version: 66.12
glider: 37
mission: 22
dive: 94
start: 1 17 116 12 20 5
data:
$ID,37
$MISSION,22
$DIVE,94
$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,93
$R_STBD_OVSHOOT,88
$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
$GPS1,170116,114801,2632.0530,-7608.3838,74,0.8,115,-8.9,0.6,358.3,10,10.9
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-58.6
$GPS2,170116,121937,2632.3264,-7608.3755,18,0.9,58,-8.9,0.5,2.9,8,12.8
$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,257.1,60028,-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,343,-0.39,-146.6,2977,334,2842,2869,28.1,-11.1,30,354,0.15,2.10,0.00,0.000,3078,0.149,0.050,3021,1890,2855,2842,2869,0,0,0,0,0,0,26.25,26.62,26.32
$GC,663,-0.39,-146.6,3020,1889,2843,2869,52.2,-7.7,57,668,0.00,2.20,0.00,0.000,260,0.000,0.062,3011,3430,2855,2842,2869,0,0,0,0,0,0,27.05,26.67,27.07
$GC,711,-0.39,-146.6,3010,3430,2842,2869,56.2,-8.3,60,717,0.00,2.08,0.00,0.000,1030,0.000,0.047,3011,1883,2855,2842,2868,0,0,0,0,0,0,26.82,26.81,26.84
$GC,1027,-0.34,-146.6,3011,1883,2842,2868,80.9,-7.0,81,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1883,2855,2842,2868,0,0,0,0,0,0,27.10,27.12,27.11
$GC,1326,-0.34,-146.6,3010,1883,2842,2868,105.2,-6.7,101,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1883,2855,2842,2868,0,0,0,0,0,0,27.10,27.13,27.13
$GC,1626,-0.34,-146.6,3011,1883,2842,2868,124.8,-5.6,121,1631,0.00,2.25,0.00,0.000,260,0.000,0.062,3001,3434,2855,2842,2868,0,0,0,0,0,0,27.11,26.73,27.13
$GC,1676,-0.34,-146.6,3001,3434,2841,2868,127.7,-6.1,124,1682,0.10,2.08,0.00,0.000,3078,0.146,0.047,3039,1869,2854,2841,2868,0,0,0,0,0,0,26.56,26.88,26.61
$GC,1992,-0.34,-146.6,3039,1869,2842,2868,142.5,-4.5,145,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1869,2855,2842,2868,0,0,0,0,0,0,27.12,27.14,27.13
$GC,2308,-0.34,-146.6,3039,1869,2841,2868,159.0,-6.0,161,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1869,2855,2842,2868,0,0,0,0,0,0,27.12,27.14,27.13
$GC,2606,-0.34,-146.6,3039,1869,2841,2867,174.0,-5.0,171,2610,0.00,2.17,0.00,0.000,516,0.000,0.062,3039,351,2854,2841,2867,0,0,0,0,0,0,27.12,26.74,27.13
$GC,2656,-0.34,-146.6,3039,350,2841,2866,175.7,-5.2,172,2660,0.00,2.10,0.00,0.000,1030,0.000,0.047,3033,1897,2853,2841,2866,0,0,0,0,0,0,26.86,26.85,26.89
$GC,2970,-0.34,-146.6,3032,1898,2841,2866,192.0,-4.8,183,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1898,2853,2841,2866,0,0,0,0,0,0,27.12,27.14,27.13
$GC,3270,-0.34,-146.6,3032,1898,2841,2864,207.7,-5.1,193,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1898,2853,2841,2865,0,0,0,0,0,0,27.12,27.14,27.13
$GC,3570,-0.34,-146.6,3032,1898,2841,2864,223.5,-5.2,203,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1898,2852,2841,2864,0,0,0,0,0,0,27.12,27.14,27.13
$GC,3872,-0.34,-146.6,3032,1898,2841,2862,239.2,-5.1,213,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1898,2852,2842,2862,0,0,0,0,0,0,27.12,27.14,27.13
