version: 66.12
glider: 36
mission: 20
dive: 60
start: 9 2 115 10 34 31
data:
$ID,36
$MISSION,20
$DIVE,60
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$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,4000
$T_MISSION,4060
$T_ABORT,4120
$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,66
$R_STBD_OVSHOOT,129
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2340
$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
$GPS1,020915,102016,3423.4478,-6611.2437,41,1.0,83,-15.3,0.3,267.9,8,4.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-69.6
$GPS2,020915,103403,3423.4355,-6611.3521,13,0.9,53,-15.3,0.7,256.3,9,3.9
$SPEED_LIMITS,0.050,0.191
$TGT_NAME,9020N
$TGT_LATLONG,3639.480,-6744.400
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.108736,0.156555
$KALMAN_X,60872.527344,0.000000,0.000000,-218767.125000,15670.082031
$KALMAN_Y,-32677.101562,0.000000,0.000000,323532.968750,-19647.875000
$MHEAD_RNG_PITCHd_Wd,340.5,287388,-10.0,-5.000,-14.70,4397
$D_GRID,6000
$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,-0.31,-146.6,2968,3046,2847,2846,55.4,-15.4,38,470,0.25,1.98,0.00,0.000,3078,0.156,0.047,3049,1661,2846,2847,2846,0,0,0,0,0,0,25.89,26.41,25.98
$GC,780,-0.23,-146.6,3049,1660,2848,2846,81.9,-7.3,59,785,0.00,1.98,0.00,0.000,260,0.000,0.052,3042,3042,2846,2847,2846,0,0,0,0,0,0,26.79,26.44,26.80
$GC,1102,-0.14,-146.6,3041,3042,2847,2846,105.7,-6.9,79,1108,0.15,1.88,0.00,0.000,3078,0.149,0.047,3102,1696,2846,2847,2846,0,0,0,0,0,0,26.17,26.55,26.25
$GC,1417,-0.14,-146.6,3102,1695,2847,2846,124.8,-5.9,100,1422,0.00,1.95,0.00,0.000,260,0.000,0.052,3095,3063,2846,2847,2846,0,0,0,0,0,0,26.86,26.50,26.87
$GC,1547,-0.14,-146.6,3095,3063,2847,2846,131.4,-4.5,108,1552,0.00,1.92,0.00,0.000,1030,0.000,0.045,3095,1706,2846,2847,2846,0,0,0,0,0,0,26.60,26.59,26.62
$GC,1862,-0.14,-146.6,3095,1706,2847,2846,146.4,-5.5,129,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1706,2846,2847,2846,0,0,0,0,0,0,26.87,26.89,26.89
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$GC,2262,-0.14,-146.6,3094,317,2847,2846,171.6,-6.6,144,2266,0.00,1.90,0.00,0.000,1030,0.000,0.042,3091,1698,2846,2847,2846,0,0,0,0,0,0,26.67,26.66,26.68
$GC,2586,-0.14,-146.6,3090,1699,2847,2846,193.8,-6.6,155,2591,0.00,1.92,0.00,0.000,260,0.000,0.052,3082,3059,2847,2848,2846,0,0,0,0,0,0,26.88,26.52,26.89
$GC,2690,-0.14,-146.6,3081,3059,2847,2846,200.2,-6.9,158,2694,0.00,1.92,0.00,0.000,1030,0.000,0.045,3082,1700,2846,2847,2846,0,0,0,0,0,0,26.62,26.60,26.63
$GC,3009,-0.14,-146.6,3081,1700,2847,2846,224.0,-7.2,169,3015,0.00,1.98,0.00,0.000,516,0.000,0.057,3082,317,2846,2847,2846,0,0,0,0,0,0,26.88,26.47,26.89
$GC,3102,-0.14,-146.6,3081,317,2847,2846,231.3,-7.7,172,3107,0.00,1.85,0.00,0.000,1030,0.000,0.042,3075,1697,2846,2847,2846,0,0,0,0,0,0,26.68,26.66,26.69
