version: 66.12
glider: 36
mission: 20
dive: 50
start: 8 16 115 17 46 19
data:
$ID,36
$MISSION,20
$DIVE,50
$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,68
$R_STBD_OVSHOOT,167
$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
$GPS1,160815,174122,3218.4724,-6513.6846,19,1.1,59,-15.3,0.0,0.0,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-70.1
$GPS2,160815,174551,3218.4397,-6513.7041,13,1.1,53,-15.3,0.2,218.0,10,4.5
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,BDA_W
$TGT_LATLONG,3220.000,-6511.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.056218,-0.196804
$KALMAN_X,39380.105469,0.000000,0.000000,-106584.687500,180177.390625
$KALMAN_Y,11436.413086,0.000000,0.000000,47943.812500,618893.875000
$MHEAD_RNG_PITCHd_Wd,211.2,5124,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,74,-0.65,-146.6,196,1553,1990,2443,3.1,-3.2,5,122,10.62,2.15,-28.48,0.104,18692,0.251,0.050,2927,3001,2707,2594,2820,0,0,0,0,0,0,25.69,26.00,25.84
$GC,451,-0.44,-146.6,2927,3001,2594,2820,51.1,-7.6,39,462,0.25,1.88,0.00,0.000,3078,0.166,0.047,3011,1671,2706,2594,2819,0,0,0,0,0,0,26.04,26.40,26.15
$GC,761,-0.33,-146.6,3011,1671,2594,2820,63.4,-3.7,70,772,0.08,1.90,0.00,0.000,2308,0.201,0.050,3037,3003,2706,2594,2819,0,0,0,0,0,0,26.32,26.41,26.36
$GC,786,-0.23,-146.6,3037,3003,2594,2819,64.2,-3.6,72,797,0.10,1.83,0.00,0.000,3078,0.164,0.047,3078,1695,2706,2593,2819,0,0,0,0,0,0,26.25,26.51,26.32
$GC,1096,-0.23,-146.6,3078,1695,2594,2820,74.8,-3.5,103,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1695,2707,2594,2820,0,0,0,0,0,0,26.79,26.81,26.81
$GC,1396,-0.23,-146.6,3078,1695,2594,2819,86.2,-4.0,133,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1695,2706,2593,2820,0,0,0,0,0,0,26.82,26.84,26.84
$GC,1706,-0.23,-146.6,3078,1695,2594,2819,99.9,-4.8,164,1716,0.00,1.95,0.00,0.000,516,0.000,0.060,3078,332,2707,2594,2820,0,0,0,0,0,0,26.84,26.53,26.86
$GC,1921,-0.23,-146.6,3077,332,2594,2819,112.1,-6.3,183,1925,0.00,1.80,0.00,0.000,1030,0.000,0.045,3072,1670,2707,2594,2820,0,0,0,0,0,0,26.69,26.67,26.70
$GC,2233,-0.23,-146.6,3072,1670,2594,2819,131.3,-6.0,214,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1670,2706,2594,2819,0,0,0,0,0,0,26.86,26.89,26.88
$GC,2533,-0.23,-146.6,3072,1670,2594,2819,149.0,-7.2,244,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1670,2706,2594,2819,0,0,0,0,0,0,26.86,26.89,26.89
$GC,2833,-0.23,-146.6,3072,1670,2594,2819,169.7,-7.1,260,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1670,2706,2593,2819,0,0,0,0,0,0,26.86,26.89,26.89
$GC,3135,-0.23,-146.6,3072,1670,2594,2819,190.3,-6.5,275,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1670,2706,2594,2819,0,0,0,0,0,0,26.88,26.89,26.89
$GC,3435,-0.23,-146.6,3072,1670,2594,2819,211.4,-6.9,290,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1670,2706,2594,2819,0,0,0,0,0,0,26.87,26.90,26.89
$GC,3735,-0.23,-146.6,3072,1670,2593,2819,233.2,-7.1,305,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1670,2706,2593,2819,0,0,0,0,0,0,26.88,26.90,26.89
$GC,4035,-0.23,-146.6,3073,1670,2593,2819,254.3,-7.0,320,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1670,2706,2593,2819,0,0,0,0,0,0,26.88,26.90,26.89
