version: 66.12
glider: 36
mission: 20
dive: 69
start: 9 20 115 4 7 42
data:
$ID,36
$MISSION,20
$DIVE,69
$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,3750
$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,64
$R_STBD_OVSHOOT,88
$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
$GPS1,200915,035445,3604.2783,-6721.4321,36,1.0,76,-15.3,0.8,173.5,9,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-67.3
$GPS2,200915,040716,3603.9861,-6721.3154,15,1.0,55,-15.3,0.9,183.6,9,4.0
$SPEED_LIMITS,0.147,0.196
$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,356.4,74144,-10.9,-5.333,-15.25,4133
$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,458,-0.35,-146.6,2958,3089,2807,2888,61.4,-15.7,36,464,0.25,2.03,0.00,0.000,3078,0.159,0.047,3038,1666,2848,2808,2888,0,0,0,0,0,0,25.88,26.45,25.98
$GC,773,-0.27,-146.6,3037,1666,2807,2888,89.9,-6.7,57,778,0.00,2.03,0.00,0.000,260,0.000,0.052,3030,3082,2847,2807,2887,0,0,0,0,0,0,26.81,26.46,26.83
$GC,920,-0.19,-146.6,3030,3082,2807,2887,102.3,-8.5,66,926,0.15,1.90,0.00,0.000,3078,0.134,0.045,3085,1694,2847,2807,2888,0,0,0,0,0,0,26.19,26.56,26.25
$GC,1236,-0.19,-146.6,3085,1694,2807,2888,124.2,-6.6,87,1241,0.00,1.95,0.00,0.000,516,0.000,0.057,3085,332,2847,2807,2888,0,0,0,0,0,0,26.85,26.45,26.87
$GC,1312,-0.19,-146.6,3085,332,2807,2888,129.1,-7.2,91,1320,0.00,1.92,0.00,0.000,1030,0.000,0.045,3084,1774,2847,2807,2888,0,0,0,0,0,0,26.64,26.63,26.65
$GC,1620,-0.19,-146.6,3084,1774,2807,2888,146.3,-5.3,112,1626,0.00,1.88,0.00,0.000,260,0.000,0.052,3074,3090,2847,2807,2888,0,0,0,0,0,0,26.86,26.51,26.88
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$GC,2158,-0.19,-146.6,3074,317,2807,2888,181.6,-7.9,132,2162,0.00,1.95,0.00,0.000,1030,0.000,0.042,3071,1756,2847,2807,2888,0,0,0,0,0,0,26.66,26.65,26.67
$GC,2472,-0.19,-146.6,3071,1757,2807,2888,205.9,-7.0,143,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1757,2847,2807,2887,0,0,0,0,0,0,26.86,26.89,26.89
$GC,2772,-0.19,-146.6,3071,1757,2808,2888,226.3,-6.7,153,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1757,2847,2807,2888,0,0,0,0,0,0,26.86,26.89,26.89
$GC,3072,-0.19,-146.6,3071,1757,2807,2888,245.5,-6.3,163,3078,0.00,1.90,0.00,0.000,260,0.000,0.052,3064,3089,2847,2807,2888,0,0,0,0,0,0,26.86,26.51,26.89
$GC,3152,-0.19,-146.6,3063,3089,2807,2888,249.6,-6.5,165,3156,0.00,1.92,0.00,0.000,1030,0.000,0.045,3064,1697,2847,2807,2887,0,0,0,0,0,0,26.63,26.60,26.65
$GC,3461,-0.19,-146.6,3063,1697,2807,2888,276.0,-8.3,175,3467,0.00,1.98,0.00,0.000,516,0.000,0.057,3064,313,2847,2807,2887,0,0,0,0,0,0,26.86,26.47,26.88
$GC,3529,-0.19,-146.6,3063,313,2807,2888,281.8,-8.9,177,3534,0.00,1.95,0.00,0.000,1030,0.000,0.042,3058,1748,2847,2807,2887,0,0,0,0,0,0,26.65,26.65,26.66
