version: 66.12
glider: 37
mission: 22
dive: 75
start: 12 14 115 10 5 12
data:
$ID,37
$MISSION,22
$DIVE,75
$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,69
$R_STBD_OVSHOOT,108
$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
$GPS1,141215,095542,2744.3284,-7432.7051,26,1.4,36,-10.0,0.7,330.9,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-66.6
$GPS2,141215,100445,2744.3643,-7432.6572,4,1.5,19,-10.0,0.0,0.0,7,9.7
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$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,234.8,258298,-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
$STATE,13,begin dive
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$GC,245,-0.38,-146.6,2980,276,2844,2868,29.1,-12.9,20,255,0.15,2.17,0.00,0.000,3078,0.154,0.050,3024,1829,2856,2843,2869,0,0,0,0,0,0,26.06,26.43,26.13
$GC,555,-0.38,-146.6,3024,1830,2844,2868,53.7,-8.0,45,560,0.00,2.25,0.00,0.000,260,0.000,0.060,3014,3404,2856,2844,2869,0,0,0,0,0,0,26.95,26.54,26.96
$GC,667,-0.38,-146.6,3013,3404,2844,2869,62.7,-8.2,52,672,0.00,2.12,0.00,0.000,1030,0.000,0.047,3014,1828,2856,2844,2869,0,0,0,0,0,0,26.74,26.72,26.75
$GC,984,-0.38,-146.6,3014,1828,2844,2869,88.7,-8.7,73,985,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1827,2856,2844,2869,0,0,0,0,0,0,27.05,27.07,27.08
$GC,1283,-0.38,-146.6,3014,1827,2844,2869,112.9,-7.6,93,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1828,2856,2844,2869,0,0,0,0,0,0,27.10,27.11,27.11
$GC,1582,-0.38,-146.6,3014,1827,2844,2869,135.0,-7.3,113,1588,0.00,2.25,0.00,0.000,260,0.000,0.060,3004,3401,2856,2844,2869,0,0,0,0,0,0,27.11,26.69,27.13
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$GC,1994,-0.38,-146.6,3003,1842,2844,2869,164.1,-6.1,133,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1842,2856,2844,2869,0,0,0,0,0,0,27.13,27.15,27.14
$GC,2293,-0.38,-146.6,3003,1842,2844,2869,180.6,-5.4,143,2299,0.00,2.17,0.00,0.000,516,0.000,0.062,3004,312,2856,2844,2869,0,0,0,0,0,0,27.13,26.70,27.15
$GC,2342,-0.38,-146.6,3003,311,2844,2869,182.3,-5.3,144,2346,0.00,2.10,0.00,0.000,1030,0.000,0.047,2994,1864,2856,2844,2869,0,0,0,0,0,0,26.86,26.82,26.88
$GC,2650,-0.38,-146.6,2995,1864,2844,2869,203.4,-6.1,154,2655,0.08,2.20,0.00,0.000,2308,0.181,0.060,3022,3406,2856,2844,2869,0,0,0,0,0,0,26.74,26.72,26.76
$GC,2822,-0.38,-146.6,3022,3407,2844,2870,212.3,-5.2,159,2826,0.00,2.10,0.00,0.000,1030,0.000,0.047,3022,1851,2857,2844,2870,0,0,0,0,0,0,26.91,26.88,26.93
$GC,3142,-0.38,-146.6,3022,1835,2844,2870,229.0,-4.9,170,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1835,2857,2844,2870,0,0,0,0,0,0,27.14,27.16,27.15
$GC,3440,-0.38,-146.6,3022,1835,2844,2870,244.4,-4.8,180,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1835,2857,2844,2870,0,0,0,0,0,0,27.14,27.16,27.15
$GC,3740,-0.38,-146.6,3022,1835,2844,2870,258.2,-4.9,190,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1835,2856,2844,2869,0,0,0,0,0,0,27.14,27.16,27.15
