version: 66.12
glider: 36
mission: 20
dive: 29
start: 7 18 115 14 10 43
data:
$ID,36
$MISSION,20
$DIVE,29
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,3000
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,12
$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,250
$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,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3150
$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,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,163
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2200
$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,4000
$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
$GPS1,180715,135715,3142.3108,-6427.0586,31,1.0,71,-15.4,0.4,93.4,9,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.9
$GPS2,180715,141016,3142.3267,-6427.0723,10,0.9,50,-15.4,0.0,0.0,9,4.1
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,SS02
$TGT_LATLONG,3158.680,-6422.860
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.026898,0.202901
$KALMAN_X,2963.598877,0.000000,0.000000,-24327.824219,985.423584
$KALMAN_Y,-9657.720703,0.000000,0.000000,21618.353516,-9803.761719
$MHEAD_RNG_PITCHd_Wd,23.0,31001,-12.4,-6.000,-16.34,3687
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,465,-0.41,-146.6,2937,301,2516,2896,42.0,-8.4,40,476,0.25,1.88,0.00,0.000,3078,0.174,0.045,3014,1654,2706,2516,2896,0,0,0,0,0,0,26.08,26.45,26.18
$GC,774,-0.30,-146.6,3014,1653,2516,2896,54.0,-4.3,71,785,0.08,1.95,0.00,0.000,2564,0.201,0.055,3048,303,2706,2516,2896,0,0,0,0,0,0,26.35,26.45,26.40
$GC,1114,-0.21,-146.6,3048,303,2516,2896,65.5,-3.5,101,1125,0.10,1.92,0.00,0.000,3078,0.161,0.045,3080,1726,2706,2516,2896,0,0,0,0,0,0,26.34,26.61,26.41
$GC,1423,-0.21,-146.6,3080,1726,2516,2896,77.9,-4.2,132,1433,0.00,2.05,0.00,0.000,516,0.000,0.057,3080,309,2706,2516,2896,0,0,0,0,0,0,26.85,26.56,26.86
$GC,1762,-0.21,-146.6,3080,309,2516,2896,92.8,-5.5,162,1772,0.00,1.85,0.00,0.000,1030,0.000,0.045,3074,1688,2706,2516,2896,0,0,0,0,0,0,26.72,26.70,26.73
$GC,2072,-0.21,-146.6,3074,1688,2516,2896,105.4,-3.6,193,2082,0.00,2.00,0.00,0.000,516,0.000,0.057,3074,301,2706,2516,2896,0,0,0,0,0,0,26.89,26.61,26.91
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$GC,2473,-0.21,-146.6,3070,1726,2515,2896,122.0,-4.7,232,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1725,2706,2516,2896,0,0,0,0,0,0,26.90,26.93,26.92
$GC,2774,-0.21,-146.6,3070,1725,2515,2896,137.2,-4.7,262,2784,0.00,1.88,0.00,0.000,260,0.000,0.052,3061,3048,2706,2516,2896,0,0,0,0,0,0,26.91,26.65,26.93
$GC,2865,-0.21,-146.6,3060,3048,2516,2897,142.1,-5.0,270,2875,0.00,1.90,0.00,0.000,1030,0.000,0.047,3061,1680,2706,2516,2896,0,0,0,0,0,0,26.73,26.70,26.74
$GC,3175,-0.21,-146.6,3060,1680,2516,2896,161.0,-6.5,293,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1680,2705,2515,2896,0,0,0,0,0,0,26.91,26.94,26.93