$GC,4170,-0.34,-146.6,3033,1898,2842,2860,254.8,-5.3,223,4176,0.00,2.22,0.00,0.000,516,0.000,0.060,3033,358,2850,2841,2860,0,0,0,0,0,0,27.12,26.74,27.13
$GC,4233,-0.34,-146.6,3033,358,2841,2859,258.4,-5.5,225,4238,0.00,2.08,0.00,0.000,1030,0.000,0.045,3025,1878,2850,2842,2859,0,0,0,0,0,0,26.87,26.85,26.89
$GC,4564,-0.34,-146.6,3025,1879,2841,2858,275.7,-5.2,236,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1879,2849,2841,2858,0,0,0,0,0,0,27.12,27.14,27.14
$GC,4863,-0.34,-146.6,3025,1878,2840,2858,289.8,-4.6,246,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1878,2849,2841,2857,0,0,0,0,0,0,27.12,27.15,27.14
$GC,5163,-0.34,-146.6,3025,1878,2839,2857,305.7,-5.1,255,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1878,2848,2839,2858,0,0,0,0,0,0,27.13,27.15,27.14
$GC,5478,-0.34,-146.6,3025,1878,2837,2858,321.2,-4.9,262,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1878,2847,2836,2858,0,0,0,0,0,0,27.12,27.15,27.14
$GC,5793,-0.40,-146.6,3025,1879,2837,2857,336.9,-5.0,269,5800,0.00,2.22,0.00,0.000,516,0.000,0.062,3025,351,2846,2837,2856,0,0,0,0,0,0,27.12,26.74,27.14
$GC,5846,-0.45,-146.6,3025,351,2837,2856,339.7,-5.2,270,5850,0.00,2.10,0.00,0.000,1030,0.000,0.047,3017,1867,2846,2837,2856,0,0,0,0,0,0,26.89,26.85,26.91
$GC,6155,-0.45,-146.6,3017,1894,2837,2855,357.3,-5.6,277,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1893,2846,2837,2855,0,0,0,0,0,0,27.12,27.15,27.13
$GC,6470,-0.45,-146.6,3018,1894,2837,2854,375.0,-5.5,284,6475,0.00,2.22,0.00,0.000,516,0.000,0.060,3018,362,2845,2838,2853,0,0,0,0,0,0,27.13,26.74,27.14
$GC,6514,-0.45,-146.6,3017,362,2836,2853,377.9,-5.6,285,6520,0.00,2.10,0.00,0.000,1030,0.000,0.047,3011,1915,2845,2837,2853,0,0,0,0,0,0,26.87,26.85,26.88
$GC,6830,-0.45,-146.6,3011,1915,2837,2853,395.8,-5.7,292,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1914,2845,2838,2853,0,0,0,0,0,0,27.13,27.15,27.14
$GC,7145,-0.45,-146.6,3011,1915,2837,2852,415.0,-6.2,299,7150,0.00,2.25,0.00,0.000,516,0.000,0.060,3011,363,2844,2837,2851,0,0,0,0,0,0,27.12,26.75,27.14
$GC,7191,-0.45,-146.6,3011,364,2837,2851,418.0,-6.2,300,7196,0.00,2.10,0.00,0.000,1030,0.000,0.045,3005,1883,2844,2838,2851,0,0,0,0,0,0,26.86,26.84,26.88
$GC,7506,-0.45,-146.6,3005,1884,2836,2851,438.6,-6.6,307,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1884,2843,2836,2851,0,0,0,0,0,0,27.13,27.14,27.14
$GC,7821,-0.45,-146.6,3005,1884,2835,2851,458.4,-6.2,314,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1884,2843,2835,2851,0,0,0,0,0,0,27.13,27.15,27.14
$GC,8136,-0.45,-146.6,3005,1884,2834,2851,477.6,-6.1,321,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1884,2842,2834,2851,0,0,0,0,0,0,27.12,27.15,27.14
$GC,8451,-0.45,-146.6,3005,1884,2833,2852,496.0,-5.8,328,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1884,2842,2833,2851,0,0,0,0,0,0,27.13,27.14,27.14
$GC,8766,-0.45,-146.6,3005,1884,2832,2851,513.0,-5.3,335,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1884,2841,2832,2851,0,0,0,0,0,0,27.13,27.15,27.14
