version: 66.12
glider: 36
mission: 20
dive: 45
start: 8 11 115 9 32 55
data:
$ID,36
$MISSION,20
$DIVE,45
$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,74
$R_STBD_OVSHOOT,159
$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,3000
$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
$GPS1,110815,091903,3147.9536,-6453.9702,40,1.0,80,-15.3,0.2,196.0,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-67.7
$GPS2,110815,093228,3148.0222,-6453.9199,18,1.1,58,-15.3,0.3,201.7,9,4.2
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,BDA_SW
$TGT_LATLONG,3151.000,-6524.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.202702,0.028357
$KALMAN_X,34597.714844,0.000000,0.000000,-70557.875000,17631.957031
$KALMAN_Y,-9065.774414,0.000000,0.000000,12091.901367,-2880.248047
$MHEAD_RNG_PITCHd_Wd,293.3,47641,-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
$GC,16,-0.65,-146.6,131,1698,1143,1154,0.0,0.0,0,92,0.00,0.00,-74.30,0.099,16386,0.000,0.000,131,1698,2301,2125,2478,0,0,0,0,0,0,26.44,28.83,26.46
$GC,95,-0.65,-146.6,130,1698,2125,2478,3.2,-2.5,7,135,10.98,2.12,-22.92,0.104,18948,0.251,0.055,2933,311,2706,2497,2915,0,0,0,0,0,0,25.58,26.03,25.75
$GC,464,-0.36,-146.6,2934,312,2498,2914,46.2,-6.6,40,475,0.32,1.85,0.00,0.000,3078,0.176,0.045,3034,1666,2706,2498,2915,0,0,0,0,0,0,25.89,26.43,26.01
$GC,773,-0.24,-146.6,3033,1666,2498,2915,59.7,-4.6,71,784,0.08,1.95,0.00,0.000,2308,0.201,0.050,3059,3052,2705,2497,2914,0,0,0,0,0,0,26.31,26.39,26.34
$GC,1113,-0.16,-146.6,3059,3052,2498,2914,76.0,-5.2,101,1123,0.10,1.92,0.00,0.000,3078,0.154,0.047,3094,1671,2706,2498,2915,0,0,0,0,0,0,26.25,26.56,26.32
$GC,1423,-0.16,-146.6,3093,1671,2498,2914,89.1,-3.6,132,1433,0.00,1.98,0.00,0.000,260,0.000,0.052,3086,3055,2706,2498,2914,0,0,0,0,0,0,26.84,26.53,26.86
$GC,1617,-0.16,-146.6,3086,3055,2498,2914,96.1,-3.5,149,1627,0.00,1.92,0.00,0.000,1030,0.000,0.045,3086,1699,2706,2498,2914,0,0,0,0,0,0,26.63,26.60,26.64
$GC,1926,-0.16,-146.6,3086,1700,2498,2915,112.4,-5.0,180,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1700,2706,2498,2914,0,0,0,0,0,0,26.87,26.89,26.89
$GC,2227,-0.16,-146.6,3086,1700,2498,2914,128.1,-4.6,210,2237,0.00,1.98,0.00,0.000,516,0.000,0.060,3086,309,2706,2498,2914,0,0,0,0,0,0,26.88,26.55,26.89
$GC,2364,-0.11,-146.6,3086,309,2498,2914,136.0,-5.8,222,2369,0.12,1.88,0.00,0.000,3078,0.166,0.045,3121,1702,2706,2498,2915,0,0,0,0,0,0,26.33,26.67,26.46
$GC,2688,-0.11,-146.6,3120,1702,2498,2914,151.2,-5.0,253,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1702,2706,2498,2914,0,0,0,0,0,0,26.89,26.91,26.90
$GC,2989,-0.11,-146.6,3121,1702,2498,2914,166.3,-5.3,268,2994,0.00,1.92,0.00,0.000,260,0.000,0.052,3113,3058,2706,2498,2914,0,0,0,0,0,0,26.89,26.58,26.91
$GC,3071,-0.11,-146.6,3112,3058,2498,2914,170.9,-5.5,272,3076,0.00,1.90,0.00,0.000,1030,0.000,0.047,3112,1699,2706,2498,2914,0,0,0,0,0,0,26.69,26.65,26.70
