version: 66.12
glider: 36
mission: 20
dive: 61
start: 9 4 115 12 7 37
data:
$ID,36
$MISSION,20
$DIVE,61
$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,111
$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
$GPS1,040915,115414,3435.9207,-6611.5210,29,1.1,69,-15.4,0.3,111.4,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-65.4
$GPS2,040915,120709,3435.9177,-6611.2671,11,1.1,51,-15.4,1.0,98.0,9,4.2
$SPEED_LIMITS,0.050,0.191
$TGT_NAME,9020N
$TGT_LATLONG,3639.480,-6744.400
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.146110,0.122414
$KALMAN_X,88258.812500,0.000000,0.000000,-246404.765625,30230.359375
$KALMAN_Y,-46418.261719,0.000000,0.000000,360329.375000,-21812.753906
$MHEAD_RNG_PITCHd_Wd,325.4,267417,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,467,-0.30,-146.6,2965,3060,2848,2845,55.2,-12.6,38,476,0.28,1.98,0.00,0.000,3078,0.154,0.047,3054,1673,2846,2848,2845,0,0,0,0,0,0,25.84,26.37,25.94
$GC,775,-0.22,-146.6,3054,1673,2848,2845,83.6,-7.9,59,780,0.00,2.00,0.00,0.000,260,0.000,0.052,3047,3057,2846,2848,2845,0,0,0,0,0,0,26.77,26.41,26.79
$GC,1056,-0.15,-146.6,3047,3057,2849,2845,105.2,-8.0,76,1065,0.15,1.92,0.00,0.000,3078,0.134,0.047,3101,1695,2846,2848,2845,0,0,0,0,0,0,26.15,26.52,26.21
$GC,1366,-0.15,-146.6,3100,1695,2848,2845,123.1,-5.8,97,1372,0.00,1.98,0.00,0.000,516,0.000,0.060,3101,335,2846,2848,2845,0,0,0,0,0,0,26.84,26.42,26.86
$GC,1436,-0.15,-146.6,3100,335,2847,2844,127.1,-6.3,101,1445,0.00,1.88,0.00,0.000,1030,0.000,0.042,3098,1715,2846,2848,2845,0,0,0,0,0,0,26.61,26.60,26.62
$GC,1745,-0.15,-146.6,3098,1716,2848,2845,146.8,-6.1,122,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1716,2846,2848,2845,0,0,0,0,0,0,26.86,26.88,26.87
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$GC,2470,-0.15,-146.6,3092,3053,2848,2845,187.1,-6.0,148,2475,0.00,1.90,0.00,0.000,1030,0.000,0.045,3092,1711,2846,2848,2845,0,0,0,0,0,0,26.60,26.59,26.62
$GC,2799,-0.15,-146.6,3092,1711,2848,2845,209.2,-6.9,159,2805,0.00,2.00,0.00,0.000,516,0.000,0.057,3092,327,2846,2848,2845,0,0,0,0,0,0,26.86,26.46,26.89
$GC,2847,-0.15,-146.6,3092,327,2847,2845,211.6,-7.1,160,2851,0.00,1.88,0.00,0.000,1030,0.000,0.042,3086,1687,2846,2848,2845,0,0,0,0,0,0,26.66,26.65,26.67
$GC,3161,-0.15,-146.6,3085,1688,2848,2845,235.1,-6.8,171,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1688,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.89
$GC,3461,-0.15,-146.6,3085,1688,2848,2845,255.1,-6.8,181,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1688,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.89
$GC,3761,-0.15,-146.6,3085,1688,2848,2845,274.0,-6.3,191,3766,0.00,1.95,0.00,0.000,260,0.000,0.052,3082,3058,2846,2848,2845,0,0,0,0,0,0,26.86,26.50,26.88
$GC,3839,-0.15,-146.6,3082,3058,2848,2845,277.8,-6.4,193,3844,0.00,1.95,0.00,0.000,1030,0.000,0.045,3082,1693,2846,2847,2845,0,0,0,0,0,0,26.60,26.58,26.61
$GC,4155,-0.15,-146.6,3082,1693,2847,2845,298.2,-5.9,204,4160,0.00,1.98,0.00,0.000,516,0.000,0.057,3082,313,2846,2848,2845,0,0,0,0,0,0,26.86,26.45,26.88
