version: 66.12
glider: 36
mission: 20
dive: 66
start: 9 14 115 11 42 3
data:
$ID,36
$MISSION,20
$DIVE,66
$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,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,12
$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,103
$R_STBD_OVSHOOT,79
$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,1
$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,4000
$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
$GPS1,140915,112745,3524.1577,-6708.6831,44,1.2,84,-15.2,1.6,248.3,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-65.6
$GPS2,140915,114134,3523.9221,-6708.9224,14,0.9,54,-15.2,2.0,239.8,9,3.9
$SPEED_LIMITS,0.137,0.191
$TGT_NAME,9020N
$TGT_LATLONG,3639.480,-6744.400
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.151801,0.115288
$KALMAN_X,130328.718750,0.000000,0.000000,-318531.625000,32153.468750
$KALMAN_Y,-67337.539062,0.000000,0.000000,404316.906250,-20093.242188
$MHEAD_RNG_PITCHd_Wd,6.9,149531,-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,86,-0.53,-146.6,129,1653,1998,2471,3.3,-2.6,6,138,11.00,1.95,-31.92,0.102,18948,0.243,0.057,2974,337,2847,2852,2842,0,0,0,0,0,0,25.55,25.97,25.72
$GC,409,-0.28,-146.6,2974,338,2852,2842,55.3,-19.2,33,415,0.28,1.95,0.00,0.000,3078,0.156,0.042,3056,1739,2847,2852,2842,0,0,0,0,0,0,25.86,26.44,25.96
$GC,725,-0.21,-146.6,3056,1742,2852,2842,89.4,-8.4,54,730,0.00,1.88,0.00,0.000,260,0.000,0.052,3049,3059,2847,2852,2842,0,0,0,0,0,0,26.78,26.43,26.79
$GC,1033,-0.15,-146.6,3049,3059,2852,2842,105.5,-4.5,73,1039,0.15,1.88,0.00,0.000,3078,0.137,0.047,3103,1693,2847,2852,2842,0,0,0,0,0,0,26.18,26.55,26.24
$GC,1348,-0.15,-146.6,3102,1693,2852,2842,121.4,-6.4,94,1354,0.00,1.95,0.00,0.000,516,0.000,0.057,3102,334,2847,2852,2842,0,0,0,0,0,0,26.84,26.44,26.86
$GC,1427,-0.15,-146.6,3102,334,2852,2842,127.2,-7.6,99,1432,0.00,1.83,0.00,0.000,1030,0.000,0.045,3099,1708,2847,2852,2842,0,0,0,0,0,0,26.67,26.64,26.67
$GC,1745,-0.15,-146.6,3099,1708,2852,2842,144.4,-4.5,120,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1708,2847,2852,2842,0,0,0,0,0,0,26.86,26.89,26.88
$GC,2046,-0.15,-146.6,3099,1708,2852,2843,161.9,-6.6,134,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1708,2847,2852,2842,0,0,0,0,0,0,26.86,26.89,26.88
$GC,2345,-0.15,-146.6,3099,1708,2852,2842,182.7,-6.7,144,2351,0.00,1.90,0.00,0.000,260,0.000,0.052,3090,3050,2847,2852,2842,0,0,0,0,0,0,26.86,26.51,26.88
$GC,2409,-0.15,-146.6,3089,3050,2852,2842,187.1,-7.1,146,2414,0.00,1.90,0.00,0.000,1030,0.000,0.045,3089,1711,2847,2852,2842,0,0,0,0,0,0,26.61,26.60,26.63
$GC,2738,-0.15,-146.6,3089,1711,2851,2842,210.0,-6.8,157,2744,0.00,1.98,0.00,0.000,516,0.000,0.057,3090,327,2847,2852,2842,0,0,0,0,0,0,26.86,26.47,26.88
$GC,2787,-0.15,-146.6,3089,327,2852,2842,212.1,-6.9,158,2790,0.00,1.88,0.00,0.000,1030,0.000,0.042,3084,1695,2847,2852,2842,0,0,0,0,0,0,26.67,26.66,26.67