$GC,3432,-0.14,-146.6,3074,1697,2847,2846,256.2,-7.3,183,3437,0.00,1.95,0.00,0.000,260,0.000,0.052,3071,3077,2846,2847,2846,0,0,0,0,0,0,26.88,26.51,26.89
$GC,3510,-0.14,-146.6,3070,3078,2847,2846,260.3,-7.0,185,3515,0.10,1.98,0.00,0.000,3078,0.129,0.045,3109,1684,2846,2847,2846,0,0,0,0,0,0,26.30,26.59,26.35
$GC,3825,-0.20,-146.6,3108,1684,2847,2846,280.9,-6.0,196,3830,0.00,1.95,0.00,0.000,516,0.000,0.057,3109,327,2846,2847,2846,0,0,0,0,0,0,26.87,26.46,26.89
$GC,3885,-0.20,-146.6,3109,327,2847,2846,284.9,-6.3,198,3891,0.00,1.85,0.00,0.000,1030,0.000,0.045,3109,1729,2846,2847,2846,0,0,0,0,0,0,26.67,26.64,26.67
$GC,4201,-0.25,-146.6,3109,1730,2847,2845,303.3,-5.8,208,4203,0.08,0.00,0.00,0.000,4102,0.119,0.000,3018,1734,2846,2847,2846,0,0,0,0,0,0,26.68,26.71,26.70
$GC,4516,-0.19,-146.6,3018,1734,2847,2846,331.7,-9.2,215,4522,0.17,2.03,0.00,0.000,2564,0.142,0.055,3088,330,2846,2847,2845,0,0,0,0,0,0,26.29,26.40,26.34
$GC,4583,-0.19,-146.6,3087,330,2847,2846,335.3,-8.9,216,4587,0.00,1.88,0.00,0.000,1030,0.000,0.042,3084,1696,2847,2848,2846,0,0,0,0,0,0,26.65,26.65,26.67
$GC,4922,-0.19,-146.6,3085,1696,2847,2846,360.7,-6.9,224,4927,0.00,1.92,0.00,0.000,260,0.000,0.052,3075,3050,2846,2847,2845,0,0,0,0,0,0,26.87,26.51,26.88
$GC,5013,-0.19,-146.6,3074,3050,2847,2845,367.1,-7.0,226,5019,0.00,1.88,0.00,0.000,1030,0.000,0.045,3074,1694,2846,2847,2845,0,0,0,0,0,0,26.63,26.60,26.65
$GC,5328,-0.19,-146.6,3074,1695,2847,2845,388.5,-6.8,233,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1694,2846,2847,2845,0,0,0,0,0,0,26.87,26.89,26.89
$GC,5643,-0.19,-146.6,3074,1694,2847,2845,409.6,-6.8,240,5648,0.00,2.00,0.00,0.000,516,0.000,0.057,3075,313,2846,2847,2845,0,0,0,0,0,0,26.86,26.46,26.89
$GC,5700,-0.19,-146.6,3074,313,2847,2845,412.7,-6.8,241,5705,0.00,1.90,0.00,0.000,1030,0.000,0.042,3071,1698,2846,2847,2845,0,0,0,0,0,0,26.65,26.65,26.66
$GC,6049,-0.19,-146.6,3071,1699,2847,2845,435.9,-6.2,249,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1698,2845,2846,2845,0,0,0,0,0,0,26.86,26.89,26.89
$GC,6364,-0.19,-146.6,3071,1699,2847,2845,455.1,-6.1,256,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1699,2846,2847,2845,0,0,0,0,0,0,26.86,26.89,26.89
$GC,6679,-0.19,-146.6,3072,1699,2847,2845,475.2,-6.5,263,6685,0.00,1.92,0.00,0.000,260,0.000,0.052,3064,3051,2845,2846,2845,0,0,0,0,0,0,26.86,26.50,26.88
$GC,6743,-0.19,-146.6,3063,3051,2847,2845,478.1,-6.6,264,6747,0.00,1.88,0.00,0.000,1030,0.000,0.045,3063,1699,2846,2847,2845,0,0,0,0,0,0,26.63,26.59,26.64
$GC,7081,-0.19,-146.6,3063,1699,2847,2844,503.3,-7.1,272,7086,0.00,2.00,0.00,0.000,516,0.000,0.057,3063,320,2845,2846,2844,0,0,0,0,0,0,26.86,26.45,26.89
