version: 66.12
glider: 37
mission: 22
dive: 91
start: 1 12 116 4 46 56
data:
$ID,37
$MISSION,22
$DIVE,91
$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,624.55353
$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,89
$R_STBD_OVSHOOT,78
$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,60
$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,2
$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
$GPS1,120116,041531,2621.5359,-7529.5054,53,0.8,93,-9.2,0.7,187.0,10,12.0
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.7
$GPS2,120116,044628,2621.2874,-7529.4629,16,1.0,56,-9.2,0.0,0.0,10,14.5
$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,289.8,125410,-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,183,-0.54,-146.6,174,1853,2689,2718,4.0,-5.3,16,206,11.80,2.38,-4.72,0.223,18692,0.283,0.057,2963,3448,2856,2845,2868,0,0,0,0,0,0,25.52,26.20,25.75
$GC,503,-0.40,-146.6,2963,3447,2845,2868,46.8,-10.7,42,512,0.17,2.17,0.00,0.000,3078,0.149,0.050,3023,1853,2856,2844,2868,0,0,0,0,0,0,26.27,26.72,26.34
$GC,811,-0.40,-146.6,3023,1853,2844,2868,72.3,-7.2,63,812,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1853,2856,2844,2868,0,0,0,0,0,0,27.06,27.08,27.08
$GC,1111,-0.40,-146.6,3023,1853,2844,2867,93.7,-8.1,83,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1853,2855,2844,2867,0,0,0,0,0,0,27.09,27.11,27.11
$GC,1411,-0.40,-146.6,3023,1853,2844,2867,113.1,-5.2,103,1416,0.00,2.28,0.00,0.000,260,0.000,0.060,3014,3443,2855,2844,2867,0,0,0,0,0,0,27.10,26.72,27.13
$GC,1492,-0.40,-146.6,3013,3443,2843,2867,118.0,-6.4,108,1497,0.00,2.08,0.00,0.000,1030,0.000,0.047,3014,1884,2855,2843,2867,0,0,0,0,0,0,26.88,26.86,26.89
$GC,1806,-0.40,-146.6,3013,1884,2842,2867,136.5,-5.4,129,1811,0.00,2.25,0.00,0.000,260,0.000,0.060,3004,3450,2855,2843,2867,0,0,0,0,0,0,27.11,26.73,27.13
$GC,1865,-0.40,-146.6,3003,3450,2842,2867,139.1,-5.5,132,1874,0.00,2.15,0.00,0.000,1030,0.000,0.047,3004,1882,2854,2842,2867,0,0,0,0,0,0,26.88,26.86,26.89
$GC,2188,-0.40,-146.6,3004,1882,2842,2867,160.0,-6.0,149,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1882,2854,2842,2867,0,0,0,0,0,0,27.12,27.14,27.13
$GC,2490,-0.40,-146.6,3004,1882,2842,2867,177.0,-5.8,159,2495,0.00,2.15,0.00,0.000,516,0.000,0.062,3005,367,2854,2842,2866,0,0,0,0,0,0,27.12,26.72,27.13
$GC,2557,-0.40,-146.6,3004,367,2842,2865,181.2,-6.3,161,2562,0.00,2.12,0.00,0.000,1030,0.000,0.047,2995,1909,2853,2842,2865,0,0,0,0,0,0,26.86,26.84,26.87
$GC,2883,-0.40,-146.6,2995,1910,2842,2865,201.9,-6.4,172,2888,0.00,2.17,0.00,0.000,260,0.000,0.062,2984,3425,2853,2842,2865,0,0,0,0,0,0,27.13,26.73,27.13
$GC,2951,-0.40,-146.6,2984,3426,2842,2865,205.9,-6.6,174,2956,0.12,2.08,0.00,0.000,3078,0.149,0.045,3032,1878,2853,2842,2865,0,0,0,0,0,0,26.57,26.87,26.67
$GC,3275,-0.40,-146.6,3031,1878,2842,2864,222.0,-4.7,185,3280,0.00,2.15,0.00,0.000,516,0.000,0.060,3032,368,2853,2842,2864,0,0,0,0,0,0,27.12,26.72,27.14
