version: 66.12
glider: 37
mission: 22
dive: 81
start: 12 25 115 6 40 13
data:
$ID,37
$MISSION,22
$DIVE,81
$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,1885
$C_ROLL_CLIMB,1663
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,103
$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,20
$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
$GPS1,251215,063007,2718.9934,-7536.3491,31,1.0,35,-9.3,0.5,121.6,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-65.6
$GPS2,251215,063947,2719.0881,-7536.3848,4,1.0,16,-9.3,0.0,0.0,9,9.3
$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,211.3,144949,-10.9,-5.333,-15.25,4133
$D_GRID,6000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,375,-0.40,-146.6,2975,318,2846,2869,36.5,-10.8,32,385,0.15,2.10,0.00,0.000,3078,0.146,0.047,3019,1869,2856,2845,2868,0,0,0,0,0,0,26.17,26.58,26.25
$GC,686,-0.40,-146.6,3019,1870,2846,2868,60.2,-8.3,54,687,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1870,2857,2846,2868,0,0,0,0,0,0,27.01,27.03,27.03
$GC,985,-0.40,-146.6,3020,1870,2845,2868,83.9,-7.6,74,986,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1869,2856,2845,2867,0,0,0,0,0,0,27.07,27.09,27.08
$GC,1285,-0.40,-146.6,3019,1870,2845,2868,105.3,-6.3,94,1290,0.00,2.22,0.00,0.000,260,0.000,0.060,3010,3432,2857,2846,2868,0,0,0,0,0,0,27.10,26.70,27.12
$GC,1462,-0.40,-146.6,3009,3432,2845,2868,117.7,-6.9,105,1467,0.00,2.10,0.00,0.000,1030,0.000,0.047,3010,1870,2856,2845,2868,0,0,0,0,0,0,26.87,26.84,26.87
$GC,1777,-0.40,-146.6,3010,1871,2845,2868,136.8,-5.5,126,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1871,2857,2845,2869,0,0,0,0,0,0,27.12,27.14,27.14
$GC,2093,-0.40,-146.6,3009,1870,2846,2868,155.5,-6.0,144,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1871,2857,2845,2869,0,0,0,0,0,0,27.13,27.15,27.15
$GC,2392,-0.40,-146.6,3009,1871,2845,2868,172.5,-5.6,154,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1871,2857,2846,2868,0,0,0,0,0,0,27.13,27.15,27.15
$GC,2692,-0.40,-146.6,3009,1871,2845,2868,187.6,-5.1,164,2698,0.00,2.25,0.00,0.000,260,0.000,0.060,3000,3432,2856,2845,2868,0,0,0,0,0,0,27.13,26.73,27.15
$GC,2798,-0.40,-146.6,3000,3432,2845,2868,194.0,-6.4,167,2802,0.00,2.12,0.00,0.000,1030,0.000,0.045,3000,1870,2856,2845,2868,0,0,0,0,0,0,26.89,26.89,26.90
$GC,3119,-0.40,-146.6,3000,1870,2845,2868,214.3,-5.7,178,3124,0.00,2.12,0.00,0.000,516,0.000,0.060,3000,346,2856,2845,2868,0,0,0,0,0,0,27.13,26.73,27.15
$GC,3192,-0.40,-146.6,3000,346,2845,2867,217.7,-5.5,180,3197,0.00,2.10,0.00,0.000,1030,0.000,0.047,2993,1897,2856,2845,2868,0,0,0,0,0,0,26.89,26.84,26.90
$GC,3513,-0.40,-146.6,2992,1897,2845,2868,236.8,-6.3,191,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2856,2845,2868,0,0,0,0,0,0,27.13,27.15,27.15
