version: 66.12
glider: 36
mission: 20
dive: 43
start: 8 8 115 7 39 20
data:
$ID,36
$MISSION,20
$DIVE,43
$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,62
$R_STBD_OVSHOOT,168
$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
$GPS1,080815,072440,3140.4785,-6422.9243,42,1.0,83,-15.4,0.3,61.8,9,4.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-65.1
$GPS2,080815,073852,3140.5051,-6422.9136,15,0.9,55,-15.4,0.0,300.5,9,4.0
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,BDA_SW
$TGT_LATLONG,3151.000,-6524.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.197675,0.053075
$KALMAN_X,11627.997070,0.000000,0.000000,553.560059,11816.545898
$KALMAN_Y,-6056.139648,0.000000,0.000000,-4668.718750,-4744.068359
$MHEAD_RNG_PITCHd_Wd,300.4,98044,-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,493,-0.39,-146.6,2935,300,2545,2868,39.7,-4.4,43,504,0.28,1.85,0.00,0.000,3078,0.176,0.045,3018,1645,2707,2546,2868,0,0,0,0,0,0,26.01,26.45,26.12
$GC,803,-0.28,-146.6,3018,1645,2545,2868,46.2,-2.5,74,814,0.10,1.95,0.00,0.000,2564,0.181,0.055,3060,296,2706,2545,2868,0,0,0,0,0,0,26.29,26.40,26.34
$GC,1142,-0.19,-146.6,3059,296,2546,2868,56.8,-2.3,104,1153,0.10,1.85,0.00,0.000,3078,0.179,0.045,3089,1652,2706,2545,2868,0,0,0,0,0,0,26.30,26.63,26.37
$GC,1452,-0.19,-146.6,3089,1652,2545,2868,63.4,-1.2,135,1463,0.00,2.00,0.00,0.000,516,0.000,0.057,3090,287,2706,2545,2868,0,0,0,0,0,0,26.84,26.53,26.85
$GC,1791,-0.19,-146.6,3089,287,2545,2868,74.9,-3.7,165,1802,0.00,1.92,0.00,0.000,1030,0.000,0.045,3084,1715,2706,2545,2868,0,0,0,0,0,0,26.67,26.65,26.68
$GC,2101,-0.19,-146.6,3084,1715,2545,2867,83.8,-3.2,196,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1715,2706,2545,2868,0,0,0,0,0,0,26.87,26.89,26.89
$GC,2403,-0.19,-146.6,3084,1715,2545,2868,99.5,-5.4,226,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1715,2706,2545,2868,0,0,0,0,0,0,26.88,26.91,26.90
$GC,2713,-0.19,-146.6,3084,1716,2545,2868,117.5,-5.9,257,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1715,2706,2545,2868,0,0,0,0,0,0,26.89,26.91,26.90
$GC,3023,-0.19,-146.6,3084,1715,2545,2868,134.6,-4.9,288,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1715,2706,2545,2868,0,0,0,0,0,0,26.89,26.91,26.91
$GC,3333,-0.19,-146.6,3084,1716,2545,2867,149.4,-4.7,319,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1715,2706,2545,2868,0,0,0,0,0,0,26.89,26.91,26.91
$GC,3651,-0.19,-146.6,3084,1715,2545,2867,163.2,-4.6,336,3656,0.00,1.90,0.00,0.000,260,0.000,0.052,3075,3053,2706,2545,2868,0,0,0,0,0,0,26.89,26.61,26.91
$GC,3799,-0.19,-146.6,3074,3054,2545,2866,171.6,-5.7,343,3804,0.00,1.95,0.00,0.000,1030,0.000,0.047,3075,1668,2705,2545,2866,0,0,0,0,0,0,26.68,26.65,26.70
$GC,4119,-0.19,-146.6,3074,1668,2545,2866,190.2,-5.6,359,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1668,2705,2545,2866,0,0,0,0,0,0,26.89,26.92,26.91
$GC,4419,-0.19,-146.6,3074,1668,2545,2865,208.3,-5.9,374,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1668,2705,2545,2865,0,0,0,0,0,0,26.89,26.91,26.91