$GC,4041,-0.38,-146.6,3022,1835,2844,2869,271.5,-4.6,200,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1835,2857,2844,2870,0,0,0,0,0,0,27.14,27.16,27.15
$GC,4342,-0.38,-146.6,3022,1835,2844,2869,286.1,-4.6,210,4347,0.00,2.25,0.00,0.000,260,0.000,0.060,3014,3400,2856,2844,2869,0,0,0,0,0,0,27.14,26.73,27.16
$GC,4404,-0.38,-146.6,3012,3399,2844,2869,289.1,-4.6,212,4409,0.00,2.15,0.00,0.000,1030,0.000,0.045,3013,1825,2856,2843,2869,0,0,0,0,0,0,26.91,26.89,26.92
$GC,4734,-0.38,-146.6,3013,1825,2843,2869,305.9,-5.2,222,4740,0.00,2.12,0.00,0.000,516,0.000,0.062,3013,317,2856,2843,2869,0,0,0,0,0,0,27.15,26.72,27.16
$GC,4791,-0.38,-146.6,3013,316,2843,2868,308.3,-5.2,223,4795,0.00,2.08,0.00,0.000,1030,0.000,0.047,3005,1847,2855,2843,2868,0,0,0,0,0,0,26.88,26.83,26.89
$GC,5135,-0.38,-146.6,3005,1848,2843,2868,327.7,-5.4,231,5141,0.00,2.20,0.00,0.000,260,0.000,0.062,2994,3393,2855,2843,2868,0,0,0,0,0,0,27.14,26.73,27.16
$GC,5207,-0.38,-146.6,2994,3393,2843,2868,330.0,-5.4,232,5212,0.00,2.12,0.00,0.000,1030,0.000,0.047,2995,1843,2855,2843,2868,0,0,0,0,0,0,26.90,26.89,26.91
$GC,5541,-0.38,-146.6,2994,1843,2844,2867,350.6,-5.9,240,5543,0.10,0.00,0.00,0.000,2054,0.149,0.000,3035,1841,2855,2843,2867,0,0,0,0,0,0,26.77,26.84,26.81
$GC,5858,-0.46,-146.6,3034,1841,2842,2865,365.4,-4.8,247,5859,0.00,0.00,0.00,0.000,4102,0.000,0.000,3035,1841,2854,2843,2866,0,0,0,0,0,0,27.15,27.17,27.17
$GC,6172,-0.55,-146.6,3034,1841,2844,2864,378.6,-4.0,254,6173,0.05,0.00,0.00,0.000,4102,0.174,0.000,2977,1839,2853,2843,2864,0,0,0,0,0,0,26.94,26.96,26.95
$GC,6486,-0.55,-146.6,2976,1839,2843,2863,398.5,-6.5,261,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1839,2853,2843,2863,0,0,0,0,0,0,27.14,27.16,27.16
$GC,6801,-0.55,-146.6,2977,1839,2843,2861,418.9,-6.4,268,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1839,2852,2843,2862,0,0,0,0,0,0,27.15,27.17,27.15
$GC,7117,-0.55,-146.6,2976,1839,2844,2860,438.4,-6.1,275,7122,0.00,2.22,0.00,0.000,260,0.000,0.060,2968,3402,2851,2843,2860,0,0,0,0,0,0,27.15,26.73,27.17
$GC,7199,-0.55,-146.6,2968,3402,2842,2860,441.2,-6.2,276,7207,0.00,2.15,0.00,0.000,1030,0.000,0.047,2968,1840,2851,2842,2860,0,0,0,0,0,0,26.91,26.90,26.92
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$GC,7838,-0.55,-146.6,2968,1840,2842,2858,485.3,-6.4,291,7843,0.00,2.25,0.00,0.000,260,0.000,0.060,2964,3397,2850,2842,2858,0,0,0,0,0,0,27.14,26.72,27.16
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$GC,8244,-0.55,-146.6,2963,1841,2842,2857,511.6,-6.6,300,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1841,2849,2842,2857,0,0,0,0,0,0,27.15,27.16,27.16
$GC,8559,-0.55,-146.6,2963,1841,2842,2856,533.5,-7.0,307,8565,0.00,2.22,0.00,0.000,260,0.000,0.060,2963,3398,2848,2841,2856,0,0,0,0,0,0,27.13,26.73,27.16
$GC,8603,-0.55,-146.6,2963,3398,2841,2857,536.9,-7.1,308,8607,0.00,2.08,0.00,0.000,1030,0.000,0.045,2963,1879,2849,2841,2857,0,0,0,0,0,0,26.93,26.89,26.94