$GC,3391,-0.11,-146.6,3112,1699,2498,2914,189.1,-5.7,288,3397,0.00,1.98,0.00,0.000,516,0.000,0.057,3112,314,2706,2498,2914,0,0,0,0,0,0,26.89,26.55,26.91
$GC,3453,-0.11,-146.6,3112,314,2498,2915,192.9,-5.9,291,3459,0.00,1.88,0.00,0.000,1030,0.000,0.045,3107,1699,2706,2498,2914,0,0,0,0,0,0,26.71,26.68,26.72
$GC,3774,-0.11,-146.6,3106,1700,2498,2914,212.3,-6.0,307,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1699,2706,2498,2914,0,0,0,0,0,0,26.89,26.91,26.91
$GC,4074,-0.11,-146.6,3106,1699,2498,2914,231.3,-6.6,322,4079,0.00,1.92,0.00,0.000,260,0.000,0.052,3097,3055,2706,2498,2914,0,0,0,0,0,0,26.89,26.58,26.91
$GC,4157,-0.11,-146.6,3097,3055,2498,2914,236.4,-6.1,326,4162,0.00,1.90,0.00,0.000,1030,0.000,0.047,3097,1699,2706,2498,2914,0,0,0,0,0,0,26.69,26.65,26.70
$GC,4479,-0.11,-146.6,3096,1699,2498,2914,256.2,-6.0,342,4484,0.00,1.98,0.00,0.000,516,0.000,0.057,3097,315,2706,2498,2914,0,0,0,0,0,0,26.89,26.55,26.91
$GC,4540,-0.11,-146.6,3096,314,2498,2914,260.6,-6.7,345,4545,0.00,1.88,0.00,0.000,1030,0.000,0.042,3089,1697,2706,2498,2914,0,0,0,0,0,0,26.72,26.69,26.72
$GC,4861,-0.11,-146.6,3089,1697,2497,2914,280.6,-6.1,361,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1697,2705,2497,2914,0,0,0,0,0,0,26.89,26.91,26.91
$GC,5161,-0.11,-146.6,3089,1696,2498,2914,300.7,-6.9,376,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1697,2706,2498,2914,0,0,0,0,0,0,26.89,26.91,26.91
$GC,5460,-0.11,-146.6,3089,1697,2498,2913,320.2,-6.4,386,5466,0.00,1.95,0.00,0.000,260,0.000,0.052,3080,3053,2705,2497,2914,0,0,0,0,0,0,26.89,26.58,26.91
$GC,5544,-0.11,-146.6,3080,3053,2498,2914,324.0,-6.5,388,5554,0.10,1.92,0.00,0.000,3078,0.137,0.045,3117,1692,2706,2498,2914,0,0,0,0,0,0,26.37,26.66,26.44
$GC,5853,-0.18,-146.6,3116,1692,2498,2914,341.2,-4.9,399,5859,0.00,1.95,0.00,0.000,516,0.000,0.057,3117,333,2705,2498,2913,0,0,0,0,0,0,26.89,26.55,26.91
$GC,5937,-0.24,-146.6,3116,333,2497,2913,344.5,-5.0,401,5946,0.05,1.90,0.00,0.000,5126,0.097,0.042,3037,1723,2705,2497,2913,0,0,0,0,0,0,26.53,26.67,26.56
$GC,6245,-0.24,-146.6,3036,1723,2497,2911,369.3,-7.8,412,6251,0.08,1.85,0.00,0.000,2308,0.179,0.050,3063,3043,2704,2498,2910,0,0,0,0,0,0,26.50,26.56,26.53
$GC,6324,-0.24,-146.6,3063,3043,2498,2910,373.7,-7.5,414,6328,0.00,1.90,0.00,0.000,1030,0.000,0.045,3063,1711,2703,2497,2910,0,0,0,0,0,0,26.66,26.65,26.67
$GC,6638,-0.24,-146.6,3062,1710,2498,2910,397.7,-7.3,425,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1710,2704,2498,2910,0,0,0,0,0,0,26.89,26.91,26.91
$GC,6939,-0.24,-146.6,3063,1711,2498,2910,420.7,-7.8,435,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1711,2704,2498,2910,0,0,0,0,0,0,26.89,26.91,26.91
$GC,7238,-0.24,-146.6,3063,1710,2498,2909,445.4,-8.3,445,7243,0.00,1.98,0.00,0.000,516,0.000,0.057,3063,327,2703,2497,2909,0,0,0,0,0,0,26.89,26.55,26.91