$GC,4719,-0.19,-146.6,3074,1668,2545,2864,226.9,-5.9,389,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1668,2704,2545,2864,0,0,0,0,0,0,26.89,26.92,26.91
$GC,5020,-0.19,-146.6,3074,1668,2546,2863,245.0,-5.6,404,5025,0.00,1.95,0.00,0.000,516,0.000,0.057,3075,310,2704,2545,2863,0,0,0,0,0,0,26.89,26.58,26.91
$GC,5089,-0.19,-146.6,3074,310,2545,2863,249.0,-6.2,407,5093,0.00,1.90,0.00,0.000,1030,0.000,0.042,3070,1694,2704,2545,2863,0,0,0,0,0,0,26.70,26.69,26.72
$GC,5403,-0.19,-146.6,3070,1694,2545,2862,267.5,-5.7,423,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1694,2703,2545,2862,0,0,0,0,0,0,26.89,26.91,26.91
$GC,5704,-0.19,-146.6,3070,1694,2545,2862,284.3,-5.9,438,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1694,2703,2545,2862,0,0,0,0,0,0,26.89,26.91,26.91
$GC,6024,-0.19,-146.6,3070,1694,2544,2861,304.5,-6.7,453,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1694,2703,2545,2861,0,0,0,0,0,0,26.89,26.91,26.91
$GC,6323,-0.19,-146.6,3070,1694,2545,2861,325.4,-7.2,463,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1694,2703,2545,2861,0,0,0,0,0,0,26.89,26.92,26.91
$GC,6623,-0.19,-146.6,3070,1694,2545,2860,346.7,-6.8,473,6628,0.00,1.95,0.00,0.000,260,0.000,0.052,3060,3062,2702,2545,2860,0,0,0,0,0,0,26.89,26.60,26.91
$GC,6701,-0.19,-146.6,3060,3062,2545,2859,350.9,-6.7,475,6705,0.00,1.95,0.00,0.000,1030,0.000,0.045,3060,1698,2702,2546,2859,0,0,0,0,0,0,26.67,26.66,26.69
$GC,7015,-0.19,-146.6,3060,1698,2545,2859,372.4,-6.2,486,7020,0.00,1.98,0.00,0.000,516,0.000,0.057,3060,312,2702,2545,2859,0,0,0,0,0,0,26.89,26.58,26.91
$GC,7083,-0.19,-146.6,3060,311,2545,2859,376.5,-6.5,488,7088,0.10,1.92,0.00,0.000,3078,0.144,0.042,3090,1699,2702,2545,2859,0,0,0,0,0,0,26.40,26.70,26.46
$GC,7409,-0.27,-146.6,3090,1699,2545,2858,393.5,-5.2,499,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1699,2701,2545,2858,0,0,0,0,0,0,26.89,26.91,26.91
$GC,7708,-0.34,-146.6,3090,1699,2545,2858,410.4,-6.0,509,7710,0.10,0.00,0.00,0.000,4102,0.099,0.000,3001,1700,2701,2545,2858,0,0,0,0,0,0,26.71,26.74,26.73
$GC,8007,-0.34,-146.6,3001,1700,2545,2857,435.6,-8.6,519,8009,0.12,0.00,0.00,0.000,2054,0.159,0.000,3045,1700,2700,2545,2856,0,0,0,0,0,0,26.44,26.58,26.54
$GC,8307,-0.34,-146.6,3044,1700,2545,2856,455.7,-6.3,529,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1700,2700,2545,2856,0,0,0,0,0,0,26.89,26.91,26.91
$GC,8609,-0.34,-146.6,3044,1700,2545,2855,472.1,-5.4,539,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1700,2700,2545,2855,0,0,0,0,0,0,26.89,26.91,26.91
$GC,8907,-0.34,-146.6,3044,1700,2545,2855,488.4,-5.6,549,8913,0.00,2.00,0.00,0.000,516,0.000,0.057,3044,323,2700,2545,2855,0,0,0,0,0,0,26.89,26.57,26.91
$GC,8970,-0.34,-146.6,3044,322,2545,2855,492.2,-5.9,551,8975,0.00,1.92,0.00,0.000,1030,0.000,0.042,3042,1711,2700,2545,2855,0,0,0,0,0,0,26.69,26.67,26.70
$GC,9300,-0.34,-146.6,3042,1712,2545,2854,513.2,-6.3,562,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1711,2699,2545,2854,0,0,0,0,0,0,26.89,26.91,26.91
