version: 66.12
glider: 35
mission: 26
dive: 98
start: 6 20 115 18 17 40
data:
$ID,35
$MISSION,26
$DIVE,98
$N_DIVES,0
$D_SURF,2
$D_FLARE,5
$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,3600
$T_MISSION,3660
$T_ABORT,3720
$T_TURN,540
$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,1.023
$MASS,77482
$MASS_COMP,9268.2998
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-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,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,20
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2248
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$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,-1037.27
$PRESSURE_SLOPE,0.00092600001
$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,3900
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004269524
$SEABIRD_T_H,0.00061604282
$SEABIRD_T_I,2.0033509e-05
$SEABIRD_T_J,1.8499288e-06
$SEABIRD_C_G,-9.6420546
$SEABIRD_C_H,1.1096923
$SEABIRD_C_I,-0.001213078
$SEABIRD_C_J,0.00016721067
$GPS1,200615,180806,3142.9746,-6410.6172,27,1.9,28,-15.5,0.4,197.7,6,14.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-58.2
$GPS2,200615,181715,3142.8577,-6410.5791,11,2.4,31,-15.5,0.3,0.0,4,12.6
$SPEED_LIMITS,0.137,0.191
$TGT_NAME,SS12
$TGT_LATLONG,3121.300,-6357.420
$TGT_RADIUS,12000.000
$KALMAN_CONTROL,0.106242,-0.158329
$KALMAN_X,-23782.597656,0.000000,0.000000,29018.546875,-5189.083984
$KALMAN_Y,-54052.355469,0.000000,0.000000,59302.187500,33.183594
$MHEAD_RNG_PITCHd_Wd,161.6,45023,-10.0,-5.000,-14.69,4399
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,2448,-0.40,-146.6,2115,2350,2770,2731,169.0,-5.9,161,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2350,2750,2770,2731,0,0,0,0,0,0,26.67,26.67,26.67
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$GC,3047,-0.40,-146.6,2115,2350,2770,2730,206.4,-6.9,181,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2350,2750,2770,2730,0,0,0,0,0,0,26.67,26.68,26.67
$GC,3347,-0.40,-146.6,2115,2350,2770,2729,227.5,-6.9,191,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2350,2750,2770,2730,0,0,0,0,0,0,26.67,26.68,26.67
$GC,3647,-0.40,-146.6,2115,2350,2770,2729,248.4,-6.7,201,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2350,2749,2770,2729,0,0,0,0,0,0,26.67,26.67,26.67
$GC,3947,-0.40,-146.6,2115,2350,2770,2728,266.9,-6.2,211,3951,0.00,2.15,0.00,0.000,260,0.000,0.065,2114,3766,2749,2770,2728,0,0,0,0,0,0,26.67,26.24,26.67
$GC,4018,-0.40,-146.6,2114,3767,2770,2729,271.0,-6.3,213,4022,0.00,2.12,0.00,0.000,1030,0.000,0.047,2115,2348,2748,2769,2728,0,0,0,0,0,0,26.37,26.36,26.39
$GC,4342,-0.40,-146.6,2114,2348,2770,2727,290.8,-6.2,224,4348,0.00,2.00,0.00,0.000,516,0.000,0.055,2114,951,2748,2770,2727,0,0,0,0,0,0,26.67,26.29,26.67