$GC,7316,-0.24,-146.6,3063,327,2498,2909,450.5,-8.2,447,7320,0.00,1.88,0.00,0.000,1030,0.000,0.042,3057,1691,2703,2498,2909,0,0,0,0,0,0,26.68,26.67,26.70
$GC,7630,-0.24,-146.6,3057,1690,2498,2908,476.4,-7.3,458,7636,0.00,1.98,0.00,0.000,260,0.000,0.052,3048,3060,2703,2497,2909,0,0,0,0,0,0,26.89,26.58,26.91
$GC,7691,-0.24,-146.6,3047,3060,2498,2907,480.4,-6.8,460,7697,0.00,1.90,0.00,0.000,1030,0.000,0.045,3048,1692,2702,2497,2907,0,0,0,0,0,0,26.68,26.64,26.70
$GC,8021,-0.24,-146.6,3048,1692,2497,2907,500.5,-5.8,471,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1692,2702,2498,2907,0,0,0,0,0,0,26.89,26.91,26.91
$GC,8321,-0.24,-146.6,3047,1692,2497,2907,518.2,-6.2,481,8327,0.00,1.98,0.00,0.000,516,0.000,0.057,3048,308,2702,2498,2907,0,0,0,0,0,0,26.89,26.54,26.91
$GC,8384,-0.24,-146.6,3047,307,2497,2907,522.7,-6.9,483,8389,0.00,1.90,0.00,0.000,1030,0.000,0.042,3043,1700,2702,2498,2907,0,0,0,0,0,0,26.70,26.67,26.71
$GC,8713,-0.24,-146.6,3042,1701,2497,2906,546.2,-7.2,494,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1700,2702,2497,2907,0,0,0,0,0,0,26.89,26.91,26.91
$GC,9013,-0.24,-146.6,3043,1701,2497,2906,568.2,-7.5,504,9018,0.00,1.98,0.00,0.000,260,0.000,0.052,3041,3065,2702,2498,2906,0,0,0,0,0,0,26.89,26.57,26.90
$GC,9123,-0.24,-146.6,3041,3065,2498,2905,575.0,-7.3,507,9127,0.00,1.95,0.00,0.000,1030,0.000,0.045,3041,1701,2701,2498,2905,0,0,0,0,0,0,26.65,26.64,26.67
$GC,9437,-0.24,-146.6,3041,1701,2497,2905,599.1,-7.4,518,9443,0.08,1.95,0.00,0.000,2564,0.176,0.055,3074,327,2701,2497,2905,0,0,0,0,0,0,26.50,26.53,26.53
$GC,9499,-0.24,-146.6,3074,327,2497,2905,603.1,-7.0,520,9504,0.00,1.90,0.00,0.000,1030,0.000,0.042,3071,1697,2701,2497,2905,0,0,0,0,0,0,26.67,26.67,26.69
$GC,9829,-0.24,-146.6,3071,1698,2497,2904,625.8,-7.1,531,9835,0.00,1.95,0.00,0.000,260,0.000,0.052,3062,3063,2700,2497,2904,0,0,0,0,0,0,26.89,26.57,26.90
$GC,9892,-0.24,-146.6,3061,3063,2497,2903,630.1,-7.2,533,9897,0.00,1.95,0.00,0.000,1030,0.000,0.045,3061,1702,2700,2497,2903,0,0,0,0,0,0,26.65,26.63,26.66
$GC,10222,-0.24,-146.6,3061,1701,2497,2903,654.2,-7.2,544,10227,0.00,1.98,0.00,0.000,516,0.000,0.057,3061,317,2700,2497,2903,0,0,0,0,0,0,26.88,26.53,26.90
$GC,10295,-0.24,-146.6,3061,317,2497,2903,658.9,-7.5,546,10299,0.00,1.92,0.00,0.000,1030,0.000,0.042,3058,1705,2700,2497,2903,0,0,0,0,0,0,26.67,26.65,26.67
$GC,10614,-0.24,-146.6,3057,1706,2497,2900,683.5,-7.1,557,10620,0.00,1.98,0.00,0.000,260,0.000,0.052,3048,3069,2698,2497,2900,0,0,0,0,0,0,26.88,26.56,26.90
$GC,10698,-0.24,-146.6,3047,3069,2497,2900,687.6,-6.9,559,10707,0.00,1.98,0.00,0.000,1030,0.000,0.045,3048,1697,2698,2497,2900,0,0,0,0,0,0,26.64,26.61,26.65
$GC,11007,-0.24,-146.6,3047,1698,2497,2900,711.5,-7.5,570,11012,0.00,1.98,0.00,0.000,516,0.000,0.057,3048,318,2698,2497,2900,0,0,0,0,0,0,26.88,26.53,26.90