$GC,3868,-0.19,-146.6,3059,1749,2807,2887,311.3,-8.2,187,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1749,2847,2807,2887,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4183,-0.19,-146.6,3058,1749,2807,2888,335.3,-7.4,194,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1749,2847,2807,2887,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4498,-0.19,-146.6,3059,1749,2807,2887,360.2,-8.0,201,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1749,2847,2807,2887,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4813,-0.19,-146.6,3059,1749,2807,2887,385.5,-8.1,208,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1749,2847,2807,2887,0,0,0,0,0,0,26.86,26.89,26.88
$GC,5128,-0.19,-146.6,3058,1749,2806,2887,409.9,-7.6,215,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1749,2846,2806,2887,0,0,0,0,0,0,26.86,26.88,26.88
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$GC,6073,-0.19,-146.6,3058,1749,2806,2887,472.6,-6.8,236,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1749,2846,2806,2886,0,0,0,0,0,0,26.86,26.88,26.88
$GC,6388,-0.19,-146.6,3058,1749,2806,2886,495.6,-7.4,243,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1749,2846,2806,2887,0,0,0,0,0,0,26.86,26.88,26.88
$GC,6703,-0.19,-146.6,3059,1749,2803,2886,519.0,-7.2,250,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1749,2844,2803,2886,0,0,0,0,0,0,26.86,26.88,26.88
$GC,7018,-0.19,-146.6,3058,1750,2803,2886,541.5,-7.0,257,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1749,2845,2803,2887,0,0,0,0,0,0,26.86,26.88,26.87
$GC,7333,-0.19,-146.6,3058,1749,2802,2886,561.0,-5.9,264,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1749,2844,2802,2886,0,0,0,0,0,0,26.86,26.88,26.87
$GC,7648,-0.19,-146.6,3058,1749,2801,2886,579.6,-6.0,271,7654,0.00,2.05,0.00,0.000,516,0.000,0.057,3059,330,2843,2801,2886,0,0,0,0,0,0,26.86,26.45,26.87
$GC,7700,-0.19,-146.6,3059,330,2801,2886,582.4,-6.1,272,7705,0.00,1.88,0.00,0.000,1030,0.000,0.042,3057,1697,2843,2801,2886,0,0,0,0,0,0,26.65,26.63,26.65
$GC,8010,-0.19,-146.6,3057,1697,2801,2884,603.7,-6.8,279,8015,0.00,1.92,0.00,0.000,260,0.000,0.052,3048,3049,2842,2801,2884,0,0,0,0,0,0,26.86,26.49,26.87
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$GC,8416,-0.30,-146.6,3094,1683,2801,2883,628.8,-6.0,288,8421,0.08,1.92,0.00,0.000,4612,0.122,0.055,3026,325,2841,2800,2883,0,0,0,0,0,0,26.67,26.44,26.67
$GC,8488,-0.39,-146.6,3025,325,2798,2883,632.3,-6.4,289,8492,0.00,1.85,0.00,0.000,1030,0.000,0.042,3025,1694,2840,2797,2883,0,0,0,0,0,0,26.66,26.64,26.67
$GC,8821,-0.39,-146.6,3025,1697,2798,2883,663.7,-8.6,297,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1697,2840,2798,2883,0,0,0,0,0,0,26.85,26.87,26.87
$GC,9136,-0.39,-146.6,3025,1697,2797,2883,686.2,-6.6,304,9142,0.00,1.95,0.00,0.000,260,0.000,0.052,3016,3078,2840,2797,2883,0,0,0,0,0,0,26.85,26.48,26.87
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$GC,9905,-0.39,-146.6,3011,1699,2795,2882,740.8,-7.9,321,9911,0.00,1.95,0.00,0.000,260,0.000,0.052,3002,3063,2838,2795,2882,0,0,0,0,0,0,26.85,26.48,26.87