$GC,7172,-0.19,-146.6,3063,320,2847,2844,510.5,-7.4,274,7178,0.00,1.85,0.00,0.000,1030,0.000,0.045,3060,1702,2845,2846,2844,0,0,0,0,0,0,26.66,26.63,26.67
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$GC,7535,-0.19,-146.6,3052,3054,2847,2843,534.8,-6.5,282,7540,0.10,1.88,0.00,0.000,3078,0.149,0.045,3090,1694,2844,2846,2843,0,0,0,0,0,0,26.33,26.58,26.41
$GC,7844,-0.27,-146.6,3090,1694,2846,2842,551.6,-5.3,289,7850,0.00,2.00,0.00,0.000,516,0.000,0.057,3090,316,2844,2846,2843,0,0,0,0,0,0,26.86,26.44,26.88
$GC,7911,-0.35,-146.6,3090,316,2846,2842,554.0,-5.4,290,7916,0.08,1.90,0.00,0.000,5126,0.117,0.042,3005,1698,2844,2846,2842,0,0,0,0,0,0,26.53,26.65,26.57
$GC,8250,-0.35,-146.6,3002,1698,2846,2842,584.3,-8.8,298,8252,0.12,0.00,0.00,0.000,2054,0.149,0.000,3047,1698,2844,2846,2842,0,0,0,0,0,0,26.40,26.50,26.46
$GC,8565,-0.35,-146.6,3046,1698,2844,2842,606.4,-6.9,305,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1698,2843,2844,2842,0,0,0,0,0,0,26.86,26.89,26.88
$GC,8880,-0.35,-146.6,3046,1698,2844,2842,626.7,-6.5,312,8885,0.00,1.95,0.00,0.000,260,0.000,0.052,3042,3063,2843,2844,2842,0,0,0,0,0,0,26.86,26.48,26.88
$GC,8937,-0.35,-146.6,3042,3063,2844,2841,629.9,-6.6,313,8941,0.00,1.92,0.00,0.000,1030,0.000,0.045,3043,1711,2842,2844,2841,0,0,0,0,0,0,26.59,26.58,26.61
$GC,9286,-0.35,-146.6,3042,1711,2844,2841,656.1,-7.5,321,9291,0.00,2.00,0.00,0.000,516,0.000,0.057,3042,331,2842,2844,2841,0,0,0,0,0,0,26.86,26.44,26.88
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$GC,9738,-0.35,-146.6,3038,1698,2842,2841,690.7,-7.6,331,9744,0.00,1.92,0.00,0.000,260,0.000,0.052,3029,3048,2841,2842,2841,0,0,0,0,0,0,26.86,26.48,26.88
$GC,9801,-0.35,-146.6,3029,3048,2842,2841,694.1,-7.6,332,9805,0.00,1.92,0.00,0.000,1030,0.000,0.045,3029,1704,2841,2842,2841,0,0,0,0,0,0,26.58,26.57,26.60
$GC,10145,-0.35,-146.6,3029,1703,2841,2841,720.4,-7.2,340,10150,0.00,2.00,0.00,0.000,516,0.000,0.057,3029,324,2841,2841,2841,0,0,0,0,0,0,26.86,26.43,26.87
$GC,10258,-0.35,-146.6,3029,324,2839,2841,727.7,-7.6,342,10262,0.00,1.90,0.00,0.000,1030,0.000,0.042,3029,1711,2840,2839,2841,0,0,0,0,0,0,26.62,26.60,26.63
$GC,10597,-0.35,-146.6,3029,1713,2839,2841,754.9,-7.4,350,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1713,2839,2839,2840,0,0,0,0,0,0,26.86,26.88,26.87
$GC,10912,-0.35,-146.6,3029,1712,2839,2839,778.8,-7.6,357,10917,0.00,1.90,0.00,0.000,260,0.000,0.052,3020,3041,2839,2839,2839,0,0,0,0,0,0,26.86,26.47,26.87
$GC,10989,-0.35,-146.6,3020,3042,2839,2839,782.5,-7.7,358,10993,0.00,1.92,0.00,0.000,1030,0.000,0.045,3020,1701,2839,2839,2839,0,0,0,0,0,0,26.57,26.55,26.58
$GC,11319,-0.35,-146.6,3020,1701,2837,2839,810.6,-7.6,366,11324,0.00,1.98,0.00,0.000,516,0.000,0.057,3020,328,2838,2837,2839,0,0,0,0,0,0,26.85,26.41,26.87