$GC,3101,-0.15,-146.6,3084,1695,2851,2842,236.0,-7.0,169,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1695,2846,2851,2842,0,0,0,0,0,0,26.86,26.89,26.88
$GC,3400,-0.15,-146.6,3084,1695,2851,2842,256.7,-6.8,179,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1695,2847,2852,2842,0,0,0,0,0,0,26.86,26.89,26.88
$GC,3701,-0.15,-146.6,3084,1695,2851,2842,277.3,-6.9,189,3706,0.00,1.92,0.00,0.000,260,0.000,0.052,3078,3051,2847,2852,2842,0,0,0,0,0,0,26.86,26.51,26.88
$GC,3762,-0.15,-146.6,3078,3051,2852,2841,281.3,-6.6,191,3767,0.00,1.88,0.00,0.000,1030,0.000,0.045,3077,1694,2847,2852,2842,0,0,0,0,0,0,26.63,26.59,26.63
$GC,4107,-0.15,-146.6,3078,1694,2852,2842,303.7,-6.3,202,4112,0.00,1.98,0.00,0.000,516,0.000,0.057,3078,312,2847,2852,2842,0,0,0,0,0,0,26.86,26.46,26.88
$GC,4159,-0.15,-146.6,3077,312,2851,2842,306.7,-6.4,203,4164,0.00,1.90,0.00,0.000,1030,0.000,0.042,3071,1690,2846,2851,2842,0,0,0,0,0,0,26.67,26.65,26.67
$GC,4468,-0.15,-146.6,3072,1689,2852,2842,327.1,-6.3,210,4474,0.00,1.95,0.00,0.000,260,0.000,0.052,3066,3058,2846,2851,2842,0,0,0,0,0,0,26.86,26.51,26.88
$GC,4520,-0.15,-146.6,3066,3058,2852,2842,330.2,-6.3,211,4525,0.10,1.92,0.00,0.000,3078,0.127,0.045,3105,1696,2846,2851,2842,0,0,0,0,0,0,26.30,26.59,26.35
$GC,4830,-0.21,-146.6,3104,1696,2851,2842,347.5,-5.5,218,4836,0.00,1.98,0.00,0.000,516,0.000,0.060,3105,315,2846,2851,2842,0,0,0,0,0,0,26.86,26.45,26.88
$GC,4912,-0.27,-146.6,3104,315,2851,2842,350.1,-5.6,219,4921,0.05,1.90,0.00,0.000,5126,0.094,0.042,3020,1698,2846,2851,2842,0,0,0,0,0,0,26.48,26.65,26.52
$GC,5236,-0.22,-146.6,3020,1698,2851,2841,379.7,-8.4,227,5238,0.17,0.00,0.00,0.000,2054,0.137,0.000,3083,1698,2846,2851,2841,0,0,0,0,0,0,26.32,26.45,26.41
$GC,5551,-0.22,-146.6,3082,1699,2851,2841,397.8,-5.4,234,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1698,2846,2851,2841,0,0,0,0,0,0,26.86,26.88,26.88
$GC,5866,-0.22,-146.6,3082,1698,2851,2841,416.0,-5.9,241,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1698,2846,2851,2841,0,0,0,0,0,0,26.86,26.88,26.88
$GC,6181,-0.22,-146.6,3082,1698,2851,2840,435.8,-6.3,248,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1698,2845,2851,2840,0,0,0,0,0,0,26.86,26.88,26.87
$GC,6496,-0.27,-146.6,3082,1698,2850,2840,455.3,-6.1,255,6501,0.00,1.95,0.00,0.000,260,0.000,0.052,3079,3080,2845,2851,2840,0,0,0,0,0,0,26.86,26.50,26.88
$GC,6549,-0.33,-146.6,3079,3080,2851,2839,457.8,-6.0,256,6553,0.05,1.90,0.00,0.000,5126,0.156,0.045,3007,1702,2845,2851,2839,0,0,0,0,0,0,26.47,26.59,26.53
$GC,6897,-0.33,-146.6,3005,1702,2849,2839,488.2,-8.7,264,6903,0.10,1.95,0.00,0.000,2564,0.159,0.055,3049,333,2844,2849,2839,0,0,0,0,0,0,26.41,26.45,26.44
$GC,6970,-0.33,-146.6,3049,333,2849,2839,491.9,-8.5,265,6974,0.00,1.85,0.00,0.000,1030,0.000,0.042,3049,1731,2844,2849,2839,0,0,0,0,0,0,26.65,26.63,26.66
