version: 66.12
glider: 38
mission: 4
dive: 65
start: 7 18 115 23 33 24
data:
$ID,38
$MISSION,4
$DIVE,65
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$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,1800
$T_MISSION,1860
$T_ABORT,2880
$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,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,12
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$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,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,95
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$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,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,50
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,180715,232557,3149.9053,-6407.8970,38,1.0,38,-14.9,0.0,0.0,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-67.2
$GPS2,180715,233300,3149.8694,-6407.8677,4,1.0,12,-14.9,0.0,0.0,9,8.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.165136,0.201550
$KALMAN_X,1301.667236,0.000000,0.000000,6156.506836,1831.957520
$KALMAN_Y,-7418.920898,0.000000,0.000000,38163.644531,-4606.387695
$MHEAD_RNG_PITCHd_Wd,335.6,50930,-18.4,-10.000,-21.00,2237
$D_GRID,5400
$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
$GC,15,-0.96,-146.6,152,2203,850,822,0.0,0.0,0,151,0.00,0.00,-133.82,0.151,16386,0.000,0.000,152,2203,2554,2506,2602,0,0,0,0,0,0,26.79,28.83,26.81
$GC,154,-0.96,-146.6,152,2203,2506,2602,3.8,-6.1,13,175,10.38,1.95,-3.38,0.281,18948,0.295,0.065,2666,809,2646,2608,2685,0,0,0,0,0,0,26.03,26.25,26.17
$GC,270,-0.78,-146.6,2666,809,2609,2685,27.7,-17.1,23,279,0.20,2.00,0.00,0.000,3078,0.186,0.062,2720,2205,2647,2609,2685,0,0,0,0,0,0,26.26,26.46,26.35
$GC,590,-0.78,-146.6,2720,2206,2609,2685,60.7,-9.0,48,596,0.00,1.98,0.00,0.000,516,0.000,0.067,2720,796,2647,2609,2685,0,0,0,0,0,0,26.89,26.64,26.90
$GC,866,-0.73,-146.6,2720,795,2610,2685,82.5,-7.2,65,871,0.00,1.92,0.00,0.000,1030,0.000,0.062,2711,2216,2647,2609,2686,0,0,0,0,0,0,26.79,26.77,26.81
$GC,1181,-0.73,-146.6,2711,2216,2609,2686,104.7,-7.1,86,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2216,2648,2610,2686,0,0,0,0,0,0,27.05,27.08,27.07
$GC,1480,-0.73,-146.6,2711,2217,2610,2687,127.3,-8.2,106,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2216,2648,2609,2687,0,0,0,0,0,0,27.10,27.13,27.13
$GC,1795,-0.73,-146.6,2711,2216,2610,2686,157.1,-9.8,125,1800,0.00,1.95,0.00,0.000,516,0.000,0.067,2711,810,2648,2610,2687,0,0,0,0,0,0,27.15,26.91,27.15
$GC,1878,-0.73,-146.6,2710,810,2610,2686,163.5,-10.0,127,1888,0.10,1.95,0.00,0.000,3078,0.189,0.062,2734,2204,2648,2610,2686,0,0,0,0,0,0,26.76,26.93,26.84
$GC,2187,-0.73,-146.6,2734,2204,2610,2686,193.6,-8.4,138,2193,0.00,1.95,0.00,0.000,260,0.000,0.077,2724,3597,2648,2610,2687,0,0,0,0,0,0,27.18,26.92,27.20
$GC,2248,-0.73,-146.6,2724,3597,2610,2686,199.1,-8.5,140,2254,0.00,1.88,0.00,0.000,1030,0.000,0.060,2725,2170,2648,2610,2687,0,0,0,0,0,0,27.02,26.98,27.03
