version: 66.12
glider: 38
mission: 4
dive: 111
start: 10 12 115 9 18 40
data:
$ID,38
$MISSION,4
$DIVE,111
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,3750
$T_MISSION,4060
$T_ABORT,4120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,1
$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,0.1286
$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,91
$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,0
$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
$GPS1,121015,090305,2904.2402,-7209.2534,35,0.9,44,-11.4,0.5,308.2,9,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.5
$GPS2,121015,091812,2904.2290,-7209.3066,5,0.8,21,-11.4,0.0,0.0,10,9.6
$SPEED_LIMITS,0.147,0.208
$TGT_NAME,3_SW
$TGT_LATLONG,2857.110,-7216.640
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.196643,-0.067499
$KALMAN_X,277051.062500,0.000000,0.000000,-871760.125000,15460.062500
$KALMAN_Y,158733.406250,0.000000,0.000000,-424200.437500,4468.718750
$MHEAD_RNG_PITCHd_Wd,231.7,17750,-16.3,-5.333,-20.00,1845
$D_GRID,6000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.83,-64.7,130,2201,1049,1033,0.0,0.0,0,122,0.00,0.00,-104.72,0.154,16390,0.000,0.000,130,2201,2363,2310,2416,0,0,0,0,0,0,26.79,26.28,26.09
$GC,125,-0.85,-132.9,130,2201,2310,2416,2.4,-1.6,10,154,10.70,1.95,-11.73,0.186,18948,0.293,0.065,2691,813,2598,2543,2653,0,0,0,0,0,0,25.86,26.20,26.06
$GC,247,-0.65,-132.9,2691,813,2547,2649,20.3,-15.6,21,258,0.25,1.95,0.00,0.000,3078,0.206,0.062,2758,2230,2598,2547,2649,0,0,0,0,0,0,25.92,26.53,26.06
$GC,558,-0.58,-132.9,2757,2230,2547,2649,58.0,-10.4,47,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2230,2597,2546,2649,0,0,0,0,0,0,27.03,27.05,27.05
$GC,858,-0.58,-132.9,2757,2230,2547,2649,81.9,-7.0,67,863,0.00,1.95,0.00,0.000,516,0.000,0.067,2758,815,2598,2547,2649,0,0,0,0,0,0,27.11,26.76,27.13
$GC,1183,-0.52,-132.9,2758,815,2547,2649,104.3,-6.9,87,1190,0.15,1.90,0.00,0.000,3078,0.191,0.065,2803,2212,2597,2546,2649,0,0,0,0,0,0,26.40,26.85,26.48
$GC,1499,-0.52,-132.9,2803,2212,2547,2649,119.7,-5.6,108,1503,0.00,1.92,0.00,0.000,260,0.000,0.077,2793,3589,2598,2547,2649,0,0,0,0,0,0,27.17,26.74,27.19
$GC,1811,-0.52,-132.9,2793,3589,2546,2648,139.1,-6.2,127,1817,0.00,1.85,0.00,0.000,1030,0.000,0.060,2793,2159,2598,2547,2649,0,0,0,0,0,0,26.96,26.94,26.98
$GC,2126,-0.52,-132.9,2793,2159,2546,2648,157.3,-5.8,144,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2159,2598,2547,2649,0,0,0,0,0,0,27.19,27.21,27.20
$GC,2426,-0.52,-132.9,2793,2159,2547,2647,176.4,-6.7,154,2430,0.00,2.05,0.00,0.000,260,0.000,0.077,2783,3593,2597,2547,2647,0,0,0,0,0,0,27.19,26.75,27.21
$GC,2491,-0.52,-132.9,2783,3594,2547,2647,181.1,-6.9,156,2496,0.00,1.83,0.00,0.000,1030,0.000,0.057,2783,2204,2597,2547,2647,0,0,0,0,0,0,26.96,26.94,26.96
$GC,2821,-0.52,-132.9,2783,2203,2547,2646,205.3,-7.1,167,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2202,2596,2547,2646,0,0,0,0,0,0,27.19,27.21,27.21
$GC,3121,-0.52,-132.9,2783,2203,2547,2644,227.4,-7.5,177,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2203,2595,2547,2644,0,0,0,0,0,0,27.19,27.21,27.21
