version: 66.12
glider: 37
mission: 22
dive: 74
start: 12 12 115 18 0 14
data:
$ID,37
$MISSION,22
$DIVE,74
$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,59
$R_STBD_OVSHOOT,89
$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
$GPS1,121215,174809,2755.0557,-7431.7915,33,1.1,38,-10.0,0.7,238.7,7,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-66.8
$GPS2,121215,175930,2755.0073,-7431.7163,4,1.0,15,-10.0,1.1,153.7,8,9.6
$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,177.0,19228,-16.1,-5.333,-19.79,2174
$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,-0.75,-76.5,188,1768,999,1085,0.0,0.0,0,130,0.00,0.00,-106.88,0.142,16390,0.000,0.000,188,1768,2612,2600,2625,0,0,0,0,0,0,26.72,25.98,25.88
$GC,132,-0.75,-76.5,188,1768,2601,2626,2.9,-3.9,11,154,11.55,2.20,0.00,0.000,2564,0.286,0.060,2907,270,2613,2601,2626,0,0,0,0,0,0,25.57,25.92,25.77
$GC,416,-0.60,-76.5,2906,270,2601,2625,44.6,-12.8,34,425,0.17,2.20,0.00,0.000,3078,0.176,0.047,2953,1844,2613,2601,2625,0,0,0,0,0,0,26.01,26.58,26.10
$GC,725,-0.55,-76.5,2953,1845,2601,2625,74.5,-9.4,55,730,0.00,2.28,0.00,0.000,260,0.000,0.060,2943,3411,2613,2601,2625,0,0,0,0,0,0,27.01,26.60,27.02
$GC,948,-0.49,-76.5,2942,3411,2601,2625,95.5,-9.9,68,957,0.15,2.20,0.00,0.000,3078,0.156,0.050,2994,1820,2613,2601,2625,0,0,0,0,0,0,26.29,26.77,26.37
$GC,1256,-0.49,-76.5,2994,1820,2601,2626,119.0,-7.0,89,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1820,2613,2601,2625,0,0,0,0,0,0,27.09,27.10,27.11
$GC,1556,-0.49,-76.5,2993,1820,2601,2626,136.0,-5.5,109,1561,0.00,2.28,0.00,0.000,260,0.000,0.060,2984,3410,2613,2601,2626,0,0,0,0,0,0,27.11,26.70,27.13
$GC,1671,-0.49,-76.5,2983,3411,2601,2625,142.8,-6.1,116,1677,0.00,2.15,0.00,0.000,1030,0.000,0.045,2984,1849,2613,2601,2625,0,0,0,0,0,0,26.87,26.85,26.89
$GC,1986,-0.49,-76.5,2984,1849,2601,2626,159.8,-5.1,131,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1849,2613,2601,2626,0,0,0,0,0,0,27.13,27.15,27.14
$GC,2286,-0.49,-76.5,2983,1850,2601,2626,175.0,-5.2,141,2291,0.00,2.25,0.00,0.000,260,0.000,0.060,2973,3410,2613,2601,2626,0,0,0,0,0,0,27.13,26.72,27.15
$GC,2506,-0.49,-76.5,2973,3411,2601,2625,186.1,-5.3,148,2510,0.00,2.15,0.00,0.000,1030,0.000,0.045,2973,1836,2613,2601,2625,0,0,0,0,0,0,26.88,26.86,26.90
$GC,2835,-0.49,-76.5,2973,1836,2601,2626,204.6,-5.4,159,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1836,2613,2601,2625,0,0,0,0,0,0,27.14,27.15,27.15
$GC,3135,-0.49,-76.5,2973,1836,2601,2626,220.5,-5.3,169,3140,0.00,2.28,0.00,0.000,260,0.000,0.060,2964,3415,2613,2601,2626,0,0,0,0,0,0,27.14,26.74,27.15
$GC,3260,-0.49,-76.5,2964,3415,2601,2625,227.5,-5.7,173,3265,0.00,2.15,0.00,0.000,1030,0.000,0.045,2963,1844,2613,2601,2626,0,0,0,0,0,0,26.89,26.88,26.91
$GC,3590,-0.49,-76.5,2963,1844,2601,2625,244.0,-4.9,184,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1844,2613,2601,2626,0,0,0,0,0,0,27.14,27.16,27.15