$GC,2579,-0.73,-146.6,2724,2170,2610,2686,228.8,-9.1,151,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2169,2648,2610,2686,0,0,0,0,0,0,27.20,27.22,27.22
$GC,2878,-0.73,-146.6,2724,2170,2610,2685,256.3,-9.1,161,2882,0.00,1.83,0.00,0.000,516,0.000,0.067,2725,838,2647,2610,2685,0,0,0,0,0,0,27.21,26.98,27.23
$GC,2942,-0.73,-146.6,2724,837,2610,2684,262.4,-9.3,163,2947,0.00,1.85,0.00,0.000,1030,0.000,0.062,2715,2204,2647,2610,2684,0,0,0,0,0,0,27.04,26.99,27.05
$GC,3272,-0.73,-146.6,2714,2204,2610,2684,293.0,-9.3,174,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2203,2646,2610,2682,0,0,0,0,0,0,27.22,27.24,27.24
$GC,3587,-0.73,-146.6,2715,2204,2610,2683,320.7,-8.6,182,3591,0.00,1.95,0.00,0.000,260,0.000,0.077,2704,3590,2646,2610,2683,0,0,0,0,0,0,27.23,26.97,27.25
$GC,3642,-0.73,-146.6,2704,3590,2610,2683,325.0,-8.7,183,3646,0.00,1.85,0.00,0.000,1030,0.000,0.057,2704,2199,2646,2610,2683,0,0,0,0,0,0,27.05,27.03,27.07
$GC,3951,-0.73,-146.6,2704,2198,2610,2682,353.8,-9.1,190,3955,0.08,1.88,0.00,0.000,2564,0.211,0.065,2736,838,2646,2610,2682,0,0,0,0,0,0,26.88,27.00,26.95
$GC,4045,-0.73,-146.6,2735,824,2610,2681,362.1,-9.2,192,4050,0.00,1.88,0.00,0.000,1030,0.000,0.062,2726,2208,2645,2610,2681,0,0,0,0,0,0,27.07,27.02,27.08
$GC,4360,-0.73,-146.6,2726,2208,2610,2681,390.1,-9.1,199,4363,0.00,1.95,0.00,0.000,260,0.000,0.077,2716,3590,2645,2610,2681,0,0,0,0,0,0,27.24,26.98,27.26
$GC,4414,-0.73,-146.6,2716,3590,2610,2681,394.7,-9.2,200,4418,0.00,1.85,0.00,0.000,1030,0.000,0.057,2716,2199,2646,2611,2681,0,0,0,0,0,0,27.07,27.05,27.08
$GC,4723,-0.73,-146.6,2716,2199,2610,2680,424.8,-9.4,207,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2199,2645,2610,2680,0,0,0,0,0,0,27.24,27.27,27.26
$GC,5038,-0.73,-146.6,2716,2198,2610,2679,456.2,-10.0,214,5044,0.00,1.98,0.00,0.000,260,0.000,0.077,2705,3605,2644,2610,2679,0,0,0,0,0,0,27.24,26.98,27.27
$GC,5091,-0.73,-146.6,2705,3605,2610,2679,461.0,-10.1,215,5095,0.08,1.88,0.00,0.000,3078,0.181,0.057,2732,2190,2644,2610,2679,0,0,0,0,0,0,26.87,27.05,26.96
$GC,5400,-0.78,-146.6,2733,2190,2610,2678,492.1,-9.9,222,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2190,2644,2610,2678,0,0,0,0,0,0,27.25,27.27,27.27
$GC,5715,-0.84,-146.6,2732,2190,2610,2676,522.0,-9.3,229,5719,0.00,2.00,0.00,0.000,260,0.000,0.077,2723,3597,2643,2610,2677,0,0,0,0,0,0,27.25,26.99,27.27
$GC,5785,-0.90,-146.6,2723,3598,2610,2677,526.6,-9.3,230,5790,0.08,1.85,0.00,0.000,5126,0.149,0.060,2675,2214,2644,2611,2678,0,0,0,0,0,0,26.98,27.05,27.05
$GC,6124,-0.90,-146.6,2675,2213,2610,2676,565.8,-10.8,238,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2213,2643,2610,2677,0,0,0,0,0,0,27.25,27.28,27.27
$GC,6439,-0.90,-146.6,2675,2213,2610,2675,600.6,-11.2,245,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2213,2642,2610,2674,0,0,0,0,0,0,27.25,27.27,27.27
$GC,6754,-0.90,-146.6,2675,2213,2611,2673,636.1,-11.4,252,6757,0.00,1.90,0.00,0.000,516,0.000,0.067,2675,834,2641,2610,2673,0,0,0,0,0,0,27.26,27.01,27.27