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$GC,10266,-0.39,-146.6,3002,1698,2795,2882,768.8,-7.5,329,10272,0.00,1.98,0.00,0.000,516,0.000,0.057,3002,318,2839,2796,2882,0,0,0,0,0,0,26.85,26.44,26.86
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$GC,10667,-0.39,-146.6,3002,1723,2794,2882,798.8,-7.5,337,10673,0.00,1.90,0.00,0.000,260,0.000,0.052,3000,3051,2838,2794,2882,0,0,0,0,0,0,26.85,26.47,26.86
$GC,10749,-0.39,-146.6,3000,3051,2794,2881,802.9,-8.2,338,10759,0.00,1.95,0.00,0.000,1030,0.000,0.045,3000,1696,2837,2794,2881,0,0,0,0,0,0,26.57,26.55,26.58
$GC,11073,-0.39,-146.6,3000,1695,2793,2881,840.2,-10.7,346,11078,0.00,2.00,0.00,0.000,516,0.000,0.057,3000,322,2837,2793,2881,0,0,0,0,0,0,26.84,26.41,26.86
$GC,11134,-0.39,-146.6,3000,323,2792,2881,845.7,-10.8,347,11139,0.00,1.90,0.00,0.000,1030,0.000,0.042,2999,1701,2836,2792,2881,0,0,0,0,0,0,26.62,26.60,26.63
$GC,11484,-0.39,-146.6,2998,1702,2792,2880,884.4,-10.5,355,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1702,2836,2791,2881,0,0,0,0,0,0,26.84,26.86,26.86
$GC,11798,-0.39,-146.6,2998,1702,2790,2881,913.5,-8.7,362,11802,0.00,1.92,0.00,0.000,260,0.000,0.052,2992,3047,2835,2790,2881,0,0,0,0,0,0,26.84,26.46,26.86
$GC,11869,-0.39,-146.6,2991,3047,2790,2880,917.5,-8.5,363,11874,0.10,1.95,0.00,0.000,3078,0.134,0.045,3028,1687,2835,2790,2880,0,0,0,0,0,0,26.23,26.54,26.36
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$GC,49981,-1.30,-146.6,2735,325,2744,2860,4042.1,-6.4,694,49985,0.00,2.00,0.00,0.000,1030,0.000,0.042,2734,1703,2803,2745,2861,0,0,0,0,0,0,26.22,26.20,26.23
$GC,50396,-1.30,-146.6,2734,1704,2744,2860,4072.4,-6.3,698,50397,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1704,2802,2744,2860,0,0,0,0,0,0,26.63,26.66,26.65
$GC,50757,-1.30,-146.6,2734,1704,2744,2860,4094.2,-6.1,701,50758,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1704,2802,2744,2861,0,0,0,0,0,0,26.67,26.69,26.68
$GC,51116,-1.30,-146.6,2734,1704,2743,2860,4115.9,-6.0,704,51117,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1704,2802,2744,2860,0,0,0,0,0,0,26.63,26.65,26.65
$GC,51476,-1.30,-146.6,2734,1704,2744,2860,4137.3,-5.9,707,51482,0.00,2.10,0.00,0.000,516,0.000,0.055,2735,321,2802,2744,2861,0,0,0,0,0,0,26.65,25.69,26.67
$GC,51542,-1.30,-146.6,2734,321,2744,2860,4137.3,-5.9,707,51546,0.00,2.00,0.00,0.000,1030,0.000,0.042,2732,1693,2802,2744,2860,0,0,0,0,0,0,26.22,26.20,26.22
$GC,51955,-1.30,-146.6,2732,1693,2744,2860,4168.6,-6.5,711,51957,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1693,2802,2744,2860,0,0,0,0,0,0,26.72,26.74,26.74
$GC,52316,-1.30,-146.6,2732,1693,2744,2860,4191.5,-6.4,714,52318,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1692,2802,2744,2861,0,0,0,0,0,0,26.65,26.66,26.65
$GC,52677,-1.35,-146.6,2732,1693,2744,2860,4214.4,-6.3,717,52678,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1693,2802,2744,2860,0,0,0,0,0,0,26.64,26.67,26.66