$GC,3811,-0.40,-146.6,2992,1897,2845,2867,254.1,-5.5,201,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2856,2845,2868,0,0,0,0,0,0,27.13,27.15,27.15
$GC,4111,-0.40,-146.6,2992,1897,2845,2866,271.1,-5.9,211,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2856,2845,2867,0,0,0,0,0,0,27.13,27.15,27.15
$GC,4411,-0.40,-146.6,2992,1897,2845,2865,288.4,-5.6,221,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2855,2845,2865,0,0,0,0,0,0,27.13,27.15,27.15
$GC,4742,-0.40,-146.6,2992,1897,2845,2863,306.7,-5.6,231,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2854,2845,2863,0,0,0,0,0,0,27.13,27.15,27.15
$GC,5056,-0.40,-146.6,2992,1897,2845,2862,324.7,-5.6,238,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2854,2846,2862,0,0,0,0,0,0,27.13,27.15,27.15
$GC,5371,-0.40,-146.6,2992,1897,2845,2860,342.0,-5.4,245,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2852,2845,2860,0,0,0,0,0,0,27.13,27.15,27.15
$GC,5686,-0.40,-146.6,2993,1897,2845,2858,360.0,-5.8,252,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2852,2845,2859,0,0,0,0,0,0,27.13,27.16,27.15
$GC,6001,-0.40,-146.6,2992,1897,2845,2857,377.8,-5.7,259,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2851,2845,2857,0,0,0,0,0,0,27.13,27.16,27.15
$GC,6316,-0.40,-146.6,2992,1897,2845,2857,396.4,-6.0,266,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1897,2851,2846,2857,0,0,0,0,0,0,27.14,27.15,27.15
$GC,6631,-0.40,-146.6,2992,1897,2843,2857,416.5,-6.3,273,6637,0.00,2.22,0.00,0.000,516,0.000,0.060,2993,348,2849,2843,2856,0,0,0,0,0,0,27.14,26.74,27.15
$GC,6676,-0.40,-146.6,2992,348,2843,2856,419.3,-6.4,274,6681,0.10,2.08,0.00,0.000,3078,0.151,0.047,3025,1883,2850,2844,2856,0,0,0,0,0,0,26.61,26.84,26.70
$GC,6995,-0.48,-146.6,3025,1884,2843,2855,436.1,-5.0,281,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1884,2849,2843,2856,0,0,0,0,0,0,27.13,27.15,27.15
$GC,7310,-0.56,-146.6,3025,1884,2843,2854,451.9,-4.9,288,7311,0.00,0.00,0.00,0.000,4102,0.000,0.000,3025,1884,2849,2843,2855,0,0,0,0,0,0,27.15,27.16,27.15
$GC,7626,-0.64,-146.6,3025,1884,2843,2853,467.4,-5.0,295,7632,0.08,2.17,0.00,0.000,4612,0.137,0.057,2957,356,2848,2843,2853,0,0,0,0,0,0,26.89,26.74,26.91
$GC,7671,-0.70,-146.6,2957,356,2843,2853,470.7,-5.5,296,7676,0.00,2.08,0.00,0.000,1030,0.000,0.047,2948,1884,2848,2843,2853,0,0,0,0,0,0,26.86,26.84,26.88
$GC,7986,-0.70,-146.6,2947,1884,2842,2852,494.9,-7.8,303,7991,0.00,2.25,0.00,0.000,260,0.000,0.062,2937,3434,2847,2842,2853,0,0,0,0,0,0,27.13,26.74,27.15
$GC,8032,-0.70,-146.6,2937,3433,2842,2852,498.6,-8.1,304,8037,0.00,2.12,0.00,0.000,1030,0.000,0.045,2937,1894,2847,2841,2853,0,0,0,0,0,0,26.89,26.87,26.89
$GC,8347,-0.70,-146.6,2937,1894,2842,2853,525.7,-8.6,311,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1894,2846,2841,2852,0,0,0,0,0,0,27.13,27.16,27.15