$GC,3890,-0.49,-76.5,2963,1844,2601,2625,260.3,-5.5,194,3894,0.00,2.25,0.00,0.000,260,0.000,0.060,2954,3411,2613,2601,2625,0,0,0,0,0,0,27.14,26.74,27.15
$GC,3985,-0.49,-76.5,2955,3410,2601,2625,266.3,-6.1,197,3991,0.10,2.08,0.00,0.000,3078,0.146,0.047,2993,1842,2613,2601,2625,0,0,0,0,0,0,26.55,26.87,26.60
$GC,4316,-0.57,-76.5,2992,1842,2601,2625,283.7,-5.3,208,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1842,2613,2601,2625,0,0,0,0,0,0,27.14,27.16,27.16
$GC,4616,-0.65,-76.5,2992,1842,2601,2624,298.0,-4.8,218,4617,0.00,0.00,0.00,0.000,4102,0.000,0.000,2993,1842,2612,2601,2624,0,0,0,0,0,0,27.15,27.17,27.16
$GC,4946,-0.73,-76.5,2992,1841,2601,2623,315.1,-5.3,226,4947,0.08,0.00,0.00,0.000,4102,0.142,0.000,2918,1839,2611,2601,2622,0,0,0,0,0,0,26.90,26.94,26.93
$GC,5260,-0.73,-76.5,2918,1839,2599,2621,339.3,-7.9,233,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1839,2611,2601,2621,0,0,0,0,0,0,27.15,27.16,27.16
$GC,5575,-0.73,-76.5,2918,1839,2601,2620,364.3,-7.9,240,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1839,2610,2601,2620,0,0,0,0,0,0,27.14,27.16,27.16
$GC,5891,-0.73,-76.5,2918,1839,2601,2619,388.6,-7.7,247,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1839,2610,2601,2619,0,0,0,0,0,0,27.15,27.16,27.16
$GC,6205,-0.73,-76.5,2918,1839,2601,2618,412.7,-7.6,254,6210,0.00,2.25,0.00,0.000,260,0.000,0.060,2907,3410,2609,2601,2618,0,0,0,0,0,0,27.14,26.73,27.16
$GC,6271,-0.73,-76.5,2906,3410,2600,2618,416.5,-7.7,255,6276,0.00,2.12,0.00,0.000,1030,0.000,0.045,2907,1848,2609,2600,2618,0,0,0,0,0,0,26.91,26.87,26.92
$GC,6610,-0.73,-76.5,2906,1848,2600,2617,445.6,-8.2,263,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1848,2608,2600,2617,0,0,0,0,0,0,27.15,27.16,27.16
$GC,6925,-0.73,-76.5,2906,1848,2599,2615,471.6,-8.3,270,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1848,2608,2600,2616,0,0,0,0,0,0,27.14,27.16,27.15
$GC,7240,-0.73,-76.5,2906,1849,2600,2614,498.4,-8.6,277,7245,0.00,2.22,0.00,0.000,260,0.000,0.060,2896,3410,2607,2600,2614,0,0,0,0,0,0,27.15,26.74,27.16
$GC,7302,-0.73,-76.5,2896,3410,2599,2614,502.5,-8.8,278,7306,0.00,2.15,0.00,0.000,1030,0.000,0.045,2896,1853,2606,2599,2614,0,0,0,0,0,0,26.89,26.86,26.90
$GC,7646,-0.73,-76.5,2896,1853,2599,2613,536.4,-9.3,286,7652,0.00,2.22,0.00,0.000,260,0.000,0.060,2885,3414,2606,2599,2613,0,0,0,0,0,0,27.14,26.74,27.16
$GC,7740,-0.73,-76.5,2885,3414,2598,2613,545.3,-9.5,288,7745,0.10,2.15,0.00,0.000,3078,0.161,0.045,2921,1844,2605,2598,2613,0,0,0,0,0,0,26.50,26.87,26.55
$GC,8054,-0.73,-76.5,2921,1844,2598,2612,571.0,-8.1,295,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1844,2605,2598,2613,0,0,0,0,0,0,27.14,27.16,27.16
$GC,8369,-0.73,-76.5,2921,1844,2597,2612,598.5,-9.0,302,8376,0.00,2.25,0.00,0.000,260,0.000,0.060,2912,3408,2605,2598,2612,0,0,0,0,0,0,27.15,26.73,27.16
$GC,8461,-0.73,-76.5,2911,3407,2597,2612,607.1,-9.2,304,8467,0.00,2.08,0.00,0.000,1030,0.000,0.047,2912,1857,2604,2597,2612,0,0,0,0,0,0,26.89,26.87,26.90
