version: 66.12
glider: 36
mission: 20
dive: 62
start: 9 6 115 11 53 50
data:
$ID,36
$MISSION,20
$DIVE,62
$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,60
$R_STBD_OVSHOOT,141
$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
$GPS1,060915,114033,3445.3096,-6613.3623,39,1.1,79,-15.4,1.3,125.7,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-65.8
$GPS2,060915,115322,3445.2305,-6612.9087,14,1.1,54,-15.4,0.8,104.7,9,4.2
$SPEED_LIMITS,0.050,0.191
$TGT_NAME,9020N
$TGT_LATLONG,3639.480,-6744.400
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.175419,0.074575
$KALMAN_X,121362.546875,0.000000,0.000000,-281876.531250,44525.546875
$KALMAN_Y,-57100.296875,0.000000,0.000000,388138.500000,-21466.000000
$MHEAD_RNG_PITCHd_Wd,308.4,251490,-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,462,-0.35,-146.6,2968,3044,2848,2845,53.1,-9.8,37,467,0.20,1.98,0.00,0.000,3078,0.151,0.047,3035,1662,2846,2848,2845,0,0,0,0,0,0,25.89,26.38,25.97
$GC,777,-0.26,-146.6,3034,1662,2849,2845,73.8,-7.6,58,783,0.08,1.95,0.00,0.000,2308,0.189,0.050,3062,3032,2846,2848,2845,0,0,0,0,0,0,26.34,26.39,26.36
$GC,874,-0.26,-146.6,3062,3032,2848,2844,80.6,-7.0,64,879,0.00,1.88,0.00,0.000,1030,0.000,0.047,3062,1697,2846,2848,2845,0,0,0,0,0,0,26.53,26.49,26.55
$GC,1188,-0.20,-146.6,3061,1697,2848,2845,101.7,-5.5,85,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1697,2846,2848,2845,0,0,0,0,0,0,26.82,26.84,26.84
$GC,1488,-0.15,-146.6,3061,1697,2848,2845,116.6,-5.2,105,1490,0.12,0.00,0.00,0.000,2054,0.156,0.000,3106,1697,2846,2848,2845,0,0,0,0,0,0,26.35,26.46,26.41
$GC,1788,-0.15,-146.6,3105,1697,2848,2845,132.9,-6.7,125,1793,0.00,1.98,0.00,0.000,516,0.000,0.057,3106,317,2846,2848,2845,0,0,0,0,0,0,26.85,26.43,26.86
$GC,1933,-0.15,-146.6,3106,317,2848,2845,143.5,-7.6,134,1938,0.00,1.85,0.00,0.000,1030,0.000,0.042,3102,1681,2846,2848,2845,0,0,0,0,0,0,26.67,26.65,26.68
$GC,2247,-0.15,-146.6,3102,1681,2848,2845,164.4,-6.4,148,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,2846,2848,2845,0,0,0,0,0,0,26.86,26.88,26.87
$GC,2549,-0.15,-146.6,3102,1682,2848,2845,186.2,-7.7,158,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.88
$GC,2847,-0.15,-146.6,3102,1681,2848,2845,211.1,-8.5,168,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.88
$GC,3147,-0.15,-146.6,3102,1681,2848,2845,234.2,-7.4,178,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,2846,2848,2845,0,0,0,0,0,0,26.86,26.88,26.88
$GC,3447,-0.15,-146.6,3102,1681,2848,2845,253.5,-6.5,188,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.88
$GC,3749,-0.15,-146.6,3102,1681,2848,2845,270.1,-5.3,198,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4047,-0.15,-146.6,3102,1681,2848,2845,285.1,-4.9,208,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,2846,2848,2845,0,0,0,0,0,0,26.86,26.88,26.88