$GC,3343,-0.40,-146.6,3031,368,2841,2863,225.0,-4.9,187,3348,0.00,2.08,0.00,0.000,1030,0.000,0.047,3025,1886,2853,2842,2864,0,0,0,0,0,0,26.86,26.83,26.87
$GC,3668,-0.40,-146.6,3025,1887,2842,2863,242.3,-4.9,198,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1887,2852,2842,2863,0,0,0,0,0,0,27.12,27.14,27.13
$GC,3967,-0.40,-146.6,3025,1887,2842,2861,257.8,-5.3,208,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1887,2851,2842,2861,0,0,0,0,0,0,27.13,27.14,27.13
$GC,4268,-0.40,-146.6,3025,1887,2840,2861,274.9,-5.9,218,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1887,2851,2841,2861,0,0,0,0,0,0,27.12,27.14,27.14
$GC,4567,-0.40,-146.6,3026,1887,2839,2861,293.0,-6.1,228,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1886,2850,2839,2861,0,0,0,0,0,0,27.12,27.15,27.14
$GC,4867,-0.40,-146.6,3024,1887,2838,2861,311.6,-6.2,236,4872,0.00,2.22,0.00,0.000,516,0.000,0.060,3025,360,2849,2838,2860,0,0,0,0,0,0,27.12,26.74,27.14
$GC,4917,-0.40,-146.6,3025,360,2838,2859,314.7,-6.2,237,4922,0.00,2.10,0.00,0.000,1030,0.000,0.045,3017,1889,2848,2838,2859,0,0,0,0,0,0,26.86,26.84,26.86
$GC,5232,-0.40,-146.6,3017,1890,2838,2858,333.3,-5.5,244,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1890,2847,2837,2858,0,0,0,0,0,0,27.13,27.14,27.14
$GC,5547,-0.40,-146.6,3017,1889,2838,2857,349.3,-5.0,251,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1889,2847,2838,2857,0,0,0,0,0,0,27.13,27.14,27.14
$GC,5862,-0.40,-146.6,3017,1890,2837,2856,366.0,-5.4,258,5867,0.00,2.17,0.00,0.000,516,0.000,0.060,3017,368,2847,2838,2856,0,0,0,0,0,0,27.13,26.74,27.14
$GC,5935,-0.40,-146.6,3017,369,2838,2855,368.6,-5.3,259,5939,0.00,2.08,0.00,0.000,1030,0.000,0.047,3010,1893,2846,2837,2855,0,0,0,0,0,0,26.89,26.84,26.90
$GC,6263,-0.40,-146.6,3010,1893,2838,2855,389.3,-5.8,267,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1893,2846,2838,2855,0,0,0,0,0,0,27.13,27.15,27.14
$GC,6579,-0.40,-146.6,3010,1893,2837,2853,407.5,-5.7,274,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1893,2845,2838,2853,0,0,0,0,0,0,27.13,27.14,27.14
$GC,6893,-0.40,-146.6,3010,1893,2837,2853,425.5,-5.7,281,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1893,2845,2837,2853,0,0,0,0,0,0,27.13,27.14,27.14
$GC,7208,-0.40,-146.6,3010,1893,2837,2852,443.6,-6.0,288,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1894,2844,2837,2852,0,0,0,0,0,0,27.13,27.15,27.14
$GC,7524,-0.46,-146.6,3010,1893,2836,2852,461.7,-5.6,295,7529,0.00,2.20,0.00,0.000,516,0.000,0.060,3011,362,2844,2836,2852,0,0,0,0,0,0,27.13,26.73,27.14
$GC,7597,-0.51,-146.6,3010,362,2836,2851,464.3,-5.6,296,7601,0.00,2.08,0.00,0.000,1030,0.000,0.047,3004,1884,2843,2836,2851,0,0,0,0,0,0,26.89,26.84,26.90
$GC,7925,-0.51,-146.6,3004,1884,2835,2851,484.7,-5.7,304,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1884,2843,2835,2851,0,0,0,0,0,0,27.13,27.15,27.14
$GC,8240,-0.51,-146.6,3004,1884,2834,2851,502.7,-5.7,311,8246,0.00,2.20,0.00,0.000,516,0.000,0.060,3004,367,2842,2834,2851,0,0,0,0,0,0,27.13,26.73,27.14
