version: 66.12
glider: 38
mission: 4
dive: 66
start: 7 19 115 22 56 45
data:
$ID,38
$MISSION,4
$DIVE,66
$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,96
$R_STBD_OVSHOOT,63
$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
$GPS1,190715,224951,3158.2981,-6419.5874,40,1.0,40,-14.9,0.0,0.0,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-64.1
$GPS2,190715,225621,3158.2603,-6419.6509,4,1.0,12,-14.9,0.6,233.2,9,9.0
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.125993,0.228075
$KALMAN_X,807.204102,0.000000,0.000000,-11705.651367,422.843018
$KALMAN_Y,-13582.699219,0.000000,0.000000,59912.679688,-7198.476562
$MHEAD_RNG_PITCHd_Wd,346.0,27128,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,415,-0.81,-146.6,2660,816,2608,2686,50.9,-13.3,34,425,0.17,1.98,0.00,0.000,3078,0.189,0.062,2706,2213,2647,2608,2686,0,0,0,0,0,0,26.40,26.58,26.49
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$GC,1049,-0.70,-146.6,2706,801,2608,2687,95.7,-8.0,75,1055,0.15,1.95,0.00,0.000,3078,0.184,0.062,2747,2227,2648,2609,2687,0,0,0,0,0,0,26.64,26.82,26.72
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$GC,1874,-0.70,-146.6,2737,2219,2609,2687,156.1,-8.2,127,1880,0.00,1.92,0.00,0.000,260,0.000,0.077,2728,3592,2648,2609,2687,0,0,0,0,0,0,27.15,26.90,27.17
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$GC,2234,-0.70,-146.6,2727,2171,2609,2687,186.9,-8.8,139,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2171,2648,2609,2687,0,0,0,0,0,0,27.18,27.20,27.20
$GC,2534,-0.70,-146.6,2727,2171,2609,2686,213.8,-9.4,149,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2171,2648,2609,2687,0,0,0,0,0,0,27.20,27.22,27.22
$GC,2834,-0.70,-146.6,2727,2171,2609,2686,243.6,-10.2,159,2840,0.00,2.00,0.00,0.000,260,0.000,0.077,2717,3594,2647,2609,2686,0,0,0,0,0,0,27.21,26.96,27.22
$GC,2918,-0.70,-146.6,2717,3593,2609,2686,250.2,-10.4,161,2927,0.00,1.85,0.00,0.000,1030,0.000,0.060,2717,2207,2647,2609,2685,0,0,0,0,0,0,27.03,27.03,27.05
$GC,3227,-0.70,-146.6,2716,2207,2609,2685,284.3,-10.0,172,3233,0.00,1.90,0.00,0.000,516,0.000,0.067,2717,834,2646,2609,2683,0,0,0,0,0,0,27.22,26.99,27.24
$GC,3301,-0.70,-146.6,2717,834,2609,2684,290.9,-10.4,174,3305,0.12,1.90,0.00,0.000,3078,0.176,0.062,2750,2197,2646,2609,2684,0,0,0,0,0,0,26.84,27.01,26.94
$GC,3635,-0.75,-146.6,2749,2197,2609,2683,321.6,-8.8,183,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2197,2646,2609,2683,0,0,0,0,0,0,27.23,27.25,27.24
$GC,3950,-0.81,-146.6,2749,2197,2609,2682,349.1,-9.0,190,3952,0.05,0.00,0.00,0.000,4102,0.191,0.000,2709,2198,2645,2609,2682,0,0,0,0,0,0,27.03,27.08,27.06
$GC,4265,-0.81,-146.6,2709,2197,2609,2681,379.2,-9.5,197,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2197,2645,2609,2682,0,0,0,0,0,0,27.24,27.26,27.26
$GC,4580,-0.81,-146.6,2709,2197,2609,2681,409.6,-9.8,204,4583,0.00,1.98,0.00,0.000,260,0.000,0.077,2698,3597,2645,2609,2681,0,0,0,0,0,0,27.24,26.99,27.26
