version: 66.12
glider: 38
mission: 4
dive: 73
start: 7 31 115 1 48 26
data:
$ID,38
$MISSION,4
$DIVE,73
$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,118
$R_STBD_OVSHOOT,72
$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
$GPS1,310715,013739,3145.3677,-6337.8516,161,7.3,201,-15.0,0.0,0.0,3,39.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-69.1
$GPS2,310715,014802,3145.3745,-6337.7939,19,1.0,28,-15.0,0.0,0.0,8,6.0
$SPEED_LIMITS,0.060,0.218
$TGT_NAME,SS08
$TGT_LATLONG,3150.820,-6348.300
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.168339,0.091657
$KALMAN_X,-12111.058594,0.000000,0.000000,66699.351562,14218.494141
$KALMAN_Y,-21388.732422,0.000000,0.000000,44108.132812,-6715.728516
$MHEAD_RNG_PITCHd_Wd,313.6,19362,-13.5,-6.000,-17.38,2754
$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,-0.71,-108.8,152,2183,1158,1125,0.0,0.0,0,120,0.00,0.00,-97.07,0.154,16390,0.000,0.000,152,2182,2374,2320,2428,0,0,0,0,0,0,26.73,26.32,26.25
$GC,122,-0.71,-108.8,152,2184,2321,2427,4.3,-6.7,10,143,10.57,1.85,0.00,0.000,2564,0.291,0.067,2742,843,2375,2329,2422,0,0,0,0,0,0,26.04,26.30,26.20
$GC,449,-0.53,-146.6,2741,843,2331,2421,28.6,-2.6,39,461,0.22,1.85,-2.75,0.315,19462,0.194,0.062,2804,2202,2508,2456,2561,0,0,0,0,0,0,26.48,26.70,26.48
$GC,760,-0.53,-146.6,2804,2202,2456,2561,38.2,-2.7,70,771,0.00,1.90,0.00,0.000,516,0.000,0.070,2805,830,2509,2465,2553,0,0,0,0,0,0,27.03,26.78,27.05
$GC,1090,-0.53,-146.6,2804,830,2465,2553,53.4,-5.1,92,1096,0.00,1.85,0.00,0.000,1030,0.000,0.062,2795,2201,2509,2465,2554,0,0,0,0,0,0,26.94,26.89,26.95
$GC,1405,-0.53,-146.6,2795,2201,2465,2555,61.7,-2.0,113,1410,0.00,1.88,0.00,0.000,516,0.000,0.070,2795,842,2509,2465,2554,0,0,0,0,0,0,27.16,26.91,27.17
$GC,1729,-0.47,-146.6,2796,842,2465,2554,72.9,-3.5,133,1735,0.08,1.85,0.00,0.000,3078,0.216,0.065,2818,2202,2510,2465,2555,0,0,0,0,0,0,26.78,26.96,26.87
$GC,2044,-0.47,-146.6,2817,2202,2466,2555,84.7,-5.0,154,2050,0.00,1.88,0.00,0.000,516,0.000,0.067,2818,840,2510,2465,2555,0,0,0,0,0,0,27.21,26.96,27.22
$GC,2368,-0.47,-146.6,2818,839,2466,2555,94.2,-3.1,174,2373,0.00,1.85,0.00,0.000,1030,0.000,0.065,2809,2199,2511,2466,2556,0,0,0,0,0,0,27.05,27.00,27.06
$GC,2684,-0.47,-146.6,2809,2199,2466,2556,104.7,-2.7,195,2687,0.00,1.88,0.00,0.000,516,0.000,0.067,2809,839,2510,2465,2556,0,0,0,0,0,0,27.24,26.99,27.25
$GC,3002,-0.47,-146.6,2809,839,2466,2555,115.0,-5.1,214,3010,0.00,1.88,0.00,0.000,1030,0.000,0.065,2799,2198,2510,2465,2555,0,0,0,0,0,0,27.04,27.01,27.06
$GC,3310,-0.47,-146.6,2799,2198,2466,2556,129.7,-3.8,235,3315,0.00,1.95,0.00,0.000,260,0.000,0.077,2788,3595,2511,2466,2556,0,0,0,0,0,0,27.24,26.97,27.26
$GC,3472,-0.41,-146.6,2788,3595,2466,2556,135.4,-3.6,245,3478,0.12,1.80,0.00,0.000,3078,0.184,0.060,2837,2173,2510,2465,2555,0,0,0,0,0,0,26.84,27.05,26.92
$GC,3788,-0.41,-146.6,2836,2173,2465,2555,147.2,-3.8,266,3791,0.00,1.77,0.00,0.000,516,0.000,0.067,2836,890,2510,2466,2555,0,0,0,0,0,0,27.25,27.01,27.27