$GC,3475,-0.21,-146.6,3060,1680,2516,2896,180.8,-6.4,308,3480,0.00,1.95,0.00,0.000,516,0.000,0.060,3061,307,2706,2516,2896,0,0,0,0,0,0,26.91,26.63,26.94
$GC,3537,-0.21,-146.6,3060,308,2516,2896,185.4,-7.1,311,3543,0.00,1.88,0.00,0.000,1030,0.000,0.045,3056,1696,2706,2516,2896,0,0,0,0,0,0,26.75,26.72,26.76
$GC,3858,-0.21,-146.6,3056,1696,2516,2896,206.1,-6.7,327,3863,0.00,1.92,0.00,0.000,260,0.000,0.052,3046,3056,2706,2516,2896,0,0,0,0,0,0,26.92,26.65,26.94
$GC,3962,-0.21,-146.6,3046,3056,2516,2896,212.9,-6.7,332,3968,0.08,1.90,0.00,0.000,3078,0.176,0.047,3079,1684,2706,2516,2896,0,0,0,0,0,0,26.48,26.70,26.55
$GC,4282,-0.21,-146.6,3078,1684,2515,2896,230.6,-5.3,348,4288,0.00,1.95,0.00,0.000,516,0.000,0.060,3079,325,2706,2516,2896,0,0,0,0,0,0,26.92,26.63,26.94
$GC,4368,-0.21,-146.6,3079,325,2516,2896,235.2,-5.5,352,4373,0.00,1.90,0.00,0.000,1030,0.000,0.042,3073,1697,2705,2515,2896,0,0,0,0,0,0,26.74,26.73,26.75
$GC,4687,-0.21,-146.6,3073,1697,2516,2896,252.5,-5.5,368,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1697,2706,2516,2896,0,0,0,0,0,0,26.92,26.94,26.94
$GC,4989,-0.21,-146.6,3073,1698,2516,2896,268.6,-5.3,383,4994,0.00,1.95,0.00,0.000,260,0.000,0.055,3067,3081,2705,2516,2895,0,0,0,0,0,0,26.92,26.65,26.94
$GC,5057,-0.21,-146.6,3067,3081,2516,2896,271.8,-5.1,386,5062,0.00,1.98,0.00,0.000,1030,0.000,0.045,3067,1695,2705,2515,2896,0,0,0,0,0,0,26.72,26.70,26.73
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$GC,5681,-0.21,-146.6,3067,1695,2516,2896,305.9,-5.9,416,5687,0.00,1.95,0.00,0.000,516,0.000,0.060,3067,326,2705,2515,2896,0,0,0,0,0,0,26.92,26.63,26.94
$GC,5760,-0.21,-146.6,3067,326,2516,2896,309.5,-5.7,418,5764,0.00,1.90,0.00,0.000,1030,0.000,0.045,3061,1699,2705,2516,2895,0,0,0,0,0,0,26.73,26.72,26.74
$GC,6074,-0.21,-146.6,3060,1699,2515,2895,329.8,-6.1,429,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1699,2705,2516,2895,0,0,0,0,0,0,26.92,26.94,26.94
$GC,6374,-0.21,-146.6,3060,1699,2515,2896,349.4,-6.5,439,6379,0.00,1.95,0.00,0.000,260,0.000,0.052,3057,3067,2705,2516,2895,0,0,0,0,0,0,26.92,26.65,26.94
$GC,6452,-0.21,-146.6,3057,3067,2515,2896,353.0,-6.1,441,6456,0.00,1.95,0.00,0.000,1030,0.000,0.045,3057,1703,2705,2516,2895,0,0,0,0,0,0,26.72,26.70,26.73
$GC,6766,-0.21,-146.6,3057,1703,2515,2895,374.3,-6.4,452,6771,0.00,1.98,0.00,0.000,516,0.000,0.060,3057,320,2705,2515,2895,0,0,0,0,0,0,26.92,26.63,26.94
$GC,6897,-0.21,-146.6,3056,320,2515,2895,382.8,-7.0,456,6901,0.00,1.92,0.00,0.000,1030,0.000,0.045,3051,1704,2705,2515,2895,0,0,0,0,0,0,26.76,26.72,26.77
$GC,7221,-0.21,-146.6,3052,1704,2516,2892,402.9,-6.0,467,7226,0.00,1.95,0.00,0.000,260,0.000,0.052,3046,3073,2703,2515,2892,0,0,0,0,0,0,26.92,26.65,26.94
$GC,7289,-0.21,-146.6,3046,3073,2515,2892,406.5,-6.0,469,7294,0.10,1.95,0.00,0.000,3078,0.134,0.045,3084,1696,2703,2515,2892,0,0,0,0,0,0,26.48,26.70,26.55
