Bermuda Jul15 * SG036 * Dive index * Mission links
version: 66.12
glider: 36
mission: 20
dive: 70
start: 9 22 115 1 20 36
data:
$ID,36
$MISSION,20
$DIVE,70
$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,69
$R_STBD_OVSHOOT,153
$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
$GPS1,220915,010714,3617.2100,-6721.2939,33,1.3,74,-15.3,0.8,346.3,7,4.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-66.5
$GPS2,220915,012010,3617.3450,-6721.3330,15,1.3,55,-15.3,1.4,15.0,8,4.7
$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,329.3,53432,-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
$GC,16,-0.57,-146.6,130,1560,1226,1221,0.0,0.0,0,84,0.00,0.00,-65.70,0.099,16386,0.000,0.000,130,1560,2256,2042,2471,0,0,0,0,0,0,26.55,28.83,26.57
$GC,86,-0.57,-146.6,131,1560,2041,2470,3.3,-2.4,6,138,11.25,2.15,-31.02,0.104,18692,0.253,0.050,2952,3017,2847,2849,2846,0,0,0,0,0,0,25.57,25.98,25.89
$GC,465,-0.34,-146.6,2952,3018,2849,2846,62.4,-16.9,36,474,0.28,1.90,0.00,0.000,3078,0.156,0.047,3039,1676,2847,2849,2846,0,0,0,0,0,0,25.86,26.44,25.97
$GC,773,-0.23,-146.6,3039,1676,2849,2846,103.6,-12.5,57,779,0.08,1.90,0.00,0.000,2308,0.196,0.047,3067,3022,2847,2849,2846,0,0,0,0,0,0,26.36,26.43,26.39
$GC,856,-0.18,-146.6,3067,3022,2848,2846,111.0,-9.4,62,860,0.00,1.88,0.00,0.000,1030,0.000,0.045,3067,1704,2847,2849,2846,0,0,0,0,0,0,26.56,26.55,26.57
$GC,1170,-0.18,-146.6,3067,1704,2849,2846,136.7,-8.2,83,1174,0.00,1.98,0.00,0.000,516,0.000,0.057,3067,326,2847,2849,2846,0,0,0,0,0,0,26.85,26.44,26.86
$GC,1416,-0.12,-146.6,3067,326,2848,2846,155.5,-8.5,95,1420,0.12,1.83,0.00,0.000,3078,0.139,0.042,3116,1666,2847,2849,2846,0,0,0,0,0,0,26.21,26.66,26.33
$GC,1729,-0.12,-146.6,3116,1666,2849,2846,175.6,-5.7,106,1735,0.00,1.98,0.00,0.000,516,0.000,0.057,3116,322,2847,2849,2846,0,0,0,0,0,0,26.86,26.47,26.89
$GC,1809,-0.12,-146.6,3116,323,2849,2846,179.2,-5.9,108,1813,0.00,1.88,0.00,0.000,1030,0.000,0.042,3113,1717,2847,2849,2846,0,0,0,0,0,0,26.68,26.66,26.69
$GC,2119,-0.12,-146.6,3112,1721,2849,2846,196.4,-5.1,118,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1722,2847,2849,2846,0,0,0,0,0,0,26.87,26.89,26.89
$GC,2417,-0.12,-146.6,3112,1721,2849,2846,212.2,-5.3,128,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1721,2847,2849,2846,0,0,0,0,0,0,26.87,26.89,26.89
$GC,2718,-0.17,-146.6,3112,1721,2849,2846,228.1,-5.4,138,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1722,2847,2849,2846,0,0,0,0,0,0,26.87,26.89,26.89
$GC,3017,-0.23,-146.6,3112,1722,2849,2846,244.3,-5.6,148,3024,0.05,2.00,0.00,0.000,4612,0.164,0.055,3030,328,2847,2849,2845,0,0,0,0,0,0,26.68,26.47,26.70
$GC,3080,-0.23,-146.6,3030,328,2849,2846,249.3,-6.6,150,3087,0.12,1.83,0.00,0.000,3078,0.156,0.042,3075,1700,2847,2849,2845,0,0,0,0,0,0,26.25,26.66,26.31
