version: 66.12
glider: 36
mission: 20
dive: 15
start: 7 5 115 8 56 21
data:
$ID,36
$MISSION,20
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,4800
$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,1600
$T_MISSION,1620
$T_ABORT,2880
$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,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,117
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2500
$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,-978.67957
$PRESSURE_SLOPE,0.00091862795
$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,1500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$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,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,050715,084844,3209.6216,-6431.5317,24,1.0,65,-15.5,0.0,0.0,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.7
$GPS2,050715,085558,3209.6226,-6431.5503,15,1.1,55,-15.5,0.6,67.7,8,4.3
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,SS12
$TGT_LATLONG,3121.300,-6357.420
$TGT_RADIUS,9000.000
$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,164.4,104512,-19.7,-10.000,-22.23,2234
$D_GRID,4800
$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
$STATE,13,begin dive
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$GC,104,-1.01,-146.6,137,1756,2433,2821,3.5,-4.1,8,134,11.00,1.92,-13.07,0.109,18692,0.251,0.050,2962,3047,3009,2818,3200,0,0,0,0,0,0,25.59,25.84,25.73
$GC,395,-1.01,-146.6,2962,3047,2818,3200,51.6,-14.5,34,406,0.00,1.92,0.00,0.000,1030,0.000,0.047,2962,1707,3009,2819,3200,0,0,0,0,0,0,26.21,26.17,26.22
$GC,705,-1.01,-146.6,2962,1707,2818,3199,84.5,-8.9,65,716,0.00,2.05,0.00,0.000,516,0.000,0.060,2961,308,3009,2818,3200,0,0,0,0,0,0,26.54,26.27,26.55
$GC,752,-1.01,-146.6,2962,308,2818,3200,88.8,-9.6,69,755,0.00,1.92,0.00,0.000,1030,0.000,0.045,2953,1687,3009,2819,3200,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1064,-1.01,-146.6,2952,1695,2818,3200,120.1,-10.3,100,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1695,3009,2818,3200,0,0,0,0,0,0,26.65,26.67,26.66
$GC,1364,-1.01,-146.6,2953,1694,2819,3200,155.4,-12.1,128,1370,0.00,2.03,0.00,0.000,516,0.000,0.060,2953,312,3009,2819,3200,0,0,0,0,0,0,26.71,26.45,26.72
$GC,1426,-1.01,-146.6,2952,311,2818,3200,163.2,-12.3,131,1432,0.00,1.90,0.00,0.000,1030,0.000,0.045,2946,1696,3009,2818,3200,0,0,0,0,0,0,26.56,26.53,26.57
$GC,1746,-1.01,-146.6,2946,1696,2818,3200,201.3,-12.1,147,1752,0.00,1.98,0.00,0.000,260,0.000,0.055,2942,3078,3009,2819,3200,0,0,0,0,0,0,26.77,26.52,26.78
$GC,1800,-1.01,-146.6,2942,3077,2819,3200,206.1,-12.1,149,1810,0.10,2.00,0.00,0.000,3078,0.156,0.047,2974,1689,3009,2818,3200,0,0,0,0,0,0,26.36,26.55,26.44
$GC,2109,-1.06,-146.6,2974,1689,2818,3200,239.8,-10.4,165,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1689,3009,2818,3200,0,0,0,0,0,0,26.80,26.82,26.82