$GC,7303,-0.33,-146.6,3049,1737,2849,2839,517.3,-6.9,273,7309,0.00,1.88,0.00,0.000,260,0.000,0.052,3044,3035,2844,2849,2839,0,0,0,0,0,0,26.86,26.49,26.88
$GC,7355,-0.33,-146.6,3044,3035,2849,2838,520.5,-6.9,274,7360,0.00,1.90,0.00,0.000,1030,0.000,0.045,3043,1702,2843,2849,2838,0,0,0,0,0,0,26.60,26.58,26.61
$GC,7664,-0.33,-146.6,3043,1701,2849,2838,542.8,-7.0,281,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1701,2843,2849,2838,0,0,0,0,0,0,26.85,26.88,26.87
$GC,7979,-0.33,-146.6,3044,1701,2848,2838,565.6,-7.3,288,7985,0.00,1.98,0.00,0.000,516,0.000,0.057,3044,321,2843,2848,2838,0,0,0,0,0,0,26.86,26.46,26.87
$GC,8057,-0.33,-146.6,3044,321,2848,2838,569.3,-7.6,289,8061,0.00,1.88,0.00,0.000,1030,0.000,0.042,3042,1698,2843,2848,2838,0,0,0,0,0,0,26.65,26.64,26.65
$GC,8386,-0.33,-146.6,3042,1698,2847,2837,598.4,-7.9,297,8392,0.00,1.92,0.00,0.000,260,0.000,0.052,3033,3046,2842,2848,2837,0,0,0,0,0,0,26.86,26.48,26.87
$GC,8463,-0.33,-146.6,3032,3047,2847,2836,601.9,-7.9,298,8467,0.00,1.92,0.00,0.000,1030,0.000,0.045,3033,1694,2842,2848,2836,0,0,0,0,0,0,26.60,26.58,26.61
$GC,8792,-0.33,-146.6,3032,1694,2847,2836,630.9,-7.8,306,8796,0.00,1.98,0.00,0.000,516,0.000,0.057,3033,324,2841,2847,2836,0,0,0,0,0,0,26.85,26.44,26.87
$GC,8858,-0.33,-146.6,3032,324,2846,2836,634.7,-7.7,307,8862,0.00,1.88,0.00,0.000,1030,0.000,0.042,3030,1694,2841,2846,2836,0,0,0,0,0,0,26.64,26.63,26.65
$GC,9202,-0.33,-146.6,3030,1694,2846,2835,661.5,-7.3,315,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1694,2840,2846,2835,0,0,0,0,0,0,26.85,26.88,26.86
$GC,9516,-0.33,-146.6,3030,1694,2846,2835,685.7,-7.8,322,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1693,2840,2846,2835,0,0,0,0,0,0,26.85,26.87,26.86
$GC,9831,-0.33,-146.6,3030,1694,2845,2835,711.1,-8.1,329,9837,0.00,1.92,0.00,0.000,260,0.000,0.052,3020,3040,2840,2845,2835,0,0,0,0,0,0,26.85,26.47,26.86
$GC,9884,-0.33,-146.6,3020,3040,2845,2835,714.8,-8.0,330,9888,0.00,1.90,0.00,0.000,1030,0.000,0.045,3020,1705,2840,2845,2835,0,0,0,0,0,0,26.58,26.57,26.60
$GC,10193,-0.33,-146.6,3020,1705,2845,2834,742.2,-8.7,337,10199,0.00,2.00,0.00,0.000,516,0.000,0.057,3020,313,2839,2844,2835,0,0,0,0,0,0,26.84,26.44,26.86
$GC,10245,-0.33,-146.6,3020,313,2844,2834,746.5,-8.8,338,10249,0.00,1.90,0.00,0.000,1030,0.000,0.042,3016,1697,2839,2845,2834,0,0,0,0,0,0,26.63,26.62,26.64
$GC,10554,-0.33,-146.6,3016,1697,2844,2834,776.0,-9.4,345,10560,0.00,1.92,0.00,0.000,260,0.000,0.052,3007,3043,2839,2844,2834,0,0,0,0,0,0,26.84,26.47,26.86
$GC,10599,-0.33,-146.6,3006,3043,2844,2834,779.9,-9.2,346,10604,0.12,1.88,0.00,0.000,3078,0.142,0.045,3053,1692,2838,2844,2833,0,0,0,0,0,0,26.26,26.56,26.36
$GC,10918,-0.38,-146.6,3052,1691,2844,2833,803.3,-7.0,353,10924,0.00,1.98,0.00,0.000,516,0.000,0.057,3053,315,2838,2844,2833,0,0,0,0,0,0,26.84,26.42,26.86