$GC,4335,-0.23,-146.6,3072,1670,2593,2819,274.6,-6.7,335,4340,0.00,2.00,0.00,0.000,260,0.000,0.052,3065,3064,2706,2593,2819,0,0,0,0,0,0,26.88,26.58,26.90
$GC,4417,-0.23,-146.6,3064,3064,2593,2819,280.3,-6.7,339,4423,0.00,1.90,0.00,0.000,1030,0.000,0.047,3065,1708,2706,2593,2819,0,0,0,0,0,0,26.67,26.64,26.69
$GC,4747,-0.23,-146.6,3064,1708,2593,2819,302.9,-6.8,355,4753,0.00,1.98,0.00,0.000,516,0.000,0.057,3065,326,2706,2593,2819,0,0,0,0,0,0,26.88,26.55,26.89
$GC,4821,-0.23,-146.6,3065,326,2593,2819,307.7,-7.2,357,4825,0.00,1.90,0.00,0.000,1030,0.000,0.042,3060,1705,2706,2593,2819,0,0,0,0,0,0,26.67,26.66,26.68
$GC,5140,-0.23,-146.6,3059,1705,2593,2818,333.2,-7.7,368,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1705,2706,2593,2819,0,0,0,0,0,0,26.88,26.90,26.89
$GC,5441,-0.23,-146.6,3059,1705,2593,2819,355.2,-7.2,378,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1705,2706,2593,2819,0,0,0,0,0,0,26.88,26.90,26.89
$GC,5740,-0.23,-146.6,3059,1705,2593,2819,376.5,-6.9,388,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1705,2706,2593,2819,0,0,0,0,0,0,26.88,26.90,26.89
$GC,6040,-0.23,-146.6,3059,1705,2593,2818,397.5,-7.0,398,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1705,2706,2593,2819,0,0,0,0,0,0,26.88,26.90,26.89
$GC,6340,-0.23,-146.6,3059,1705,2593,2819,418.6,-6.9,408,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1705,2705,2593,2818,0,0,0,0,0,0,26.88,26.90,26.90
$GC,6641,-0.23,-146.6,3059,1705,2593,2818,440.1,-7.1,418,6646,0.00,1.95,0.00,0.000,260,0.000,0.052,3053,3056,2705,2593,2818,0,0,0,0,0,0,26.88,26.57,26.90
$GC,6701,-0.23,-146.6,3053,3056,2593,2818,444.6,-7.2,420,6707,0.00,1.92,0.00,0.000,1030,0.000,0.045,3053,1691,2705,2592,2818,0,0,0,0,0,0,26.67,26.63,26.68
$GC,7033,-0.23,-146.6,3053,1691,2593,2818,468.4,-7.3,431,7038,0.00,1.98,0.00,0.000,516,0.000,0.057,3053,310,2705,2593,2818,0,0,0,0,0,0,26.88,26.53,26.89
$GC,7124,-0.23,-146.6,3053,310,2593,2818,475.5,-7.8,434,7129,0.00,1.90,0.00,0.000,1030,0.000,0.045,3050,1716,2705,2593,2818,0,0,0,0,0,0,26.69,26.65,26.70
$GC,7454,-0.23,-146.6,3050,1716,2593,2816,499.4,-7.4,445,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1716,2704,2593,2816,0,0,0,0,0,0,26.87,26.90,26.89
$GC,7754,-0.23,-146.6,3050,1716,2593,2816,520.5,-6.9,455,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1716,2704,2593,2816,0,0,0,0,0,0,26.88,26.90,26.89
$GC,8056,-0.23,-146.6,3050,1716,2593,2816,541.9,-7.2,465,8061,0.00,1.92,0.00,0.000,260,0.000,0.052,3042,3044,2704,2593,2816,0,0,0,0,0,0,26.88,26.55,26.89
$GC,8128,-0.23,-146.6,3042,3044,2593,2815,546.3,-7.0,467,8133,0.10,1.92,0.00,0.000,3078,0.132,0.045,3080,1693,2704,2593,2815,0,0,0,0,0,0,26.36,26.63,26.42
$GC,8449,-0.30,-146.6,3080,1693,2592,2815,566.3,-6.2,478,8454,0.00,1.98,0.00,0.000,516,0.000,0.060,3080,313,2703,2592,2815,0,0,0,0,0,0,26.87,26.52,26.89
$GC,8511,-0.36,-146.6,3081,313,2592,2815,570.3,-6.5,480,8516,0.05,1.90,0.00,0.000,5126,0.097,0.042,3006,1687,2704,2593,2815,0,0,0,0,0,0,26.53,26.67,26.55
