version: 66.14
glider: 41
mission: 15
dive: 106
start: 1 2 119 16 10 22
data:
$ID,41
$MISSION,15
$DIVE,106
$N_DIVES,0
$STOP_T,1031919
$D_SURF,3
$D_FLARE,5
$D_TGT,5400
$D_ABORT,6050
$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,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79399.703
$MASS_COMP,10108.4
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3855
$C_PITCH,3279
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,230
$ROLL_MAX,3810
$ROLL_DEG,45
$C_ROLL_DIVE,2246
$C_ROLL_CLIMB,2093
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,325
$VBD_MAX,3960
$C_VBD,2390
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,14
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.572524
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.5
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,131
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044218274
$SEABIRD_T_H,0.00065427559
$SEABIRD_T_I,2.6669255e-05
$SEABIRD_T_J,3.3126662e-06
$SEABIRD_C_G,-9.8737192
$SEABIRD_C_H,1.1600837
$SEABIRD_C_I,-0.0018781425
$SEABIRD_C_J,0.0002279925
$SEABIRD_C_Z,2921.8601
$GPS1,020119,155529,3626.7688,-6458.3672,38,1.1,46,-15.5,1.0,209.8,8,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-52.6
$GPS2,020119,160944,3626.7502,-6458.3296,20,1.3,31,-15.5,0.3,1.8,8,5.0
$SPEED_LIMITS,0.104,0.192
$TGT_NAME,W
$TGT_LATLONG,3600.000,-6529.660
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,237.2,68250,-13.1,-6.000,-17.33,3653
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
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$GC,2907,-1.06,-146.6,2929,2277,2930,2862,203.8,-6.9,247,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2277,2896,2931,2862,0,0,0,0,0,0,27.05,27.06,27.06,9.53,16.05
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$GC,3507,-1.06,-146.6,2929,2277,2931,2862,246.2,-6.1,277,3513,0.00,2.42,0.00,0.000,516,0.000,0.072,2929,683,2897,2932,2862,0,0,0,0,0,0,27.05,26.63,27.06,9.53,16.01
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$GC,3967,-1.06,-146.6,2920,2253,2932,2862,277.5,-7.2,300,3973,0.00,2.40,0.00,0.000,516,0.000,0.072,2920,676,2897,2932,2862,0,0,0,0,0,0,27.05,26.65,27.07,9.53,15.78
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$GC,6119,-1.06,-146.6,2930,680,2933,2861,422.9,-8.2,377,6123,0.00,2.33,0.00,0.000,1030,0.000,0.065,2921,2247,2897,2932,2862,0,0,0,0,0,0,26.78,26.71,26.80,9.51,16.29
$GC,6430,-1.06,-146.6,2921,2248,2932,2862,448.2,-7.8,388,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2248,2897,2932,2862,0,0,0,0,0,0,27.06,27.07,27.07,9.51,16.25
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$GC,7898,-1.06,-146.6,2939,2244,2933,2860,555.8,-6.5,437,7902,0.00,2.40,0.00,0.000,516,0.000,0.074,2940,668,2896,2933,2860,0,0,0,0,0,0,27.06,26.64,27.07,9.50,16.49