$GC,8284,-0.51,-146.6,3004,367,2834,2850,505.4,-5.8,312,8288,0.00,2.05,0.00,0.000,1030,0.000,0.047,2998,1867,2842,2835,2850,0,0,0,0,0,0,26.89,26.84,26.90
$GC,8602,-0.51,-146.6,2998,1887,2834,2850,525.3,-6.2,319,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1887,2842,2834,2850,0,0,0,0,0,0,27.13,27.15,27.15
$GC,8917,-0.51,-146.6,2998,1887,2834,2849,544.3,-5.8,326,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1887,2841,2834,2849,0,0,0,0,0,0,27.12,27.15,27.14
$GC,9232,-0.51,-146.6,2998,1886,2834,2848,561.9,-5.5,333,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1887,2841,2834,2848,0,0,0,0,0,0,27.13,27.15,27.14
$GC,9547,-0.51,-146.6,2997,1887,2832,2848,579.6,-5.7,340,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1887,2839,2832,2847,0,0,0,0,0,0,27.13,27.15,27.14
$GC,9863,-0.51,-146.6,2998,1887,2831,2848,597.2,-5.8,347,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1887,2839,2831,2848,0,0,0,0,0,0,27.13,27.15,27.14
$GC,10177,-0.51,-146.6,2998,1887,2830,2848,615.2,-5.7,354,10181,0.00,2.25,0.00,0.000,516,0.000,0.060,2998,358,2839,2830,2848,0,0,0,0,0,0,27.12,26.72,27.14
$GC,10248,-0.51,-146.6,2998,357,2830,2847,617.9,-5.6,355,10252,0.00,2.15,0.00,0.000,1030,0.000,0.047,2991,1902,2838,2830,2847,0,0,0,0,0,0,26.90,26.83,26.91
$GC,10587,-0.51,-146.6,2991,1902,2830,2846,640.1,-6.1,363,10593,0.00,2.22,0.00,0.000,516,0.000,0.060,2991,363,2838,2830,2846,0,0,0,0,0,0,27.13,26.73,27.14
$GC,10632,-0.51,-146.6,2991,363,2830,2845,643.3,-6.1,364,10635,0.00,2.08,0.00,0.000,1030,0.000,0.047,2986,1868,2837,2830,2845,0,0,0,0,0,0,26.88,26.83,26.89
$GC,10950,-0.51,-146.6,2985,1888,2830,2845,661.9,-5.7,371,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1888,2837,2830,2845,0,0,0,0,0,0,27.12,27.15,27.14
$GC,11264,-0.51,-146.6,2985,1888,2829,2843,681.4,-6.4,378,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1888,2836,2830,2843,0,0,0,0,0,0,27.12,27.15,27.14
$GC,11579,-0.51,-146.6,2985,1888,2828,2843,699.9,-5.9,385,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1888,2836,2829,2843,0,0,0,0,0,0,27.13,27.15,27.14
$GC,11894,-0.51,-146.6,2985,1888,2828,2843,720.1,-6.6,392,11900,0.00,2.22,0.00,0.000,516,0.000,0.060,2986,371,2835,2828,2843,0,0,0,0,0,0,27.13,26.72,27.14
$GC,11941,-0.51,-146.6,2985,371,2828,2842,723.5,-6.6,393,11946,0.00,2.15,0.00,0.000,1030,0.000,0.047,2980,1906,2835,2828,2842,0,0,0,0,0,0,26.84,26.82,26.86
$GC,12255,-0.51,-146.6,2979,1906,2827,2842,744.9,-6.6,400,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1906,2834,2827,2842,0,0,0,0,0,0,27.12,27.14,27.14
$GC,12571,-0.51,-146.6,2980,1906,2825,2842,763.8,-5.9,407,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1906,2834,2826,2842,0,0,0,0,0,0,27.13,27.14,27.14
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$GC,54605,-1.32,-146.6,2707,349,2791,2801,3828.4,-5.8,804,54609,0.00,2.35,0.00,0.000,1030,0.000,0.060,2697,1887,2796,2792,2801,0,0,0,0,0,0,26.06,25.96,26.10
$GC,55014,-1.32,-146.6,2697,1887,2792,2801,3858.2,-6.2,808,55015,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1887,2796,2792,2801,0,0,0,0,0,0,27.06,27.08,27.08