$GC,8922,-0.55,-146.6,2963,1849,2841,2856,559.2,-7.2,315,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1848,2848,2841,2856,0,0,0,0,0,0,27.15,27.16,27.16
$GC,9236,-0.55,-146.6,2963,1849,2841,2855,580.6,-6.7,322,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1848,2848,2841,2855,0,0,0,0,0,0,27.14,27.17,27.16
$GC,9551,-0.55,-146.6,2963,1849,2841,2854,600.9,-6.5,329,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1849,2847,2841,2854,0,0,0,0,0,0,27.14,27.16,27.16
$GC,9866,-0.55,-146.6,2963,1849,2841,2853,622.9,-7.0,336,9872,0.00,2.25,0.00,0.000,260,0.000,0.060,2956,3399,2846,2841,2852,0,0,0,0,0,0,27.14,26.72,27.16
$GC,9919,-0.55,-146.6,2956,3400,2840,2853,626.3,-7.1,337,9923,0.00,2.15,0.00,0.000,1030,0.000,0.045,2956,1830,2846,2840,2853,0,0,0,0,0,0,26.92,26.89,26.94
$GC,10267,-0.55,-146.6,2956,1829,2840,2853,652.0,-7.1,345,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1829,2846,2839,2853,0,0,0,0,0,0,27.15,27.16,27.16
$GC,10583,-0.55,-146.6,2956,1829,2840,2852,673.0,-6.6,352,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1829,2845,2840,2851,0,0,0,0,0,0,27.14,27.17,27.16
$GC,10897,-0.55,-146.6,2955,1829,2840,2850,693.9,-6.5,359,10902,0.00,2.28,0.00,0.000,260,0.000,0.060,2951,3399,2845,2840,2850,0,0,0,0,0,0,27.14,26.71,27.16
$GC,10958,-0.55,-146.6,2950,3400,2838,2850,697.3,-6.6,360,10963,0.00,2.12,0.00,0.000,1030,0.000,0.045,2951,1841,2844,2838,2850,0,0,0,0,0,0,26.92,26.88,26.93
$GC,11308,-0.55,-146.6,2950,1840,2837,2849,722.8,-6.9,368,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1841,2843,2837,2850,0,0,0,0,0,0,27.14,27.16,27.16
$GC,11622,-0.55,-146.6,2950,1841,2836,2849,746.6,-7.7,375,11626,0.00,2.30,0.00,0.000,260,0.000,0.060,2951,3408,2842,2836,2849,0,0,0,0,0,0,27.14,26.70,27.16
$GC,11671,-0.55,-146.6,2950,3408,2834,2849,750.5,-7.9,376,11676,0.00,2.12,0.00,0.000,1030,0.000,0.045,2951,1841,2842,2835,2849,0,0,0,0,0,0,26.89,26.88,26.91
$GC,11985,-0.55,-146.6,2950,1841,2835,2848,775.9,-8.2,383,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1841,2841,2835,2848,0,0,0,0,0,0,27.14,27.16,27.16
$GC,12300,-0.55,-146.6,2950,1841,2835,2846,800.6,-7.8,390,12306,0.00,2.25,0.00,0.000,260,0.000,0.060,2951,3398,2840,2834,2846,0,0,0,0,0,0,27.14,26.70,27.15
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$GC,54106,-1.33,-146.6,2720,1855,2801,2806,3867.8,-4.9,775,54107,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1855,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,54466,-1.33,-146.6,2720,1855,2801,2806,3885.7,-5.0,778,54468,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1855,2803,2801,2806,0,0,0,0,0,0,27.00,27.03,27.02
$GC,54828,-1.33,-146.6,2721,1855,2801,2806,3903.4,-4.9,781,54829,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1855,2804,2801,2807,0,0,0,0,0,0,27.03,27.05,27.05
$GC,55187,-1.33,-146.6,2720,1855,2801,2807,3920.6,-4.8,784,55188,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1855,2803,2801,2806,0,0,0,0,0,0,27.02,27.04,27.03