$GC,2411,-1.13,-146.6,2974,1689,2819,3200,271.5,-11.0,180,2412,0.05,0.00,0.00,0.000,4102,0.164,0.000,2927,1689,3009,2819,3200,0,0,0,0,0,0,26.65,26.67,26.66
$GC,2719,-1.13,-146.6,2927,1689,2818,3200,313.4,-13.8,194,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1689,3009,2818,3200,0,0,0,0,0,0,26.84,26.87,26.86
$GC,3019,-1.13,-146.6,2927,1689,2818,3200,355.1,-13.7,204,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1689,3009,2819,3200,0,0,0,0,0,0,26.86,26.89,26.88
$GC,3319,-1.13,-146.6,2927,1689,2819,3200,394.6,-13.0,214,3324,0.00,1.98,0.00,0.000,516,0.000,0.060,2927,311,3009,2819,3200,0,0,0,0,0,0,26.87,26.62,26.89
$GC,3387,-1.13,-146.6,2927,312,2819,3200,402.9,-13.2,216,3392,0.00,1.95,0.00,0.000,1030,0.000,0.045,2918,1705,3009,2819,3200,0,0,0,0,0,0,26.69,26.67,26.71
$GC,3713,-1.13,-146.6,2917,1704,2819,3200,446.5,-13.3,227,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1705,3009,2819,3200,0,0,0,0,0,0,26.89,26.91,26.90
$GC,4011,-1.13,-146.6,2918,1705,2819,3200,485.6,-13.2,237,4017,0.00,1.95,0.00,0.000,260,0.000,0.055,2908,3069,3009,2819,3200,0,0,0,0,0,0,26.89,26.65,26.91
$GC,4064,-1.13,-146.6,2907,3069,2819,3200,489.7,-13.2,238,4073,0.00,1.98,0.00,0.000,1030,0.000,0.047,2908,1704,3009,2819,3199,0,0,0,0,0,0,26.70,26.68,26.72
$GC,4372,-1.13,-146.6,2907,1704,2819,3200,533.4,-12.8,249,4378,0.00,2.03,0.00,0.000,516,0.000,0.060,2908,307,3009,2819,3200,0,0,0,0,0,0,26.90,26.64,26.92
$GC,4415,-1.13,-146.6,2907,307,2818,3200,537.3,-12.8,250,4419,0.12,1.95,0.00,0.000,3078,0.159,0.045,2940,1697,3009,2818,3201,0,0,0,0,0,0,26.48,26.70,26.57
$GC,4734,-1.19,-146.6,2940,1697,2819,3200,575.9,-11.5,261,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1697,3009,2819,3200,0,0,0,0,0,0,26.91,26.93,26.92
$GC,5034,-1.26,-146.6,2940,1697,2819,3200,612.3,-12.2,271,5036,0.08,0.00,0.00,0.000,4102,0.132,0.000,2873,1700,3009,2819,3200,0,0,0,0,0,0,26.70,26.74,26.73
$GC,5335,-1.26,-146.6,2873,1707,2818,3200,659.7,-16.1,281,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1708,3009,2819,3200,0,0,0,0,0,0,26.91,26.94,26.93
$GC,5634,-1.26,-146.6,2873,1708,2818,3200,706.4,-15.3,291,5639,0.00,2.03,0.00,0.000,516,0.000,0.060,2873,311,3009,2819,3200,0,0,0,0,0,0,26.91,26.65,26.93
$GC,5728,-1.26,-146.6,2873,312,2818,3199,721.7,-16.1,294,5733,0.00,1.90,0.00,0.000,1030,0.000,0.045,2864,1703,3009,2818,3200,0,0,0,0,0,0,26.74,26.71,26.76
$GC,6056,-1.26,-146.6,2863,1703,2818,3200,774.8,-16.2,305,6058,0.10,0.00,0.00,0.000,2054,0.189,0.000,2895,1706,3009,2819,3200,0,0,0,0,0,0,26.53,26.68,26.64
$GC,6356,-1.26,-146.6,2894,1706,2818,3200,818.2,-14.1,315,6362,0.00,1.95,0.00,0.000,260,0.000,0.052,2886,3068,3009,2818,3200,0,0,0,0,0,0,26.91,26.67,26.94
$GC,6388,-1.26,-146.6,2886,3068,2819,3200,822.5,-14.1,316,6393,0.00,1.98,0.00,0.000,1030,0.000,0.047,2886,1706,3009,2818,3200,0,0,0,0,0,0,26.72,26.70,26.73