$GC,4253,-0.15,-146.6,3081,313,2847,2845,304.9,-7.0,207,4257,0.00,1.92,0.00,0.000,1030,0.000,0.042,3076,1705,2846,2848,2845,0,0,0,0,0,0,26.65,26.63,26.65
$GC,4562,-0.15,-146.6,3076,1708,2847,2845,326.7,-6.9,214,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1708,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4877,-0.15,-146.6,3076,1708,2847,2845,348.6,-6.8,221,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1708,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.88
$GC,5192,-0.15,-146.6,3076,1708,2847,2845,371.4,-7.3,228,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1708,2846,2847,2845,0,0,0,0,0,0,26.86,26.89,26.88
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$GC,6137,-0.15,-146.6,3076,1708,2848,2844,433.9,-6.8,249,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1708,2845,2847,2844,0,0,0,0,0,0,26.86,26.89,26.88
$GC,6452,-0.15,-146.6,3076,1708,2847,2844,454.2,-6.4,256,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1708,2845,2847,2844,0,0,0,0,0,0,26.86,26.89,26.88
$GC,6767,-0.15,-146.6,3075,1708,2847,2843,473.3,-6.0,263,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1708,2845,2847,2843,0,0,0,0,0,0,26.86,26.89,26.88
$GC,7082,-0.15,-146.6,3076,1708,2847,2843,491.9,-5.9,270,7088,0.00,1.95,0.00,0.000,260,0.000,0.052,3071,3066,2844,2847,2842,0,0,0,0,0,0,26.86,26.48,26.88
$GC,7130,-0.15,-146.6,3071,3066,2847,2842,494.5,-5.9,271,7134,0.00,1.92,0.00,0.000,1030,0.000,0.045,3072,1698,2844,2847,2842,0,0,0,0,0,0,26.61,26.58,26.63
$GC,7438,-0.15,-146.6,3071,1698,2847,2842,512.0,-5.5,278,7444,0.00,2.00,0.00,0.000,516,0.000,0.057,3071,320,2844,2847,2842,0,0,0,0,0,0,26.86,26.44,26.87
$GC,7516,-0.15,-146.6,3071,320,2847,2842,514.8,-5.7,279,7520,0.00,1.92,0.00,0.000,1030,0.000,0.042,3071,1720,2844,2847,2842,0,0,0,0,0,0,26.63,26.61,26.63
$GC,7845,-0.15,-146.6,3071,1723,2847,2842,535.6,-5.6,287,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1723,2844,2846,2842,0,0,0,0,0,0,26.86,26.88,26.88
$GC,8160,-0.15,-146.6,3071,1723,2845,2841,553.9,-5.9,294,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1723,2843,2845,2841,0,0,0,0,0,0,26.86,26.88,26.87
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$GC,9105,-0.20,-146.6,3071,1723,2844,2840,615.0,-7.1,315,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1723,2842,2844,2840,0,0,0,0,0,0,26.86,26.88,26.87
$GC,9420,-0.26,-146.6,3071,1723,2844,2840,637.9,-7.3,322,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1723,2842,2844,2840,0,0,0,0,0,0,26.85,26.88,26.87
$GC,9735,-0.31,-146.6,3071,1723,2843,2839,660.4,-7.2,329,9740,0.00,2.05,0.00,0.000,516,0.000,0.055,3071,328,2841,2843,2839,0,0,0,0,0,0,26.85,26.43,26.87
$GC,9792,-0.37,-146.6,3071,328,2843,2839,664.0,-7.4,330,9797,0.05,1.88,0.00,0.000,5126,0.092,0.042,2981,1699,2841,2843,2839,0,0,0,0,0,0,26.46,26.60,26.51
$GC,10141,-0.30,-146.6,2975,1700,2843,2839,703.5,-11.5,338,10147,0.22,1.90,0.00,0.000,2308,0.142,0.050,3053,3046,2841,2843,2839,0,0,0,0,0,0,26.17,26.29,26.23
$GC,10208,-0.30,-146.6,3052,3046,2843,2838,707.4,-10.9,339,10212,0.00,1.92,0.00,0.000,1030,0.000,0.045,3053,1698,2840,2843,2838,0,0,0,0,0,0,26.57,26.55,26.58