$GC,11059,-0.24,-146.6,3047,318,2497,2900,713.9,-7.5,571,11068,0.00,1.92,0.00,0.000,1030,0.000,0.042,3043,1698,2698,2497,2900,0,0,0,0,0,0,26.65,26.65,26.67
$GC,11368,-0.24,-146.6,3043,1698,2497,2898,741.9,-8.7,582,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1698,2698,2497,2899,0,0,0,0,0,0,26.88,26.90,26.89
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$GC,47058,-1.12,-146.6,2785,1713,2473,2853,3695.1,-6.1,1224,47064,0.00,2.10,0.00,0.000,516,0.000,0.057,2785,316,2663,2473,2853,0,0,0,0,0,0,26.77,26.07,26.79
$GC,47119,-1.12,-146.6,2785,316,2473,2853,3699.1,-6.2,1225,47124,0.00,2.03,0.00,0.000,1030,0.000,0.042,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.37,26.36,26.38
$GC,47481,-1.12,-146.6,2781,1702,2473,2853,3721.7,-6.2,1231,47483,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.74,26.77,26.76
$GC,47780,-1.12,-146.6,2781,1702,2473,2853,3740.0,-6.2,1236,47781,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1702,2663,2473,2853,0,0,0,0,0,0,26.77,26.80,26.79
$GC,48080,-1.12,-146.6,2781,1702,2473,2853,3758.4,-6.1,1241,48081,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.77,26.80,26.79
$GC,48380,-1.12,-146.6,2781,1702,2473,2853,3776.3,-6.0,1246,48381,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.77,26.80,26.79
$GC,48680,-1.12,-146.6,2781,1702,2473,2853,3793.9,-5.8,1251,48681,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.77,26.80,26.79
$GC,48980,-1.12,-146.6,2781,1702,2473,2853,3811.2,-5.7,1256,48981,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.72,26.74,26.74
$GC,49280,-1.12,-146.6,2781,1702,2473,2853,3828.0,-5.6,1261,49281,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.77,26.80,26.79
$GC,49580,-1.12,-146.6,2781,1702,2473,2853,3844.4,-5.4,1266,49581,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.77,26.80,26.79
$GC,49879,-1.17,-146.6,2781,1702,2473,2853,3859.6,-5.2,1271,49880,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1702,2663,2473,2853,0,0,0,0,0,0,26.78,26.80,26.79
$GC,50180,-1.23,-146.6,2781,1704,2473,2853,3874.5,-4.9,1276,50186,0.00,2.10,0.00,0.000,516,0.000,0.057,2781,314,2663,2473,2853,0,0,0,0,0,0,26.77,26.06,26.79
$GC,50247,-1.23,-146.6,2781,314,2473,2853,3877.7,-4.9,1277,50251,0.00,2.03,0.00,0.000,1030,0.000,0.045,2776,1700,2663,2473,2853,0,0,0,0,0,0,26.36,26.34,26.37
$GC,50601,-1.23,-146.6,2775,1700,2473,2853,3895.5,-4.9,1283,50602,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,50901,-1.23,-146.6,2775,1700,2473,2853,3909.9,-4.8,1288,50902,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1700,2663,2473,2853,0,0,0,0,0,0,26.77,26.80,26.79
$GC,51201,-1.28,-146.6,2775,1701,2473,2853,3924.0,-4.7,1293,51203,0.05,0.00,0.00,0.000,4102,0.156,0.000,2722,1701,2663,2473,2853,0,0,0,0,0,0,26.58,26.60,26.60
$GC,51502,-1.28,-146.6,2721,1701,2473,2853,3942.0,-6.1,1298,51507,0.00,2.10,0.00,0.000,516,0.000,0.057,2722,314,2663,2473,2853,0,0,0,0,0,0,26.72,26.05,26.73
