version: 66.12
glider: 38
mission: 4
dive: 70
start: 7 26 115 7 28 27
data:
$ID,38
$MISSION,4
$DIVE,70
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$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,13
$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,112
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2000
$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,12
$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
$GPS1,260715,071529,3129.7686,-6355.5708,37,0.8,38,-14.9,0.0,0.0,9,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-62.6
$GPS2,260715,072802,3129.8196,-6355.4409,5,0.9,14,-14.9,0.8,69.7,9,8.0
$SPEED_LIMITS,0.060,0.218
$TGT_NAME,SS12
$TGT_LATLONG,3121.300,-6357.420
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.046985,-0.085306
$KALMAN_X,-40877.292969,0.000000,0.000000,67642.140625,-11109.339844
$KALMAN_Y,-12550.037109,0.000000,0.000000,6208.657227,-472.762695
$MHEAD_RNG_PITCHd_Wd,166.1,16085,-29.1,-6.000,-31.64,665
$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
$GC,16,-1.46,-26.1,145,2187,991,965,0.0,0.0,0,111,0.00,0.00,-88.43,0.154,16390,0.000,0.000,145,2188,2088,2041,2135,0,0,0,0,0,0,26.74,26.34,26.27
$GC,114,-1.47,-49.6,145,2188,2041,2135,1.7,-2.4,9,135,9.52,2.08,-6.78,0.211,18692,0.286,0.074,2487,3586,2171,2131,2212,0,0,0,0,0,0,26.10,26.35,26.22
$GC,465,-1.26,-49.6,2487,3587,2131,2212,27.6,-8.3,40,476,0.25,1.83,0.00,0.000,3078,0.238,0.060,2564,2157,2171,2130,2212,0,0,0,0,0,0,26.42,26.74,26.55
$GC,774,-1.26,-49.6,2564,2157,2132,2212,28.3,0.7,71,784,0.00,2.05,0.00,0.000,260,0.000,0.074,2554,3604,2172,2132,2213,0,0,0,0,0,0,27.06,26.80,27.08
$GC,1114,-1.15,-94.1,2554,3604,2132,2214,27.6,0.8,101,1125,0.12,1.77,-3.15,0.298,19462,0.238,0.060,2596,2201,2325,2289,2362,0,0,0,0,0,0,26.65,26.94,26.72
$GC,1424,-1.16,-126.2,2595,2201,2289,2363,33.4,-1.1,132,1435,0.00,1.98,-2.03,0.367,16644,0.000,0.074,2586,3590,2437,2391,2484,0,0,0,0,0,0,27.17,26.83,26.75
$GC,1507,-1.10,-126.2,2586,3590,2392,2484,36.0,-4.6,139,1517,0.10,1.80,0.00,0.000,3078,0.223,0.060,2615,2209,2437,2391,2484,0,0,0,0,0,0,26.70,26.97,26.81
$GC,1827,-1.10,-139.3,2615,2209,2392,2484,50.9,-4.0,163,1832,0.00,1.95,0.00,0.000,260,0.000,0.074,2606,3605,2438,2392,2484,0,0,0,0,0,0,27.20,26.94,27.22
$GC,2151,-1.11,-146.6,2606,3605,2391,2485,60.4,-2.8,183,2156,0.00,1.80,0.00,0.000,1030,0.000,0.060,2606,2196,2438,2392,2485,0,0,0,0,0,0,27.06,27.03,27.07
$GC,2467,-1.11,-146.6,2605,2197,2392,2485,68.0,-2.5,204,2472,0.00,1.98,0.00,0.000,260,0.000,0.074,2595,3595,2438,2392,2485,0,0,0,0,0,0,27.24,26.98,27.25
$GC,2629,-1.11,-146.6,2595,3595,2392,2485,73.3,-3.9,214,2633,0.00,1.83,0.00,0.000,1030,0.000,0.060,2595,2200,2438,2392,2485,0,0,0,0,0,0,27.06,27.05,27.08
$GC,2945,-1.11,-146.6,2595,2200,2391,2485,87.1,-3.9,235,2948,0.00,1.83,0.00,0.000,516,0.000,0.067,2595,899,2438,2392,2485,0,0,0,0,0,0,27.25,27.01,27.27
$GC,3262,-1.11,-146.6,2595,848,2392,2484,101.3,-5.3,254,3271,0.00,1.88,0.00,0.000,1030,0.000,0.062,2586,2213,2438,2392,2484,0,0,0,0,0,0,27.06,27.03,27.08