$GC,10547,-0.30,-146.6,3052,1698,2842,2838,733.8,-7.2,347,10553,0.00,2.03,0.00,0.000,516,0.000,0.057,3053,306,2840,2842,2838,0,0,0,0,0,0,26.85,26.44,26.86
$GC,10619,-0.30,-146.6,3052,306,2841,2838,737.2,-7.1,348,10624,0.00,1.92,0.00,0.000,1030,0.000,0.042,3051,1704,2840,2842,2838,0,0,0,0,0,0,26.60,26.60,26.61
$GC,10953,-0.30,-146.6,3051,1704,2841,2837,764.4,-7.7,356,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1704,2839,2841,2837,0,0,0,0,0,0,26.84,26.86,26.86
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$GC,11583,-0.30,-146.6,3051,1705,2839,2836,814.6,-7.9,370,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1704,2837,2839,2836,0,0,0,0,0,0,26.84,26.86,26.86
$GC,11898,-0.30,-146.6,3051,1704,2838,2835,838.0,-7.4,377,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1704,2836,2838,2835,0,0,0,0,0,0,26.84,26.86,26.86
$GC,12213,-0.30,-146.6,3051,1704,2837,2834,860.4,-7.0,384,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1704,2835,2837,2834,0,0,0,0,0,0,26.84,26.86,26.86
$GC,12528,-0.30,-146.6,3051,1704,2836,2834,882.9,-7.2,391,12534,0.00,1.95,0.00,0.000,260,0.000,0.052,3044,3055,2835,2836,2834,0,0,0,0,0,0,26.84,26.43,26.85
$GC,12581,-0.30,-146.6,3043,3055,2836,2833,886.0,-7.1,392,12585,0.00,1.95,0.00,0.000,1030,0.000,0.045,3043,1705,2834,2836,2833,0,0,0,0,0,0,26.54,26.52,26.55
$GC,12890,-0.30,-146.6,3043,1705,2834,2833,909.9,-7.5,399,12895,0.00,2.00,0.00,0.000,516,0.000,0.057,3044,323,2833,2834,2833,0,0,0,0,0,0,26.83,26.37,26.84
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$GC,53551,-1.24,-146.6,2722,1697,2796,2817,4086.7,-6.4,754,53552,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1698,2806,2796,2817,0,0,0,0,0,0,26.65,26.67,26.67
$GC,53910,-1.24,-146.6,2722,1697,2795,2817,4109.5,-6.3,757,53911,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1697,2806,2795,2817,0,0,0,0,0,0,26.74,26.76,26.75
$GC,54273,-1.24,-146.6,2721,1697,2795,2817,4131.7,-6.2,760,54274,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1698,2806,2796,2817,0,0,0,0,0,0,26.67,26.70,26.70
$GC,54631,-1.24,-146.6,2722,1698,2796,2817,4152.7,-5.9,763,54632,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1697,2806,2796,2817,0,0,0,0,0,0,26.65,26.67,26.67
$GC,54991,-1.24,-146.6,2722,1697,2795,2817,4173.0,-5.6,766,54992,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1697,2806,2796,2817,0,0,0,0,0,0,26.65,26.67,26.67
$GC,55353,-1.24,-146.6,2722,1697,2796,2817,4193.2,-5.6,769,55358,0.00,2.12,0.00,0.000,516,0.000,0.057,2723,316,2806,2796,2817,0,0,0,0,0,0,26.68,25.74,26.70
$GC,55418,-1.24,-146.6,2722,316,2796,2817,4193.2,-5.6,769,55422,0.00,2.03,0.00,0.000,1030,0.000,0.042,2721,1706,2806,2795,2817,0,0,0,0,0,0,26.20,26.19,26.22
$GC,55833,-1.24,-146.6,2721,1708,2796,2817,4221.2,-5.8,773,55834,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1708,2806,2795,2817,0,0,0,0,0,0,26.65,26.67,26.66
$GC,56194,-1.24,-146.6,2721,1708,2796,2817,4241.6,-5.7,776,56195,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1708,2806,2796,2817,0,0,0,0,0,0,26.67,26.70,26.70