$GC,4385,-0.40,-146.6,2115,950,2770,2726,292.7,-6.4,225,4389,0.00,2.10,0.00,0.000,1030,0.000,0.052,2114,2349,2748,2770,2726,0,0,0,0,0,0,26.32,26.29,26.34
$GC,4719,-0.40,-146.6,2114,2349,2770,2726,317.5,-7.3,234,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2349,2748,2770,2726,0,0,0,0,0,0,26.67,26.68,26.68
$GC,5034,-0.40,-146.6,2114,2349,2770,2726,338.5,-6.7,241,5039,0.00,2.12,0.00,0.000,260,0.000,0.065,2114,3760,2748,2770,2726,0,0,0,0,0,0,26.67,26.24,26.68
$GC,5070,-0.40,-146.6,2114,3760,2770,2726,338.5,-6.7,241,5079,0.00,2.10,0.00,0.000,1030,0.000,0.047,2114,2357,2747,2770,2725,0,0,0,0,0,0,26.39,26.36,26.40
$GC,5394,-0.40,-146.6,2114,2356,2770,2725,360.2,-6.1,249,5397,0.00,2.08,0.00,0.000,516,0.000,0.055,2114,946,2747,2770,2725,0,0,0,0,0,0,26.67,26.29,26.68
$GC,5443,-0.40,-146.6,2114,929,2770,2725,363.4,-6.1,250,5448,0.00,2.05,0.00,0.000,1030,0.000,0.052,2114,2349,2747,2770,2725,0,0,0,0,0,0,26.32,26.29,26.34
$GC,5756,-0.40,-146.6,2114,2349,2770,2725,381.1,-5.6,257,5762,0.00,2.12,0.00,0.000,260,0.000,0.065,2114,3756,2747,2770,2725,0,0,0,0,0,0,26.67,26.25,26.68
$GC,5801,-0.40,-146.6,2114,3756,2770,2725,383.7,-5.6,258,5807,0.00,2.05,0.00,0.000,1030,0.000,0.047,2114,2340,2747,2770,2725,0,0,0,0,0,0,26.38,26.36,26.39
$GC,6117,-0.40,-146.6,2114,2340,2769,2725,402.3,-6.0,265,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2340,2747,2769,2725,0,0,0,0,0,0,26.67,26.68,26.68
$GC,6431,-0.40,-146.6,2114,2341,2769,2724,422.1,-6.3,272,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2341,2747,2770,2724,0,0,0,0,0,0,26.67,26.68,26.68
$GC,6746,-0.40,-146.6,2114,2340,2770,2724,442.1,-6.2,279,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2340,2746,2770,2723,0,0,0,0,0,0,26.67,26.69,26.68
$GC,7061,-0.40,-146.6,2114,2340,2769,2723,461.7,-6.3,286,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2340,2746,2770,2723,0,0,0,0,0,0,26.67,26.68,26.68
$GC,7376,-0.40,-146.6,2114,2340,2769,2722,482.0,-6.4,293,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2340,2745,2769,2722,0,0,0,0,0,0,26.67,26.69,26.68
$GC,7691,-0.40,-146.6,2114,2340,2768,2722,502.1,-6.3,300,7697,0.00,2.17,0.00,0.000,260,0.000,0.062,2114,3758,2745,2768,2722,0,0,0,0,0,0,26.67,26.25,26.68
$GC,7783,-0.40,-146.6,2114,3758,2767,2722,507.9,-6.3,302,7788,0.00,2.05,0.00,0.000,1030,0.000,0.047,2114,2345,2744,2767,2722,0,0,0,0,0,0,26.38,26.36,26.40
$GC,8098,-0.40,-146.6,2114,2345,2767,2722,526.6,-5.9,309,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2344,2744,2767,2722,0,0,0,0,0,0,26.67,26.68,26.68
$GC,8413,-0.40,-146.6,2114,2345,2767,2721,545.0,-6.1,316,8416,0.00,2.05,0.00,0.000,516,0.000,0.055,2114,947,2744,2767,2721,0,0,0,0,0,0,26.67,26.29,26.68