$GC,8842,-0.36,-146.6,3006,1688,2588,2815,600.1,-9.1,491,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1688,2701,2588,2815,0,0,0,0,0,0,26.87,26.89,26.89
$GC,9140,-0.36,-146.6,3006,1688,2588,2815,626.8,-8.8,501,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1688,2701,2588,2815,0,0,0,0,0,0,26.87,26.89,26.89
$GC,9440,-0.36,-146.6,3005,1688,2588,2815,654.8,-9.6,511,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1688,2701,2588,2815,0,0,0,0,0,0,26.87,26.89,26.89
$GC,9740,-0.36,-146.6,3006,1688,2587,2813,684.2,-9.7,521,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1688,2701,2588,2814,0,0,0,0,0,0,26.87,26.89,26.89
$GC,10042,-0.36,-146.6,3006,1688,2587,2814,711.4,-8.8,531,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1688,2700,2587,2814,0,0,0,0,0,0,26.87,26.89,26.89
$GC,10340,-0.36,-146.6,3006,1688,2584,2814,738.9,-9.3,541,10346,0.00,2.00,0.00,0.000,260,0.000,0.052,3002,3072,2698,2584,2813,0,0,0,0,0,0,26.86,26.53,26.89
$GC,10393,-0.36,-146.6,3002,3072,2585,2814,741.7,-9.3,542,10401,0.00,1.98,0.00,0.000,1030,0.000,0.045,3002,1702,2699,2585,2813,0,0,0,0,0,0,26.62,26.60,26.63
$GC,10701,-0.36,-146.6,3002,1702,2584,2813,772.4,-9.1,553,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1702,2699,2585,2813,0,0,0,0,0,0,26.86,26.89,26.88
$GC,11003,-0.36,-146.6,3002,1702,2582,2813,799.9,-9.1,563,11008,0.00,2.00,0.00,0.000,516,0.000,0.057,3003,316,2697,2582,2813,0,0,0,0,0,0,26.86,26.49,26.88
$GC,11085,-0.36,-146.6,3002,316,2582,2812,806.0,-9.5,565,11095,0.10,1.92,0.00,0.000,3078,0.142,0.042,3032,1692,2697,2582,2813,0,0,0,0,0,0,26.31,26.63,26.37
$GC,11396,-0.36,-146.6,3032,1692,2582,2811,833.2,-7.6,576,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1693,2697,2582,2812,0,0,0,0,0,0,26.86,26.89,26.88
$GC,11694,-0.36,-146.6,3032,1692,2580,2812,857.0,-7.9,586,11700,0.00,1.98,0.00,0.000,260,0.000,0.052,3024,3075,2696,2580,2812,0,0,0,0,0,0,26.86,26.51,26.88
$GC,11747,-0.36,-146.6,3024,3075,2580,2811,859.4,-7.9,587,11756,0.00,2.00,0.00,0.000,1030,0.000,0.045,3025,1695,2695,2580,2811,0,0,0,0,0,0,26.60,26.58,26.61
$GC,12055,-0.36,-146.6,3024,1695,2577,2810,887.2,-8.2,598,12061,0.00,1.98,0.00,0.000,516,0.000,0.060,3024,324,2694,2577,2811,0,0,0,0,0,0,26.86,26.48,26.87
$GC,12124,-0.36,-146.6,3024,324,2577,2810,892.7,-8.5,600,12128,0.00,1.95,0.00,0.000,1030,0.000,0.042,3017,1705,2694,2577,2811,0,0,0,0,0,0,26.63,26.60,26.64
$GC,12449,-0.36,-146.6,3017,1705,2574,2810,921.5,-8.6,611,12455,0.00,2.00,0.00,0.000,260,0.000,0.052,3007,3086,2692,2574,2810,0,0,0,0,0,0,26.85,26.51,26.87
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$GC,51404,-1.30,-146.6,2760,1713,2540,2791,4127.4,-5.1,1273,51409,0.00,2.12,0.00,0.000,516,0.000,0.057,2761,311,2665,2540,2791,0,0,0,0,0,0,26.76,25.98,26.77
$GC,51474,-1.37,-146.6,2760,310,2540,2791,4130.8,-5.2,1274,51478,0.08,2.00,0.00,0.000,5126,0.119,0.042,2701,1697,2665,2540,2791,0,0,0,0,0,0,26.17,26.30,26.22
$GC,51827,-1.37,-146.6,2684,1698,2540,2791,4155.4,-6.9,1280,51829,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1698,2665,2540,2791,0,0,0,0,0,0,26.76,26.78,26.77
$GC,52127,-1.37,-146.6,2684,1698,2540,2791,4176.3,-6.9,1285,52132,0.00,2.10,0.00,0.000,516,0.000,0.057,2684,314,2665,2540,2791,0,0,0,0,0,0,26.76,25.97,26.77