$GC,8776,-0.73,-76.5,2911,1857,2597,2611,636.8,-9.4,311,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1857,2604,2597,2611,0,0,0,0,0,0,27.15,27.17,27.15
$GC,9091,-0.73,-76.5,2911,1857,2597,2610,665.1,-9.0,318,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1857,2603,2597,2610,0,0,0,0,0,0,27.14,27.16,27.16
$GC,9406,-0.73,-76.5,2911,1857,2597,2608,693.2,-9.0,325,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1857,2602,2597,2608,0,0,0,0,0,0,27.14,27.16,27.15
$GC,9721,-0.73,-76.5,2911,1857,2597,2606,720.2,-8.4,332,9727,0.00,2.20,0.00,0.000,260,0.000,0.060,2901,3400,2601,2596,2607,0,0,0,0,0,0,27.14,26.72,27.16
$GC,9778,-0.73,-76.5,2901,3400,2595,2606,723.7,-8.3,333,9782,0.00,2.10,0.00,0.000,1030,0.000,0.047,2901,1852,2601,2596,2606,0,0,0,0,0,0,26.91,26.86,26.92
$GC,10122,-0.73,-76.5,2901,1852,2594,2606,755.2,-8.8,341,10128,0.00,2.22,0.00,0.000,260,0.000,0.060,2891,3403,2600,2594,2606,0,0,0,0,0,0,27.14,26.72,27.15
$GC,10184,-0.73,-76.5,2890,3403,2592,2607,759.1,-9.0,342,10188,0.00,2.15,0.00,0.000,1030,0.000,0.047,2891,1854,2600,2594,2606,0,0,0,0,0,0,26.89,26.86,26.89
$GC,10528,-0.73,-76.5,2890,1854,2591,2606,792.8,-9.5,350,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1854,2599,2592,2606,0,0,0,0,0,0,27.14,27.15,27.15
$GC,10844,-0.73,-76.5,2890,1853,2591,2604,823.9,-9.9,357,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1854,2598,2592,2604,0,0,0,0,0,0,27.14,27.17,27.15
$GC,11158,-0.73,-76.5,2890,1854,2591,2602,856.1,-10.4,364,11162,0.00,2.25,0.00,0.000,260,0.000,0.060,2881,3409,2596,2591,2601,0,0,0,0,0,0,27.14,26.70,27.15
$GC,11253,-0.73,-76.5,2880,3409,2590,2602,866.8,-10.9,366,11259,0.10,2.10,0.00,0.000,3078,0.154,0.047,2916,1847,2596,2590,2602,0,0,0,0,0,0,26.49,26.84,26.54
$GC,11569,-0.73,-76.5,2917,1847,2589,2602,897.2,-9.5,373,11574,0.00,2.17,0.00,0.000,516,0.000,0.060,2917,311,2595,2589,2601,0,0,0,0,0,0,27.14,26.68,27.16
$GC,11614,-0.73,-76.5,2917,311,2589,2601,902.2,-9.8,374,11619,0.00,2.15,0.00,0.000,1030,0.000,0.047,2908,1850,2595,2589,2601,0,0,0,0,0,0,26.82,26.80,26.84
$GC,11930,-0.73,-76.5,2908,1850,2589,2599,933.4,-9.7,381,11935,0.00,2.22,0.00,0.000,260,0.000,0.060,2897,3401,2593,2588,2599,0,0,0,0,0,0,27.14,26.69,27.15
$GC,12058,-0.73,-76.5,2896,3401,2586,2599,942.4,-9.7,383,12067,0.00,2.15,0.00,0.000,1030,0.000,0.047,2897,1858,2592,2586,2599,0,0,0,0,0,0,26.86,26.84,26.88
$GC,12381,-0.73,-76.5,2897,1858,2586,2598,977.0,-9.4,391,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1859,2591,2586,2597,0,0,0,0,0,0,27.14,27.16,27.15
$GC,12773,-0.73,-76.5,2896,1858,2585,2596,1012.0,-9.0,398,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1858,2590,2585,2595,0,0,0,0,0,0,27.13,27.16,27.16
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$GC,58189,-1.67,-76.5,2588,1849,2556,2568,4649.1,-3.7,776,58190,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1849,2561,2555,2568,0,0,0,0,0,0,27.07,27.10,27.09