$GC,9081,-0.45,-146.6,3005,1884,2832,2850,530.1,-5.4,342,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1884,2841,2832,2850,0,0,0,0,0,0,27.12,27.14,27.14
$GC,9396,-0.50,-146.6,3005,1884,2832,2849,547.9,-5.8,349,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1884,2840,2832,2849,0,0,0,0,0,0,27.12,27.15,27.14
$GC,9711,-0.55,-146.6,3005,1884,2832,2848,565.3,-5.4,356,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1884,2840,2832,2848,0,0,0,0,0,0,27.12,27.15,27.14
$GC,10027,-0.60,-146.6,3005,1884,2832,2847,583.0,-5.6,363,10028,0.00,0.00,0.00,0.000,4102,0.000,0.000,3005,1884,2839,2831,2847,0,0,0,0,0,0,27.13,27.15,27.14
$GC,10341,-0.66,-146.6,3005,1884,2831,2846,600.1,-5.4,370,10343,0.05,0.00,0.00,0.000,4102,0.176,0.000,2960,1886,2839,2832,2846,0,0,0,0,0,0,26.91,26.94,26.93
$GC,10656,-0.66,-146.6,2960,1886,2831,2845,622.0,-7.2,377,10662,0.00,2.25,0.00,0.000,516,0.000,0.062,2960,355,2838,2831,2845,0,0,0,0,0,0,27.12,26.73,27.13
$GC,10718,-0.66,-146.6,2960,355,2831,2845,625.7,-7.3,378,10723,0.00,2.12,0.00,0.000,1030,0.000,0.047,2954,1880,2838,2831,2845,0,0,0,0,0,0,26.86,26.82,26.87
$GC,11062,-0.66,-146.6,2953,1880,2830,2845,653.3,-7.5,386,11067,0.00,2.25,0.00,0.000,260,0.000,0.060,2942,3428,2837,2830,2845,0,0,0,0,0,0,27.12,26.73,27.14
$GC,11118,-0.66,-146.6,2942,3428,2829,2845,657.2,-7.7,387,11122,0.00,2.15,0.00,0.000,1030,0.000,0.047,2942,1884,2836,2829,2844,0,0,0,0,0,0,26.88,26.85,26.88
$GC,11427,-0.66,-146.6,2942,1884,2828,2844,684.2,-8.6,394,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1884,2837,2829,2845,0,0,0,0,0,0,27.12,27.14,27.13
$GC,11742,-0.66,-146.6,2942,1883,2828,2845,711.0,-8.6,401,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1884,2836,2828,2845,0,0,0,0,0,0,27.12,27.14,27.13
$GC,12057,-0.66,-146.6,2942,1884,2826,2845,737.0,-8.3,408,12063,0.00,2.20,0.00,0.000,516,0.000,0.062,2942,359,2834,2826,2843,0,0,0,0,0,0,27.12,26.72,27.13
$GC,12114,-0.66,-146.6,2942,359,2826,2843,741.0,-8.3,409,12119,0.00,2.12,0.00,0.000,1030,0.000,0.047,2933,1882,2835,2827,2843,0,0,0,0,0,0,26.85,26.82,26.86
$GC,12463,-0.66,-146.6,2933,1882,2826,2842,770.8,-8.2,417,12470,0.00,2.25,0.00,0.000,260,0.000,0.062,2922,3434,2834,2826,2843,0,0,0,0,0,0,27.12,26.72,27.13
$GC,12521,-0.66,-146.6,2921,3435,2825,2842,774.7,-8.2,418,12525,0.00,2.15,0.00,0.000,1030,0.000,0.045,2922,1873,2834,2825,2843,0,0,0,0,0,0,26.91,26.86,26.92
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$GC,56425,-1.42,-146.6,2683,1885,2791,2799,3921.5,-6.4,819,56429,0.00,2.47,0.00,0.000,516,0.000,0.077,2683,357,2794,2790,2799,0,0,0,0,0,0,27.00,25.56,27.02
$GC,56489,-1.42,-146.6,2683,356,2791,2799,3921.5,-6.4,819,56494,0.00,2.33,0.00,0.000,1030,0.000,0.062,2674,1889,2795,2791,2799,0,0,0,0,0,0,26.02,25.90,26.06
$GC,56906,-1.42,-146.6,2674,1889,2791,2799,3952.7,-6.5,823,56908,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1889,2795,2791,2799,0,0,0,0,0,0,27.03,27.05,27.04
$GC,57265,-1.42,-146.6,2674,1889,2791,2799,3973.6,-5.9,826,57270,0.00,2.50,0.00,0.000,516,0.000,0.077,2674,355,2794,2790,2799,0,0,0,0,0,0,27.01,25.57,27.03