$GC,3421,-0.52,-132.9,2782,2203,2547,2643,248.7,-6.5,187,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2203,2595,2547,2643,0,0,0,0,0,0,27.19,27.21,27.20
$GC,3721,-0.52,-132.9,2783,2203,2547,2642,268.6,-6.9,197,3725,0.00,1.98,0.00,0.000,260,0.000,0.077,2773,3583,2594,2547,2642,0,0,0,0,0,0,27.19,26.74,27.20
$GC,3839,-0.52,-132.9,2773,3583,2548,2642,276.2,-7.8,200,3848,0.00,1.83,0.00,0.000,1030,0.000,0.057,2774,2199,2594,2547,2642,0,0,0,0,0,0,26.96,26.93,26.96
$GC,4163,-0.52,-132.9,2773,2199,2547,2640,304.8,-8.2,211,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2199,2593,2547,2640,0,0,0,0,0,0,27.19,27.21,27.20
$GC,4478,-0.52,-132.9,2773,2199,2547,2637,329.1,-7.7,218,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2199,2592,2546,2638,0,0,0,0,0,0,27.19,27.20,27.20
$GC,4793,-0.52,-132.9,2773,2198,2547,2637,352.8,-7.4,225,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2199,2591,2547,2636,0,0,0,0,0,0,27.18,27.20,27.20
$GC,5108,-0.52,-132.9,2773,2199,2547,2634,375.8,-7.2,232,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2198,2590,2547,2634,0,0,0,0,0,0,27.18,27.20,27.20
$GC,5423,-0.57,-132.9,2773,2199,2547,2633,397.8,-6.8,239,5428,0.00,2.00,0.00,0.000,260,0.000,0.077,2764,3601,2590,2547,2633,0,0,0,0,0,0,27.17,26.73,27.20
$GC,5516,-0.57,-132.9,2764,3601,2547,2633,404.8,-7.1,241,5520,0.00,1.85,0.00,0.000,1030,0.000,0.057,2765,2199,2590,2547,2633,0,0,0,0,0,0,26.94,26.92,26.95
$GC,5830,-0.57,-132.9,2764,2198,2547,2630,429.4,-8.1,248,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2199,2588,2547,2630,0,0,0,0,0,0,27.18,27.20,27.20
$GC,6145,-0.57,-132.9,2764,2199,2547,2629,454.3,-7.7,255,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2198,2588,2547,2629,0,0,0,0,0,0,27.17,27.20,27.19
$GC,6461,-0.57,-132.9,2764,2199,2547,2628,478.2,-7.5,262,6466,0.00,1.98,0.00,0.000,260,0.000,0.077,2754,3597,2587,2547,2628,0,0,0,0,0,0,27.17,26.72,27.20
$GC,6532,-0.57,-132.9,2755,3596,2547,2628,481.7,-7.5,263,6538,0.00,1.85,0.00,0.000,1030,0.000,0.057,2755,2196,2587,2547,2628,0,0,0,0,0,0,26.92,26.91,26.94
$GC,6866,-0.57,-132.9,2754,2196,2547,2627,509.5,-7.4,271,6871,0.08,1.83,0.00,0.000,2564,0.204,0.065,2789,853,2587,2547,2627,0,0,0,0,0,0,26.73,26.79,26.77
$GC,6916,-0.57,-132.9,2789,850,2547,2626,513.1,-7.4,272,6922,0.00,1.85,0.00,0.000,1030,0.000,0.062,2781,2201,2586,2547,2626,0,0,0,0,0,0,26.91,26.85,26.93
$GC,7231,-0.65,-132.9,2780,2200,2547,2625,534.5,-7.1,279,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2200,2586,2547,2625,0,0,0,0,0,0,27.17,27.19,27.18
$GC,7547,-0.74,-132.9,2780,2201,2547,2623,556.9,-7.0,286,7553,0.05,1.95,0.00,0.000,4356,0.191,0.074,2723,3586,2585,2547,2623,0,0,0,0,0,0,26.95,26.70,26.97
$GC,7645,-0.74,-132.9,2723,3586,2547,2624,564.9,-7.7,288,7649,0.00,1.80,0.00,0.000,1030,0.000,0.060,2723,2214,2585,2547,2624,0,0,0,0,0,0,26.94,26.90,26.96
$GC,7954,-0.74,-132.9,2722,2193,2547,2621,592.9,-8.7,295,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2193,2584,2547,2621,0,0,0,0,0,0,27.17,27.19,27.18