$GC,55374,-1.32,-146.6,2697,1886,2792,2801,3879.9,-6.0,811,55379,0.00,2.47,0.00,0.000,516,0.000,0.074,2697,362,2796,2792,2801,0,0,0,0,0,0,27.06,25.58,27.08
$GC,55445,-1.32,-146.6,2697,362,2792,2801,3879.9,-6.0,811,55450,0.12,2.30,0.00,0.000,3078,0.146,0.060,2731,1886,2796,2792,2800,0,0,0,0,0,0,25.68,25.93,25.77
$GC,55851,-1.32,-146.6,2732,1886,2792,2801,3904.9,-5.2,815,55852,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1886,2796,2792,2801,0,0,0,0,0,0,27.01,27.04,27.03
$GC,56211,-1.38,-146.6,2731,1886,2792,2801,3922.8,-5.0,818,56217,0.00,2.47,0.00,0.000,516,0.000,0.077,2732,350,2796,2792,2801,0,0,0,0,0,0,27.01,25.57,27.03
$GC,56302,-1.43,-146.6,2730,351,2792,2801,3922.8,-5.0,818,56307,0.00,2.35,0.00,0.000,5126,0.000,0.060,2724,1882,2796,2792,2801,0,0,0,0,0,0,26.07,25.92,26.10
$GC,56687,-1.48,-146.6,2724,1881,2792,2801,3947.2,-5.1,822,56692,0.00,2.45,0.00,0.000,4612,0.000,0.077,2724,358,2796,2792,2801,0,0,0,0,0,0,27.08,25.56,27.08
$GC,56733,-1.53,-146.6,2724,357,2791,2801,3947.2,-5.1,822,56737,0.00,2.35,0.00,0.000,5126,0.000,0.060,2715,1886,2796,2792,2801,0,0,0,0,0,0,26.06,25.91,26.10
$GC,57043,-1.53,-146.6,2715,1886,2792,2801,3965.7,-5.2,825,57044,0.00,0.00,0.00,0.000,4102,0.000,0.000,2715,1886,2796,2792,2800,0,0,0,0,0,0,27.03,27.04,27.03
$GC,57405,-1.53,-146.6,2714,1886,2792,2800,3984.2,-5.1,828,57410,0.00,2.47,0.00,0.000,4612,0.000,0.077,2715,361,2796,2792,2800,0,0,0,0,0,0,27.05,25.54,27.05
$GC,57490,-1.53,-146.6,2715,361,2792,2800,3984.2,-5.1,828,57494,0.00,2.35,0.00,0.000,5126,0.000,0.060,2707,1888,2796,2792,2800,0,0,0,0,0,0,26.05,25.90,26.09
$GC,57885,-1.53,-146.6,2707,1888,2792,2800,4010.4,-5.4,832,57890,0.00,2.47,0.00,0.000,4612,0.000,0.074,2707,356,2796,2792,2801,0,0,0,0,0,0,27.02,25.52,27.03
$GC,57939,-1.53,-146.6,2707,356,2792,2800,4010.4,-5.4,832,57944,0.00,2.35,0.00,0.000,5126,0.000,0.060,2699,1889,2795,2791,2800,0,0,0,0,0,0,26.04,25.90,26.08
$GC,58250,-1.53,-146.6,2698,1889,2792,2801,4030.9,-5.6,835,58252,0.00,0.00,0.00,0.000,4102,0.000,0.000,2698,1889,2796,2792,2800,0,0,0,0,0,0,27.03,27.04,27.03
$GC,58612,-1.53,-146.6,2698,1889,2791,2800,4051.3,-5.7,838,58617,0.00,2.47,0.00,0.000,4612,0.000,0.077,2698,360,2796,2792,2801,0,0,0,0,0,0,27.05,25.51,27.05
$GC,58707,-1.53,-146.6,2698,360,2792,2801,4051.3,-5.7,838,58712,0.00,2.35,0.00,0.000,1030,0.000,0.062,2690,1895,2796,2792,2801,0,0,0,0,0,0,26.00,25.89,26.04
$GC,59086,-1.53,-146.6,2689,1894,2791,2800,4078.9,-5.8,842,59092,0.00,2.50,0.00,0.000,516,0.000,0.077,2690,353,2796,2792,2801,0,0,0,0,0,0,27.06,25.51,27.08
$GC,59142,-1.53,-146.6,2689,353,2791,2801,4078.9,-5.8,842,59146,0.00,2.33,0.00,0.000,1030,0.000,0.060,2682,1885,2796,2792,2801,0,0,0,0,0,0,25.99,25.88,26.03
$GC,59566,-1.53,-146.6,2681,1885,2792,2800,4108.0,-6.0,846,59567,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1885,2796,2792,2801,0,0,0,0,0,0,27.05,27.08,27.08