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$GC,58162,-1.42,-146.6,2665,358,2791,2799,4021.6,-5.6,833,58167,0.12,2.33,0.00,0.000,3078,0.151,0.062,2701,1887,2795,2791,2799,0,0,0,0,0,0,25.61,25.86,25.71
$GC,58589,-1.42,-146.6,2701,1888,2791,2799,4042.5,-4.3,837,58590,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1888,2795,2791,2799,0,0,0,0,0,0,27.03,27.05,27.04
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$GC,59022,-1.42,-146.6,2701,364,2791,2799,4058.2,-4.3,840,59026,0.00,2.35,0.00,0.000,1030,0.000,0.060,2692,1891,2795,2791,2799,0,0,0,0,0,0,26.01,25.90,26.06
$GC,59423,-1.42,-146.6,2692,1891,2790,2799,4081.2,-4.8,844,59429,0.00,2.47,0.00,0.000,516,0.000,0.077,2693,367,2795,2791,2799,0,0,0,0,0,0,27.01,25.53,27.03
$GC,59469,-1.42,-146.6,2692,367,2791,2799,4081.2,-4.8,844,59473,0.00,2.33,0.00,0.000,1030,0.000,0.060,2684,1894,2795,2791,2799,0,0,0,0,0,0,25.99,25.88,26.04
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$GC,60618,-1.42,-146.6,2676,1885,2791,2799,4150.3,-6.0,854,60619,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1885,2794,2791,2798,0,0,0,0,0,0,27.01,27.04,27.03
$GC,60978,-1.42,-146.6,2676,1885,2791,2799,4170.9,-5.7,857,60983,0.00,2.50,0.00,0.000,516,0.000,0.077,2676,361,2795,2791,2799,0,0,0,0,0,0,27.02,25.50,27.03
$GC,61072,-1.42,-146.6,2676,361,2792,2799,4170.9,-5.7,857,61076,0.00,2.35,0.00,0.000,1030,0.000,0.062,2668,1888,2795,2791,2799,0,0,0,0,0,0,25.95,25.83,25.99
$GC,61463,-1.42,-146.6,2668,1889,2791,2799,4200.7,-6.1,861,61464,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1889,2795,2791,2799,0,0,0,0,0,0,27.00,27.02,27.02
$GC,61824,-1.42,-146.6,2668,1888,2791,2799,4221.9,-6.0,864,61830,0.00,2.45,0.00,0.000,516,0.000,0.077,2668,367,2795,2791,2799,0,0,0,0,0,0,27.02,25.49,27.04
$GC,61905,-1.42,-146.6,2668,367,2791,2799,4221.9,-6.0,864,61910,0.12,2.35,0.00,0.000,3078,0.149,0.062,2704,1892,2795,2791,2799,0,0,0,0,0,0,25.58,25.82,25.68
$GC,62299,-1.42,-146.6,2704,1892,2791,2799,4245.6,-4.9,868,62300,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1892,2795,2791,2799,0,0,0,0,0,0,27.05,27.08,27.07
$GC,62662,-1.47,-146.6,2704,1892,2791,2799,4262.5,-4.7,871,62668,0.00,2.47,0.00,0.000,516,0.000,0.077,2704,362,2795,2791,2799,0,0,0,0,0,0,27.02,25.48,27.04
$GC,62758,-1.53,-146.6,2704,361,2791,2799,4262.5,-4.7,871,62763,0.00,2.33,0.00,0.000,5126,0.000,0.062,2697,1885,2794,2790,2799,0,0,0,0,0,0,25.98,25.83,26.03
$GC,63139,-1.58,-146.6,2697,1885,2791,2799,4284.6,-4.6,875,63140,0.00,0.00,0.00,0.000,4102,0.000,0.000,2697,1885,2795,2792,2799,0,0,0,0,0,0,27.03,27.04,27.04
$GC,63500,-1.63,-146.6,2697,1885,2791,2799,4301.3,-4.6,878,63505,0.08,2.50,0.00,0.000,4612,0.142,0.077,2639,359,2795,2791,2799,0,0,0,0,0,0,26.71,25.45,26.71
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$GC,64341,-1.68,-146.6,2628,1895,2791,2799,4353.0,-5.9,885,64347,0.00,2.50,0.00,0.000,516,0.000,0.079,2629,360,2795,2791,2799,0,0,0,0,0,0,27.01,25.44,27.03