$GC,7614,-0.29,-146.6,3083,1696,2516,2892,422.8,-4.9,480,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1696,2703,2516,2891,0,0,0,0,0,0,26.92,26.94,26.94
$GC,7914,-0.37,-146.6,3083,1696,2516,2892,438.1,-5.2,490,7920,0.08,1.92,0.00,0.000,4612,0.124,0.057,2996,332,2703,2515,2892,0,0,0,0,0,0,26.74,26.63,26.74
$GC,7992,-0.37,-146.6,2996,332,2516,2892,443.1,-6.5,492,7997,0.12,1.90,0.00,0.000,3078,0.149,0.045,3036,1714,2703,2515,2892,0,0,0,0,0,0,26.44,26.71,26.51
$GC,8306,-0.37,-146.6,3035,1714,2515,2890,465.8,-6.5,503,8311,0.00,1.90,0.00,0.000,260,0.000,0.052,3028,3052,2703,2516,2890,0,0,0,0,0,0,26.92,26.65,26.94
$GC,8367,-0.37,-146.6,3027,3052,2515,2890,470.0,-6.7,505,8373,0.00,1.88,0.00,0.000,1030,0.000,0.047,3028,1704,2703,2516,2890,0,0,0,0,0,0,26.74,26.70,26.74
$GC,8699,-0.37,-146.6,3027,1703,2515,2890,491.7,-6.5,516,8704,0.00,1.98,0.00,0.000,516,0.000,0.060,3028,317,2702,2515,2889,0,0,0,0,0,0,26.92,26.63,26.94
$GC,8812,-0.37,-146.6,3027,317,2515,2889,498.2,-7.0,519,8822,0.00,1.90,0.00,0.000,1030,0.000,0.042,3020,1679,2702,2515,2889,0,0,0,0,0,0,26.74,26.72,26.74
$GC,9121,-0.37,-146.6,3020,1679,2515,2888,522.1,-7.0,530,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1679,2701,2515,2888,0,0,0,0,0,0,26.92,26.94,26.94
$GC,9421,-0.37,-146.6,3020,1679,2515,2888,543.2,-7.0,540,9427,0.00,1.98,0.00,0.000,260,0.000,0.052,3010,3072,2702,2516,2888,0,0,0,0,0,0,26.92,26.65,26.94
$GC,9500,-0.37,-146.6,3010,3072,2516,2888,547.6,-6.9,542,9504,0.00,1.98,0.00,0.000,1030,0.000,0.045,3010,1695,2701,2515,2888,0,0,0,0,0,0,26.71,26.69,26.72
$GC,9815,-0.37,-146.6,3010,1695,2516,2888,572.2,-7.7,553,9821,0.00,1.98,0.00,0.000,516,0.000,0.060,3010,310,2701,2515,2887,0,0,0,0,0,0,26.92,26.62,26.94
$GC,9907,-0.37,-146.6,3010,310,2515,2887,580.0,-8.4,556,9912,0.00,1.92,0.00,0.000,1030,0.000,0.045,3003,1713,2701,2515,2887,0,0,0,0,0,0,26.74,26.71,26.74
$GC,10237,-0.37,-146.6,3002,1713,2515,2888,606.0,-7.9,567,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1713,2701,2515,2888,0,0,0,0,0,0,26.92,26.94,26.94
$GC,10537,-0.37,-146.6,3002,1713,2515,2887,631.3,-8.5,577,10542,0.00,1.92,0.00,0.000,260,0.000,0.052,2993,3065,2701,2515,2888,0,0,0,0,0,0,26.91,26.64,26.94
$GC,10598,-0.37,-146.6,2993,3065,2515,2887,636.5,-8.6,579,10604,0.10,1.92,0.00,0.000,3078,0.142,0.047,3029,1680,2701,2515,2887,0,0,0,0,0,0,26.45,26.69,26.53
$GC,10929,-0.37,-146.6,3029,1680,2515,2886,661.0,-7.3,590,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1680,2700,2515,2886,0,0,0,0,0,0,26.91,26.94,26.94
$GC,11228,-0.37,-146.6,3029,1680,2515,2885,681.0,-6.3,600,11234,0.00,1.95,0.00,0.000,516,0.000,0.060,3029,327,2700,2515,2885,0,0,0,0,0,0,26.91,26.61,26.94
$GC,11354,-0.37,-146.6,3029,326,2516,2885,689.4,-6.9,604,11358,0.00,1.92,0.00,0.000,1030,0.000,0.042,3026,1709,2700,2515,2885,0,0,0,0,0,0,26.72,26.70,26.72