$GC,3412,-0.23,-146.6,3075,1700,2849,2846,269.8,-6.0,161,3418,0.00,1.92,0.00,0.000,260,0.000,0.052,3067,3060,2847,2849,2846,0,0,0,0,0,0,26.86,26.51,26.88
$GC,3475,-0.23,-146.6,3066,3060,2849,2846,273.6,-6.0,163,3481,0.00,1.95,0.00,0.000,1030,0.000,0.045,3067,1688,2847,2849,2846,0,0,0,0,0,0,26.61,26.60,26.63
$GC,3807,-0.23,-146.6,3067,1687,2849,2845,295.4,-6.7,174,3812,0.00,1.98,0.00,0.000,516,0.000,0.057,3067,326,2847,2849,2846,0,0,0,0,0,0,26.86,26.46,26.88
$GC,3887,-0.23,-146.6,3067,325,2849,2846,299.9,-6.9,176,3890,0.00,1.85,0.00,0.000,1030,0.000,0.042,3061,1696,2847,2849,2846,0,0,0,0,0,0,26.68,26.66,26.69
$GC,4194,-0.23,-146.6,3061,1696,2849,2845,323.0,-7.1,183,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1696,2846,2848,2845,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4509,-0.23,-146.6,3061,1696,2849,2845,346.8,-7.6,190,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1696,2847,2849,2846,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4825,-0.23,-146.6,3061,1696,2849,2845,369.7,-7.1,197,4830,0.00,1.95,0.00,0.000,260,0.000,0.052,3056,3067,2847,2849,2846,0,0,0,0,0,0,26.86,26.50,26.88
$GC,4886,-0.23,-146.6,3056,3067,2849,2845,373.1,-7.1,198,4891,0.00,1.95,0.00,0.000,1030,0.000,0.045,3056,1697,2847,2848,2846,0,0,0,0,0,0,26.60,26.59,26.62
$GC,5230,-0.23,-146.6,3056,1697,2849,2845,397.1,-6.6,206,5236,0.00,1.98,0.00,0.000,516,0.000,0.057,3057,310,2847,2849,2845,0,0,0,0,0,0,26.86,26.46,26.87
$GC,5283,-0.23,-146.6,3056,310,2849,2846,400.2,-6.7,207,5287,0.00,1.92,0.00,0.000,1030,0.000,0.042,3051,1709,2847,2849,2845,0,0,0,0,0,0,26.65,26.64,26.66
$GC,5592,-0.23,-146.6,3051,1712,2848,2845,421.9,-6.8,214,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1712,2846,2848,2844,0,0,0,0,0,0,26.86,26.88,26.87
$GC,5907,-0.23,-146.6,3051,1712,2848,2845,443.3,-6.9,221,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1712,2846,2848,2844,0,0,0,0,0,0,26.86,26.88,26.87
$GC,6222,-0.23,-146.6,3050,1712,2848,2843,465.8,-7.0,228,6226,0.00,1.92,0.00,0.000,260,0.000,0.052,3046,3062,2846,2848,2844,0,0,0,0,0,0,26.86,26.50,26.87
$GC,6271,-0.23,-146.6,3046,3062,2848,2843,469.1,-7.0,229,6276,0.00,1.95,0.00,0.000,1030,0.000,0.042,3046,1693,2845,2848,2843,0,0,0,0,0,0,26.60,26.59,26.61
$GC,6586,-0.23,-146.6,3046,1693,2847,2843,490.9,-6.8,236,6590,0.00,2.00,0.00,0.000,516,0.000,0.057,3046,320,2845,2848,2843,0,0,0,0,0,0,26.86,26.46,26.87
$GC,6662,-0.23,-146.6,3046,320,2848,2843,494.3,-7.0,237,6667,0.10,1.90,0.00,0.000,3078,0.134,0.042,3080,1709,2845,2848,2843,0,0,0,0,0,0,26.31,26.63,26.36
$GC,6997,-0.30,-146.6,3080,1710,2847,2842,515.9,-5.8,245,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1710,2844,2847,2842,0,0,0,0,0,0,26.86,26.88,26.87