$GC,64386,-1.68,-146.6,2628,360,2791,2799,4353.0,-5.9,885,64390,0.00,2.35,0.00,0.000,1030,0.000,0.065,2619,1885,2795,2791,2799,0,0,0,0,0,0,25.89,25.77,25.94
$GC,64704,-1.68,-146.6,2618,1885,2791,2799,4373.6,-5.7,888,64705,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1885,2795,2791,2799,0,0,0,0,0,0,27.02,27.04,27.04
$GC,65062,-1.68,-146.6,2618,1885,2791,2799,4392.9,-5.4,891,65063,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1884,2795,2791,2799,0,0,0,0,0,0,26.99,27.03,27.01
$GC,65422,-1.68,-146.6,2618,1885,2791,2799,4410.7,-5.0,894,65428,0.00,2.50,0.00,0.000,516,0.000,0.079,2619,362,2795,2791,2799,0,0,0,0,0,0,27.01,25.42,27.03
$GC,65478,-1.68,-146.6,2618,362,2791,2799,4410.7,-5.0,894,65482,0.00,2.38,0.00,0.000,1030,0.000,0.065,2608,1893,2795,2791,2799,0,0,0,0,0,0,25.89,25.76,25.93
$GC,65898,-1.68,-146.6,2608,1894,2791,2799,4435.5,-5.2,898,65900,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1893,2795,2791,2799,0,0,0,0,0,0,27.01,27.03,27.02
$GC,66259,-1.68,-146.6,2608,1894,2791,2799,4455.6,-5.4,901,66265,0.00,2.53,0.00,0.000,516,0.000,0.079,2608,358,2795,2791,2799,0,0,0,0,0,0,27.02,25.41,27.03
$GC,66310,-1.68,-146.6,2608,358,2791,2799,4455.6,-5.4,901,66314,0.00,2.38,0.00,0.000,1030,0.000,0.065,2599,1883,2795,2791,2799,0,0,0,0,0,0,25.87,25.75,25.91
$GC,66736,-1.63,-146.6,2598,1883,2791,2799,4484.7,-6.1,905,66737,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1884,2795,2791,2799,0,0,0,0,0,0,27.00,27.03,27.02
$GC,67097,-1.58,-146.6,2598,1882,2791,2799,4505.6,-5.9,908,67099,0.15,0.00,0.00,0.000,2054,0.161,0.000,2649,1884,2795,2791,2799,0,0,0,0,0,0,26.27,26.33,26.29
$GC,67455,-1.58,-146.6,2649,1883,2791,2799,4520.9,-4.6,911,67461,0.00,2.47,0.00,0.000,516,0.000,0.079,2650,366,2794,2790,2799,0,0,0,0,0,0,27.00,25.42,27.01
$GC,67526,-1.58,-146.6,2649,366,2791,2799,4520.9,-4.6,911,67530,0.00,2.38,0.00,0.000,1030,0.000,0.065,2642,1893,2795,2791,2799,0,0,0,0,0,0,25.87,25.75,25.92
$GC,67931,-1.58,-146.6,2642,1893,2790,2799,4539.3,-3.8,915,67932,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1893,2795,2791,2799,0,0,0,0,0,0,27.05,27.08,27.07
$GC,68291,-1.58,-146.6,2642,1893,2790,2799,4551.5,-3.4,918,68297,0.00,2.50,0.00,0.000,516,0.000,0.079,2642,360,2795,2791,2799,0,0,0,0,0,0,27.00,25.39,27.01
$GC,68412,-1.58,-146.6,2642,360,2791,2799,4556.4,-3.5,919,68418,0.00,2.35,0.00,0.000,1030,0.000,0.067,2632,1885,2795,2791,2799,0,0,0,0,0,0,25.77,25.73,25.82
$GC,68775,-1.58,-146.6,2632,1885,2791,2799,4570.4,-3.9,922,68776,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1885,2795,2791,2799,0,0,0,0,0,0,27.02,27.04,27.03
$GC,69133,-1.58,-146.6,2631,1885,2791,2799,4584.5,-3.9,925,69137,0.00,2.53,0.00,0.000,516,0.000,0.079,2632,355,2795,2791,2799,0,0,0,0,0,0,27.00,25.36,27.01
$GC,69202,-1.58,-146.6,2632,355,2791,2799,4584.5,-3.9,925,69206,0.00,2.40,0.00,0.000,1030,0.000,0.065,2621,1894,2795,2791,2799,0,0,0,0,0,0,25.84,25.72,25.89