$GC,11684,-0.37,-146.6,3025,1710,2516,2883,711.6,-6.8,615,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1710,2699,2516,2883,0,0,0,0,0,0,26.91,26.94,26.93
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$GC,45662,-1.10,-146.6,2772,1708,2484,2843,3541.0,-5.9,1237,45663,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1708,2663,2484,2843,0,0,0,0,0,0,26.81,26.84,26.83
$GC,45962,-1.10,-146.6,2772,1707,2484,2843,3558.5,-5.8,1242,45963,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1708,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.83
$GC,46262,-1.10,-146.6,2772,1707,2484,2842,3575.4,-5.7,1247,46263,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1707,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.83
$GC,46562,-1.10,-146.6,2772,1707,2484,2843,3592.3,-5.7,1252,46563,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1707,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.83
$GC,46862,-1.10,-146.6,2772,1708,2484,2843,3609.5,-5.8,1257,46863,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1708,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.83
$GC,47162,-1.10,-146.6,2772,1707,2484,2843,3626.5,-5.7,1262,47163,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1708,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.83
$GC,47462,-1.10,-146.6,2772,1708,2484,2843,3643.2,-5.6,1267,47463,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1708,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.84
$GC,47762,-1.10,-146.6,2773,1708,2484,2843,3659.7,-5.6,1272,47763,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1708,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.83
$GC,48062,-1.15,-146.6,2772,1708,2484,2843,3676.3,-5.6,1277,48068,0.00,2.10,0.00,0.000,516,0.000,0.060,2773,316,2663,2484,2843,0,0,0,0,0,0,26.82,26.24,26.83
$GC,48134,-1.15,-146.6,2772,316,2484,2843,3680.0,-5.6,1278,48138,0.00,2.00,0.00,0.000,1030,0.000,0.045,2768,1692,2663,2484,2843,0,0,0,0,0,0,26.46,26.44,26.48
$GC,48483,-1.15,-146.6,2768,1692,2484,2843,3700.0,-5.6,1284,48484,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1692,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.83
$GC,48784,-1.20,-146.6,2768,1692,2484,2843,3716.5,-5.4,1289,48785,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1692,2663,2484,2843,0,0,0,0,0,0,26.82,26.84,26.83
$GC,49084,-1.25,-146.6,2768,1692,2484,2843,3732.1,-5.2,1294,49085,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1692,2663,2484,2843,0,0,0,0,0,0,26.81,26.84,26.83
$GC,49384,-1.31,-146.6,2768,1692,2484,2843,3747.2,-5.1,1299,49386,0.05,0.00,0.00,0.000,4102,0.159,0.000,2717,1693,2663,2484,2843,0,0,0,0,0,0,26.63,26.64,26.63
$GC,49683,-1.31,-146.6,2717,1694,2484,2843,3765.9,-6.3,1304,49689,0.00,2.08,0.00,0.000,516,0.000,0.060,2717,316,2663,2484,2842,0,0,0,0,0,0,26.82,26.23,26.83