$GC,3570,-1.11,-146.6,2585,2212,2392,2484,118.2,-5.8,275,3575,0.00,1.90,0.00,0.000,516,0.000,0.067,2585,842,2438,2392,2484,0,0,0,0,0,0,27.26,27.02,27.27
$GC,3894,-1.11,-146.6,2585,841,2392,2482,140.1,-7.7,295,3900,0.10,1.85,0.00,0.000,3078,0.231,0.062,2610,2207,2437,2392,2482,0,0,0,0,0,0,26.82,27.04,26.91
$GC,4224,-1.11,-146.6,2610,2207,2392,2481,165.0,-8.5,311,4229,0.00,1.88,0.00,0.000,516,0.000,0.067,2611,838,2436,2391,2481,0,0,0,0,0,0,27.26,27.02,27.28
$GC,4536,-1.11,-146.6,2610,838,2392,2480,194.9,-9.7,321,4541,0.00,1.85,0.00,0.000,1030,0.000,0.062,2601,2202,2436,2392,2480,0,0,0,0,0,0,27.09,27.04,27.10
$GC,4866,-1.11,-146.6,2601,2202,2392,2479,227.6,-10.2,332,4871,0.00,1.88,0.00,0.000,516,0.000,0.067,2602,834,2435,2392,2479,0,0,0,0,0,0,27.27,27.02,27.28
$GC,5106,-1.11,-146.6,2601,834,2392,2477,250.5,-10.5,339,5115,0.00,1.88,0.00,0.000,1030,0.000,0.062,2591,2197,2434,2392,2477,0,0,0,0,0,0,27.07,27.05,27.09
$GC,5415,-1.11,-146.6,2591,2197,2392,2477,285.6,-10.9,350,5420,0.00,1.95,0.00,0.000,260,0.000,0.074,2581,3587,2434,2391,2477,0,0,0,0,0,0,27.27,27.01,27.28
$GC,5488,-1.11,-146.6,2581,3587,2391,2477,292.7,-11.3,352,5493,0.10,1.83,0.00,0.000,3078,0.209,0.057,2612,2190,2434,2392,2477,0,0,0,0,0,0,26.82,27.08,26.92
$GC,5838,-1.18,-146.6,2612,2190,2392,2476,331.8,-10.8,361,5843,0.00,1.98,0.00,0.000,260,0.000,0.074,2602,3607,2433,2391,2476,0,0,0,0,0,0,27.27,27.00,27.29
$GC,5895,-1.25,-146.6,2602,3607,2392,2476,337.0,-10.9,362,5900,0.05,1.85,0.00,0.000,5126,0.194,0.060,2570,2175,2434,2392,2476,0,0,0,0,0,0,26.96,27.07,27.03
$GC,6244,-1.25,-146.6,2569,2174,2392,2474,380.1,-12.0,370,6247,0.00,1.80,0.00,0.000,516,0.000,0.067,2570,848,2433,2392,2474,0,0,0,0,0,0,27.27,27.03,27.28
$GC,6365,-1.25,-146.6,2569,847,2392,2472,391.8,-12.2,372,6369,0.00,1.88,0.00,0.000,1030,0.000,0.060,2560,2201,2432,2392,2473,0,0,0,0,0,0,27.07,27.04,27.08
$GC,6699,-1.25,-146.6,2560,2201,2392,2471,436.8,-12.5,380,6704,0.00,1.92,0.00,0.000,260,0.000,0.074,2550,3586,2431,2392,2471,0,0,0,0,0,0,27.27,27.00,27.28
$GC,6751,-1.25,-146.6,2549,3586,2391,2472,442.4,-12.4,381,6755,0.00,1.83,0.00,0.000,1030,0.000,0.057,2550,2206,2431,2392,2471,0,0,0,0,0,0,27.08,27.10,27.10
$GC,7060,-1.25,-146.6,2549,2206,2391,2470,482.5,-12.7,388,7065,0.00,1.85,0.00,0.000,516,0.000,0.067,2550,845,2430,2392,2469,0,0,0,0,0,0,27.27,27.03,27.28
$GC,7158,-1.25,-146.6,2549,845,2391,2468,494.5,-12.9,390,7162,0.00,1.88,0.00,0.000,1030,0.000,0.062,2540,2201,2429,2392,2467,0,0,0,0,0,0,27.07,27.04,27.08
$GC,7467,-1.25,-146.6,2539,2201,2392,2466,535.8,-13.3,397,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2201,2429,2392,2466,0,0,0,0,0,0,27.27,27.29,27.29
$GC,7782,-1.25,-146.6,2539,2201,2392,2466,579.6,-13.8,404,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2201,2428,2391,2466,0,0,0,0,0,0,27.27,27.29,27.29
$GC,8097,-1.25,-146.6,2539,2201,2392,2465,622.4,-13.2,411,8101,0.00,1.95,0.00,0.000,260,0.000,0.074,2529,3597,2428,2391,2465,0,0,0,0,0,0,27.27,27.00,27.29
$GC,8191,-1.25,-146.6,2529,3597,2392,2466,635.9,-13.7,413,8195,0.12,1.80,0.00,0.000,3078,0.219,0.060,2567,2185,2428,2391,2465,0,0,0,0,0,0,26.80,27.07,26.97