$GC,4097,-0.41,-146.6,2836,865,2466,2555,161.6,-5.7,278,4106,0.00,1.85,0.00,0.000,1030,0.000,0.062,2827,2201,2510,2466,2554,0,0,0,0,0,0,27.05,27.03,27.06
$GC,4406,-0.41,-146.6,2826,2201,2465,2554,179.3,-5.2,289,4411,0.00,1.95,0.00,0.000,260,0.000,0.077,2817,3597,2510,2466,2555,0,0,0,0,0,0,27.25,26.98,27.27
$GC,4578,-0.41,-146.6,2816,3597,2465,2555,187.7,-5.5,294,4582,0.00,1.83,0.00,0.000,1030,0.000,0.060,2816,2216,2510,2465,2555,0,0,0,0,0,0,27.08,27.05,27.08
$GC,4893,-0.41,-146.6,2816,2214,2465,2554,205.0,-5.3,305,4898,0.00,1.95,0.00,0.000,260,0.000,0.077,2806,3598,2509,2465,2554,0,0,0,0,0,0,27.25,26.98,27.27
$GC,5132,-0.41,-146.6,2806,3598,2465,2554,216.7,-5.4,312,5141,0.00,1.85,0.00,0.000,1030,0.000,0.060,2807,2198,2509,2466,2552,0,0,0,0,0,0,27.07,27.06,27.08
$GC,5441,-0.41,-146.6,2806,2197,2465,2552,232.9,-4.6,323,5445,0.00,1.85,0.00,0.000,516,0.000,0.067,2806,888,2508,2465,2552,0,0,0,0,0,0,27.26,27.01,27.27
$GC,5548,-0.41,-146.6,2806,841,2466,2551,236.6,-3.9,326,5553,0.12,1.88,0.00,0.000,3078,0.181,0.062,2841,2199,2508,2466,2551,0,0,0,0,0,0,26.85,27.03,26.98
$GC,5868,-0.47,-146.6,2841,2199,2465,2551,247.1,-3.4,337,5873,0.00,1.95,0.00,0.000,260,0.000,0.077,2831,3594,2508,2465,2551,0,0,0,0,0,0,27.26,26.98,27.27
$GC,5961,-0.53,-146.6,2830,3594,2466,2551,250.9,-3.8,340,5966,0.00,1.83,0.00,0.000,1030,0.000,0.060,2830,2188,2508,2466,2551,0,0,0,0,0,0,27.10,27.05,27.10
$GC,6290,-0.58,-146.6,2831,2187,2466,2550,267.9,-5.7,351,6296,0.08,1.83,0.00,0.000,4612,0.151,0.065,2766,829,2508,2466,2550,0,0,0,0,0,0,27.03,27.01,27.05
$GC,6583,-0.53,-146.6,2766,829,2465,2550,286.2,-6.5,360,6587,0.15,1.85,0.00,0.000,3078,0.179,0.062,2808,2201,2507,2466,2549,0,0,0,0,0,0,26.84,27.03,26.98
$GC,6901,-0.53,-146.6,2808,2202,2465,2549,307.0,-6.5,370,6905,0.00,1.95,0.00,0.000,260,0.000,0.077,2798,3594,2508,2466,2550,0,0,0,0,0,0,27.26,26.98,27.27
$GC,7187,-0.53,-146.6,2799,3594,2466,2549,324.0,-6.1,376,7191,0.00,1.85,0.00,0.000,1030,0.000,0.057,2798,2190,2507,2466,2549,0,0,0,0,0,0,27.08,27.07,27.10
$GC,7496,-0.53,-146.6,2798,2189,2466,2549,341.7,-5.6,383,7499,0.00,1.83,0.00,0.000,516,0.000,0.067,2798,888,2506,2465,2548,0,0,0,0,0,0,27.26,27.01,27.27
$GC,7745,-0.53,-146.6,2798,846,2466,2547,355.5,-5.9,388,7749,0.00,1.88,0.00,0.000,1030,0.000,0.062,2789,2201,2506,2466,2547,0,0,0,0,0,0,27.05,27.03,27.08
$GC,8089,-0.53,-146.6,2789,2202,2466,2547,377.9,-6.3,396,8095,0.00,1.88,0.00,0.000,516,0.000,0.067,2789,839,2506,2466,2546,0,0,0,0,0,0,27.26,27.01,27.27
$GC,8259,-0.53,-146.6,2789,839,2466,2546,386.8,-6.5,399,8263,0.00,1.90,0.00,0.000,1030,0.000,0.062,2780,2207,2506,2466,2546,0,0,0,0,0,0,27.05,27.03,27.08
$GC,8588,-0.53,-146.6,2779,2207,2465,2546,410.9,-6.8,407,8592,0.00,1.95,0.00,0.000,260,0.000,0.077,2771,3597,2505,2465,2546,0,0,0,0,0,0,27.26,26.98,27.28