$GC,4363,-0.20,-146.6,3102,1681,2848,2845,304.3,-6.2,218,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1682,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.87
$GC,4678,-0.26,-146.6,3102,1681,2848,2844,325.3,-6.5,225,4680,0.05,0.00,0.00,0.000,4102,0.156,0.000,3024,1682,2846,2848,2845,0,0,0,0,0,0,26.67,26.70,26.70
$GC,4992,-0.26,-146.6,3024,1682,2848,2844,352.1,-8.5,232,4994,0.12,0.00,0.00,0.000,2054,0.146,0.000,3069,1682,2846,2848,2845,0,0,0,0,0,0,26.41,26.50,26.46
$GC,5307,-0.26,-146.6,3069,1681,2848,2844,373.5,-6.9,239,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1682,2846,2848,2844,0,0,0,0,0,0,26.86,26.88,26.88
$GC,5622,-0.26,-146.6,3069,1682,2848,2844,396.3,-7.3,246,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1682,2846,2847,2845,0,0,0,0,0,0,26.86,26.88,26.87
$GC,5937,-0.26,-146.6,3069,1682,2847,2844,418.9,-6.9,253,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1682,2846,2848,2844,0,0,0,0,0,0,26.86,26.88,26.87
$GC,6252,-0.26,-146.6,3069,1682,2848,2844,440.0,-6.6,260,6258,0.00,1.98,0.00,0.000,516,0.000,0.057,3069,320,2846,2848,2844,0,0,0,0,0,0,26.86,26.44,26.88
$GC,6343,-0.26,-146.6,3069,320,2847,2844,446.6,-7.0,262,6349,0.00,1.90,0.00,0.000,1030,0.000,0.042,3067,1702,2846,2848,2844,0,0,0,0,0,0,26.65,26.63,26.67
$GC,6659,-0.26,-146.6,3067,1704,2847,2844,467.9,-6.7,269,6664,0.00,1.98,0.00,0.000,260,0.000,0.052,3058,3068,2845,2847,2844,0,0,0,0,0,0,26.85,26.48,26.87
$GC,6705,-0.26,-146.6,3058,3068,2848,2844,471.0,-6.8,270,6710,0.00,1.95,0.00,0.000,1030,0.000,0.042,3058,1703,2846,2848,2844,0,0,0,0,0,0,26.58,26.57,26.60
$GC,7020,-0.26,-146.6,3058,1704,2847,2843,491.7,-6.4,277,7025,0.00,2.00,0.00,0.000,516,0.000,0.057,3058,325,2845,2847,2843,0,0,0,0,0,0,26.86,26.44,26.87
$GC,7123,-0.26,-146.6,3058,325,2847,2843,498.2,-6.9,279,7128,0.00,1.92,0.00,0.000,1030,0.000,0.042,3057,1724,2845,2847,2843,0,0,0,0,0,0,26.62,26.61,26.63
$GC,7472,-0.26,-146.6,3056,1726,2847,2842,521.9,-6.7,287,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1726,2844,2847,2842,0,0,0,0,0,0,26.86,26.87,26.87
$GC,7787,-0.26,-146.6,3057,1726,2846,2842,542.7,-6.8,294,7793,0.00,1.92,0.00,0.000,260,0.000,0.052,3057,3050,2844,2847,2842,0,0,0,0,0,0,26.85,26.46,26.86
$GC,7834,-0.26,-146.6,3057,3050,2847,2841,545.5,-6.7,295,7839,0.00,1.92,0.00,0.000,1030,0.000,0.045,3057,1704,2844,2847,2842,0,0,0,0,0,0,26.58,26.56,26.59
$GC,8148,-0.26,-146.6,3057,1703,2845,2841,565.4,-6.2,302,8154,0.00,2.00,0.00,0.000,516,0.000,0.057,3057,327,2843,2845,2841,0,0,0,0,0,0,26.85,26.43,26.86
$GC,8257,-0.26,-146.6,3057,327,2845,2841,571.5,-6.4,304,8261,0.00,1.90,0.00,0.000,1030,0.000,0.042,3057,1700,2843,2845,2841,0,0,0,0,0,0,26.62,26.60,26.63
$GC,8601,-0.26,-146.6,3057,1700,2845,2840,594.1,-6.2,312,8606,0.00,1.95,0.00,0.000,260,0.000,0.052,3049,3049,2842,2845,2840,0,0,0,0,0,0,26.85,26.46,26.86
$GC,8648,-0.26,-146.6,3049,3049,2844,2840,597.3,-6.3,313,8652,0.00,1.95,0.00,0.000,1030,0.000,0.045,3050,1694,2842,2844,2840,0,0,0,0,0,0,26.57,26.55,26.58