$GC,8509,-1.31,-146.6,2567,2184,2392,2463,679.2,-13.7,420,8513,0.00,1.80,0.00,0.000,516,0.000,0.065,2567,849,2427,2392,2462,0,0,0,0,0,0,27.27,27.03,27.29
$GC,8548,-1.37,-146.6,2567,849,2391,2462,679.2,-13.7,420,8557,0.00,1.88,0.00,0.000,1030,0.000,0.062,2558,2203,2427,2392,2462,0,0,0,0,0,0,27.07,27.05,27.08
$GC,8872,-1.43,-146.6,2558,2202,2392,2461,731.6,-14.9,428,8878,0.08,1.90,0.00,0.000,4356,0.151,0.074,2490,3586,2426,2392,2460,0,0,0,0,0,0,27.04,27.01,27.06
$GC,8924,-1.43,-146.6,2489,3586,2392,2461,738.9,-15.2,429,8928,0.00,1.83,0.00,0.000,1030,0.000,0.057,2489,2214,2426,2391,2461,0,0,0,0,0,0,27.08,27.10,27.09
$GC,9233,-1.43,-146.6,2490,2213,2392,2459,793.2,-17.3,436,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2214,2425,2391,2459,0,0,0,0,0,0,27.27,27.29,27.28
$GC,9548,-1.43,-146.6,2490,2214,2392,2454,847.0,-17.3,443,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2214,2422,2391,2454,0,0,0,0,0,0,27.27,27.29,27.28
$GC,9863,-1.43,-146.6,2489,2213,2391,2452,903.7,-18.3,450,9867,0.00,1.95,0.00,0.000,260,0.000,0.074,2479,3588,2422,2392,2452,0,0,0,0,0,0,27.27,26.99,27.29
$GC,10003,-1.43,-146.6,2479,3588,2391,2452,931.5,-19.6,453,10010,0.10,1.80,0.00,0.000,3078,0.226,0.060,2509,2190,2421,2391,2452,0,0,0,0,0,0,26.80,27.06,26.96
$GC,10318,-1.43,-146.6,2508,2188,2391,2449,988.4,-18.2,460,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2189,2420,2391,2449,0,0,0,0,0,0,27.27,27.29,27.28
$GC,10648,-1.43,-146.6,2508,2188,2392,2445,1049.5,-18.5,464,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2189,2418,2391,2445,0,0,0,0,0,0,27.26,27.29,27.28
$GC,11008,-1.43,-146.6,2509,2188,2391,2441,1118.4,-19.1,467,11014,0.00,2.00,0.00,0.000,260,0.000,0.077,2499,3598,2416,2391,2441,0,0,0,0,0,0,27.27,26.98,27.28
$GC,11104,-1.43,-146.6,2499,3598,2391,2440,1118.4,-19.1,467,11108,0.00,1.88,0.00,0.000,1030,0.000,0.060,2499,2211,2415,2391,2440,0,0,0,0,0,0,27.08,27.05,27.09
$GC,11488,-1.43,-146.6,2499,2210,2391,2437,1211.5,-19.4,471,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2210,2413,2390,2437,0,0,0,0,0,0,27.26,27.29,27.27
$GC,11848,-1.43,-146.6,2499,2210,2391,2431,1277.8,-18.5,474,11854,0.00,1.98,0.00,0.000,260,0.000,0.077,2489,3590,2411,2391,2431,0,0,0,0,0,0,27.26,26.98,27.28
$GC,11919,-1.43,-146.6,2489,3590,2390,2432,1277.8,-18.5,474,11923,0.00,1.88,0.00,0.000,1030,0.000,0.060,2489,2202,2410,2390,2431,0,0,0,0,0,0,27.07,27.05,27.08
$GC,12329,-1.48,-146.6,2489,2201,2390,2426,1369.7,-19.1,478,12334,0.00,2.00,0.00,0.000,260,0.000,0.077,2478,3598,2408,2390,2426,0,0,0,0,0,0,27.26,26.97,27.28
$GC,12400,-1.53,-146.6,2478,3599,2390,2426,1369.7,-19.1,478,12403,0.00,1.88,0.00,0.000,1030,0.000,0.060,2479,2189,2407,2389,2426,0,0,0,0,0,0,27.09,27.04,27.10
$GC,12809,-1.58,-146.6,2478,2188,2390,2422,1463.0,-19.4,482,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2188,2406,2390,2423,0,0,0,0,0,0,27.26,27.28,27.28