$GC,8269,-0.74,-132.9,2723,2193,2547,2620,621.6,-9.2,302,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2193,2583,2547,2620,0,0,0,0,0,0,27.16,27.18,27.18
$GC,8584,-0.74,-132.9,2723,2193,2546,2619,651.7,-9.5,309,8588,0.00,2.00,0.00,0.000,260,0.000,0.077,2713,3591,2583,2547,2619,0,0,0,0,0,0,27.16,26.69,27.18
$GC,8634,-0.74,-132.9,2712,3591,2547,2619,656.8,-9.8,310,8638,0.00,1.88,0.00,0.000,1030,0.000,0.057,2713,2181,2583,2547,2619,0,0,0,0,0,0,26.91,26.90,26.93
$GC,8948,-0.74,-132.9,2713,2180,2547,2617,688.9,-10.1,317,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2179,2582,2547,2617,0,0,0,0,0,0,27.16,27.18,27.18
$GC,9263,-0.74,-132.9,2712,2179,2547,2615,720.3,-9.9,324,9267,0.00,2.03,0.00,0.000,260,0.000,0.077,2702,3586,2581,2547,2615,0,0,0,0,0,0,27.16,26.68,27.18
$GC,9313,-0.74,-132.9,2702,3589,2547,2615,725.4,-10.1,325,9317,0.00,1.85,0.00,0.000,1030,0.000,0.057,2702,2199,2581,2547,2615,0,0,0,0,0,0,26.91,26.89,26.92
$GC,9627,-0.74,-132.9,2702,2198,2547,2613,759.6,-11.0,332,9634,0.08,1.98,0.00,0.000,2308,0.206,0.074,2724,3582,2580,2547,2613,0,0,0,0,0,0,26.70,26.67,26.72
$GC,9680,-0.74,-132.9,2724,3582,2547,2613,764.3,-10.8,333,9684,0.00,1.85,0.00,0.000,1030,0.000,0.057,2724,2194,2580,2547,2613,0,0,0,0,0,0,26.90,26.89,26.93
$GC,9989,-0.74,-132.9,2724,2194,2547,2611,794.1,-9.3,340,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2194,2579,2547,2611,0,0,0,0,0,0,27.17,27.19,27.18
$GC,10304,-0.74,-132.9,2724,2194,2547,2609,823.3,-9.3,347,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2195,2578,2547,2609,0,0,0,0,0,0,27.17,27.19,27.18
$GC,10619,-0.74,-132.9,2724,2195,2547,2607,852.2,-9.4,354,10625,0.00,1.98,0.00,0.000,260,0.000,0.077,2714,3575,2576,2546,2607,0,0,0,0,0,0,27.17,26.67,27.18
$GC,10655,-0.74,-132.9,2714,3574,2547,2607,852.2,-9.4,354,10664,0.00,1.85,0.00,0.000,1030,0.000,0.057,2714,2200,2577,2547,2607,0,0,0,0,0,0,26.91,26.89,26.92
$GC,10979,-0.74,-132.9,2714,2200,2547,2604,889.5,-10.5,362,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2200,2575,2547,2604,0,0,0,0,0,0,27.17,27.20,27.19
$GC,11294,-0.74,-132.9,2713,2200,2547,2602,923.2,-10.7,369,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2200,2574,2547,2602,0,0,0,0,0,0,27.17,27.20,27.18
$GC,11609,-0.74,-132.9,2714,2200,2547,2599,956.6,-10.6,376,11613,0.00,2.03,0.00,0.000,260,0.000,0.077,2704,3586,2572,2547,2598,0,0,0,0,0,0,27.17,26.65,27.19
$GC,11683,-0.74,-132.9,2704,3587,2547,2599,962.1,-10.8,377,11688,0.00,1.88,0.00,0.000,1030,0.000,0.057,2704,2205,2573,2547,2599,0,0,0,0,0,0,26.90,26.88,26.91
$GC,12017,-0.74,-132.9,2704,2204,2547,2596,1002.9,-11.3,385,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2204,2571,2547,2595,0,0,0,0,0,0,27.17,27.20,27.19
$GC,12377,-0.74,-132.9,2705,2204,2547,2593,1042.8,-11.1,388,12384,0.00,2.00,0.00,0.000,260,0.000,0.077,2695,3579,2569,2547,2592,0,0,0,0,0,0,27.17,26.63,27.19
$GC,12445,-0.74,-132.9,2695,3579,2547,2593,1042.8,-11.1,388,12450,0.12,1.88,0.00,0.000,3078,0.174,0.057,2737,2175,2570,2547,2593,0,0,0,0,0,0,26.48,26.86,26.59