$GC,10976,-0.38,-146.6,3053,315,2843,2833,806.6,-7.1,354,10980,0.00,1.88,0.00,0.000,1030,0.000,0.042,3053,1716,2838,2844,2833,0,0,0,0,0,0,26.63,26.60,26.64
$GC,11319,-0.38,-146.6,3053,1722,2843,2833,832.3,-7.0,362,11325,0.00,1.90,0.00,0.000,260,0.000,0.052,3045,3043,2838,2843,2833,0,0,0,0,0,0,26.84,26.46,26.86
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$GC,70452,-1.59,-146.6,2623,1728,2806,2809,5087.7,-4.3,883,70453,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1729,2807,2806,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,70811,-1.59,-146.6,2624,1728,2806,2809,5102.7,-4.2,886,70813,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1728,2807,2806,2809,0,0,0,0,0,0,26.72,26.74,26.75
$GC,71171,-1.59,-146.6,2623,1728,2806,2809,5118.1,-4.3,889,71173,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1728,2807,2806,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,71531,-1.59,-146.6,2624,1729,2806,2809,5134.1,-4.4,892,71532,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1728,2807,2806,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,71892,-1.59,-146.6,2624,1728,2806,2809,5150.0,-4.4,895,71893,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1728,2807,2806,2809,0,0,0,0,0,0,26.72,26.74,26.74
$STATE,72251,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,72251,begin apogee
$GC,72255,-0.24,0.0,2623,1500,2806,2809,5165.4,-4.3,898,72386,1.33,0.00,127.68,4.400,10246,0.102,0.000,3077,1500,2340,2321,2359,0,0,0,0,0,0,24.79,22.04,19.36
$STATE,72387,end apogee,CONTROL_FINISHED_OK
$STATE,72387,begin climb
$GC,72389,0.53,146.6,3076,1500,2320,2359,5164.7,0.0,899,72630,0.70,2.22,233.20,4.469,10756,0.077,0.079,3350,224,1831,1832,1830,0,0,0,0,0,0,22.85,21.68,19.66
$GC,72695,0.53,146.6,3350,224,1802,1811,5125.4,22.5,901,72699,0.00,2.00,0.00,0.000,1030,0.000,0.035,3350,1499,1806,1801,1811,0,0,0,0,0,0,24.31,24.30,24.32
$GC,73089,0.01,146.6,3350,1502,1801,1812,4991.9,27.9,905,73096,0.70,1.98,0.00,0.000,4612,0.214,0.057,3163,209,1806,1801,1811,0,0,0,0,0,0,25.18,25.45,25.34
$GC,73168,-0.52,146.6,3164,209,1795,1811,4991.9,27.9,905,73173,0.52,1.88,0.00,0.000,5126,0.169,0.045,3004,1549,1802,1794,1811,0,0,0,0,0,0,25.38,25.83,25.62
$GC,73568,-0.71,146.6,3003,1549,1790,1801,4938.4,10.8,909,73574,0.22,2.00,0.00,0.000,4612,0.149,0.057,2931,216,1796,1790,1802,0,0,0,0,0,0,25.76,25.92,25.85
$GC,73661,-0.90,146.6,2930,215,1785,1801,4938.4,10.8,909,73666,0.22,1.77,0.00,0.000,5126,0.122,0.045,2852,1505,1792,1784,1801,0,0,0,0,0,0,25.87,26.16,26.01
$GC,74050,-0.79,146.6,2852,1508,1784,1797,4906.9,6.5,913,74052,0.08,0.00,0.00,0.000,2054,0.122,0.000,2886,1507,1790,1783,1797,0,0,0,0,0,0,26.29,26.32,26.31
$GC,74410,-0.62,146.6,2885,1507,1783,1797,4880.5,7.4,916,74414,0.10,1.98,0.00,0.000,2308,0.124,0.047,2945,2829,1790,1783,1797,0,0,0,0,0,0,26.22,26.23,26.25