$GC,56553,-1.24,-146.6,2721,1708,2795,2817,4260.6,-5.4,779,56554,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1708,2806,2795,2817,0,0,0,0,0,0,26.65,26.67,26.66
$GC,56912,-1.24,-146.6,2721,1708,2796,2817,4279.7,-5.3,782,56917,0.00,2.10,0.00,0.000,516,0.000,0.057,2722,317,2806,2795,2817,0,0,0,0,0,0,26.73,25.74,26.75
$GC,56993,-1.24,-146.6,2721,317,2795,2817,4279.7,-5.3,782,56998,0.10,2.03,0.00,0.000,3078,0.132,0.042,2754,1704,2805,2795,2816,0,0,0,0,0,0,25.79,26.20,25.81
$GC,57394,-1.31,-146.6,2754,1704,2795,2817,4300.1,-4.2,786,57395,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1704,2806,2796,2817,0,0,0,0,0,0,26.66,26.69,26.68
$GC,57754,-1.39,-146.6,2754,1704,2796,2817,4314.0,-3.9,789,57759,0.08,2.10,0.00,0.000,4612,0.127,0.055,2680,317,2806,2795,2817,0,0,0,0,0,0,26.41,25.72,26.41
$GC,57860,-1.47,-146.6,2680,317,2795,2817,4314.0,-3.9,789,57864,0.00,2.00,0.00,0.000,1030,0.000,0.042,2677,1700,2806,2796,2817,0,0,0,0,0,0,26.22,26.19,26.24
$GC,58229,-1.47,-146.6,2676,1701,2796,2817,4342.9,-5.7,792,58230,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1701,2806,2795,2817,0,0,0,0,0,0,26.65,26.67,26.66
$GC,58591,-1.47,-146.6,2677,1701,2795,2817,4365.5,-6.2,795,58592,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1701,2806,2796,2817,0,0,0,0,0,0,26.67,26.70,26.70
$GC,58948,-1.47,-146.6,2676,1701,2795,2817,4388.5,-6.4,798,58949,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1701,2805,2793,2817,0,0,0,0,0,0,26.73,26.75,26.75
$GC,59309,-1.47,-146.6,2676,1701,2796,2817,4411.9,-6.4,801,59315,0.00,2.12,0.00,0.000,516,0.000,0.057,2677,314,2806,2796,2817,0,0,0,0,0,0,26.64,25.72,26.66
$GC,59376,-1.47,-146.6,2677,314,2795,2817,4411.9,-6.4,801,59379,0.00,2.00,0.00,0.000,1030,0.000,0.042,2673,1700,2806,2795,2817,0,0,0,0,0,0,26.22,26.19,26.24
$GC,59786,-1.47,-146.6,2673,1700,2796,2817,4442.8,-6.5,805,59787,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1700,2806,2796,2817,0,0,0,0,0,0,26.67,26.70,26.69
$GC,60144,-1.47,-146.6,2673,1700,2795,2817,4465.5,-6.3,808,60145,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1700,2806,2795,2817,0,0,0,0,0,0,26.64,26.67,26.66
$GC,60504,-1.47,-146.6,2673,1701,2796,2817,4486.8,-6.0,811,60505,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1700,2806,2795,2817,0,0,0,0,0,0,26.64,26.67,26.66
$GC,60863,-1.47,-146.6,2674,1700,2796,2817,4507.8,-5.8,814,60864,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1701,2806,2795,2817,0,0,0,0,0,0,26.73,26.75,26.75
$GC,61223,-1.47,-146.6,2673,1700,2796,2817,4528.9,-5.9,817,61229,0.00,2.12,0.00,0.000,516,0.000,0.057,2673,318,2806,2796,2817,0,0,0,0,0,0,26.73,25.71,26.75
$GC,61284,-1.47,-146.6,2673,318,2796,2817,4528.9,-5.9,817,61288,0.00,2.03,0.00,0.000,1030,0.000,0.042,2667,1697,2806,2796,2817,0,0,0,0,0,0,26.21,26.20,26.21
$GC,61703,-1.47,-146.6,2667,1697,2795,2817,4557.6,-6.0,821,61704,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1696,2806,2795,2817,0,0,0,0,0,0,26.73,26.75,26.74