$GC,4639,-0.81,-146.6,2698,3597,2609,2681,414.2,-9.9,205,4643,0.00,1.88,0.00,0.000,1030,0.000,0.057,2698,2195,2645,2609,2681,0,0,0,0,0,0,27.06,27.05,27.08
$GC,4988,-0.81,-146.6,2698,2195,2608,2679,452.0,-10.4,213,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2195,2644,2609,2680,0,0,0,0,0,0,27.24,27.27,27.27
$GC,5303,-0.81,-146.6,2698,2195,2609,2679,483.0,-9.8,220,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2194,2643,2609,2678,0,0,0,0,0,0,27.25,27.27,27.27
$GC,5618,-0.81,-146.6,2698,2195,2609,2678,513.2,-9.7,227,5622,0.00,1.98,0.00,0.000,260,0.000,0.077,2688,3588,2643,2609,2678,0,0,0,0,0,0,27.25,27.00,27.27
$GC,5667,-0.81,-146.6,2688,3588,2609,2678,518.2,-9.9,228,5672,0.00,1.80,0.00,0.000,1030,0.000,0.060,2688,2196,2643,2609,2678,0,0,0,0,0,0,27.09,27.05,27.10
$GC,5981,-0.81,-146.6,2687,2196,2609,2677,549.7,-10.0,235,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2195,2643,2609,2677,0,0,0,0,0,0,27.25,27.27,27.27
$GC,6296,-0.81,-146.6,2688,2195,2609,2675,580.2,-9.6,242,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2196,2642,2609,2675,0,0,0,0,0,0,27.25,27.27,27.27
$GC,6611,-0.81,-146.6,2688,2196,2609,2674,611.1,-9.9,249,6616,0.00,1.95,0.00,0.000,260,0.000,0.077,2677,3590,2641,2609,2674,0,0,0,0,0,0,27.26,27.00,27.27
$GC,6709,-0.81,-146.6,2677,3590,2609,2674,621.6,-10.8,251,6714,0.10,1.85,0.00,0.000,3078,0.179,0.057,2712,2186,2641,2609,2674,0,0,0,0,0,0,26.89,27.07,26.96
$GC,7018,-0.81,-146.6,2712,2186,2609,2673,655.2,-10.6,258,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2186,2640,2609,2672,0,0,0,0,0,0,27.25,27.28,27.27
$GC,7333,-0.81,-146.6,2712,2186,2609,2671,688.1,-10.6,265,7337,0.00,1.83,0.00,0.000,516,0.000,0.067,2712,855,2640,2609,2671,0,0,0,0,0,0,27.26,27.02,27.27
$GC,7382,-0.81,-146.6,2712,855,2609,2670,693.4,-10.9,266,7387,0.00,1.83,0.00,0.000,1030,0.000,0.062,2703,2202,2639,2609,2670,0,0,0,0,0,0,27.09,27.04,27.10
$GC,7696,-0.81,-146.6,2703,2201,2609,2670,727.6,-10.9,273,7699,0.00,1.98,0.00,0.000,260,0.000,0.077,2693,3598,2639,2609,2670,0,0,0,0,0,0,27.25,27.00,27.27
$GC,7750,-0.81,-146.6,2693,3599,2609,2670,732.7,-10.8,274,7755,0.00,1.85,0.00,0.000,1030,0.000,0.060,2692,2219,2639,2609,2670,0,0,0,0,0,0,27.08,27.06,27.09
$GC,8059,-0.81,-146.6,2692,2218,2609,2668,766.6,-10.6,281,8063,0.00,1.90,0.00,0.000,516,0.000,0.067,2693,833,2639,2610,2668,0,0,0,0,0,0,27.25,27.02,27.27
$GC,8108,-0.81,-146.6,2693,832,2609,2667,772.0,-10.8,282,8113,0.00,1.88,0.00,0.000,1030,0.000,0.062,2683,2211,2638,2609,2667,0,0,0,0,0,0,27.08,27.03,27.10
$GC,8422,-0.81,-146.6,2682,2211,2609,2665,809.7,-12.0,289,8427,0.00,1.95,0.00,0.000,260,0.000,0.077,2672,3595,2637,2609,2665,0,0,0,0,0,0,27.26,27.00,27.27
$GC,8479,-0.81,-146.6,2672,3595,2608,2665,815.2,-12.0,290,8484,0.10,1.88,0.00,0.000,3078,0.174,0.060,2708,2182,2636,2608,2665,0,0,0,0,0,0,26.89,27.07,26.96