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$GC,35635,-2.32,-146.6,2222,2189,2372,2400,4450.3,-5.1,672,35640,0.00,2.03,0.00,0.000,260,0.000,0.079,2213,3574,2385,2371,2400,0,0,0,0,0,0,27.19,26.75,27.21
$GC,35801,-2.32,-146.6,2213,3575,2371,2400,4456.6,-5.1,673,35806,0.00,1.90,0.00,0.000,1030,0.000,0.062,2213,2217,2386,2372,2400,0,0,0,0,0,0,26.91,26.89,26.94
$GC,36116,-2.32,-146.6,2213,2216,2372,2400,4474.3,-5.0,676,36117,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2216,2386,2372,2400,0,0,0,0,0,0,27.19,27.22,27.20
$GC,36478,-2.32,-146.6,2213,2216,2371,2400,4490.7,-4.6,679,36479,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2217,2386,2372,2400,0,0,0,0,0,0,27.20,27.22,27.22
$GC,36835,-2.32,-146.6,2213,2216,2371,2400,4506.4,-4.4,682,36836,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2216,2385,2371,2400,0,0,0,0,0,0,27.22,27.24,27.24
$GC,37198,-2.32,-146.6,2213,2216,2372,2400,4521.4,-4.2,685,37199,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2216,2385,2371,2400,0,0,0,0,0,0,27.20,27.22,27.22
$GC,37556,-2.32,-146.6,2213,2217,2372,2400,4535.9,-4.0,688,37557,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2216,2385,2371,2400,0,0,0,0,0,0,27.22,27.24,27.24
$GC,37916,-2.32,-146.6,2213,2216,2371,2400,4549.8,-3.9,691,37917,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2217,2385,2371,2400,0,0,0,0,0,0,27.22,27.24,27.24
$GC,38278,-2.32,-146.6,2213,2216,2371,2400,4562.7,-3.6,694,38279,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2216,2386,2372,2400,0,0,0,0,0,0,27.20,27.22,27.22
$GC,38636,-2.32,-146.6,2213,2216,2371,2400,4574.8,-3.4,697,38637,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2216,2385,2371,2400,0,0,0,0,0,0,27.22,27.24,27.24
$GC,38996,-2.32,-146.6,2213,2216,2371,2400,4586.8,-3.3,700,38997,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2216,2385,2371,2400,0,0,0,0,0,0,27.22,27.24,27.24
$GC,39357,-2.32,-146.6,2213,2217,2371,2400,4597.5,-3.0,703,39362,0.00,2.00,0.00,0.000,516,0.000,0.067,2213,795,2385,2372,2399,0,0,0,0,0,0,27.22,26.84,27.24
$GC,39550,-2.32,-146.6,2212,795,2372,2400,4601.0,-2.9,704,39554,0.00,2.03,0.00,0.000,1030,0.000,0.062,2202,2191,2385,2372,2399,0,0,0,0,0,0,26.91,26.88,26.94
$GC,39959,-2.32,-146.6,2202,2191,2372,2399,4614.3,-2.8,708,39960,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2191,2385,2372,2399,0,0,0,0,0,0,27.22,27.24,27.23
$GC,40319,-2.32,-146.6,2202,2191,2372,2399,4623.4,-2.5,711,40320,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2191,2384,2371,2398,0,0,0,0,0,0,27.22,27.24,27.24
$GC,40680,-2.32,-146.6,2202,2191,2372,2399,4631.6,-2.3,714,40685,0.00,2.05,0.00,0.000,260,0.000,0.079,2192,3591,2385,2372,2399,0,0,0,0,0,0,27.19,26.73,27.21
$GC,40928,-2.32,-146.6,2192,3590,2371,2400,4637.2,-2.3,716,40933,0.12,1.92,0.00,0.000,3078,0.211,0.060,2229,2178,2385,2371,2399,0,0,0,0,0,0,26.41,26.87,26.59
$GC,41282,-2.32,-146.6,2229,2176,2372,2399,4644.1,-2.0,719,41283,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2176,2385,2371,2399,0,0,0,0,0,0,27.22,27.24,27.23
$GC,41643,-2.38,-146.6,2228,2176,2372,2400,4650.0,-1.7,722,41644,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2176,2385,2372,2399,0,0,0,0,0,0,27.20,27.22,27.21