$GC,58550,-1.67,-76.5,2588,1848,2556,2568,4662.6,-3.7,779,58555,0.00,2.55,0.00,0.000,260,0.000,0.079,2578,3425,2562,2556,2568,0,0,0,0,0,0,27.01,25.27,27.03
$GC,58635,-1.67,-76.5,2578,3425,2555,2568,4662.6,-3.7,779,58641,0.12,2.40,0.00,0.000,3078,0.164,0.060,2619,1847,2561,2555,2567,0,0,0,0,0,0,25.44,25.79,25.53
$GC,59027,-1.75,-123.1,2618,1847,2555,2568,4677.7,-3.1,783,59033,0.00,2.58,0.00,0.000,516,0.000,0.087,2618,278,2562,2556,2568,0,0,0,0,0,0,27.07,25.03,27.09
$GC,59119,-1.82,-146.6,2618,278,2556,2568,4677.7,-3.1,783,59123,0.00,2.50,0.00,0.000,5126,0.000,0.070,2609,1860,2562,2556,2568,0,0,0,0,0,0,25.67,25.49,25.72
$GC,59504,-1.88,-146.6,2609,1860,2556,2568,4693.8,-3.4,787,59506,0.05,0.00,0.00,0.000,4102,0.174,0.000,2566,1861,2561,2555,2567,0,0,0,0,0,0,26.79,26.81,26.79
$GC,59862,-1.88,-146.6,2565,1861,2555,2568,4708.8,-4.0,790,59867,0.00,2.60,0.00,0.000,260,0.000,0.084,2555,3436,2562,2556,2568,0,0,0,0,0,0,27.07,25.17,27.08
$GC,59962,-1.88,-146.6,2554,3436,2555,2568,4708.8,-4.0,790,59967,0.00,2.42,0.00,0.000,1030,0.000,0.062,2555,1860,2561,2555,2568,0,0,0,0,0,0,25.79,25.67,25.83
$GC,60349,-1.88,-146.6,2554,1861,2555,2568,4731.0,-4.6,794,60350,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1860,2562,2556,2568,0,0,0,0,0,0,27.02,27.04,27.03
$GC,60706,-1.88,-146.6,2554,1860,2556,2568,4747.2,-4.5,797,60707,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1860,2562,2556,2568,0,0,0,0,0,0,27.07,27.09,27.08
$GC,61069,-1.88,-146.6,2554,1860,2556,2568,4762.6,-4.3,800,61070,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1860,2562,2556,2568,0,0,0,0,0,0,27.03,27.05,27.05
$GC,61426,-1.88,-146.6,2554,1860,2556,2568,4778.0,-4.4,803,61427,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1860,2561,2555,2568,0,0,0,0,0,0,27.07,27.10,27.08
$GC,61786,-1.88,-146.6,2554,1860,2555,2568,4793.3,-4.3,806,61792,0.00,2.65,0.00,0.000,516,0.000,0.092,2555,259,2562,2556,2568,0,0,0,0,0,0,27.07,24.96,27.09
$GC,61867,-1.88,-146.6,2554,260,2556,2567,4793.3,-4.3,806,61871,0.00,2.53,0.00,0.000,1030,0.000,0.072,2545,1861,2562,2556,2568,0,0,0,0,0,0,25.60,25.45,25.65
$STATE,62265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,62265,begin apogee
$GC,62269,-0.23,0.0,2544,1734,2556,2568,4813.1,-4.1,810,62340,1.65,0.00,66.72,3.717,10246,0.134,0.000,3080,1733,2350,2342,2358,0,0,0,0,0,0,24.35,22.65,20.43
$STATE,62341,end apogee,CONTROL_FINISHED_OK
$STATE,62341,begin climb
$GC,62342,0.78,146.6,3080,1733,2342,2358,4813.1,0.0,810,62519,0.77,2.75,167.50,3.720,10756,0.077,0.102,3377,246,1844,1817,1872,0,0,0,0,0,0,23.32,22.51,20.47
$GC,62811,0.78,146.6,3376,246,1818,1872,4728.4,23.1,814,62815,0.00,2.40,0.00,0.000,1030,0.000,0.065,3376,1756,1844,1817,1872,0,0,0,0,0,0,25.60,25.52,25.63
$GC,63226,0.35,146.6,3375,1757,1817,1872,4606.2,25.4,818,63232,0.38,2.40,0.00,0.000,4612,0.236,0.077,3277,238,1844,1817,1872,0,0,0,0,0,0,25.63,25.97,25.82
$GC,63527,-0.04,146.6,3277,238,1817,1872,4553.9,23.2,820,63532,0.32,2.30,0.00,0.000,5126,0.211,0.062,3184,1757,1845,1818,1873,0,0,0,0,0,0,25.82,26.34,26.10