$GC,59927,-1.53,-146.6,2681,1886,2791,2801,4129.6,-6.0,849,59932,0.00,2.45,0.00,0.000,516,0.000,0.077,2682,356,2796,2791,2801,0,0,0,0,0,0,27.06,25.49,27.08
$GC,60037,-1.53,-146.6,2681,356,2792,2801,4129.6,-6.0,849,60051,0.00,2.38,0.00,0.000,1030,0.000,0.062,2674,1884,2796,2792,2801,0,0,0,0,0,0,25.91,25.86,25.94
$GC,60406,-1.53,-146.6,2673,1883,2792,2800,4159.0,-6.1,853,60407,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1884,2796,2791,2801,0,0,0,0,0,0,27.06,27.08,27.08
$GC,60766,-1.53,-146.6,2673,1884,2791,2800,4180.0,-5.8,856,60772,0.00,2.47,0.00,0.000,516,0.000,0.077,2674,350,2796,2791,2801,0,0,0,0,0,0,27.06,25.48,27.08
$GC,60847,-1.53,-146.6,2673,351,2792,2800,4180.0,-5.8,856,60852,0.00,2.38,0.00,0.000,1030,0.000,0.062,2666,1893,2795,2791,2800,0,0,0,0,0,0,25.96,25.84,26.01
$GC,61247,-1.53,-146.6,2665,1893,2792,2801,4209.1,-6.0,860,61248,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1893,2796,2792,2801,0,0,0,0,0,0,27.06,27.08,27.08
$GC,61608,-1.53,-146.6,2665,1893,2792,2800,4230.4,-6.0,863,61614,0.00,2.47,0.00,0.000,516,0.000,0.077,2666,358,2795,2791,2800,0,0,0,0,0,0,27.01,25.46,27.03
$GC,61708,-1.53,-146.6,2665,358,2792,2801,4230.4,-6.0,863,61712,0.00,2.33,0.00,0.000,1030,0.000,0.062,2658,1886,2796,2792,2801,0,0,0,0,0,0,25.95,25.83,25.99
$GC,62087,-1.53,-146.6,2657,1886,2792,2800,4259.7,-6.1,867,62088,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1886,2796,2792,2800,0,0,0,0,0,0,27.06,27.08,27.08
$GC,62449,-1.53,-146.6,2657,1886,2792,2801,4281.1,-6.0,870,62455,0.00,2.47,0.00,0.000,516,0.000,0.079,2658,360,2796,2792,2800,0,0,0,0,0,0,27.01,25.43,27.02
$GC,62560,-1.53,-146.6,2657,360,2792,2800,4281.1,-6.0,870,62569,0.00,2.38,0.00,0.000,1030,0.000,0.065,2649,1883,2796,2792,2801,0,0,0,0,0,0,25.86,25.82,25.90
$GC,62930,-1.53,-146.6,2649,1884,2792,2800,4310.4,-6.0,874,62931,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1884,2796,2792,2801,0,0,0,0,0,0,27.01,27.03,27.02
$GC,63291,-1.53,-146.6,2649,1883,2792,2801,4331.4,-5.8,877,63296,0.00,2.45,0.00,0.000,516,0.000,0.079,2649,364,2796,2792,2801,0,0,0,0,0,0,27.01,25.41,27.03
$GC,63391,-1.53,-146.6,2649,364,2792,2800,4331.4,-5.8,877,63395,0.00,2.38,0.00,0.000,1030,0.000,0.065,2642,1894,2795,2791,2800,0,0,0,0,0,0,25.92,25.79,25.96
$GC,63773,-1.53,-146.6,2641,1894,2792,2800,4360.3,-6.0,881,63774,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1894,2796,2792,2800,0,0,0,0,0,0,27.02,27.05,27.04
$GC,64132,-1.53,-146.6,2641,1894,2792,2801,4382.1,-6.1,884,64138,0.00,2.50,0.00,0.000,516,0.000,0.079,2641,353,2796,2792,2800,0,0,0,0,0,0,27.01,25.40,27.03
$GC,64233,-1.53,-146.6,2641,353,2792,2801,4382.1,-6.1,884,64237,0.00,2.35,0.00,0.000,1030,0.000,0.065,2632,1886,2796,2792,2800,0,0,0,0,0,0,25.91,25.79,25.96
$GC,64615,-1.53,-146.6,2631,1887,2792,2800,4412.0,-6.2,888,64616,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1887,2796,2792,2801,0,0,0,0,0,0,27.02,27.04,27.04
$GC,64974,-1.53,-146.6,2631,1887,2792,2801,4433.4,-5.9,891,64979,0.00,2.50,0.00,0.000,516,0.000,0.079,2632,355,2796,2792,2801,0,0,0,0,0,0,27.01,25.38,27.03