$GC,8962,-0.26,-146.6,3049,1694,2844,2840,617.8,-6.6,320,8967,0.00,1.98,0.00,0.000,516,0.000,0.057,3050,321,2842,2844,2840,0,0,0,0,0,0,26.85,26.41,26.86
$GC,9014,-0.26,-146.6,3049,321,2844,2840,621.3,-6.8,321,9019,0.00,1.92,0.00,0.000,1030,0.000,0.042,3047,1704,2841,2843,2840,0,0,0,0,0,0,26.62,26.60,26.63
$GC,9323,-0.26,-146.6,3046,1705,2844,2839,646.8,-8.5,328,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1705,2841,2844,2839,0,0,0,0,0,0,26.84,26.86,26.86
$GC,9638,-0.26,-146.6,3047,1705,2843,2838,675.4,-8.9,335,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1705,2841,2843,2839,0,0,0,0,0,0,26.84,26.86,26.86
$GC,9953,-0.26,-146.6,3047,1705,2843,2838,703.4,-8.9,342,9959,0.00,1.98,0.00,0.000,260,0.000,0.052,3043,3061,2840,2843,2838,0,0,0,0,0,0,26.84,26.44,26.86
$GC,10006,-0.26,-146.6,3042,3061,2843,2838,707.4,-8.9,343,10010,0.00,1.98,0.00,0.000,1030,0.000,0.045,3042,1694,2840,2842,2838,0,0,0,0,0,0,26.56,26.54,26.57
$GC,10315,-0.26,-146.6,3042,1694,2842,2837,732.4,-7.6,350,10320,0.00,1.98,0.00,0.000,516,0.000,0.057,3042,323,2839,2841,2837,0,0,0,0,0,0,26.84,26.39,26.86
$GC,10406,-0.26,-146.6,3042,324,2841,2837,740.0,-7.7,352,10411,0.00,1.88,0.00,0.000,1030,0.000,0.042,3043,1712,2839,2841,2837,0,0,0,0,0,0,26.61,26.58,26.62
$GC,10721,-0.26,-146.6,3042,1715,2840,2836,762.5,-7.2,359,10726,0.00,1.92,0.00,0.000,260,0.000,0.052,3033,3049,2838,2840,2836,0,0,0,0,0,0,26.84,26.44,26.86
$GC,10793,-0.26,-146.6,3033,3048,2840,2835,765.8,-7.1,360,10798,0.10,1.95,0.00,0.000,3078,0.119,0.045,3073,1692,2837,2840,2835,0,0,0,0,0,0,26.26,26.53,26.30
$GC,11128,-0.33,-146.6,3072,1692,2839,2835,787.8,-6.1,368,11133,0.00,1.98,0.00,0.000,516,0.000,0.057,3073,325,2837,2839,2835,0,0,0,0,0,0,26.84,26.38,26.85
$GC,11231,-0.40,-146.6,3072,324,2838,2835,793.3,-6.0,370,11236,0.10,1.88,0.00,0.000,5126,0.099,0.042,2985,1697,2836,2838,2835,0,0,0,0,0,0,26.46,26.58,26.51
$GC,11580,-0.33,-146.6,2964,1698,2838,2834,831.2,-10.9,378,11582,0.25,0.00,0.00,0.000,2054,0.139,0.000,3051,1698,2836,2838,2834,0,0,0,0,0,0,26.10,26.29,26.23
$GC,11895,-0.39,-146.6,3051,1698,2837,2833,853.3,-6.9,385,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1698,2835,2837,2833,0,0,0,0,0,0,26.83,26.85,26.84
$GC,12210,-0.44,-146.6,3050,1698,2836,2833,875.1,-7.0,392,12216,0.08,2.00,0.00,0.000,4612,0.124,0.055,2949,332,2834,2836,2833,0,0,0,0,0,0,26.62,26.35,26.63
$GC,12256,-0.44,-146.6,2949,332,2835,2833,880.4,-8.0,393,12262,0.17,1.90,0.00,0.000,3078,0.139,0.042,3006,1695,2834,2835,2833,0,0,0,0,0,0,26.06,26.55,26.12
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$GC,54800,-1.30,-146.6,2708,1694,2804,2819,4235.3,-6.1,765,54802,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1694,2810,2803,2818,0,0,0,0,0,0,26.67,26.70,26.70
$GC,55159,-1.30,-146.6,2708,1694,2803,2818,4256.9,-6.0,768,55160,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1694,2811,2803,2819,0,0,0,0,0,0,26.65,26.67,26.66