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$GC,10026,-1.06,-146.6,2942,2220,2932,2856,722.3,-8.1,508,10032,0.00,2.33,0.00,0.000,516,0.000,0.074,2942,695,2894,2932,2856,0,0,0,0,0,0,27.06,26.66,27.08,9.45,17.12
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$GC,10491,-1.06,-146.6,2933,696,2932,2855,759.8,-7.9,523,10496,0.00,2.30,0.00,0.000,1030,0.000,0.065,2926,2249,2894,2932,2856,0,0,0,0,0,0,26.79,26.72,26.82,9.45,17.31
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$GC,49783,-1.17,-146.6,2881,2246,2906,2803,4175.8,-7.0,1211,49787,0.00,2.50,0.00,0.000,516,0.000,0.079,2882,688,2854,2906,2803,0,0,0,0,0,0,26.98,26.06,26.99,9.06,17.00
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$GC,52173,-1.17,-146.6,2900,693,2906,2803,4334.1,-6.2,1250,52177,0.00,2.42,0.00,0.000,1030,0.000,0.072,2896,2245,2854,2906,2803,0,0,0,0,0,0,26.36,26.25,26.40,9.06,17.27
$GC,52541,-1.17,-146.6,2895,2244,2906,2803,4356.9,-6.1,1256,52543,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2245,2854,2906,2803,0,0,0,0,0,0,26.97,26.99,26.98,9.06,16.68
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$GC,53442,-1.17,-146.6,2895,2245,2905,2803,4409.8,-5.8,1271,53449,0.00,2.50,0.00,0.000,516,0.000,0.079,2895,682,2854,2906,2803,0,0,0,0,0,0,26.97,26.05,26.98,9.06,17.08
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$GC,53882,-1.17,-146.6,2889,2241,2906,2803,4436.9,-6.1,1278,53883,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2241,2854,2906,2803,0,0,0,0,0,0,26.94,26.96,26.96,9.06,16.64
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$GC,54482,-1.17,-146.6,2889,2241,2906,2803,4474.0,-6.3,1288,54488,0.00,2.47,0.00,0.000,516,0.000,0.079,2890,692,2854,2905,2803,0,0,0,0,0,0,26.96,26.06,26.97,9.06,16.45
$GC,54551,-1.17,-146.6,2889,691,2905,2803,4478.5,-6.3,1289,54556,0.00,2.42,0.00,0.000,1030,0.000,0.070,2883,2244,2854,2905,2803,0,0,0,0,0,0,26.36,26.25,26.40,9.06,16.49
$GC,54928,-1.17,-146.6,2882,2244,2906,2803,4502.3,-6.5,1295,54930,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2244,2854,2906,2803,0,0,0,0,0,0,26.97,26.99,26.98,9.06,16.76
$GC,55228,-1.17,-146.6,2882,2244,2906,2803,4521.5,-6.4,1300,55235,0.00,2.47,0.00,0.000,516,0.000,0.079,2882,694,2854,2906,2803,0,0,0,0,0,0,26.98,26.05,26.98,9.06,16.72
$GC,55299,-1.17,-146.6,2881,694,2906,2803,4527.1,-6.4,1301,55306,0.00,2.42,0.00,0.000,1030,0.000,0.070,2877,2257,2854,2906,2803,0,0,0,0,0,0,26.32,26.27,26.35,9.06,16.84
$GC,55671,-1.17,-146.6,2876,2257,2905,2803,4550.6,-6.2,1307,55672,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2257,2854,2905,2803,0,0,0,0,0,0,26.97,26.98,26.98,9.07,16.72
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$GC,56043,-1.17,-146.6,2875,689,2906,2802,4574.2,-6.4,1313,56049,0.10,2.42,0.00,0.000,3078,0.184,0.067,2904,2249,2854,2906,2803,0,0,0,0,0,0,26.01,26.27,26.12,9.06,17.04