$GC,8662,-0.70,-146.6,2937,1894,2840,2853,551.8,-8.1,318,8666,0.00,2.22,0.00,0.000,516,0.000,0.060,2937,345,2846,2841,2852,0,0,0,0,0,0,27.13,26.73,27.15
$GC,8710,-0.70,-146.6,2937,345,2840,2851,555.7,-8.1,319,8715,0.00,2.12,0.00,0.000,1030,0.000,0.047,2927,1892,2846,2841,2852,0,0,0,0,0,0,26.86,26.84,26.88
$GC,9025,-0.64,-146.6,2927,1893,2840,2852,581.8,-8.1,326,9029,0.00,2.28,0.00,0.000,260,0.000,0.062,2916,3444,2846,2841,2852,0,0,0,0,0,0,27.13,26.73,27.15
$GC,9081,-0.59,-146.6,2916,3445,2839,2852,585.9,-8.2,327,9086,0.12,2.15,0.00,0.000,3078,0.156,0.045,2961,1868,2845,2840,2851,0,0,0,0,0,0,26.53,26.86,26.65
$GC,9430,-0.59,-146.6,2961,1869,2839,2851,611.1,-6.9,335,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1868,2845,2839,2852,0,0,0,0,0,0,27.14,27.15,27.15
$GC,9745,-0.59,-146.6,2961,1869,2837,2851,633.7,-7.2,342,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1869,2844,2837,2851,0,0,0,0,0,0,27.14,27.15,27.15
$GC,10060,-0.59,-146.6,2961,1869,2837,2849,656.8,-7.1,349,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1868,2843,2837,2849,0,0,0,0,0,0,27.13,27.16,27.15
$GC,10375,-0.59,-146.6,2960,1869,2838,2848,680.0,-7.4,356,10381,0.00,2.17,0.00,0.000,516,0.000,0.060,2961,352,2843,2838,2848,0,0,0,0,0,0,27.13,26.72,27.15
$GC,10421,-0.59,-146.6,2961,352,2838,2847,683.5,-7.5,357,10426,0.00,2.15,0.00,0.000,1030,0.000,0.047,2955,1892,2842,2838,2847,0,0,0,0,0,0,26.85,26.83,26.87
$GC,10736,-0.59,-146.6,2955,1891,2838,2846,709.6,-8.4,364,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1892,2841,2837,2846,0,0,0,0,0,0,27.13,27.15,27.15
$GC,11051,-0.59,-146.6,2955,1892,2836,2846,736.0,-8.2,371,11055,0.00,2.28,0.00,0.000,260,0.000,0.060,2950,3435,2840,2836,2845,0,0,0,0,0,0,27.13,26.72,27.15
$GC,11090,-0.59,-146.6,2950,3435,2835,2846,736.0,-8.2,371,11100,0.00,2.15,0.00,0.000,1030,0.000,0.045,2950,1897,2840,2835,2846,0,0,0,0,0,0,26.89,26.88,26.90
$GC,11414,-0.59,-146.6,2950,1898,2834,2845,763.0,-7.2,379,11418,0.00,2.28,0.00,0.000,516,0.000,0.060,2951,333,2839,2834,2845,0,0,0,0,0,0,27.13,26.70,27.15
$GC,11464,-0.59,-146.6,2950,333,2834,2845,766.7,-7.4,380,11469,0.00,2.17,0.00,0.000,1030,0.000,0.047,2943,1885,2839,2834,2845,0,0,0,0,0,0,26.85,26.83,26.86
$GC,11779,-0.59,-146.6,2942,1884,2834,2843,790.9,-7.5,387,11783,0.00,2.28,0.00,0.000,260,0.000,0.060,2931,3440,2838,2833,2843,0,0,0,0,0,0,27.13,26.71,27.15
$GC,11829,-0.59,-146.6,2931,3441,2833,2844,794.9,-7.7,388,11834,0.00,2.17,0.00,0.000,1030,0.000,0.045,2931,1878,2838,2833,2844,0,0,0,0,0,0,26.87,26.86,26.89
$GC,12144,-0.59,-146.6,2931,1877,2831,2843,823.5,-9.2,395,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1877,2837,2831,2844,0,0,0,0,0,0,27.13,27.15,27.15
$GC,12459,-0.59,-146.6,2931,1877,2830,2842,853.2,-9.4,402,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1877,2836,2830,2842,0,0,0,0,0,0,27.13,27.15,27.15