$GC,55518,-1.30,-146.6,2708,1694,2803,2818,4278.6,-6.0,771,55523,0.00,2.10,0.00,0.000,516,0.000,0.057,2708,314,2810,2803,2818,0,0,0,0,0,0,26.73,25.73,26.75
$GC,55609,-1.30,-146.6,2708,314,2803,2819,4278.6,-6.0,771,55613,0.00,2.03,0.00,0.000,1030,0.000,0.042,2708,1702,2810,2803,2818,0,0,0,0,0,0,26.20,26.19,26.22
$GC,55998,-1.30,-146.6,2708,1702,2802,2819,4308.3,-6.2,775,55999,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1703,2811,2804,2819,0,0,0,0,0,0,26.73,26.75,26.74
$GC,56358,-1.30,-146.6,2707,1703,2803,2819,4329.2,-5.9,778,56359,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1702,2811,2803,2819,0,0,0,0,0,0,26.73,26.76,26.75
$GC,56718,-1.30,-146.6,2708,1701,2803,2818,4349.4,-5.6,781,56719,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1703,2811,2803,2819,0,0,0,0,0,0,26.73,26.76,26.75
$GC,57078,-1.30,-146.6,2708,1702,2802,2818,4368.8,-5.4,784,57084,0.00,2.10,0.00,0.000,516,0.000,0.055,2708,318,2811,2803,2819,0,0,0,0,0,0,26.73,25.74,26.75
$GC,57139,-1.30,-146.6,2708,318,2803,2819,4368.8,-5.4,784,57143,0.00,2.00,0.00,0.000,1030,0.000,0.042,2706,1687,2811,2803,2819,0,0,0,0,0,0,26.22,26.21,26.24
$GC,57560,-1.30,-146.6,2705,1687,2803,2818,4394.3,-5.3,788,57562,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1687,2811,2803,2819,0,0,0,0,0,0,26.67,26.70,26.69
$GC,57919,-1.30,-146.6,2705,1687,2801,2819,4412.4,-5.1,791,57920,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1687,2810,2803,2818,0,0,0,0,0,0,26.65,26.67,26.66
$GC,58279,-1.30,-146.6,2706,1687,2803,2819,4430.4,-5.0,794,58284,0.00,2.08,0.00,0.000,516,0.000,0.057,2706,320,2811,2803,2819,0,0,0,0,0,0,26.64,25.72,26.65
$GC,58339,-1.30,-146.6,2705,320,2803,2819,4430.4,-5.0,794,58343,0.00,2.03,0.00,0.000,1030,0.000,0.042,2705,1705,2811,2803,2819,0,0,0,0,0,0,26.20,26.19,26.22
$GC,58759,-1.30,-146.6,2704,1706,2803,2819,4454.5,-5.0,798,58760,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1706,2810,2803,2818,0,0,0,0,0,0,26.64,26.67,26.65
$GC,59121,-1.30,-146.6,2704,1706,2803,2819,4472.9,-5.1,801,59122,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1706,2811,2803,2819,0,0,0,0,0,0,26.67,26.70,26.69
$GC,59479,-1.30,-146.6,2704,1706,2803,2818,4491.7,-5.2,804,59484,0.00,2.12,0.00,0.000,516,0.000,0.057,2705,313,2811,2803,2819,0,0,0,0,0,0,26.64,25.71,26.66
$GC,59559,-1.30,-146.6,2704,312,2803,2818,4491.7,-5.2,804,59563,0.00,2.03,0.00,0.000,1030,0.000,0.042,2705,1697,2811,2803,2819,0,0,0,0,0,0,26.20,26.18,26.21
$GC,59958,-1.30,-146.6,2704,1697,2803,2818,4517.0,-5.3,808,59959,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1697,2811,2803,2819,0,0,0,0,0,0,26.73,26.75,26.74
$GC,60319,-1.30,-146.6,2704,1697,2803,2821,4534.0,-4.8,811,60320,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1697,2810,2803,2818,0,0,0,0,0,0,26.64,26.67,26.66