$GC,6813,-0.90,-146.6,2675,834,2610,2672,641.5,-11.3,253,6817,0.00,1.90,0.00,0.000,1030,0.000,0.062,2665,2193,2641,2610,2673,0,0,0,0,0,0,27.06,27.04,27.08
$GC,7162,-0.90,-146.6,2665,2193,2610,2671,684.7,-12.2,261,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2192,2640,2610,2671,0,0,0,0,0,0,27.26,27.28,27.27
$GC,7477,-0.90,-146.6,2665,2193,2611,2671,723.0,-12.1,268,7482,0.00,1.98,0.00,0.000,260,0.000,0.077,2654,3605,2640,2610,2670,0,0,0,0,0,0,27.25,26.99,27.27
$GC,7522,-0.90,-146.6,2654,3605,2610,2670,728.6,-12.3,269,7528,0.00,1.88,0.00,0.000,1030,0.000,0.060,2654,2184,2640,2610,2670,0,0,0,0,0,0,27.10,27.06,27.10
$GC,7837,-0.90,-146.6,2654,2184,2610,2669,767.8,-12.5,276,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2184,2639,2610,2668,0,0,0,0,0,0,27.26,27.28,27.27
$GC,8152,-0.90,-146.6,2654,2183,2610,2666,808.6,-13.0,283,8156,0.00,2.03,0.00,0.000,260,0.000,0.077,2643,3598,2638,2610,2666,0,0,0,0,0,0,27.26,26.99,27.27
$GC,8217,-0.90,-146.6,2642,3602,2610,2666,815.4,-13.2,284,8222,0.10,1.88,0.00,0.000,3078,0.181,0.057,2678,2195,2638,2610,2666,0,0,0,0,0,0,26.87,27.06,26.95
$GC,8561,-0.90,-146.6,2678,2195,2610,2663,858.5,-11.6,292,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2195,2636,2610,2663,0,0,0,0,0,0,27.26,27.28,27.27
$GC,8876,-0.90,-146.6,2678,2195,2610,2661,896.7,-12.3,299,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2195,2635,2610,2661,0,0,0,0,0,0,27.26,27.28,27.27
$GC,9191,-0.90,-146.6,2678,2194,2610,2657,934.0,-12.0,306,9194,0.00,2.03,0.00,0.000,260,0.000,0.077,2669,3598,2633,2610,2657,0,0,0,0,0,0,27.25,26.99,27.28
$GC,9255,-0.90,-146.6,2668,3600,2610,2657,940.4,-12.3,307,9260,0.00,1.88,0.00,0.000,1030,0.000,0.057,2669,2210,2633,2610,2657,0,0,0,0,0,0,27.08,27.06,27.09
$GC,9599,-0.90,-146.6,2668,2210,2610,2653,986.9,-12.9,315,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2210,2632,2610,2654,0,0,0,0,0,0,27.26,27.28,27.28
$GC,9974,-0.90,-146.6,2668,2210,2610,2650,1035.2,-12.9,320,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2210,2630,2610,2650,0,0,0,0,0,0,27.26,27.28,27.28
$GC,10334,-0.90,-146.6,2669,2210,2610,2646,1081.7,-12.9,323,10340,0.00,1.95,0.00,0.000,260,0.000,0.077,2658,3589,2628,2610,2646,0,0,0,0,0,0,27.26,26.98,27.27
$GC,10400,-0.90,-146.6,2658,3589,2610,2646,1081.7,-12.9,323,10405,0.00,1.88,0.00,0.000,1030,0.000,0.060,2658,2204,2627,2609,2646,0,0,0,0,0,0,27.08,27.05,27.08
$GC,10814,-0.90,-146.6,2658,2204,2610,2642,1148.6,-13.9,327,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2204,2625,2609,2642,0,0,0,0,0,0,27.26,27.28,27.27
$GC,11174,-0.90,-146.6,2658,2204,2610,2638,1197.2,-13.6,330,11180,0.00,1.98,0.00,0.000,260,0.000,0.077,2648,3595,2624,2610,2638,0,0,0,0,0,0,27.26,26.98,27.27
$GC,11221,-0.90,-146.6,2647,3595,2609,2638,1197.2,-13.6,330,11225,0.10,1.90,0.00,0.000,3078,0.169,0.060,2684,2188,2623,2609,2638,0,0,0,0,0,0,26.87,27.05,26.96