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$GC,8884,-0.91,-146.6,2698,3598,2609,2662,858.3,-10.3,299,8888,0.00,1.85,0.00,0.000,1030,0.000,0.060,2698,2193,2635,2609,2662,0,0,0,0,0,0,27.10,27.06,27.10
$GC,9192,-0.91,-146.6,2698,2192,2609,2660,893.4,-11.0,306,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2193,2634,2609,2660,0,0,0,0,0,0,27.26,27.28,27.27
$GC,9507,-0.91,-146.6,2698,2193,2609,2656,928.1,-10.9,313,9513,0.00,1.98,0.00,0.000,260,0.000,0.077,2688,3589,2632,2608,2657,0,0,0,0,0,0,27.26,27.00,27.27
$GC,9554,-0.91,-146.6,2688,3588,2609,2657,933.1,-11.0,314,9559,0.00,1.88,0.00,0.000,1030,0.000,0.057,2688,2196,2632,2609,2656,0,0,0,0,0,0,27.08,27.05,27.09
$GC,9869,-0.91,-146.6,2688,2195,2609,2653,968.7,-11.2,321,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2195,2631,2609,2654,0,0,0,0,0,0,27.26,27.28,27.27
$GC,10184,-0.91,-146.6,2688,2195,2609,2650,1004.4,-11.4,328,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2195,2629,2609,2650,0,0,0,0,0,0,27.25,27.28,27.27
$GC,10543,-0.91,-146.6,2688,2195,2609,2647,1046.9,-11.8,331,10549,0.00,1.98,0.00,0.000,260,0.000,0.077,2677,3585,2628,2609,2647,0,0,0,0,0,0,27.26,27.00,27.27
$GC,10595,-0.91,-146.6,2677,3585,2609,2647,1046.9,-11.8,331,10599,0.00,1.88,0.00,0.000,1030,0.000,0.057,2678,2203,2628,2609,2647,0,0,0,0,0,0,27.08,27.06,27.10
$GC,10904,-0.91,-146.6,2677,2203,2609,2643,1093.2,-12.6,334,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2203,2626,2609,2643,0,0,0,0,0,0,27.26,27.28,27.27
$GC,11264,-0.91,-146.6,2677,2202,2609,2642,1139.6,-12.9,337,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2203,2625,2609,2641,0,0,0,0,0,0,27.25,27.28,27.27
$GC,11624,-0.96,-146.6,2677,2203,2609,2637,1182.6,-12.2,340,11629,0.00,1.98,0.00,0.000,260,0.000,0.077,2667,3585,2623,2608,2638,0,0,0,0,0,0,27.25,27.00,27.27
$GC,11675,-1.02,-146.6,2668,3585,2608,2638,1182.6,-12.2,340,11679,0.00,1.85,0.00,0.000,1030,0.000,0.060,2668,2197,2623,2609,2637,0,0,0,0,0,0,27.10,27.05,27.11
$GC,11985,-1.07,-146.6,2667,2197,2609,2634,1224.8,-11.7,343,11987,0.08,0.00,0.00,0.000,4102,0.146,0.000,2611,2197,2621,2609,2634,0,0,0,0,0,0,27.04,27.10,27.08
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$GC,32745,-1.68,-146.6,2403,2196,2589,2609,3642.3,-10.1,516,32751,0.00,2.03,0.00,0.000,260,0.000,0.079,2393,3580,2599,2589,2609,0,0,0,0,0,0,27.23,26.86,27.24
$GC,32806,-1.68,-146.6,2393,3580,2588,2610,3642.3,-10.1,516,32811,0.12,1.92,0.00,0.000,3078,0.171,0.062,2435,2193,2599,2589,2609,0,0,0,0,0,0,26.67,26.96,26.75
$GC,33225,-1.68,-146.6,2435,2192,2588,2610,3686.0,-9.0,520,33226,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2192,2599,2589,2609,0,0,0,0,0,0,27.22,27.25,27.24
$GC,33585,-1.68,-146.6,2435,2191,2588,2609,3717.4,-8.8,523,33590,0.00,2.03,0.00,0.000,260,0.000,0.079,2426,3582,2598,2588,2609,0,0,0,0,0,0,27.22,26.86,27.24
$GC,33676,-1.68,-146.6,2425,3582,2588,2609,3717.4,-8.8,523,33680,0.00,1.92,0.00,0.000,1030,0.000,0.060,2426,2203,2598,2588,2609,0,0,0,0,0,0,26.98,26.96,27.01