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$GC,52247,-1.84,-132.9,2369,2207,2526,2551,4692.1,-5.3,720,52252,0.00,2.22,0.00,0.000,260,0.000,0.079,2360,3567,2538,2526,2551,0,0,0,0,0,0,27.06,25.57,27.08
$GC,52327,-1.84,-132.9,2361,3567,2526,2551,4692.1,-5.3,720,52331,0.00,2.03,0.00,0.000,1030,0.000,0.057,2360,2194,2538,2526,2551,0,0,0,0,0,0,26.36,26.34,26.39
$GC,52726,-1.84,-132.9,2359,2193,2526,2551,4717.7,-5.3,724,52727,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2193,2538,2526,2551,0,0,0,0,0,0,27.10,27.12,27.11
$GC,53086,-1.84,-132.9,2360,2193,2526,2551,4736.4,-5.2,727,53087,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2539,2527,2551,0,0,0,0,0,0,27.10,27.12,27.11
$GC,53448,-1.84,-132.9,2359,2193,2526,2551,4754.2,-5.0,730,53449,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2551,0,0,0,0,0,0,27.06,27.08,27.08
$GC,53807,-1.84,-132.9,2359,2193,2527,2551,4772.0,-4.9,733,53808,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2550,0,0,0,0,0,0,27.05,27.08,27.07
$GC,54166,-1.84,-132.9,2359,2193,2526,2551,4789.2,-4.8,736,54167,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2551,0,0,0,0,0,0,27.10,27.12,27.11
$GC,54526,-1.84,-132.9,2359,2193,2526,2551,4806.7,-4.8,739,54527,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2550,0,0,0,0,0,0,27.10,27.13,27.11
$GC,54888,-1.84,-132.9,2359,2193,2526,2551,4824.0,-4.8,742,54889,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2551,0,0,0,0,0,0,27.06,27.08,27.08
$GC,55247,-1.84,-132.9,2359,2193,2526,2551,4841.3,-4.8,745,55248,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2551,0,0,0,0,0,0,27.05,27.08,27.07
$GC,55606,-1.84,-132.9,2359,2193,2526,2551,4857.9,-4.7,748,55607,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2551,0,0,0,0,0,0,27.10,27.12,27.11
$GC,55968,-1.84,-132.9,2359,2193,2526,2551,4874.5,-4.6,751,55969,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2539,2526,2552,0,0,0,0,0,0,27.06,27.08,27.08
$GC,56326,-1.84,-132.9,2360,2193,2527,2551,4890.1,-4.4,754,56327,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2551,0,0,0,0,0,0,27.10,27.12,27.12
$GC,56686,-1.84,-132.9,2359,2193,2527,2550,4905.3,-4.2,757,56687,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2193,2538,2526,2551,0,0,0,0,0,0,27.10,27.12,27.12
$STATE,56805,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,56805,begin apogee
$GC,56808,-0.25,0.0,2360,2193,2526,2551,4910.5,-4.2,758,56936,1.62,0.00,123.50,3.943,10246,0.134,0.000,2893,2193,2140,2143,2138,0,0,0,0,0,0,24.50,22.80,21.08
$STATE,56937,end apogee,CONTROL_FINISHED_OK
$STATE,56937,begin climb
$GC,56938,0.85,132.9,2893,2193,2144,2138,4907.5,0.0,759,57092,1.02,0.00,150.23,3.886,10246,0.087,0.000,3261,2193,1681,1693,1669,0,0,0,0,0,0,23.36,22.79,21.22
$GC,57406,0.85,132.9,3261,2193,1694,1669,4784.2,29.1,763,57412,0.00,2.12,0.00,0.000,516,0.000,0.065,3271,830,1681,1694,1669,0,0,0,0,0,0,25.97,25.69,25.99
$GC,57705,0.36,132.9,3271,829,1694,1669,4714.0,29.4,765,57710,0.68,2.08,0.00,0.000,5126,0.238,0.062,3087,2198,1681,1694,1669,0,0,0,0,0,0,25.63,26.20,25.94
$GC,58125,0.01,132.9,3087,2198,1694,1669,4607.4,22.1,769,58131,0.35,2.08,0.00,0.000,4612,0.211,0.062,2986,838,1681,1694,1669,0,0,0,0,0,0,25.89,26.17,26.05