$GC,8462,-0.40,-146.6,2114,938,2767,2720,548.4,-6.3,317,8466,0.00,2.12,0.00,0.000,1030,0.000,0.050,2114,2349,2743,2767,2720,0,0,0,0,0,0,26.32,26.29,26.34
$GC,8777,-0.40,-146.6,2114,2349,2767,2720,569.7,-7.0,324,8782,0.00,2.12,0.00,0.000,260,0.000,0.065,2114,3752,2743,2767,2720,0,0,0,0,0,0,26.67,26.25,26.68
$GC,8834,-0.40,-146.6,2114,3752,2767,2720,572.6,-6.8,325,8838,0.00,2.10,0.00,0.000,1030,0.000,0.047,2114,2355,2743,2766,2720,0,0,0,0,0,0,26.38,26.36,26.40
$GC,9183,-0.40,-146.6,2114,2354,2766,2719,596.6,-6.5,333,9188,0.00,2.03,0.00,0.000,516,0.000,0.055,2114,944,2742,2766,2719,0,0,0,0,0,0,26.67,26.30,26.68
$GC,9229,-0.40,-146.6,2114,944,2766,2718,599.6,-6.6,334,9234,0.00,2.10,0.00,0.000,1030,0.000,0.050,2114,2343,2742,2767,2718,0,0,0,0,0,0,26.32,26.29,26.34
$GC,9544,-0.40,-146.6,2113,2343,2766,2718,619.3,-6.2,341,9549,0.00,2.15,0.00,0.000,260,0.000,0.065,2113,3761,2742,2766,2718,0,0,0,0,0,0,26.67,26.25,26.68
$GC,9616,-0.40,-146.6,2114,3761,2766,2718,622.3,-6.2,342,9620,0.00,2.08,0.00,0.000,1030,0.000,0.047,2114,2347,2742,2767,2718,0,0,0,0,0,0,26.41,26.36,26.42
$GC,9950,-0.40,-146.6,2114,2346,2765,2718,646.3,-6.7,350,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2347,2741,2765,2717,0,0,0,0,0,0,26.67,26.69,26.68
$GC,10265,-0.40,-146.6,2114,2346,2766,2717,665.7,-5.8,357,10270,0.00,2.03,0.00,0.000,516,0.000,0.055,2114,938,2741,2765,2717,0,0,0,0,0,0,26.67,26.29,26.68
$GC,10310,-0.40,-146.6,2114,937,2766,2716,668.2,-5.8,358,10315,0.00,2.05,0.00,0.000,1030,0.000,0.050,2114,2346,2741,2766,2716,0,0,0,0,0,0,26.32,26.28,26.34
$GC,10625,-0.40,-146.6,2113,2346,2765,2716,687.6,-6.3,365,10630,0.00,2.12,0.00,0.000,260,0.000,0.062,2114,3756,2740,2765,2716,0,0,0,0,0,0,26.67,26.25,26.69
$GC,10672,-0.40,-146.6,2114,3756,2764,2716,690.4,-6.3,366,10677,0.00,2.12,0.00,0.000,1030,0.000,0.047,2114,2347,2740,2764,2716,0,0,0,0,0,0,26.37,26.35,26.39
$GC,10987,-0.40,-146.6,2114,2347,2764,2714,710.8,-6.4,373,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2347,2739,2764,2714,0,0,0,0,0,0,26.67,26.68,26.68
$GC,11301,-0.40,-146.6,2114,2347,2764,2713,731.5,-6.5,380,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2347,2738,2764,2713,0,0,0,0,0,0,26.67,26.69,26.68
$GC,11616,-0.40,-146.6,2114,2347,2763,2712,753.6,-7.0,387,11622,0.00,2.03,0.00,0.000,516,0.000,0.055,2114,942,2737,2763,2712,0,0,0,0,0,0,26.67,26.29,26.68
$GC,11669,-0.40,-146.6,2114,942,2763,2711,757.0,-7.1,388,11673,0.00,2.12,0.00,0.000,1030,0.000,0.050,2114,2352,2737,2763,2711,0,0,0,0,0,0,26.31,26.27,26.34
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$GC,53970,-1.13,-146.6,1888,2345,2728,2673,3686.3,-5.1,795,53971,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2346,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,54331,-1.13,-146.6,1888,2346,2728,2673,3704.2,-4.9,798,54336,0.00,2.28,0.00,0.000,260,0.000,0.062,1886,3760,2700,2728,2673,0,0,0,0,0,0,26.64,25.62,26.65