$GC,53039,-1.41,-146.6,2732,1693,2744,2860,4236.7,-6.2,720,53040,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1693,2801,2743,2860,0,0,0,0,0,0,26.67,26.70,26.70
$GC,53396,-1.46,-146.6,2732,1693,2744,2861,4258.9,-6.2,723,53401,0.08,2.10,0.00,0.000,4612,0.127,0.052,2640,315,2802,2744,2860,0,0,0,0,0,0,26.48,25.67,26.48
$GC,53451,-1.52,-146.6,2640,315,2743,2861,4258.9,-6.2,723,53455,0.00,1.98,0.00,0.000,1030,0.000,0.042,2636,1706,2802,2744,2860,0,0,0,0,0,0,26.23,26.20,26.25
$GC,53760,-1.52,-146.6,2636,1710,2743,2861,4291.7,-8.4,726,53762,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1711,2802,2744,2860,0,0,0,0,0,0,26.63,26.65,26.65
$GC,54122,-1.46,-146.6,2636,1710,2744,2861,4324.0,-9.0,729,54124,0.15,0.00,0.00,0.000,2054,0.154,0.000,2686,1713,2802,2744,2860,0,0,0,0,0,0,25.96,26.02,25.99
$GC,54481,-1.46,-146.6,2686,1713,2744,2860,4349.8,-7.5,732,54482,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1713,2802,2744,2861,0,0,0,0,0,0,26.63,26.65,26.64
$GC,54841,-1.46,-146.6,2686,1713,2743,2860,4374.9,-7.0,735,54847,0.00,2.12,0.00,0.000,516,0.000,0.055,2686,321,2802,2744,2861,0,0,0,0,0,0,26.63,25.65,26.65
$GC,54937,-1.46,-146.6,2686,317,2744,2860,4374.9,-7.0,735,54941,0.00,2.03,0.00,0.000,1030,0.000,0.042,2681,1699,2802,2744,2860,0,0,0,0,0,0,26.20,26.19,26.22
$GC,55321,-1.46,-146.6,2681,1700,2744,2861,4408.7,-7.0,739,55322,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1700,2802,2744,2860,0,0,0,0,0,0,26.72,26.74,26.74
$GC,55683,-1.46,-146.6,2681,1700,2744,2860,4432.0,-6.6,742,55684,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1700,2802,2744,2860,0,0,0,0,0,0,26.64,26.67,26.66
$GC,56042,-1.46,-146.6,2681,1702,2744,2861,4454.5,-6.2,745,56046,0.00,2.15,0.00,0.000,516,0.000,0.057,2681,315,2802,2744,2860,0,0,0,0,0,0,26.63,25.64,26.64
$GC,56136,-1.46,-146.6,2681,315,2744,2860,4454.5,-6.2,745,56140,0.00,2.03,0.00,0.000,1030,0.000,0.042,2677,1698,2802,2744,2860,0,0,0,0,0,0,26.19,26.18,26.20
$GC,56526,-1.46,-146.6,2677,1698,2744,2860,4484.7,-6.2,749,56527,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1698,2802,2744,2860,0,0,0,0,0,0,26.62,26.65,26.64
$GC,56886,-1.46,-146.6,2677,1698,2744,2860,4506.0,-5.9,752,56887,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1698,2802,2744,2860,0,0,0,0,0,0,26.62,26.65,26.64
$GC,57248,-1.46,-146.6,2677,1698,2744,2861,4526.6,-5.8,755,57253,0.00,2.10,0.00,0.000,516,0.000,0.055,2677,319,2802,2744,2860,0,0,0,0,0,0,26.66,25.65,26.68
$GC,57323,-1.46,-146.6,2677,319,2744,2860,4526.6,-5.8,755,57327,0.00,1.98,0.00,0.000,1030,0.000,0.042,2673,1700,2802,2744,2861,0,0,0,0,0,0,26.21,26.17,26.22
$GC,57728,-1.46,-146.6,2672,1705,2751,2860,4554.2,-5.7,759,57729,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1706,2802,2744,2861,0,0,0,0,0,0,26.63,26.65,26.64
$GC,58089,-1.46,-146.6,2672,1706,2745,2860,4573.9,-5.5,762,58096,0.00,2.10,0.00,0.000,516,0.000,0.055,2673,324,2802,2744,2860,0,0,0,0,0,0,26.65,25.64,26.67