$GC,6718,-1.26,-146.6,2886,1706,2818,3200,871.7,-14.5,327,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1706,3009,2818,3200,0,0,0,0,0,0,26.91,26.94,26.93
$GC,7017,-1.26,-146.6,2886,1706,2818,3200,917.7,-15.5,337,7023,0.00,2.00,0.00,0.000,516,0.000,0.060,2886,316,3009,2818,3200,0,0,0,0,0,0,26.91,26.64,26.93
$GC,7079,-1.26,-146.6,2886,315,2818,3200,927.4,-15.7,339,7084,0.00,1.90,0.00,0.000,1030,0.000,0.045,2884,1691,3009,2818,3200,0,0,0,0,0,0,26.75,26.72,26.77
$GC,7410,-1.26,-146.6,2884,1691,2818,3198,977.3,-15.2,350,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1691,3008,2818,3198,0,0,0,0,0,0,26.91,26.94,26.93
$GC,7739,-1.26,-146.6,2884,1691,2818,3196,1029.7,-16.2,358,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1691,3007,2818,3196,0,0,0,0,0,0,26.91,26.94,26.93
$GC,8039,-1.31,-146.6,2884,1691,2818,3194,1077.7,-15.9,363,8044,0.00,1.98,0.00,0.000,260,0.000,0.055,2874,3073,3006,2818,3194,0,0,0,0,0,0,26.90,26.65,26.92
$GC,8101,-1.36,-146.6,2874,3073,2818,3193,1087.3,-15.9,364,8105,0.00,2.00,0.00,0.000,1030,0.000,0.047,2874,1703,3005,2818,3193,0,0,0,0,0,0,26.71,26.69,26.72
$GC,8460,-1.36,-146.6,2874,1703,2818,3191,1144.8,-16.0,370,8465,0.00,2.03,0.00,0.000,516,0.000,0.060,2874,313,3004,2818,3191,0,0,0,0,0,0,26.90,26.63,26.92
$GC,8496,-1.36,-146.6,2874,313,2818,3190,1144.8,-16.0,370,8500,0.00,1.98,0.00,0.000,1030,0.000,0.045,2865,1698,3004,2818,3191,0,0,0,0,0,0,26.72,26.70,26.73
$GC,8820,-1.36,-146.6,2865,1698,2818,3189,1206.0,-17.0,376,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1699,3003,2818,3188,0,0,0,0,0,0,26.90,26.93,26.92
$GC,9121,-1.41,-146.6,2865,1699,2818,3186,1254.6,-16.1,381,9126,0.00,1.98,0.00,0.000,260,0.000,0.055,2855,3077,3002,2818,3186,0,0,0,0,0,0,26.89,26.65,26.91
$GC,9166,-1.46,-146.6,2855,3077,2818,3186,1254.6,-16.1,381,9170,0.00,1.98,0.00,0.000,1030,0.000,0.047,2856,1695,3001,2817,3185,0,0,0,0,0,0,26.72,26.67,26.74
$GC,9480,-1.46,-146.6,2855,1695,2814,3185,1311.0,-15.6,387,9486,0.00,2.00,0.00,0.000,516,0.000,0.060,2855,316,2999,2814,3185,0,0,0,0,0,0,26.89,26.63,26.91
$GC,9521,-1.46,-146.6,2855,316,2813,3185,1311.0,-15.6,387,9525,0.00,1.98,0.00,0.000,1030,0.000,0.045,2848,1694,2999,2813,3185,0,0,0,0,0,0,26.71,26.68,26.72
$GC,9840,-1.46,-146.6,2848,1694,2813,3183,1367.6,-15.6,393,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1695,2998,2813,3183,0,0,0,0,0,0,26.89,26.92,26.91
$GC,10140,-1.52,-146.6,2848,1694,2811,3182,1413.4,-15.3,398,10146,0.05,1.98,0.00,0.000,4356,0.166,0.052,2795,3073,2996,2811,3182,0,0,0,0,0,0,26.70,26.63,26.73
$GC,10187,-1.57,-146.6,2795,3073,2811,3181,1413.4,-15.3,398,10190,0.00,1.98,0.00,0.000,1030,0.000,0.047,2795,1696,2996,2811,3181,0,0,0,0,0,0,26.71,26.66,26.73
$GC,10500,-1.57,-146.6,2795,1695,2810,3180,1476.9,-17.8,404,10506,0.00,2.05,0.00,0.000,516,0.000,0.060,2795,302,2995,2810,3180,0,0,0,0,0,0,26.89,26.61,26.91