$GC,9600,-0.34,-146.6,3042,1712,2545,2853,532.1,-6.4,572,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1712,2699,2545,2853,0,0,0,0,0,0,26.89,26.91,26.91
$GC,9900,-0.34,-146.6,3042,1712,2545,2852,551.3,-6.3,582,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1712,2699,2545,2853,0,0,0,0,0,0,26.89,26.91,26.91
$GC,10201,-0.34,-146.6,3042,1712,2545,2852,571.7,-6.7,592,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1712,2698,2545,2852,0,0,0,0,0,0,26.89,26.91,26.91
$GC,10500,-0.34,-146.6,3042,1712,2544,2851,592.2,-6.8,602,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1712,2698,2545,2851,0,0,0,0,0,0,26.89,26.91,26.91
$GC,10800,-0.34,-146.6,3042,1712,2545,2850,613.1,-6.8,612,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1712,2697,2545,2850,0,0,0,0,0,0,26.89,26.91,26.91
$GC,11100,-0.34,-146.6,3042,1712,2545,2850,632.7,-6.3,622,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1712,2697,2545,2850,0,0,0,0,0,0,26.89,26.91,26.91
$GC,11401,-0.34,-146.6,3041,1712,2543,2849,652.6,-7.0,632,11407,0.00,1.92,0.00,0.000,260,0.000,0.052,3033,3056,2696,2543,2850,0,0,0,0,0,0,26.89,26.58,26.91
$GC,11537,-0.34,-146.6,3033,3056,2543,2850,660.9,-6.7,636,11541,0.00,1.95,0.00,0.000,1030,0.000,0.045,3033,1681,2696,2543,2849,0,0,0,0,0,0,26.68,26.64,26.70
$GC,11855,-0.34,-146.6,3033,1681,2542,2849,683.4,-6.9,647,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1681,2695,2542,2849,0,0,0,0,0,0,26.89,26.91,26.90
$GC,12157,-0.34,-146.6,3033,1681,2542,2849,704.9,-7.3,657,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1681,2696,2542,2850,0,0,0,0,0,0,26.89,26.91,26.90
$GC,12455,-0.34,-146.6,3033,1681,2541,2849,727.2,-7.3,667,12461,0.00,1.98,0.00,0.000,516,0.000,0.057,3033,302,2694,2540,2849,0,0,0,0,0,0,26.88,26.55,26.90
$GC,12539,-0.34,-146.6,3033,302,2539,2849,732.1,-7.5,669,12548,0.00,1.95,0.00,0.000,1030,0.000,0.042,3030,1699,2694,2539,2849,0,0,0,0,0,0,26.66,26.65,26.67
$GC,12848,-0.34,-146.6,3029,1699,2539,2849,756.5,-7.0,680,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1699,2693,2539,2848,0,0,0,0,0,0,26.88,26.91,26.90
$GC,13148,-0.34,-146.6,3029,1699,2539,2847,777.8,-7.3,690,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1699,2693,2540,2847,0,0,0,0,0,0,26.88,26.90,26.90
$GC,13449,-0.34,-146.6,3029,1699,2537,2847,799.7,-7.6,700,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1699,2692,2538,2847,0,0,0,0,0,0,26.87,26.90,26.89
$GC,13748,-0.34,-146.6,3029,1699,2537,2846,823.6,-8.1,710,13753,0.00,1.98,0.00,0.000,260,0.000,0.052,3020,3057,2691,2537,2846,0,0,0,0,0,0,26.87,26.55,26.89
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$GC,50708,-1.28,-146.6,2720,1735,2505,2814,3744.2,-6.8,1358,50712,0.00,2.15,0.00,0.000,516,0.000,0.057,2720,346,2659,2505,2814,0,0,0,0,0,0,26.78,26.10,26.80
$GC,50818,-1.28,-146.6,2720,320,2505,2814,3748.7,-6.9,1359,50822,0.00,2.00,0.00,0.000,1030,0.000,0.045,2713,1696,2659,2505,2814,0,0,0,0,0,0,26.38,26.36,26.40
$GC,51132,-1.28,-146.6,2713,1698,2505,2814,3774.2,-7.0,1365,51133,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1698,2659,2505,2814,0,0,0,0,0,0,26.78,26.80,26.80