$GC,74505,-0.44,146.6,2944,2846,1783,1795,4880.5,7.4,916,74510,0.12,1.98,0.00,0.000,3078,0.094,0.047,3014,1511,1789,1783,1795,0,0,0,0,0,0,26.20,26.27,26.27
$GC,74893,-0.44,146.6,3014,1511,1782,1794,4843.2,7.7,920,74898,0.00,1.95,0.00,0.000,516,0.000,0.060,3022,199,1788,1782,1794,0,0,0,0,0,0,26.59,26.20,26.62
$GC,75089,-0.53,146.6,3022,198,1779,1794,4832.7,8.0,921,75094,0.10,1.83,0.00,0.000,5126,0.132,0.045,2978,1499,1787,1780,1794,0,0,0,0,0,0,26.03,26.37,26.17
$GC,75498,-0.59,146.6,2978,1501,1778,1794,4799.8,6.8,925,75505,0.00,1.95,0.00,0.000,516,0.000,0.060,2985,191,1786,1778,1794,0,0,0,0,0,0,26.64,26.22,26.65
$GC,75540,-0.66,146.6,2985,190,1778,1794,4799.8,6.8,925,75545,0.15,1.85,0.00,0.000,5126,0.137,0.045,2935,1506,1786,1778,1794,0,0,0,0,0,0,26.06,26.39,26.19
$GC,75859,-0.66,146.6,2935,1508,1778,1794,4780.2,5.7,928,75861,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1508,1786,1778,1794,0,0,0,0,0,0,26.65,26.67,26.67
$GC,76218,-0.66,146.6,2935,1508,1778,1794,4760.8,5.3,931,76219,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1508,1786,1778,1794,0,0,0,0,0,0,26.67,26.70,26.69
$GC,76580,-0.66,146.6,2935,1508,1778,1793,4740.8,5.6,934,76586,0.00,1.95,0.00,0.000,516,0.000,0.060,2941,195,1786,1778,1794,0,0,0,0,0,0,26.67,26.23,26.70
$GC,76631,-0.66,146.6,2942,195,1777,1794,4740.8,5.6,934,76635,0.00,1.83,0.00,0.000,1030,0.000,0.042,2943,1492,1785,1777,1794,0,0,0,0,0,0,26.43,26.42,26.45
$GC,76940,-0.66,146.6,2942,1496,1777,1796,4718.1,6.1,937,76941,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1496,1785,1777,1794,0,0,0,0,0,0,26.69,26.72,26.71
$GC,77300,-0.66,146.6,2942,1496,1777,1794,4695.8,6.2,940,77301,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1496,1785,1777,1794,0,0,0,0,0,0,26.70,26.72,26.72
$GC,77660,-0.66,146.6,2942,1496,1777,1794,4674.9,5.9,943,77661,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1496,1784,1777,1792,0,0,0,0,0,0,26.70,26.72,26.72
$GC,78019,-0.66,146.6,2942,1497,1776,1792,4655.8,5.3,946,78025,0.00,1.98,0.00,0.000,516,0.000,0.060,2948,177,1784,1777,1792,0,0,0,0,0,0,26.71,26.22,26.72
$GC,78066,-0.66,146.6,2949,177,1776,1792,4655.8,5.3,946,78070,0.00,1.88,0.00,0.000,1030,0.000,0.042,2950,1509,1784,1776,1792,0,0,0,0,0,0,26.45,26.43,26.46
$GC,78381,-0.66,146.6,2951,1514,1777,1792,4636.1,5.4,949,78382,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1514,1784,1776,1792,0,0,0,0,0,0,26.71,26.73,26.73
$GC,78740,-0.66,146.6,2950,1514,1776,1792,4616.8,5.4,952,78746,0.00,1.95,0.00,0.000,516,0.000,0.060,2956,201,1784,1776,1792,0,0,0,0,0,0,26.71,26.22,26.73
$GC,78786,-0.66,146.6,2956,201,1776,1792,4616.8,5.4,952,78790,0.00,1.83,0.00,0.000,1030,0.000,0.045,2956,1498,1784,1776,1792,0,0,0,0,0,0,26.45,26.43,26.46