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$GC,57003,-1.30,-146.6,2865,2248,2906,2803,4629.5,-6.3,1329,57005,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2248,2854,2906,2802,0,0,0,0,0,0,26.96,26.98,26.97,9.06,17.19
$GC,57303,-1.30,-146.6,2865,2249,2906,2802,4648.6,-6.4,1334,57308,0.00,2.53,0.00,0.000,516,0.000,0.079,2865,674,2854,2905,2803,0,0,0,0,0,0,26.96,26.03,26.96,9.07,16.84
$GC,57379,-1.30,-146.6,2864,674,2906,2802,4653.4,-6.5,1335,57384,0.00,2.45,0.00,0.000,1030,0.000,0.070,2859,2241,2854,2905,2803,0,0,0,0,0,0,26.32,26.20,26.36,9.07,16.64
$GC,57742,-1.30,-146.6,2858,2241,2906,2803,4677.0,-6.4,1341,57744,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2241,2854,2905,2803,0,0,0,0,0,0,26.95,26.96,26.96,9.07,16.80
$GC,58044,-1.30,-146.6,2858,2240,2906,2803,4696.3,-6.4,1346,58045,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2241,2853,2905,2802,0,0,0,0,0,0,26.94,26.96,26.96,9.07,16.64
$GC,58343,-1.30,-146.6,2858,2241,2906,2802,4715.2,-6.3,1351,58349,0.00,2.47,0.00,0.000,516,0.000,0.079,2859,687,2854,2905,2803,0,0,0,0,0,0,26.97,26.03,26.98,9.07,17.15
$GC,58416,-1.30,-146.6,2858,687,2906,2802,4719.8,-6.4,1352,58420,0.00,2.45,0.00,0.000,1030,0.000,0.070,2852,2260,2854,2906,2803,0,0,0,0,0,0,26.37,26.27,26.41,9.07,16.52
$GC,58793,-1.30,-146.6,2851,2261,2906,2802,4742.6,-6.2,1358,58794,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2261,2854,2906,2802,0,0,0,0,0,0,26.97,26.98,26.98,9.06,16.60
$GC,59093,-1.30,-146.6,2851,2260,2906,2803,4761.2,-6.2,1363,59099,0.00,2.50,0.00,0.000,516,0.000,0.082,2852,693,2854,2905,2803,0,0,0,0,0,0,26.97,25.99,26.98,9.07,16.72
$GC,59166,-1.30,-146.6,2851,693,2906,2803,4766.5,-6.2,1364,59171,0.00,2.42,0.00,0.000,1030,0.000,0.070,2847,2243,2854,2906,2802,0,0,0,0,0,0,26.34,26.24,26.39,9.07,16.72
$GC,59535,-1.30,-146.6,2847,2243,2906,2802,4789.3,-6.1,1370,59536,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2244,2854,2905,2803,0,0,0,0,0,0,26.96,26.98,26.97,9.07,16.96
$GC,59835,-1.30,-146.6,2846,2244,2906,2802,4807.7,-6.1,1375,59836,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2244,2853,2905,2802,0,0,0,0,0,0,26.97,26.98,26.98,9.07,17.47
$GC,60135,-1.30,-146.6,2846,2244,2905,2802,4825.6,-6.1,1380,60141,0.00,2.47,0.00,0.000,516,0.000,0.077,2847,687,2853,2905,2802,0,0,0,0,0,0,26.95,26.05,26.96,9.06,17.43
$GC,60207,-1.30,-146.6,2846,687,2906,2803,4830.1,-6.2,1381,60212,0.00,2.45,0.00,0.000,1030,0.000,0.070,2839,2268,2854,2906,2803,0,0,0,0,0,0,26.35,26.25,26.39,9.07,16.80
$GC,60571,-1.30,-146.6,2838,2267,2906,2802,4852.6,-6.1,1387,60572,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2268,2854,2906,2802,0,0,0,0,0,0,26.97,26.99,26.98,9.07,16.72
$GC,60872,-1.30,-146.6,2838,2268,2906,2803,4870.9,-6.1,1392,60873,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2268,2854,2905,2803,0,0,0,0,0,0,26.97,26.98,26.98,9.07,16.64