$GC,11535,-0.95,-146.6,2683,2187,2610,2636,1238.3,-11.9,333,11541,0.00,2.00,0.00,0.000,260,0.000,0.077,2674,3588,2622,2609,2636,0,0,0,0,0,0,27.26,26.98,27.27
$GC,11576,-1.01,-146.6,2674,3588,2609,2636,1238.3,-11.9,333,11580,0.00,1.85,0.00,0.000,1030,0.000,0.060,2674,2212,2622,2609,2636,0,0,0,0,0,0,27.09,27.05,27.10
$GC,11895,-1.08,-146.6,2674,2210,2609,2632,1277.7,-10.9,336,11897,0.08,0.00,0.00,0.000,4102,0.146,0.000,2619,2210,2621,2610,2632,0,0,0,0,0,0,27.04,27.09,27.08
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$GC,32290,-1.76,-146.6,2407,2204,2590,2610,3651.1,-10.8,506,32291,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2204,2600,2590,2611,0,0,0,0,0,0,27.22,27.24,27.24
$GC,32650,-1.76,-146.6,2407,2204,2590,2610,3687.8,-10.2,509,32656,0.00,2.03,0.00,0.000,260,0.000,0.079,2396,3587,2600,2590,2610,0,0,0,0,0,0,27.22,26.85,27.24
$GC,32736,-1.76,-146.6,2396,3587,2590,2610,3687.8,-10.2,509,32741,0.00,1.95,0.00,0.000,1030,0.000,0.060,2397,2197,2600,2590,2610,0,0,0,0,0,0,26.99,26.96,27.00
$GC,33130,-1.76,-146.6,2396,2196,2590,2610,3738.8,-10.6,513,33132,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2196,2600,2590,2610,0,0,0,0,0,0,27.23,27.25,27.24
$GC,33491,-1.76,-146.6,2396,2196,2590,2610,3775.5,-10.2,516,33496,0.00,2.03,0.00,0.000,260,0.000,0.079,2386,3586,2600,2590,2611,0,0,0,0,0,0,27.22,26.84,27.24
$GC,33541,-1.76,-146.6,2386,3586,2590,2610,3775.5,-10.2,516,33546,0.00,1.95,0.00,0.000,1030,0.000,0.060,2386,2195,2600,2590,2610,0,0,0,0,0,0,26.98,26.96,27.00
$GC,33852,-1.76,-146.6,2386,2195,2590,2610,3812.9,-10.4,519,33853,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2195,2600,2590,2610,0,0,0,0,0,0,27.22,27.25,27.24
$GC,34210,-1.76,-146.6,2386,2195,2590,2610,3849.6,-10.2,522,34211,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2195,2600,2590,2610,0,0,0,0,0,0,27.22,27.25,27.24
$GC,34570,-1.76,-146.6,2386,2194,2589,2610,3885.0,-9.9,525,34572,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2194,2600,2590,2610,0,0,0,0,0,0,27.22,27.25,27.24
$GC,34930,-1.76,-146.6,2386,2194,2590,2610,3919.4,-9.6,528,34931,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2194,2600,2590,2610,0,0,0,0,0,0,27.22,27.25,27.24
$GC,35290,-1.76,-146.6,2386,2193,2590,2610,3953.2,-9.4,531,35291,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2193,2600,2590,2610,0,0,0,0,0,0,27.23,27.25,27.24
$GC,35650,-1.76,-146.6,2385,2193,2590,2610,3986.5,-9.2,534,35651,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2193,2600,2590,2610,0,0,0,0,0,0,27.23,27.25,27.24
$GC,36013,-1.76,-146.6,2386,2193,2590,2610,4019.3,-9.1,537,36014,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2193,2599,2590,2609,0,0,0,0,0,0,27.21,27.24,27.23
$GC,36373,-1.76,-146.6,2386,2193,2590,2610,4051.1,-8.9,540,36374,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2193,2599,2589,2610,0,0,0,0,0,0,27.21,27.24,27.23
$GC,36733,-1.76,-146.6,2387,2193,2590,2610,4082.1,-8.7,543,36734,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2193,2600,2590,2610,0,0,0,0,0,0,27.21,27.24,27.23