$GC,7311,-0.37,-146.6,3080,1710,2847,2842,534.0,-5.7,252,7316,0.08,1.88,0.00,0.000,4356,0.119,0.050,2975,3039,2844,2847,2841,0,0,0,0,0,0,26.67,26.50,26.67
$GC,7392,-0.37,-146.6,2976,3039,2846,2841,538.1,-6.3,253,7398,0.15,1.90,0.00,0.000,3078,0.134,0.045,3029,1690,2844,2847,2841,0,0,0,0,0,0,26.18,26.58,26.25
$GC,7722,-0.37,-146.6,3029,1690,2846,2841,567.8,-8.0,261,7728,0.00,1.98,0.00,0.000,516,0.000,0.057,3030,334,2843,2846,2841,0,0,0,0,0,0,26.86,26.45,26.87
$GC,7804,-0.37,-146.6,3029,334,2846,2841,571.7,-8.0,262,7813,0.00,1.88,0.00,0.000,1030,0.000,0.042,3026,1697,2843,2845,2841,0,0,0,0,0,0,26.65,26.64,26.65
$GC,8128,-0.37,-146.6,3026,1698,2845,2841,600.8,-8.0,270,8133,0.00,1.92,0.00,0.000,260,0.000,0.052,3016,3051,2843,2845,2841,0,0,0,0,0,0,26.85,26.49,26.87
$GC,8181,-0.37,-146.6,3016,3051,2845,2840,604.3,-8.1,271,8185,0.00,1.90,0.00,0.000,1030,0.000,0.045,3016,1701,2842,2845,2840,0,0,0,0,0,0,26.62,26.58,26.63
$GC,8529,-0.37,-146.6,3016,1701,2845,2840,634.6,-8.4,279,8534,0.00,1.98,0.00,0.000,516,0.000,0.057,3016,329,2843,2845,2841,0,0,0,0,0,0,26.85,26.44,26.87
$GC,8582,-0.37,-146.6,3016,328,2845,2840,638.5,-8.5,280,8586,0.00,1.85,0.00,0.000,1030,0.000,0.042,3011,1704,2842,2844,2840,0,0,0,0,0,0,26.66,26.64,26.67
$GC,8890,-0.37,-146.6,3010,1706,2844,2839,665.2,-8.4,287,8896,0.00,1.92,0.00,0.000,260,0.000,0.052,3002,3057,2842,2844,2840,0,0,0,0,0,0,26.85,26.48,26.86
$GC,8958,-0.37,-146.6,3002,3057,2844,2839,668.8,-8.3,288,8962,0.00,1.95,0.00,0.000,1030,0.000,0.045,3002,1691,2842,2844,2840,0,0,0,0,0,0,26.59,26.58,26.60
$GC,9297,-0.37,-146.6,3002,1691,2844,2839,700.3,-8.8,296,9303,0.00,2.00,0.00,0.000,516,0.000,0.057,3002,308,2841,2844,2839,0,0,0,0,0,0,26.85,26.44,26.86
$GC,9379,-0.37,-146.6,3002,308,2844,2839,704.8,-9.1,297,9389,0.10,1.92,0.00,0.000,3078,0.142,0.042,3033,1713,2841,2844,2839,0,0,0,0,0,0,26.28,26.63,26.32
$GC,9703,-0.37,-146.6,3032,1713,2843,2839,734.8,-8.0,305,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1713,2841,2844,2839,0,0,0,0,0,0,26.85,26.87,26.86
$GC,10018,-0.37,-146.6,3032,1713,2844,2838,758.8,-7.5,312,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1713,2840,2843,2838,0,0,0,0,0,0,26.84,26.87,26.86
$GC,10333,-0.37,-146.6,3032,1713,2844,2838,780.5,-6.8,319,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1713,2840,2843,2838,0,0,0,0,0,0,26.85,26.87,26.86
$GC,10648,-0.37,-146.6,3032,1713,2842,2837,803.0,-7.3,326,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1713,2840,2843,2837,0,0,0,0,0,0,26.84,26.86,26.86
$GC,10963,-0.37,-146.6,3032,1713,2842,2836,826.1,-7.4,333,10967,0.00,1.92,0.00,0.000,260,0.000,0.050,3025,3058,2839,2842,2836,0,0,0,0,0,0,26.84,26.47,26.86
$GC,11023,-0.37,-146.6,3025,3058,2842,2836,829.6,-7.3,334,11028,0.00,1.95,0.00,0.000,1030,0.000,0.045,3025,1695,2839,2842,2837,0,0,0,0,0,0,26.58,26.56,26.60