$GC,62063,-1.47,-146.6,2667,1699,2795,2816,4578.4,-5.8,824,62064,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1697,2806,2795,2817,0,0,0,0,0,0,26.73,26.75,26.74
$GC,62423,-1.47,-146.6,2667,1697,2796,2821,4599.7,-5.9,827,62429,0.00,2.10,0.00,0.000,516,0.000,0.057,2668,316,2806,2796,2817,0,0,0,0,0,0,26.73,25.71,26.74
$GC,62491,-1.47,-146.6,2667,316,2795,2817,4599.7,-5.9,827,62495,0.00,2.00,0.00,0.000,1030,0.000,0.042,2663,1704,2806,2795,2817,0,0,0,0,0,0,26.22,26.17,26.23
$GC,62898,-1.47,-146.6,2663,1706,2795,2816,4628.2,-6.0,831,62899,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1706,2806,2796,2817,0,0,0,0,0,0,26.73,26.76,26.74
$GC,63258,-1.47,-146.6,2663,1706,2795,2817,4649.3,-5.9,834,63259,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1706,2806,2796,2817,0,0,0,0,0,0,26.73,26.78,26.74
$GC,63618,-1.47,-146.6,2663,1706,2795,2817,4669.6,-5.7,837,63624,0.00,2.15,0.00,0.000,516,0.000,0.057,2664,308,2806,2796,2817,0,0,0,0,0,0,26.73,25.71,26.75
$GC,63694,-1.47,-146.6,2663,308,2795,2817,4669.6,-5.7,837,63698,0.00,2.05,0.00,0.000,1030,0.000,0.042,2658,1700,2806,2796,2817,0,0,0,0,0,0,26.20,26.19,26.21
$GC,64098,-1.47,-146.6,2658,1700,2796,2817,4697.0,-5.7,841,64099,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1699,2806,2796,2817,0,0,0,0,0,0,26.73,26.75,26.74
$GC,64458,-1.47,-146.6,2658,1700,2796,2817,4717.6,-5.7,844,64464,0.00,2.12,0.00,0.000,516,0.000,0.057,2658,313,2806,2796,2817,0,0,0,0,0,0,26.73,25.70,26.74
$GC,64554,-1.47,-146.6,2658,313,2796,2817,4717.6,-5.7,844,64559,0.00,2.05,0.00,0.000,1030,0.000,0.042,2653,1712,2806,2795,2817,0,0,0,0,0,0,26.19,26.17,26.20
$GC,64939,-1.47,-146.6,2653,1716,2795,2816,4745.5,-5.8,848,64940,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1716,2806,2796,2817,0,0,0,0,0,0,26.63,26.66,26.65
$GC,65299,-1.47,-146.6,2653,1716,2795,2817,4765.7,-5.6,851,65305,0.00,2.12,0.00,0.000,516,0.000,0.057,2653,309,2806,2796,2817,0,0,0,0,0,0,26.64,25.70,26.66
$GC,65428,-1.47,-146.6,2653,309,2796,2817,4773.3,-5.7,852,65432,0.00,2.03,0.00,0.000,1030,0.000,0.042,2648,1695,2806,2795,2817,0,0,0,0,0,0,26.20,26.19,26.22
$GC,65784,-1.47,-146.6,2648,1694,2796,2817,4793.7,-5.8,855,65785,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1695,2806,2796,2817,0,0,0,0,0,0,26.63,26.66,26.65
$GC,66145,-1.47,-146.6,2648,1695,2796,2817,4813.7,-5.6,858,66150,0.00,2.12,0.00,0.000,516,0.000,0.055,2648,306,2806,2796,2817,0,0,0,0,0,0,26.67,25.69,26.69
$GC,66250,-1.47,-146.6,2648,306,2795,2817,4813.7,-5.6,858,66254,0.10,2.05,0.00,0.000,3078,0.134,0.042,2678,1705,2806,2796,2817,0,0,0,0,0,0,25.76,26.18,25.78
$GC,66624,-1.47,-146.6,2678,1705,2795,2817,4837.5,-4.9,862,66625,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1705,2806,2795,2817,0,0,0,0,0,0,26.73,26.75,26.74
$GC,66985,-1.47,-146.6,2677,1705,2796,2817,4854.1,-4.6,865,66986,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1705,2806,2796,2817,0,0,0,0,0,0,26.63,26.66,26.65
$GC,67345,-1.47,-146.6,2677,1705,2796,2816,4870.2,-4.5,868,67350,0.00,2.12,0.00,0.000,516,0.000,0.055,2678,312,2806,2796,2817,0,0,0,0,0,0,26.63,25.68,26.65