$GC,55545,-1.33,-146.6,2720,1855,2801,2806,3937.0,-4.6,787,55546,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1855,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.09
$GC,55908,-1.38,-146.6,2720,1855,2801,2806,3953.4,-4.6,790,55909,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1855,2803,2801,2806,0,0,0,0,0,0,27.03,27.05,27.05
$GC,56265,-1.43,-146.6,2721,1856,2801,2806,3969.6,-4.5,793,56271,0.00,2.60,0.00,0.000,516,0.000,0.084,2721,304,2803,2801,2806,0,0,0,0,0,0,27.08,25.12,27.09
$GC,56317,-1.48,-146.6,2720,304,2801,2806,3969.6,-4.5,793,56321,0.00,2.42,0.00,0.000,5126,0.000,0.065,2711,1854,2803,2801,2806,0,0,0,0,0,0,25.86,25.71,25.91
$GC,56742,-1.48,-146.6,2711,1855,2801,2806,3992.8,-4.9,797,56743,0.00,0.00,0.00,0.000,4102,0.000,0.000,2711,1855,2803,2800,2806,0,0,0,0,0,0,27.01,27.03,27.02
$GC,57100,-1.48,-146.6,2711,1855,2801,2806,4009.8,-4.7,800,57101,0.00,0.00,0.00,0.000,4102,0.000,0.000,2711,1855,2803,2801,2806,0,0,0,0,0,0,27.08,27.10,27.10
$GC,57460,-1.48,-146.6,2711,1854,2801,2806,4025.6,-4.5,803,57461,0.00,0.00,0.00,0.000,4102,0.000,0.000,2711,1855,2803,2801,2806,0,0,0,0,0,0,27.09,27.10,27.10
$GC,57824,-1.48,-146.6,2711,1855,2801,2806,4041.1,-4.3,806,57829,0.00,2.58,0.00,0.000,4612,0.000,0.084,2711,306,2803,2801,2806,0,0,0,0,0,0,27.05,25.09,27.05
$GC,57874,-1.48,-146.6,2711,305,2801,2806,4041.1,-4.3,806,57879,0.00,2.42,0.00,0.000,1030,0.000,0.065,2702,1856,2803,2801,2806,0,0,0,0,0,0,25.82,25.70,25.86
$GC,58183,-1.48,-146.6,2702,1856,2801,2806,4058.3,-4.6,809,58184,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1856,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,58544,-1.48,-146.6,2702,1856,2801,2806,4075.0,-4.6,812,58546,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1856,2803,2801,2806,0,0,0,0,0,0,27.01,27.03,27.02
$GC,58906,-1.48,-146.6,2702,1856,2801,2806,4091.5,-4.6,815,58907,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1856,2803,2801,2806,0,0,0,0,0,0,27.03,27.05,27.05
$GC,59263,-1.48,-146.6,2702,1856,2801,2806,4107.7,-4.5,818,59267,0.00,2.60,0.00,0.000,516,0.000,0.082,2702,301,2803,2801,2806,0,0,0,0,0,0,27.07,25.07,27.09
$GC,59322,-1.48,-146.6,2702,301,2801,2806,4107.7,-4.5,818,59327,0.00,2.42,0.00,0.000,1030,0.000,0.065,2693,1853,2803,2801,2806,0,0,0,0,0,0,25.82,25.69,25.86
$GC,59746,-1.48,-146.6,2693,1853,2800,2806,4129.9,-4.6,822,59748,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1853,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.09
$GC,60106,-1.48,-146.6,2693,1853,2801,2806,4146.1,-4.5,825,60107,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1854,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.09
$GC,60469,-1.48,-146.6,2693,1853,2801,2806,4162.6,-4.6,828,60475,0.00,2.58,0.00,0.000,516,0.000,0.084,2693,300,2803,2801,2806,0,0,0,0,0,0,27.03,25.04,27.05