$GC,79100,-0.66,146.6,2955,1506,1776,1792,4596.0,5.7,955,79101,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1506,1784,1776,1792,0,0,0,0,0,0,26.71,26.74,26.73
$GC,79460,-0.66,146.6,2955,1506,1776,1792,4576.1,5.6,958,79461,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1506,1784,1776,1792,0,0,0,0,0,0,26.72,26.74,26.74
$GC,79819,-0.66,146.6,2955,1506,1776,1792,4555.8,5.6,961,79825,0.00,1.95,0.00,0.000,516,0.000,0.060,2961,202,1784,1776,1792,0,0,0,0,0,0,26.72,26.20,26.74
$GC,79871,-0.66,146.6,2961,202,1776,1792,4555.8,5.6,961,79875,0.00,1.83,0.00,0.000,1030,0.000,0.042,2961,1503,1784,1776,1792,0,0,0,0,0,0,26.44,26.43,26.46
$GC,80181,-0.66,146.6,2961,1507,1776,1792,4534.5,5.9,964,80183,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1507,1784,1776,1792,0,0,0,0,0,0,26.72,26.74,26.74
$GC,80539,-0.66,146.6,2960,1507,1776,1792,4514.5,5.7,967,80541,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1507,1784,1776,1792,0,0,0,0,0,0,26.72,26.75,26.74
$GC,80899,-0.66,146.6,2960,1507,1776,1792,4494.9,5.4,970,80906,0.00,1.95,0.00,0.000,516,0.000,0.060,2965,196,1784,1776,1792,0,0,0,0,0,0,26.72,26.18,26.74
$GC,80946,-0.66,146.6,2964,196,1776,1792,4494.9,5.4,970,80950,0.00,1.83,0.00,0.000,1030,0.000,0.045,2965,1495,1784,1776,1792,0,0,0,0,0,0,26.44,26.42,26.45
$GC,81261,-0.66,146.6,2965,1504,1776,1792,4474.7,5.6,973,81263,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1504,1784,1776,1792,0,0,0,0,0,0,26.72,26.74,26.74
$GC,81619,-0.66,146.6,2964,1504,1776,1792,4452.9,6.0,976,81621,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1504,1784,1776,1792,0,0,0,0,0,0,26.73,26.75,26.75
$GC,81980,-0.66,146.6,2965,1504,1776,1792,4430.3,6.4,979,81986,0.00,1.95,0.00,0.000,516,0.000,0.060,2969,194,1784,1776,1792,0,0,0,0,0,0,26.73,26.16,26.74
$GC,82021,-0.66,146.6,2968,194,1776,1792,4430.3,6.4,979,82025,0.00,1.85,0.00,0.000,1030,0.000,0.042,2969,1511,1783,1776,1791,0,0,0,0,0,0,26.43,26.41,26.44
$GC,82342,-0.66,146.6,2969,1515,1776,1792,4409.4,5.9,982,82343,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1515,1782,1773,1792,0,0,0,0,0,0,26.73,26.75,26.74
$GC,82699,-0.66,146.6,2969,1516,1774,1792,4391.0,5.2,985,82701,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1515,1784,1776,1792,0,0,0,0,0,0,26.73,26.75,26.75
$GC,83060,-0.66,146.6,2968,1516,1776,1792,4372.0,5.2,988,83066,0.00,1.95,0.00,0.000,516,0.000,0.060,2972,204,1783,1776,1791,0,0,0,0,0,0,26.73,26.16,26.75
$GC,83111,-0.66,146.6,2971,203,1776,1792,4372.0,5.2,988,83115,0.10,1.83,0.00,0.000,5126,0.109,0.042,2936,1510,1784,1776,1792,0,0,0,0,0,0,26.13,26.41,26.16
$GC,83422,-0.59,146.6,2935,1511,1776,1792,4350.4,5.8,991,83428,0.00,1.95,0.00,0.000,260,0.000,0.047,2936,2856,1784,1776,1792,0,0,0,0,0,0,26.73,26.27,26.75
$GC,83692,-0.49,146.6,2935,2856,1776,1792,4333.9,6.7,993,83697,0.12,2.00,0.00,0.000,3078,0.099,0.047,2993,1501,1784,1776,1792,0,0,0,0,0,0,26.20,26.29,26.27
