774,4146.4,-6.2,826,58738,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1858,2770,2767,2774,0,0,0,0,0,0,27.00,27.03,27.02
$GC,59096,-1.61,-137.7,2658,1858,2767,2775,4168.3,-6.1,829,59097,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1857,2770,2767,2774,0,0,0,0,0,0,27.07,27.09,27.09
$GC,59456,-1.61,-137.7,2659,1858,2767,2775,4188.0,-5.6,832,59457,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1857,2771,2767,2775,0,0,0,0,0,0,27.07,27.10,27.09
$GC,59816,-1.61,-137.7,2658,1857,2766,2775,4207.1,-5.3,835,59817,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1858,2771,2767,2775,0,0,0,0,0,0,27.07,27.10,27.09
$GC,60179,-1.61,-137.7,2658,1857,2767,2774,4226.0,-5.3,838,60180,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1857,2771,2767,2775,0,0,0,0,0,0,27.03,27.05,27.04
$GC,60537,-1.61,-137.7,2659,1858,2767,2775,4243.9,-5.1,841,60544,0.00,2.65,0.00,0.000,516,0.000,0.087,2659,288,2770,2767,2774,0,0,0,0,0,0,27.00,24.96,27.01
$GC,60599,-1.61,-137.7,2659,288,2767,2775,4243.9,-5.1,841,60603,0.00,2.45,0.00,0.000,1030,0.000,0.067,2649,1862,2771,2767,2775,0,0,0,0,0,0,25.70,25.56,25.75
$GC,61018,-1.61,-137.7,2648,1863,2767,2774,4266.8,-4.7,845,61020,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1863,2771,2767,2775,0,0,0,0,0,0,27.07,27.09,27.08
$GC,61381,-1.61,-137.7,2649,1863,2767,2775,4284.2,-4.8,848,61382,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1863,2770,2767,2774,0,0,0,0,0,0,27.03,27.05,27.04
$GC,61739,-1.61,-137.7,2648,1863,2767,2775,4301.8,-4.9,851,61740,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1863,2771,2767,2775,0,0,0,0,0,0,26.99,27.02,27.01
$GC,62098,-1.61,-137.7,2648,1862,2767,2774,4319.1,-4.9,854,62099,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1862,2771,2767,2775,0,0,0,0,0,0,27.07,27.09,27.08
$GC,62458,-1.61,-137.7,2649,1863,2767,2775,4336.4,-4.7,857,62459,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1862,2770,2766,2774,0,0,0,0,0,0,27.07,27.09,27.08
$GC,62821,-1.61,-137.7,2649,1863,2767,2774,4352.9,-4.7,860,62827,0.00,2.55,0.00,0.000,260,0.000,0.077,2638,3439,2771,2767,2775,0,0,0,0,0,0,27.03,25.36,27.05
$GC,62881,-1.61,-137.7,2638,3439,2766,2775,4352.9,-4.7,860,62886,0.00,2.38,0.00,0.000,1030,0.000,0.057,2638,1856,2771,2767,2775,0,0,0,0,0,0,25.96,25.86,26.00
$GC,63297,-1.61,-137.7,2638,1856,2767,2775,4380.0,-5.7,864,63303,0.00,2.60,0.00,0.000,516,0.000,0.089,2638,280,2770,2766,2774,0,0,0,0,0,0,26.99,24.95,27.02
$GC,63378,-1.61,-137.7,2638,279,2767,2774,4380.0,-5.7,864,63383,0.00,2.47,0.00,0.000,1030,0.000,0.070,2628,1856,2771,2767,2775,0,0,0,0,0,0,25.60,25.46,25.65
$GC,63777,-1.61,-137.7,2628,1857,2766,2775,4407.3,-5.6,868,63778,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1857,2770,2767,2774,0,0,0,0,0,0,27.07,27.09,27.08
$GC,64138,-1.61,-137.7,2628,1857,2767,2775,4426.8,-5.4,871,64143,0.00,2.55,0.00,0.000,260,0.000,0.077,2618,3433,2771,2767,2775,0,0,0,0,0,0,27.06,25.31,27.08
$GC,64188,-1.61,-137.7,2618,3433,2767,2775,4426.8,-5.4,871,64193,0.00,2.42,0.00,0.000,1030,0.000,0.060,2618,1839,2771,2767,2775,0,0,0,0,0,0,25.89,25.78,25.93
$GC,64498,-1.61,-137.7,2618,1838,2767,2775,4448.1,-5.9,874,64504,0.00,2.55,0.00,0.000,516,0.000,0.089,2618,288,2771,2767,2775,0,0,0,0,0,0,27.06,24.94,27.08