$GC,60525,-1.48,-146.6,2693,300,2801,2806,4162.6,-4.6,828,60529,0.00,2.42,0.00,0.000,1030,0.000,0.065,2685,1854,2803,2801,2806,0,0,0,0,0,0,25.81,25.69,25.85
$GC,60944,-1.48,-146.6,2684,1854,2801,2806,4186.8,-5.1,832,60945,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1854,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.09
$GC,61305,-1.48,-146.6,2684,1854,2801,2806,4205.0,-5.0,835,61310,0.00,2.58,0.00,0.000,516,0.000,0.084,2684,307,2803,2801,2806,0,0,0,0,0,0,27.00,25.02,27.01
$GC,61360,-1.48,-146.6,2684,307,2801,2806,4205.0,-5.0,835,61364,0.00,2.40,0.00,0.000,1030,0.000,0.065,2677,1850,2803,2801,2806,0,0,0,0,0,0,25.78,25.66,25.83
$GC,61780,-1.48,-146.6,2676,1850,2801,2806,4229.2,-5.1,839,61781,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1850,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,62139,-1.48,-146.6,2676,1851,2800,2806,4246.9,-5.0,842,62140,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1850,2803,2800,2806,0,0,0,0,0,0,27.07,27.09,27.09
$GC,62502,-1.48,-146.6,2676,1850,2801,2806,4264.2,-4.8,845,62507,0.00,2.58,0.00,0.000,516,0.000,0.084,2677,307,2803,2801,2806,0,0,0,0,0,0,27.02,25.01,27.04
$GC,62553,-1.48,-146.6,2676,307,2801,2806,4264.2,-4.8,845,62557,0.00,2.40,0.00,0.000,1030,0.000,0.067,2668,1858,2803,2801,2806,0,0,0,0,0,0,25.75,25.63,25.80
$GC,62977,-1.48,-146.6,2668,1859,2801,2805,4287.9,-4.9,849,62978,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1859,2803,2801,2806,0,0,0,0,0,0,27.06,27.09,27.08
$GC,63339,-1.48,-146.6,2668,1859,2801,2806,4305.7,-4.9,852,63345,0.00,2.58,0.00,0.000,516,0.000,0.084,2669,301,2803,2801,2806,0,0,0,0,0,0,27.02,25.00,27.04
$GC,63400,-1.48,-146.6,2668,302,2801,2806,4305.7,-4.9,852,63405,0.00,2.45,0.00,0.000,1030,0.000,0.067,2660,1861,2803,2801,2806,0,0,0,0,0,0,25.74,25.61,25.78
$GC,63820,-1.48,-146.6,2660,1862,2802,2806,4329.9,-5.0,856,63821,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1861,2803,2801,2806,0,0,0,0,0,0,27.07,27.08,27.08
$GC,64180,-1.48,-146.6,2660,1861,2801,2806,4346.7,-4.7,859,64185,0.00,2.55,0.00,0.000,516,0.000,0.087,2660,308,2803,2801,2806,0,0,0,0,0,0,27.07,25.00,27.08
$GC,64250,-1.48,-146.6,2660,308,2801,2806,4346.7,-4.7,859,64255,0.00,2.42,0.00,0.000,1030,0.000,0.067,2653,1855,2803,2801,2806,0,0,0,0,0,0,25.72,25.60,25.77
$GC,64659,-1.48,-146.6,2652,1855,2801,2806,4369.9,-4.8,863,64660,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1855,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,65019,-1.48,-146.6,2653,1855,2801,2806,4386.9,-4.7,866,65020,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1855,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,65382,-1.48,-146.6,2652,1855,2801,2806,4403.2,-4.6,869,65387,0.00,2.58,0.00,0.000,516,0.000,0.087,2653,308,2803,2801,2806,0,0,0,0,0,0,27.02,24.96,27.03
$GC,65462,-1.48,-146.6,2652,309,2801,2806,4403.2,-4.6,869,65467,0.10,2.42,0.00,0.000,3078,0.164,0.067,2679,1856,2803,2800,2806,0,0,0,0,0,0,25.38,25.58,25.48