$GC,42002,-2.45,-146.6,2229,2176,2372,2399,4655.6,-1.5,725,42004,0.08,0.00,0.00,0.000,4102,0.154,0.000,2187,2176,2385,2371,2400,0,0,0,0,0,0,26.96,27.01,26.98
$GC,42363,-2.45,-146.6,2187,2177,2371,2399,4660.6,-1.4,728,42364,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2176,2385,2372,2399,0,0,0,0,0,0,27.19,27.22,27.21
$GC,42722,-2.45,-146.6,2187,2176,2372,2399,4665.0,-1.3,731,42723,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2177,2385,2371,2399,0,0,0,0,0,0,27.22,27.24,27.23
$GC,43082,-2.45,-146.6,2187,2176,2372,2399,4669.3,-1.2,734,43083,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2176,2385,2372,2399,0,0,0,0,0,0,27.22,27.24,27.24
$GC,43442,-2.45,-146.6,2187,2176,2372,2399,4673.0,-1.0,737,43443,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2176,2386,2372,2400,0,0,0,0,0,0,27.22,27.24,27.23
$STATE,43680,end dive,NO_VERTICAL_VELOCITY
$STATE,43680,begin apogee
$GC,43684,-0.25,0.0,2186,2176,2370,2399,4675.2,0.0,739,43802,2.20,0.00,111.75,3.851,10246,0.176,0.000,2892,2176,1999,2004,1995,0,0,0,0,0,0,26.24,22.51,21.04
$STATE,43803,end apogee,CONTROL_FINISHED_OK
$STATE,43803,begin climb
$GC,43805,1.50,146.6,2891,2176,2004,1995,4669.8,0.0,740,43979,1.65,2.30,166.77,3.762,10756,0.082,0.089,3473,843,1495,1510,1481,0,0,0,0,0,0,23.05,21.77,20.61
$GC,44261,1.50,146.6,3474,843,1510,1480,4542.0,40.4,743,44266,0.00,2.10,0.00,0.000,1030,0.000,0.062,3474,2187,1495,1510,1480,0,0,0,0,0,0,25.37,25.34,25.39
$GC,44641,1.12,146.6,3474,2188,1510,1480,4350.5,39.8,747,44647,0.52,2.00,0.00,0.000,4612,0.263,0.062,3343,835,1495,1510,1480,0,0,0,0,0,0,25.77,26.01,25.93
$GC,44941,0.79,146.6,3343,835,1510,1481,4267.8,36.7,749,44946,0.43,2.03,0.00,0.000,5126,0.241,0.065,3226,2210,1495,1510,1480,0,0,0,0,0,0,26.02,26.30,26.24
$GC,45361,0.61,146.6,3226,2210,1510,1481,4129.6,28.8,753,45367,0.17,1.98,0.00,0.000,4612,0.241,0.065,3181,837,1495,1510,1480,0,0,0,0,0,0,26.23,26.44,26.35
$GC,45615,0.47,146.6,3181,836,1510,1480,4069.6,26.4,755,45620,0.20,1.98,0.00,0.000,5126,0.216,0.062,3123,2201,1495,1510,1481,0,0,0,0,0,0,26.31,26.56,26.51
$GC,45960,0.41,146.6,3122,2201,1510,1480,3992.5,22.3,758,45965,0.00,1.98,0.00,0.000,516,0.000,0.067,3133,838,1495,1510,1481,0,0,0,0,0,0,26.87,26.63,26.89
$GC,46071,0.35,146.6,3133,837,1510,1480,3992.5,22.3,758,46080,0.15,2.03,0.00,0.000,5126,0.211,0.065,3087,2213,1495,1510,1480,0,0,0,0,0,0,26.41,26.65,26.53
$GC,46439,0.35,146.6,3087,2212,1510,1480,3899.8,19.3,762,46444,0.00,2.00,0.00,0.000,516,0.000,0.067,3097,832,1495,1510,1481,0,0,0,0,0,0,26.95,26.70,26.96
$GC,46545,0.35,146.6,3097,832,1510,1481,3899.8,19.3,762,46549,0.00,2.00,0.00,0.000,1030,0.000,0.062,3097,2190,1495,1510,1481,0,0,0,0,0,0,26.75,26.72,26.77
$GC,46919,0.35,146.6,3097,2190,1510,1481,3811.5,18.4,766,46924,0.00,1.98,0.00,0.000,516,0.000,0.067,3108,818,1495,1510,1481,0,0,0,0,0,0,26.99,26.74,27.01
$GC,47005,0.35,146.6,3107,818,1510,1480,3811.5,18.4,766,47009,0.00,2.03,0.00,0.000,1030,0.000,0.062,3108,2195,1495,1510,1480,0,0,0,0,0,0,26.79,26.76,26.82