$GC,8626,-0.53,-146.6,2771,3597,2466,2546,410.9,-6.8,407,8635,0.00,1.85,0.00,0.000,1030,0.000,0.060,2772,2192,2505,2466,2545,0,0,0,0,0,0,27.08,27.06,27.09
$GC,8950,-0.53,-146.6,2771,2192,2466,2545,434.7,-6.6,415,8956,0.00,1.98,0.00,0.000,260,0.000,0.077,2762,3600,2505,2465,2545,0,0,0,0,0,0,27.26,26.98,27.28
$GC,9193,-0.53,-146.6,2762,3600,2466,2545,450.0,-6.6,420,9198,0.10,1.85,0.00,0.000,3078,0.169,0.057,2799,2189,2505,2466,2544,0,0,0,0,0,0,26.86,27.06,26.94
$GC,9542,-0.53,-146.6,2798,2188,2465,2544,470.9,-5.6,428,9547,0.00,2.00,0.00,0.000,260,0.000,0.077,2789,3598,2504,2465,2544,0,0,0,0,0,0,27.26,26.99,27.28
$GC,9773,-0.53,-146.6,2788,3598,2466,2544,482.3,-4.8,433,9777,0.00,1.80,0.00,0.000,1030,0.000,0.060,2788,2262,2505,2467,2544,0,0,0,0,0,0,27.10,27.05,27.11
$GC,10090,-0.53,-146.6,2788,2210,2466,2543,496.0,-4.5,440,10094,0.00,1.95,0.00,0.000,260,0.000,0.077,2780,3588,2505,2466,2544,0,0,0,0,0,0,27.27,26.98,27.28
$GC,10322,-0.53,-146.6,2779,3588,2466,2544,508.1,-5.3,445,10326,0.00,1.80,0.00,0.000,1030,0.000,0.060,2780,2249,2504,2466,2543,0,0,0,0,0,0,27.10,27.06,27.10
$GC,10640,-0.53,-146.6,2779,2198,2466,2542,530.2,-7.4,452,10645,0.00,1.95,0.00,0.000,516,0.000,0.067,2779,787,2503,2465,2541,0,0,0,0,0,0,27.27,27.01,27.28
$GC,10877,-0.53,-146.6,2780,787,2466,2541,549.4,-8.4,457,10881,0.00,1.98,0.00,0.000,1030,0.000,0.062,2770,2208,2503,2466,2541,0,0,0,0,0,0,27.06,27.03,27.08
$GC,11186,-0.53,-146.6,2770,2208,2466,2541,572.6,-7.0,464,11192,0.08,1.90,0.00,0.000,2564,0.204,0.065,2805,805,2503,2466,2540,0,0,0,0,0,0,26.91,27.01,26.96
$GC,11360,-0.53,-146.6,2805,805,2466,2539,580.3,-5.9,467,11369,0.00,1.95,0.00,0.000,1030,0.000,0.062,2797,2207,2503,2466,2540,0,0,0,0,0,0,27.06,27.03,27.08
$GC,11685,-0.58,-146.6,2797,2207,2466,2539,598.0,-4.9,475,11689,0.00,1.95,0.00,0.000,516,0.000,0.067,2797,795,2502,2466,2539,0,0,0,0,0,0,27.27,27.01,27.28
$GC,11885,-0.58,-146.6,2797,795,2466,2539,607.5,-5.1,479,11888,0.00,1.92,0.00,0.000,1030,0.000,0.062,2789,2200,2502,2466,2538,0,0,0,0,0,0,27.08,27.02,27.09
$GC,12227,-0.58,-146.6,2789,2200,2466,2538,629.3,-6.4,487,12233,0.00,1.95,0.00,0.000,516,0.000,0.067,2789,789,2501,2465,2538,0,0,0,0,0,0,27.26,27.01,27.28
$GC,12382,-0.58,-146.6,2788,789,2466,2537,638.1,-6.5,490,12386,0.00,1.98,0.00,0.000,1030,0.000,0.062,2781,2207,2501,2466,2537,0,0,0,0,0,0,27.05,27.03,27.07
$GC,12726,-0.58,-146.6,2780,2207,2466,2536,660.2,-6.1,498,12731,0.00,1.95,0.00,0.000,516,0.000,0.067,2781,796,2501,2466,2536,0,0,0,0,0,0,27.27,27.01,27.27
$GC,12866,-0.58,-146.6,2780,796,2466,2535,668.5,-5.9,501,12870,0.00,1.95,0.00,0.000,1030,0.000,0.062,2772,2196,2501,2466,2536,0,0,0,0,0,0,27.05,27.03,27.07
$GC,13180,-0.58,-146.6,2772,2196,2465,2534,687.7,-6.2,508,13185,0.00,1.92,0.00,0.000,516,0.000,0.067,2772,802,2499,2465,2534,0,0,0,0,0,0,27.26,27.01,27.28
$GC,13334,-0.58,-146.6,2772,802,2466,2534,696.6,-6.5,511,13339,0.00,1.95,0.00,0.000,1030,0.000,0.060,2762,2202,2499,2465,2534,0,0,0,0,0,0,27.05,27.03,27.06