$GC,51603,-1.28,-146.6,2721,314,2473,2852,3946.1,-6.3,1299,51607,0.00,2.03,0.00,0.000,1030,0.000,0.045,2714,1700,2663,2473,2853,0,0,0,0,0,0,26.35,26.34,26.37
$GC,51923,-1.28,-146.6,2714,1700,2473,2853,3968.9,-6.3,1305,51925,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1700,2663,2473,2853,0,0,0,0,0,0,26.77,26.80,26.79
$GC,52223,-1.28,-146.6,2714,1700,2473,2853,3987.2,-6.2,1310,52225,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1700,2662,2472,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,52523,-1.28,-146.6,2714,1700,2473,2853,4005.8,-6.2,1315,52525,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1700,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,52822,-1.28,-146.6,2714,1700,2473,2853,4024.4,-6.3,1320,52823,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1700,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,53123,-1.28,-146.6,2714,1700,2473,2853,4043.0,-6.2,1325,53124,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1699,2663,2473,2853,0,0,0,0,0,0,26.72,26.74,26.73
$GC,53423,-1.28,-146.6,2714,1700,2473,2853,4061.1,-6.1,1330,53424,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1700,2663,2473,2853,0,0,0,0,0,0,26.71,26.74,26.73
$GC,53723,-1.28,-146.6,2714,1700,2473,2853,4079.3,-6.2,1335,53729,0.00,2.10,0.00,0.000,516,0.000,0.057,2715,307,2663,2473,2853,0,0,0,0,0,0,26.77,26.04,26.79
$GC,53796,-1.28,-146.6,2714,308,2473,2853,4083.5,-6.3,1336,53801,0.10,2.03,0.00,0.000,3078,0.146,0.042,2741,1700,2663,2473,2853,0,0,0,0,0,0,25.90,26.32,25.94
$GC,54146,-1.28,-146.6,2741,1701,2473,2853,4103.2,-5.4,1342,54147,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1701,2663,2473,2853,0,0,0,0,0,0,26.72,26.74,26.74
$GC,54445,-1.28,-146.6,2741,1701,2473,2853,4119.3,-5.3,1347,54450,0.00,2.10,0.00,0.000,516,0.000,0.057,2741,315,2663,2473,2853,0,0,0,0,0,0,26.77,26.03,26.79
$GC,54529,-1.28,-146.6,2740,315,2473,2853,4122.6,-5.4,1348,54534,0.00,2.00,0.00,0.000,1030,0.000,0.042,2738,1698,2663,2473,2853,0,0,0,0,0,0,26.34,26.32,26.36
$GC,54869,-1.28,-146.6,2738,1698,2473,2853,4142.0,-5.2,1354,54871,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1698,2663,2473,2853,0,0,0,0,0,0,26.71,26.74,26.72
$GC,55168,-1.28,-146.6,2738,1698,2473,2853,4157.6,-5.3,1359,55174,0.00,2.10,0.00,0.000,516,0.000,0.057,2738,310,2663,2474,2853,0,0,0,0,0,0,26.77,26.03,26.79
$GC,55231,-1.28,-146.6,2738,309,2473,2853,4161.0,-5.3,1360,55236,0.00,2.03,0.00,0.000,1030,0.000,0.042,2732,1705,2663,2473,2853,0,0,0,0,0,0,26.33,26.32,26.35
$GC,55591,-1.28,-146.6,2732,1705,2473,2853,4179.9,-5.2,1366,55592,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1706,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,55891,-1.28,-146.6,2732,1706,2473,2853,4195.3,-5.2,1371,55896,0.00,2.12,0.00,0.000,516,0.000,0.057,2732,316,2663,2473,2853,0,0,0,0,0,0,26.77,26.03,26.79