$GC,54381,-1.13,-146.6,1885,3760,2728,2673,3704.2,-4.9,798,54386,0.00,2.20,0.00,0.000,1030,0.000,0.047,1886,2308,2700,2728,2673,0,0,0,0,0,0,26.02,25.96,26.04
$GC,54690,-1.13,-146.6,1885,2307,2728,2672,3722.4,-5.0,801,54696,0.00,2.33,0.00,0.000,260,0.000,0.062,1885,3757,2700,2728,2673,0,0,0,0,0,0,26.64,25.64,26.65
$GC,54731,-1.13,-146.6,1885,3757,2727,2673,3722.4,-5.0,801,54736,0.00,2.17,0.00,0.000,1030,0.000,0.047,1885,2366,2700,2728,2673,0,0,0,0,0,0,26.06,25.98,26.08
$GC,55051,-1.13,-146.6,1885,2365,2728,2673,3740.3,-5.0,804,55052,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2366,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,55410,-1.13,-146.6,1885,2365,2728,2673,3757.8,-4.9,807,55411,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2673,0,0,0,0,0,0,26.64,26.65,26.65
$GC,55770,-1.13,-146.6,1884,2365,2728,2672,3775.1,-4.8,810,55771,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2673,0,0,0,0,0,0,26.64,26.65,26.65
$GC,56130,-1.13,-146.6,1885,2366,2728,2673,3793.1,-5.0,813,56131,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,56490,-1.13,-146.6,1885,2365,2728,2673,3811.3,-5.0,816,56491,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2366,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,56850,-1.13,-146.6,1885,2365,2728,2672,3828.8,-4.9,819,56851,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,57210,-1.13,-146.6,1885,2365,2728,2673,3846.7,-4.9,822,57211,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2366,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,57570,-1.13,-146.6,1885,2365,2727,2672,3864.3,-4.9,825,57571,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2366,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,57930,-1.13,-146.6,1885,2365,2728,2672,3881.5,-4.7,828,57931,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2673,0,0,0,0,0,0,26.64,26.65,26.65
$GC,58290,-1.13,-146.6,1885,2366,2728,2672,3898.0,-4.6,831,58291,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2366,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,58651,-1.13,-146.6,1885,2366,2728,2672,3914.3,-4.5,834,58653,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2699,2727,2672,0,0,0,0,0,0,26.56,26.58,26.58
$GC,59013,-1.13,-146.6,1885,2366,2728,2672,3930.0,-4.4,837,59014,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2672,0,0,0,0,0,0,26.59,26.60,26.60
$GC,59370,-1.13,-146.6,1886,2366,2728,2672,3946.1,-4.4,840,59371,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,59731,-1.13,-146.6,1884,2365,2728,2672,3961.6,-4.4,843,59733,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2672,0,0,0,0,0,0,26.57,26.58,26.58