$GC,65860,-1.48,-146.6,2679,1856,2801,2806,4422.3,-4.0,873,65861,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1855,2803,2801,2806,0,0,0,0,0,0,27.03,27.05,27.04
$GC,66217,-1.53,-146.6,2679,1855,2801,2806,4435.7,-3.8,876,66223,0.00,2.58,0.00,0.000,516,0.000,0.084,2679,303,2803,2801,2806,0,0,0,0,0,0,27.07,24.98,27.08
$GC,66278,-1.58,-146.6,2679,302,2801,2806,4435.7,-3.8,876,66282,0.00,2.42,0.00,0.000,1030,0.000,0.067,2672,1853,2803,2801,2806,0,0,0,0,0,0,25.75,25.63,25.79
$GC,66697,-1.58,-146.6,2672,1853,2801,2806,4454.9,-4.0,880,66698,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1853,2803,2801,2806,0,0,0,0,0,0,27.06,27.09,27.08
$GC,67057,-1.58,-146.6,2672,1853,2801,2806,4468.7,-3.8,883,67058,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1853,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,67420,-1.58,-146.6,2672,1853,2801,2806,4482.3,-3.7,886,67424,0.00,2.58,0.00,0.000,516,0.000,0.084,2672,304,2803,2801,2806,0,0,0,0,0,0,27.02,24.97,27.04
$GC,67494,-1.58,-146.6,2672,304,2801,2806,4482.3,-3.7,886,67498,0.00,2.42,0.00,0.000,1030,0.000,0.067,2665,1850,2803,2801,2806,0,0,0,0,0,0,25.72,25.59,25.76
$GC,67904,-1.58,-146.6,2665,1851,2801,2806,4501.4,-3.9,890,67905,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1851,2803,2801,2806,0,0,0,0,0,0,26.99,27.02,27.01
$GC,68263,-1.58,-146.6,2664,1850,2801,2806,4516.3,-4.1,893,68264,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1851,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,68623,-1.58,-146.6,2664,1851,2801,2806,4529.8,-3.8,896,68629,0.00,2.58,0.00,0.000,516,0.000,0.087,2665,297,2803,2801,2806,0,0,0,0,0,0,27.07,24.95,27.08
$GC,68694,-1.58,-146.6,2664,297,2801,2806,4529.8,-3.8,896,68699,0.00,2.45,0.00,0.000,1030,0.000,0.067,2657,1853,2803,2801,2806,0,0,0,0,0,0,25.69,25.56,25.73
$GC,69103,-1.58,-146.6,2657,1853,2801,2806,4549.6,-4.1,900,69104,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1853,2803,2801,2806,0,0,0,0,0,0,27.07,27.09,27.08
$GC,69466,-1.58,-146.6,2657,1853,2800,2806,4563.8,-4.0,903,69472,0.00,2.55,0.00,0.000,516,0.000,0.087,2657,304,2803,2801,2806,0,0,0,0,0,0,27.02,24.93,27.03
$GC,69527,-1.58,-146.6,2657,304,2801,2806,4563.8,-4.0,903,69531,0.00,2.42,0.00,0.000,1030,0.000,0.070,2649,1850,2803,2801,2806,0,0,0,0,0,0,25.68,25.56,25.73
$GC,69948,-1.58,-146.6,2649,1850,2801,2806,4585.0,-4.4,907,69949,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1851,2803,2801,2806,0,0,0,0,0,0,27.00,27.03,27.02
$GC,70310,-1.58,-146.6,2649,1850,2801,2806,4600.4,-4.2,910,70315,0.00,2.58,0.00,0.000,516,0.000,0.087,2649,300,2803,2801,2806,0,0,0,0,0,0,27.03,24.93,27.03
$GC,70370,-1.58,-146.6,2649,300,2801,2806,4600.4,-4.2,910,70374,0.00,2.45,0.00,0.000,1030,0.000,0.067,2641,1858,2803,2801,2806,0,0,0,0,0,0,25.65,25.53,25.71
$GC,70790,-1.58,-146.6,2641,1859,2801,2806,4621.9,-4.5,914,70791,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1859,2803,2801,2806,0,0,0,0,0,0,26.98,27.01,27.01