$GC,64559,-1.61,-137.7,2617,288,2767,2774,4448.1,-5.9,874,64564,0.00,2.45,0.00,0.000,1030,0.000,0.067,2608,1860,2770,2767,2774,0,0,0,0,0,0,25.61,25.47,25.66
$GC,64978,-1.61,-137.7,2608,1859,2766,2775,4477.9,-6.2,878,64979,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2770,2766,2775,0,0,0,0,0,0,27.06,27.08,27.08
$GC,65338,-1.61,-137.7,2608,1859,2767,2774,4499.2,-5.9,881,65339,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2770,2767,2774,0,0,0,0,0,0,27.06,27.08,27.08
$GC,65698,-1.61,-137.7,2607,1859,2767,2774,4519.9,-5.8,884,65699,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,27.06,27.09,27.08
$GC,66059,-1.61,-137.7,2608,1859,2767,2774,4540.7,-5.8,887,66060,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2770,2767,2774,0,0,0,0,0,0,26.99,27.01,27.01
$GC,66421,-1.61,-137.7,2608,1859,2767,2775,4562.2,-6.0,890,66422,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,27.01,27.04,27.03
$GC,66780,-1.61,-137.7,2608,1859,2767,2775,4583.1,-5.9,893,66781,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2770,2766,2774,0,0,0,0,0,0,27.00,27.03,27.02
$GC,67139,-1.61,-137.7,2608,1858,2767,2775,4604.1,-5.8,896,67140,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,26.99,27.02,27.01
$GC,67501,-1.61,-137.7,2607,1859,2766,2775,4625.3,-5.9,899,67502,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,27.02,27.04,27.03
$GC,67859,-1.61,-137.7,2608,1858,2767,2774,4645.6,-5.7,902,67860,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2770,2767,2774,0,0,0,0,0,0,26.99,27.01,27.01
$GC,68220,-1.61,-137.7,2608,1859,2767,2775,4665.4,-5.5,905,68221,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,27.01,27.03,27.02
$GC,68581,-1.61,-137.7,2607,1859,2767,2775,4684.3,-5.3,908,68582,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,27.02,27.04,27.04
$GC,68939,-1.61,-137.7,2608,1859,2767,2775,4702.2,-5.1,911,68940,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,26.99,27.01,27.01
$GC,69298,-1.61,-137.7,2608,1859,2767,2775,4719.5,-4.9,914,69299,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2770,2767,2774,0,0,0,0,0,0,27.07,27.09,27.09
$GC,69658,-1.61,-137.7,2608,1859,2766,2774,4736.1,-4.7,917,69659,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,27.07,27.09,27.09
$GC,70022,-1.61,-137.7,2607,1859,2767,2774,4751.1,-4.1,920,70023,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,27.01,27.03,27.03
$GC,70378,-1.61,-137.7,2608,1859,2767,2774,4766.9,-4.4,923,70379,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2770,2767,2774,0,0,0,0,0,0,27.07,27.09,27.09
$GC,70738,-1.61,-137.7,2608,1859,2767,2775,4782.3,-4.3,926,70739,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2770,2767,2774,0,0,0,0,0,0,27.07,27.10,27.09
$GC,71098,-1.61,-137.7,2608,1859,2766,2774,4797.9,-4.3,929,71100,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1859,2771,2767,2775,0,0,0,0,0,0,27.07,27.09,27.09
$STATE,71216,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,71217,begin apogee
$GC,71221,-0.23,0.0,2607,1754,2767,2774,4802.8,-4.3,930,71360,1.40,0.00,135.32,3.739,10246,0.119,0.000,3082,1753,2350,2337,2363,0,0,0,0,0,0,24.59,22.44,20.37
$STATE,71361,end apogee,CONTROL_FINISHED_OK
$STATE,71361,begin climb
$GC,71363,0.56,137.7,3082,1752,2338,2363,4806.3,0.0,931,71530,0.68,2.85,156.05,3.715,10756,0.082,0.104,3349,264,1875,1847,1903,0,0,0,0,0,0,23.18,22.54,20.53