$GC,60090,-1.13,-146.6,1884,2365,2728,2672,3977.0,-4.3,846,60091,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2365,2700,2728,2672,0,0,0,0,0,0,26.64,26.65,26.65
$GC,60452,-1.18,-146.6,1884,2365,2728,2672,3992.0,-4.2,849,60457,0.00,2.15,0.00,0.000,516,0.000,0.055,1885,941,2700,2728,2672,0,0,0,0,0,0,26.58,25.74,26.58
$GC,60493,-1.23,-146.6,1885,940,2728,2671,3992.0,-4.2,849,60497,0.00,2.15,0.00,0.000,1030,0.000,0.050,1885,2352,2699,2728,2671,0,0,0,0,0,0,25.93,25.86,25.96
$GC,60810,-1.31,-146.6,1884,2352,2728,2671,4011.5,-5.1,852,60815,0.08,2.22,0.00,0.000,4356,0.122,0.060,1807,3765,2699,2728,2671,0,0,0,0,0,0,26.37,25.61,26.36
$GC,60948,-1.38,-146.6,1807,3765,2728,2672,4019.7,-5.8,853,60952,0.00,2.17,0.00,0.000,1030,0.000,0.047,1807,2328,2700,2728,2672,0,0,0,0,0,0,26.01,25.95,26.03
$GC,61290,-1.38,-146.6,1807,2328,2728,2672,4042.7,-6.5,856,61295,0.00,2.30,0.00,0.000,260,0.000,0.060,1804,3764,2699,2728,2671,0,0,0,0,0,0,26.58,25.58,26.60
$GC,61340,-1.38,-146.6,1804,3764,2728,2672,4042.7,-6.5,856,61344,0.00,2.17,0.00,0.000,1030,0.000,0.047,1804,2321,2700,2728,2672,0,0,0,0,0,0,26.00,25.94,26.02
$GC,61650,-1.38,-146.6,1804,2320,2728,2671,4066.3,-6.5,859,61656,0.00,2.33,0.00,0.000,260,0.000,0.062,1802,3758,2700,2728,2672,0,0,0,0,0,0,26.56,25.58,26.57
$GC,61697,-1.38,-146.6,1802,3758,2728,2672,4066.3,-6.5,859,61701,0.00,2.12,0.00,0.000,1030,0.000,0.047,1802,2355,2700,2728,2672,0,0,0,0,0,0,26.01,25.96,26.03
$GC,62006,-1.38,-146.6,1802,2355,2728,2671,4089.6,-6.5,862,62007,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2355,2700,2728,2672,0,0,0,0,0,0,26.63,26.65,26.64
$GC,62366,-1.38,-146.6,1802,2355,2728,2671,4112.8,-6.4,865,62372,0.00,2.25,0.00,0.000,260,0.000,0.062,1802,3754,2700,2728,2672,0,0,0,0,0,0,26.55,25.57,26.57
$GC,62416,-1.38,-146.6,1802,3754,2728,2672,4112.8,-6.4,865,62421,0.00,2.12,0.00,0.000,1030,0.000,0.047,1802,2347,2700,2728,2672,0,0,0,0,0,0,26.01,25.95,26.03
$GC,62727,-1.38,-146.6,1802,2346,2728,2672,4136.1,-6.5,868,62728,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2346,2700,2728,2672,0,0,0,0,0,0,26.55,26.58,26.57
$GC,63086,-1.38,-146.6,1802,2346,2728,2672,4160.1,-6.6,871,63092,0.00,2.28,0.00,0.000,260,0.000,0.062,1802,3759,2700,2728,2672,0,0,0,0,0,0,26.55,25.57,26.57
$GC,63163,-1.38,-146.6,1802,3759,2728,2672,4160.1,-6.6,871,63167,0.00,2.12,0.00,0.000,1030,0.000,0.047,1802,2351,2700,2728,2672,0,0,0,0,0,0,26.00,25.94,26.02
$GC,63562,-1.38,-146.6,1802,2351,2728,2671,4190.4,-6.4,875,63567,0.00,2.25,0.00,0.000,260,0.000,0.062,1802,3755,2700,2728,2672,0,0,0,0,0,0,26.55,25.56,26.57
$GC,63602,-1.38,-146.6,1802,3755,2728,2672,4190.4,-6.4,875,63607,0.00,2.17,0.00,0.000,1030,0.000,0.047,1802,2308,2699,2727,2672,0,0,0,0,0,0,26.00,25.94,26.01