$GC,58320,-0.28,132.9,2986,837,1694,1669,4587.3,20.3,770,58325,0.25,2.05,0.00,0.000,5126,0.191,0.060,2910,2201,1681,1694,1669,0,0,0,0,0,0,26.01,26.49,26.25
$GC,58729,-0.39,132.9,2910,2201,1694,1669,4524.8,12.8,774,58734,0.17,2.10,0.00,0.000,4612,0.194,0.062,2858,831,1681,1694,1669,0,0,0,0,0,0,26.17,26.37,26.28
$GC,58785,-0.50,132.9,2857,830,1694,1669,4524.8,12.8,774,58789,0.15,2.08,0.00,0.000,5126,0.171,0.060,2807,2210,1682,1694,1670,0,0,0,0,0,0,26.25,26.58,26.40
$GC,59208,-0.50,132.9,2807,2210,1694,1669,4486.0,8.0,778,59209,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2210,1681,1694,1669,0,0,0,0,0,0,26.94,26.96,26.96
$GC,59569,-0.50,132.9,2807,2210,1693,1669,4459.5,7.4,781,59574,0.00,2.12,0.00,0.000,516,0.000,0.067,2812,835,1681,1693,1669,0,0,0,0,0,0,26.98,26.60,26.99
$GC,59645,-0.50,132.9,2811,835,1694,1669,4459.5,7.4,781,59649,0.00,2.05,0.00,0.000,1030,0.000,0.060,2811,2198,1681,1694,1669,0,0,0,0,0,0,26.72,26.65,26.74
$GC,60048,-0.50,132.9,2811,2198,1693,1669,4425.1,7.2,785,60049,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2198,1681,1693,1670,0,0,0,0,0,0,27.01,27.03,27.03
$GC,60408,-0.50,132.9,2811,2198,1693,1669,4399.3,7.2,788,60409,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2198,1681,1694,1669,0,0,0,0,0,0,27.03,27.05,27.04
$GC,60768,-0.50,132.9,2811,2199,1693,1669,4374.0,7.0,791,60773,0.00,2.10,0.00,0.000,516,0.000,0.065,2814,838,1681,1693,1669,0,0,0,0,0,0,27.04,26.62,27.05
$GC,60836,-0.50,132.9,2814,837,1693,1669,4374.0,7.0,791,60840,0.00,2.05,0.00,0.000,1030,0.000,0.060,2814,2202,1681,1693,1669,0,0,0,0,0,0,26.74,26.68,26.77
$GC,61249,-0.50,132.9,2814,2202,1693,1669,4342.8,6.5,795,61250,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2202,1681,1693,1669,0,0,0,0,0,0,27.05,27.08,27.07
$GC,61609,-0.45,132.9,2814,2202,1693,1669,4319.7,6.4,798,61610,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2202,1681,1693,1669,0,0,0,0,0,0,27.06,27.09,27.08
$GC,61969,-0.39,132.9,2814,2202,1692,1669,4295.5,6.7,801,61975,0.00,2.12,0.00,0.000,516,0.000,0.067,2814,831,1681,1693,1669,0,0,0,0,0,0,27.07,26.62,27.09
$GC,62030,-0.34,132.9,2814,831,1693,1669,4295.5,6.7,801,62036,0.05,2.08,0.00,0.000,3078,0.176,0.060,2856,2217,1680,1692,1669,0,0,0,0,0,0,26.59,26.68,26.66
$GC,62449,-0.34,132.9,2856,2217,1693,1669,4257.8,7.9,805,62451,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2216,1681,1693,1669,0,0,0,0,0,0,27.08,27.10,27.10
$GC,62810,-0.34,132.9,2856,2217,1693,1669,4229.9,7.8,808,62815,0.00,2.12,0.00,0.000,516,0.000,0.065,2865,839,1681,1693,1669,0,0,0,0,0,0,27.08,26.61,27.10
$GC,62890,-0.34,132.9,2865,839,1693,1669,4229.9,7.8,808,62895,0.00,2.08,0.00,0.000,1030,0.000,0.060,2866,2198,1681,1693,1669,0,0,0,0,0,0,26.71,26.67,26.73
$GC,63289,-0.34,132.9,2865,2198,1692,1668,4192.1,7.9,812,63291,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2198,1680,1692,1669,0,0,0,0,0,0,27.09,27.11,27.10
$GC,63649,-0.34,132.9,2865,2198,1692,1669,4163.9,7.9,815,63656,0.00,2.10,0.00,0.000,516,0.000,0.067,2869,838,1681,1693,1669,0,0,0,0,0,0,27.09,26.59,27.11