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$GC,71150,-1.67,-146.6,2407,3587,2449,2478,4487.9,-4.3,1049,71154,0.00,1.92,0.00,0.000,1030,0.000,0.060,2408,2191,2463,2449,2478,0,0,0,0,0,0,26.88,26.82,26.91
$GC,71563,-1.67,-146.6,2407,2189,2449,2478,4507.9,-4.2,1053,71567,0.00,1.95,0.00,0.000,516,0.000,0.067,2407,835,2463,2449,2477,0,0,0,0,0,0,27.20,26.73,27.22
$GC,71830,-1.67,-146.6,2407,835,2450,2478,4518.0,-4.1,1055,71835,0.12,2.03,0.00,0.000,3078,0.181,0.062,2441,2226,2463,2449,2477,0,0,0,0,0,0,26.43,26.80,26.56
$GC,72172,-1.67,-146.6,2441,2226,2449,2478,4531.9,-3.9,1058,72177,0.00,2.03,0.00,0.000,260,0.000,0.082,2431,3590,2463,2449,2477,0,0,0,0,0,0,27.19,26.60,27.20
$GC,72471,-1.67,-146.6,2431,3590,2450,2477,4540.5,-3.7,1060,72475,0.00,1.90,0.00,0.000,1030,0.000,0.060,2431,2205,2463,2449,2478,0,0,0,0,0,0,26.88,26.81,26.90
$GC,72895,-1.67,-146.6,2431,2198,2449,2478,4558.0,-3.6,1064,72901,0.00,2.00,0.00,0.000,516,0.000,0.067,2431,826,2463,2449,2478,0,0,0,0,0,0,27.20,26.73,27.22
$GC,73155,-1.67,-146.6,2431,826,2449,2477,4567.3,-3.8,1066,73159,0.00,2.00,0.00,0.000,1030,0.000,0.062,2422,2202,2464,2450,2478,0,0,0,0,0,0,26.87,26.80,26.89
$GC,73500,-1.67,-146.6,2421,2201,2449,2477,4580.6,-3.7,1069,73506,0.00,2.08,0.00,0.000,260,0.000,0.079,2411,3593,2463,2449,2477,0,0,0,0,0,0,27.18,26.60,27.20
$GC,73647,-1.67,-146.6,2411,3593,2449,2478,4584.8,-3.6,1070,73651,0.00,1.95,0.00,0.000,1030,0.000,0.060,2412,2176,2463,2449,2478,0,0,0,0,0,0,26.88,26.81,26.90
$GC,73982,-1.67,-146.6,2411,2175,2449,2477,4596.5,-3.3,1073,73987,0.00,1.95,0.00,0.000,516,0.000,0.067,2411,836,2463,2449,2478,0,0,0,0,0,0,27.20,26.73,27.22
$GC,74149,-1.67,-146.6,2412,835,2449,2477,4600.4,-3.2,1074,74154,0.10,2.00,0.00,0.000,3078,0.189,0.062,2437,2212,2463,2449,2478,0,0,0,0,0,0,26.48,26.79,26.60
$GC,74465,-1.67,-146.6,2437,2212,2449,2478,4611.4,-3.1,1077,74470,0.00,2.08,0.00,0.000,260,0.000,0.082,2428,3588,2463,2449,2478,0,0,0,0,0,0,27.17,26.59,27.20
$GC,74748,-1.67,-146.6,2427,3588,2450,2478,4618.7,-3.1,1079,74752,0.00,1.92,0.00,0.000,1030,0.000,0.060,2427,2206,2463,2449,2478,0,0,0,0,0,0,26.88,26.81,26.90
$GC,75067,-1.67,-146.6,2427,2205,2449,2478,4629.2,-2.9,1082,75068,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2205,2463,2449,2478,0,0,0,0,0,0,27.20,27.22,27.22
$GC,75428,-1.67,-146.6,2427,2205,2449,2477,4639.4,-2.8,1085,75434,0.00,2.08,0.00,0.000,260,0.000,0.079,2418,3593,2464,2450,2478,0,0,0,0,0,0,27.20,26.59,27.22
$GC,75576,-1.67,-146.6,2417,3592,2449,2478,4642.8,-2.8,1086,75580,0.00,1.95,0.00,0.000,1030,0.000,0.060,2418,2183,2463,2449,2478,0,0,0,0,0,0,26.88,26.81,26.90
$GC,75915,-1.67,-146.6,2417,2182,2449,2478,4652.8,-2.8,1089,75916,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2182,2463,2449,2478,0,0,0,0,0,0,27.18,27.21,27.20
$GC,76271,-1.67,-146.6,2417,2181,2449,2478,4662.7,-2.8,1092,76272,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2182,2463,2449,2478,0,0,0,0,0,0,27.17,27.20,27.20