$GC,58160,-1.46,-146.6,2672,324,2744,2860,4573.9,-5.5,762,58164,0.00,2.00,0.00,0.000,1030,0.000,0.042,2667,1694,2802,2744,2860,0,0,0,0,0,0,26.20,26.18,26.21
$GC,58570,-1.46,-146.6,2666,1694,2743,2860,4601.3,-5.7,766,58571,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1694,2802,2744,2861,0,0,0,0,0,0,26.62,26.65,26.63
$GC,58932,-1.46,-146.6,2666,1694,2744,2859,4622.2,-5.8,769,58934,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1694,2802,2744,2861,0,0,0,0,0,0,26.67,26.70,26.68
$GC,59290,-1.46,-146.6,2666,1694,2744,2861,4642.8,-5.8,772,59294,0.00,2.10,0.00,0.000,516,0.000,0.055,2667,323,2802,2744,2860,0,0,0,0,0,0,26.62,25.63,26.64
$GC,59369,-1.46,-146.6,2666,322,2744,2860,4642.8,-5.8,772,59374,0.00,2.03,0.00,0.000,1030,0.000,0.042,2663,1704,2802,2744,2860,0,0,0,0,0,0,26.17,26.16,26.18
$GC,59776,-1.46,-146.6,2663,1704,2744,2858,4670.8,-5.8,776,59777,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2802,2744,2860,0,0,0,0,0,0,26.65,26.68,26.67
$GC,60134,-1.46,-146.6,2663,1704,2744,2859,4690.6,-5.5,779,60135,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2802,2744,2861,0,0,0,0,0,0,26.62,26.65,26.64
$GC,60495,-1.46,-146.6,2663,1704,2744,2860,4710.1,-5.4,782,60500,0.00,2.10,0.00,0.000,516,0.000,0.055,2664,324,2802,2744,2860,0,0,0,0,0,0,26.63,25.63,26.65
$GC,60580,-1.46,-146.6,2663,324,2744,2860,4710.1,-5.4,782,60584,0.00,2.03,0.00,0.000,1030,0.000,0.042,2658,1702,2802,2744,2860,0,0,0,0,0,0,26.18,26.17,26.20
$GC,60975,-1.46,-146.6,2657,1703,2744,2861,4736.2,-5.4,786,60976,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1703,2802,2744,2860,0,0,0,0,0,0,26.62,26.65,26.64
$GC,61336,-1.46,-146.6,2658,1703,2744,2860,4755.3,-5.3,789,61342,0.00,2.10,0.00,0.000,516,0.000,0.055,2662,324,2802,2744,2860,0,0,0,0,0,0,26.65,25.63,26.67
$GC,61412,-1.46,-146.6,2658,325,2744,2860,4755.3,-5.3,789,61416,0.00,2.03,0.00,0.000,1030,0.000,0.042,2652,1704,2802,2744,2860,0,0,0,0,0,0,26.18,26.17,26.20
$GC,61817,-1.46,-146.6,2652,1704,2744,2860,4780.2,-5.1,793,61818,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1704,2802,2744,2861,0,0,0,0,0,0,26.62,26.65,26.64
$GC,62176,-1.46,-146.6,2652,1704,2744,2860,4798.0,-5.0,796,62180,0.00,2.15,0.00,0.000,516,0.000,0.055,2653,338,2802,2744,2861,0,0,0,0,0,0,26.72,25.62,26.74
$GC,62286,-1.46,-146.6,2653,312,2744,2860,4798.0,-5.0,796,62291,0.10,2.00,0.00,0.000,3078,0.161,0.042,2683,1724,2802,2744,2861,0,0,0,0,0,0,25.75,26.15,25.79
$GC,62654,-1.46,-146.6,2683,1723,2744,2860,4818.9,-4.5,799,62655,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1723,2802,2744,2860,0,0,0,0,0,0,26.72,26.74,26.73
$GC,63015,-1.52,-146.6,2683,1723,2744,2859,4833.7,-4.1,802,63021,0.00,2.17,0.00,0.000,516,0.000,0.055,2683,318,2802,2744,2861,0,0,0,0,0,0,26.63,25.60,26.65
$GC,63153,-1.58,-146.6,2683,318,2744,2860,4839.4,-4.2,803,63157,0.05,1.95,0.00,0.000,5126,0.149,0.042,2623,1696,2802,2744,2860,0,0,0,0,0,0,26.04,26.17,26.07