$GC,10536,-1.57,-146.6,2795,302,2809,3180,1476.9,-17.8,404,10540,0.00,2.03,0.00,0.000,1030,0.000,0.045,2786,1702,2995,2810,3180,0,0,0,0,0,0,26.70,26.68,26.71
$GC,10861,-1.57,-146.6,2786,1703,2809,3179,1542.4,-18.1,410,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1703,2994,2809,3179,0,0,0,0,0,0,26.86,26.89,26.88
$GC,11162,-1.57,-146.6,2786,1703,2809,3178,1596.3,-17.9,415,11167,0.00,2.00,0.00,0.000,260,0.000,0.055,2776,3079,2993,2808,3178,0,0,0,0,0,0,26.86,26.63,26.89
$GC,11207,-1.57,-146.6,2776,3080,2809,3177,1596.3,-17.9,415,11211,0.00,2.05,0.00,0.000,1030,0.000,0.047,2776,1689,2993,2809,3177,0,0,0,0,0,0,26.67,26.65,26.70
$GC,11527,-1.57,-146.6,2776,1689,2807,3176,1663.5,-18.5,421,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1689,2991,2807,3176,0,0,0,0,0,0,26.85,26.88,26.87
$GC,11828,-1.57,-146.6,2776,1689,2805,3175,1718.7,-18.4,426,11833,0.00,2.03,0.00,0.000,516,0.000,0.060,2776,309,2990,2806,3175,0,0,0,0,0,0,26.86,26.60,26.88
$GC,11872,-1.57,-146.6,2776,309,2805,3175,1718.7,-18.4,426,11877,0.00,2.03,0.00,0.000,1030,0.000,0.045,2768,1705,2990,2805,3176,0,0,0,0,0,0,26.68,26.66,26.70
$GC,12192,-1.57,-146.6,2768,1706,2805,3175,1786.8,-18.5,432,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1706,2990,2805,3175,0,0,0,0,0,0,26.84,26.87,26.86
$GC,12494,-1.57,-146.6,2767,1706,2803,3173,1840.5,-17.9,437,12499,0.00,2.00,0.00,0.000,260,0.000,0.055,2758,3077,2989,2804,3174,0,0,0,0,0,0,26.86,26.60,26.88
$GC,12533,-1.57,-146.6,2758,3077,2804,3173,1840.5,-17.9,437,12538,0.12,2.05,0.00,0.000,3078,0.156,0.047,2798,1686,2988,2804,3173,0,0,0,0,0,0,26.40,26.64,26.49
$GC,12859,-1.62,-146.6,2798,1685,2803,3172,1898.0,-15.3,443,12865,0.00,2.00,0.00,0.000,516,0.000,0.062,2798,317,2987,2803,3172,0,0,0,0,0,0,26.85,26.58,26.87
$GC,12910,-1.68,-146.6,2798,317,2802,3172,1898.0,-15.3,443,12922,0.00,2.00,0.00,0.000,1030,0.000,0.047,2791,1708,2987,2802,3172,0,0,0,0,0,0,26.67,26.65,26.69
$GC,13219,-1.68,-146.6,2790,1708,2802,3172,1952.7,-15.0,449,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1708,2987,2802,3172,0,0,0,0,0,0,26.84,26.86,26.86
$GC,13521,-1.73,-146.6,2791,1708,2802,3171,1997.1,-14.8,454,13527,0.08,1.95,0.00,0.000,4356,0.122,0.052,2718,3066,2986,2802,3171,0,0,0,0,0,0,26.67,26.60,26.68
$GC,13559,-1.78,-146.6,2719,3068,2802,3170,1997.1,-14.8,454,13563,0.00,1.98,0.00,0.000,1030,0.000,0.047,2719,1698,2986,2802,3170,0,0,0,0,0,0,26.68,26.63,26.70
$GC,13878,-1.78,-146.6,2718,1697,2801,3170,2061.8,-18.4,460,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1697,2985,2801,3170,0,0,0,0,0,0,26.84,26.86,26.86
$GC,14179,-1.78,-146.6,2718,1697,2801,3170,2116.1,-18.1,465,14183,0.00,2.08,0.00,0.000,516,0.000,0.060,2719,303,2985,2801,3170,0,0,0,0,0,0,26.85,26.58,26.87
$GC,14233,-1.78,-146.6,2718,303,2800,3170,2116.1,-18.1,465,14243,0.00,2.00,0.00,0.000,1030,0.000,0.047,2714,1679,2985,2800,3170,0,0,0,0,0,0,26.67,26.65,26.68