$GC,61169,-1.30,-146.6,2838,2268,2906,2803,4889.2,-6.2,1397,61173,0.00,2.55,0.00,0.000,516,0.000,0.077,2839,681,2854,2906,2803,0,0,0,0,0,0,26.95,26.01,26.96,9.08,16.76
$GC,61257,-1.30,-146.6,2838,681,2906,2803,4894.1,-6.3,1398,61262,0.00,2.47,0.00,0.000,1030,0.000,0.074,2832,2250,2854,2905,2803,0,0,0,0,0,0,26.15,25.98,26.20,9.07,17.51
$GC,61612,-1.30,-146.6,2831,2250,2906,2803,4918.0,-6.5,1404,61613,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2250,2853,2905,2802,0,0,0,0,0,0,26.97,26.98,26.98,9.07,16.68
$STATE,61787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,61787,begin apogee
$GC,61792,-0.33,0.0,2831,2098,2905,2803,4929.1,-6.3,1407,61960,1.02,0.00,161.73,3.965,10246,0.137,0.000,3171,2098,2390,2462,2319,0,0,0,0,0,0,25.47,21.95,19.55,9.07,16.41
$STATE,61961,end apogee,CONTROL_FINISHED_OK
$STATE,61961,begin climb
$GC,61963,1.06,146.6,3171,2098,2462,2319,4934.6,0.0,1410,62149,1.38,0.00,181.27,3.908,10246,0.084,0.000,3628,2098,1885,1969,1801,0,0,0,0,0,0,22.91,22.01,19.80,9.04,16.56
$GC,62440,0.83,146.6,3627,2098,1969,1800,4889.9,13.4,1418,62442,0.30,0.00,0.00,0.000,4102,0.219,0.000,3547,2098,1884,1969,1800,0,0,0,0,0,0,25.79,26.11,26.03,9.00,16.09
$GC,62740,0.68,146.6,3546,2098,1969,1801,4856.2,11.1,1423,62745,0.12,2.53,0.00,0.000,4356,0.228,0.084,3506,3679,1885,1969,1801,0,0,0,0,0,0,26.17,26.37,26.29,9.00,16.49
$GC,62837,0.53,146.6,3506,3679,1969,1801,4849.5,10.9,1424,62842,0.20,2.47,0.00,0.000,5126,0.221,0.072,3455,2093,1885,1969,1801,0,0,0,0,0,0,26.10,26.50,26.34,9.00,16.09
$GC,63160,0.46,146.6,3454,2092,1969,1801,4819.0,8.1,1430,63161,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2093,1885,1969,1801,0,0,0,0,0,0,26.91,26.92,26.92,9.00,16.60
$GC,63461,0.39,146.6,3454,2093,1969,1801,4795.1,7.9,1435,63463,0.15,0.00,0.00,0.000,4102,0.209,0.000,3411,2092,1884,1969,1800,0,0,0,0,0,0,26.28,26.54,26.46,8.99,16.37
$GC,63760,0.39,146.6,3410,2092,1968,1801,4775.0,6.7,1440,63766,0.00,2.55,0.00,0.000,260,0.000,0.089,3410,3678,1885,1969,1801,0,0,0,0,0,0,26.96,26.48,26.98,9.00,16.45
$GC,63828,0.39,146.6,3410,3678,1969,1801,4770.5,6.8,1441,63833,0.00,2.45,0.00,0.000,1030,0.000,0.070,3416,2094,1885,1969,1801,0,0,0,0,0,0,26.67,26.57,26.70,8.99,16.64
$GC,64180,0.39,146.6,3416,2094,1968,1800,4746.1,6.7,1447,64181,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2094,1884,1969,1800,0,0,0,0,0,0,26.97,26.99,26.99,8.99,16.72
$GC,64480,0.39,146.6,3416,2094,1969,1800,4725.8,6.7,1452,64482,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2094,1884,1969,1800,0,0,0,0,0,0,26.98,27.00,26.99,8.99,16.49
$GC,64781,0.39,146.6,3416,2094,1969,1800,4705.8,6.7,1457,64787,0.00,2.53,0.00,0.000,260,0.000,0.087,3416,3678,1884,1969,1800,0,0,0,0,0,0,26.99,26.46,27.01,8.98,16.45
$GC,64848,0.39,146.6,3416,3678,1969,1800,4701.6,6.8,1458,64853,0.00,2.45,0.00,0.000,1030,0.000,0.070,3425,2097,1884,1969,1800,0,0,0,0,0,0,26.67,26.58,26.70,8.99,17.04