$GC,84026,-0.41,146.6,2994,1501,1777,1792,4309.9,6.7,996,84033,0.00,1.98,0.00,0.000,260,0.000,0.047,2993,2849,1784,1776,1792,0,0,0,0,0,0,26.73,26.27,26.75
$GC,84063,-0.34,146.6,2993,2849,1776,1792,4309.9,6.7,996,84068,0.08,2.00,0.00,0.000,3078,0.124,0.047,3049,1495,1784,1776,1792,0,0,0,0,0,0,26.20,26.29,26.27
$GC,84388,-0.34,146.6,3053,1495,1776,1792,4284.4,7.0,999,84393,0.00,1.92,0.00,0.000,516,0.000,0.060,3062,200,1784,1776,1792,0,0,0,0,0,0,26.73,26.14,26.75
$GC,84516,-0.40,146.6,3061,200,1776,1792,4275.1,7.2,1000,84521,0.12,1.77,0.00,0.000,5126,0.154,0.045,3021,1507,1784,1777,1792,0,0,0,0,0,0,25.98,26.40,26.10
$GC,84865,-0.46,146.6,3021,1507,1776,1792,4252.5,6.6,1003,84866,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1507,1784,1776,1792,0,0,0,0,0,0,26.73,26.75,26.74
$GC,85225,-0.46,146.6,3021,1507,1776,1791,4231.3,6.0,1006,85226,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1507,1784,1776,1792,0,0,0,0,0,0,26.73,26.75,26.75
$GC,85584,-0.46,146.6,3021,1507,1776,1792,4211.6,5.5,1009,85589,0.00,1.98,0.00,0.000,516,0.000,0.060,3029,193,1784,1776,1792,0,0,0,0,0,0,26.73,26.12,26.74
$GC,85655,-0.46,146.6,3029,192,1776,1792,4211.6,5.5,1009,85659,0.00,1.77,0.00,0.000,1030,0.000,0.045,3029,1488,1784,1776,1792,0,0,0,0,0,0,26.44,26.39,26.45
$GC,86062,-0.46,146.6,3028,1496,1776,1792,4186.0,5.4,1013,86063,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1496,1784,1776,1792,0,0,0,0,0,0,26.73,26.75,26.75
$GC,86423,-0.46,146.6,3029,1495,1776,1792,4166.0,5.5,1016,86424,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1496,1783,1775,1791,0,0,0,0,0,0,26.73,26.76,26.75
$GC,86783,-0.46,146.6,3029,1496,1776,1792,4147.1,5.3,1019,86787,0.00,1.98,0.00,0.000,516,0.000,0.060,3037,190,1783,1776,1791,0,0,0,0,0,0,26.73,26.11,26.75
$GC,86851,-0.46,146.6,3037,189,1776,1792,4147.1,5.3,1019,86856,0.10,1.85,0.00,0.000,5126,0.134,0.042,3003,1511,1783,1775,1792,0,0,0,0,0,0,26.01,26.40,26.06
$GC,87265,-0.46,146.6,3002,1513,1776,1792,4127.0,4.1,1023,87267,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1513,1783,1774,1792,0,0,0,0,0,0,26.73,26.76,26.75
$GC,87626,-0.46,146.6,3002,1513,1776,1792,4112.9,3.9,1026,87627,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1512,1784,1776,1792,0,0,0,0,0,0,26.73,26.76,26.75
$GC,87986,-0.46,146.6,3002,1513,1776,1792,4099.5,3.8,1029,87991,0.00,1.95,0.00,0.000,516,0.000,0.060,3010,205,1784,1776,1792,0,0,0,0,0,0,26.73,26.09,26.75
$GC,88031,-0.46,146.6,3010,205,1776,1792,4099.5,3.8,1029,88036,0.00,1.83,0.00,0.000,1030,0.000,0.042,3010,1503,1784,1776,1792,0,0,0,0,0,0,26.40,26.39,26.41
$GC,88345,-0.46,146.6,3008,1507,1776,1789,4085.3,3.9,1032,88347,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1507,1784,1776,1792,0,0,0,0,0,0,26.73,26.76,26.75