$GC,60681,-1.30,-146.6,2704,1697,2803,2819,4550.6,-4.6,814,60682,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1697,2811,2803,2819,0,0,0,0,0,0,26.67,26.70,26.69
$GC,61038,-1.30,-146.6,2705,1697,2803,2819,4566.3,-4.4,817,61039,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1697,2813,2803,2824,0,0,0,0,0,0,26.73,26.75,26.74
$GC,61401,-1.30,-146.6,2704,1697,2803,2819,4581.9,-4.3,820,61406,0.00,2.10,0.00,0.000,516,0.000,0.057,2705,318,2811,2803,2819,0,0,0,0,0,0,26.67,25.70,26.69
$GC,61481,-1.30,-146.6,2705,318,2803,2819,4581.9,-4.3,820,61485,0.00,2.03,0.00,0.000,1030,0.000,0.042,2705,1701,2811,2803,2819,0,0,0,0,0,0,26.20,26.18,26.21
$GC,61882,-1.30,-146.6,2704,1701,2806,2819,4602.6,-4.3,824,61883,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1701,2811,2803,2819,0,0,0,0,0,0,26.67,26.70,26.69
$GC,62239,-1.30,-146.6,2705,1701,2803,2819,4617.6,-4.2,827,62245,0.00,2.10,0.00,0.000,516,0.000,0.057,2705,319,2811,2803,2819,0,0,0,0,0,0,26.73,25.70,26.74
$GC,62311,-1.30,-146.6,2705,319,2803,2819,4617.6,-4.2,827,62315,0.00,2.03,0.00,0.000,1030,0.000,0.042,2705,1703,2811,2803,2819,0,0,0,0,0,0,26.20,26.18,26.20
$GC,62720,-1.35,-146.6,2704,1703,2803,2819,4637.2,-4.1,831,62721,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1702,2811,2803,2819,0,0,0,0,0,0,26.73,26.75,26.74
$GC,63081,-1.40,-146.6,2704,1702,2803,2818,4651.9,-4.0,834,63086,0.00,2.12,0.00,0.000,516,0.000,0.057,2705,309,2811,2803,2819,0,0,0,0,0,0,26.65,25.70,26.67
$GC,63172,-1.46,-146.6,2705,309,2803,2819,4651.9,-4.0,834,63175,0.00,2.03,0.00,0.000,1030,0.000,0.042,2705,1700,2811,2803,2819,0,0,0,0,0,0,26.22,26.18,26.23
$GC,63562,-1.51,-146.6,2704,1713,2803,2818,4671.7,-4.1,838,63563,0.05,0.00,0.00,0.000,4102,0.159,0.000,2642,1714,2811,2803,2819,0,0,0,0,0,0,26.46,26.48,26.47
$GC,63923,-1.51,-146.6,2642,1715,2803,2819,4691.2,-5.1,841,63928,0.00,2.15,0.00,0.000,516,0.000,0.057,2641,317,2811,2803,2819,0,0,0,0,0,0,26.67,25.70,26.69
$GC,64119,-1.51,-146.6,2642,317,2803,2819,4698.4,-5.5,842,64123,0.00,2.03,0.00,0.000,1030,0.000,0.042,2637,1702,2811,2803,2819,0,0,0,0,0,0,26.20,26.19,26.21
$GC,64524,-1.51,-146.6,2636,1703,2803,2819,4726.0,-5.7,846,64525,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1703,2811,2803,2819,0,0,0,0,0,0,26.63,26.66,26.65
$GC,64885,-1.51,-146.6,2637,1702,2803,2818,4745.4,-5.5,849,64886,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1702,2811,2803,2819,0,0,0,0,0,0,26.67,26.70,26.68
$GC,65244,-1.51,-146.6,2637,1703,2803,2819,4764.9,-5.3,852,65249,0.00,2.10,0.00,0.000,516,0.000,0.057,2637,318,2811,2803,2819,0,0,0,0,0,0,26.64,25.70,26.65
$GC,65334,-1.51,-146.6,2637,318,2803,2819,4764.9,-5.3,852,65338,0.00,2.03,0.00,0.000,1030,0.000,0.042,2636,1708,2811,2803,2819,0,0,0,0,0,0,26.19,26.17,26.20
$GC,65726,-1.51,-146.6,2636,1709,2803,2819,4792.0,-5.6,856,65728,0.10,0.00,0.00,0.000,2054,0.164,0.000,2670,1709,2811,2803,2819,0,0,0,0,0,0,26.17,26.21,26.19