$GC,65196,0.39,146.6,3425,2097,1969,1800,4677.4,6.8,1464,65197,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2097,1884,1968,1800,0,0,0,0,0,0,26.99,27.01,27.01,8.99,16.96
$GC,65495,0.39,146.6,3425,2097,1968,1800,4656.3,7.0,1469,65496,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2097,1884,1968,1800,0,0,0,0,0,0,27.00,27.01,27.01,8.99,16.80
$GC,65795,0.39,146.6,3425,2097,1968,1800,4635.5,7.1,1474,65797,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2097,1884,1968,1800,0,0,0,0,0,0,27.00,27.01,27.01,8.98,16.68
$GC,66095,0.39,146.6,3425,2097,1968,1800,4614.5,7.1,1479,66100,0.00,2.53,0.00,0.000,260,0.000,0.087,3425,3675,1884,1968,1800,0,0,0,0,0,0,27.00,26.42,27.01,8.98,16.52
$GC,66160,0.39,146.6,3425,3675,1968,1800,4609.7,7.2,1480,66165,0.00,2.47,0.00,0.000,1030,0.000,0.070,3433,2085,1884,1968,1800,0,0,0,0,0,0,26.65,26.55,26.68,8.98,17.12
$GC,66512,0.39,146.6,3433,2085,1968,1800,4583.6,7.4,1486,66514,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2085,1884,1968,1800,0,0,0,0,0,0,27.00,27.02,27.01,8.98,16.60
$GC,66813,0.39,146.6,3432,2085,1968,1800,4561.8,7.2,1491,66814,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2085,1883,1967,1800,0,0,0,0,0,0,27.01,27.02,27.02,8.97,16.68
$GC,67112,0.39,146.6,3432,2085,1967,1800,4539.4,7.5,1496,67119,0.00,2.58,0.00,0.000,260,0.000,0.087,3434,3675,1883,1967,1800,0,0,0,0,0,0,27.01,26.36,27.02,8.98,16.96
$GC,67191,0.39,146.6,3432,3675,1967,1801,4534.8,7.6,1497,67196,0.12,2.50,0.00,0.000,5126,0.219,0.072,3409,2082,1883,1967,1800,0,0,0,0,0,0,26.13,26.54,26.32,8.98,16.84
$GC,67528,0.39,146.6,3408,2082,1967,1800,4510.4,6.8,1503,67529,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2082,1884,1967,1801,0,0,0,0,0,0,27.01,27.03,27.02,8.98,16.84
$GC,67829,0.39,146.6,3408,2082,1967,1800,4490.5,6.6,1508,67830,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2082,1883,1967,1800,0,0,0,0,0,0,27.01,27.03,27.03,8.97,17.04
$GC,68128,0.39,146.6,3408,2082,1967,1800,4470.3,6.6,1513,68129,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2082,1883,1967,1800,0,0,0,0,0,0,27.01,27.03,27.02,8.97,16.84
$GC,68429,0.39,146.6,3408,2082,1967,1800,4451.0,6.4,1518,68430,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2082,1883,1967,1800,0,0,0,0,0,0,27.01,27.03,27.02,8.97,16.68
$GC,68728,0.39,146.6,3408,2082,1966,1800,4432.2,6.2,1523,68729,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2082,1883,1967,1800,0,0,0,0,0,0,27.01,27.03,27.03,8.97,16.76
$GC,69029,0.39,149.5,3408,2083,1967,1800,4414.6,5.9,1528,69035,0.00,0.00,4.03,2.011,8198,0.000,0.000,3409,2082,1875,1957,1793,0,0,0,0,0,0,27.01,25.61,23.06,8.97,16.56
$GC,69329,0.40,153.3,3408,2082,1957,1793,4397.2,5.9,1533,69336,0.00,0.00,5.60,2.503,8198,0.000,0.000,3409,2082,1862,1944,1780,0,0,0,0,0,0,26.95,25.53,23.15,8.97,16.80