$GC,47399,0.35,146.6,3107,2195,1510,1480,3724.6,18.1,770,47404,0.00,1.98,0.00,0.000,516,0.000,0.067,3118,819,1495,1510,1480,0,0,0,0,0,0,27.03,26.80,27.05
$GC,47510,0.35,146.6,3118,819,1510,1480,3724.6,18.1,770,47519,0.10,2.05,0.00,0.000,5126,0.209,0.062,3087,2213,1495,1511,1480,0,0,0,0,0,0,26.55,26.79,26.67
$GC,47879,0.35,146.6,3087,2213,1510,1480,3645.0,16.6,774,47884,0.00,1.98,0.00,0.000,516,0.000,0.067,3098,838,1495,1510,1480,0,0,0,0,0,0,27.06,26.80,27.08
$GC,47970,0.35,146.6,3097,838,1510,1480,3645.0,16.6,774,47974,0.00,2.00,0.00,0.000,1030,0.000,0.062,3098,2196,1495,1510,1480,0,0,0,0,0,0,26.90,26.83,26.91
$GC,48359,0.35,146.6,3097,2196,1510,1480,3568.6,15.9,778,48364,0.00,1.98,0.00,0.000,516,0.000,0.067,3108,818,1495,1510,1480,0,0,0,0,0,0,27.08,26.82,27.10
$GC,48420,0.35,146.6,3108,817,1510,1480,3568.6,15.9,778,48424,0.00,2.03,0.00,0.000,1030,0.000,0.062,3108,2196,1495,1510,1480,0,0,0,0,0,0,26.87,26.84,26.89
$GC,48839,0.35,146.6,3108,2196,1510,1480,3493.6,15.6,782,48844,0.00,1.98,0.00,0.000,516,0.000,0.067,3118,815,1495,1510,1480,0,0,0,0,0,0,27.10,26.84,27.12
$GC,48915,0.35,146.6,3118,815,1510,1480,3493.6,15.6,782,48919,0.10,2.03,0.00,0.000,5126,0.196,0.062,3087,2201,1495,1510,1480,0,0,0,0,0,0,26.62,26.86,26.72
$GC,49319,0.41,146.6,3086,2201,1510,1480,3425.7,14.1,786,49324,0.00,1.98,0.00,0.000,516,0.000,0.067,3097,824,1494,1510,1479,0,0,0,0,0,0,27.11,26.86,27.13
$GC,49415,0.46,146.6,3096,825,1510,1479,3425.7,14.1,786,49419,0.00,1.98,0.00,0.000,1030,0.000,0.062,3097,2202,1494,1510,1479,0,0,0,0,0,0,26.94,26.87,26.95
$GC,49799,0.52,146.6,3097,2202,1510,1479,3359.8,13.7,790,49805,0.08,1.95,0.00,0.000,2564,0.146,0.065,3166,838,1495,1510,1480,0,0,0,0,0,0,26.90,26.86,26.92
$GC,49880,0.58,146.6,3166,838,1510,1479,3359.8,13.7,790,49884,0.00,2.00,0.00,0.000,1030,0.000,0.062,3166,2200,1494,1510,1479,0,0,0,0,0,0,26.91,26.89,26.94
$GC,50279,0.58,146.6,3166,2200,1510,1479,3283.8,15.8,794,50284,0.00,2.00,0.00,0.000,516,0.000,0.067,3176,820,1494,1510,1479,0,0,0,0,0,0,27.13,26.88,27.15
$GC,50399,0.58,146.6,3176,820,1510,1479,3264.9,15.9,795,50404,0.00,1.98,0.00,0.000,1030,0.000,0.065,3177,2208,1494,1510,1479,0,0,0,0,0,0,26.91,26.89,26.94
$GC,50759,0.58,146.6,3176,2208,1510,1479,3208.1,15.8,798,50765,0.00,1.98,0.00,0.000,516,0.000,0.067,3187,827,1494,1510,1479,0,0,0,0,0,0,27.15,26.89,27.16
$GC,50860,0.58,146.6,3186,827,1510,1479,3208.1,15.8,798,50864,0.00,2.03,0.00,0.000,1030,0.000,0.062,3187,2207,1494,1510,1479,0,0,0,0,0,0,26.93,26.90,26.95
$GC,51239,0.58,146.6,3187,2207,1510,1479,3132.3,15.8,802,51244,0.00,1.98,0.00,0.000,516,0.000,0.067,3197,827,1495,1510,1480,0,0,0,0,0,0,27.15,26.89,27.17
$GC,51340,0.58,146.6,3196,827,1510,1479,3132.3,15.8,802,51345,0.12,2.00,0.00,0.000,5126,0.201,0.062,3158,2202,1495,1510,1480,0,0,0,0,0,0,26.63,26.91,26.74
$GC,51719,0.58,146.6,3158,2202,1510,1479,3063.6,14.3,806,51724,0.00,1.98,0.00,0.000,516,0.000,0.067,3168,822,1494,1510,1479,0,0,0,0,0,0,27.15,26.89,27.17
$GC,51805,0.58,146.6,3168,822,1510,1479,3063.6,14.3,806,51809,0.00,2.03,0.00,0.000,1030,0.000,0.062,3168,2202,1494,1510,1479,0,0,0,0,0,0,26.94,26.91,26.96