$GC,63492,-1.58,-146.6,2623,1696,2743,2861,4858.6,-5.2,806,63493,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1696,2802,2744,2860,0,0,0,0,0,0,26.74,26.74,26.73
$GC,63851,-1.58,-146.6,2623,1696,2744,2861,4878.5,-5.5,809,63856,0.00,2.10,0.00,0.000,516,0.000,0.057,2623,317,2802,2744,2860,0,0,0,0,0,0,26.72,25.62,26.73
$GC,64008,-1.58,-146.6,2623,317,2744,2860,4885.8,-5.6,810,64012,0.00,2.00,0.00,0.000,1030,0.000,0.040,2618,1684,2802,2744,2861,0,0,0,0,0,0,26.22,26.21,26.23
$GC,64332,-1.58,-146.6,2617,1685,2742,2860,4905.2,-5.5,813,64333,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1685,2802,2744,2860,0,0,0,0,0,0,26.72,26.74,26.73
$GC,64692,-1.58,-146.6,2617,1684,2744,2860,4923.9,-5.2,816,64698,0.00,2.08,0.00,0.000,516,0.000,0.055,2618,316,2802,2744,2860,0,0,0,0,0,0,26.72,25.63,26.74
$GC,64773,-1.58,-146.6,2617,316,2744,2860,4923.9,-5.2,816,64778,0.00,2.03,0.00,0.000,1030,0.000,0.040,2617,1704,2802,2744,2861,0,0,0,0,0,0,26.17,26.16,26.19
$GC,65172,-1.58,-146.6,2617,1704,2744,2861,4949.0,-5.2,820,65173,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1704,2802,2744,2861,0,0,0,0,0,0,26.72,26.74,26.73
$GC,65533,-1.58,-146.6,2617,1704,2744,2860,4967.2,-5.0,823,65538,0.00,2.12,0.00,0.000,516,0.000,0.055,2617,324,2802,2744,2861,0,0,0,0,0,0,26.72,25.63,26.73
$GC,65660,-1.58,-146.6,2617,324,2744,2860,4973.9,-5.1,824,65664,0.00,1.95,0.00,0.000,1030,0.000,0.042,2617,1694,2802,2744,2861,0,0,0,0,0,0,26.19,26.16,26.21
$GC,66014,-1.58,-146.6,2617,1703,2744,2860,4991.6,-5.1,827,66016,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1703,2803,2747,2860,0,0,0,0,0,0,26.72,26.74,26.74
$GC,66374,-1.58,-146.6,2616,1703,2744,2860,5009.2,-4.9,830,66379,0.00,2.10,0.00,0.000,516,0.000,0.055,2617,324,2802,2744,2860,0,0,0,0,0,0,26.72,25.62,26.74
$GC,66460,-1.58,-146.6,2617,324,2744,2861,5009.2,-4.9,830,66465,0.00,2.00,0.00,0.000,1030,0.000,0.040,2617,1700,2802,2744,2861,0,0,0,0,0,0,26.17,26.16,26.19
$STATE,66733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,66733,begin apogee
$GC,66737,-0.24,0.0,2616,1513,2744,2861,5026.7,-4.9,833,66866,1.35,0.00,124.93,4.345,10246,0.104,0.000,3074,1513,2340,2273,2407,0,0,0,0,0,0,24.65,22.12,19.52
$STATE,66867,end apogee,CONTROL_FINISHED_OK
$STATE,66867,begin climb
$GC,66869,0.57,146.6,3073,1512,2275,2407,5026.0,0.0,834,67098,0.77,2.30,221.48,4.415,10756,0.072,0.079,3378,218,1829,1808,1851,0,0,0,0,0,0,22.89,22.23,19.68
$GC,67143,0.57,146.6,3378,218,1796,1844,4986.8,22.8,836,67148,0.17,2.00,0.00,0.000,5126,0.214,0.035,3337,1532,1820,1796,1844,0,0,0,0,0,0,23.80,24.14,24.03
$GC,67458,0.08,146.6,3337,1533,1795,1843,4890.8,25.7,839,67464,0.55,2.03,0.00,0.000,4612,0.199,0.055,3186,209,1819,1796,1843,0,0,0,0,0,0,25.05,25.30,25.22
$GC,67504,-0.42,146.6,3186,209,1790,1843,4890.8,25.7,839,67509,0.50,1.88,0.00,0.000,5126,0.166,0.040,3035,1550,1816,1790,1843,0,0,0,0,0,0,25.22,25.65,25.45