$GC,37093,-1.76,-146.6,2386,2193,2589,2610,4112.3,-8.4,546,37098,0.00,2.05,0.00,0.000,260,0.000,0.082,2376,3582,2600,2590,2610,0,0,0,0,0,0,27.21,26.82,27.22
$GC,37157,-1.76,-146.6,2375,3582,2589,2610,4112.3,-8.4,546,37161,0.00,1.95,0.00,0.000,1030,0.000,0.062,2376,2193,2599,2589,2610,0,0,0,0,0,0,26.97,26.94,26.99
$GC,37579,-1.76,-146.6,2375,2193,2589,2610,4152.4,-8.3,550,37580,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2193,2599,2589,2610,0,0,0,0,0,0,27.21,27.24,27.23
$GC,37939,-1.76,-146.6,2376,2193,2589,2610,4180.9,-7.9,553,37940,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2193,2599,2589,2610,0,0,0,0,0,0,27.21,27.24,27.22
$GC,38298,-1.76,-146.6,2376,2192,2589,2610,4208.3,-7.7,556,38299,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2193,2599,2589,2610,0,0,0,0,0,0,27.20,27.22,27.22
$GC,38658,-1.76,-146.6,2375,2192,2589,2610,4234.9,-7.4,559,38659,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2192,2599,2589,2610,0,0,0,0,0,0,27.20,27.22,27.22
$GC,39018,-1.76,-146.6,2375,2191,2589,2610,4261.7,-7.5,562,39019,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2191,2599,2589,2610,0,0,0,0,0,0,27.20,27.22,27.22
$GC,39378,-1.76,-146.6,2375,2191,2589,2610,4288.2,-7.4,565,39379,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2191,2599,2589,2610,0,0,0,0,0,0,27.20,27.22,27.22
$GC,39738,-1.76,-146.6,2376,2191,2589,2610,4313.9,-7.1,568,39739,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2192,2599,2589,2610,0,0,0,0,0,0,27.20,27.22,27.22
$GC,40097,-1.76,-146.6,2376,2191,2590,2610,4339.4,-7.1,571,40098,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2191,2599,2589,2610,0,0,0,0,0,0,27.22,27.25,27.24
$GC,40458,-1.76,-146.6,2376,2191,2589,2610,4363.7,-6.8,574,40459,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2191,2600,2590,2611,0,0,0,0,0,0,27.20,27.22,27.22
$GC,40819,-1.76,-146.6,2376,2191,2589,2610,4387.2,-6.5,577,40820,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2191,2599,2589,2610,0,0,0,0,0,0,27.21,27.23,27.22
$GC,41177,-1.76,-146.6,2375,2191,2589,2610,4409.7,-6.3,580,41180,0.00,2.08,0.00,0.000,260,0.000,0.082,2366,3582,2599,2589,2610,0,0,0,0,0,0,27.22,26.79,27.24
$GC,41261,-1.76,-146.6,2365,3585,2589,2610,4409.7,-6.3,580,41265,0.12,1.92,0.00,0.000,3078,0.174,0.060,2409,2184,2599,2589,2610,0,0,0,0,0,0,26.65,26.92,26.80
$GC,41661,-1.84,-146.6,2408,2182,2589,2610,4437.3,-5.7,584,41662,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2182,2599,2589,2610,0,0,0,0,0,0,27.22,27.24,27.24
$GC,42020,-1.93,-146.6,2408,2183,2589,2610,4456.6,-5.3,587,42022,0.10,0.00,0.00,0.000,4102,0.124,0.000,2352,2182,2599,2589,2610,0,0,0,0,0,0,26.97,27.03,27.01
$GC,42381,-1.93,-146.6,2352,2182,2589,2610,4481.0,-6.5,590,42382,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2182,2599,2589,2610,0,0,0,0,0,0,27.20,27.22,27.22
$GC,42742,-1.93,-146.6,2351,2182,2589,2610,4504.8,-6.7,593,42743,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2182,2599,2589,2610,0,0,0,0,0,0,27.21,27.23,27.22