$GC,66083,-1.51,-146.6,2670,1710,2803,2819,4809.0,-4.9,859,66088,0.00,2.12,0.00,0.000,516,0.000,0.057,2670,313,2811,2803,2819,0,0,0,0,0,0,26.72,25.69,26.74
$GC,66218,-1.51,-146.6,2670,313,2803,2819,4815.3,-4.8,860,66222,0.00,2.03,0.00,0.000,1030,0.000,0.042,2667,1696,2811,2803,2819,0,0,0,0,0,0,26.21,26.20,26.22
$GC,66568,-1.51,-146.6,2667,1695,2803,2819,4831.9,-4.7,863,66570,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1699,2811,2803,2819,0,0,0,0,0,0,26.65,26.67,26.67
$GC,66927,-1.51,-146.6,2667,1696,2803,2818,4848.0,-4.5,866,66932,0.00,2.10,0.00,0.000,516,0.000,0.057,2667,317,2811,2803,2819,0,0,0,0,0,0,26.72,25.69,26.74
$GC,67028,-1.51,-146.6,2667,317,2803,2819,4848.0,-4.5,866,67032,0.00,2.03,0.00,0.000,1030,0.000,0.042,2663,1702,2811,2803,2819,0,0,0,0,0,0,26.20,26.18,26.20
$GC,67409,-1.51,-146.6,2663,1708,2803,2819,4870.4,-4.6,870,67410,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2810,2803,2818,0,0,0,0,0,0,26.67,26.69,26.68
$GC,67767,-1.51,-146.6,2663,1704,2803,2819,4886.0,-4.4,873,67772,0.00,2.12,0.00,0.000,516,0.000,0.057,2664,310,2811,2804,2819,0,0,0,0,0,0,26.72,25.68,26.74
$GC,67858,-1.51,-146.6,2663,310,2803,2819,4886.0,-4.4,873,67862,0.00,2.03,0.00,0.000,1030,0.000,0.042,2659,1697,2811,2803,2819,0,0,0,0,0,0,26.20,26.18,26.21
$GC,68247,-1.51,-146.6,2658,1697,2803,2819,4907.6,-4.5,877,68248,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1697,2811,2803,2819,0,0,0,0,0,0,26.72,26.77,26.74
$GC,68608,-1.51,-146.6,2659,1697,2803,2819,4924.3,-4.6,880,68613,0.00,2.10,0.00,0.000,516,0.000,0.057,2659,320,2811,2803,2819,0,0,0,0,0,0,26.64,25.67,26.65
$GC,68678,-1.51,-146.6,2658,319,2803,2819,4924.3,-4.6,880,68683,0.00,2.03,0.00,0.000,1030,0.000,0.042,2653,1697,2811,2803,2819,0,0,0,0,0,0,26.20,26.18,26.20
$GC,69087,-1.51,-146.6,2654,1697,2803,2819,4946.7,-4.6,884,69088,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1697,2811,2803,2819,0,0,0,0,0,0,26.72,26.75,26.74
$GC,69449,-1.51,-146.6,2654,1697,2803,2819,4963.2,-4.6,887,69451,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1697,2810,2803,2818,0,0,0,0,0,0,26.67,26.69,26.68
$GC,69807,-1.51,-146.6,2654,1697,2803,2819,4979.2,-4.5,890,69812,0.00,2.10,0.00,0.000,516,0.000,0.057,2654,313,2810,2802,2819,0,0,0,0,0,0,26.72,25.68,26.74
$GC,69893,-1.51,-146.6,2653,313,2803,2819,4979.2,-4.5,890,69897,0.00,2.05,0.00,0.000,1030,0.000,0.042,2651,1712,2810,2803,2818,0,0,0,0,0,0,26.18,26.17,26.19
$GC,70288,-1.51,-146.6,2650,1715,2803,2819,5000.9,-4.5,894,70289,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1715,2811,2803,2819,0,0,0,0,0,0,26.63,26.66,26.65
$GC,70647,-1.51,-146.6,2650,1715,2803,2819,5016.9,-4.4,897,70648,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1715,2811,2803,2819,0,0,0,0,0,0,26.72,26.75,26.74
$GC,71008,-1.51,-146.6,2651,1715,2808,2819,5032.0,-4.3,900,71009,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1715,2811,2803,2819,0,0,0,0,0,0,26.63,26.65,26.65