$GC,76633,-1.67,-146.6,2417,2182,2448,2478,4672.2,-2.7,1095,76638,0.00,1.98,0.00,0.000,516,0.000,0.067,2418,831,2464,2450,2478,0,0,0,0,0,0,27.17,26.73,27.19
$GC,76830,-1.67,-146.6,2417,831,2449,2478,4675.5,-2.7,1096,76833,0.00,2.00,0.00,0.000,1030,0.000,0.062,2408,2210,2463,2449,2478,0,0,0,0,0,0,26.86,26.79,26.89
$STATE,76992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,76992,begin apogee
$GC,76996,-0.25,0.0,2407,2210,2449,2478,4682.3,-2.8,1098,77139,1.38,0.00,139.40,3.844,10246,0.132,0.000,2894,2210,2000,2007,1993,0,0,0,0,0,0,26.28,22.03,20.54
$STATE,77140,end apogee,CONTROL_FINISHED_OK
$STATE,77140,begin climb
$GC,77141,0.72,146.6,2893,2209,2007,1992,4679.9,0.0,1099,77320,0.93,2.42,169.07,3.757,10756,0.087,0.089,3227,850,1494,1516,1473,0,0,0,0,0,0,22.54,21.99,20.56
$GC,77613,0.72,146.6,3227,850,1516,1473,4556.3,28.9,1103,77617,0.00,2.10,0.00,0.000,1030,0.000,0.062,3228,2187,1495,1517,1473,0,0,0,0,0,0,25.37,25.34,25.39
$GC,77958,0.20,146.6,3227,2187,1517,1473,4449.3,29.7,1106,77964,0.65,2.00,0.00,0.000,4612,0.236,0.065,3050,836,1494,1516,1473,0,0,0,0,0,0,25.75,25.96,25.89
$GC,78258,-0.23,146.6,3050,836,1516,1473,4397.5,25.6,1108,78263,0.45,2.03,0.00,0.000,5126,0.204,0.065,2916,2209,1494,1516,1473,0,0,0,0,0,0,26.03,26.27,26.21
$GC,78677,-0.42,146.6,2915,2210,1516,1473,4328.0,14.4,1112,78683,0.22,1.98,0.00,0.000,4612,0.189,0.067,2847,853,1494,1516,1473,0,0,0,0,0,0,26.28,26.44,26.36
$GC,78977,-0.53,146.6,2847,851,1517,1473,4305.4,11.4,1114,78982,0.15,1.98,0.00,0.000,5126,0.171,0.065,2796,2210,1494,1515,1473,0,0,0,0,0,0,26.39,26.56,26.52
$GC,79396,-0.53,146.6,2796,2209,1516,1473,4269.6,7.4,1118,79401,0.00,2.00,0.00,0.000,516,0.000,0.067,2806,837,1494,1516,1473,0,0,0,0,0,0,26.88,26.63,26.90
$GC,79574,-0.53,146.6,2805,837,1516,1473,4261.1,7.3,1119,79578,0.00,2.00,0.00,0.000,1030,0.000,0.062,2806,2202,1494,1516,1473,0,0,0,0,0,0,26.72,26.67,26.74
$GC,79992,-0.53,146.6,2805,2202,1516,1473,4226.5,7.3,1123,79997,0.00,1.98,0.00,0.000,516,0.000,0.067,2813,840,1494,1516,1473,0,0,0,0,0,0,26.96,26.70,26.98
$GC,80113,-0.53,146.6,2813,841,1516,1473,4217.9,7.2,1124,80116,0.00,1.98,0.00,0.000,1030,0.000,0.062,2813,2205,1494,1516,1473,0,0,0,0,0,0,26.79,26.73,26.80
$GC,80475,-0.53,146.6,2813,2206,1516,1473,4191.9,7.2,1127,80481,0.00,1.98,0.00,0.000,516,0.000,0.067,2820,843,1494,1516,1472,0,0,0,0,0,0,27.01,26.74,27.02
$GC,80576,-0.53,146.6,2820,843,1516,1473,4191.9,7.2,1127,80580,0.00,2.03,0.00,0.000,1030,0.000,0.062,2820,2206,1494,1516,1473,0,0,0,0,0,0,26.79,26.76,26.82
$GC,80955,-0.53,146.6,2820,2207,1516,1473,4157.4,7.2,1131,80960,0.00,1.98,0.00,0.000,516,0.000,0.070,2822,843,1494,1516,1473,0,0,0,0,0,0,27.04,26.77,27.05
$GC,81051,-0.53,146.6,2822,843,1516,1473,4157.4,7.2,1131,81055,0.00,2.03,0.00,0.000,1030,0.000,0.062,2822,2209,1495,1516,1474,0,0,0,0,0,0,26.83,26.80,26.85