$GC,34065,-1.68,-146.6,2426,2203,2588,2609,3760.6,-9.0,527,34066,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2202,2598,2588,2609,0,0,0,0,0,0,27.22,27.25,27.24
$GC,34425,-1.68,-146.6,2425,2203,2588,2609,3792.8,-8.9,530,34430,0.00,2.03,0.00,0.000,260,0.000,0.079,2416,3590,2598,2588,2609,0,0,0,0,0,0,27.22,26.84,27.24
$GC,34516,-1.68,-146.6,2415,3590,2588,2609,3792.8,-8.9,530,34520,0.00,1.95,0.00,0.000,1030,0.000,0.062,2415,2165,2598,2588,2609,0,0,0,0,0,0,27.02,26.96,27.03
$GC,34905,-1.68,-146.6,2415,2164,2587,2609,3837.0,-9.2,534,34910,0.00,2.08,0.00,0.000,260,0.000,0.079,2405,3581,2598,2588,2609,0,0,0,0,0,0,27.22,26.85,27.24
$GC,34961,-1.68,-146.6,2405,3581,2588,2609,3837.0,-9.2,534,34965,0.00,1.92,0.00,0.000,1030,0.000,0.060,2405,2202,2598,2588,2609,0,0,0,0,0,0,26.98,26.94,27.00
$GC,35385,-1.68,-146.6,2405,2201,2588,2609,3880.2,-9.0,538,35386,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2202,2598,2588,2609,0,0,0,0,0,0,27.22,27.24,27.24
$GC,35745,-1.68,-146.6,2405,2202,2588,2609,3911.8,-8.8,541,35746,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2202,2598,2588,2609,0,0,0,0,0,0,27.22,27.24,27.24
$GC,36105,-1.68,-146.6,2405,2201,2588,2609,3942.5,-8.6,544,36110,0.00,2.03,0.00,0.000,260,0.000,0.079,2395,3587,2598,2588,2609,0,0,0,0,0,0,27.22,26.84,27.24
$GC,36196,-1.68,-146.6,2395,3587,2587,2609,3942.5,-8.6,544,36201,0.12,1.95,0.00,0.000,3078,0.176,0.060,2438,2154,2598,2587,2609,0,0,0,0,0,0,26.67,26.96,26.83
$GC,36586,-1.74,-146.6,2437,2153,2588,2609,3979.3,-7.6,548,36587,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2154,2598,2588,2609,0,0,0,0,0,0,27.22,27.24,27.24
$GC,36947,-1.82,-146.6,2437,2153,2587,2609,4004.5,-7.1,551,36953,0.08,2.12,0.00,0.000,4356,0.146,0.079,2368,3601,2598,2587,2609,0,0,0,0,0,0,26.97,26.84,27.00
$GC,37069,-1.88,-146.6,2368,3601,2587,2609,4015.6,-7.4,552,37075,0.00,1.92,0.00,0.000,1030,0.000,0.062,2368,2200,2598,2588,2609,0,0,0,0,0,0,27.00,26.94,27.01
$GC,37429,-1.88,-146.6,2368,2199,2587,2609,4048.2,-9.0,555,37430,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2199,2598,2587,2609,0,0,0,0,0,0,27.20,27.22,27.22
$GC,37789,-1.88,-146.6,2368,2199,2587,2609,4079.6,-8.8,558,37790,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2199,2598,2587,2609,0,0,0,0,0,0,27.20,27.22,27.22
$GC,38149,-1.88,-146.6,2368,2199,2587,2609,4111.2,-8.7,561,38150,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2199,2598,2587,2609,0,0,0,0,0,0,27.20,27.22,27.22
$GC,38509,-1.88,-146.6,2368,2198,2587,2609,4141.5,-8.5,564,38510,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2198,2598,2587,2609,0,0,0,0,0,0,27.20,27.22,27.22
$GC,38870,-1.88,-146.6,2368,2198,2587,2609,4170.9,-8.2,567,38871,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2198,2597,2587,2608,0,0,0,0,0,0,27.22,27.24,27.24
$STATE,39108,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,39109,begin apogee