$GC,63947,-0.27,146.6,3183,1757,1817,1872,4474.6,16.4,824,63953,0.20,2.38,0.00,0.000,4612,0.206,0.077,3127,233,1845,1818,1872,0,0,0,0,0,0,25.99,26.24,26.12
$GC,64249,-0.45,146.6,3127,233,1818,1872,4441.8,14.6,826,64254,0.40,2.30,0.00,0.000,5126,0.176,0.062,3000,1760,1845,1817,1873,0,0,0,0,0,0,25.98,26.47,26.23
$GC,64668,-0.45,146.6,3000,1760,1817,1872,4400.7,8.4,830,64675,0.00,2.38,0.00,0.000,516,0.000,0.079,3011,241,1845,1818,1872,0,0,0,0,0,0,26.94,26.41,26.96
$GC,64755,-0.45,146.6,3010,241,1817,1873,4400.7,8.4,830,64759,0.00,2.25,0.00,0.000,1030,0.000,0.060,3011,1753,1844,1817,1872,0,0,0,0,0,0,26.60,26.51,26.64
$GC,65144,-0.45,146.6,3010,1753,1818,1872,4364.5,7.6,834,65150,0.00,2.35,0.00,0.000,516,0.000,0.079,3021,243,1844,1817,1872,0,0,0,0,0,0,26.97,26.41,26.98
$GC,65225,-0.45,146.6,3021,243,1818,1872,4364.5,7.6,834,65229,0.00,2.25,0.00,0.000,1030,0.000,0.060,3021,1757,1844,1817,1872,0,0,0,0,0,0,26.63,26.52,26.65
$GC,65624,-0.45,146.6,3021,1757,1818,1872,4327.2,7.8,838,65628,0.00,2.38,0.00,0.000,516,0.000,0.077,3032,245,1845,1818,1872,0,0,0,0,0,0,27.00,26.41,27.01
$GC,65708,-0.45,146.6,3032,244,1818,1872,4327.2,7.8,838,65713,0.00,2.25,0.00,0.000,1030,0.000,0.060,3032,1753,1845,1818,1872,0,0,0,0,0,0,26.63,26.53,26.66
$GC,66102,-0.45,146.6,3032,1754,1817,1872,4290.5,7.7,842,66103,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1754,1845,1819,1872,0,0,0,0,0,0,27.01,27.03,27.03
$GC,66464,-0.45,146.6,3031,1754,1818,1872,4261.9,7.8,845,66469,0.00,2.38,0.00,0.000,516,0.000,0.077,3042,239,1845,1818,1873,0,0,0,0,0,0,27.03,26.41,27.05
$GC,66606,-0.45,146.6,3042,239,1818,1872,4252.3,8.0,846,66611,0.10,2.30,0.00,0.000,5126,0.151,0.057,3008,1754,1845,1818,1872,0,0,0,0,0,0,26.25,26.53,26.32
$GC,66945,-0.45,146.6,3008,1754,1818,1872,4226.7,7.3,849,66952,0.00,2.35,0.00,0.000,516,0.000,0.077,3018,234,1844,1817,1872,0,0,0,0,0,0,27.03,26.39,27.05
$GC,67012,-0.45,146.6,3018,234,1817,1872,4226.7,7.3,849,67016,0.00,2.28,0.00,0.000,1030,0.000,0.057,3018,1762,1844,1817,1872,0,0,0,0,0,0,26.63,26.52,26.66
$GC,67425,-0.45,146.6,3018,1762,1817,1872,4191.0,7.4,853,67431,0.00,2.38,0.00,0.000,516,0.000,0.074,3028,246,1845,1818,1872,0,0,0,0,0,0,27.04,26.37,27.06
$GC,67511,-0.45,146.6,3027,246,1818,1872,4191.0,7.4,853,67516,0.00,2.28,0.00,0.000,1030,0.000,0.057,3028,1757,1845,1818,1873,0,0,0,0,0,0,26.57,26.53,26.60
$GC,67906,-0.45,146.6,3028,1757,1817,1872,4155.0,7.5,857,67911,0.00,2.33,0.00,0.000,516,0.000,0.074,3037,252,1844,1817,1872,0,0,0,0,0,0,27.05,26.37,27.07
$GC,67982,-0.45,146.6,3037,251,1818,1872,4155.0,7.5,857,67986,0.00,2.22,0.00,0.000,1030,0.000,0.057,3037,1756,1844,1817,1872,0,0,0,0,0,0,26.62,26.52,26.65
$GC,68381,-0.45,146.6,3037,1756,1817,1872,4119.5,7.5,861,68387,0.00,2.35,0.00,0.000,516,0.000,0.074,3047,239,1845,1818,1872,0,0,0,0,0,0,27.05,26.37,27.07