$GC,43099,-1.93,-146.6,2351,2182,2589,2610,4528.3,-6.5,596,43101,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2182,2599,2589,2610,0,0,0,0,0,0,27.22,27.24,27.24
$STATE,43338,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,43338,begin apogee
$GC,43342,-0.25,0.0,2351,2182,2589,2610,4543.4,-6.4,598,43474,1.55,0.00,128.57,3.749,10246,0.139,0.000,2891,2181,2140,2148,2132,0,0,0,0,0,0,26.58,22.25,20.84
$STATE,43475,end apogee,CONTROL_FINISHED_OK
$STATE,43475,begin climb
$GC,43477,0.96,146.6,2892,2182,2148,2132,4540.9,0.0,599,43641,1.12,2.35,154.90,3.667,10756,0.089,0.092,3297,848,1634,1652,1617,0,0,0,0,0,0,22.72,21.97,20.57
$GC,43834,0.96,146.6,3296,848,1653,1617,4452.7,29.7,602,43838,0.00,2.10,0.00,0.000,1030,0.000,0.062,3297,2183,1635,1653,1618,0,0,0,0,0,0,24.94,24.92,24.96
$GC,44184,0.51,146.6,3297,2183,1653,1617,4343.1,30.4,605,44190,0.57,2.00,0.00,0.000,4612,0.241,0.065,3146,831,1635,1653,1617,0,0,0,0,0,0,25.61,25.80,25.74
$GC,44396,0.09,146.6,3146,831,1653,1618,4314.2,29.0,606,44401,0.50,2.05,0.00,0.000,5126,0.211,0.062,2999,2208,1635,1652,1618,0,0,0,0,0,0,25.86,26.08,26.04
$GC,44781,-0.09,146.6,2999,2208,1653,1617,4229.6,17.5,610,44786,0.10,2.00,0.00,0.000,4612,0.221,0.067,2973,835,1635,1653,1617,0,0,0,0,0,0,26.17,26.33,26.27
$GC,44842,-0.26,146.6,2973,835,1653,1617,4229.6,17.5,610,44846,0.17,2.03,0.00,0.000,5126,0.176,0.062,2906,2198,1635,1653,1618,0,0,0,0,0,0,26.18,26.37,26.34
$GC,45260,-0.26,146.6,2906,2199,1652,1618,4171.1,12.1,614,45261,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2199,1635,1653,1618,0,0,0,0,0,0,26.76,26.78,26.77
$GC,45620,-0.26,146.6,2906,2198,1652,1617,4131.6,11.2,617,45626,0.00,1.98,0.00,0.000,516,0.000,0.070,2916,830,1635,1652,1618,0,0,0,0,0,0,26.84,26.60,26.86
$GC,45696,-0.26,146.6,2916,831,1652,1618,4131.6,11.2,617,45700,0.00,2.03,0.00,0.000,1030,0.000,0.062,2916,2200,1635,1653,1618,0,0,0,0,0,0,26.65,26.62,26.68
$GC,46100,-0.26,146.6,2916,2200,1653,1618,4078.6,11.0,621,46101,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2199,1635,1652,1618,0,0,0,0,0,0,26.92,26.94,26.94
$GC,46460,-0.26,146.6,2916,2200,1653,1617,4039.6,10.9,624,46466,0.00,1.98,0.00,0.000,516,0.000,0.070,2926,830,1635,1653,1617,0,0,0,0,0,0,26.96,26.71,26.98
$GC,46516,-0.26,146.6,2926,829,1652,1617,4039.6,10.9,624,46521,0.10,2.03,0.00,0.000,5126,0.169,0.062,2892,2212,1634,1652,1617,0,0,0,0,0,0,26.56,26.72,26.65
$GC,46940,-0.26,146.6,2891,2212,1652,1617,3991.8,9.9,628,46946,0.00,1.98,0.00,0.000,516,0.000,0.070,2902,835,1635,1652,1618,0,0,0,0,0,0,27.01,26.74,27.02
$GC,46996,-0.26,146.6,2901,835,1653,1617,3991.8,9.9,628,47001,0.00,2.00,0.00,0.000,1030,0.000,0.062,2902,2200,1634,1652,1617,0,0,0,0,0,0,26.80,26.77,26.82
$GC,47420,-0.26,146.6,2901,2200,1652,1617,3944.4,9.9,632,47421,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2200,1634,1652,1617,0,0,0,0,0,0,27.04,27.06,27.05
$GC,47780,-0.26,146.6,2901,2200,1653,1618,3910.3,9.5,635,47786,0.00,1.98,0.00,0.000,516,0.000,0.070,2912,835,1635,1653,1617,0,0,0,0,0,0,27.06,26.80,27.08