$GC,65059,-1.53,-146.6,2631,355,2792,2800,4433.4,-5.9,891,65064,0.12,2.38,0.00,0.000,3078,0.156,0.065,2663,1888,2796,2792,2801,0,0,0,0,0,0,25.50,25.77,25.60
$GC,65448,-1.53,-146.6,2663,1887,2792,2801,4457.8,-5.1,895,65455,0.00,2.45,0.00,0.000,516,0.000,0.077,2664,364,2796,2791,2801,0,0,0,0,0,0,27.06,25.41,27.08
$GC,65500,-1.53,-146.6,2663,364,2792,2800,4457.8,-5.1,895,65504,0.00,2.33,0.00,0.000,1030,0.000,0.062,2657,1882,2796,2792,2801,0,0,0,0,0,0,25.91,25.79,25.95
$GC,65811,-1.53,-146.6,2656,1883,2792,2801,4475.7,-4.9,898,65813,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1883,2796,2792,2800,0,0,0,0,0,0,27.01,27.04,27.03
$GC,66170,-1.53,-146.6,2657,1883,2792,2800,4493.3,-4.9,901,66175,0.00,2.50,0.00,0.000,516,0.000,0.079,2657,349,2796,2792,2801,0,0,0,0,0,0,27.00,25.37,27.02
$GC,66270,-1.53,-146.6,2657,349,2792,2801,4493.3,-4.9,901,66274,0.00,2.40,0.00,0.000,1030,0.000,0.062,2647,1892,2796,2792,2801,0,0,0,0,0,0,25.89,25.77,25.94
$GC,66653,-1.53,-146.6,2647,1892,2792,2801,4518.4,-5.2,905,66660,0.00,2.50,0.00,0.000,516,0.000,0.079,2647,351,2796,2792,2800,0,0,0,0,0,0,27.06,25.37,27.07
$GC,66715,-1.53,-146.6,2647,351,2792,2800,4518.4,-5.2,905,66720,0.00,2.40,0.00,0.000,1030,0.000,0.065,2638,1893,2796,2792,2800,0,0,0,0,0,0,25.88,25.75,25.93
$GC,67136,-1.53,-146.6,2639,1893,2792,2801,4542.8,-5.1,909,67141,0.00,2.50,0.00,0.000,516,0.000,0.082,2639,355,2796,2792,2801,0,0,0,0,0,0,27.01,25.36,27.03
$GC,67196,-1.53,-146.6,2639,355,2792,2800,4542.8,-5.1,909,67200,0.00,2.38,0.00,0.000,1030,0.000,0.065,2629,1894,2795,2791,2800,0,0,0,0,0,0,25.87,25.75,25.91
$GC,67616,-1.53,-146.6,2629,1895,2792,2801,4568.2,-5.3,913,67621,0.00,2.47,0.00,0.000,516,0.000,0.082,2629,363,2796,2792,2801,0,0,0,0,0,0,27.05,25.34,27.08
$GC,67676,-1.53,-146.6,2628,363,2791,2801,4568.2,-5.3,913,67681,0.12,2.38,0.00,0.000,3078,0.159,0.065,2661,1892,2796,2791,2801,0,0,0,0,0,0,25.47,25.75,25.57
$GC,68097,-1.53,-146.6,2661,1891,2791,2801,4590.7,-4.6,917,68102,0.00,2.50,0.00,0.000,516,0.000,0.079,2661,351,2796,2792,2801,0,0,0,0,0,0,27.00,25.37,27.01
$GC,68157,-1.53,-146.6,2662,351,2792,2801,4590.7,-4.6,917,68162,0.00,2.38,0.00,0.000,1030,0.000,0.065,2655,1884,2796,2792,2801,0,0,0,0,0,0,25.87,25.75,25.92
$GC,68583,-1.53,-146.6,2654,1883,2792,2800,4612.6,-4.5,921,68589,0.00,2.47,0.00,0.000,516,0.000,0.082,2655,356,2796,2791,2801,0,0,0,0,0,0,27.01,25.34,27.03
$GC,68650,-1.53,-146.6,2654,356,2792,2801,4612.6,-4.5,921,68654,0.00,2.38,0.00,0.000,1030,0.000,0.065,2645,1893,2796,2792,2801,0,0,0,0,0,0,25.86,25.74,25.91
$GC,69061,-1.53,-146.6,2645,1893,2792,2800,4634.2,-4.5,925,69066,0.00,2.53,0.00,0.000,516,0.000,0.082,2646,355,2796,2792,2800,0,0,0,0,0,0,27.01,25.33,27.03
$GC,69126,-1.53,-146.6,2646,355,2792,2801,4634.2,-4.5,925,69130,0.00,2.38,0.00,0.000,1030,0.000,0.065,2638,1892,2796,2792,2801,0,0,0,0,0,0,25.84,25.72,25.89
$GC,69540,-1.53,-146.6,2638,1893,2792,2801,4657.4,-4.8,929,69545,0.00,2.53,0.00,0.000,516,0.000,0.079,2639,361,2796,2792,2800,0,0,0,0,0,0,27.05,25.31,27.07