$GC,52207,-1.37,-146.6,2684,314,2540,2791,4180.7,-7.0,1286,52212,0.10,2.03,0.00,0.000,3078,0.151,0.042,2710,1709,2665,2540,2791,0,0,0,0,0,0,25.86,26.29,25.89
$GC,52552,-1.37,-146.6,2710,1710,2540,2791,4203.2,-6.0,1292,52553,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1710,2665,2540,2791,0,0,0,0,0,0,26.70,26.72,26.72
$GC,52852,-1.37,-146.6,2710,1709,2540,2791,4220.3,-5.6,1297,52857,0.00,2.10,0.00,0.000,516,0.000,0.057,2711,320,2665,2540,2791,0,0,0,0,0,0,26.70,25.96,26.71
$GC,52953,-1.37,-146.6,2710,320,2540,2791,4223.9,-5.7,1298,52957,0.00,2.00,0.00,0.000,1030,0.000,0.042,2705,1687,2665,2540,2791,0,0,0,0,0,0,26.32,26.30,26.34
$GC,53272,-1.37,-146.6,2704,1688,2540,2791,4244.9,-5.8,1304,53273,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1688,2665,2540,2791,0,0,0,0,0,0,26.76,26.78,26.77
$GC,53572,-1.37,-146.6,2704,1688,2540,2791,4261.6,-5.7,1309,53577,0.00,2.08,0.00,0.000,516,0.000,0.057,2705,314,2665,2540,2791,0,0,0,0,0,0,26.76,25.96,26.77
$GC,53654,-1.37,-146.6,2705,314,2540,2791,4265.1,-5.6,1310,53658,0.00,2.03,0.00,0.000,1030,0.000,0.042,2698,1700,2665,2540,2791,0,0,0,0,0,0,26.31,26.29,26.32
$GC,53993,-1.37,-146.6,2698,1701,2540,2791,4284.6,-5.5,1316,53994,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1701,2665,2540,2791,0,0,0,0,0,0,26.76,26.78,26.77
$GC,54293,-1.37,-146.6,2698,1701,2540,2791,4302.1,-5.8,1321,54299,0.00,2.10,0.00,0.000,516,0.000,0.057,2698,317,2665,2540,2791,0,0,0,0,0,0,26.76,25.95,26.77
$GC,54385,-1.37,-146.6,2698,317,2540,2791,4305.6,-5.8,1322,54390,0.00,2.03,0.00,0.000,1030,0.000,0.042,2692,1713,2665,2540,2791,0,0,0,0,0,0,26.30,26.29,26.32
$GC,54714,-1.37,-146.6,2692,1716,2540,2791,4326.2,-5.6,1328,54716,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1716,2665,2540,2791,0,0,0,0,0,0,26.76,26.79,26.77
$GC,55014,-1.37,-146.6,2691,1716,2540,2791,4342.9,-5.6,1333,55020,0.00,2.12,0.00,0.000,516,0.000,0.057,2692,310,2665,2540,2791,0,0,0,0,0,0,26.76,25.96,26.77
$GC,55117,-1.37,-146.6,2691,310,2540,2791,4346.6,-5.6,1334,55121,0.00,2.03,0.00,0.000,1030,0.000,0.045,2685,1698,2665,2540,2791,0,0,0,0,0,0,26.31,26.29,26.32
$GC,55436,-1.37,-146.6,2684,1698,2540,2791,4367.6,-5.8,1340,55437,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1698,2666,2540,2792,0,0,0,0,0,0,26.76,26.79,26.78
$GC,55736,-1.37,-146.6,2684,1698,2540,2791,4384.6,-5.7,1345,55741,0.00,2.10,0.00,0.000,516,0.000,0.057,2685,313,2665,2540,2791,0,0,0,0,0,0,26.76,25.96,26.77
$GC,55843,-1.37,-146.6,2684,313,2540,2791,4388.2,-5.8,1346,55848,0.10,2.03,0.00,0.000,3078,0.149,0.042,2712,1692,2665,2540,2791,0,0,0,0,0,0,25.86,26.29,25.89
$STATE,55855,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,55855,begin apogee
$GC,55860,-0.24,0.0,2711,1506,2540,2791,4392.3,-6.0,1347,55979,1.05,0.00,115.95,3.908,10246,0.104,0.000,3079,1506,2199,2070,2329,0,0,0,0,0,0,25.46,22.09,19.78
$STATE,55980,end apogee,CONTROL_FINISHED_OK
$STATE,55980,begin climb
$GC,55981,0.65,146.6,3079,1506,2069,2328,4391.6,0.0,1349,56218,0.82,0.00,214.50,3.789,10246,0.067,0.000,3383,1506,1693,1690,1696,0,0,0,0,3,0,22.86,21.54,19.74