$GC,71149,-1.58,-146.6,2641,1859,2801,2806,4637.6,-4.4,917,71155,0.00,2.58,0.00,0.000,516,0.000,0.087,2641,300,2803,2801,2806,0,0,0,0,0,0,27.07,24.91,27.08
$GC,71230,-1.58,-146.6,2641,300,2801,2806,4637.6,-4.4,917,71235,0.00,2.45,0.00,0.000,1030,0.000,0.070,2633,1858,2803,2801,2806,0,0,0,0,0,0,25.63,25.49,25.68
$GC,71629,-1.58,-146.6,2632,1858,2800,2806,4659.6,-4.6,921,71630,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1858,2803,2801,2806,0,0,0,0,0,0,27.06,27.08,27.08
$GC,71989,-1.58,-146.6,2632,1858,2801,2806,4675.9,-4.5,924,71991,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1858,2803,2801,2806,0,0,0,0,0,0,27.06,27.09,27.08
$GC,72352,-1.58,-146.6,2633,1858,2800,2806,4691.6,-4.4,927,72356,0.00,2.60,0.00,0.000,516,0.000,0.087,2633,303,2803,2801,2806,0,0,0,0,0,0,27.02,24.88,27.03
$GC,72416,-1.58,-146.6,2632,302,2801,2806,4691.6,-4.4,927,72421,0.00,2.42,0.00,0.000,1030,0.000,0.070,2623,1853,2803,2801,2806,0,0,0,0,0,0,25.63,25.49,25.67
$GC,72832,-1.58,-146.6,2622,1853,2801,2806,4713.9,-4.6,931,72833,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1853,2803,2801,2806,0,0,0,0,0,0,27.00,27.03,27.02
$GC,73193,-1.58,-146.6,2623,1853,2801,2806,4730.4,-4.6,934,73195,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1853,2803,2801,2806,0,0,0,0,0,0,27.03,27.05,27.03
$GC,73550,-1.58,-146.6,2623,1853,2801,2806,4746.8,-4.6,937,73551,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1853,2803,2801,2806,0,0,0,0,0,0,27.06,27.09,27.08
$GC,73910,-1.58,-146.6,2622,1853,2801,2806,4762.2,-4.3,940,73911,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1853,2803,2801,2806,0,0,0,0,0,0,27.07,27.10,27.09
$GC,74270,-1.58,-146.6,2622,1853,2801,2806,4777.5,-4.2,943,74275,0.00,2.58,0.00,0.000,516,0.000,0.089,2623,300,2803,2801,2806,0,0,0,0,0,0,27.07,24.85,27.09
$GC,74336,-1.58,-146.6,2623,300,2801,2806,4777.5,-4.2,943,74341,0.00,2.45,0.00,0.000,1030,0.000,0.070,2614,1854,2803,2801,2806,0,0,0,0,0,0,25.61,25.48,25.66
$STATE,74750,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,74750,begin apogee
$GC,74754,-0.23,0.0,2613,1752,2801,2806,4799.3,-4.5,947,74906,1.35,0.00,147.82,3.744,10246,0.114,0.000,3080,1751,2350,2337,2363,0,0,0,0,0,0,24.76,22.39,20.25
$STATE,74907,end apogee,CONTROL_FINISHED_OK
$STATE,74907,begin climb
$GC,74909,0.54,146.6,3080,1751,2337,2363,4803.5,0.0,948,75085,0.68,2.70,166.40,3.722,10756,0.079,0.102,3348,271,1846,1817,1876,0,0,0,0,0,0,23.13,22.05,20.47
$GC,75382,0.54,146.6,3348,271,1816,1876,4718.2,23.4,952,75386,0.00,2.35,0.00,0.000,1030,0.000,0.062,3345,1757,1845,1816,1875,0,0,0,0,0,0,25.65,25.56,25.67
$GC,75713,0.03,146.6,3345,1758,1817,1876,4632.6,24.3,955,75719,0.62,2.35,0.00,0.000,4612,0.226,0.079,3174,270,1846,1817,1875,0,0,0,0,0,0,25.69,25.98,25.86
$GC,76013,-0.39,146.6,3174,269,1817,1875,4591.5,20.3,957,76018,0.32,2.25,0.00,0.000,5126,0.191,0.065,3076,1761,1846,1817,1875,0,0,0,0,0,0,25.92,26.34,26.17