$GC,55988,-1.28,-146.6,2732,316,2473,2853,4198.5,-5.2,1372,55992,0.00,2.00,0.00,0.000,1030,0.000,0.042,2727,1695,2663,2473,2853,0,0,0,0,0,0,26.34,26.33,26.36
$GC,56313,-1.28,-146.6,2727,1695,2473,2853,4217.7,-5.3,1378,56314,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1695,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,56614,-1.28,-146.6,2727,1695,2473,2853,4232.3,-4.9,1383,56615,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1695,2663,2473,2853,0,0,0,0,0,0,26.73,26.75,26.74
$GC,56913,-1.28,-146.6,2727,1695,2473,2853,4246.7,-4.8,1388,56919,0.00,2.10,0.00,0.000,516,0.000,0.057,2727,308,2663,2473,2853,0,0,0,0,0,0,26.77,26.02,26.79
$GC,57003,-1.28,-146.6,2727,307,2473,2853,4250.1,-5.0,1389,57007,0.00,2.03,0.00,0.000,1030,0.000,0.045,2722,1698,2663,2473,2853,0,0,0,0,0,0,26.34,26.32,26.36
$GC,57337,-1.28,-146.6,2721,1698,2473,2853,4267.9,-4.9,1395,57338,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1698,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,57637,-1.28,-146.6,2721,1698,2473,2853,4282.4,-4.7,1400,57638,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1698,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,57937,-1.28,-146.6,2721,1698,2473,2853,4296.9,-4.9,1405,57942,0.00,2.10,0.00,0.000,516,0.000,0.057,2722,307,2663,2473,2853,0,0,0,0,0,0,26.77,26.03,26.79
$GC,58049,-1.28,-146.6,2721,308,2473,2853,4300.2,-5.0,1406,58058,0.00,2.03,0.00,0.000,1030,0.000,0.045,2715,1698,2663,2473,2853,0,0,0,0,0,0,26.34,26.32,26.35
$GC,58358,-1.28,-146.6,2715,1698,2473,2853,4318.9,-5.0,1412,58359,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1698,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,58658,-1.28,-146.6,2715,1698,2473,2853,4334.1,-5.1,1417,58659,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1698,2663,2473,2853,0,0,0,0,0,0,26.77,26.79,26.79
$GC,58958,-1.28,-146.6,2715,1698,2473,2853,4349.0,-5.0,1422,58961,0.00,2.12,0.00,0.000,516,0.000,0.057,2715,331,2663,2473,2853,0,0,0,0,0,0,26.77,26.02,26.79
$GC,59081,-1.28,-146.6,2714,310,2472,2853,4355.9,-5.3,1424,59087,0.10,1.98,0.00,0.000,3078,0.142,0.045,2742,1698,2663,2473,2853,0,0,0,0,0,0,25.91,26.33,25.96
$STATE,59201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,59201,begin apogee
$GC,59205,-0.24,0.0,2742,1495,2473,2853,4361.1,-5.0,1426,59329,0.95,0.00,120.55,3.881,10246,0.104,0.000,3077,1496,2199,2015,2384,0,0,0,0,0,0,25.57,22.04,19.76
$STATE,59330,end apogee,CONTROL_FINISHED_OK
$STATE,59330,begin climb
$GC,59331,0.65,146.6,3076,1495,2014,2384,4360.1,0.0,1428,59531,0.85,0.00,191.00,3.819,10246,0.067,0.000,3388,1495,1694,1669,1720,0,0,0,0,1,0,22.84,21.96,19.67
$GC,59802,0.21,146.6,3388,1495,1666,1719,4261.4,24.7,1436,59808,0.60,1.98,0.00,0.000,4612,0.209,0.055,3231,217,1693,1667,1719,0,0,0,0,0,0,24.66,24.91,24.81