$GC,88705,-0.46,146.6,3010,1507,1776,1792,4070.4,4.1,1035,88707,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1507,1784,1776,1792,0,0,0,0,0,0,26.73,26.76,26.75
$GC,89066,-0.46,146.6,3010,1507,1776,1792,4054.4,4.4,1038,89072,0.00,1.95,0.00,0.000,516,0.000,0.060,3017,195,1784,1776,1792,0,0,0,0,0,0,26.73,26.08,26.75
$GC,89122,-0.46,146.6,3016,195,1776,1792,4054.4,4.4,1038,89126,0.00,1.83,0.00,0.000,1030,0.000,0.042,3017,1493,1784,1776,1792,0,0,0,0,0,0,26.39,26.37,26.40
$GC,89546,-0.46,146.6,3017,1500,1776,1792,4032.3,4.6,1042,89547,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1501,1783,1775,1792,0,0,0,0,0,0,26.72,26.75,26.75
$GC,89905,-0.46,146.6,3017,1500,1776,1792,4016.3,4.5,1045,89907,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1500,1784,1776,1792,0,0,0,0,0,0,26.73,26.76,26.75
$GC,90265,-0.46,146.6,3017,1501,1776,1792,3999.8,4.5,1048,90267,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1500,1783,1775,1792,0,0,0,0,0,0,26.73,26.76,26.75
$GC,90626,-0.46,146.6,3017,1501,1776,1792,3982.5,4.8,1051,90632,0.00,1.95,0.00,0.000,516,0.000,0.060,3025,192,1784,1776,1792,0,0,0,0,0,0,26.73,26.06,26.75
$GC,90676,-0.46,146.6,3025,192,1776,1791,3982.5,4.8,1051,90681,0.00,1.83,0.00,0.000,1030,0.000,0.042,3025,1496,1784,1776,1792,0,0,0,0,0,0,26.38,26.36,26.39
$GC,90986,-0.46,146.6,3025,1504,1776,1792,3962.7,5.4,1054,90987,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1500,1784,1776,1792,0,0,0,0,0,0,26.73,26.76,26.75
$GC,91345,-0.46,146.6,3025,1500,1776,1792,3942.8,5.6,1057,91347,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1505,1784,1776,1792,0,0,0,0,0,0,26.73,26.76,26.75
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$STATE,165540,end climb,SURFACE_DEPTH_REACHED
$STATE,165540,begin surface coast
$FINISH,1.4,1.023342
$STATE,165587,end surface coast,CONTROL_FINISHED_OK
$STATE,165587,begin surface
$SM_CCo,165665,0.00,0.000,0,0,1172,339.29
$SM_GC,2.20,8.35,2.15,0.00,0.055,0.040,0.000,190,1748,1172,-9.12,-2.26,339.29,0,0,0,0,0,0,26.44,26.58,26.48
$IRIDIUM_FIX,3454.00,-6659.50,090708,043547
$TT8_MAMPS,0.023219,0.023219
$HUMID,36.61
$INTERNAL_PRESSURE,9.10263
$TCM_TEMP,24.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,5061.8,131.6
$24V_AH,19.36,37.378
$10V_AH,9.42,24.096
$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,30.250,882.201,561.975,0.000,98.000,32.939,26.576,531.721,27.500,0.000,55.188,8880.845,140420.219,1223.847,15338.474,543.450,0.000,7205.917,0.000,14298.333,0.000,201.353,0.000
$DEVICE_MAMPS,243.334,79.456,4469.400,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1382.886,6574.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,126835,2017
$CAP_FILE_SIZE,984567,0
$CFSIZE,1024409600,1004175360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,112830.49,0x235780,1,24
$CURRENT,0.097,242.63,1
$GPS,160915,094510,3539.772,-6719.939,40,0.9,80,-15.2,0.5,183.8,9,3.9