$GC,51432,-1.28,-146.6,2713,1698,2505,2814,3795.3,-7.0,1370,51433,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1698,2659,2505,2814,0,0,0,0,0,0,26.78,26.80,26.80
$GC,51732,-1.28,-146.6,2713,1698,2505,2814,3816.3,-7.0,1375,51733,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1698,2659,2505,2814,0,0,0,0,0,0,26.78,26.80,26.80
$GC,52032,-1.28,-146.6,2713,1697,2505,2814,3837.3,-7.0,1380,52037,0.00,2.08,0.00,0.000,516,0.000,0.057,2713,319,2660,2506,2814,0,0,0,0,0,0,26.78,26.11,26.80
$GC,52114,-1.28,-146.6,2713,319,2505,2814,3841.6,-7.0,1381,52119,0.08,2.00,0.00,0.000,3078,0.149,0.045,2742,1689,2659,2505,2814,0,0,0,0,0,0,25.95,26.37,26.03
$GC,52453,-1.28,-146.6,2741,1689,2505,2814,3864.2,-6.1,1387,52454,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1689,2659,2505,2814,0,0,0,0,0,0,26.78,26.80,26.79
$GC,52753,-1.28,-146.6,2742,1689,2505,2814,3882.0,-5.9,1392,52754,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1689,2659,2505,2814,0,0,0,0,0,0,26.78,26.80,26.79
$GC,53053,-1.28,-146.6,2742,1689,2505,2814,3899.9,-5.9,1397,53054,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1689,2659,2505,2814,0,0,0,0,0,0,26.78,26.81,26.80
$GC,53353,-1.28,-146.6,2741,1689,2505,2813,3917.5,-5.8,1402,53354,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1689,2659,2505,2814,0,0,0,0,0,0,26.78,26.80,26.80
$GC,53653,-1.28,-146.6,2741,1689,2505,2814,3934.6,-5.7,1407,53658,0.00,2.08,0.00,0.000,516,0.000,0.057,2742,316,2659,2505,2814,0,0,0,0,0,0,26.78,26.09,26.80
$GC,53745,-1.28,-146.6,2742,316,2505,2815,3938.2,-5.9,1408,53750,0.00,2.03,0.00,0.000,1030,0.000,0.045,2741,1703,2659,2505,2814,0,0,0,0,0,0,26.37,26.35,26.39
$GC,54074,-1.28,-146.6,2742,1704,2505,2814,3959.2,-5.8,1414,54075,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1703,2659,2505,2814,0,0,0,0,0,0,26.78,26.80,26.79
$GC,54374,-1.28,-146.6,2742,1703,2505,2814,3976.8,-5.8,1419,54380,0.00,2.08,0.00,0.000,516,0.000,0.057,2742,323,2659,2505,2814,0,0,0,0,0,0,26.78,26.08,26.79
$GC,54505,-1.28,-146.6,2742,323,2505,2814,3984.4,-6.0,1421,54509,0.00,2.00,0.00,0.000,1030,0.000,0.045,2739,1717,2659,2505,2814,0,0,0,0,0,0,26.39,26.34,26.41
$GC,54852,-1.28,-146.6,2738,1718,2505,2814,4005.1,-5.7,1427,54853,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1719,2659,2505,2814,0,0,0,0,0,0,26.78,26.80,26.79
$GC,55153,-1.28,-146.6,2738,1719,2505,2814,4021.4,-5.4,1432,55159,0.00,2.12,0.00,0.000,516,0.000,0.057,2738,321,2659,2505,2814,0,0,0,0,0,0,26.72,26.08,26.74
$GC,55296,-1.28,-146.6,2738,321,2505,2814,4028.5,-5.5,1434,55300,0.00,2.00,0.00,0.000,1030,0.000,0.042,2735,1699,2659,2505,2814,0,0,0,0,0,0,26.37,26.34,26.39
$GC,55635,-1.28,-146.6,2735,1700,2505,2814,4048.0,-5.3,1440,55640,0.00,2.10,0.00,0.000,516,0.000,0.057,2735,314,2659,2505,2814,0,0,0,0,0,0,26.78,26.08,26.79
$GC,55705,-1.28,-146.6,2735,314,2505,2814,4051.3,-5.3,1441,55709,0.00,2.00,0.00,0.000,1030,0.000,0.045,2730,1710,2659,2505,2814,0,0,0,0,0,0,26.39,26.34,26.41