$GC,59869,-0.19,146.6,3231,217,1667,1719,4250.0,23.4,1437,59874,0.40,1.88,0.00,0.000,5126,0.169,0.042,3107,1531,1693,1667,1719,0,0,0,0,0,0,24.93,25.32,25.13
$GC,60218,-0.29,146.6,3106,1530,1666,1719,4213.7,9.7,1443,60224,0.12,2.05,0.00,0.000,4612,0.171,0.060,3066,191,1693,1667,1719,0,0,0,0,0,0,25.58,25.72,25.65
$GC,60266,-0.39,146.6,3066,191,1666,1719,4213.7,9.7,1443,60271,0.12,1.83,0.00,0.000,5126,0.151,0.045,3026,1497,1693,1667,1719,0,0,0,0,0,0,25.62,25.90,25.75
$GC,60573,-0.39,146.6,3025,1499,1667,1719,4190.3,6.2,1448,60574,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1499,1692,1667,1718,0,0,0,0,0,0,26.29,26.32,26.31
$GC,60873,-0.39,146.6,3026,1499,1666,1719,4171.9,6.2,1453,60874,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1499,1692,1666,1719,0,0,0,0,0,0,26.40,26.42,26.41
$GC,61173,-0.39,146.6,3025,1499,1664,1719,4154.3,5.9,1458,61174,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1499,1691,1664,1719,0,0,0,0,0,0,26.47,26.49,26.49
$GC,61473,-0.39,146.6,3025,1499,1662,1719,4136.7,5.9,1463,61474,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1499,1690,1662,1719,0,0,0,0,0,0,26.52,26.55,26.54
$GC,61773,-0.39,146.6,3025,1499,1662,1716,4119.4,5.8,1468,61778,0.00,1.95,0.00,0.000,516,0.000,0.060,3033,191,1689,1662,1716,0,0,0,0,0,0,26.56,26.20,26.58
$GC,61814,-0.39,146.6,3033,191,1661,1717,4119.4,5.8,1468,61818,0.00,1.85,0.00,0.000,1030,0.000,0.045,3033,1489,1689,1662,1717,0,0,0,0,0,0,26.36,26.34,26.36
$GC,62133,-0.39,146.6,3033,1493,1662,1716,4098.4,5.8,1474,62134,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1493,1688,1661,1716,0,0,0,0,0,0,26.60,26.62,26.61
$GC,62433,-0.39,146.6,3032,1492,1662,1716,4080.3,6.0,1479,62434,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1492,1689,1662,1717,0,0,0,0,0,0,26.62,26.65,26.64
$GC,62733,-0.39,146.6,3033,1493,1662,1716,4062.1,6.0,1484,62734,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1492,1689,1662,1717,0,0,0,0,0,0,26.64,26.67,26.66
$GC,63033,-0.39,146.6,3033,1493,1662,1716,4044.2,5.9,1489,63034,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1493,1689,1662,1716,0,0,0,0,0,0,26.65,26.68,26.67
$GC,63333,-0.39,146.6,3033,1493,1662,1716,4025.2,6.3,1494,63334,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1493,1689,1662,1716,0,0,0,0,0,0,26.67,26.70,26.69
$GC,63633,-0.39,146.6,3033,1493,1662,1716,4006.3,6.3,1499,63634,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1493,1689,1662,1716,0,0,0,0,0,0,26.68,26.70,26.70
$GC,63933,-0.39,146.6,3033,1493,1662,1716,3987.7,6.1,1504,63937,0.00,1.95,0.00,0.000,516,0.000,0.060,3041,205,1689,1662,1716,0,0,0,0,0,0,26.69,26.29,26.71
$GC,63976,-0.39,146.6,3041,205,1662,1716,3987.7,6.1,1504,63980,0.00,1.85,0.00,0.000,1030,0.000,0.045,3041,1507,1689,1662,1716,0,0,0,0,0,0,26.46,26.45,26.48
$GC,64295,-0.39,146.6,3041,1510,1662,1716,3963.8,6.6,1510,64297,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1510,1689,1662,1716,0,0,0,0,0,0,26.70,26.72,26.72