$GC,67814,-0.69,146.6,3035,1550,1786,1833,4847.5,15.1,842,67816,0.32,0.00,0.00,0.000,4102,0.139,0.000,2927,1550,1809,1786,1833,0,0,0,0,0,0,25.65,25.90,25.84
$GC,68174,-0.69,146.6,2927,1550,1782,1830,4826.8,6.7,845,68179,0.00,2.00,0.00,0.000,516,0.000,0.060,2935,210,1806,1782,1830,0,0,0,0,0,0,26.43,26.06,26.43
$GC,68239,-0.69,146.6,2935,210,1779,1830,4826.8,6.7,845,68243,0.00,1.77,0.00,0.000,1030,0.000,0.042,2935,1482,1804,1779,1830,0,0,0,0,0,0,26.24,26.23,26.25
$GC,68653,-0.69,146.6,2935,1486,1778,1829,4799.5,5.7,849,68658,0.00,2.00,0.00,0.000,260,0.000,0.047,2935,2846,1803,1778,1829,0,0,0,0,0,0,26.53,26.22,26.55
$GC,68694,-0.69,146.6,2935,2846,1778,1829,4799.5,5.7,849,68698,0.00,2.00,0.00,0.000,1030,0.000,0.047,2940,1501,1803,1778,1829,0,0,0,0,0,0,26.29,26.23,26.32
$GC,69017,-0.69,146.6,2940,1501,1777,1826,4778.8,5.7,852,69018,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1501,1802,1778,1826,0,0,0,0,0,0,26.58,26.60,26.60
$GC,69378,-0.69,146.6,2940,1501,1777,1824,4759.1,5.5,855,69379,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1502,1801,1777,1826,0,0,0,0,0,0,26.61,26.63,26.63
$GC,69737,-0.69,146.6,2940,1501,1775,1826,4739.7,5.4,858,69738,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1501,1800,1775,1826,0,0,0,0,0,0,26.63,26.66,26.65
$GC,70097,-0.69,146.6,2940,1505,1773,1824,4720.4,5.3,861,70098,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1501,1798,1773,1824,0,0,0,0,0,0,26.65,26.68,26.67
$GC,70457,-0.69,146.6,2940,1501,1772,1823,4701.8,5.2,864,70458,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1502,1797,1772,1823,0,0,0,0,0,0,26.67,26.70,26.69
$GC,70817,-0.69,146.6,2939,1501,1772,1822,4684.0,5.0,867,70819,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1502,1797,1772,1822,0,0,0,0,0,0,26.68,26.70,26.70
$GC,71177,-0.69,146.6,2940,1501,1772,1822,4665.8,5.0,870,71178,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1501,1797,1772,1822,0,0,0,0,0,0,26.69,26.72,26.71
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$GC,158502,0.68,320.6,3386,1572,1226,1221,215.5,6.1,1789,158507,0.00,1.98,0.00,0.000,516,0.000,0.057,3387,203,1223,1226,1221,0,0,0,0,0,0,26.82,26.29,26.84
$GC,158553,0.68,320.6,3387,203,1226,1221,213.8,6.0,1790,158562,0.00,1.77,0.00,0.000,1030,0.000,0.042,3387,1577,1223,1226,1221,0,0,0,0,0,0,26.59,26.58,26.59
$GC,158862,0.74,320.6,3387,1580,1226,1221,195.2,5.4,1801,158863,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1580,1223,1226,1221,0,0,0,0,0,0,26.82,26.85,26.84
$GC,159162,0.80,320.6,3387,1580,1226,1221,178.1,5.9,1811,159167,0.00,1.98,0.00,0.000,516,0.000,0.057,3388,215,1223,1226,1221,0,0,0,0,0,0,26.83,26.30,26.84
$GC,159225,0.86,320.6,3388,215,1226,1220,174.1,6.2,1813,159230,0.05,1.77,0.00,0.000,3078,0.109,0.042,3441,1592,1224,1227,1221,0,0,0,0,0,0,26.41,26.59,26.43
$GC,159556,0.86,320.6,3442,1592,1226,1221,150.2,6.4,1824,159561,0.00,2.00,0.00,0.000,516,0.000,0.057,3448,210,1223,1226,1221,0,0,0,0,0,0,26.82,26.31,26.84