$GC,63922,-1.38,-146.6,1802,2305,2728,2672,4213.1,-6.3,878,63928,0.00,2.30,0.00,0.000,260,0.000,0.062,1802,3753,2700,2728,2672,0,0,0,0,0,0,26.55,25.55,26.57
$GC,63978,-1.38,-146.6,1802,3753,2728,2672,4213.1,-6.3,878,63982,0.00,2.15,0.00,0.000,1030,0.000,0.047,1802,2370,2700,2728,2672,0,0,0,0,0,0,25.97,25.95,26.00
$GC,64403,-1.38,-146.6,1802,2369,2728,2671,4243.8,-6.4,882,64404,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2369,2699,2728,2671,0,0,0,0,0,0,26.56,26.58,26.57
$GC,64763,-1.38,-146.6,1802,2369,2728,2671,4266.7,-6.4,885,64768,0.00,2.20,0.00,0.000,260,0.000,0.060,1802,3755,2699,2728,2671,0,0,0,0,0,0,26.55,25.56,26.57
$GC,64818,-1.38,-146.6,1802,3754,2728,2672,4266.7,-6.4,885,64822,0.00,2.17,0.00,0.000,1030,0.000,0.047,1802,2313,2700,2728,2672,0,0,0,0,0,0,25.98,25.92,26.01
$GC,65243,-1.38,-146.6,1802,2312,2728,2672,4296.4,-6.2,889,65249,0.00,2.33,0.00,0.000,260,0.000,0.062,1802,3757,2700,2728,2672,0,0,0,0,0,0,26.56,25.55,26.57
$GC,65314,-1.38,-146.6,1802,3757,2728,2672,4296.4,-6.2,889,65318,0.00,2.15,0.00,0.000,1030,0.000,0.047,1802,2368,2700,2728,2672,0,0,0,0,0,0,26.02,25.94,26.04
$GC,65724,-1.38,-146.6,1802,2368,2728,2672,4326.1,-6.1,893,65725,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2368,2700,2728,2672,0,0,0,0,0,0,26.55,26.57,26.57
$GC,66083,-1.38,-146.6,1802,2368,2728,2671,4347.6,-6.0,896,66084,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2368,2699,2728,2671,0,0,0,0,0,0,26.63,26.64,26.64
$GC,66443,-1.38,-146.6,1802,2368,2728,2672,4369.0,-6.0,899,66444,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2368,2700,2728,2672,0,0,0,0,0,0,26.63,26.65,26.65
$GC,66803,-1.38,-146.6,1802,2368,2728,2672,4390.0,-5.8,902,66808,0.00,2.25,0.00,0.000,260,0.000,0.062,1802,3763,2699,2728,2671,0,0,0,0,0,0,26.63,25.56,26.64
$GC,66859,-1.38,-146.6,1802,3763,2728,2672,4390.0,-5.8,902,66863,0.00,2.15,0.00,0.000,1030,0.000,0.047,1802,2344,2700,2728,2672,0,0,0,0,0,0,25.98,25.93,26.01
$GC,67285,-1.38,-146.6,1802,2343,2728,2671,4417.3,-5.7,906,67286,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2343,2700,2728,2672,0,0,0,0,0,0,26.63,26.65,26.64
$GC,67643,-1.38,-146.6,1802,2343,2728,2672,4436.9,-5.5,909,67648,0.00,2.28,0.00,0.000,260,0.000,0.060,1802,3758,2700,2728,2672,0,0,0,0,0,0,26.63,25.55,26.65
$GC,67719,-1.38,-146.6,1802,3758,2727,2672,4436.9,-5.5,909,67723,0.00,2.15,0.00,0.000,1030,0.000,0.047,1802,2334,2700,2728,2672,0,0,0,0,0,0,25.98,25.92,26.00
$GC,68123,-1.38,-146.6,1802,2334,2728,2671,4463.2,-5.4,913,68124,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2334,2700,2728,2672,0,0,0,0,0,0,26.63,26.65,26.64
$STATE,68242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,68242,begin apogee
$GC,68245,-0.25,0.0,1802,2334,2728,2672,4469.7,-5.3,914,68389,1.08,0.00,139.80,4.010,10246,0.099,0.000,2178,2329,2248,2306,2191,0,0,0,0,0,0,24.96,21.98,19.91