$GC,64595,-0.39,146.6,3041,1510,1662,1716,3943.9,6.7,1515,64597,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1510,1688,1661,1716,0,0,0,0,0,0,26.71,26.74,26.73
$GC,64895,-0.39,146.6,3041,1510,1662,1716,3925.7,6.0,1520,64896,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1510,1689,1662,1716,0,0,0,0,0,0,26.72,26.74,26.73
$GC,65195,-0.39,146.6,3041,1510,1662,1716,3907.4,6.0,1525,65196,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1510,1689,1662,1716,0,0,0,0,0,0,26.72,26.74,26.74
$GC,65495,-0.39,146.6,3041,1510,1662,1716,3889.3,6.0,1530,65496,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1510,1689,1662,1716,0,0,0,0,0,0,26.72,26.75,26.74
$GC,65795,-0.39,146.6,3041,1510,1662,1717,3871.4,6.0,1535,65801,0.00,1.98,0.00,0.000,516,0.000,0.060,3049,213,1689,1662,1716,0,0,0,0,0,0,26.73,26.30,26.75
$GC,65836,-0.39,146.6,3048,213,1662,1716,3871.4,6.0,1535,65840,0.00,1.83,0.00,0.000,1030,0.000,0.045,3048,1499,1689,1662,1717,0,0,0,0,0,0,26.48,26.47,26.50
$GC,66155,-0.39,146.6,3048,1503,1662,1716,3850.4,5.8,1541,66156,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1503,1689,1662,1716,0,0,0,0,0,0,26.73,26.76,26.75
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$GC,99657,0.25,234.6,3228,1511,1384,1373,2022.1,4.2,2099,99659,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1511,1378,1384,1373,0,0,0,0,0,0,26.77,26.80,26.79
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$GC,101817,0.25,234.6,3232,1492,1384,1373,1928.5,4.3,2135,101819,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1492,1378,1384,1372,0,0,0,0,0,0,26.78,26.80,26.79
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$STATE,135195,end climb,SURFACE_DEPTH_REACHED
$STATE,135195,begin surface coast
$FINISH,1.2,1.023942
$STATE,135236,end surface coast,CONTROL_FINISHED_OK
$STATE,135236,begin surface
$SM_CCo,135251,12.30,0.896,0,0,1338,250.11
$SM_GC,3.38,8.38,0.10,12.30,0.057,0.097,0.896,201,1800,1338,-9.11,-2.18,250.11,0,0,0,0,0,0,26.44,26.70,25.10
$IRIDIUM_FIX,3130.35,-6438.63,050608,093919
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.08
$INTERNAL_PRESSURE,9.0538
$TCM_TEMP,22.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,4250.1,140.0
$24V_AH,19.67,25.897
$10V_AH,9.71,16.219
$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
$DEVICE_SECS,27.650,578.950,417.525,12.300,97.225,24.024,25.691,521.699,32.750,0.000,59.605,9398.187,110163.461,991.567,14966.869,469.203,0.609,5650.174,0.000,14056.174,0.000,235.923,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2151.146,10224.365,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329476
$DATA_FILE_SIZE,189952,3137
$CAP_FILE_SIZE,802650,0
$CFSIZE,1024409600,1010352128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120815,230915,3151.631,-6513.676,34,0.8,74,-15.2,0.2,202.0,10,4.1