$GC,71367,-1.51,-146.6,2650,1715,2801,2819,5047.1,-4.2,903,71372,0.00,2.12,0.00,0.000,516,0.000,0.057,2651,316,2811,2803,2819,0,0,0,0,0,0,26.72,25.69,26.74
$GC,71448,-1.51,-146.6,2650,316,2803,2819,5047.1,-4.2,903,71452,0.00,2.03,0.00,0.000,1030,0.000,0.042,2647,1697,2811,2803,2819,0,0,0,0,0,0,26.20,26.17,26.20
$GC,71847,-1.51,-146.6,2646,1698,2804,2819,5068.3,-4.4,907,71848,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1698,2811,2803,2819,0,0,0,0,0,0,26.72,26.75,26.74
$GC,72207,-1.51,-146.6,2646,1698,2803,2819,5084.3,-4.4,910,72208,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1698,2811,2803,2819,0,0,0,0,0,0,26.72,26.75,26.74
$GC,72567,-1.51,-146.6,2646,1698,2802,2818,5099.6,-4.3,913,72568,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1697,2810,2803,2818,0,0,0,0,0,0,26.73,26.75,26.74
$GC,72927,-1.51,-146.6,2646,1698,2803,2819,5114.3,-4.1,916,72928,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1698,2811,2803,2819,0,0,0,0,0,0,26.73,26.75,26.74
$GC,73287,-1.51,-146.6,2646,1698,2808,2819,5128.3,-3.9,919,73292,0.00,2.10,0.00,0.000,516,0.000,0.057,2647,317,2811,2803,2819,0,0,0,0,0,0,26.73,25.68,26.74
$GC,73398,-1.51,-146.6,2646,317,2803,2819,5128.3,-3.9,919,73407,0.00,2.03,0.00,0.000,1030,0.000,0.042,2643,1698,2811,2803,2819,0,0,0,0,0,0,26.19,26.17,26.20
$GC,73767,-1.51,-146.6,2642,1698,2803,2819,5146.9,-3.9,923,73768,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1698,2811,2803,2819,0,0,0,0,0,0,26.73,26.75,26.74
$STATE,73886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,73886,begin apogee
$GC,73890,-0.24,0.0,2642,1499,2802,2819,5151.7,-3.9,924,74021,1.25,0.00,127.35,4.350,10246,0.099,0.000,3074,1499,2340,2311,2369,0,0,0,0,0,0,24.99,22.05,19.43
$STATE,74022,end apogee,CONTROL_FINISHED_OK
$STATE,74022,begin climb
$GC,74024,0.53,146.6,3074,1499,2311,2368,5150.6,0.0,925,74291,0.75,0.00,238.12,4.234,10246,0.072,0.000,3350,1498,1834,1830,1839,0,0,0,0,5,0,22.84,22.05,19.54
$GC,74608,-0.00,146.6,3350,1498,1808,1819,5009.9,26.9,930,74614,0.65,1.98,0.00,0.000,4612,0.216,0.055,3183,210,1813,1807,1819,0,0,0,0,0,0,24.84,25.13,24.99
$GC,74664,-0.54,146.6,3182,210,1802,1819,5009.9,26.9,930,74669,0.62,1.92,0.00,0.000,5126,0.174,0.042,2998,1543,1810,1802,1819,0,0,0,0,0,0,25.06,25.49,25.30
$GC,75083,-0.73,146.6,2998,1543,1796,1811,4957.9,10.5,934,75089,0.22,2.03,0.00,0.000,4612,0.151,0.057,2926,205,1803,1796,1811,0,0,0,0,0,0,25.65,25.82,25.75
$GC,75135,-0.92,146.6,2926,205,1791,1811,4957.9,10.5,934,75139,0.22,1.85,0.00,0.000,5126,0.122,0.045,2848,1503,1801,1791,1811,0,0,0,0,0,0,25.76,26.05,25.91
$GC,75444,-0.86,146.6,2848,1506,1790,1809,4934.8,6.8,937,75449,0.00,1.98,0.00,0.000,260,0.000,0.050,2848,2853,1799,1790,1809,0,0,0,0,0,0,26.39,26.10,26.41
$GC,75631,-0.74,146.6,2848,2853,1790,1804,4926.1,6.7,938,75636,0.12,2.03,0.00,0.000,3078,0.104,0.047,2900,1502,1797,1790,1804,0,0,0,0,0,0,26.06,26.15,26.15