$GC,47841,-0.26,146.6,2911,835,1652,1617,3910.3,9.5,635,47846,0.00,2.00,0.00,0.000,1030,0.000,0.062,2912,2199,1635,1653,1617,0,0,0,0,0,0,26.86,26.83,26.86
$GC,48260,-0.26,146.6,2912,2199,1653,1617,3864.8,9.5,639,48261,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2199,1634,1652,1617,0,0,0,0,0,0,27.08,27.10,27.10
$GC,48620,-0.26,146.6,2911,2199,1652,1617,3831.7,9.2,642,48621,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2199,1635,1653,1617,0,0,0,0,0,0,27.10,27.12,27.11
$GC,48980,-0.26,146.6,2911,2199,1653,1617,3800.5,8.7,645,48986,0.00,1.98,0.00,0.000,516,0.000,0.070,2922,832,1634,1652,1617,0,0,0,0,0,0,27.11,26.85,27.13
$GC,49048,-0.26,146.6,2921,833,1653,1617,3800.5,8.7,645,49053,0.10,1.98,0.00,0.000,5126,0.189,0.065,2888,2205,1635,1653,1617,0,0,0,0,0,0,26.70,26.87,26.84
$GC,49457,-0.24,202.2,2888,2205,1653,1617,3764.8,7.5,649,49508,0.00,0.00,50.03,3.225,8198,0.000,0.000,2888,2205,1444,1466,1422,0,0,0,0,0,0,27.11,24.53,23.20
$GC,49817,-0.17,246.7,2888,2204,1465,1422,3735.4,8.0,652,49860,0.00,0.00,40.97,3.176,8198,0.000,0.000,2888,2205,1290,1312,1268,0,0,0,0,0,0,26.27,24.25,22.96
$GC,50177,-0.09,246.7,2888,2205,1312,1268,3704.9,8.4,655,50183,0.08,2.03,0.00,0.000,2564,0.139,0.065,2954,838,1289,1311,1268,0,0,0,0,0,0,25.89,25.86,25.90
$GC,50233,-0.02,246.7,2954,838,1312,1268,3704.9,8.4,655,50237,0.00,2.05,0.00,0.000,1030,0.000,0.062,2954,2205,1289,1311,1268,0,0,0,0,0,0,26.01,25.95,26.02
$GC,50656,-0.02,246.7,2954,2205,1312,1268,3650.8,11.3,659,50657,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2205,1290,1312,1268,0,0,0,0,0,0,26.53,26.56,26.55
$GC,51016,-0.02,246.7,2954,2205,1312,1268,3610.4,11.3,662,51022,0.00,1.98,0.00,0.000,516,0.000,0.070,2964,842,1289,1312,1267,0,0,0,0,0,0,26.70,26.46,26.72
$GC,51062,-0.02,246.7,2963,842,1313,1267,3610.4,11.3,662,51066,0.00,2.03,0.00,0.000,1030,0.000,0.065,2964,2205,1290,1312,1268,0,0,0,0,0,0,26.51,26.48,26.54
$GC,51376,-0.02,246.7,2963,2205,1312,1268,3568.9,11.4,665,51377,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2205,1290,1312,1268,0,0,0,0,0,0,26.80,26.83,26.82
$GC,51736,-0.02,246.7,2963,2205,1312,1268,3527.6,11.5,668,51737,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2205,1290,1313,1268,0,0,0,0,0,0,26.88,26.90,26.89
$GC,52096,-0.02,246.7,2964,2205,1312,1268,3486.0,11.5,671,52102,0.00,1.98,0.00,0.000,516,0.000,0.067,2973,838,1289,1312,1267,0,0,0,0,0,0,26.93,26.72,26.95
$GC,52167,-0.02,246.7,2973,837,1312,1267,3486.0,11.5,671,52171,0.00,2.03,0.00,0.000,1030,0.000,0.065,2973,2207,1290,1312,1268,0,0,0,0,0,0,26.74,26.71,26.76
$GC,52576,-0.02,246.7,2973,2207,1312,1268,3428.6,12.0,675,52577,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2207,1289,1311,1268,0,0,0,0,0,0,26.98,27.01,27.01
$GC,52936,-0.02,246.7,2973,2206,1311,1267,3386.5,11.7,678,52937,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2207,1289,1311,1268,0,0,0,0,0,0,27.01,27.04,27.03