$GC,69629,0.41,160.1,3408,2082,1944,1781,4379.9,5.8,1538,69640,0.00,0.00,8.80,2.977,8198,0.000,0.000,3409,2082,1838,1920,1756,0,0,0,0,0,0,26.88,25.32,22.88,8.96,16.92
$GC,69928,0.41,160.1,3408,2082,1920,1756,4362.1,6.0,1543,69929,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2082,1838,1920,1756,0,0,0,0,0,0,26.81,26.82,26.82,8.96,17.15
$GC,70229,0.41,160.6,3408,2082,1920,1756,4344.3,6.0,1548,70230,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2082,1838,1920,1756,0,0,0,0,0,0,26.92,26.94,26.94,8.97,16.80
$GC,70528,0.41,160.6,3408,2082,1920,1756,4326.3,6.0,1553,70529,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2082,1838,1920,1756,0,0,0,0,0,0,26.97,26.98,26.98,8.96,16.68
$GC,70829,0.41,166.0,3408,2082,1920,1756,4308.7,5.8,1558,70839,0.00,0.00,7.70,2.831,8198,0.000,0.000,3408,2082,1818,1900,1736,0,0,0,0,0,0,26.99,25.52,23.15,8.96,16.60
$GC,71128,0.41,166.0,3408,2082,1900,1736,4290.5,6.1,1563,71129,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2082,1818,1900,1736,0,0,0,0,0,0,26.85,26.86,26.86,8.96,17.23
$GC,71428,0.41,166.0,3408,2082,1900,1736,4272.1,6.2,1568,71429,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2082,1818,1900,1736,0,0,0,0,0,0,26.94,26.96,26.95,8.96,16.72
$GC,71728,0.41,166.0,3408,2081,1900,1736,4253.7,6.1,1573,71729,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2081,1818,1900,1736,0,0,0,0,0,0,26.98,26.99,26.99,8.95,16.72
$GC,72029,0.42,169.4,3408,2081,1900,1736,4235.9,5.9,1578,72036,0.00,0.00,5.38,2.413,8198,0.000,0.000,3409,2081,1806,1888,1725,0,0,0,0,0,0,26.99,25.67,23.28,8.96,17.51
$GC,72329,0.43,178.2,3408,2081,1888,1725,4218.6,5.8,1583,72341,0.00,0.00,10.40,3.019,8198,0.000,0.000,3409,2081,1776,1859,1693,0,0,0,0,0,0,26.90,25.32,22.93,8.96,17.08
$GC,72628,0.43,178.2,3408,2081,1860,1693,4200.3,6.1,1588,72629,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2081,1776,1860,1693,0,0,0,0,0,0,26.79,26.81,26.81,8.96,17.71
$GC,72929,0.43,183.0,3408,2081,1859,1693,4182.7,5.9,1593,72937,0.00,0.00,6.28,2.553,8198,0.000,0.000,3409,2081,1760,1843,1677,0,0,0,0,0,0,26.91,25.60,23.20,8.95,16.92
$GC,73229,0.45,192.0,3408,2081,1844,1677,4165.5,5.7,1598,73242,0.00,0.00,10.80,3.004,8198,0.000,0.000,3409,2081,1729,1812,1646,0,0,0,0,0,0,26.86,25.30,22.93,8.94,17.19
$GC,73529,0.46,202.4,3408,2081,1812,1646,4148.3,5.7,1603,73543,0.00,0.00,12.07,3.052,8198,0.000,0.000,3408,2081,1693,1777,1609,0,0,0,0,0,0,26.79,25.20,22.86,8.94,17.55
$GC,73829,0.47,209.1,3408,2081,1777,1609,4130.9,5.8,1608,73839,0.00,0.00,8.60,2.816,8198,0.000,0.000,3409,2081,1670,1756,1585,0,0,0,0,0,0,26.77,25.39,23.01,8.94,17.04
$GC,74129,0.47,214.5,3408,2081,1756,1585,4113.3,5.8,1613,74138,0.00,0.00,7.30,2.674,8198,0.000,0.000,3408,2081,1650,1735,1566,0,0,0,0,0,0,26.79,25.48,23.11,8.93,16.72
$GC,74429,0.47,214.5,3408,2081,1734,1566,4095.3,6.0,1618,74430,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2082,1650,1735,1566,0,0,0,0,0,0,26.81,26.83,26.82,8.94,16.80