$GC,69616,-1.58,-146.6,2621,1894,2791,2799,4606.4,-4.5,929,69617,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1894,2795,2791,2799,0,0,0,0,0,0,27.05,27.08,27.07
$GC,69979,-1.58,-146.6,2621,1894,2791,2799,4621.7,-4.3,932,69984,0.00,2.53,0.00,0.000,516,0.000,0.082,2621,358,2795,2791,2799,0,0,0,0,0,0,27.02,25.34,27.03
$GC,70059,-1.58,-146.6,2621,357,2791,2799,4621.7,-4.3,932,70064,0.10,2.40,0.00,0.000,3078,0.164,0.065,2644,1894,2795,2791,2799,0,0,0,0,0,0,25.51,25.70,25.61
$GC,70454,-1.58,-146.6,2644,1894,2791,2799,4639.9,-3.7,936,70455,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1894,2795,2791,2799,0,0,0,0,0,0,27.05,27.08,27.07
$GC,70814,-1.58,-146.6,2645,1894,2791,2799,4652.6,-3.5,939,70821,0.00,2.50,0.00,0.000,516,0.000,0.079,2645,369,2795,2791,2799,0,0,0,0,0,0,26.99,25.37,27.01
$GC,70915,-1.58,-146.6,2645,368,2791,2799,4652.6,-3.5,939,70921,0.00,2.40,0.00,0.000,1030,0.000,0.067,2636,1882,2795,2791,2799,0,0,0,0,0,0,25.77,25.71,25.81
$GC,71297,-1.58,-146.6,2636,1882,2791,2799,4671.1,-3.8,943,71299,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1882,2795,2791,2799,0,0,0,0,0,0,27.01,27.04,27.03
$GC,71657,-1.58,-146.6,2636,1882,2791,2799,4684.0,-3.6,946,71662,0.00,2.50,0.00,0.000,516,0.000,0.082,2636,361,2795,2791,2799,0,0,0,0,0,0,27.01,25.34,27.03
$GC,71747,-1.58,-146.6,2636,362,2791,2799,4684.0,-3.6,946,71752,0.00,2.40,0.00,0.000,1030,0.000,0.067,2626,1894,2795,2791,2799,0,0,0,0,0,0,25.82,25.69,25.86
$GC,72137,-1.58,-146.6,2626,1895,2791,2799,4704.9,-4.3,950,72138,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1894,2794,2790,2799,0,0,0,0,0,0,26.99,27.02,27.01
$GC,72497,-1.58,-146.6,2626,1894,2790,2799,4720.8,-4.5,953,72504,0.00,2.53,0.00,0.000,516,0.000,0.082,2626,364,2795,2791,2799,0,0,0,0,0,0,27.00,25.31,27.02
$GC,72574,-1.58,-146.6,2626,364,2791,2799,4720.8,-4.5,953,72578,0.00,2.40,0.00,0.000,1030,0.000,0.067,2617,1894,2795,2791,2799,0,0,0,0,0,0,25.81,25.67,25.86
$GC,72974,-1.58,-146.6,2617,1895,2791,2799,4741.7,-4.4,957,72976,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1895,2795,2791,2799,0,0,0,0,0,0,27.01,27.03,27.02
$GC,73332,-1.58,-146.6,2617,1895,2791,2799,4756.4,-4.1,960,73337,0.00,2.53,0.00,0.000,516,0.000,0.082,2617,361,2795,2791,2799,0,0,0,0,0,0,27.05,25.30,27.07
$GC,73417,-1.58,-146.6,2617,361,2791,2799,4756.4,-4.1,960,73422,0.12,2.38,0.00,0.000,3078,0.156,0.067,2649,1887,2795,2791,2799,0,0,0,0,0,0,25.43,25.67,25.53
$GC,73812,-1.58,-146.6,2648,1888,2791,2799,4776.2,-4.1,964,73813,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1888,2795,2791,2799,0,0,0,0,0,0,27.05,27.08,27.07
$GC,74175,-1.58,-146.6,2648,1888,2791,2799,4790.4,-3.9,967,74180,0.00,2.47,0.00,0.000,516,0.000,0.082,2649,364,2795,2791,2799,0,0,0,0,0,0,27.02,25.34,27.03
$GC,74271,-1.58,-146.6,2648,364,2791,2798,4790.4,-3.9,967,74275,0.00,2.35,0.00,0.000,1030,0.000,0.067,2641,1883,2795,2791,2799,0,0,0,0,0,0,25.81,25.67,25.85
$GC,74649,-1.58,-146.6,2640,1884,2791,2799,4810.0,-4.1,971,74650,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1884,2795,2791,2799,0,0,0,0,0,0,27.05,27.08,27.07