$GC,67477,-1.47,-146.6,2678,312,2795,2817,4876.1,-4.6,869,67481,0.00,2.03,0.00,0.000,1030,0.000,0.042,2677,1718,2806,2795,2817,0,0,0,0,0,0,26.20,26.16,26.22
$GC,67823,-1.47,-146.6,2677,1718,2795,2817,4891.8,-4.5,872,67824,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1718,2806,2796,2817,0,0,0,0,0,0,26.67,26.70,26.69
$GC,68180,-1.47,-146.6,2677,1718,2795,2817,4907.4,-4.3,875,68185,0.00,2.15,0.00,0.000,516,0.000,0.057,2677,314,2806,2796,2817,0,0,0,0,0,0,26.73,25.67,26.74
$GC,68303,-1.47,-146.6,2677,314,2795,2816,4913.1,-4.4,876,68308,0.00,1.98,0.00,0.000,1030,0.000,0.042,2677,1701,2806,2795,2817,0,0,0,0,0,0,26.18,26.17,26.20
$GC,68662,-1.47,-146.6,2676,1701,2795,2817,4928.0,-4.2,879,68663,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1701,2806,2796,2817,0,0,0,0,0,0,26.73,26.75,26.74
$GC,69024,-1.47,-146.6,2677,1701,2795,2817,4942.0,-4.0,882,69025,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1701,2806,2796,2817,0,0,0,0,0,0,26.67,26.70,26.68
$GC,69382,-1.47,-146.6,2677,1701,2795,2817,4956.0,-3.9,885,69387,0.00,2.12,0.00,0.000,516,0.000,0.057,2677,319,2806,2796,2817,0,0,0,0,0,0,26.73,25.68,26.74
$GC,69505,-1.47,-146.6,2677,319,2795,2817,4961.1,-4.0,886,69510,0.00,1.95,0.00,0.000,1030,0.000,0.045,2677,1703,2806,2795,2817,0,0,0,0,0,0,26.18,26.17,26.20
$GC,69864,-1.47,-146.6,2677,1702,2795,2817,4975.2,-4.0,889,69865,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1703,2806,2795,2817,0,0,0,0,0,0,26.73,26.75,26.74
$GC,70223,-1.47,-146.6,2677,1703,2794,2817,4988.9,-3.8,892,70224,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1703,2806,2796,2817,0,0,0,0,0,0,26.72,26.75,26.74
$GC,70585,-1.52,-146.6,2677,1703,2795,2817,5001.8,-3.6,895,70590,0.00,2.12,0.00,0.000,516,0.000,0.057,2677,317,2806,2796,2817,0,0,0,0,0,0,26.65,25.69,26.67
$GC,70680,-1.57,-146.6,2677,317,2794,2817,5001.8,-3.6,895,70684,0.00,2.00,0.00,0.000,1030,0.000,0.042,2677,1707,2806,2795,2817,0,0,0,0,0,0,26.21,26.17,26.22
$GC,71059,-1.62,-146.6,2677,1708,2796,2817,5019.1,-3.6,899,71061,0.08,0.00,0.00,0.000,4102,0.119,0.000,2623,1709,2805,2795,2816,0,0,0,0,0,0,26.52,26.53,26.53
$GC,71421,-1.62,-146.6,2623,1709,2796,2817,5035.0,-4.3,902,71422,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1710,2806,2796,2817,0,0,0,0,0,0,26.67,26.70,26.69
$GC,71780,-1.62,-146.6,2622,1709,2795,2817,5051.2,-4.5,905,71786,0.00,2.15,0.00,0.000,516,0.000,0.057,2623,312,2806,2796,2817,0,0,0,0,0,0,26.63,25.67,26.65
$GC,71902,-1.62,-146.6,2623,312,2795,2817,5057.2,-4.6,906,71906,0.00,2.03,0.00,0.000,1030,0.000,0.042,2623,1695,2806,2795,2817,0,0,0,0,0,0,26.20,26.18,26.21
$GC,72262,-1.62,-146.6,2623,1695,2795,2817,5073.8,-4.7,909,72264,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1694,2806,2796,2817,0,0,0,0,0,0,26.63,26.65,26.65
$GC,72621,-1.62,-146.6,2623,1695,2795,2817,5089.1,-4.3,912,72622,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1694,2806,2796,2817,0,0,0,0,0,0,26.73,26.75,26.74
$GC,72982,-1.62,-146.6,2622,1695,2796,2817,5103.0,-3.9,915,72987,0.00,2.12,0.00,0.000,516,0.000,0.057,2623,310,2806,2796,2817,0,0,0,0,0,0,26.63,25.67,26.65