$GC,14543,-1.78,-146.6,2713,1679,2800,3170,2182.9,-18.1,471,14548,0.00,2.08,0.00,0.000,260,0.000,0.055,2703,3093,2985,2800,3170,0,0,0,0,0,0,26.84,26.59,26.86
$GC,14609,-1.78,-146.6,2703,3093,2799,3169,2194.8,-18.2,472,14614,0.00,2.00,0.00,0.000,1030,0.000,0.047,2703,1693,2984,2800,3169,0,0,0,0,0,0,26.65,26.63,26.67
$GC,14970,-1.78,-146.6,2703,1693,2799,3169,2262.0,-18.7,478,14975,0.00,2.05,0.00,0.000,516,0.000,0.060,2703,301,2984,2799,3169,0,0,0,0,0,0,26.84,26.57,26.86
$GC,15014,-1.78,-146.6,2703,301,2798,3169,2262.0,-18.7,478,15019,0.10,2.05,0.00,0.000,3078,0.171,0.045,2726,1710,2983,2798,3169,0,0,0,0,0,0,26.36,26.63,26.45
$GC,15335,-1.78,-146.6,2725,1711,2797,3169,2325.5,-16.7,484,15340,0.00,2.00,0.00,0.000,260,0.000,0.057,2717,3083,2983,2797,3169,0,0,0,0,0,0,26.84,26.58,26.86
$GC,15375,-1.78,-146.6,2717,3084,2798,3168,2325.5,-16.7,484,15379,0.00,2.05,0.00,0.000,1030,0.000,0.050,2717,1699,2983,2798,3169,0,0,0,0,0,0,26.64,26.61,26.66
$GC,15695,-1.78,-146.6,2716,1699,2798,3168,2386.6,-16.9,490,15696,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1699,2983,2798,3168,0,0,0,0,0,0,26.84,26.86,26.85
$GC,15995,-1.78,-146.6,2717,1699,2797,3167,2436.8,-16.8,495,15996,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1699,2982,2798,3167,0,0,0,0,0,0,26.83,26.86,26.85
$GC,16296,-1.78,-146.6,2717,1699,2798,3166,2485.7,-16.3,500,16301,0.00,2.05,0.00,0.000,516,0.000,0.062,2717,301,2982,2798,3166,0,0,0,0,0,0,26.84,26.55,26.86
$GC,16346,-1.78,-146.6,2717,301,2796,3166,2485.7,-16.3,500,16356,0.00,2.03,0.00,0.000,1030,0.000,0.047,2708,1698,2981,2796,3166,0,0,0,0,0,0,26.64,26.61,26.65
$GC,16656,-1.78,-146.6,2708,1699,2796,3166,2546.0,-16.4,506,16657,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1699,2981,2796,3166,0,0,0,0,0,0,26.82,26.85,26.84
$GC,16958,-1.78,-146.6,2708,1699,2796,3166,2594.1,-16.0,511,16963,0.00,2.00,0.00,0.000,260,0.000,0.057,2698,3078,2981,2796,3166,0,0,0,0,0,0,26.84,26.57,26.85
$GC,17017,-1.78,-146.6,2698,3078,2796,3165,2603.8,-16.0,512,17023,0.00,1.98,0.00,0.000,1030,0.000,0.050,2698,1700,2980,2796,3165,0,0,0,0,0,0,26.63,26.60,26.65
$GC,17377,-1.78,-146.6,2698,1700,2796,3165,2661.4,-15.9,518,17379,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1700,2980,2796,3165,0,0,0,0,0,0,26.82,26.85,26.84
$GC,17678,-1.78,-146.6,2698,1700,2796,3164,2708.3,-15.6,523,17681,0.00,2.08,0.00,0.000,516,0.000,0.062,2698,311,2980,2796,3165,0,0,0,0,0,0,26.82,26.54,26.84
$GC,17716,-1.78,-146.6,2697,306,2795,3165,2708.3,-15.6,523,17721,0.12,2.03,0.00,0.000,3078,0.164,0.047,2729,1697,2980,2795,3165,0,0,0,0,0,0,26.32,26.60,26.41
$GC,18044,-1.85,-146.6,2729,1698,2795,3164,2760.7,-14.0,529,18049,0.00,2.00,0.00,0.000,260,0.000,0.057,2721,3076,2980,2795,3165,0,0,0,0,0,0,26.84,26.55,26.86