$GC,71825,0.56,137.7,3349,264,1848,1903,4715.7,23.9,935,71829,0.00,2.42,0.00,0.000,1030,0.000,0.065,3345,1752,1876,1849,1903,0,0,0,0,0,0,25.58,25.53,25.61
$GC,72185,0.05,137.7,3345,1752,1847,1903,4630.8,23.8,938,72192,0.60,2.38,0.00,0.000,4612,0.226,0.082,3181,257,1875,1848,1903,0,0,0,0,0,0,25.69,25.99,25.86
$GC,72465,-0.38,137.7,3181,258,1848,1903,4589.1,20.2,940,72471,0.35,2.33,0.00,0.000,5126,0.196,0.065,3076,1763,1875,1848,1903,0,0,0,0,0,0,25.88,26.32,26.14
$GC,72785,-0.61,137.7,3076,1763,1848,1903,4546.8,12.9,943,72791,0.35,2.42,0.00,0.000,4612,0.176,0.082,2967,260,1875,1848,1903,0,0,0,0,0,0,26.03,26.27,26.15
$GC,72882,-0.85,137.7,2967,260,1848,1903,4546.8,12.9,943,72887,0.28,2.25,0.00,0.000,5126,0.142,0.065,2873,1756,1874,1846,1903,0,0,0,0,0,0,26.16,26.42,26.33
$GC,73266,-0.85,137.7,2873,1756,1848,1903,4524.9,4.4,947,73267,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1756,1875,1847,1903,0,0,0,0,0,0,26.89,26.91,26.91
$GC,73627,-0.75,137.7,2873,1756,1849,1903,4512.4,3.4,950,73632,0.00,2.40,0.00,0.000,2564,0.000,0.087,2881,264,1875,1848,1903,0,0,0,0,0,0,26.95,26.36,26.95
$GC,73687,-0.65,137.7,2881,264,1848,1903,4512.4,3.4,950,73691,0.00,2.28,0.00,0.000,3078,0.000,0.067,2881,1757,1875,1848,1903,0,0,0,0,0,0,26.63,26.51,26.66
$GC,74101,-0.55,137.7,2881,1758,1848,1903,4496.2,3.4,954,74103,0.12,0.00,0.00,0.000,2054,0.107,0.000,2949,1758,1875,1848,1903,0,0,0,0,0,0,26.68,26.74,26.72
$GC,74461,-0.55,137.7,2949,1758,1848,1903,4476.5,5.0,957,74466,0.00,2.40,0.00,0.000,516,0.000,0.082,2959,254,1875,1848,1903,0,0,0,0,0,0,26.99,26.39,27.01
$GC,74527,-0.55,137.7,2959,254,1848,1903,4476.5,5.0,957,74532,0.00,2.28,0.00,0.000,1030,0.000,0.062,2959,1747,1875,1848,1903,0,0,0,0,0,0,26.58,26.53,26.61
$GC,74942,-0.55,137.7,2959,1749,1848,1903,4449.2,5.7,961,74947,0.00,2.35,0.00,0.000,516,0.000,0.082,2969,260,1875,1848,1903,0,0,0,0,0,0,27.01,26.41,27.03
$GC,75007,-0.55,137.7,2968,260,1848,1903,4449.2,5.7,961,75011,0.00,2.25,0.00,0.000,1030,0.000,0.062,2969,1761,1875,1848,1903,0,0,0,0,0,0,26.63,26.53,26.67
$GC,75421,-0.55,137.7,2969,1761,1848,1903,4420.1,6.1,965,75425,0.00,2.38,0.00,0.000,516,0.000,0.079,2980,259,1875,1848,1902,0,0,0,0,0,0,27.03,26.39,27.04
$GC,75480,-0.55,137.7,2980,258,1848,1903,4420.1,6.1,965,75485,0.00,2.25,0.00,0.000,1030,0.000,0.062,2980,1753,1875,1848,1903,0,0,0,0,0,0,26.63,26.52,26.67
$GC,75904,-0.55,137.7,2980,1753,1848,1903,4390.5,6.1,969,75905,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1753,1875,1847,1903,0,0,0,0,0,0,27.03,27.05,27.05
$GC,76264,-0.55,137.7,2980,1753,1848,1903,4368.0,6.3,972,76269,0.00,2.35,0.00,0.000,516,0.000,0.079,2990,264,1875,1848,1903,0,0,0,0,0,0,27.04,26.38,27.05
$GC,76340,-0.55,137.7,2990,264,1848,1903,4368.0,6.3,972,76344,0.00,2.25,0.00,0.000,1030,0.000,0.060,2990,1765,1875,1848,1903,0,0,0,0,0,0,26.64,26.53,26.67
$GC,76745,-0.55,137.7,2990,1765,1848,1903,4336.9,6.5,976,76746,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1765,1875,1848,1903,0,0,0,0,0,0,27.05,27.07,27.06
$GC,77105,-0.55,137.7,2990,1765,1848,1903,4314.0,6.4,979,77110,0.00,2.42,0.00,0.000,516,0.000,0.077,3000,246,1875,1848,1903,0,0,0,0,0,0,27.05,26.36,27.07
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$GC,157699,0.57,379.9,3342,259,997,1088,306.7,9.5,1783,157703,0.00,2.05,0.00,0.000,1030,0.000,0.045,3342,1761,1042,997,1088,0,0,0,0,0,0,26.75,26.70,26.77