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$GC,57052,-1.64,-146.6,2652,1894,2800,2801,4035.2,-6.6,797,57053,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1894,2800,2800,2801,0,0,0,0,0,0,27.01,27.03,27.03
$GC,57411,-1.64,-146.6,2652,1894,2799,2801,4058.2,-6.4,800,57416,0.00,2.53,0.00,0.000,516,0.000,0.079,2652,340,2800,2800,2801,0,0,0,0,0,0,27.07,25.33,27.08
$GC,57467,-1.64,-146.6,2652,340,2800,2801,4058.2,-6.4,800,57471,0.00,2.40,0.00,0.000,1030,0.000,0.062,2643,1885,2800,2800,2801,0,0,0,0,0,0,25.84,25.71,25.88
$GC,57885,-1.64,-146.6,2642,1886,2800,2801,4089.9,-6.7,804,57886,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1885,2800,2800,2801,0,0,0,0,0,0,27.07,27.09,27.08
$GC,58247,-1.64,-146.6,2642,1886,2800,2801,4113.0,-6.5,807,58248,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1886,2800,2800,2801,0,0,0,0,0,0,27.00,27.02,27.02
$GC,58607,-1.64,-146.6,2642,1886,2800,2801,4136.8,-6.5,810,58613,0.00,2.53,0.00,0.000,516,0.000,0.079,2642,338,2800,2800,2801,0,0,0,0,0,0,27.01,25.28,27.03
$GC,58667,-1.64,-146.6,2642,338,2799,2801,4136.8,-6.5,810,58672,0.00,2.38,0.00,0.000,1030,0.000,0.065,2632,1883,2800,2800,2801,0,0,0,0,0,0,25.83,25.70,25.87
$GC,59081,-1.64,-146.6,2632,1885,2800,2801,4169.5,-6.9,814,59082,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1884,2800,2799,2801,0,0,0,0,0,0,27.06,27.09,27.08
$GC,59443,-1.64,-146.6,2632,1884,2801,2801,4193.2,-6.6,817,59444,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1884,2800,2800,2801,0,0,0,0,0,0,27.00,27.02,27.01
$GC,59803,-1.64,-146.6,2632,1884,2800,2801,4216.7,-6.5,820,59805,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1884,2800,2800,2801,0,0,0,0,0,0,27.01,27.03,27.03
$GC,60161,-1.64,-146.6,2631,1884,2800,2800,4239.9,-6.4,823,60166,0.00,2.58,0.00,0.000,516,0.000,0.079,2632,326,2800,2800,2801,0,0,0,0,0,0,27.07,25.24,27.08
$GC,60236,-1.64,-146.6,2632,326,2800,2800,4239.9,-6.4,823,60240,0.00,2.45,0.00,0.000,1030,0.000,0.065,2621,1890,2800,2800,2801,0,0,0,0,0,0,25.80,25.67,25.85
$GC,60648,-1.64,-146.6,2620,1891,2800,2801,4271.2,-6.5,827,60649,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1891,2800,2800,2801,0,0,0,0,0,0,27.02,27.04,27.04
$GC,61006,-1.64,-146.6,2621,1891,2800,2801,4292.9,-6.1,830,61012,0.00,2.55,0.00,0.000,516,0.000,0.082,2620,331,2800,2800,2801,0,0,0,0,0,0,27.00,25.22,27.01
$GC,61057,-1.64,-146.6,2621,331,2800,2801,4292.9,-6.1,830,61061,0.00,2.42,0.00,0.000,1030,0.000,0.065,2610,1892,2800,2800,2801,0,0,0,0,0,0,25.79,25.67,25.84
$GC,61482,-1.64,-146.6,2610,1893,2800,2801,4323.3,-6.4,834,61484,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1893,2800,2800,2801,0,0,0,0,0,0,26.99,27.01,27.01
$GC,61842,-1.64,-146.6,2610,1892,2800,2801,4346.5,-6.4,837,61848,0.00,2.55,0.00,0.000,516,0.000,0.082,2610,333,2800,2800,2801,0,0,0,0,0,0,26.99,25.22,27.01