$GC,63717,-0.34,132.9,2869,838,1692,1668,4163.9,7.9,815,63721,0.00,2.05,0.00,0.000,1030,0.000,0.060,2869,2201,1680,1692,1668,0,0,0,0,0,0,26.74,26.67,26.77
$GC,64125,-0.34,132.9,2869,2201,1692,1668,4126.6,7.9,819,64127,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2201,1680,1692,1668,0,0,0,0,0,0,27.10,27.12,27.11
$GC,64485,-0.34,132.9,2868,2202,1692,1668,4098.7,7.8,822,64489,0.00,2.10,0.00,0.000,516,0.000,0.065,2878,834,1680,1692,1668,0,0,0,0,0,0,27.10,26.59,27.11
$GC,64564,-0.34,132.9,2878,834,1693,1668,4098.7,7.8,822,64569,0.00,2.10,0.00,0.000,1030,0.000,0.060,2878,2205,1680,1692,1668,0,0,0,0,0,0,26.69,26.66,26.72
$GC,64968,-0.34,132.9,2878,2205,1692,1668,4061.8,7.6,826,64969,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2205,1680,1692,1668,0,0,0,0,0,0,27.10,27.12,27.11
$GC,65328,-0.34,132.9,2878,2205,1692,1668,4035.0,7.5,829,65333,0.00,2.10,0.00,0.000,516,0.000,0.065,2887,839,1680,1692,1668,0,0,0,0,0,0,27.10,26.57,27.12
$GC,65404,-0.34,132.9,2887,839,1692,1668,4035.0,7.5,829,65408,0.00,2.08,0.00,0.000,1030,0.000,0.060,2887,2199,1680,1692,1668,0,0,0,0,0,0,26.68,26.65,26.70
$GC,65808,-0.34,132.9,2887,2199,1692,1668,3999.1,7.5,833,65810,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2199,1680,1692,1668,0,0,0,0,0,0,27.10,27.13,27.12
$GC,66168,-0.34,132.9,2887,2199,1692,1668,3971.9,7.6,836,66172,0.00,2.12,0.00,0.000,516,0.000,0.065,2895,830,1680,1692,1668,0,0,0,0,0,0,27.10,26.56,27.12
$GC,66252,-0.34,132.9,2895,830,1692,1668,3971.9,7.6,836,66257,0.10,2.05,0.00,0.000,5126,0.184,0.060,2862,2204,1680,1692,1668,0,0,0,0,0,0,26.31,26.64,26.41
$GC,66651,-0.34,132.9,2862,2204,1692,1668,3939.6,6.7,840,66652,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2204,1679,1692,1667,0,0,0,0,0,0,27.10,27.13,27.12
$GC,67011,-0.34,132.9,2862,2204,1692,1668,3916.9,6.3,843,67016,0.00,2.08,0.00,0.000,516,0.000,0.065,2867,838,1680,1692,1668,0,0,0,0,0,0,27.10,26.55,27.12
$GC,67067,-0.34,132.9,2867,837,1692,1667,3916.9,6.3,843,67071,0.00,2.08,0.00,0.000,1030,0.000,0.060,2867,2197,1680,1693,1668,0,0,0,0,0,0,26.67,26.64,26.70
$GC,67491,-0.34,132.9,2867,2196,1692,1668,3886.4,6.4,847,67492,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2196,1680,1692,1668,0,0,0,0,0,0,27.10,27.13,27.12
$GC,67851,-0.34,132.9,2867,2197,1692,1668,3865.2,6.0,850,67852,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2196,1680,1692,1668,0,0,0,0,0,0,27.11,27.13,27.12
$GC,68211,-0.34,132.9,2867,2197,1692,1668,3843.9,5.9,853,68217,0.00,2.10,0.00,0.000,516,0.000,0.065,2876,831,1680,1693,1668,0,0,0,0,0,0,27.10,26.53,27.13
$GC,68292,-0.34,132.9,2876,831,1692,1668,3843.9,5.9,853,68297,0.00,2.10,0.00,0.000,1030,0.000,0.060,2876,2207,1680,1692,1668,0,0,0,0,0,0,26.65,26.62,26.67
$GC,68691,-0.34,132.9,2876,2207,1692,1668,3815.4,5.9,857,68692,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2207,1679,1692,1667,0,0,0,0,0,0,27.10,27.13,27.13
$GC,69051,-0.34,132.9,2876,2207,1691,1668,3794.1,5.9,860,69057,0.00,2.10,0.00,0.000,516,0.000,0.065,2884,838,1680,1692,1668,0,0,0,0,0,0,27.10,26.52,27.13