$GC,11396,-0.35,-146.6,3020,328,2837,2839,814.5,-7.8,367,11400,0.00,1.88,0.00,0.000,1030,0.000,0.042,3016,1685,2838,2837,2839,0,0,0,0,0,0,26.61,26.60,26.63
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$GC,70847,-1.59,-146.6,2618,1697,2787,2818,4885.1,-5.9,897,70848,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1697,2803,2788,2819,0,0,0,0,0,0,26.63,26.66,26.65
$GC,71208,-1.59,-146.6,2613,1697,2788,2818,4905.7,-5.7,900,71214,0.00,2.10,0.00,0.000,516,0.000,0.057,2614,320,2804,2789,2819,0,0,0,0,0,0,26.67,25.67,26.68
$GC,71336,-1.59,-146.6,2613,320,2788,2818,4913.8,-5.9,901,71340,0.00,2.03,0.00,0.000,1030,0.000,0.042,2608,1699,2803,2788,2819,0,0,0,0,0,0,26.17,26.15,26.18
$GC,71693,-1.59,-146.6,2608,1698,2788,2818,4935.4,-6.1,904,71695,0.10,0.00,0.00,0.000,2054,0.169,0.000,2643,1698,2803,2788,2819,0,0,0,0,0,0,26.16,26.20,26.17
$GC,72051,-1.59,-146.6,2642,1698,2788,2819,4953.3,-5.1,907,72052,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1698,2803,2788,2818,0,0,0,0,0,0,26.63,26.66,26.65
$GC,72411,-1.59,-146.6,2642,1698,2788,2819,4971.9,-5.1,910,72416,0.00,2.10,0.00,0.000,516,0.000,0.057,2643,320,2803,2788,2819,0,0,0,0,0,0,26.63,25.66,26.65
$GC,72496,-1.59,-146.6,2642,320,2788,2819,4971.9,-5.1,910,72500,0.00,2.03,0.00,0.000,1030,0.000,0.042,2639,1698,2803,2788,2819,0,0,0,0,0,0,26.17,26.15,26.19
$GC,72890,-1.59,-146.6,2639,1700,2788,2819,4997.4,-5.3,914,72891,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1700,2803,2788,2819,0,0,0,0,0,0,26.73,26.75,26.74
$GC,73252,-1.59,-146.6,2639,1700,2788,2819,5016.0,-5.2,917,73253,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1699,2803,2788,2819,0,0,0,0,0,0,26.67,26.70,26.68
$GC,73611,-1.59,-146.6,2639,1700,2788,2819,5034.2,-5.1,920,73612,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1700,2803,2788,2819,0,0,0,0,0,0,26.63,26.66,26.65
$GC,73971,-1.59,-146.6,2639,1700,2788,2818,5051.7,-4.8,923,73972,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1700,2803,2788,2819,0,0,0,0,0,0,26.63,26.66,26.65
$GC,74330,-1.59,-146.6,2639,1700,2788,2819,5068.3,-4.7,926,74335,0.00,2.12,0.00,0.000,516,0.000,0.057,2639,313,2804,2789,2819,0,0,0,0,0,0,26.73,25.67,26.74
$GC,74451,-1.59,-146.6,2639,313,2788,2819,5074.3,-4.7,927,74457,0.00,1.98,0.00,0.000,1030,0.000,0.045,2636,1714,2803,2788,2819,0,0,0,0,0,0,26.15,26.13,26.16
$GC,74810,-1.59,-146.6,2636,1716,2788,2818,5089.9,-4.5,930,74811,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1717,2803,2788,2819,0,0,0,0,0,0,26.73,26.75,26.74
$GC,75170,-1.59,-146.6,2636,1716,2788,2819,5105.8,-4.4,933,75175,0.00,2.10,0.00,0.000,516,0.000,0.057,2636,322,2803,2788,2818,0,0,0,0,0,0,26.73,25.67,26.74