$GC,68452,-0.45,146.6,3047,239,1817,1872,4119.5,7.5,861,68457,0.12,2.22,0.00,0.000,5126,0.161,0.057,3006,1752,1844,1817,1872,0,0,0,0,0,0,26.25,26.51,26.37
$GC,68857,-0.39,146.6,3005,1752,1817,1872,4088.5,6.5,865,68862,0.00,2.35,0.00,0.000,516,0.000,0.074,3015,235,1844,1817,1872,0,0,0,0,0,0,27.05,26.34,27.08
$GC,68923,-0.34,146.6,3014,235,1817,1872,4088.5,6.5,865,68927,0.00,2.25,0.00,0.000,1030,0.000,0.055,3014,1763,1844,1817,1872,0,0,0,0,0,0,26.60,26.51,26.64
$GC,69333,-0.28,146.6,3014,1763,1817,1872,4057.5,6.5,869,69339,0.00,2.38,0.00,0.000,2564,0.000,0.074,3025,242,1845,1818,1872,0,0,0,0,0,0,27.07,26.32,27.08
$GC,69404,-0.22,146.6,3024,242,1817,1872,4057.5,6.5,869,69409,0.00,2.25,0.00,0.000,3078,0.000,0.055,3024,1754,1844,1817,1872,0,0,0,0,0,0,26.63,26.51,26.66
$GC,69809,-0.22,146.6,3024,1753,1817,1872,4026.2,6.6,873,69814,0.00,2.35,0.00,0.000,2564,0.000,0.074,3033,242,1844,1817,1872,0,0,0,0,0,0,27.08,26.32,27.08
$GC,69879,-0.22,146.6,3033,242,1818,1872,4026.2,6.6,873,69884,0.00,2.22,0.00,0.000,3078,0.000,0.055,3033,1752,1845,1818,1872,0,0,0,0,0,0,26.62,26.49,26.65
$GC,70288,-0.22,146.6,3033,1753,1817,1872,3995.2,6.4,877,70292,0.00,2.38,0.00,0.000,2564,0.000,0.074,3042,233,1845,1818,1872,0,0,0,0,0,0,27.08,26.31,27.08
$GC,70357,-0.22,146.6,3041,233,1817,1872,3995.2,6.4,877,70361,0.00,2.22,0.00,0.000,3078,0.000,0.055,3042,1751,1844,1817,1872,0,0,0,0,0,0,26.62,26.49,26.65
$GC,70772,-0.22,146.6,3041,1753,1817,1872,3963.8,6.5,881,70778,0.00,2.33,0.00,0.000,2564,0.000,0.074,3050,247,1844,1817,1872,0,0,0,0,0,0,27.08,26.29,27.08
$GC,70858,-0.22,146.6,3050,248,1817,1872,3963.8,6.5,881,70862,0.00,2.22,0.00,0.000,1030,0.000,0.055,3050,1751,1844,1817,1872,0,0,0,0,0,0,26.58,26.48,26.62
$GC,71252,-0.22,146.6,3050,1751,1817,1872,3932.6,6.5,885,71253,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1751,1844,1817,1872,0,0,0,0,0,0,27.07,27.09,27.08
$GC,71612,-0.22,146.6,3049,1751,1817,1872,3910.1,6.3,888,71617,0.00,2.35,0.00,0.000,516,0.000,0.074,3061,238,1844,1817,1872,0,0,0,0,0,0,27.07,26.28,27.09
$GC,71740,-0.22,146.6,3060,238,1818,1872,3902.5,6.3,889,71744,0.00,2.22,0.00,0.000,1030,0.000,0.055,3061,1753,1844,1817,1872,0,0,0,0,0,0,26.57,26.47,26.60
$GC,72089,-0.22,146.6,3060,1754,1818,1872,3879.2,6.5,892,72090,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1754,1844,1817,1872,0,0,0,0,0,0,27.07,27.09,27.09
$GC,72449,-0.22,146.6,3061,1753,1817,1872,3857.1,6.2,895,72454,0.00,2.38,0.00,0.000,516,0.000,0.074,3072,238,1844,1817,1872,0,0,0,0,0,0,27.07,26.27,27.10
$GC,72569,-0.22,146.6,3071,238,1817,1872,3849.3,6.2,896,72575,0.00,2.22,0.00,0.000,1030,0.000,0.055,3072,1753,1844,1817,1872,0,0,0,0,0,0,26.53,26.46,26.57
$GC,72929,-0.22,146.6,3071,1753,1817,1872,3826.5,6.4,899,72936,0.00,2.35,0.00,0.000,516,0.000,0.072,3083,243,1844,1817,1872,0,0,0,0,0,0,27.07,26.25,27.09
$GC,73016,-0.22,146.6,3083,243,1817,1872,3826.5,6.4,899,73020,0.00,2.20,0.00,0.000,1030,0.000,0.055,3083,1751,1844,1817,1872,0,0,0,0,0,0,26.56,26.47,26.60