$GC,56053,-1.28,-146.6,2730,1712,2505,2814,4069.3,-4.9,1447,56054,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1712,2659,2505,2814,0,0,0,0,0,0,26.77,26.80,26.79
$GC,56354,-1.28,-146.6,2730,1712,2505,2814,4084.3,-4.9,1452,56359,0.00,2.10,0.00,0.000,516,0.000,0.057,2730,323,2659,2505,2814,0,0,0,0,0,0,26.77,26.08,26.79
$GC,56475,-1.28,-146.6,2730,322,2504,2814,4090.9,-5.3,1454,56481,0.00,1.98,0.00,0.000,1030,0.000,0.045,2727,1713,2659,2505,2814,0,0,0,0,0,0,26.36,26.34,26.37
$GC,56835,-1.28,-146.6,2727,1714,2504,2814,4109.3,-5.0,1460,56840,0.00,2.10,0.00,0.000,516,0.000,0.057,2727,325,2659,2504,2814,0,0,0,0,0,0,26.77,26.06,26.79
$GC,56914,-1.28,-146.6,2726,325,2504,2814,4112.6,-5.0,1461,56918,0.00,1.98,0.00,0.000,1030,0.000,0.045,2727,1706,2659,2504,2814,0,0,0,0,0,0,26.39,26.34,26.40
$GC,57252,-1.28,-146.6,2726,1706,2504,2814,4129.8,-4.8,1467,57253,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1706,2659,2504,2814,0,0,0,0,0,0,26.77,26.80,26.79
$GC,57552,-1.28,-146.6,2726,1706,2504,2814,4143.9,-4.6,1472,57557,0.00,2.10,0.00,0.000,516,0.000,0.057,2727,317,2659,2504,2814,0,0,0,0,0,0,26.77,26.07,26.79
$GC,57654,-1.28,-146.6,2726,317,2504,2814,4147.0,-4.7,1473,57658,0.00,2.00,0.00,0.000,1030,0.000,0.045,2722,1693,2659,2504,2814,0,0,0,0,0,0,26.36,26.35,26.38
$GC,57973,-1.28,-146.6,2721,1693,2504,2814,4164.4,-4.8,1479,57974,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1693,2659,2504,2814,0,0,0,0,0,0,26.77,26.79,26.79
$GC,58273,-1.28,-146.6,2721,1693,2504,2813,4178.6,-4.7,1484,58278,0.00,2.08,0.00,0.000,516,0.000,0.057,2722,321,2659,2504,2814,0,0,0,0,0,0,26.77,26.07,26.79
$GC,58357,-1.28,-146.6,2721,321,2504,2814,4181.8,-4.8,1485,58361,0.00,2.00,0.00,0.000,1030,0.000,0.045,2715,1697,2659,2504,2814,0,0,0,0,0,0,26.36,26.35,26.38
$GC,58696,-1.28,-146.6,2715,1697,2504,2814,4198.6,-4.6,1491,58697,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1697,2659,2504,2814,0,0,0,0,0,0,26.77,26.79,26.79
$GC,58998,-1.28,-146.6,2715,1697,2504,2814,4212.4,-4.7,1496,58999,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1697,2659,2504,2814,0,0,0,0,0,0,26.73,26.77,26.76
$GC,59295,-1.28,-146.6,2715,1697,2504,2814,4226.0,-4.5,1501,59301,0.00,2.08,0.00,0.000,516,0.000,0.057,2715,317,2659,2504,2814,0,0,0,0,0,0,26.77,26.06,26.79
$GC,59398,-1.28,-146.6,2715,317,2504,2814,4229.0,-4.7,1502,59402,0.00,2.03,0.00,0.000,1030,0.000,0.045,2709,1704,2659,2504,2815,0,0,0,0,0,0,26.36,26.34,26.37
$GC,59717,-1.28,-146.6,2708,1705,2504,2814,4245.6,-4.5,1508,59718,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1705,2659,2504,2814,0,0,0,0,0,0,26.77,26.79,26.79
$GC,60017,-1.28,-146.6,2708,1705,2504,2814,4259.0,-4.4,1513,60018,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1705,2659,2504,2814,0,0,0,0,0,0,26.77,26.80,26.79
$GC,60318,-1.28,-146.6,2708,1705,2504,2814,4271.5,-4.1,1518,60319,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1705,2659,2504,2814,0,0,0,0,0,0,26.72,26.74,26.74
$GC,60617,-1.28,-146.6,2708,1705,2504,2813,4284.7,-4.3,1523,60618,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1705,2659,2504,2814,0,0,0,0,0,0,26.78,26.79,26.79