$GC,61883,-1.64,-146.6,2610,333,2800,2801,4346.5,-6.4,837,61888,0.00,2.42,0.00,0.000,1030,0.000,0.062,2599,1886,2800,2800,2801,0,0,0,0,0,0,25.80,25.68,25.84
$GC,62205,-1.59,-146.6,2599,1887,2800,2801,4370.6,-6.6,840,62207,0.12,0.00,0.00,0.000,2054,0.166,0.000,2641,1887,2800,2800,2801,0,0,0,0,0,0,26.36,26.40,26.38
$GC,62562,-1.59,-146.6,2641,1887,2800,2801,4389.5,-5.5,843,62563,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1887,2800,2800,2801,0,0,0,0,0,0,27.07,27.08,27.08
$GC,62922,-1.59,-146.6,2641,1887,2800,2801,4407.7,-5.1,846,62928,0.00,2.55,0.00,0.000,516,0.000,0.082,2642,332,2800,2800,2801,0,0,0,0,0,0,27.06,25.24,27.08
$GC,63009,-1.59,-146.6,2641,333,2800,2800,4407.7,-5.1,846,63013,0.00,2.42,0.00,0.000,1030,0.000,0.065,2632,1890,2800,2800,2801,0,0,0,0,0,0,25.79,25.66,25.84
$GC,63400,-1.59,-146.6,2632,1890,2800,2800,4433.0,-5.3,850,63401,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1890,2800,2800,2801,0,0,0,0,0,0,27.01,27.04,27.03
$GC,63758,-1.59,-146.6,2632,1890,2800,2801,4451.3,-5.1,853,63763,0.00,2.58,0.00,0.000,516,0.000,0.082,2632,329,2800,2800,2801,0,0,0,0,0,0,26.99,25.20,27.01
$GC,63818,-1.59,-146.6,2632,329,2800,2801,4451.3,-5.1,853,63822,0.00,2.42,0.00,0.000,1030,0.000,0.065,2621,1885,2800,2800,2801,0,0,0,0,0,0,25.77,25.65,25.82
$GC,64242,-1.59,-146.6,2621,1885,2800,2801,4477.2,-5.4,857,64243,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1885,2800,2800,2800,0,0,0,0,0,0,27.06,27.08,27.08
$GC,64603,-1.59,-146.6,2621,1885,2800,2801,4496.3,-5.2,860,64609,0.00,2.55,0.00,0.000,516,0.000,0.082,2621,329,2800,2800,2801,0,0,0,0,0,0,26.99,25.20,27.01
$GC,64664,-1.59,-146.6,2621,329,2800,2801,4496.3,-5.2,860,64668,0.00,2.42,0.00,0.000,1030,0.000,0.065,2611,1886,2800,2800,2801,0,0,0,0,0,0,25.76,25.63,25.81
$GC,65079,-1.59,-146.6,2610,1887,2800,2801,4521.8,-5.3,864,65081,0.10,0.00,0.00,0.000,2054,0.176,0.000,2645,1887,2800,2800,2801,0,0,0,0,0,0,26.46,26.49,26.47
$GC,65437,-1.59,-146.6,2644,1887,2800,2801,4536.5,-4.3,867,65444,0.00,2.55,0.00,0.000,516,0.000,0.082,2645,336,2800,2800,2801,0,0,0,0,0,0,27.07,25.20,27.08
$GC,65509,-1.59,-146.6,2645,336,2800,2801,4536.5,-4.3,867,65513,0.00,2.42,0.00,0.000,1030,0.000,0.065,2636,1885,2800,2800,2801,0,0,0,0,0,0,25.77,25.65,25.82
$GC,65918,-1.59,-146.6,2636,1886,2800,2801,4557.9,-4.5,871,65919,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1885,2800,2799,2801,0,0,0,0,0,0,27.06,27.08,27.08
$GC,66281,-1.59,-146.6,2636,1885,2800,2801,4574.6,-4.6,874,66287,0.00,2.53,0.00,0.000,516,0.000,0.082,2636,340,2800,2800,2801,0,0,0,0,0,0,27.03,25.18,27.04
$GC,66352,-1.59,-146.6,2636,340,2800,2801,4574.6,-4.6,874,66356,0.00,2.42,0.00,0.000,1030,0.000,0.065,2626,1890,2800,2800,2801,0,0,0,0,0,0,25.75,25.62,25.79