$GC,49771,-1.31,-146.6,2717,316,2484,2843,3770.2,-6.4,1305,49775,0.00,2.03,0.00,0.000,1030,0.000,0.045,2709,1699,2663,2484,2843,0,0,0,0,0,0,26.46,26.43,26.47
$GC,50104,-1.31,-146.6,2709,1700,2484,2843,3794.3,-6.6,1311,50106,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1700,2663,2484,2843,0,0,0,0,0,0,26.81,26.84,26.83
$GC,50404,-1.31,-146.6,2708,1700,2484,2843,3814.2,-6.6,1316,50410,0.00,2.03,0.00,0.000,260,0.000,0.055,2700,3082,2663,2484,2843,0,0,0,0,0,0,26.81,26.29,26.83
$GC,50466,-1.31,-146.6,2699,3082,2484,2843,3818.1,-6.6,1317,50471,0.00,2.08,0.00,0.000,1030,0.000,0.047,2700,1696,2663,2484,2843,0,0,0,0,0,0,26.40,26.37,26.44
$GC,50826,-1.31,-146.6,2699,1696,2484,2843,3842.1,-6.6,1323,50832,0.08,2.08,0.00,0.000,2564,0.179,0.057,2732,313,2663,2484,2843,0,0,0,0,0,0,26.35,26.22,26.36
$GC,50908,-1.31,-146.6,2731,313,2484,2843,3845.9,-6.6,1324,50912,0.00,2.05,0.00,0.000,1030,0.000,0.045,2727,1720,2663,2484,2843,0,0,0,0,0,0,26.44,26.41,26.45
$GC,51247,-1.31,-146.6,2726,1723,2484,2843,3867.1,-5.8,1330,51248,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1723,2663,2484,2843,0,0,0,0,0,0,26.81,26.84,26.83
$GC,51547,-1.31,-146.6,2727,1723,2484,2843,3884.2,-5.8,1335,51548,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1723,2663,2484,2843,0,0,0,0,0,0,26.81,26.83,26.83
$GC,51847,-1.31,-146.6,2727,1723,2484,2843,3900.6,-5.5,1340,51848,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1723,2663,2484,2843,0,0,0,0,0,0,26.81,26.84,26.83
$GC,52147,-1.31,-146.6,2727,1723,2484,2843,3917.8,-5.7,1345,52152,0.00,2.12,0.00,0.000,516,0.000,0.060,2727,315,2663,2484,2843,0,0,0,0,0,0,26.81,26.22,26.82
$GC,52219,-1.31,-146.6,2727,314,2484,2843,3921.4,-5.8,1346,52223,0.00,2.03,0.00,0.000,1030,0.000,0.045,2722,1698,2663,2484,2843,0,0,0,0,0,0,26.44,26.43,26.46
$GC,52568,-1.31,-146.6,2722,1698,2484,2843,3942.2,-5.7,1352,52569,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1698,2663,2484,2843,0,0,0,0,0,0,26.81,26.84,26.82
$GC,52868,-1.31,-146.6,2722,1698,2484,2843,3958.9,-5.6,1357,52869,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1698,2663,2484,2843,0,0,0,0,0,0,26.81,26.83,26.82
$GC,53168,-1.31,-146.6,2722,1698,2484,2843,3974.8,-5.3,1362,53169,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1698,2663,2484,2843,0,0,0,0,0,0,26.81,26.84,26.82
$GC,53468,-1.31,-146.6,2722,1698,2484,2843,3990.5,-5.2,1367,53469,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1698,2663,2484,2843,0,0,0,0,0,0,26.81,26.83,26.83
$GC,53768,-1.31,-146.6,2722,1698,2485,2843,4005.8,-5.1,1372,53769,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1698,2663,2484,2843,0,0,0,0,0,0,26.81,26.84,26.83
$GC,54069,-1.31,-146.6,2722,1698,2484,2843,4020.4,-4.8,1377,54075,0.00,2.08,0.00,0.000,516,0.000,0.060,2722,317,2663,2484,2843,0,0,0,0,0,0,26.76,26.21,26.78