$GC,53296,-0.02,246.7,2973,2207,1312,1268,3344.2,11.7,681,53302,0.00,1.98,0.00,0.000,516,0.000,0.067,2983,831,1289,1311,1268,0,0,0,0,0,0,27.04,26.80,27.06
$GC,53362,-0.02,246.7,2983,831,1312,1268,3344.2,11.7,681,53366,0.00,2.03,0.00,0.000,1030,0.000,0.062,2983,2207,1289,1311,1268,0,0,0,0,0,0,26.84,26.82,26.86
$GC,53776,-0.02,246.7,2983,2207,1311,1268,3288.4,11.6,685,53778,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2207,1289,1312,1267,0,0,0,0,0,0,27.07,27.09,27.08
$GC,54136,-0.02,246.7,2983,2207,1312,1268,3248.6,11.1,688,54142,0.00,2.00,0.00,0.000,516,0.000,0.067,2994,815,1289,1312,1267,0,0,0,0,0,0,27.08,26.84,27.10
$GC,54187,-0.02,246.7,2993,814,1312,1268,3248.6,11.1,688,54192,0.00,2.05,0.00,0.000,1030,0.000,0.062,2993,2210,1290,1312,1268,0,0,0,0,0,0,26.89,26.85,26.91
$GC,54498,-0.02,246.7,2993,2209,1312,1268,3208.3,11.2,691,54499,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2210,1289,1311,1268,0,0,0,0,0,0,27.10,27.13,27.12
$GC,54856,-0.02,246.7,2993,2210,1311,1268,3168.0,11.2,694,54857,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2210,1290,1312,1268,0,0,0,0,0,0,27.11,27.13,27.13
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$GC,79651,0.67,389.1,3186,2212,822,778,528.6,12.6,955,79652,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2212,800,822,778,0,0,0,0,0,0,27.17,27.19,27.18
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$GC,80313,0.77,389.1,3196,823,823,782,449.1,12.5,969,80316,0.00,1.92,0.00,0.000,1030,0.000,0.062,3196,2200,803,824,783,0,0,0,0,0,0,27.01,26.96,27.03
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$GC,83563,1.07,389.1,3265,2210,824,783,12.3,8.7,1112,83573,0.08,1.95,0.00,0.000,2308,0.146,0.074,3339,3592,803,824,783,0,0,0,0,0,0,27.00,26.96,27.02
$STATE,83631,end climb,SURFACE_DEPTH_REACHED
$STATE,83631,begin surface coast
$FINISH,1.2,1.023463
$STATE,83634,end surface coast,CONTROL_FINISHED_OK
$STATE,83634,begin surface
$SM_CCo,83711,0.00,0.000,0,0,803,388.39
$SM_GC,0.87,7.95,1.90,0.00,0.074,0.057,0.000,151,2197,803,-8.75,2.83,388.39,0,0,0,0,0,0,26.93,27.00,26.98
$IRIDIUM_FIX,3125.29,-6403.46,130508,123712
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.77
$INTERNAL_PRESSURE,9.2606
$TCM_TEMP,22.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,49.0,46.9
$ALTIM_BOTTOM_PING,4536.0,34.3
$24V_AH,20.57,14.789
$10V_AH,10.45,5.618
$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,25.500,338.575,502.225,0.000,137.200,26.351,40.986,217.309,14.500,0.000,13.522,4017.776,72087.844,760.781,6951.785,271.361,0.607,3370.351,0.000,6507.356,0.000,106.414,0.000
$DEVICE_MAMPS,295.477,91.871,3749.330,0.000,280.579,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.092,3656.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330360
$DATA_FILE_SIZE,70277,1118
$CAP_FILE_SIZE,441353,0
$CFSIZE,1024409600,1013645312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190715,224951,3158.298,-6419.587,40,1.0,40,-14.9,0.0,0.0,8,9.5