$GC,75293,-1.59,-146.6,2636,322,2789,2819,5111.5,-4.5,934,75298,0.00,1.95,0.00,0.000,1030,0.000,0.042,2631,1698,2803,2788,2819,0,0,0,0,0,0,26.16,26.15,26.18
$GC,75652,-1.59,-146.6,2631,1698,2788,2819,5127.8,-4.6,937,75653,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1698,2803,2788,2819,0,0,0,0,0,0,26.72,26.75,26.74
$GC,76014,-1.59,-146.6,2630,1698,2788,2818,5143.9,-4.5,940,76016,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1698,2802,2788,2817,0,0,0,0,0,0,26.67,26.69,26.68
$GC,76372,-1.59,-146.6,2630,1698,2788,2819,5159.3,-4.3,943,76377,0.00,2.12,0.00,0.000,516,0.000,0.057,2631,313,2803,2788,2819,0,0,0,0,0,0,26.73,25.67,26.74
$GC,76463,-1.59,-146.6,2630,313,2788,2819,5159.3,-4.3,943,76467,0.00,2.03,0.00,0.000,1030,0.000,0.042,2630,1705,2803,2788,2818,0,0,0,0,0,0,26.15,26.14,26.17
$GC,76852,-1.59,-146.6,2630,1705,2788,2819,5179.4,-4.2,947,76853,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1705,2803,2788,2819,0,0,0,0,0,0,26.72,26.75,26.74
$GC,77212,-1.59,-146.6,2630,1705,2788,2819,5192.8,-3.8,950,77213,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1705,2803,2788,2818,0,0,0,0,0,0,26.72,26.75,26.74
$GC,77572,-1.59,-146.6,2630,1705,2788,2819,5204.9,-3.4,953,77573,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1705,2803,2788,2819,0,0,0,0,0,0,26.73,26.75,26.74
$GC,77932,-1.59,-146.6,2630,1705,2788,2818,5215.4,-3.0,956,77938,0.00,2.10,0.00,0.000,516,0.000,0.057,2630,317,2803,2788,2819,0,0,0,0,0,0,26.73,25.67,26.74
$GC,78060,-1.59,-146.6,2630,318,2788,2819,5219.2,-3.0,957,78064,0.00,1.98,0.00,0.000,1030,0.000,0.042,2630,1704,2803,2788,2819,0,0,0,0,0,0,26.18,26.14,26.20
$GC,78409,-1.59,-146.6,2630,1704,2788,2819,5229.1,-2.8,960,78410,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1704,2803,2788,2819,0,0,0,0,0,0,26.72,26.75,26.74
$GC,78769,-1.59,-146.6,2630,1704,2789,2819,5239.8,-3.0,963,78770,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1704,2803,2788,2819,0,0,0,0,0,0,26.73,26.75,26.74
$GC,79128,-1.59,-146.6,2630,1704,2788,2819,5251.0,-3.1,966,79133,0.00,2.10,0.00,0.000,516,0.000,0.057,2630,315,2803,2788,2818,0,0,0,0,0,0,26.73,25.67,26.74
$GC,79261,-1.59,-146.6,2630,314,2788,2818,5255.1,-3.2,967,79265,0.00,1.98,0.00,0.000,1030,0.000,0.042,2626,1690,2803,2788,2819,0,0,0,0,0,0,26.20,26.16,26.21
$GC,79610,-1.59,-146.6,2625,1690,2788,2819,5266.9,-3.3,970,79611,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1690,2803,2788,2819,0,0,0,0,0,0,26.73,26.75,26.74
$STATE,79848,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,79848,begin apogee
$GC,79853,-0.24,0.0,2625,1515,2788,2819,5274.6,-3.3,972,79983,1.30,0.00,126.45,4.427,10246,0.099,0.000,3074,1515,2339,2304,2375,0,0,0,0,0,0,24.94,22.03,19.49
$STATE,79984,end apogee,CONTROL_FINISHED_OK
$STATE,79984,begin climb