$GC,56517,0.21,146.6,3383,1506,1688,1694,4281.4,24.8,1358,56520,0.60,0.00,0.00,0.000,4102,0.201,0.000,3222,1506,1691,1688,1694,0,0,0,0,0,0,24.76,25.09,25.01
$GC,56817,-0.03,146.6,3222,1506,1688,1694,4232.3,15.7,1363,56819,0.20,0.00,0.00,0.000,4102,0.181,0.000,3162,1506,1691,1688,1695,0,0,0,0,0,0,25.39,25.65,25.58
$GC,57117,-0.20,146.6,3162,1506,1688,1694,4194.7,12.3,1368,57119,0.17,0.00,0.00,0.000,4102,0.176,0.000,3107,1506,1691,1688,1694,0,0,0,0,0,0,25.64,25.87,25.81
$GC,57417,-0.30,146.6,3107,1506,1688,1694,4165.5,9.6,1373,57419,0.17,0.00,0.00,0.000,4102,0.159,0.000,3049,1506,1691,1688,1694,0,0,0,0,0,0,25.81,26.01,25.95
$GC,57717,-0.30,146.6,3048,1506,1684,1694,4144.0,7.0,1378,57718,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1506,1689,1684,1694,0,0,0,0,0,0,26.45,26.48,26.47
$GC,58017,-0.30,146.6,3049,1506,1682,1694,4122.6,7.1,1383,58022,0.00,1.98,0.00,0.000,516,0.000,0.062,3057,188,1688,1682,1694,0,0,0,0,0,0,26.51,26.13,26.53
$GC,58068,-0.30,146.6,3057,188,1681,1694,4122.6,7.1,1383,58077,0.00,1.92,0.00,0.000,1030,0.000,0.045,3057,1536,1687,1681,1694,0,0,0,0,0,0,26.29,26.29,26.32
$GC,58377,-0.30,146.6,3056,1537,1681,1694,4097.5,6.9,1389,58378,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1537,1687,1681,1694,0,0,0,0,0,0,26.56,26.58,26.58
$GC,58677,-0.30,146.6,3057,1537,1681,1694,4076.8,6.9,1394,58678,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1537,1687,1681,1694,0,0,0,0,0,0,26.59,26.62,26.61
$GC,58977,-0.30,146.6,3057,1537,1681,1694,4056.0,6.9,1399,58981,0.00,2.03,0.00,0.000,516,0.000,0.060,3066,198,1687,1681,1694,0,0,0,0,0,0,26.62,26.22,26.64
$GC,59025,-0.30,146.6,3065,196,1681,1694,4056.0,6.9,1399,59030,0.00,1.85,0.00,0.000,1030,0.000,0.045,3066,1500,1687,1681,1694,0,0,0,0,0,0,26.39,26.37,26.41
$GC,59339,-0.30,146.6,3065,1504,1681,1694,4029.1,7.5,1405,59340,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.64,26.66,26.65
$GC,59639,-0.30,146.6,3065,1504,1681,1694,4007.6,7.1,1410,59640,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.65,26.68,26.67
$GC,59939,-0.30,146.6,3065,1504,1681,1694,3986.7,7.0,1415,59940,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1504,1687,1681,1694,0,0,0,0,0,0,26.67,26.70,26.69
$GC,60239,-0.30,146.6,3065,1504,1681,1694,3965.6,7.0,1420,60240,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1680,1694,0,0,0,0,0,0,26.68,26.70,26.70
$GC,60539,-0.30,146.6,3065,1504,1681,1694,3945.3,6.8,1425,60540,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.69,26.72,26.71
$GC,60839,-0.30,146.6,3065,1504,1681,1694,3926.6,6.2,1430,60840,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.70,26.72,26.72
$GC,61139,-0.30,146.6,3065,1504,1681,1694,3907.6,6.4,1435,61140,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1503,1687,1681,1694,0,0,0,0,0,0,26.70,26.73,26.72
$GC,61439,-0.30,146.6,3065,1504,1681,1694,3889.7,6.0,1440,61440,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.71,26.74,26.73
$GC,61739,-0.30,146.6,3065,1504,1681,1694,3872.7,5.7,1445,61740,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.72,26.74,26.74