$GC,54180,-1.31,-146.6,2722,317,2484,2843,4023.4,-4.8,1378,54190,0.00,2.03,0.00,0.000,1030,0.000,0.045,2718,1705,2664,2485,2843,0,0,0,0,0,0,26.43,26.44,26.44
$GC,54490,-1.31,-146.6,2718,1705,2484,2843,4041.2,-4.9,1384,54492,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1705,2663,2484,2843,0,0,0,0,0,0,26.76,26.79,26.78
$GC,54789,-1.31,-146.6,2717,1705,2484,2843,4055.6,-4.8,1389,54790,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1705,2663,2484,2843,0,0,0,0,0,0,26.81,26.83,26.82
$GC,55089,-1.31,-146.6,2717,1705,2484,2843,4069.6,-4.6,1394,55090,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1705,2664,2485,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,55389,-1.31,-146.6,2717,1705,2484,2843,4083.6,-4.6,1399,55395,0.00,2.10,0.00,0.000,516,0.000,0.060,2718,316,2663,2484,2843,0,0,0,0,0,0,26.81,26.21,26.82
$GC,55492,-1.31,-146.6,2717,316,2484,2843,4086.8,-4.8,1400,55496,0.00,2.03,0.00,0.000,1030,0.000,0.045,2712,1699,2663,2484,2843,0,0,0,0,0,0,26.44,26.41,26.46
$GC,55811,-1.31,-146.6,2712,1699,2484,2843,4104.1,-4.7,1406,55812,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1699,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,56111,-1.31,-146.6,2712,1699,2484,2843,4118.5,-4.9,1411,56112,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1699,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,56412,-1.31,-146.6,2712,1699,2484,2843,4132.7,-4.8,1416,56417,0.00,2.10,0.00,0.000,516,0.000,0.060,2712,309,2663,2484,2843,0,0,0,0,0,0,26.76,26.20,26.77
$GC,56503,-1.31,-146.6,2712,309,2484,2843,4135.6,-4.8,1417,56507,0.00,2.05,0.00,0.000,1030,0.000,0.045,2707,1716,2663,2484,2843,0,0,0,0,0,0,26.43,26.41,26.44
$GC,56833,-1.31,-146.6,2706,1716,2484,2843,4153.1,-4.8,1423,56835,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1716,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,57133,-1.31,-146.6,2707,1716,2484,2843,4167.3,-4.8,1428,57139,0.00,2.12,0.00,0.000,516,0.000,0.060,2707,312,2663,2484,2843,0,0,0,0,0,0,26.80,26.20,26.82
$GC,57212,-1.31,-146.6,2706,311,2484,2843,4170.3,-4.8,1429,57216,0.00,1.98,0.00,0.000,1030,0.000,0.045,2700,1691,2664,2484,2844,0,0,0,0,0,0,26.47,26.43,26.49
$GC,57549,-1.31,-146.6,2700,1691,2484,2843,4187.8,-4.8,1435,57551,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1691,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,57851,-1.31,-146.6,2700,1691,2484,2843,4202.1,-4.8,1440,57852,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1691,2663,2484,2843,0,0,0,0,0,0,26.75,26.78,26.77
$GC,58149,-1.31,-146.6,2700,1691,2484,2843,4216.4,-4.7,1445,58155,0.00,2.08,0.00,0.000,516,0.000,0.060,2700,310,2663,2484,2843,0,0,0,0,0,0,26.80,26.20,26.82
$GC,58227,-1.31,-146.6,2700,311,2484,2843,4219.6,-4.8,1446,58231,0.10,2.05,0.00,0.000,3078,0.142,0.045,2730,1702,2663,2484,2843,0,0,0,0,0,0,26.03,26.42,26.08