$GC,79985,0.53,146.6,3073,1515,2303,2374,5271.9,0.0,973,80251,0.75,0.00,237.30,4.315,10246,0.074,0.000,3347,1515,1834,1834,1834,0,0,0,0,5,0,22.80,22.02,19.50
$GC,80570,-0.00,146.6,3347,1515,1814,1818,5123.6,27.9,978,80576,0.62,2.03,0.00,0.000,4612,0.214,0.055,3184,194,1816,1814,1818,0,0,0,0,0,0,24.83,25.09,24.99
$GC,80641,-0.54,146.6,3184,194,1808,1818,5123.6,27.9,978,80646,0.62,1.92,0.00,0.000,5126,0.174,0.042,2998,1540,1813,1808,1818,0,0,0,0,0,0,25.08,25.51,25.32
$GC,81046,-0.74,146.6,2998,1540,1802,1809,5065.6,11.7,982,81052,0.22,2.03,0.00,0.000,4612,0.151,0.060,2925,202,1805,1802,1809,0,0,0,0,0,0,25.63,25.81,25.73
$GC,81102,-0.94,146.6,2924,201,1797,1809,5065.6,11.7,982,81106,0.25,1.85,0.00,0.000,5126,0.122,0.045,2839,1531,1803,1797,1809,0,0,0,0,0,0,25.74,26.03,25.89
$GC,81526,-0.83,146.6,2838,1534,1796,1807,5031.8,7.1,986,81528,0.08,0.00,0.00,0.000,2054,0.119,0.000,2873,1533,1801,1796,1807,0,0,0,0,0,0,26.22,26.25,26.25
$GC,81886,-0.65,146.6,2873,1534,1795,1806,5004.3,7.7,989,81888,0.15,0.00,0.00,0.000,2054,0.107,0.000,2943,1534,1800,1795,1806,0,0,0,0,0,0,26.15,26.25,26.22
$GC,82247,-0.55,146.6,2942,1533,1794,1806,4978.3,7.3,992,82248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2943,1534,1799,1794,1804,0,0,0,0,0,0,26.56,26.58,26.57
$GC,82606,-0.49,146.6,2942,1533,1794,1805,4952.4,7.2,995,82612,0.08,2.00,0.00,0.000,2564,0.127,0.057,3002,191,1799,1794,1805,0,0,0,0,0,0,26.34,26.19,26.36
$GC,82682,-0.44,146.6,3001,191,1790,1805,4952.4,7.2,995,82686,0.00,1.85,0.00,0.000,1030,0.000,0.045,3002,1505,1798,1791,1805,0,0,0,0,0,0,26.40,26.35,26.42
$GC,83086,-0.50,146.6,3001,1510,1790,1805,4912.9,8.3,999,83087,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1510,1797,1790,1805,0,0,0,0,0,0,26.63,26.65,26.64
$GC,83446,-0.59,146.6,3001,1510,1790,1805,4883.1,8.3,1002,83452,0.10,1.95,0.00,0.000,4612,0.151,0.057,2970,198,1797,1790,1805,0,0,0,0,0,0,26.19,26.22,26.22
$GC,83517,-0.68,146.6,2969,198,1787,1805,4883.1,8.3,1002,83522,0.12,1.80,0.00,0.000,5126,0.144,0.045,2928,1514,1796,1787,1805,0,0,0,0,0,0,26.08,26.40,26.21
$GC,83921,-0.68,146.6,2928,1517,1786,1799,4855.0,5.8,1006,83922,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1517,1792,1786,1799,0,0,0,0,0,0,26.66,26.68,26.68
$GC,84280,-0.68,146.6,2928,1517,1785,1799,4835.2,5.5,1009,84282,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1517,1791,1785,1798,0,0,0,0,0,0,26.67,26.70,26.70
$GC,84642,-0.68,146.6,2928,1517,1790,1799,4815.5,5.5,1012,84643,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1517,1792,1785,1799,0,0,0,0,0,0,26.68,26.71,26.70
$GC,85000,-0.68,146.6,2928,1517,1785,1799,4795.4,5.6,1015,85006,0.00,1.95,0.00,0.000,516,0.000,0.060,2935,198,1793,1785,1802,0,0,0,0,0,0,26.68,26.24,26.71