$STATE,68390,end apogee,CONTROL_FINISHED_OK
$STATE,68390,begin climb
$GC,68391,0.50,146.6,2178,2329,2306,2191,4473.8,0.0,915,68560,0.68,2.50,157.57,4.085,10756,0.070,0.070,2446,966,1743,1813,1673,0,0,0,0,0,0,22.69,22.07,20.08
$GC,68948,0.50,146.6,2446,966,1813,1670,4424.1,15.0,919,68954,0.10,2.22,0.00,0.000,5126,0.194,0.050,2417,2355,1741,1813,1670,0,0,0,0,0,0,25.24,25.51,25.35
$GC,69328,0.11,146.6,2416,2355,1812,1670,4347.3,15.9,923,69334,0.40,2.12,0.00,0.000,4612,0.186,0.052,2301,960,1741,1812,1670,0,0,0,0,0,0,25.58,25.81,25.70
$GC,69390,-0.28,146.6,2301,960,1812,1670,4347.3,15.9,923,69395,0.38,2.15,0.00,0.000,5126,0.156,0.052,2182,2357,1741,1812,1670,0,0,0,0,0,0,25.67,25.96,25.86
$GC,69804,-0.42,146.6,2182,2357,1812,1670,4311.2,7.4,927,69810,0.17,2.10,0.00,0.000,4612,0.151,0.052,2127,963,1741,1812,1671,0,0,0,0,0,0,25.90,26.04,25.98
$GC,69855,-0.57,146.6,2127,963,1812,1670,4311.2,7.4,927,69860,0.17,2.10,0.00,0.000,5126,0.132,0.050,2066,2350,1741,1812,1671,0,0,0,0,0,0,25.93,26.11,26.05
$GC,70279,-0.57,146.6,2065,2350,1811,1670,4294.1,3.6,931,70280,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2350,1741,1812,1670,0,0,0,0,0,0,26.51,26.52,26.51
$GC,70640,-0.50,146.6,2065,2350,1812,1670,4282.0,3.3,934,70641,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2351,1741,1812,1671,0,0,0,0,0,0,26.54,26.55,26.55
$GC,71000,-0.42,146.6,2065,2350,1811,1670,4269.9,3.4,937,71002,0.10,0.00,0.00,0.000,2054,0.099,0.000,2165,2351,1741,1811,1671,0,0,0,0,0,0,26.35,26.39,26.37
$GC,71359,-0.42,146.6,2171,2351,1812,1671,4249.0,5.3,940,71365,0.15,2.08,0.00,0.000,4612,0.146,0.052,2123,963,1740,1811,1670,0,0,0,0,0,0,26.03,26.15,26.10
$GC,71427,-0.42,146.6,2123,963,1811,1670,4249.0,5.3,940,71431,0.00,2.12,0.00,0.000,1030,0.000,0.050,2123,2364,1740,1811,1670,0,0,0,0,0,0,26.29,26.22,26.31
$GC,71835,-0.42,146.6,2122,2364,1811,1671,4226.9,4.6,944,71836,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2364,1740,1811,1670,0,0,0,0,0,0,26.59,26.60,26.60
$GC,72195,-0.42,146.6,2122,2364,1811,1671,4210.8,4.5,947,72196,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2364,1741,1811,1671,0,0,0,0,0,0,26.60,26.61,26.61
$GC,72555,-0.42,146.6,2122,2364,1811,1671,4196.0,4.2,950,72560,0.00,2.10,0.00,0.000,516,0.000,0.055,2132,968,1741,1811,1671,0,0,0,0,0,0,26.60,26.22,26.62
$GC,72611,-0.42,146.6,2132,968,1811,1670,4196.0,4.2,950,72615,0.00,2.10,0.00,0.000,1030,0.000,0.050,2132,2359,1740,1811,1670,0,0,0,0,0,0,26.29,26.22,26.32
$GC,73035,-0.42,146.6,2132,2360,1811,1671,4175.2,4.3,954,73036,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2360,1740,1811,1670,0,0,0,0,0,0,26.61,26.63,26.62