$GC,58572,-1.37,-146.6,2729,1701,2484,2843,4234.4,-4.1,1452,58573,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1702,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,58871,-1.43,-146.6,2729,1702,2484,2843,4246.2,-3.9,1457,58873,0.08,0.00,0.00,0.000,4102,0.124,0.000,2652,1709,2663,2484,2843,0,0,0,0,0,0,26.58,26.60,26.60
$GC,59172,-1.43,-146.6,2652,1713,2484,2843,4262.5,-5.6,1462,59174,0.12,0.00,0.00,0.000,2054,0.156,0.000,2694,1714,2663,2484,2843,0,0,0,0,0,0,26.22,26.32,26.28
$GC,59471,-1.43,-146.6,2693,1714,2484,2843,4275.8,-4.4,1467,59476,0.00,2.10,0.00,0.000,516,0.000,0.060,2694,315,2663,2484,2843,0,0,0,0,0,0,26.80,26.19,26.82
$GC,59592,-1.43,-146.6,2694,315,2484,2843,4281.9,-4.7,1469,59598,0.00,2.00,0.00,0.000,1030,0.000,0.047,2688,1703,2663,2484,2843,0,0,0,0,0,0,26.44,26.42,26.46
$GC,59952,-1.43,-146.6,2688,1704,2484,2843,4298.7,-4.6,1475,59953,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1704,2663,2484,2842,0,0,0,0,0,0,26.80,26.82,26.82
$GC,60252,-1.43,-146.6,2687,1704,2484,2843,4312.6,-4.6,1480,60253,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1704,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,60552,-1.43,-146.6,2688,1704,2484,2843,4326.0,-4.6,1485,60553,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1704,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,60852,-1.43,-146.6,2688,1704,2484,2843,4339.1,-4.3,1490,60853,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1704,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$GC,61152,-1.43,-146.6,2688,1704,2484,2843,4352.2,-4.3,1495,61153,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1704,2663,2484,2843,0,0,0,0,0,0,26.80,26.83,26.82
$STATE,61391,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,61391,begin apogee
$GC,61395,-0.24,0.0,2688,1497,2484,2843,4362.7,-4.4,1499,61519,1.12,0.00,120.18,3.814,10246,0.109,0.000,3078,1497,2199,2028,2371,0,0,0,0,0,0,25.82,21.93,19.91
$STATE,61520,end apogee,CONTROL_FINISHED_OK
$STATE,61520,begin climb
$GC,61521,0.65,146.6,3077,1497,2028,2371,4360.4,0.0,1501,61715,0.85,0.00,185.15,3.811,10246,0.070,0.000,3383,1497,1695,1671,1719,0,0,0,0,1,0,22.70,21.65,19.63
$GC,61992,0.20,146.6,3383,1496,1670,1718,4256.2,25.5,1509,61995,0.62,0.00,0.00,0.000,4102,0.209,0.000,3219,1496,1694,1670,1718,0,0,0,0,0,0,24.68,24.92,24.87
$GC,62292,-0.06,146.6,3219,1496,1670,1718,4205.4,16.4,1514,62298,0.20,1.95,0.00,0.000,4612,0.189,0.060,3162,218,1694,1670,1718,0,0,0,0,0,0,25.29,25.48,25.40
$GC,62352,-0.31,146.6,3162,218,1669,1718,4196.7,16.0,1515,62359,0.30,1.88,0.00,0.000,5126,0.159,0.047,3070,1529,1694,1670,1718,0,0,0,0,0,0,25.39,25.67,25.48
$GC,62713,-0.38,146.6,3069,1529,1670,1718,4164.9,8.5,1521,62715,0.12,0.00,0.00,0.000,4102,0.171,0.000,3028,1529,1693,1669,1718,0,0,0,0,0,0,25.74,25.91,25.86
$GC,63012,-0.38,146.6,3028,1529,1670,1718,4144.6,6.5,1526,63018,0.00,1.98,0.00,0.000,516,0.000,0.062,3036,224,1694,1670,1718,0,0,0,0,0,0,26.29,26.00,26.32