$GC,52199,0.58,146.6,3168,2202,1510,1479,2996.1,14.1,810,52204,0.00,1.98,0.00,0.000,516,0.000,0.067,3178,821,1494,1510,1479,0,0,0,0,0,0,27.16,26.90,27.18
$GC,52326,0.58,146.6,3178,822,1510,1479,2979.1,14.1,811,52330,0.00,1.98,0.00,0.000,1030,0.000,0.062,3179,2202,1494,1510,1479,0,0,0,0,0,0,26.97,26.91,26.99
$GC,52680,0.58,146.6,3178,2202,1510,1479,2928.4,14.1,814,52686,0.00,1.98,0.00,0.000,516,0.000,0.067,3189,819,1494,1510,1479,0,0,0,0,0,0,27.17,26.89,27.19
$GC,52766,0.58,146.6,3189,819,1510,1480,2928.4,14.1,814,52771,0.10,2.03,0.00,0.000,5126,0.199,0.062,3157,2212,1494,1510,1479,0,0,0,0,0,0,26.66,26.91,26.77
$GC,53160,0.58,146.6,3157,2212,1510,1479,2865.2,13.1,818,53165,0.00,1.98,0.00,0.000,516,0.000,0.067,3167,840,1494,1510,1479,0,0,0,0,0,0,27.17,26.90,27.19
$GC,53226,0.58,146.6,3167,840,1510,1479,2865.2,13.1,818,53230,0.00,1.98,0.00,0.000,1030,0.000,0.062,3167,2191,1494,1510,1479,0,0,0,0,0,0,26.94,26.92,26.97
$GC,53640,0.58,146.6,3167,2190,1510,1479,2802.3,13.1,822,53645,0.00,1.95,0.00,0.000,516,0.000,0.067,3178,839,1495,1511,1479,0,0,0,0,0,0,27.17,26.90,27.19
$GC,53726,0.58,146.6,3178,839,1510,1480,2802.3,13.1,822,53730,0.00,2.00,0.00,0.000,1030,0.000,0.062,3178,2205,1494,1510,1479,0,0,0,0,0,0,26.95,26.92,26.97
$GC,54120,0.58,146.6,3177,2205,1510,1479,2739.5,13.1,826,54121,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2205,1494,1510,1479,0,0,0,0,0,0,27.18,27.20,27.20
$GC,54480,0.58,146.6,3177,2205,1510,1479,2693.9,12.8,829,54485,0.00,1.98,0.00,0.000,516,0.000,0.067,3188,821,1494,1510,1479,0,0,0,0,0,0,27.18,26.91,27.20
$GC,54613,0.58,146.6,3188,821,1510,1479,2678.7,12.6,830,54616,0.00,1.98,0.00,0.000,1030,0.000,0.062,3188,2204,1494,1510,1479,0,0,0,0,0,0,26.98,26.93,27.00
$GC,54961,0.58,146.6,3188,2204,1510,1479,2632.8,12.7,833,54967,0.00,1.98,0.00,0.000,516,0.000,0.067,3198,820,1494,1510,1479,0,0,0,0,0,0,27.18,26.91,27.20
$GC,55027,0.58,146.6,3198,820,1510,1479,2632.8,12.7,833,55032,0.12,2.00,0.00,0.000,5126,0.191,0.062,3158,2200,1494,1510,1479,0,0,0,0,0,0,26.65,26.92,26.76
$GC,55442,0.64,146.6,3158,2200,1510,1479,2575.1,12.0,837,55447,0.00,1.98,0.00,0.000,516,0.000,0.067,3168,817,1494,1510,1479,0,0,0,0,0,0,27.19,26.91,27.20
$GC,55538,0.70,146.6,3168,817,1510,1479,2575.1,12.0,837,55542,0.00,1.98,0.00,0.000,1030,0.000,0.062,3168,2208,1495,1510,1480,0,0,0,0,0,0,26.98,26.92,27.00
$GC,55922,0.76,146.6,3168,2208,1510,1479,2519.1,11.7,841,55924,0.08,0.00,0.00,0.000,2054,0.144,0.000,3223,2209,1494,1509,1479,0,0,0,0,0,0,26.96,27.02,27.00
$GC,56282,0.76,146.6,3223,2209,1510,1479,2473.2,12.6,844,56287,0.00,1.98,0.00,0.000,516,0.000,0.067,3234,823,1495,1510,1480,0,0,0,0,0,0,27.18,26.91,27.20
$GC,56387,0.76,146.6,3233,823,1510,1480,2473.2,12.6,844,56391,0.00,2.00,0.00,0.000,1030,0.000,0.062,3234,2193,1494,1510,1479,0,0,0,0,0,0,26.96,26.92,26.98
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$GC,81452,1.16,160.8,3352,2210,1463,1436,698.8,8.4,1116,81455,0.00,1.95,0.00,0.000,516,0.000,0.065,3364,833,1449,1463,1436,0,0,0,0,0,0,27.20,26.92,27.21