$GC,85041,-0.68,146.6,2935,198,1785,1798,4795.4,5.6,1015,85046,0.00,1.83,0.00,0.000,1030,0.000,0.042,2935,1500,1792,1785,1799,0,0,0,0,0,0,26.44,26.44,26.46
$GC,85361,-0.68,146.6,2935,1504,1785,1797,4775.2,5.6,1018,85362,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1504,1794,1785,1803,0,0,0,0,0,0,26.70,26.72,26.72
$GC,85721,-0.68,146.6,2935,1504,1785,1799,4755.9,5.4,1021,85722,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1504,1792,1785,1799,0,0,0,0,0,0,26.70,26.73,26.72
$GC,86080,-0.68,146.6,2935,1504,1785,1799,4736.4,5.3,1024,86082,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1504,1792,1785,1799,0,0,0,0,0,0,26.71,26.74,26.73
$GC,86440,-0.68,146.6,2935,1507,1785,1799,4717.0,5.4,1027,86442,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1504,1792,1785,1799,0,0,0,0,0,0,26.72,26.74,26.74
$GC,86801,-0.68,146.6,2935,1504,1785,1799,4698.1,5.3,1030,86806,0.00,1.95,0.00,0.000,516,0.000,0.060,2942,188,1792,1785,1799,0,0,0,0,0,0,26.72,26.23,26.74
$GC,86842,-0.68,146.6,2941,188,1785,1799,4698.1,5.3,1030,86846,0.00,1.85,0.00,0.000,1030,0.000,0.045,2942,1502,1792,1785,1799,0,0,0,0,0,0,26.46,26.44,26.47
$GC,87161,-0.68,146.6,2941,1507,1785,1798,4679.0,5.3,1033,87162,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1507,1792,1785,1799,0,0,0,0,0,0,26.72,26.75,26.75
$GC,87520,-0.68,146.6,2941,1507,1784,1799,4660.4,5.2,1036,87522,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1507,1792,1785,1799,0,0,0,0,0,0,26.73,26.75,26.74
$GC,87881,-0.68,146.6,2941,1507,1785,1798,4641.2,5.3,1039,87882,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1508,1791,1785,1798,0,0,0,0,0,0,26.73,26.75,26.74
$GC,88241,-0.68,146.6,2941,1507,1785,1799,4622.7,5.2,1042,88246,0.00,1.95,0.00,0.000,516,0.000,0.060,2946,199,1792,1785,1799,0,0,0,0,0,0,26.73,26.22,26.75
$GC,88281,-0.68,146.6,2946,199,1785,1799,4622.7,5.2,1042,88286,0.00,1.83,0.00,0.000,1030,0.000,0.042,2946,1502,1792,1785,1799,0,0,0,0,0,0,26.45,26.44,26.47
$GC,88602,-0.68,146.6,2946,1506,1785,1799,4604.6,5.0,1045,88603,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1506,1792,1785,1799,0,0,0,0,0,0,26.73,26.76,26.75
$GC,88960,-0.68,146.6,2946,1506,1785,1799,4587.5,4.8,1048,88962,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1506,1792,1785,1799,0,0,0,0,0,0,26.73,26.76,26.75
$GC,89320,-0.68,146.6,2946,1506,1785,1799,4570.1,4.8,1051,89322,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1506,1791,1784,1799,0,0,0,0,0,0,26.74,26.76,26.76
$GC,89681,-0.68,146.6,2946,1506,1785,1799,4553.4,4.7,1054,89686,0.00,1.95,0.00,0.000,516,0.000,0.060,2949,188,1792,1785,1799,0,0,0,0,0,0,26.74,26.20,26.76
$GC,89722,-0.68,146.6,2949,188,1784,1799,4553.4,4.7,1054,89726,0.00,1.85,0.00,0.000,1030,0.000,0.045,2949,1504,1792,1785,1799,0,0,0,0,0,0,26.45,26.44,26.46