$GC,60917,-1.28,-146.6,2708,1705,2504,2814,4297.3,-4.2,1528,60922,0.00,2.10,0.00,0.000,516,0.000,0.057,2709,317,2659,2504,2814,0,0,0,0,0,0,26.77,26.06,26.79
$GC,61004,-1.28,-146.6,2708,317,2504,2814,4299.9,-4.3,1529,61009,0.10,2.03,0.00,0.000,3078,0.139,0.045,2738,1698,2659,2504,2814,0,0,0,0,0,0,25.95,26.35,25.99
$GC,61339,-1.36,-146.6,2737,1698,2504,2814,4313.1,-3.5,1535,61340,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1698,2659,2504,2814,0,0,0,0,0,0,26.77,26.79,26.79
$GC,61639,-1.43,-146.6,2737,1698,2504,2814,4323.7,-3.5,1540,61641,0.08,0.00,0.00,0.000,4102,0.124,0.000,2657,1701,2659,2504,2814,0,0,0,0,0,0,26.55,26.57,26.56
$GC,61938,-1.43,-146.6,2656,1710,2504,2814,4338.4,-5.0,1545,61940,0.12,0.00,0.00,0.000,2054,0.156,0.000,2698,1710,2659,2504,2814,0,0,0,0,0,0,26.20,26.28,26.25
$GC,62238,-1.43,-146.6,2698,1710,2504,2814,4350.8,-4.1,1550,62243,0.00,2.10,0.00,0.000,516,0.000,0.057,2698,313,2659,2504,2814,0,0,0,0,0,0,26.77,26.06,26.79
$GC,62335,-1.43,-146.6,2697,313,2504,2814,4353.7,-4.2,1551,62339,0.00,2.03,0.00,0.000,1030,0.000,0.045,2692,1698,2659,2504,2814,0,0,0,0,0,0,26.36,26.35,26.39
$GC,62659,-1.43,-146.6,2692,1698,2504,2814,4368.8,-4.1,1557,62660,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1698,2659,2504,2814,0,0,0,0,0,0,26.77,26.79,26.79
$GC,62959,-1.43,-146.6,2692,1698,2504,2814,4381.0,-4.0,1562,62960,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1698,2659,2504,2814,0,0,0,0,0,0,26.77,26.80,26.79
$GC,63259,-1.43,-146.6,2692,1698,2504,2814,4393.2,-4.0,1567,63260,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1698,2659,2504,2814,0,0,0,0,0,0,26.78,26.80,26.79
$GC,63559,-1.43,-146.6,2692,1698,2504,2814,4405.1,-4.0,1572,63560,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1698,2659,2504,2814,0,0,0,0,0,0,26.77,26.80,26.79
$GC,63859,-1.43,-146.6,2692,1698,2504,2814,4416.8,-3.9,1577,63861,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1698,2659,2504,2814,0,0,0,0,0,0,26.77,26.80,26.79
$STATE,64158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,64158,begin apogee
$GC,64162,-0.24,0.0,2692,1488,2504,2814,4428.2,-3.8,1582,64295,1.12,0.00,128.82,3.990,10246,0.109,0.000,3080,1487,2199,2048,2351,0,0,0,0,0,0,25.56,21.91,19.56
$STATE,64296,end apogee,CONTROL_FINISHED_OK
$STATE,64296,begin climb
$GC,64297,0.65,146.6,3079,1487,2048,2351,4425.6,0.0,1584,64460,0.85,0.00,154.02,4.003,10246,0.067,0.000,3386,1487,1694,1588,1801,0,0,0,0,0,0,22.75,21.41,19.68
$GC,64759,0.20,146.6,3386,1487,1588,1801,4322.7,24.7,1592,64762,0.65,0.00,0.00,0.000,4102,0.206,0.000,3214,1487,1694,1588,1801,0,0,0,0,0,0,24.73,25.06,24.98
$GC,65059,-0.06,146.6,3214,1487,1588,1801,4274.4,15.5,1597,65062,0.22,0.00,0.00,0.000,4102,0.181,0.000,3147,1487,1694,1588,1801,0,0,0,0,0,0,25.34,25.61,25.54
$GC,65359,-0.23,146.6,3147,1487,1588,1801,4237.7,12.0,1602,65362,0.22,0.00,0.00,0.000,4102,0.171,0.000,3077,1487,1694,1588,1801,0,0,0,0,0,0,25.62,25.86,25.79