$GC,69609,-1.53,-146.6,2638,361,2792,2800,4657.4,-4.8,929,69614,0.00,2.40,0.00,0.000,1030,0.000,0.065,2629,1884,2797,2793,2801,0,0,0,0,0,0,25.76,25.71,25.80
$GC,70027,-1.53,-146.6,2629,1885,2792,2801,4680.1,-4.7,933,70033,0.00,2.50,0.00,0.000,516,0.000,0.082,2629,353,2795,2790,2801,0,0,0,0,0,0,27.02,25.29,27.04
$GC,70083,-1.53,-146.6,2629,353,2792,2801,4680.1,-4.7,933,70088,0.12,2.40,0.00,0.000,3078,0.156,0.065,2663,1890,2796,2791,2801,0,0,0,0,0,0,25.45,25.70,25.55
$GC,70503,-1.53,-146.6,2662,1890,2792,2800,4699.1,-3.9,937,70509,0.00,2.50,0.00,0.000,516,0.000,0.079,2663,353,2796,2792,2801,0,0,0,0,0,0,27.05,25.34,27.07
$GC,70579,-1.53,-146.6,2662,353,2792,2801,4699.1,-3.9,937,70584,0.00,2.40,0.00,0.000,1030,0.000,0.065,2657,1889,2796,2792,2801,0,0,0,0,0,0,25.85,25.72,25.89
$GC,70977,-1.53,-146.6,2656,1889,2792,2801,4718.1,-4.0,941,70984,0.00,2.50,0.00,0.000,516,0.000,0.082,2657,352,2796,2792,2800,0,0,0,0,0,0,27.05,25.31,27.08
$GC,71033,-1.53,-146.6,2656,352,2792,2801,4718.1,-4.0,941,71038,0.00,2.40,0.00,0.000,1030,0.000,0.065,2647,1893,2796,2792,2801,0,0,0,0,0,0,25.83,25.71,25.89
$GC,71458,-1.53,-146.6,2647,1893,2792,2801,4737.9,-4.1,945,71463,0.00,2.50,0.00,0.000,516,0.000,0.082,2647,356,2796,2792,2801,0,0,0,0,0,0,27.05,25.30,27.08
$GC,71544,-1.53,-146.6,2647,356,2792,2800,4737.9,-4.1,945,71548,0.00,2.40,0.00,0.000,1030,0.000,0.065,2639,1889,2796,2792,2801,0,0,0,0,0,0,25.82,25.69,25.86
$GC,71938,-1.53,-146.6,2639,1889,2792,2801,4759.3,-4.4,949,71939,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1889,2796,2792,2801,0,0,0,0,0,0,27.05,27.08,27.08
$GC,72298,-1.59,-146.6,2639,1889,2792,2800,4769.7,-3.5,952,72302,0.00,2.50,0.00,0.000,516,0.000,0.079,2640,361,2796,2792,2800,0,0,0,0,0,0,27.05,25.32,27.08
$GC,72595,-1.69,-146.6,2639,360,2792,2801,4769.8,-0.9,954,72600,0.00,2.40,0.00,0.000,1030,0.000,0.067,2636,1889,2796,2791,2801,0,0,0,0,0,0,25.77,25.63,25.82
$STATE,72777,end dive,NO_VERTICAL_VELOCITY
$STATE,72777,begin apogee
$GC,72782,-0.23,0.0,2636,1727,2791,2801,4769.7,0.0,956,72936,1.23,0.00,150.15,3.742,10246,0.094,0.000,3088,1725,2350,2332,2368,0,0,0,0,0,0,25.34,22.08,19.78
$STATE,72937,end apogee,CONTROL_FINISHED_OK
$STATE,72937,begin climb
$GC,72938,0.54,146.6,3088,1726,2332,2368,4770.3,0.0,957,73120,0.65,2.90,170.30,3.717,10500,0.074,0.094,3346,3248,1845,1811,1879,0,0,0,0,0,0,22.92,22.23,20.01
$GC,73390,0.54,146.6,3346,3248,1811,1879,4695.0,20.8,961,73395,0.12,2.47,0.00,0.000,5126,0.231,0.060,3326,1713,1845,1811,1879,0,0,0,0,0,0,25.32,25.65,25.55
$GC,73745,0.05,146.6,3325,1713,1812,1879,4617.8,21.9,964,73752,0.52,2.28,0.00,0.000,4612,0.226,0.079,3181,235,1845,1811,1879,0,0,0,0,0,0,25.79,26.13,25.98
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$GC,155932,0.55,399.3,3338,1652,932,1030,218.1,8.4,1803,155937,0.00,2.00,0.00,0.000,516,0.000,0.062,3347,267,981,933,1030,0,0,0,0,0,0,27.09,26.54,27.10
$GC,155962,0.55,399.3,3347,267,933,1030,215.4,8.5,1804,155966,0.00,1.90,0.00,0.000,1030,0.000,0.047,3348,1665,981,932,1030,0,0,0,0,0,0,26.78,26.73,26.79