$GC,62039,-0.30,146.6,3065,1504,1681,1694,3855.3,5.8,1450,62040,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1693,0,0,0,0,0,0,26.72,26.74,26.74
$GC,62339,-0.30,146.6,3066,1504,1681,1694,3837.5,6.0,1455,62340,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1504,1687,1681,1694,0,0,0,0,0,0,26.72,26.75,26.74
$GC,62639,-0.30,146.6,3065,1504,1681,1694,3818.3,6.5,1460,62640,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.73,26.76,26.75
$GC,62939,-0.30,146.6,3065,1504,1682,1694,3798.6,6.6,1465,62940,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.73,26.76,26.75
$GC,63239,-0.30,146.6,3065,1504,1681,1694,3779.1,6.5,1470,63240,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.74,26.76,26.76
$GC,63539,-0.30,146.6,3065,1504,1681,1694,3761.0,6.1,1475,63540,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1688,1681,1695,0,0,0,0,0,0,26.74,26.77,26.75
$GC,63839,-0.30,146.6,3065,1504,1681,1694,3742.7,6.0,1480,63840,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.74,26.77,26.76
$GC,64139,-0.30,146.6,3065,1504,1681,1694,3724.5,6.0,1485,64140,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1505,1687,1681,1694,0,0,0,0,0,0,26.74,26.77,26.76
$GC,64439,-0.30,146.6,3065,1504,1681,1694,3708.6,5.2,1490,64440,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1505,1687,1681,1694,0,0,0,0,0,0,26.74,26.77,26.77
$GC,64739,-0.30,146.6,3065,1504,1681,1694,3691.2,5.7,1495,64740,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.74,26.77,26.77
$GC,65039,-0.30,146.6,3065,1504,1681,1694,3674.3,5.6,1500,65040,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1504,1687,1681,1694,0,0,0,0,0,0,26.74,26.77,26.77
$GC,65339,-0.30,146.6,3065,1504,1681,1694,3658.5,5.2,1505,65345,0.00,1.98,0.00,0.000,260,0.000,0.050,3066,2858,1687,1681,1694,0,0,0,0,0,0,26.75,26.34,26.77
$GC,65399,-0.30,146.6,3065,2858,1681,1694,3655.4,5.2,1506,65405,0.00,2.00,0.00,0.000,1030,0.000,0.050,3071,1506,1687,1681,1694,0,0,0,0,0,0,26.38,26.35,26.41
$GC,65759,-0.30,146.6,3071,1506,1681,1694,3636.4,5.2,1512,65760,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1506,1687,1681,1694,0,0,0,0,0,0,26.75,26.77,26.77
$GC,66059,-0.30,146.6,3071,1506,1681,1694,3621.0,5.1,1517,66060,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1506,1687,1681,1694,0,0,0,0,0,0,26.75,26.77,26.77
$GC,66359,-0.30,146.6,3071,1506,1681,1694,3605.6,5.2,1522,66360,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1506,1687,1681,1694,0,0,0,0,0,0,26.75,26.78,26.77
$GC,66659,-0.30,146.6,3071,1506,1681,1694,3590.9,4.8,1527,66660,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1506,1687,1681,1694,0,0,0,0,0,0,26.75,26.78,26.77
$GC,66959,-0.30,146.6,3071,1506,1681,1694,3574.6,5.4,1532,66965,0.00,1.98,0.00,0.000,260,0.000,0.050,3071,2852,1687,1681,1694,0,0,0,0,0,0,26.75,26.34,26.77
$GC,67010,-0.30,146.6,3071,2851,1681,1694,3574.6,5.4,1532,67019,0.00,2.05,0.00,0.000,1030,0.000,0.047,3075,1492,1687,1681,1694,0,0,0,0,0,0,26.36,26.34,26.39
$GC,67319,-0.30,146.6,3075,1492,1681,1694,3555.3,5.3,1538,67320,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1492,1687,1681,1694,0,0,0,0,0,0,26.75,26.78,26.77