$GC,65659,-0.31,146.6,3076,1487,1588,1801,4211.0,8.7,1607,65661,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1487,1694,1588,1801,0,0,0,0,0,0,26.34,26.36,26.36
$GC,65959,-0.38,146.6,3076,1487,1588,1801,4185.4,8.5,1612,65961,0.15,0.00,0.00,0.000,4102,0.164,0.000,3026,1487,1694,1588,1801,0,0,0,0,0,0,25.91,26.10,26.04
$GC,66259,-0.38,146.6,3025,1487,1588,1801,4165.5,6.4,1617,66260,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1487,1694,1588,1801,0,0,0,0,0,0,26.49,26.51,26.51
$GC,66559,-0.38,146.6,3025,1487,1588,1801,4146.4,6.4,1622,66560,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1487,1694,1588,1801,0,0,0,0,0,0,26.53,26.56,26.55
$GC,66859,-0.38,146.6,3026,1487,1588,1801,4126.9,6.4,1627,66860,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1487,1694,1588,1801,0,0,0,0,0,0,26.57,26.60,26.59
$GC,67159,-0.38,146.6,3025,1487,1588,1801,4107.6,6.4,1632,67160,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1488,1694,1588,1801,0,0,0,0,0,0,26.60,26.63,26.62
$GC,67459,-0.38,146.6,3025,1487,1588,1801,4088.7,6.3,1637,67460,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1487,1694,1588,1801,0,0,0,0,0,0,26.63,26.65,26.64
$GC,67759,-0.38,146.6,3025,1487,1588,1801,4070.1,6.2,1642,67760,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1487,1694,1588,1801,0,0,0,0,0,0,26.64,26.67,26.66
$GC,68059,-0.38,146.6,3025,1487,1588,1801,4051.7,6.1,1647,68064,0.00,2.05,0.00,0.000,260,0.000,0.050,3026,2880,1694,1588,1801,0,0,0,0,0,0,26.66,26.34,26.67
$GC,68100,-0.38,146.6,3025,2880,1588,1801,4051.7,6.1,1647,68104,0.00,2.08,0.00,0.000,1030,0.000,0.047,3030,1505,1694,1588,1801,0,0,0,0,0,0,26.37,26.34,26.39
$GC,68419,-0.38,146.6,3029,1505,1588,1801,4029.3,6.2,1653,68420,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1505,1694,1588,1801,0,0,0,0,0,0,26.67,26.70,26.70
$GC,68719,-0.38,146.6,3029,1505,1588,1801,4010.9,6.1,1658,68720,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1505,1695,1589,1801,0,0,0,0,0,0,26.68,26.71,26.70
$GC,69019,-0.38,146.6,3029,1505,1588,1801,3992.2,6.2,1663,69020,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1505,1694,1588,1801,0,0,0,0,0,0,26.70,26.72,26.71
$GC,69319,-0.38,146.6,3029,1505,1588,1800,3973.1,6.3,1668,69320,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1505,1694,1588,1801,0,0,0,0,0,0,26.70,26.72,26.72
$GC,69619,-0.38,146.6,3029,1505,1588,1801,3954.9,6.1,1673,69620,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1505,1694,1588,1801,0,0,0,0,0,0,26.71,26.74,26.73
$GC,69919,-0.38,146.6,3029,1505,1588,1801,3937.3,5.8,1678,69920,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1505,1694,1588,1801,0,0,0,0,0,0,26.72,26.74,26.74
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$GC,127395,0.76,299.7,3421,1520,1143,1169,295.7,8.9,2791,127400,0.00,1.92,0.00,0.000,516,0.000,0.057,3427,198,1156,1143,1169,0,0,0,0,0,0,26.84,26.44,26.86
$GC,127422,0.76,299.7,3427,198,1143,1169,294.2,8.6,2792,127427,0.10,1.80,0.00,0.000,5126,0.127,0.042,3390,1543,1156,1143,1169,0,0,0,0,0,0,26.32,26.63,26.36