$GC,39112,-0.25,0.0,2368,2198,2587,2609,4190.3,-8.1,569,39241,1.52,0.00,124.40,3.538,10246,0.144,0.000,2898,2198,2140,2148,2132,0,0,0,0,0,0,26.61,22.61,21.25
$STATE,39242,end apogee,CONTROL_FINISHED_OK
$STATE,39242,begin climb
$GC,39243,0.96,146.6,2897,2198,2149,2132,4190.7,0.0,570,39405,1.10,2.40,151.10,3.464,10756,0.089,0.087,3302,836,1635,1654,1616,0,0,0,0,0,0,23.01,22.06,20.73
$GC,39592,0.96,146.6,3302,836,1654,1616,4115.9,26.0,573,39597,0.00,2.12,0.00,0.000,1030,0.000,0.060,3302,2186,1635,1654,1616,0,0,0,0,0,0,24.98,24.97,24.99
$GC,39952,0.53,146.6,3302,2187,1654,1616,4017.7,27.2,576,39958,0.57,2.03,0.00,0.000,4612,0.236,0.067,3149,827,1635,1654,1616,0,0,0,0,0,0,25.66,25.85,25.79
$GC,40194,0.16,146.6,3149,827,1654,1616,3968.6,23.7,578,40200,0.40,2.03,0.00,0.000,5126,0.206,0.065,3023,2209,1634,1654,1615,0,0,0,0,0,0,25.95,26.15,26.06
$GC,40554,-0.02,146.6,3023,2209,1654,1616,3916.6,15.6,581,40560,0.10,2.00,0.00,0.000,4612,0.219,0.067,2997,829,1634,1653,1616,0,0,0,0,0,0,26.20,26.36,26.30
$GC,40661,-0.21,146.6,2997,829,1654,1616,3916.6,15.6,581,40666,0.25,2.00,0.00,0.000,5126,0.184,0.062,2920,2212,1635,1654,1616,0,0,0,0,0,0,26.25,26.43,26.39
$GC,41029,-0.26,146.6,2919,2212,1654,1616,3868.4,10.8,584,41031,0.10,0.00,0.00,0.000,4102,0.196,0.000,2887,2212,1635,1654,1616,0,0,0,0,0,0,26.41,26.57,26.53
$GC,41389,-0.26,146.6,2887,2212,1654,1616,3839.9,8.2,587,41394,0.00,2.00,0.00,0.000,516,0.000,0.070,2897,831,1635,1654,1616,0,0,0,0,0,0,26.86,26.61,26.88
$GC,41475,-0.26,146.6,2897,831,1654,1616,3839.9,8.2,587,41479,0.00,2.03,0.00,0.000,1030,0.000,0.065,2897,2206,1635,1654,1616,0,0,0,0,0,0,26.68,26.64,26.70
$GC,41869,-0.25,193.7,2897,2206,1654,1616,3802.2,7.8,591,41914,0.00,0.00,42.58,3.215,8198,0.000,0.000,2897,2206,1473,1494,1452,0,0,0,0,0,0,26.94,24.60,23.27
$GC,42229,-0.25,193.7,2897,2206,1494,1452,3770.0,8.7,594,42234,0.00,2.03,0.00,0.000,516,0.000,0.067,2907,832,1473,1494,1452,0,0,0,0,0,0,26.32,26.10,26.34
$GC,42280,-0.25,193.7,2906,831,1494,1452,3770.0,8.7,594,42284,0.00,2.05,0.00,0.000,1030,0.000,0.062,2907,2197,1473,1494,1452,0,0,0,0,0,0,26.20,26.16,26.21
$GC,42589,-0.25,193.7,2906,2197,1493,1452,3736.2,9.3,597,42590,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2197,1473,1494,1453,0,0,0,0,0,0,26.61,26.63,26.63
$GC,42949,-0.25,193.7,2907,2197,1494,1452,3703.4,9.2,600,42954,0.00,2.00,0.00,0.000,516,0.000,0.070,2917,821,1473,1494,1452,0,0,0,0,0,0,26.75,26.53,26.77
$GC,43000,-0.25,193.7,2916,820,1494,1452,3703.4,9.2,600,43004,0.00,2.05,0.00,0.000,1030,0.000,0.062,2917,2206,1473,1494,1452,0,0,0,0,0,0,26.58,26.55,26.60
$GC,43309,-0.25,193.7,2917,2206,1494,1452,3669.6,9.3,603,43310,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2206,1472,1493,1452,0,0,0,0,0,0,26.85,26.87,26.86
$GC,43669,-0.25,193.7,2917,2206,1494,1452,3635.4,9.5,606,43674,0.00,2.00,0.00,0.000,516,0.000,0.070,2926,818,1473,1494,1452,0,0,0,0,0,0,26.91,26.67,26.94
$GC,43730,-0.25,193.7,2926,817,1494,1452,3635.4,9.5,606,43735,0.10,2.03,0.00,0.000,5126,0.161,0.062,2891,2199,1473,1495,1452,0,0,0,0,0,0,26.57,26.70,26.65