$GC,66761,-1.59,-146.6,2626,1891,2800,2801,4598.6,-5.0,878,66762,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1891,2800,2800,2801,0,0,0,0,0,0,27.06,27.08,27.08
$GC,67123,-1.59,-146.6,2626,1890,2800,2801,4614.9,-4.6,881,67130,0.00,2.58,0.00,0.000,516,0.000,0.082,2626,330,2800,2799,2801,0,0,0,0,0,0,27.02,25.16,27.03
$GC,67180,-1.59,-146.6,2626,330,2800,2801,4614.9,-4.6,881,67184,0.00,2.45,0.00,0.000,1030,0.000,0.065,2616,1895,2800,2800,2801,0,0,0,0,0,0,25.74,25.60,25.78
$GC,67600,-1.59,-146.6,2615,1895,2800,2801,4636.6,-4.6,885,67601,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1895,2800,2800,2801,0,0,0,0,0,0,27.06,27.08,27.08
$GC,67961,-1.59,-146.6,2615,1896,2799,2801,4652.2,-4.4,888,67966,0.00,2.58,0.00,0.000,516,0.000,0.082,2616,337,2800,2800,2801,0,0,0,0,0,0,27.02,25.16,27.03
$GC,68056,-1.59,-146.6,2615,337,2800,2801,4652.2,-4.4,888,68061,0.12,2.42,0.00,0.000,3078,0.159,0.067,2646,1894,2800,2800,2801,0,0,0,0,0,0,25.33,25.59,25.44
$GC,68446,-1.59,-146.6,2646,1893,2800,2801,4671.1,-3.9,892,68447,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1894,2800,2800,2801,0,0,0,0,0,0,26.99,27.02,27.01
$GC,68805,-1.59,-146.6,2646,1894,2799,2801,4684.7,-3.7,895,68810,0.00,2.58,0.00,0.000,516,0.000,0.084,2647,330,2800,2800,2801,0,0,0,0,0,0,27.06,25.18,27.08
$GC,68886,-1.59,-146.6,2646,330,2800,2801,4684.7,-3.7,895,68890,0.00,2.45,0.00,0.000,1030,0.000,0.065,2638,1893,2800,2800,2801,0,0,0,0,0,0,25.74,25.61,25.78
$GC,69287,-1.59,-146.6,2638,1894,2800,2801,4704.0,-4.0,899,69288,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1893,2800,2800,2801,0,0,0,0,0,0,27.00,27.03,27.02
$GC,69645,-1.59,-146.6,2638,1893,2800,2801,4718.9,-4.1,902,69649,0.00,2.58,0.00,0.000,516,0.000,0.082,2639,337,2800,2800,2801,0,0,0,0,0,0,27.06,25.14,27.08
$GC,69714,-1.59,-146.6,2638,337,2800,2801,4718.9,-4.1,902,69719,0.00,2.42,0.00,0.000,1030,0.000,0.067,2628,1891,2800,2800,2801,0,0,0,0,0,0,25.71,25.59,25.77
$GC,70124,-1.59,-146.6,2627,1890,2800,2801,4739.6,-4.3,906,70125,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1891,2800,2800,2800,0,0,0,0,0,0,27.06,27.08,27.08
$GC,70486,-1.59,-146.6,2627,1891,2800,2801,4755.2,-4.4,909,70492,0.00,2.55,0.00,0.000,516,0.000,0.084,2628,338,2800,2800,2801,0,0,0,0,0,0,27.02,25.13,27.04
$GC,70547,-1.59,-146.6,2627,337,2800,2800,4755.2,-4.4,909,70551,0.00,2.42,0.00,0.000,1030,0.000,0.067,2618,1891,2800,2800,2801,0,0,0,0,0,0,25.70,25.58,25.75
$GC,70966,-1.59,-146.6,2617,1891,2800,2801,4776.6,-4.4,913,70967,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1891,2800,2800,2801,0,0,0,0,0,0,27.06,27.08,27.08
$GC,71327,-1.59,-146.6,2618,1892,2799,2801,4792.8,-4.5,916,71328,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1891,2800,2800,2801,0,0,0,0,0,0,26.99,27.02,27.01
$GC,71686,-1.59,-146.6,2618,1891,2801,2801,4808.3,-4.4,919,71691,0.00,2.58,0.00,0.000,516,0.000,0.084,2618,330,2800,2800,2801,0,0,0,0,0,0,27.06,25.10,27.08