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$GC,155582,0.65,329.8,3308,1759,1182,1256,163.7,5.7,1828,155583,0.00,0.00,0.00,0.000,2054,0.000,0.000,3308,1759,1219,1182,1256,0,0,0,0,0,0,27.13,27.14,27.13
$GC,155882,0.71,329.8,3308,1759,1183,1256,144.7,6.5,1840,155887,0.08,2.22,0.00,0.000,2308,0.134,0.057,3384,3301,1219,1182,1256,0,0,0,0,0,0,26.87,26.59,26.88
$GC,155958,0.66,329.8,3383,3301,1183,1256,137.6,10.6,1844,155968,0.10,2.17,0.00,0.000,5126,0.166,0.047,3360,1744,1219,1183,1256,0,0,0,0,0,0,26.33,26.77,26.38
$GC,156269,0.66,329.8,3359,1745,1184,1256,112.6,7.1,1865,156275,0.00,2.12,0.00,0.000,516,0.000,0.062,3370,267,1220,1185,1256,0,0,0,0,0,0,27.12,26.57,27.13
$GC,156349,0.66,329.8,3370,267,1185,1256,105.4,9.5,1870,156365,0.00,2.00,3.60,0.454,9222,0.000,0.047,3370,1756,1214,1172,1256,0,0,0,0,0,0,26.77,26.76,24.81
$GC,156666,0.66,329.8,3370,1757,1172,1256,81.3,6.9,1891,156667,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1756,1214,1172,1256,0,0,0,0,0,0,27.10,27.12,27.12
$GC,156965,0.66,329.8,3370,1757,1173,1256,59.2,7.8,1911,156970,0.00,2.15,0.00,0.000,516,0.000,0.062,3379,273,1214,1173,1256,0,0,0,0,0,0,27.10,26.60,27.13
$GC,157018,0.66,329.8,3379,274,1175,1256,55.9,7.1,1914,157028,0.00,2.03,0.00,0.000,1030,0.000,0.047,3380,1754,1215,1175,1256,0,0,0,0,0,0,26.80,26.77,26.81
$GC,157335,0.66,329.8,3379,1753,1177,1256,30.6,7.6,1939,157343,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1753,1216,1177,1256,0,0,0,0,0,0,27.12,27.14,27.13
$GC,157644,0.66,329.8,3379,1753,1179,1256,7.0,7.2,1970,157648,0.00,2.17,0.00,0.000,516,0.000,0.060,3389,260,1217,1179,1256,0,0,0,0,0,0,27.13,26.61,27.14
$GC,157701,0.66,329.8,3388,260,1180,1256,2.4,8.9,1975,157711,0.00,1.98,0.00,0.000,1030,0.000,0.047,3389,1761,1217,1179,1256,0,0,0,0,0,0,26.82,26.79,26.84
$STATE,157720,end climb,SURFACE_DEPTH_REACHED
$STATE,157721,begin surface coast
$FINISH,-0.6,1.024023
$STATE,157741,end surface coast,CONTROL_FINISHED_OK
$STATE,157741,begin surface
$SM_CCo,157816,0.00,0.000,0,0,1217,329.13
$SM_GC,1.01,7.85,0.00,0.00,0.060,0.000,0.000,185,1761,1217,-9.21,-2.52,329.13,0,0,0,0,0,0,26.48,27.14,26.57
$IRIDIUM_FIX,2732.37,-7448.11,091008,232450
$TT8_MAMPS,0.021721,0.021721
$HUMID,37.95
$INTERNAL_PRESSURE,9.24052
$TCM_TEMP,26.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4741.3,85.9
$24V_AH,20.25,37.418
$10V_AH,10.22,30.942
$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,27.625,807.101,503.175,0.000,94.575,27.111,31.679,286.226,69.250,0.000,20.403,8192.052,135109.688,1091.828,13289.727,592.951,0.000,6045.840,0.000,12350.378,0.000,630.767,0.000
$DEVICE_MAMPS,288.028,101.803,3744.364,0.000,633.165,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1358.277,6458.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353120
$DATA_FILE_SIZE,123466,1979
$CAP_FILE_SIZE,900719,0
$CFSIZE,1024409600,953303040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,25.10,1
$GPS,161215,055636,2735.080,-7447.740,27,0.9,30,-9.8,0.0,0.0,9,9.0