$GC,73395,-0.42,146.6,2131,2360,1811,1670,4159.7,4.3,957,73396,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2359,1740,1811,1670,0,0,0,0,0,0,26.61,26.63,26.63
$GC,73755,-0.42,146.6,2132,2359,1810,1670,4144.2,4.3,960,73756,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2360,1741,1811,1671,0,0,0,0,0,0,26.62,26.63,26.63
$GC,74115,-0.42,146.6,2131,2360,1811,1670,4129.0,4.2,963,74120,0.00,2.10,0.00,0.000,516,0.000,0.055,2140,968,1740,1811,1670,0,0,0,0,0,0,26.62,26.20,26.63
$GC,74176,-0.42,146.6,2139,968,1810,1670,4129.0,4.2,963,74180,0.00,2.12,0.00,0.000,1030,0.000,0.050,2140,2347,1740,1811,1670,0,0,0,0,0,0,26.24,26.21,26.27
$GC,74595,-0.42,146.6,2139,2347,1810,1671,4108.2,4.3,967,74596,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2348,1740,1810,1670,0,0,0,0,0,0,26.62,26.63,26.63
$GC,74955,-0.42,146.6,2139,2347,1810,1670,4092.7,4.3,970,74956,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2347,1740,1810,1671,0,0,0,0,0,0,26.62,26.63,26.63
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$GC,157171,0.55,322.5,2536,3758,1222,1053,32.6,13.8,1978,157182,0.35,2.08,0.00,0.000,5126,0.142,0.047,2421,2338,1137,1222,1053,0,0,0,0,0,0,25.72,26.32,25.81
$GC,157481,0.66,322.5,2420,2338,1222,1053,15.0,4.7,2009,157492,0.08,1.98,0.00,0.000,2564,0.129,0.052,2543,954,1137,1222,1052,0,0,0,0,0,0,26.44,26.23,26.45
$GC,157519,0.66,322.5,2543,954,1222,1052,13.1,5.4,2012,157529,0.22,2.10,0.00,0.000,5126,0.127,0.050,2461,2359,1137,1222,1053,0,0,0,0,0,0,25.87,26.25,25.94
$STATE,157747,end climb,SURFACE_DEPTH_REACHED
$STATE,157747,begin surface coast
$FINISH,0.3,0.998292
$STATE,157779,end surface coast,CONTROL_FINISHED_OK
$STATE,157779,begin surface
$SM_CCo,157851,0.00,0.000,0,0,1137,322.75
$SM_GC,1.93,5.60,0.00,0.00,0.047,0.000,0.000,174,2360,1137,-6.27,0.28,322.75,0,0,0,0,0,0,26.37,25.63,26.39
$IRIDIUM_FIX,3143.01,-6420.62,140408,123248
$TT8_MAMPS,0.019474,0.019474
$HUMID,61.18
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,22.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,4403.9,91.6
$24V_AH,19.91,46.699
$10V_AH,10.15,35.690
$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,21.225,657.650,475.050,0.000,95.600,28.873,21.630,296.855,15.000,0.000,34.037,7214.774,137298.000,940.217,12243.662,623.957,0.610,5498.079,0.000,11631.353,0.000,102.691,0.000
$DEVICE_MAMPS,260.715,69.524,4084.535,0.000,203.606,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1424.620,6652.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353576
$DATA_FILE_SIZE,126691,2038
$CAP_FILE_SIZE,789866,0
$CFSIZE,1024409600,988299264
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,155050.59,0x238a9a,7,5
$INTR,1,68242.73,0x238a9a,2,5
$INTR,2,157781.53,0x238a9a,7,5
$GPS,220615,140954,3125.412,-6400.692,38,1.5,38,-15.5,0.5,47.0,5,11.4