$GC,67619,-0.30,146.6,3075,1492,1681,1694,3539.8,5.2,1543,67620,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1492,1687,1681,1694,0,0,0,0,0,0,26.75,26.78,26.77
$GC,67919,-0.30,146.6,3075,1492,1681,1694,3525.3,4.8,1548,67920,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1493,1687,1681,1694,0,0,0,0,0,0,26.75,26.78,26.77
$GC,68219,-0.30,146.6,3075,1492,1681,1694,3511.7,4.5,1553,68225,0.00,2.00,0.00,0.000,260,0.000,0.050,3075,2853,1688,1681,1695,0,0,0,0,0,0,26.75,26.33,26.77
$GC,68281,-0.30,146.6,3075,2853,1681,1694,3508.4,4.7,1554,68286,0.00,2.05,0.00,0.000,1030,0.000,0.047,3081,1499,1687,1681,1694,0,0,0,0,0,0,26.36,26.34,26.39
$GC,68641,-0.30,146.6,3081,1499,1681,1694,3491.1,4.7,1560,68642,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1499,1688,1682,1694,0,0,0,0,0,0,26.75,26.78,26.77
$GC,68940,-0.30,146.6,3081,1499,1681,1694,3477.4,4.6,1565,68942,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1499,1687,1681,1694,0,0,0,0,0,0,26.76,26.78,26.78
$GC,69240,-0.30,146.6,3081,1499,1681,1694,3462.2,5.0,1570,69242,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1499,1687,1681,1694,0,0,0,0,0,0,26.75,26.79,26.78
$GC,69540,-0.30,146.6,3080,1499,1681,1694,3447.1,5.0,1575,69544,0.00,2.03,0.00,0.000,260,0.000,0.050,3081,2852,1687,1681,1694,0,0,0,0,0,0,26.76,26.32,26.78
$GC,69584,-0.30,146.6,3081,2859,1681,1694,3447.1,5.0,1575,69589,0.08,2.05,0.00,0.000,5126,0.139,0.047,3056,1502,1687,1681,1694,0,0,0,0,0,0,26.09,26.33,26.15
$GC,69903,-0.23,146.6,3055,1501,1681,1693,3431.0,4.2,1581,69904,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1502,1687,1681,1693,0,0,0,0,0,0,26.76,26.78,26.77
$GC,70204,-0.14,222.5,3055,1501,1681,1694,3419.4,3.9,1586,70296,0.10,0.00,90.20,3.327,10246,0.107,0.000,3127,1501,1433,1448,1418,0,0,0,0,0,0,26.52,22.68,20.80
$GC,70563,-0.14,222.5,3127,1501,1434,1411,3397.0,6.5,1592,70568,0.00,2.08,0.00,0.000,260,0.000,0.047,3127,2842,1422,1434,1411,0,0,0,0,0,0,25.37,25.10,25.38
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$STATE,123041,end climb,SURFACE_DEPTH_REACHED
$STATE,123041,begin surface coast
$FINISH,1.1,1.011966
$STATE,123076,end surface coast,CONTROL_FINISHED_OK
$STATE,123076,begin surface
$SM_CCo,123153,0.00,0.000,0,0,1110,316.63
$SM_GC,2.18,8.40,2.00,0.00,0.050,0.040,0.000,172,1634,1110,-9.17,-4.92,316.63,0,0,0,0,0,0,26.53,26.65,26.57
$IRIDIUM_FIX,3205.87,-6513.31,120608,062006
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.91
$INTERNAL_PRESSURE,9.01473
$TCM_TEMP,21.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,4251.5,168.5
$24V_AH,19.74,27.971
$10V_AH,9.66,17.545
$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,27.225,422.225,521.050,0.000,82.925,24.320,38.911,94.917,33.000,0.000,54.675,8366.728,101129.977,989.715,12563.396,396.268,0.601,4834.887,0.000,12118.885,0.000,235.982,0.000
$DEVICE_MAMPS,250.783,62.075,3908.242,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1957.150,9298.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329500
$DATA_FILE_SIZE,173390,2853
$CAP_FILE_SIZE,679030,0
$CFSIZE,1024409600,1009418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,180815,040045,3205.251,-6517.295,33,1.0,74,-15.2,0.3,94.3,9,4.4