$GC,18094,-1.92,-146.6,2721,3076,2795,3164,2760.7,-14.0,529,18103,0.03,2.05,0.00,0.000,5126,0.149,0.050,2677,1695,2980,2795,3165,0,0,0,0,0,0,26.48,26.59,26.52
$GC,18405,-1.92,-146.6,2678,1695,2795,3164,2819.5,-16.7,535,18406,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1694,2979,2795,3164,0,0,0,0,0,0,26.83,26.86,26.85
$GC,18704,-1.92,-146.6,2677,1695,2795,3164,2868.7,-16.5,540,18709,0.00,2.03,0.00,0.000,516,0.000,0.062,2676,309,2979,2795,3164,0,0,0,0,0,0,26.82,26.53,26.84
$GC,18739,-1.92,-146.6,2677,309,2794,3164,2868.7,-16.5,540,18743,0.00,2.03,0.00,0.000,1030,0.000,0.047,2668,1699,2979,2794,3164,0,0,0,0,0,0,26.63,26.60,26.64
$GC,19064,-1.92,-146.6,2668,1700,2794,3164,2928.6,-16.5,546,19070,0.00,2.03,0.00,0.000,260,0.000,0.057,2658,3084,2979,2794,3164,0,0,0,0,0,0,26.82,26.55,26.84
$GC,19124,-1.92,-146.6,2658,3084,2794,3163,2938.8,-16.5,547,19129,0.00,2.00,0.00,0.000,1030,0.000,0.050,2658,1696,2979,2795,3164,0,0,0,0,0,0,26.62,26.59,26.63
$GC,19484,-1.92,-146.6,2658,1696,2794,3164,2997.4,-16.0,553,19485,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1696,2979,2794,3164,0,0,0,0,0,0,26.81,26.84,26.84
$GC,19786,-1.92,-146.6,2658,1696,2794,3163,3044.3,-15.5,558,19791,0.00,2.03,0.00,0.000,516,0.000,0.062,2658,313,2978,2794,3163,0,0,0,0,0,0,26.82,26.53,26.84
$GC,19831,-1.92,-146.6,2658,313,2794,3164,3044.3,-15.5,558,19835,0.10,2.03,0.00,0.000,3078,0.169,0.047,2683,1702,2978,2794,3163,0,0,0,0,0,0,26.31,26.60,26.40
$GC,20147,-1.92,-146.6,2683,1702,2794,3163,3095.7,-13.8,564,20148,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1702,2978,2794,3163,0,0,0,0,0,0,26.82,26.85,26.84
$GC,20446,-1.97,-146.6,2682,1702,2794,3163,3136.6,-13.6,569,20451,0.00,2.03,0.00,0.000,260,0.000,0.057,2675,3087,2978,2794,3163,0,0,0,0,0,0,26.82,26.54,26.84
$GC,20497,-2.02,-146.6,2675,3087,2794,3163,3136.6,-13.6,569,20508,0.00,2.08,0.00,0.000,1030,0.000,0.050,2675,1698,2978,2794,3162,0,0,0,0,0,0,26.61,26.58,26.63
$GC,20806,-2.02,-146.6,2675,1697,2794,3163,3185.4,-13.7,575,20807,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1697,2978,2794,3163,0,0,0,0,0,0,26.82,26.84,26.84
$GC,21107,-2.07,-146.6,2675,1698,2793,3163,3226.1,-13.6,580,21108,0.05,0.00,0.00,0.000,4102,0.161,0.000,2629,1697,2978,2793,3163,0,0,0,0,0,0,26.64,26.69,26.67
$GC,21406,-2.07,-146.6,2629,1697,2794,3162,3273.0,-15.8,585,21408,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1697,2978,2794,3163,0,0,0,0,0,0,26.82,26.84,26.84
$GC,21705,-2.07,-146.6,2629,1697,2794,3162,3319.9,-15.8,590,21706,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1697,2978,2794,3162,0,0,0,0,0,0,26.84,26.87,26.86
$GC,22006,-2.07,-146.6,2629,1697,2794,3162,3366.1,-15.4,595,22008,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1697,2978,2794,3162,0,0,0,0,0,0,26.85,26.87,26.87
$GC,22305,-2.07,-146.6,2629,1697,2794,3162,3410.1,-14.6,600,22306,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1697,2977,2794,3161,0,0,0,0,0,0,26.85,26.88,26.87