$GC,159601,0.86,320.6,3448,210,1226,1221,146.8,6.7,1826,159604,0.00,1.73,0.00,0.000,1030,0.000,0.042,3448,1494,1223,1226,1221,0,0,0,0,0,0,26.62,26.59,26.63
$GC,159920,0.86,320.6,3448,1579,1226,1221,125.0,7.2,1847,159925,0.00,1.98,0.00,0.000,516,0.000,0.057,3453,213,1223,1226,1221,0,0,0,0,0,0,26.83,26.32,26.85
$GC,159966,0.86,320.6,3452,213,1226,1221,121.7,7.0,1850,159970,0.00,1.73,0.00,0.000,1030,0.000,0.042,3453,1502,1223,1226,1221,0,0,0,0,0,0,26.63,26.60,26.63
$GC,160285,0.86,320.6,3452,1581,1226,1221,102.1,5.4,1871,160291,0.00,1.98,0.00,0.000,516,0.000,0.057,3457,217,1224,1227,1221,0,0,0,0,0,0,26.83,26.32,26.85
$GC,160332,0.86,320.6,3457,217,1226,1221,99.1,6.1,1874,160335,0.00,1.73,0.00,0.000,1030,0.000,0.042,3457,1502,1223,1226,1221,0,0,0,0,0,0,26.63,26.61,26.64
$GC,160651,0.86,320.6,3458,1585,1226,1220,81.0,6.0,1895,160656,0.00,2.00,0.00,0.000,516,0.000,0.057,3462,213,1223,1226,1221,0,0,0,0,0,0,26.84,26.34,26.86
$GC,160721,0.86,320.6,3462,213,1227,1221,76.9,6.4,1899,160731,0.12,1.77,0.00,0.000,5126,0.112,0.042,3414,1578,1224,1227,1221,0,0,0,0,0,0,26.26,26.61,26.30
$GC,161031,1.02,320.6,3413,1578,1226,1221,55.0,8.0,1920,161036,0.10,2.00,0.00,0.000,2564,0.119,0.057,3476,207,1223,1226,1221,0,0,0,0,0,0,26.56,26.35,26.58
$GC,161152,1.11,320.6,3476,207,1226,1221,46.5,7.3,1927,161161,0.00,1.77,0.00,0.000,1030,0.000,0.042,3476,1604,1223,1226,1221,0,0,0,0,0,0,26.63,26.63,26.64
$GC,161460,1.21,320.6,3475,1604,1226,1220,24.7,7.6,1955,161465,0.08,2.03,0.00,0.000,2564,0.142,0.055,3536,205,1224,1227,1221,0,0,0,0,0,0,26.58,26.37,26.60
$GC,161643,1.21,320.6,3535,204,1226,1221,10.7,6.1,1971,161653,0.00,1.77,0.00,0.000,1030,0.000,0.042,3535,1549,1223,1226,1221,0,0,0,0,0,0,26.64,26.63,26.65
$STATE,161751,end climb,SURFACE_DEPTH_REACHED
$STATE,161751,begin surface coast
$FINISH,1.2,1.009640
$STATE,161783,end surface coast,CONTROL_FINISHED_OK
$STATE,161783,begin surface
$SM_CCo,161857,0.00,0.000,0,0,1223,324.48
$SM_GC,2.54,8.40,0.00,0.00,0.055,0.000,0.000,182,1560,1223,-9.10,-3.99,324.48,0,0,0,0,0,0,26.44,26.87,26.48
$IRIDIUM_FIX,3538.91,-6725.47,140708,220037
$TT8_MAMPS,0.02247,0.02247
$HUMID,36.33
$INTERNAL_PRESSURE,9.14169
$TCM_TEMP,25.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4845.3,208.2
$24V_AH,19.52,39.288
$10V_AH,9.52,25.237
$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,28.675,656.950,537.925,0.000,94.325,26.698,41.397,448.416,21.750,0.000,56.310,8033.412,139909.047,1139.886,12949.248,488.304,0.000,5935.722,0.000,12093.102,0.000,159.409,0.000
$DEVICE_MAMPS,260.715,79.456,4414.774,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1359.859,6470.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329560
$DATA_FILE_SIZE,123346,1985
$CAP_FILE_SIZE,839754,0
$CFSIZE,1024409600,1003388928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,127.55,1
$GPS,220915,010714,3617.210,-6721.294,33,1.3,74,-15.3,0.8,346.3,7,4.9