$GC,156295,0.55,399.3,3347,1665,933,1030,189.1,7.9,1815,156299,0.00,2.25,0.00,0.000,260,0.000,0.057,3347,3216,981,933,1030,0,0,0,0,0,0,27.09,26.55,27.10
$GC,156345,0.55,399.3,3347,3216,933,1030,186.1,8.3,1816,156350,0.00,2.22,0.00,0.000,1030,0.000,0.045,3353,1649,981,933,1030,0,0,0,0,0,0,26.78,26.73,26.80
$GC,156659,0.55,399.3,3353,1649,934,1030,158.2,8.0,1827,156661,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1649,982,935,1029,0,0,0,0,0,0,27.10,27.11,27.11
$GC,156959,0.55,399.3,3353,1649,936,1030,133.0,8.1,1843,156976,0.00,2.38,3.97,0.494,8452,0.000,0.057,3352,3226,975,920,1030,0,0,0,0,0,0,27.10,25.41,24.13
$GC,156997,0.55,399.3,3353,3227,920,1030,129.9,8.1,1845,157002,0.12,2.22,0.00,0.000,5126,0.161,0.047,3315,1652,975,920,1030,0,0,0,0,0,0,26.34,26.71,26.44
$GC,157313,0.65,399.3,3315,1652,921,1029,109.9,5.8,1866,157314,0.00,0.00,0.00,0.000,2054,0.000,0.000,3315,1652,975,921,1030,0,0,0,0,0,0,27.09,27.10,27.10
$GC,157611,0.77,399.3,3315,1652,922,1030,94.1,4.9,1886,157618,0.08,2.22,0.00,0.000,2308,0.142,0.055,3380,3213,975,921,1030,0,0,0,0,0,0,26.82,26.60,26.84
$GC,157678,0.77,399.3,3380,3214,922,1030,88.6,8.7,1890,157683,0.00,2.20,0.00,0.000,1030,0.000,0.045,3388,1651,976,923,1030,0,0,0,0,0,0,26.78,26.75,26.79
$GC,157992,0.77,399.3,3387,1651,924,1030,62.8,9.4,1911,157993,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1651,977,924,1030,0,0,0,0,0,0,27.10,27.12,27.11
$GC,158298,0.77,399.3,3387,1651,926,1030,35.4,8.8,1933,158307,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1651,978,926,1030,0,0,0,0,0,0,27.10,27.12,27.11
$GC,158607,0.77,399.3,3387,1651,928,1030,9.8,9.4,1964,158608,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1651,979,928,1030,0,0,0,0,0,0,27.10,27.12,27.11
$STATE,158726,end climb,SURFACE_DEPTH_REACHED
$STATE,158726,begin surface coast
$FINISH,-1.1,1.024249
$STATE,158759,end surface coast,CONTROL_FINISHED_OK
$STATE,158759,begin surface
$SM_CCo,158774,154.55,0.651,0,0,200,624.55
$SM_GC,0.61,7.93,0.28,154.55,0.055,0.067,0.651,123,1917,200,-9.36,-2.23,624.55,0,0,0,0,0,0,26.65,26.87,24.69
$IRIDIUM_FIX,2612.58,-7546.74,041108,121359
$TT8_MAMPS,0.02247,0.02247
$HUMID,57.79
$INTERNAL_PRESSURE,9.20146
$TCM_TEMP,26.00
$XPDR_PINGS,20
$ALTIM_TOP_PING,59.8,58.3
$24V_AH,19.78,46.348
$10V_AH,10.12,36.469
$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,27.125,762.975,567.900,154.550,168.250,660.324,104.485,0.000,74.500,0.000,57.768,8075.440,137248.609,1322.709,13481.206,602.279,0.000,6163.994,0.000,12056.866,0.000,635.596,0.000
$DEVICE_MAMPS,283.062,124.150,3741.881,650.546,223.470,14.900,160.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1358.854,6457.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353388
$DATA_FILE_SIZE,123669,1979
$CAP_FILE_SIZE,897850,0
$CFSIZE,1024409600,947617792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,170.22,1
$GPS,140116,005738,2615.273,-7548.050,39,0.9,72,-9.0,0.5,28.5,8,9.7