$GC,71742,-1.59,-146.6,2618,330,2800,2801,4808.3,-4.4,919,71747,0.10,2.45,0.00,0.000,3078,0.161,0.067,2642,1893,2800,2800,2801,0,0,0,0,0,0,25.39,25.57,25.49
$GC,72161,-1.59,-146.6,2641,1893,2800,2801,4826.0,-3.7,923,72162,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1893,2800,2800,2800,0,0,0,0,0,0,27.06,27.08,27.08
$GC,72524,-1.59,-146.6,2642,1893,2800,2801,4840.4,-3.8,926,72530,0.00,2.55,0.00,0.000,516,0.000,0.084,2642,340,2800,2800,2801,0,0,0,0,0,0,27.01,25.14,27.03
$GC,72605,-1.59,-146.6,2642,340,2800,2801,4840.4,-3.8,926,72610,0.00,2.42,0.00,0.000,1030,0.000,0.067,2633,1889,2800,2800,2801,0,0,0,0,0,0,25.70,25.58,25.75
$GC,73005,-1.68,-146.6,2633,1889,2800,2801,4854.2,-3.0,930,73006,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1889,2800,2800,2801,0,0,0,0,0,0,27.06,27.09,27.08
$STATE,73363,end dive,NO_VERTICAL_VELOCITY
$STATE,73363,begin apogee
$GC,73368,-0.23,0.0,2632,1704,2799,2801,4854.0,0.0,933,73522,1.35,0.08,149.35,3.769,10246,0.127,0.149,3085,1659,2350,2338,2363,0,0,0,0,0,0,24.53,22.29,20.09
$STATE,73523,end apogee,CONTROL_FINISHED_OK
$STATE,73523,begin climb
$GC,73524,0.54,146.6,3084,1659,2337,2363,4854.2,0.0,934,73702,0.65,2.60,168.45,3.742,10756,0.077,0.099,3348,235,1844,1814,1874,0,0,0,0,0,0,23.12,21.93,20.30
$GC,73997,0.54,146.6,3348,235,1816,1873,4768.2,23.2,938,74002,0.00,2.28,0.00,0.000,1030,0.000,0.060,3348,1679,1844,1816,1873,0,0,0,0,0,0,25.64,25.60,25.67
$GC,74327,0.03,146.6,3347,1678,1816,1873,4680.8,24.4,941,74333,0.65,2.28,0.00,0.000,4612,0.226,0.077,3172,222,1844,1816,1873,0,0,0,0,0,0,25.77,26.06,25.94
$GC,74571,-0.39,146.6,3171,222,1816,1873,4639.6,20.4,943,74577,0.28,2.20,0.00,0.000,5126,0.186,0.065,3077,1665,1844,1816,1873,0,0,0,0,0,0,25.97,26.36,26.22
$GC,74932,-0.63,146.6,3076,1665,1816,1873,4597.6,12.6,946,74935,0.40,0.00,0.00,0.000,4102,0.176,0.000,2949,1666,1844,1816,1873,0,0,0,0,0,0,26.09,26.41,26.32
$GC,75291,-0.71,146.6,2948,1666,1816,1873,4574.2,7.5,949,75296,0.00,2.28,0.00,0.000,516,0.000,0.079,2958,226,1844,1816,1873,0,0,0,0,0,0,26.91,26.47,26.93
$GC,75341,-0.79,146.6,2958,225,1816,1873,4574.2,7.5,949,75346,0.17,2.15,0.00,0.000,5126,0.146,0.060,2897,1667,1844,1816,1873,0,0,0,0,0,0,26.32,26.53,26.46
$GC,75653,-0.79,146.6,2897,1667,1816,1873,4556.9,5.1,952,75658,0.00,2.40,0.00,0.000,260,0.000,0.077,2897,3237,1844,1816,1873,0,0,0,0,0,0,26.95,26.54,26.97
$GC,75698,-0.79,146.6,2897,3238,1817,1873,4556.9,5.1,952,75702,0.00,2.40,0.00,0.000,1030,0.000,0.060,2906,1648,1844,1815,1873,0,0,0,0,0,0,26.63,26.51,26.66
$GC,76007,-0.73,146.6,2905,1648,1816,1873,4539.6,4.8,955,76012,0.00,2.17,0.00,0.000,516,0.000,0.082,2916,245,1844,1816,1873,0,0,0,0,0,0,26.98,26.49,26.99
$GC,76063,-0.67,146.6,2915,244,1816,1873,4539.6,4.8,955,76067,0.00,2.10,0.00,0.000,1030,0.000,0.060,2916,1660,1845,1817,1873,0,0,0,0,0,0,26.66,26.55,26.69