$GC,81435,-0.53,146.6,2822,2209,1516,1473,4122.5,7.3,1135,81440,0.00,1.98,0.00,0.000,516,0.000,0.067,2828,843,1494,1516,1473,0,0,0,0,0,0,27.06,26.80,27.08
$GC,81506,-0.53,146.6,2827,843,1516,1473,4122.5,7.3,1135,81510,0.00,2.00,0.00,0.000,1030,0.000,0.062,2827,2195,1494,1516,1473,0,0,0,0,0,0,26.85,26.82,26.87
$GC,81915,-0.53,146.6,2828,2195,1516,1473,4090.8,6.6,1139,81920,0.00,1.98,0.00,0.000,516,0.000,0.070,2828,832,1494,1516,1473,0,0,0,0,0,0,27.08,26.82,27.10
$GC,81996,-0.53,146.6,2828,832,1516,1473,4090.8,6.6,1139,82000,0.00,2.03,0.00,0.000,1030,0.000,0.062,2828,2207,1494,1516,1473,0,0,0,0,0,0,26.87,26.84,26.89
$GC,82395,-0.53,146.6,2828,2207,1516,1473,4056.8,7.0,1143,82400,0.00,1.98,0.00,0.000,516,0.000,0.070,2828,841,1494,1516,1473,0,0,0,0,0,0,27.10,26.83,27.12
$GC,82534,-0.53,146.6,2827,840,1516,1473,4047.9,7.2,1144,82538,0.00,1.98,0.00,0.000,1030,0.000,0.062,2828,2202,1495,1516,1474,0,0,0,0,0,0,26.91,26.85,26.93
$GC,82871,-0.53,146.6,2828,2202,1516,1473,4021.2,7.5,1147,82877,0.00,1.98,0.00,0.000,516,0.000,0.067,2828,846,1494,1516,1472,0,0,0,0,0,0,27.10,26.84,27.13
$GC,82957,-0.53,146.6,2828,846,1516,1473,4021.2,7.5,1147,82961,0.00,2.00,0.00,0.000,1030,0.000,0.062,2828,2204,1494,1516,1473,0,0,0,0,0,0,26.89,26.86,26.91
$GC,83351,-0.53,146.6,2827,2204,1516,1474,3984.9,7.5,1151,83357,0.00,1.98,0.00,0.000,516,0.000,0.067,2828,845,1494,1516,1473,0,0,0,0,0,0,27.12,26.84,27.14
$GC,83462,-0.53,146.6,2828,844,1516,1473,3984.9,7.5,1151,83471,0.00,2.00,0.00,0.000,1030,0.000,0.062,2828,2203,1494,1516,1473,0,0,0,0,0,0,26.90,26.86,26.92
$GC,83831,-0.53,146.6,2828,2203,1516,1473,3948.5,7.6,1155,83837,0.00,1.98,0.00,0.000,516,0.000,0.070,2828,834,1494,1516,1473,0,0,0,0,0,0,27.13,26.85,27.15
$GC,83918,-0.53,146.6,2827,833,1516,1474,3948.5,7.6,1155,83922,0.00,2.03,0.00,0.000,1030,0.000,0.062,2828,2205,1494,1516,1473,0,0,0,0,0,0,26.91,26.89,26.94
$GC,84311,-0.53,146.6,2828,2205,1515,1473,3915.3,6.9,1159,84317,0.00,1.98,0.00,0.000,516,0.000,0.070,2828,836,1494,1516,1473,0,0,0,0,0,0,27.14,26.86,27.16
$GC,84422,-0.53,146.6,2828,836,1516,1473,3915.3,6.9,1159,84431,0.00,2.03,0.00,0.000,1030,0.000,0.062,2828,2210,1494,1516,1473,0,0,0,0,0,0,26.92,26.88,26.94
$GC,84791,-0.53,146.6,2828,2210,1516,1473,3883.3,6.7,1163,84797,0.00,2.00,0.00,0.000,516,0.000,0.067,2828,824,1494,1515,1473,0,0,0,0,0,0,27.15,26.87,27.17
$GC,84903,-0.53,146.6,2828,824,1516,1473,3883.3,6.7,1163,84911,0.00,2.03,0.00,0.000,1030,0.000,0.062,2828,2198,1494,1516,1473,0,0,0,0,0,0,26.93,26.89,26.94
$GC,85271,-0.53,146.6,2828,2199,1515,1473,3851.9,6.5,1167,85277,0.00,1.98,0.00,0.000,516,0.000,0.070,2828,839,1494,1516,1473,0,0,0,0,0,0,27.15,26.87,27.17
$GC,85357,-0.53,146.6,2827,839,1515,1473,3851.9,6.5,1167,85362,0.00,2.00,0.00,0.000,1030,0.000,0.062,2828,2200,1494,1516,1473,0,0,0,0,0,0,26.94,26.90,26.95
$GC,85751,-0.53,146.6,2828,2200,1515,1473,3821.8,6.3,1171,85757,0.00,1.98,0.00,0.000,516,0.000,0.070,2828,843,1494,1516,1473,0,0,0,0,0,0,27.15,26.87,27.17