$GC,44149,-0.18,193.7,2891,2199,1493,1452,3595.8,8.2,610,44150,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2199,1472,1493,1452,0,0,0,0,0,0,26.97,27.00,26.99
$GC,44510,-0.08,246.5,2891,2199,1494,1452,3568.9,7.6,613,44562,0.08,2.15,46.20,3.096,10756,0.142,0.087,2959,831,1292,1314,1270,0,0,0,0,0,0,26.80,24.37,23.30
$GC,44607,0.01,299.2,2959,830,1314,1269,3568.9,7.6,613,44662,0.00,2.08,48.55,3.057,9222,0.000,0.065,2959,2198,1109,1133,1085,0,0,0,0,0,0,25.53,25.47,22.57
$GC,44986,0.01,299.2,2959,2198,1133,1085,3512.9,11.8,617,44987,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2198,1109,1133,1086,0,0,0,0,0,0,25.91,25.94,25.94
$GC,45346,0.01,299.2,2959,2198,1133,1085,3469.1,12.2,620,45347,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2198,1109,1133,1086,0,0,0,0,0,0,26.39,26.41,26.41
$GC,45706,0.01,299.2,2959,2198,1133,1086,3425.4,12.2,623,45711,0.00,2.00,0.00,0.000,516,0.000,0.070,2969,828,1109,1133,1085,0,0,0,0,0,0,26.62,26.39,26.63
$GC,45752,0.01,299.2,2969,828,1133,1085,3425.4,12.2,623,45756,0.00,2.05,0.00,0.000,1030,0.000,0.062,2969,2201,1109,1133,1085,0,0,0,0,0,0,26.47,26.41,26.46
$GC,46066,0.01,299.2,2969,2201,1133,1086,3379.9,12.5,626,46067,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2201,1109,1133,1085,0,0,0,0,0,0,26.75,26.77,26.77
$GC,46426,0.01,299.2,2969,2201,1133,1086,3333.8,12.8,629,46427,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2201,1109,1133,1085,0,0,0,0,0,0,26.84,26.86,26.86
$GC,46786,0.01,299.2,2969,2201,1133,1086,3288.9,12.5,632,46791,0.00,2.00,0.00,0.000,516,0.000,0.067,2979,818,1109,1133,1085,0,0,0,0,0,0,26.91,26.67,26.92
$GC,46842,0.01,299.2,2979,817,1133,1085,3288.9,12.5,632,46846,0.00,2.05,0.00,0.000,1030,0.000,0.062,2979,2203,1109,1133,1085,0,0,0,0,0,0,26.72,26.69,26.73
$GC,47266,0.01,299.2,2979,2204,1132,1086,3227.7,12.7,636,47267,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2204,1109,1133,1085,0,0,0,0,0,0,26.97,26.99,26.98
$GC,47626,0.01,299.2,2979,2204,1133,1085,3183.2,12.5,639,47627,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2204,1109,1133,1085,0,0,0,0,0,0,27.00,27.03,27.01
$GC,47986,0.01,299.2,2979,2204,1133,1086,3140.5,12.0,642,47987,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2204,1109,1133,1085,0,0,0,0,0,0,27.03,27.05,27.04
$GC,48346,0.01,299.2,2979,2204,1133,1085,3099.4,11.5,645,48351,0.00,1.98,0.00,0.000,516,0.000,0.070,2989,828,1109,1133,1085,0,0,0,0,0,0,27.05,26.82,27.07
$GC,48397,0.01,299.2,2989,828,1132,1085,3099.4,11.5,645,48401,0.00,2.03,0.00,0.000,1030,0.000,0.062,2989,2205,1109,1133,1086,0,0,0,0,0,0,26.86,26.84,26.88
$GC,48707,0.01,299.2,2989,2205,1133,1085,3059.8,11.1,648,48708,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2205,1109,1133,1085,0,0,0,0,0,0,27.07,27.10,27.08
$GC,49066,0.01,299.2,2989,2205,1133,1085,3021.4,10.7,651,49067,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2205,1109,1133,1086,0,0,0,0,0,0,27.08,27.11,27.10