$GC,69152,-0.34,132.9,2883,838,1692,1668,3794.1,5.9,860,69156,0.00,2.08,0.00,0.000,1030,0.000,0.060,2884,2202,1680,1692,1668,0,0,0,0,0,0,26.64,26.61,26.67
$GC,69531,-0.34,132.9,2883,2202,1692,1668,3765.8,5.9,864,69532,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2203,1680,1692,1668,0,0,0,0,0,0,27.10,27.13,27.13
$GC,69891,-0.34,132.9,2882,2203,1692,1668,3744.4,6.0,867,69897,0.00,2.10,0.00,0.000,516,0.000,0.065,2892,840,1680,1692,1668,0,0,0,0,0,0,27.10,26.51,27.13
$GC,69967,-0.34,132.9,2892,840,1692,1668,3744.4,6.0,867,69971,0.00,2.08,0.00,0.000,1030,0.000,0.060,2892,2198,1680,1692,1668,0,0,0,0,0,0,26.63,26.60,26.66
$GC,70371,-0.34,132.9,2892,2199,1692,1668,3715.0,6.1,871,70372,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2198,1680,1692,1668,0,0,0,0,0,0,27.11,27.13,27.13
$GC,70731,-0.34,132.9,2892,2198,1692,1668,3694.0,5.9,874,70737,0.00,2.10,0.00,0.000,516,0.000,0.065,2900,842,1680,1692,1668,0,0,0,0,0,0,27.10,26.50,27.13
$GC,70822,-0.34,132.9,2899,842,1693,1668,3694.0,5.9,874,70827,0.10,2.08,0.00,0.000,5126,0.154,0.060,2864,2201,1680,1692,1668,0,0,0,0,0,0,26.22,26.60,26.36
$GC,71212,-0.28,132.9,2864,2201,1692,1668,3668.9,5.2,878,71213,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2201,1680,1692,1668,0,0,0,0,0,0,27.10,27.13,27.13
$GC,71572,-0.21,132.9,2864,2201,1692,1668,3651.3,4.9,881,71573,0.00,0.00,0.00,0.000,2054,0.000,0.000,2864,2201,1679,1691,1668,0,0,0,0,0,0,27.13,27.14,27.13
$GC,71931,-0.15,132.9,2864,2201,1692,1668,3634.4,4.8,884,71937,0.08,2.08,0.00,0.000,2564,0.139,0.062,2936,835,1680,1692,1668,0,0,0,0,0,0,26.86,26.48,26.87
$GC,71988,-0.08,132.9,2936,835,1692,1668,3634.4,4.8,884,71992,0.00,2.08,0.00,0.000,1030,0.000,0.060,2936,2204,1680,1692,1668,0,0,0,0,0,0,26.65,26.58,26.67
$GC,72406,-0.08,132.9,2936,2204,1692,1668,3603.4,6.5,888,72411,0.00,2.12,0.00,0.000,516,0.000,0.065,2944,839,1679,1691,1668,0,0,0,0,0,0,27.11,26.48,27.13
$GC,72506,-0.08,132.9,2943,839,1692,1668,3603.4,6.5,888,72510,0.00,2.10,0.00,0.000,1030,0.000,0.060,2943,2206,1680,1692,1668,0,0,0,0,0,0,26.60,26.57,26.63
$GC,72890,-0.08,132.9,2943,2206,1692,1667,3571.1,6.7,892,72891,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2206,1680,1692,1668,0,0,0,0,0,0,27.10,27.13,27.13
$GC,73249,-0.08,132.9,2943,2206,1692,1668,3547.6,6.6,895,73255,0.00,2.12,0.00,0.000,516,0.000,0.067,2953,833,1680,1692,1668,0,0,0,0,0,0,27.11,26.47,27.13
$GC,73346,-0.08,132.9,2952,833,1692,1668,3547.6,6.6,895,73350,0.00,2.10,0.00,0.000,1030,0.000,0.060,2952,2198,1680,1692,1668,0,0,0,0,0,0,26.60,26.56,26.62
$GC,73730,-0.08,132.9,2952,2199,1692,1668,3515.8,6.6,899,73731,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2199,1680,1692,1668,0,0,0,0,0,0,27.11,27.13,27.13
$GC,74089,-0.08,132.9,2952,2199,1692,1668,3491.4,6.8,902,74094,0.00,2.12,0.00,0.000,516,0.000,0.065,2962,841,1680,1692,1668,0,0,0,0,0,0,27.11,26.46,27.13
$GC,74189,-0.08,132.9,2962,841,1692,1668,3491.4,6.8,902,74193,0.00,2.10,0.00,0.000,1030,0.000,0.060,2963,2207,1680,1692,1668,0,0,0,0,0,0,26.59,26.55,26.61