$GC,85837,-0.53,146.6,2828,842,1516,1473,3821.8,6.3,1171,85842,0.00,2.00,0.00,0.000,1030,0.000,0.062,2828,2199,1494,1516,1473,0,0,0,0,0,0,26.94,26.89,26.95
$GC,86231,-0.53,146.6,2828,2199,1516,1473,3792.1,6.2,1175,86237,0.00,1.98,0.00,0.000,516,0.000,0.067,2828,828,1494,1515,1473,0,0,0,0,0,0,27.16,26.88,27.17
$GC,86317,-0.53,146.6,2828,828,1516,1473,3792.1,6.2,1175,86322,0.00,2.03,0.00,0.000,1030,0.000,0.062,2828,2208,1494,1516,1473,0,0,0,0,0,0,26.93,26.90,26.96
$GC,86711,-0.53,146.6,2828,2208,1515,1473,3762.2,6.2,1179,86717,0.00,1.98,0.00,0.000,516,0.000,0.067,2828,836,1494,1515,1473,0,0,0,0,0,0,27.17,26.88,27.18
$GC,86797,-0.53,146.6,2828,836,1516,1473,3762.2,6.2,1179,86802,0.00,2.00,0.00,0.000,1030,0.000,0.062,2828,2195,1494,1515,1473,0,0,0,0,0,0,26.94,26.90,26.96
$GC,87191,-0.53,146.6,2828,2195,1515,1473,3732.8,6.1,1183,87197,0.00,2.00,0.00,0.000,516,0.000,0.070,2828,821,1494,1516,1473,0,0,0,0,0,0,27.17,26.88,27.18
$GC,87257,-0.53,146.6,2828,821,1515,1473,3732.8,6.1,1183,87262,0.00,2.03,0.00,0.000,1030,0.000,0.062,2828,2196,1494,1516,1473,0,0,0,0,0,0,26.94,26.91,26.96
$GC,87672,-0.53,146.6,2828,2196,1515,1473,3706.4,5.5,1187,87677,0.00,1.98,0.00,0.000,516,0.000,0.070,2828,825,1494,1516,1473,0,0,0,0,0,0,27.17,26.88,27.19
$GC,87772,-0.53,146.6,2828,824,1515,1473,3706.4,5.5,1187,87776,0.00,2.03,0.00,0.000,1030,0.000,0.062,2828,2200,1494,1515,1473,0,0,0,0,0,0,26.94,26.91,26.96
$GC,88152,-0.48,146.6,2828,2200,1516,1473,3680.8,5.3,1191,88157,0.00,1.98,0.00,0.000,516,0.000,0.070,2828,830,1494,1516,1473,0,0,0,0,0,0,27.17,26.89,27.19
$GC,88223,-0.42,146.6,2828,830,1516,1473,3680.8,5.3,1191,88227,0.00,2.00,0.00,0.000,1030,0.000,0.062,2828,2204,1494,1516,1473,0,0,0,0,0,0,26.98,26.91,26.99
$GC,88632,-0.36,146.6,2828,2203,1516,1473,3654.1,5.5,1195,88637,0.00,1.98,0.00,0.000,516,0.000,0.067,2828,832,1494,1516,1473,0,0,0,0,0,0,27.17,26.89,27.20
$GC,88718,-0.30,146.6,2828,832,1516,1473,3654.1,5.5,1195,88722,0.05,2.00,0.00,0.000,3078,0.122,0.062,2881,2197,1494,1515,1473,0,0,0,0,0,0,26.82,26.91,26.91
$GC,89111,-0.30,146.6,2881,2197,1516,1473,3622.2,6.7,1199,89117,0.00,1.98,0.00,0.000,516,0.000,0.070,2888,837,1494,1516,1473,0,0,0,0,0,0,27.18,26.88,27.20
$GC,89217,-0.30,146.6,2887,836,1516,1473,3622.2,6.7,1199,89222,0.00,2.00,0.00,0.000,1030,0.000,0.062,2888,2194,1494,1515,1473,0,0,0,0,0,0,26.92,26.91,26.96
$GC,89591,-0.30,146.6,2888,2194,1515,1473,3588.5,7.0,1203,89597,0.00,1.98,0.00,0.000,516,0.000,0.067,2896,822,1494,1516,1473,0,0,0,0,0,0,27.17,26.89,27.20
$GC,89712,-0.30,146.6,2895,822,1516,1473,3580.2,7.1,1204,89717,0.00,1.98,0.00,0.000,1030,0.000,0.062,2896,2208,1494,1516,1473,0,0,0,0,0,0,26.94,26.91,26.96
$GC,90072,-0.30,146.6,2895,2208,1515,1473,3554.2,7.2,1207,90077,0.00,1.98,0.00,0.000,516,0.000,0.070,2902,839,1494,1516,1473,0,0,0,0,0,0,27.18,26.89,27.20