$GC,76045,-0.59,146.6,2900,1502,1790,1804,4891.6,7.1,942,76051,0.08,1.92,0.00,0.000,2564,0.142,0.057,2952,198,1799,1789,1809,0,0,0,0,0,0,26.24,26.15,26.26
$GC,76156,-0.44,146.6,2952,198,1784,1804,4891.6,7.1,942,76166,0.10,1.83,0.00,0.000,3078,0.074,0.045,3030,1513,1794,1784,1805,0,0,0,0,0,0,26.19,26.32,26.22
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$GC,176447,0.80,324.5,3397,1590,1216,1204,89.3,3.6,2077,176452,0.00,2.03,0.00,0.000,516,0.000,0.057,3402,196,1210,1217,1204,0,0,0,0,0,0,26.83,26.31,26.85
$GC,176502,0.85,324.5,3401,196,1216,1204,86.9,4.8,2080,176511,0.00,1.85,0.00,0.000,1030,0.000,0.042,3401,1603,1210,1216,1204,0,0,0,0,0,0,26.60,26.59,26.61
$GC,176812,0.96,324.5,3401,1604,1217,1204,63.7,7.1,2101,176818,0.08,2.03,0.00,0.000,2564,0.137,0.055,3453,202,1210,1216,1205,0,0,0,0,0,0,26.55,26.33,26.56
$GC,176899,1.04,324.5,3453,202,1216,1204,58.8,6.4,2106,176907,0.00,1.83,0.00,0.000,1030,0.000,0.042,3453,1599,1210,1216,1204,0,0,0,0,0,0,26.60,26.60,26.62
$GC,177208,1.17,324.5,3453,1599,1216,1204,34.1,8.0,2129,177219,0.10,1.83,0.00,0.000,2308,0.124,0.047,3515,2897,1210,1216,1204,0,0,0,0,0,0,26.53,26.43,26.54
$GC,177244,1.22,324.5,3515,2897,1216,1204,31.5,7.2,2132,177254,0.00,2.00,0.00,0.000,1030,0.000,0.045,3516,1495,1210,1217,1204,0,0,0,0,0,0,26.51,26.48,26.52
$GC,177554,1.17,324.5,3515,1494,1216,1204,11.5,7.1,2163,177564,0.00,1.88,0.00,0.000,516,0.000,0.060,3524,192,1210,1216,1204,0,0,0,0,0,0,26.84,26.34,26.86
$GC,177634,1.10,324.5,3524,192,1216,1204,5.0,8.2,2170,177638,0.00,1.80,0.00,0.000,1030,0.000,0.042,3524,1578,1210,1217,1204,0,0,0,0,0,0,26.64,26.62,26.65
$STATE,177665,end climb,SURFACE_DEPTH_REACHED
$STATE,177665,begin surface coast
$FINISH,1.2,1.000938
$STATE,177697,end surface coast,CONTROL_FINISHED_OK
$STATE,177697,begin surface
$SM_CCo,177772,0.00,0.000,0,0,1210,328.25
$SM_GC,2.61,8.38,0.08,0.00,0.052,0.119,0.000,184,1784,1210,-9.12,-2.26,328.25,0,0,0,0,0,0,26.45,26.69,26.49
$IRIDIUM_FIX,3425.16,-6611.29,010708,012349
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.43
$INTERNAL_PRESSURE,9.0538
$TCM_TEMP,22.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,5041.8,136.1
$24V_AH,19.43,34.647
$10V_AH,9.60,22.475
$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,28.625,803.525,545.450,0.000,102.700,25.736,23.848,486.748,52.000,0.000,55.602,8539.976,152033.625,1169.825,16148.788,562.024,0.611,7335.734,0.000,15080.259,0.000,376.960,0.000
$DEVICE_MAMPS,263.198,119.184,4350.216,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1493.618,7092.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,136833,2176
$CAP_FILE_SIZE,1014033,0
$CFSIZE,1024409600,1005420544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$INTR,0,65337.38,0x212b3c,0,24
$GPS,080915,131846,3448.848,-6630.917,41,1.6,82,-15.3,1.2,214.2,8,5.1