$GC,76482,-0.67,146.6,2915,1659,1816,1873,4516.1,5.0,959,76487,0.00,2.42,0.00,0.000,260,0.000,0.074,2915,3244,1845,1817,1874,0,0,0,0,0,0,27.01,26.55,27.02
$GC,76541,-0.67,146.6,2915,3244,1816,1873,4516.1,5.0,959,76546,0.00,2.40,0.00,0.000,1030,0.000,0.057,2924,1650,1845,1817,1874,0,0,0,0,0,0,26.66,26.55,26.69
$GC,76965,-0.67,146.6,2923,1650,1817,1873,4490.2,5.4,963,76971,0.00,2.17,0.00,0.000,516,0.000,0.079,2933,243,1844,1816,1873,0,0,0,0,0,0,27.02,26.49,27.03
$GC,77021,-0.67,146.6,2933,243,1816,1873,4490.2,5.4,963,77026,0.00,2.15,0.00,0.000,1030,0.000,0.060,2933,1667,1844,1816,1873,0,0,0,0,0,0,26.71,26.57,26.74
$GC,77445,-0.67,146.6,2933,1667,1816,1873,4464.2,5.4,967,77451,0.00,2.40,0.00,0.000,260,0.000,0.072,2933,3246,1844,1816,1873,0,0,0,0,0,0,27.03,26.55,27.05
$GC,77491,-0.67,146.6,2933,3246,1816,1873,4464.2,5.4,967,77496,0.00,2.38,0.00,0.000,1030,0.000,0.057,2942,1659,1844,1816,1873,0,0,0,0,0,0,26.65,26.54,26.69
$GC,77805,-0.67,146.6,2941,1659,1816,1873,4444.6,5.5,970,77810,0.00,2.20,0.00,0.000,516,0.000,0.077,2952,248,1844,1816,1873,0,0,0,0,0,0,27.03,26.46,27.05
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$GC,160778,0.49,316.0,3312,260,1228,1301,289.1,6.7,1843,160782,0.00,1.95,0.00,0.000,1030,0.000,0.047,3313,1672,1264,1228,1301,0,0,0,0,0,0,26.74,26.72,26.77
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$GC,161821,0.49,316.0,3331,267,1230,1302,212.0,7.2,1878,161827,0.00,1.88,0.00,0.000,1030,0.000,0.047,3331,1666,1265,1230,1301,0,0,0,0,0,0,26.79,26.74,26.81
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$STATE,164865,end climb,SURFACE_DEPTH_REACHED
$STATE,164866,begin surface coast
$FINISH,-0.3,1.024312
$STATE,164888,end surface coast,CONTROL_FINISHED_OK
$STATE,164888,begin surface
$SM_CCo,164963,0.00,0.000,0,0,1265,315.18
$SM_GC,0.86,7.75,0.25,0.00,0.055,0.070,0.000,180,1917,1265,-9.21,-2.29,315.18,0,0,0,0,0,0,26.48,26.89,26.58
$IRIDIUM_FIX,2705.66,-7537.24,201008,195921
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.05
$INTERNAL_PRESSURE,9.22099
$TCM_TEMP,26.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,20.0
$24V_AH,20.09,40.653
$10V_AH,10.22,33.052
$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,27.725,739.025,494.800,0.000,119.300,34.221,28.178,324.043,72.000,0.000,18.509,8328.811,142293.953,1059.539,13174.297,603.184,0.000,5852.062,0.000,12201.116,0.000,662.265,0.000
$DEVICE_MAMPS,285.545,148.980,3769.194,0.000,211.055,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1422.292,6755.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,127010,2070
$CAP_FILE_SIZE,898839,0
$CFSIZE,1024409600,951566336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,334.58,1
$GPS,271215,043056,2707.142,-7546.148,38,1.2,42,-9.2,0.5,278.3,7,9.9