$GC,73067,-1.62,-146.6,2623,310,2795,2817,5103.0,-3.9,915,73071,0.00,2.03,0.00,0.000,1030,0.000,0.042,2618,1697,2806,2795,2817,0,0,0,0,0,0,26.20,26.19,26.22
$GC,73466,-1.62,-146.6,2617,1698,2795,2817,5122.0,-3.9,919,73467,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1698,2806,2796,2817,0,0,0,0,0,0,26.66,26.68,26.68
$GC,73821,-1.62,-146.6,2617,1698,2796,2817,5137.5,-4.2,922,73822,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1698,2806,2796,2816,0,0,0,0,0,0,26.72,26.75,26.74
$GC,74181,-1.62,-146.6,2617,1698,2796,2817,5152.6,-4.2,925,74182,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1698,2806,2796,2817,0,0,0,0,0,0,26.73,26.75,26.74
$GC,74541,-1.62,-146.6,2617,1696,2795,2817,5167.3,-4.1,928,74547,0.00,2.10,0.00,0.000,516,0.000,0.057,2618,317,2806,2796,2817,0,0,0,0,0,0,26.73,25.69,26.74
$GC,74632,-1.62,-146.6,2618,317,2795,2817,5167.3,-4.1,928,74636,0.00,2.03,0.00,0.000,1030,0.000,0.042,2612,1697,2806,2796,2817,0,0,0,0,0,0,26.20,26.17,26.21
$GC,75022,-1.62,-146.6,2612,1697,2795,2817,5187.4,-4.2,932,75024,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1697,2806,2796,2817,0,0,0,0,0,0,26.73,26.75,26.74
$STATE,75261,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,75262,begin apogee
$GC,75266,-0.24,0.0,2612,1497,2795,2817,5197.1,-4.1,934,75397,1.35,0.00,127.28,4.469,10246,0.102,0.000,3074,1497,2339,2309,2370,0,0,0,0,0,0,24.89,22.01,19.43
$STATE,75398,end apogee,CONTROL_FINISHED_OK
$STATE,75398,begin climb
$GC,75399,0.53,146.6,3074,1497,2307,2370,5195.4,0.0,935,75665,0.75,0.00,237.62,4.266,10246,0.074,0.000,3348,1496,1834,1831,1837,0,0,0,0,5,0,22.80,22.06,19.44
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$GC,170806,1.10,327.5,3507,1586,1207,1191,11.1,8.5,2093,170816,0.00,2.00,0.00,0.000,516,0.000,0.057,3508,197,1198,1206,1191,0,0,0,0,0,0,26.84,26.34,26.86
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$STATE,170928,end climb,SURFACE_DEPTH_REACHED
$STATE,170928,begin surface coast
$FINISH,1.4,1.011251
$STATE,170980,end surface coast,CONTROL_FINISHED_OK
$STATE,170980,begin surface
$SM_CCo,171055,0.00,0.000,0,0,1198,331.74
$SM_GC,2.56,8.50,0.10,0.00,0.060,0.097,0.000,190,1749,1198,-9.12,-2.71,331.74,0,0,0,0,0,0,26.35,26.68,26.41
$IRIDIUM_FIX,3409.50,-6610.73,280608,234956
$TT8_MAMPS,0.023219,0.023219
$HUMID,38.02
$INTERNAL_PRESSURE,9.03427
$TCM_TEMP,22.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,5122.0,102.5
$24V_AH,19.43,34.039
$10V_AH,9.66,22.051
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.400,666.425,555.400,0.000,106.650,22.973,38.257,468.398,53.750,0.000,52.771,7907.606,148215.234,1145.301,13941.914,517.667,0.610,6285.556,0.000,12947.998,0.000,391.409,0.000
$DEVICE_MAMPS,258.232,96.837,4469.400,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1447.062,6873.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329496
$DATA_FILE_SIZE,130151,2109
$CAP_FILE_SIZE,902431,0
$CFSIZE,1024409600,1005830144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$INTR,0,97221.60,0x235780,1,24
$GPS,060915,114033,3445.310,-6613.362,39,1.1,79,-15.4,1.3,125.7,9,4.2