$GC,73405,-0.22,146.6,3083,1751,1817,1872,3795.0,6.7,903,73411,0.00,2.38,0.00,0.000,516,0.000,0.072,3094,233,1844,1817,1872,0,0,0,0,0,0,27.07,26.27,27.09
$GC,73501,-0.22,146.6,3094,233,1818,1872,3795.0,6.7,903,73505,0.00,2.22,0.00,0.000,1030,0.000,0.052,3094,1760,1844,1817,1872,0,0,0,0,0,0,26.55,26.46,26.59
$GC,73881,-0.22,146.6,3094,1761,1817,1872,3762.0,7.0,907,73887,0.00,2.38,0.00,0.000,516,0.000,0.072,3105,235,1844,1817,1872,0,0,0,0,0,0,27.07,26.27,27.09
$GC,73962,-0.22,146.6,3105,235,1818,1872,3762.0,7.0,907,73967,0.00,2.22,0.00,0.000,1030,0.000,0.052,3105,1758,1844,1817,1872,0,0,0,0,0,0,26.55,26.46,26.59
$GC,74361,-0.22,146.6,3105,1760,1817,1872,3727.6,7.1,911,74362,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1759,1845,1818,1872,0,0,0,0,0,0,27.08,27.10,27.09
$GC,74722,-0.22,146.6,3106,1760,1817,1872,3703.3,6.8,914,74727,0.00,2.35,0.00,0.000,516,0.000,0.072,3116,248,1845,1818,1872,0,0,0,0,0,0,27.08,26.25,27.09
$GC,74894,-0.22,146.6,3116,248,1817,1872,3694.5,6.9,915,74899,0.12,2.22,0.00,0.000,5126,0.174,0.052,3075,1777,1844,1817,1872,0,0,0,0,0,0,26.07,26.46,26.19
$GC,75203,-0.22,146.6,3075,1777,1817,1872,3672.7,6.3,918,75204,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1777,1844,1817,1872,0,0,0,0,0,0,27.07,27.10,27.09
$GC,75563,-0.22,146.6,3075,1777,1817,1872,3651.3,5.8,921,75568,0.00,2.40,0.00,0.000,516,0.000,0.072,3086,241,1844,1817,1871,0,0,0,0,0,0,27.08,26.24,27.09
$GC,75731,-0.22,146.6,3085,241,1818,1872,3644.7,5.9,922,75735,0.00,2.20,0.00,0.000,1030,0.000,0.052,3085,1749,1844,1817,1872,0,0,0,0,0,0,26.54,26.45,26.58
$GC,76044,-0.22,146.6,3085,1749,1817,1872,3624.5,5.6,925,76046,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1749,1844,1817,1872,0,0,0,0,0,0,27.08,27.10,27.09
$GC,76404,-0.22,146.6,3085,1749,1817,1872,3604.7,5.5,928,76410,0.00,2.38,0.00,0.000,516,0.000,0.072,3097,238,1844,1817,1872,0,0,0,0,0,0,27.08,26.22,27.10
$GC,76547,-0.22,146.6,3096,238,1817,1872,3597.7,5.6,929,76551,0.00,2.20,0.00,0.000,1030,0.000,0.052,3097,1751,1845,1818,1872,0,0,0,0,0,0,26.54,26.45,26.57
$GC,76886,-0.22,146.6,3095,1752,1818,1872,3577.4,5.7,932,76892,0.00,2.38,0.00,0.000,516,0.000,0.070,3108,243,1844,1817,1872,0,0,0,0,0,0,27.08,26.21,27.09
$GC,76977,-0.22,146.6,3108,244,1817,1872,3577.4,5.7,932,76981,0.00,2.20,0.00,0.000,1030,0.000,0.052,3108,1758,1844,1817,1872,0,0,0,0,0,0,26.53,26.44,26.56
$GC,77366,-0.22,146.6,3107,1759,1818,1872,3549.7,5.8,936,77367,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1759,1844,1817,1872,0,0,0,0,0,0,27.08,27.10,27.09
$GC,77726,-0.22,146.6,3108,1759,1817,1872,3529.9,5.5,939,77732,0.00,2.40,0.00,0.000,516,0.000,0.072,3119,238,1844,1817,1872,0,0,0,0,0,0,27.08,26.20,27.10
$GC,77878,-0.22,146.6,3118,237,1817,1872,3522.7,5.6,940,77883,0.12,2.20,0.00,0.000,5126,0.174,0.052,3077,1753,1844,1817,1872,0,0,0,0,0,0,26.04,26.44,26.15
$GC,78208,-0.22,146.6,3077,1753,1817,1872,3505.0,5.1,943,78209,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1753,1844,1817,1872,0,0,0,0,0,0,27.08,27.10,27.09