$STATE,22544,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,22544,begin apogee
$GC,22547,-0.24,0.0,2629,1697,2794,3162,3444.6,-14.4,604,22674,1.75,0.00,121.97,3.186,10246,0.132,0.000,3225,1696,2500,2332,2668,0,0,0,0,0,0,26.29,23.19,21.35
$STATE,22675,end apogee,CONTROL_FINISHED_OK
$STATE,22675,begin climb
$GC,22676,1.01,146.6,3224,1696,2332,2668,3449.7,0.0,606,22812,1.12,2.45,127.72,3.141,10756,0.072,0.074,3657,313,1994,1830,2158,0,0,0,0,0,0,23.79,22.14,20.29
$GC,23109,0.47,146.6,3657,313,1828,2158,3417.4,16.2,613,23115,0.80,2.12,0.00,0.000,5126,0.236,0.045,3456,1728,1993,1828,2158,0,0,0,0,0,0,24.87,25.19,25.09
$GC,23444,0.14,146.6,3456,1728,1828,2158,3373.8,11.5,619,23450,0.35,2.17,0.00,0.000,4612,0.211,0.057,3360,307,1992,1828,2157,0,0,0,0,0,0,25.41,25.63,25.55
$GC,23735,-0.12,146.6,3360,307,1827,2158,3349.7,9.9,623,23740,0.22,2.05,0.00,0.000,5126,0.189,0.047,3280,1707,1992,1827,2158,0,0,0,0,0,0,25.68,25.94,25.86
$GC,24050,-0.23,210.7,3280,1707,1827,2157,3322.6,7.1,629,24119,0.17,0.00,66.43,3.081,12294,0.191,0.000,3227,1708,1773,1662,1885,0,0,0,0,0,0,25.84,23.65,21.76
$GC,24409,-0.23,210.7,3227,1708,1662,1884,3290.4,9.6,635,24414,0.00,2.15,0.00,0.000,516,0.000,0.062,3236,316,1773,1663,1884,0,0,0,0,0,0,25.75,25.51,25.77
$GC,24532,-0.23,210.7,3236,316,1662,1884,3278.4,9.7,637,24537,0.00,2.05,0.00,0.000,1030,0.000,0.047,3236,1679,1773,1662,1884,0,0,0,0,0,0,25.73,25.71,25.75
$GC,24892,-0.23,210.7,3236,1679,1662,1884,3243.9,9.3,643,24897,0.00,2.08,0.00,0.000,516,0.000,0.062,3245,314,1773,1662,1884,0,0,0,0,0,0,26.20,25.95,26.22
$GC,25005,-0.28,210.7,3244,314,1662,1885,3238.3,9.4,644,25014,0.12,2.08,0.00,0.000,5126,0.166,0.050,3207,1723,1773,1663,1884,0,0,0,0,0,0,25.84,26.05,25.94
$GC,25313,-0.28,210.7,3206,1724,1662,1884,3207.7,8.1,650,25318,0.00,2.15,0.00,0.000,516,0.000,0.062,3214,317,1773,1662,1884,0,0,0,0,0,0,26.38,26.11,26.39
$GC,25405,-0.28,210.7,3214,317,1662,1884,3202.6,8.2,651,25410,0.00,2.03,0.00,0.000,1030,0.000,0.047,3215,1684,1773,1662,1885,0,0,0,0,0,0,26.22,26.20,26.23
$GC,25734,-0.28,210.7,3214,1684,1662,1884,3172.8,8.2,657,25738,0.00,2.12,0.00,0.000,516,0.000,0.062,3224,316,1773,1662,1885,0,0,0,0,0,0,26.48,26.22,26.50
$GC,25798,-0.28,210.7,3224,304,1662,1884,3167.3,8.2,658,25803,0.00,2.08,0.00,0.000,1030,0.000,0.047,3225,1713,1773,1662,1884,0,0,0,0,0,0,26.30,26.27,26.32
$GC,26158,-0.28,210.7,3224,1713,1662,1884,3136.6,8.4,664,26163,0.00,2.12,0.00,0.000,516,0.000,0.062,3234,306,1773,1662,1884,0,0,0,0,0,0,26.55,26.28,26.57
$GC,26250,-0.28,210.7,3234,306,1662,1884,3131.2,8.4,665,26254,0.00,2.05,0.00,0.000,1030,0.000,0.047,3234,1703,1774,1663,1885,0,0,0,0,0,0,26.36,26.34,26.38
$GC,26579,-0.28,210.7,3234,1703,1663,1884,3100.7,8.3,671,26580,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1703,1773,1662,1884,0,0,0,0,0,0,26.60,26.63,26.62