$GC,74729,0.48,216.5,3408,2081,1735,1566,4077.6,5.9,1623,74730,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2081,1650,1735,1565,0,0,0,0,0,0,26.92,26.94,26.93,8.94,16.88
$GC,75029,0.48,220.8,3408,2081,1735,1566,4060.0,5.9,1628,75038,0.00,0.00,8.00,2.724,8198,0.000,0.000,3409,2081,1628,1713,1544,0,0,0,0,0,0,26.96,25.58,23.23,8.93,17.39
$GC,75328,0.48,220.8,3408,2081,1714,1544,4041.6,6.1,1633,75329,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2081,1628,1713,1544,0,0,0,0,0,0,26.84,26.85,26.85,8.94,16.68
$GC,75629,0.48,220.8,3408,2081,1714,1544,4021.9,6.5,1638,75630,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2081,1629,1714,1544,0,0,0,0,0,0,26.94,26.95,26.95,8.93,16.56
$GC,75928,0.48,220.8,3408,2081,1713,1544,4001.5,6.9,1643,75929,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2080,1629,1714,1544,0,0,0,0,0,0,26.97,26.99,26.99,8.93,17.51
$GC,76228,0.48,220.8,3408,2081,1714,1544,3981.5,6.7,1648,76229,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2081,1628,1713,1544,0,0,0,0,0,0,27.00,27.01,27.01,8.93,16.72
$GC,76528,0.48,220.8,3408,2081,1713,1544,3961.1,6.9,1653,76529,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2081,1628,1713,1544,0,0,0,0,0,0,27.01,27.02,27.01,8.93,16.96
$GC,76829,0.48,220.8,3408,2081,1714,1544,3940.9,6.7,1658,76835,0.00,2.58,0.00,0.000,260,0.000,0.082,3408,3681,1629,1714,1544,0,0,0,0,0,0,27.01,26.41,27.02,8.93,16.76
$GC,76896,0.48,220.8,3408,3681,1713,1544,3936.4,6.8,1659,76901,0.00,2.47,0.00,0.000,1030,0.000,0.067,3408,2091,1629,1714,1544,0,0,0,0,0,0,26.67,26.58,26.70,8.93,16.72
$GC,77244,0.48,220.8,3407,2092,1713,1544,3912.8,6.5,1665,77245,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2091,1628,1713,1544,0,0,0,0,0,0,27.01,27.03,27.02,8.93,16.68
$GC,77543,0.48,220.8,3407,2091,1714,1544,3893.1,6.6,1670,77545,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2091,1628,1714,1543,0,0,0,0,0,0,27.01,27.03,27.03,8.93,16.92
$GC,77843,0.48,220.8,3408,2091,1714,1544,3873.8,6.3,1675,77845,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2091,1628,1713,1544,0,0,0,0,0,0,27.01,27.03,27.03,8.93,17.12
$GC,78143,0.48,220.8,3407,2091,1714,1544,3855.0,6.3,1680,78145,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2091,1628,1713,1544,0,0,0,0,0,0,27.02,27.03,27.03,8.93,17.47
$GC,78444,0.48,220.8,3408,2091,1713,1544,3836.8,6.0,1685,78445,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2091,1629,1714,1544,0,0,0,0,0,0,27.02,27.03,27.03,8.93,16.68
$GC,78744,0.49,225.8,3408,2091,1714,1544,3819.3,5.9,1690,78752,0.00,0.00,6.57,2.453,8198,0.000,0.000,3408,2091,1612,1696,1528,0,0,0,0,0,0,27.02,25.60,23.41,8.93,17.15
$GC,79044,0.50,235.7,3408,2091,1697,1528,3802.2,5.7,1695,79057,0.00,0.00,11.27,2.833,8198,0.000,0.000,3408,2091,1578,1664,1492,0,0,0,0,0,0,26.89,25.30,23.03,8.92,17.39