$GC,127736,0.76,299.7,3390,1544,1143,1169,271.8,6.8,2808,127737,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1544,1156,1143,1169,0,0,0,0,0,0,26.85,26.87,26.86
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$GC,128336,0.76,299.7,3390,1544,1143,1169,227.9,7.7,2838,128337,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1544,1155,1143,1168,0,0,0,0,0,0,26.85,26.88,26.87
$GC,128636,0.76,299.7,3390,1544,1143,1169,204.1,8.2,2853,128641,0.00,1.98,0.00,0.000,516,0.000,0.060,3398,193,1156,1143,1169,0,0,0,0,0,0,26.85,26.44,26.87
$GC,128699,0.81,299.7,3397,193,1143,1169,199.1,8.1,2856,128703,0.00,1.73,0.00,0.000,1030,0.000,0.042,3398,1465,1156,1143,1169,0,0,0,0,0,0,26.67,26.64,26.68
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$GC,129356,0.81,299.7,3404,176,1143,1169,147.0,7.7,2890,129360,0.00,1.80,0.00,0.000,1030,0.000,0.042,3404,1473,1156,1143,1169,0,0,0,0,0,0,26.68,26.65,26.70
$GC,129668,0.81,299.7,3404,1555,1143,1169,123.5,7.6,2921,129669,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1555,1156,1143,1169,0,0,0,0,0,0,26.86,26.88,26.88
$GC,129970,0.86,299.7,3404,1555,1143,1169,103.4,6.2,2951,129980,0.00,2.00,0.00,0.000,516,0.000,0.060,3410,190,1156,1143,1169,0,0,0,0,0,0,26.86,26.47,26.88
$GC,130017,0.92,299.7,3410,190,1144,1169,100.5,5.7,2955,130028,0.05,1.83,0.00,0.000,3078,0.166,0.045,3486,1575,1156,1143,1169,0,0,0,0,0,0,26.51,26.66,26.58
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$GC,130665,0.98,299.7,3426,197,1143,1169,44.7,7.7,3019,130674,0.05,1.85,0.00,0.000,3078,0.097,0.042,3501,1578,1156,1143,1169,0,0,0,0,0,0,26.53,26.66,26.54
$GC,130973,0.98,299.7,3500,1582,1143,1169,15.9,7.0,3050,130984,0.10,2.05,0.00,0.000,4612,0.151,0.057,3466,173,1156,1143,1169,0,0,0,0,0,0,26.48,26.48,26.51
$GC,131021,0.98,299.7,3467,173,1143,1169,12.9,6.1,3054,131031,0.00,1.85,0.00,0.000,1030,0.000,0.045,3467,1580,1156,1143,1169,0,0,0,0,0,0,26.70,26.67,26.71
$STATE,131209,end climb,SURFACE_DEPTH_REACHED
$STATE,131209,begin surface coast
$FINISH,1.3,1.023215
$STATE,131251,end surface coast,CONTROL_FINISHED_OK
$STATE,131251,begin surface
$SM_CCo,131326,0.00,0.000,0,0,1156,303.27
$SM_GC,2.48,8.25,0.10,0.00,0.055,0.099,0.000,184,1780,1156,-9.13,-2.21,303.27,0,0,0,0,0,0,26.54,26.71,26.58
$IRIDIUM_FIX,3125.29,-6412.50,020608,083041
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.08
$INTERNAL_PRESSURE,9.01473
$TCM_TEMP,21.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4311.1,145.3
$24V_AH,19.56,24.922
$10V_AH,9.77,15.452
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.525,483.725,473.450,0.000,126.475,24.510,14.496,578.170,8.750,0.000,56.105,8982.094,107522.367,982.425,14172.293,436.622,0.609,5276.818,0.000,13325.818,0.000,65.268,0.000
$DEVICE_MAMPS,265.681,99.320,4002.596,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2108.941,10028.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329492
$DATA_FILE_SIZE,183737,3077
$CAP_FILE_SIZE,738565,0
$CFSIZE,1024409600,1010958336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090815,201003,3144.640,-6438.482,37,1.0,77,-15.4,0.8,120.0,8,4.3