$GC,78567,-0.22,146.6,3077,1753,1817,1872,3488.8,4.6,946,78572,0.00,2.38,0.00,0.000,516,0.000,0.070,3088,234,1844,1817,1872,0,0,0,0,0,0,27.08,26.19,27.09
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$GC,139927,0.65,282.4,3390,268,1358,1411,339.4,10.8,1586,139931,0.00,2.05,0.00,0.000,1030,0.000,0.045,3390,1764,1384,1357,1411,0,0,0,0,0,0,26.74,26.68,26.76
$GC,140261,0.65,282.4,3390,1764,1359,1411,300.3,11.3,1594,140271,0.00,2.28,4.10,0.574,8708,0.000,0.062,3401,269,1377,1343,1411,0,0,0,0,0,0,27.10,26.06,24.87
$GC,140385,0.65,282.4,3400,269,1343,1411,286.1,11.5,1598,140392,0.12,2.00,0.00,0.000,5126,0.164,0.047,3358,1754,1377,1343,1411,0,0,0,0,0,0,26.22,26.70,26.29
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$GC,141131,0.65,282.4,3368,265,1346,1411,218.3,9.4,1622,141141,0.00,2.08,0.00,0.000,1030,0.000,0.047,3368,1750,1378,1346,1411,0,0,0,0,0,0,26.73,26.71,26.74
$GC,141440,0.65,282.4,3368,1750,1347,1411,188.8,8.7,1633,141446,0.00,2.15,0.00,0.000,516,0.000,0.062,3377,275,1379,1348,1411,0,0,0,0,0,0,27.10,26.51,27.12
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$GC,142307,0.65,282.4,3399,260,1354,1411,115.2,8.4,1675,142312,0.12,2.03,0.00,0.000,5126,0.161,0.047,3355,1764,1382,1354,1411,0,0,0,0,0,0,26.34,26.74,26.44
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$GC,143421,0.93,282.4,3453,1750,1361,1411,20.5,9.7,1754,143432,0.00,2.25,3.78,0.442,8452,0.000,0.060,3454,3307,1378,1346,1411,0,0,0,0,0,0,27.12,25.65,25.08
$GC,143539,0.93,282.4,3454,3307,1346,1412,5.2,13.7,1764,143550,0.00,2.15,0.00,0.000,1030,0.000,0.047,3465,1747,1378,1346,1411,0,0,0,0,0,0,26.82,26.77,26.83
$STATE,143569,end climb,SURFACE_DEPTH_REACHED
$STATE,143569,begin surface coast
$FINISH,0.2,1.024009
$STATE,143578,end surface coast,CONTROL_FINISHED_OK
$STATE,143578,begin surface
$SM_CCo,143654,0.00,0.000,0,0,1377,282.65
$SM_GC,0.39,8.38,0.08,0.00,0.079,0.127,0.000,186,1873,1377,-9.19,-2.52,282.65,0,0,0,0,0,0,26.51,26.91,26.60
$IRIDIUM_FIX,2744.54,-7431.43,081008,071845
$TT8_MAMPS,0.021721,0.021721
$HUMID,38.06
$INTERNAL_PRESSURE,9.21122
$TCM_TEMP,26.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4772.8,68.1
$24V_AH,20.43,36.910
$10V_AH,10.06,30.582
$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,28.925,763.225,369.425,0.000,106.875,66.862,38.006,335.474,70.250,0.000,16.513,7946.363,120700.289,922.634,14105.639,593.110,0.000,6271.486,0.000,13024.280,0.000,639.074,0.000
$DEVICE_MAMPS,285.545,126.633,3719.534,0.000,141.531,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.193,5768.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353156
$DATA_FILE_SIZE,113470,1768
$CAP_FILE_SIZE,893127,0
$CFSIZE,1024409600,953614336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,161538.98,0x26783e,7,24
$CURRENT,0.046,343.59,1
$GPS,141215,095542,2744.328,-7432.705,26,1.4,36,-10.0,0.7,330.9,8,9.9