$GC,90041,-0.68,146.6,2949,1508,1785,1799,4536.0,4.8,1057,90042,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1508,1791,1784,1799,0,0,0,0,0,0,26.74,26.76,26.76
$GC,90400,-0.68,146.6,2949,1508,1783,1798,4519.6,4.6,1060,90402,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1508,1792,1785,1799,0,0,0,0,0,0,26.74,26.76,26.75
$GC,90761,-0.68,146.6,2948,1508,1784,1799,4504.2,4.3,1063,90762,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1508,1791,1785,1798,0,0,0,0,0,0,26.74,26.77,26.76
$GC,91120,-0.68,146.6,2949,1508,1785,1798,4488.0,4.4,1066,91126,0.00,1.95,0.00,0.000,516,0.000,0.060,2950,186,1791,1785,1798,0,0,0,0,0,0,26.74,26.19,26.76
$GC,91161,-0.68,146.6,2950,187,1784,1798,4488.0,4.4,1066,91166,0.00,1.85,0.00,0.000,1030,0.000,0.042,2950,1507,1791,1784,1798,0,0,0,0,0,0,26.44,26.43,26.46
$GC,91482,-0.68,146.6,2950,1512,1784,1798,4471.0,4.7,1069,91483,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1512,1791,1784,1799,0,0,0,0,0,0,26.74,26.77,26.76
$GC,91841,-0.68,146.6,2950,1512,1784,1799,4453.9,4.7,1072,91842,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1512,1792,1785,1799,0,0,0,0,0,0,26.76,26.77,26.76
$GC,92200,-0.68,146.6,2950,1512,1784,1798,4437.8,4.5,1075,92206,0.00,1.98,0.00,0.000,516,0.000,0.060,2952,183,1791,1784,1799,0,0,0,0,0,0,26.74,26.17,26.76
$GC,92241,-0.68,146.6,2952,183,1784,1799,4437.8,4.5,1075,92246,0.00,1.85,0.00,0.000,1030,0.000,0.042,2952,1499,1791,1784,1799,0,0,0,0,0,0,26.44,26.42,26.45
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$STATE,177364,end climb,SURFACE_DEPTH_REACHED
$STATE,177365,begin surface coast
$FINISH,1.1,1.012174
$STATE,177397,end surface coast,CONTROL_FINISHED_OK
$STATE,177397,begin surface
$SM_CCo,177472,0.00,0.000,0,0,1164,341.62
$SM_GC,2.41,8.43,0.22,0.00,0.055,0.062,0.000,183,1732,1164,-9.11,-2.35,341.62,0,0,0,0,0,0,26.46,26.67,26.49
$IRIDIUM_FIX,3401.68,-6609.40,260608,204951
$TT8_MAMPS,0.023219,0.023219
$HUMID,36.88
$INTERNAL_PRESSURE,9.07333
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,5174.7,127.0
$24V_AH,19.49,33.405
$10V_AH,9.65,21.667
$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,30.400,895.875,563.100,0.000,106.800,22.879,22.678,520.898,55.000,0.000,54.721,8674.053,151066.281,1205.987,16664.719,579.365,0.610,7713.772,0.000,15521.052,0.000,406.615,0.000
$DEVICE_MAMPS,250.783,158.912,4427.189,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1461.545,6942.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329488
$DATA_FILE_SIZE,133525,2130
$CAP_FILE_SIZE,1060404,0
$CFSIZE,1024409600,1005993984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$INTR,0,55125.12,0x235780,0,24
$GPS,040915,115414,3435.921,-6611.521,29,1.1,69,-15.4,0.3,111.4,9,4.2