$GC,75012,-1.58,-146.6,2640,1883,2791,2799,4823.4,-3.8,974,75017,0.00,2.50,0.00,0.000,516,0.000,0.082,2641,364,2795,2791,2799,0,0,0,0,0,0,27.02,25.30,27.03
$GC,75077,-1.58,-146.6,2640,364,2791,2799,4823.4,-3.8,974,75082,0.00,2.40,0.00,0.000,1030,0.000,0.067,2631,1893,2795,2791,2799,0,0,0,0,0,0,25.79,25.67,25.84
$GC,75493,-1.58,-146.6,2631,1893,2791,2799,4842.4,-3.9,978,75494,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1893,2794,2791,2798,0,0,0,0,0,0,27.01,27.03,27.02
$GC,75851,-1.58,-146.6,2630,1893,2791,2799,4856.8,-3.9,981,75856,0.00,2.55,0.00,0.000,516,0.000,0.082,2631,357,2795,2791,2799,0,0,0,0,0,0,27.05,25.28,27.07
$GC,75916,-1.58,-146.6,2631,356,2791,2799,4856.8,-3.9,981,75920,0.00,2.40,0.00,0.000,1030,0.000,0.067,2623,1886,2795,2791,2799,0,0,0,0,0,0,25.78,25.65,25.83
$STATE,75968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,75968,begin apogee
$GC,75972,-0.23,0.0,2622,1727,2791,2799,4861.9,-4.1,982,76130,1.35,0.00,153.50,3.797,10246,0.122,0.000,3083,1726,2350,2333,2368,0,0,0,0,0,0,24.79,21.99,19.64
$STATE,76131,end apogee,CONTROL_FINISHED_OK
$STATE,76131,begin climb
$GC,76132,0.54,146.6,3083,1726,2333,2368,4866.3,0.0,983,76311,0.70,0.00,175.48,3.769,10246,0.077,0.000,3338,1725,1845,1811,1879,0,0,0,0,0,0,22.82,22.06,19.92
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$GC,160131,0.80,503.3,3431,1651,553,687,18.5,18.3,1954,160135,0.00,2.00,0.00,0.000,516,0.000,0.062,3438,266,620,554,687,0,0,0,0,0,0,26.89,26.47,26.91
$GC,160189,0.75,503.3,3438,267,555,687,11.7,12.8,1959,160200,0.12,1.90,0.00,0.000,5126,0.134,0.045,3392,1675,621,555,687,0,0,0,0,0,0,26.30,26.64,26.36
$STATE,160289,end climb,SURFACE_DEPTH_REACHED
$STATE,160289,begin surface coast
$FINISH,-0.1,1.024613
$STATE,160309,end surface coast,CONTROL_FINISHED_OK
$STATE,160309,begin surface
$SM_CCo,160324,83.55,0.643,0,0,199,624.55
$SM_GC,0.82,7.82,0.20,83.55,0.055,0.077,0.643,180,1911,199,-9.21,-2.80,624.55,0,0,0,0,0,0,26.49,26.75,24.85
$IRIDIUM_FIX,2612.58,-7546.74,041108,121359
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.01
$INTERNAL_PRESSURE,9.19169
$TCM_TEMP,25.30
$XPDR_PINGS,20
$ALTIM_TOP_PING,59.8,58.5
$ALTIM_BOTTOM_PING,4852.0,37.6
$24V_AH,19.64,48.174
$10V_AH,10.09,37.513
$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,26.700,679.375,667.450,83.550,175.725,661.561,106.752,0.000,77.000,0.000,59.608,7849.454,139698.719,1303.975,12770.047,614.236,0.000,5804.184,0.000,11351.817,0.000,661.163,0.000
$DEVICE_MAMPS,280.579,163.878,3796.507,643.097,295.477,14.900,160.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1352.967,6431.091,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353364
$DATA_FILE_SIZE,120127,1971
$CAP_FILE_SIZE,863403,0
$CFSIZE,1024409600,946044928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,100842.15,0x235808,1,24
$CURRENT,0.131,101.36,1
$GPS,190116,085620,2622.517,-7615.265,86,1.0,126,-8.8,0.6,99.2,8,51.7