$GC,49426,0.01,299.2,2989,2205,1133,1085,2984.1,10.4,654,49427,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2205,1109,1133,1086,0,0,0,0,0,0,27.10,27.13,27.12
$GC,49786,0.01,299.2,2989,2205,1133,1085,2948.0,10.1,657,49791,0.00,1.98,0.00,0.000,516,0.000,0.070,2999,823,1109,1133,1086,0,0,0,0,0,0,27.11,26.87,27.13
$GC,49832,0.01,299.2,2999,823,1133,1085,2948.0,10.1,657,49836,0.00,2.03,0.00,0.000,1030,0.000,0.062,2999,2204,1109,1133,1085,0,0,0,0,0,0,26.91,26.89,26.94
$GC,50146,0.01,299.2,2999,2204,1133,1085,2912.4,9.9,660,50147,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2204,1109,1133,1086,0,0,0,0,0,0,27.12,27.15,27.14
$GC,50506,0.01,299.2,2999,2203,1133,1085,2876.1,10.0,663,50507,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2203,1109,1133,1086,0,0,0,0,0,0,27.13,27.15,27.15
$GC,50866,0.01,299.2,2999,2204,1133,1085,2840.8,9.9,666,50867,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2204,1109,1133,1086,0,0,0,0,0,0,27.14,27.16,27.15
$GC,51226,0.01,299.2,2999,2204,1133,1085,2806.0,9.7,669,51231,0.00,1.98,0.00,0.000,516,0.000,0.070,3009,823,1109,1133,1085,0,0,0,0,0,0,27.15,26.90,27.16
$GC,51277,0.01,299.2,3009,823,1133,1086,2806.0,9.7,669,51282,0.10,2.03,0.00,0.000,5126,0.164,0.062,2974,2208,1109,1133,1085,0,0,0,0,0,0,26.77,26.92,26.86
$GC,51586,0.08,299.2,2974,2208,1133,1085,2774.3,9.0,672,51587,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2208,1109,1133,1085,0,0,0,0,0,0,27.15,27.17,27.16
$GC,51946,0.16,299.2,2974,2208,1133,1085,2743.3,8.6,675,51948,0.08,0.00,0.00,0.000,2054,0.144,0.000,3028,2208,1109,1133,1085,0,0,0,0,0,0,26.94,27.00,26.98
$GC,52306,0.16,299.2,3027,2208,1133,1085,2705.2,10.2,678,52311,0.00,1.98,0.00,0.000,516,0.000,0.067,3037,827,1109,1133,1086,0,0,0,0,0,0,27.16,26.91,27.17
$GC,52367,0.16,299.2,3037,827,1133,1086,2705.2,10.2,678,52371,0.00,2.00,0.00,0.000,1030,0.000,0.062,3037,2198,1109,1133,1085,0,0,0,0,0,0,26.96,26.93,26.98
$GC,52786,0.16,299.2,3038,2198,1133,1085,2653.9,10.7,682,52787,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2198,1109,1133,1085,0,0,0,0,0,0,27.17,27.19,27.18
$GC,53146,0.16,299.2,3037,2197,1132,1085,2616.7,10.4,685,53147,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2197,1109,1133,1085,0,0,0,0,0,0,27.17,27.20,27.18
$GC,53506,0.16,299.2,3037,2198,1133,1086,2580.6,10.1,688,53511,0.00,1.98,0.00,0.000,516,0.000,0.070,3048,817,1109,1133,1085,0,0,0,0,0,0,27.17,26.94,27.19
$GC,53567,0.16,299.2,3047,817,1133,1086,2580.6,10.1,688,53571,0.00,2.03,0.00,0.000,1030,0.000,0.062,3048,2203,1109,1133,1086,0,0,0,0,0,0,26.96,26.94,26.99
$GC,53986,0.16,299.2,3047,2203,1133,1086,2530.3,10.5,692,53987,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2203,1109,1133,1086,0,0,0,0,0,0,27.17,27.20,27.20
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$GC,74002,0.68,433.9,3210,820,674,633,374.5,13.7,925,74006,0.00,1.95,0.00,0.000,1030,0.000,0.062,3210,2197,652,673,632,0,0,0,0,0,0,27.00,26.97,27.01