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$GC,135249,0.79,250.9,3259,786,1299,1264,227.5,11.2,1572,135254,0.10,2.00,0.00,0.000,5126,0.169,0.060,3225,2208,1281,1299,1264,0,0,0,0,0,0,26.35,26.76,26.41
$GC,135568,0.79,250.9,3225,2208,1299,1265,194.5,9.8,1583,135569,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2208,1282,1299,1266,0,0,0,0,0,0,27.16,27.17,27.17
$GC,135869,0.79,250.9,3225,2208,1299,1266,167.0,9.3,1593,135870,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2208,1283,1299,1267,0,0,0,0,0,0,27.16,27.18,27.18
$GC,136168,0.79,250.9,3225,2208,1299,1268,140.0,8.5,1606,136173,0.00,2.00,0.00,0.000,516,0.000,0.067,3236,784,1283,1299,1268,0,0,0,0,0,0,27.16,26.70,27.17
$GC,136282,0.79,250.9,3235,783,1300,1268,129.6,9.3,1613,136297,0.00,1.98,3.65,0.472,9222,0.000,0.060,3235,2216,1276,1289,1263,0,0,0,0,0,0,26.80,26.77,25.48
$GC,136598,0.79,250.9,3235,2216,1289,1263,100.0,8.6,1634,136604,0.00,2.00,0.00,0.000,516,0.000,0.065,3243,792,1276,1289,1263,0,0,0,0,0,0,27.15,26.71,27.16
$GC,136653,0.79,250.9,3243,792,1289,1262,96.0,8.7,1637,136661,0.00,1.98,0.00,0.000,1030,0.000,0.062,3243,2201,1276,1289,1263,0,0,0,0,0,0,26.80,26.79,26.82
$GC,136963,0.79,250.9,3243,2201,1290,1263,69.6,8.0,1658,136968,0.00,1.95,0.00,0.000,260,0.000,0.077,3243,3589,1276,1289,1263,0,0,0,0,0,0,27.15,26.62,27.17
$GC,137026,0.79,250.9,3242,3590,1290,1264,64.1,8.8,1662,137030,0.00,1.88,0.00,0.000,1030,0.000,0.060,3253,2154,1277,1290,1264,0,0,0,0,0,0,26.89,26.84,26.91
$GC,137345,0.84,250.9,3253,2152,1292,1264,45.0,5.2,1683,137346,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2152,1278,1292,1264,0,0,0,0,0,0,27.16,27.18,27.17
$GC,137644,0.84,250.9,3253,2152,1295,1264,25.1,6.7,1710,137645,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2152,1279,1295,1264,0,0,0,0,0,0,27.16,27.19,27.18
$GC,137945,0.84,250.9,3253,2152,1297,1265,3.6,6.9,1740,137952,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2152,1281,1298,1265,0,0,0,0,0,0,27.17,27.19,27.18
$STATE,137962,end climb,SURFACE_DEPTH_REACHED
$STATE,137962,begin surface coast
$FINISH,-0.1,1.023546
$STATE,138004,end surface coast,CONTROL_FINISHED_OK
$STATE,138004,begin surface
$SM_CCo,138018,0.57,0.124,0,0,1279,250.11
$SM_GC,1.30,7.82,0.00,0.57,0.074,0.000,0.124,123,2150,1279,-8.81,-1.41,250.11,0,0,0,0,0,0,26.72,27.19,26.41
$IRIDIUM_FIX,2853.13,-7209.78,070808,223252
$TT8_MAMPS,0.025466,0.025466
$HUMID,71.02
$INTERNAL_PRESSURE,9.49499
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,4884.9,50.7
$24V_AH,21.08,36.143
$10V_AH,10.27,24.934
$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,27.425,670.026,389.375,0.575,116.450,58.508,51.554,483.816,22.500,0.000,22.609,7319.263,117520.094,946.390,12552.776,483.346,0.000,5646.758,0.000,11624.885,0.000,165.525,0.000
$DEVICE_MAMPS,292.994,79.456,3943.004,124.150,186.225,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1196.857,5711.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329940
$DATA_FILE_SIZE,110143,1746
$CAP_FILE_SIZE,771932,0
$CFSIZE,1024409600,998604800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,259.14,1
$GPS,131015,234036,2855.355,-7224.651,54,1.0,58,-11.3,0.0,0.0,8,9.7