$GC,26879,-0.28,210.7,3234,1703,1662,1884,3076.3,8.1,676,26884,0.00,2.08,0.00,0.000,516,0.000,0.062,3244,318,1773,1662,1884,0,0,0,0,0,0,26.63,26.36,26.65
$GC,27001,-0.28,210.7,3244,318,1662,1884,3065.7,8.5,678,27007,0.10,1.95,0.00,0.000,5126,0.166,0.047,3212,1718,1773,1662,1885,0,0,0,0,0,0,26.20,26.42,26.29
$GC,27361,-0.27,269.8,3212,1718,1662,1884,3039.1,7.3,684,27436,0.00,2.40,69.47,2.940,8708,0.000,0.079,3220,313,1571,1534,1608,0,0,0,0,0,0,26.66,23.89,22.15
$GC,27554,-0.27,269.8,3220,313,1533,1607,3022.8,8.5,687,27559,0.00,2.10,0.00,0.000,1030,0.000,0.047,3220,1685,1570,1533,1608,0,0,0,0,0,0,25.29,25.26,25.30
$GC,27903,-0.27,269.8,3220,1685,1533,1607,2987.2,9.9,693,27909,0.00,2.17,0.00,0.000,516,0.000,0.062,3230,302,1570,1533,1608,0,0,0,0,0,0,26.02,25.76,26.03
$GC,27981,-0.27,269.8,3229,301,1533,1608,2980.9,10.1,694,27985,0.00,2.10,0.00,0.000,1030,0.000,0.047,3230,1704,1570,1533,1607,0,0,0,0,0,0,25.89,25.86,25.90
$GC,28325,-0.27,269.8,3230,1705,1533,1608,2945.2,9.8,700,28326,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1704,1570,1533,1608,0,0,0,0,0,0,26.27,26.30,26.29
$GC,28624,-0.27,269.8,3230,1705,1533,1607,2916.7,9.5,705,28628,0.00,2.15,0.00,0.000,516,0.000,0.062,3240,335,1570,1533,1608,0,0,0,0,0,0,26.39,26.13,26.40
$GC,28756,-0.27,269.8,3240,313,1533,1608,2904.7,9.5,707,28760,0.00,2.00,0.00,0.000,1030,0.000,0.047,3240,1703,1570,1533,1607,0,0,0,0,0,0,26.25,26.20,26.27
$GC,29109,-0.27,269.8,3240,1703,1533,1608,2872.0,8.9,713,29114,0.00,2.10,0.00,0.000,516,0.000,0.062,3250,314,1570,1533,1608,0,0,0,0,0,0,26.50,26.23,26.51
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$STATE,55009,end climb,SURFACE_DEPTH_REACHED
$STATE,55009,begin surface coast
$FINISH,0.9,1.023747
$STATE,55040,end surface coast,CONTROL_FINISHED_OK
$STATE,55040,begin surface
$SM_CCo,55115,0.00,0.000,0,0,1035,425.57
$SM_GC,1.73,8.35,0.00,0.00,0.052,0.000,0.000,174,1728,1035,-9.64,0.79,425.57,0,0,0,0,0,0,26.65,26.89,26.68
$IRIDIUM_FIX,3153.16,-6432.09,300408,142629
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.75
$INTERNAL_PRESSURE,8.92684
$TCM_TEMP,20.10
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,3338.3,127.7
$24V_AH,20.29,10.471
$10V_AH,9.85,6.567
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.875,408.325,553.475,0.000,97.150,24.101,37.100,227.464,57.000,0.000,56.084,4414.634,42227.125,790.167,7886.990,223.747,0.000,3570.230,0.000,7250.427,0.000,344.268,0.000
$DEVICE_MAMPS,250.783,79.456,3185.689,0.000,109.252,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.089,4386.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330656
$DATA_FILE_SIZE,83509,1346
$CAP_FILE_SIZE,431425,0
$CFSIZE,1024409600,1018118144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060715,001645,3200.700,-6430.616,33,2.7,73,-15.4,0.0,277.7,9,4.1