$GC,74331,0.68,433.9,3210,2197,674,635,324.0,14.1,933,74336,0.00,0.00,3.97,0.616,8198,0.000,0.000,3211,2197,646,667,625,0,0,0,0,0,0,27.20,26.74,25.98
$GC,74631,0.68,433.9,3210,2197,667,625,283.6,13.2,941,74632,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2197,645,666,625,0,0,0,0,0,0,27.16,27.19,27.18
$GC,74931,0.74,433.9,3211,2197,667,625,245.2,12.5,951,74932,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2197,646,667,625,0,0,0,0,0,0,27.17,27.20,27.19
$GC,75231,0.80,433.9,3210,2197,667,625,206.0,12.7,961,75232,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2197,646,666,626,0,0,0,0,0,0,27.18,27.20,27.20
$GC,75531,0.87,433.9,3210,2197,667,627,168.0,12.8,971,75537,0.05,1.95,0.00,0.000,2308,0.184,0.074,3259,3593,647,667,628,0,0,0,0,0,0,26.99,26.94,27.02
$GC,75573,0.87,433.9,3259,3593,667,628,163.2,13.4,972,75578,0.00,1.90,0.00,0.000,1030,0.000,0.057,3270,2191,647,667,628,0,0,0,0,0,0,27.02,27.00,27.03
$GC,75892,0.87,433.9,3270,2191,667,629,106.4,16.1,991,75898,0.00,1.88,0.00,0.000,516,0.000,0.067,3280,829,648,667,629,0,0,0,0,0,0,27.20,26.96,27.21
$GC,75940,0.87,433.9,3280,829,667,629,98.9,15.8,994,75944,0.00,1.90,0.00,0.000,1030,0.000,0.062,3280,2204,648,668,629,0,0,0,0,0,0,27.03,26.98,27.04
$GC,76258,0.87,433.9,3280,2204,667,630,50.5,14.1,1015,76263,0.00,1.92,0.00,0.000,516,0.000,0.067,3290,821,649,668,631,0,0,0,0,0,0,27.20,26.97,27.22
$GC,76291,0.87,433.9,3290,820,668,630,46.0,14.0,1017,76297,0.12,1.95,0.00,0.000,5126,0.151,0.060,3244,2213,649,668,630,0,0,0,0,0,0,26.85,26.98,26.92
$GC,76601,1.01,433.9,3244,2213,668,632,16.0,9.5,1046,76603,0.08,0.00,0.00,0.000,2054,0.146,0.000,3301,2213,650,668,632,0,0,0,0,0,0,26.99,27.05,27.03
$STATE,76710,end climb,SURFACE_DEPTH_REACHED
$STATE,76711,begin surface coast
$FINISH,0.4,1.023463
$STATE,76732,end surface coast,CONTROL_FINISHED_OK
$STATE,76732,begin surface
$SM_CCo,76806,0.00,0.000,0,0,650,432.83
$SM_GC,0.41,7.85,0.00,0.00,0.074,0.000,0.000,153,2213,650,-8.74,0.34,432.83,0,0,0,0,0,0,26.94,27.23,27.00
$IRIDIUM_FIX,3137.94,-6411.48,140508,125434
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.68
$INTERNAL_PRESSURE,9.25084
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,48.4,46.3
$ALTIM_BOTTOM_PING,4151.2,60.4
$24V_AH,20.73,15.259
$10V_AH,10.40,5.809
$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,25.925,359.325,526.225,0.000,139.275,22.978,18.245,217.999,4.250,0.000,13.619,3889.182,65247.648,757.369,7010.019,260.675,0.607,3471.547,0.000,6605.768,0.000,32.730,0.000
$DEVICE_MAMPS,297.960,86.905,3538.275,0.000,235.885,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,724.160,3464.146,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,67042,1059
$CAP_FILE_SIZE,433531,0
$CFSIZE,1024409600,1013481472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200715,201805,3207.796,-6427.085,37,1.6,39,-14.9,0.0,0.0,7,8.6