$GC,158032,0.57,379.9,3342,1761,997,1088,271.2,10.2,1794,158033,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1760,1042,997,1088,0,0,0,0,0,0,27.08,27.10,27.10
$GC,158333,0.57,379.9,3342,1761,998,1088,241.2,9.9,1804,158338,0.00,2.22,0.00,0.000,516,0.000,0.062,3349,260,1042,996,1089,0,0,0,0,0,0,27.09,26.51,27.11
$GC,158461,0.57,379.9,3349,260,998,1088,229.1,9.3,1808,158466,0.00,2.05,0.00,0.000,1030,0.000,0.047,3350,1763,1043,998,1088,0,0,0,0,0,0,26.77,26.72,26.78
$GC,158794,0.57,379.9,3349,1763,999,1089,196.6,9.9,1819,158796,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1764,1043,999,1088,0,0,0,0,0,0,27.10,27.13,27.12
$GC,159096,0.57,379.9,3349,1763,1000,1088,168.0,9.6,1829,159101,0.00,2.17,0.00,0.000,516,0.000,0.062,3354,262,1044,1001,1088,0,0,0,0,0,0,27.10,26.53,27.13
$GC,159163,0.57,379.9,3354,261,1000,1088,161.7,9.8,1831,159168,0.00,2.08,0.00,0.000,1030,0.000,0.045,3355,1756,1044,1001,1088,0,0,0,0,0,0,26.76,26.74,26.78
$GC,159472,0.57,379.9,3355,1756,1001,1088,132.2,8.2,1848,159474,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1756,1044,1001,1088,0,0,0,0,0,0,27.11,27.13,27.13
$GC,159772,0.57,379.9,3355,1756,1003,1088,108.8,7.3,1868,159774,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1756,1045,1002,1088,0,0,0,0,0,0,27.11,27.13,27.13
$GC,160072,0.57,379.9,3355,1756,1005,1088,87.4,7.2,1888,160077,0.00,2.20,0.00,0.000,516,0.000,0.062,3358,256,1046,1004,1088,0,0,0,0,0,0,27.11,26.55,27.13
$GC,160132,0.57,379.9,3358,256,1005,1088,83.7,7.3,1891,160140,0.00,2.08,0.00,0.000,1030,0.000,0.047,3359,1762,1046,1005,1088,0,0,0,0,0,0,26.77,26.75,26.78
$GC,160441,0.57,379.9,3358,1762,1007,1088,59.9,7.7,1912,160442,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1762,1048,1007,1089,0,0,0,0,0,0,27.12,27.14,27.13
$GC,160741,0.57,379.9,3359,1762,1009,1089,37.1,8.1,1933,160749,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1762,1049,1010,1088,0,0,0,0,0,0,27.12,27.13,27.14
$GC,161050,0.57,379.9,3358,1762,1012,1089,14.8,7.4,1964,161061,0.00,0.00,3.70,0.430,8198,0.000,0.000,3359,1762,1043,998,1088,0,0,0,0,0,0,27.12,25.57,25.04
$STATE,161219,end climb,SURFACE_DEPTH_REACHED
$STATE,161220,begin surface coast
$FINISH,0.5,1.024252
$STATE,161241,end surface coast,CONTROL_FINISHED_OK
$STATE,161241,begin surface
$SM_CCo,161316,0.00,0.000,0,0,1042,379.96
$SM_GC,0.09,8.02,0.00,0.00,0.074,0.000,0.000,188,1763,1042,-9.21,-2.46,379.96,0,0,0,0,0,0,26.38,27.12,26.49
$IRIDIUM_FIX,2754.29,-7417.70,061008,102049
$TT8_MAMPS,0.021721,0.021721
$HUMID,38.77
$INTERNAL_PRESSURE,9.17216
$TCM_TEMP,25.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4751.1,79.7
$24V_AH,20.37,36.539
$10V_AH,10.07,30.224
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.150,790.300,521.050,0.000,121.875,56.339,61.928,414.326,70.500,0.000,19.119,8243.475,138369.047,1119.577,13694.554,610.211,0.000,6186.118,0.000,12544.230,0.000,650.014,0.000
$DEVICE_MAMPS,288.028,104.286,3739.398,0.000,139.048,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1361.057,6470.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353088
$DATA_FILE_SIZE,123403,1983
$CAP_FILE_SIZE,911930,0
$CFSIZE,1024409600,953876480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,328.62,1
$GPS,121215,174809,2755.056,-7431.792,33,1.1,38,-10.0,0.7,238.7,7,9.1