$GC,63079,-0.38,146.6,3035,224,1670,1718,4140.5,6.7,1527,63084,0.00,1.83,0.00,0.000,1030,0.000,0.045,3036,1492,1693,1669,1718,0,0,0,0,0,0,26.13,26.11,26.15
$GC,63433,-0.38,146.6,3036,1494,1670,1718,4115.6,6.9,1533,63435,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1494,1694,1670,1718,0,0,0,0,0,0,26.41,26.44,26.44
$GC,63733,-0.38,146.6,3035,1494,1670,1718,4095.0,6.8,1538,63734,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1494,1694,1670,1718,0,0,0,0,0,0,26.48,26.50,26.49
$GC,64034,-0.38,146.6,3035,1494,1669,1717,4074.9,6.7,1543,64035,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1494,1693,1669,1718,0,0,0,0,0,0,26.52,26.55,26.54
$GC,64333,-0.38,146.6,3036,1494,1670,1718,4055.3,6.5,1548,64335,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1494,1694,1670,1718,0,0,0,0,0,0,26.56,26.58,26.58
$GC,64633,-0.38,146.6,3035,1494,1670,1718,4036.2,6.4,1553,64639,0.00,1.92,0.00,0.000,516,0.000,0.062,3045,218,1694,1670,1718,0,0,0,0,0,0,26.59,26.27,26.60
$GC,64674,-0.38,146.6,3045,218,1669,1718,4036.2,6.4,1553,64679,0.00,1.85,0.00,0.000,1030,0.000,0.045,3045,1506,1694,1670,1718,0,0,0,0,0,0,26.40,26.39,26.41
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$GC,101561,0.27,231.8,3246,1507,1404,1380,1942.4,5.7,2168,101562,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1507,1392,1404,1380,0,0,0,0,0,0,26.80,26.83,26.82
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$GC,102521,0.27,231.8,3252,1503,1404,1380,1887.1,5.6,2184,102522,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1502,1392,1404,1380,0,0,0,0,0,0,26.80,26.83,26.83
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$STATE,135198,end climb,SURFACE_DEPTH_REACHED
$STATE,135199,begin surface coast
$FINISH,0.9,0.997557
$STATE,135221,end surface coast,CONTROL_FINISHED_OK
$STATE,135221,begin surface
$SM_CCo,135297,0.00,0.000,0,0,1057,331.74
$SM_GC,1.93,8.68,0.22,0.00,0.055,0.065,0.000,174,1767,1057,-9.18,-2.57,331.74,0,0,0,0,0,0,25.76,25.77,25.79
$IRIDIUM_FIX,3117.71,-6429.38,120508,140202
$TT8_MAMPS,0.023219,0.023219
$HUMID,35.98
$INTERNAL_PRESSURE,9.04403
$TCM_TEMP,22.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4270.6,121.9
$24V_AH,19.63,17.720
$10V_AH,9.91,10.408
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.125,600.925,495.600,0.000,99.225,24.582,42.411,491.437,7.500,0.000,51.103,9463.670,109729.383,1027.140,15320.645,456.254,0.607,5893.846,0.000,14499.825,0.000,54.815,0.000
$DEVICE_MAMPS,248.300,67.041,3813.888,0.000,109.252,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2186.882,10406.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330348
$DATA_FILE_SIZE,193613,3193
$CAP_FILE_SIZE,801411,0
$CFSIZE,1024409600,1014693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200715,034739,3154.331,-6430.718,39,0.9,79,-15.4,0.6,291.3,9,4.6