$GC,81592,1.16,160.8,3362,833,1464,1435,685.3,9.5,1119,81598,0.00,1.90,0.00,0.000,1030,0.000,0.062,3363,2203,1449,1464,1435,0,0,0,0,0,0,26.99,26.95,27.03
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$GC,81955,1.16,160.8,3363,3602,1463,1438,645.6,11.6,1127,81961,0.00,1.88,0.00,0.000,1030,0.000,0.057,3373,2192,1451,1464,1438,0,0,0,0,0,0,27.03,26.98,27.03
$GC,82269,1.16,160.8,3373,2192,1464,1439,606.6,12.9,1134,82274,0.08,1.90,0.00,0.000,4612,0.251,0.062,3355,839,1451,1464,1439,0,0,0,0,0,0,26.70,26.87,26.80
$GC,82371,1.16,160.8,3355,823,1465,1439,594.8,12.7,1136,82375,0.00,1.98,0.00,0.000,1030,0.000,0.060,3355,2210,1451,1464,1439,0,0,0,0,0,0,27.03,26.95,27.04
$GC,82680,1.16,160.8,3355,2209,1465,1441,555.4,12.4,1143,82684,0.00,1.95,0.00,0.000,516,0.000,0.067,3365,821,1453,1465,1441,0,0,0,0,0,0,27.20,26.93,27.22
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$GC,83860,1.16,160.8,3336,2203,1463,1435,388.6,14.4,1169,83863,0.00,1.92,0.00,0.000,516,0.000,0.065,3346,830,1449,1463,1435,0,0,0,0,0,0,27.20,26.94,27.21
$GC,83953,1.16,160.8,3346,831,1464,1435,375.0,14.6,1171,83959,0.00,1.90,0.00,0.000,1030,0.000,0.062,3346,2198,1449,1464,1435,0,0,0,0,0,0,27.01,26.96,27.02
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$GC,84662,1.16,160.8,3356,2206,1465,1440,265.2,16.3,1189,84667,0.00,1.92,0.00,0.000,516,0.000,0.065,3366,824,1452,1465,1440,0,0,0,0,0,0,27.21,26.95,27.22
$GC,84725,1.16,160.8,3366,824,1466,1440,255.1,16.2,1191,84730,0.00,1.90,0.00,0.000,1030,0.000,0.062,3366,2210,1452,1465,1440,0,0,0,0,0,0,27.01,26.97,27.03
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$GC,85561,1.32,160.8,3355,827,1463,1430,121.1,15.2,1224,85567,0.05,1.88,0.00,0.000,3078,0.127,0.060,3410,2199,1446,1463,1430,0,0,0,0,0,0,26.86,26.96,26.92
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$STATE,86469,end climb,SURFACE_DEPTH_REACHED
$STATE,86469,begin surface coast
$FINISH,-0.7,1.023588
$STATE,86493,end surface coast,CONTROL_FINISHED_OK
$STATE,86494,begin surface
$SM_CCo,86510,60.33,0.752,0,0,1139,250.11
$SM_GC,0.94,8.23,1.90,60.33,0.079,0.055,0.752,157,2181,1139,-8.72,2.88,250.11,0,0,0,0,0,0,26.90,27.01,25.51
$IRIDIUM_FIX,3115.19,-6355.48,210508,204435
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.43
$INTERNAL_PRESSURE,9.29967
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,49.7,47.1
$24V_AH,20.61,16.861
$10V_AH,10.33,7.146
$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,26.800,418.450,299.225,60.325,100.375,49.187,36.855,411.769,17.500,0.000,15.286,4904.540,71329.625,703.274,9998.906,319.333,0.606,4361.191,0.000,9220.635,0.000,127.537,0.000
$DEVICE_MAMPS,285.545,89.388,3851.133,752.349,367.484,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.126,4242.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330352
$DATA_FILE_SIZE,83547,1297
$CAP_FILE_SIZE,543459,0
$CFSIZE,1024409600,1012350976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270715,073233,3122.807,-6350.877,38,1.0,38,-14.9,0.0,0.0,8,9.6