$GC,90192,-0.30,146.6,2902,838,1516,1473,3545.6,7.2,1208,90196,0.00,1.98,0.00,0.000,1030,0.000,0.065,2902,2213,1494,1516,1473,0,0,0,0,0,0,26.98,26.91,26.99
$GC,90555,-0.30,146.6,2902,2213,1516,1473,3518.1,7.5,1211,90560,0.00,1.98,0.00,0.000,516,0.000,0.067,2909,843,1494,1516,1473,0,0,0,0,0,0,27.18,26.89,27.20
$GC,90682,-0.30,146.6,2909,843,1515,1473,3509.0,7.6,1212,90687,0.12,2.00,0.00,0.000,5126,0.176,0.062,2866,2215,1494,1516,1473,0,0,0,0,0,0,26.68,26.91,26.84
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$GC,143825,0.67,317.4,3159,2218,938,891,115.7,7.0,1844,143830,0.00,1.92,0.00,0.000,516,0.000,0.067,3163,832,914,938,891,0,0,0,0,0,0,27.22,26.96,27.24
$GC,143890,0.74,317.4,3162,832,938,891,111.5,6.5,1848,143906,0.05,1.92,3.70,0.504,11270,0.132,0.062,3216,2207,907,928,886,0,0,0,0,0,0,26.88,26.99,26.01
$GC,144206,0.74,317.4,3216,2207,928,885,81.7,9.4,1869,144211,0.00,1.92,0.00,0.000,516,0.000,0.067,3223,823,906,928,885,0,0,0,0,0,0,27.20,26.95,27.22
$GC,144319,0.74,317.4,3223,823,928,884,70.8,9.9,1876,144323,0.00,1.92,0.00,0.000,1030,0.000,0.062,3223,2198,906,928,885,0,0,0,0,0,0,27.00,26.97,27.01
$GC,144629,0.74,317.4,3223,2199,929,885,38.1,8.5,1897,144639,0.00,1.90,0.00,0.000,516,0.000,0.067,3223,831,906,928,885,0,0,0,0,0,0,27.21,26.96,27.22
$GC,144722,0.74,317.4,3223,831,929,885,30.5,8.1,1905,144732,0.00,1.92,0.00,0.000,1030,0.000,0.060,3223,2211,907,929,885,0,0,0,0,0,0,27.01,26.98,27.03
$GC,145032,0.74,317.4,3223,2211,929,886,7.9,6.9,1936,145042,0.00,1.95,0.00,0.000,260,0.000,0.077,3224,3606,907,929,886,0,0,0,0,0,0,27.22,26.94,27.24
$GC,145080,0.74,317.4,3223,3605,929,886,4.0,8.7,1940,145089,0.00,1.90,0.00,0.000,1030,0.000,0.057,3230,2188,908,929,887,0,0,0,0,0,0,27.03,27.02,27.05
$STATE,145098,end climb,SURFACE_DEPTH_REACHED
$STATE,145098,begin surface coast
$FINISH,-0.3,1.023501
$STATE,145129,end surface coast,CONTROL_FINISHED_OK
$STATE,145129,begin surface
$SM_CCo,145204,0.00,0.000,0,0,907,317.51
$SM_GC,0.51,7.65,0.00,0.00,0.077,0.000,0.000,148,2187,907,-8.72,-0.37,317.51,0,0,0,0,0,0,26.96,27.24,27.01
$IRIDIUM_FIX,3130.35,-6337.42,240508,202311
$TT8_MAMPS,0.025466,0.025466
$HUMID,57.71
$INTERNAL_PRESSURE,9.3192
$TCM_TEMP,20.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,49.9,48.3
$ALTIM_BOTTOM_PING,4672.2,39.9
$24V_AH,20.54,18.183
$10V_AH,10.27,8.507
$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,28.100,1122.024,462.150,0.000,99.825,22.722,27.196,327.068,18.250,0.000,28.956,9051.685,113631.320,1116.102,21281.307,620.087,0.605,9890.359,0.000,20290.508,0.000,136.934,0.000
$DEVICE_MAMPS,290.511,89.388,3843.684,0.000,315.341,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1331.867,6361.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330312
$DATA_FILE_SIZE,126999,1945
$CAP_FILE_SIZE,1156806,0
$CFSIZE,1024409600,1010827264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010815,180933,3153.110,-6342.260,26,0.9,26,-15.0,0.7,102.1,10,9.3