$GC,79344,0.51,246.4,3407,2091,1663,1492,3785.2,5.7,1700,79358,0.05,0.00,11.82,2.848,10246,0.186,0.000,3443,2089,1541,1628,1454,0,0,0,0,0,0,26.57,25.23,22.98,8.92,16.56
$GC,79644,0.51,246.4,3442,2089,1628,1454,3765.3,6.6,1705,79645,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2088,1541,1628,1454,0,0,0,0,0,0,26.77,26.78,26.78,8.92,16.76
$GC,79943,0.51,246.4,3442,2088,1628,1454,3746.0,6.5,1710,79945,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2089,1541,1628,1454,0,0,0,0,0,0,26.91,26.92,26.91,8.92,17.31
$GC,80243,0.51,246.4,3442,2089,1627,1454,3727.4,6.2,1715,80245,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2089,1541,1629,1454,0,0,0,0,0,0,26.96,26.97,26.97,8.92,16.92
$GC,80543,0.51,246.4,3442,2089,1627,1454,3708.7,6.2,1720,80548,0.00,2.58,0.00,0.000,260,0.000,0.087,3443,3685,1541,1628,1454,0,0,0,0,0,0,26.98,26.40,27.00,8.92,16.76
$GC,80614,0.51,246.4,3442,3685,1628,1455,3704.6,6.3,1721,80618,0.00,2.50,0.00,0.000,1030,0.000,0.070,3447,2091,1541,1628,1454,0,0,0,0,0,0,26.63,26.54,26.67,8.92,17.31
$GC,80961,0.51,246.4,3446,2091,1628,1454,3682.0,6.3,1727,80962,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2091,1541,1628,1455,0,0,0,0,0,0,27.00,27.02,27.01,8.92,16.76
$GC,81261,0.51,246.4,3446,2091,1628,1454,3663.2,6.4,1732,81262,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2091,1541,1628,1455,0,0,0,0,0,0,27.01,27.03,27.02,8.92,16.96
$GC,81561,0.51,246.4,3446,2091,1628,1455,3644.4,6.3,1737,81562,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2091,1541,1628,1454,0,0,0,0,0,0,27.01,27.03,27.03,8.92,17.08
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$STATE,129721,end climb,SURFACE_DEPTH_REACHED
$STATE,129721,begin surface coast
$FINISH,0.8,1.013265
$STATE,129742,end surface coast,CONTROL_FINISHED_OK
$STATE,129742,begin surface
$SM_CCo,129819,0.00,0.000,0,0,945,419.77
$SM_GC,2.30,8.48,0.20,0.00,0.072,0.097,0.000,179,2250,945,-9.60,-1.33,419.77,0,0,0,0,0,0,26.63,26.74,26.68
$IRIDIUM_FIX,3617.03,-6507.71,010119,040502
$TT8_MAMPS,0.023219,0.160286
$HUMID,16.01
$INTERNAL_PRESSURE,9.24444
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,18.7
$ALTIM_BOTTOM_PING,4902.4,41.0
$24V_AH,19.55,76.233
$10V_AH,9.91,64.235
$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,25.550,572.275,665.675,0.000,141.475,55.427,33.534,463.586,1024.750,0.000,32.458,9890.482,103418.750,1339.771,15064.327,867.365,0.000,5426.248,0.000,6878.834,0.000,11489.014,0.000
$DEVICE_MAMPS,270.647,96.837,3965.351,0.000,235.885,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1927.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318508
$DATA_FILE_SIZE,165764,2776
$CAP_FILE_SIZE,1139202,0
$CFSIZE,2047311872,2007138304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,45513.18,0x236d42,0,24
$CURRENT,0.106,244.48,1
$GPS,040119,041630,3609.369,-6519.242,104,0.9,108,-15.4,0.9,297.2,11,4.8