$GC,11373,-0.37,-146.6,3025,1695,2841,2836,856.5,-7.2,342,11379,0.00,2.00,0.00,0.000,516,0.000,0.057,3025,330,2838,2841,2836,0,0,0,0,0,0,26.84,26.42,26.86
$GC,11486,-0.37,-146.6,3025,330,2840,2836,863.5,-7.6,344,11491,0.00,1.90,0.00,0.000,1030,0.000,0.040,3020,1701,2838,2840,2836,0,0,0,0,0,0,26.63,26.62,26.64
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$GC,51988,-1.32,-146.6,2730,1691,2797,2815,4119.9,-6.1,703,51989,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1691,2805,2796,2815,0,0,0,0,0,0,26.72,26.74,26.74
$GC,52351,-1.32,-146.6,2729,1692,2796,2815,4141.6,-6.0,706,52352,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1691,2806,2797,2815,0,0,0,0,0,0,26.66,26.69,26.68
$GC,52710,-1.32,-146.6,2730,1691,2797,2815,4163.6,-6.1,709,52711,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1691,2806,2797,2815,0,0,0,0,0,0,26.65,26.67,26.66
$GC,53069,-1.32,-146.6,2730,1691,2797,2816,4185.0,-6.0,712,53070,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1695,2806,2797,2815,0,0,0,0,0,0,26.63,26.65,26.65
$GC,53431,-1.32,-146.6,2730,1691,2797,2815,4206.7,-6.0,715,53437,0.00,2.08,0.00,0.000,516,0.000,0.055,2730,318,2806,2797,2815,0,0,0,0,0,0,26.66,25.70,26.67
$GC,53487,-1.32,-146.6,2730,318,2796,2815,4206.7,-6.0,715,53491,0.00,2.00,0.00,0.000,1030,0.000,0.040,2725,1699,2806,2797,2815,0,0,0,0,0,0,26.27,26.25,26.27
$GC,53912,-1.32,-146.6,2725,1700,2797,2815,4235.8,-6.0,719,53913,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1700,2806,2797,2815,0,0,0,0,0,0,26.63,26.65,26.65
$GC,54274,-1.32,-146.6,2725,1700,2797,2815,4256.6,-5.8,722,54275,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1700,2806,2797,2815,0,0,0,0,0,0,26.67,26.70,26.69
$GC,54631,-1.38,-146.6,2725,1700,2796,2815,4277.0,-5.7,725,54632,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1700,2806,2797,2815,0,0,0,0,0,0,26.72,26.74,26.74
$GC,54991,-1.43,-146.6,2725,1700,2797,2815,4296.7,-5.5,728,54998,0.05,2.10,0.00,0.000,4612,0.159,0.052,2652,324,2806,2797,2815,0,0,0,0,0,0,26.52,25.69,26.53
$GC,55063,-1.48,-146.6,2651,324,2797,2815,4296.7,-5.5,728,55067,0.00,1.95,0.00,0.000,1030,0.000,0.040,2646,1700,2806,2797,2815,0,0,0,0,0,0,26.27,26.25,26.29
$GC,55470,-1.48,-146.6,2645,1701,2797,2815,4335.2,-8.1,732,55471,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1701,2805,2796,2815,0,0,0,0,0,0,26.67,26.70,26.69
$GC,55829,-1.48,-146.6,2645,1704,2797,2815,4364.0,-8.0,735,55830,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1701,2806,2797,2815,0,0,0,0,0,0,26.66,26.68,26.67
$GC,56189,-1.48,-146.6,2646,1701,2796,2815,4392.9,-8.0,738,56190,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1701,2806,2797,2815,0,0,0,0,0,0,26.65,26.68,26.67
$GC,56549,-1.48,-146.6,2645,1701,2797,2815,4420.7,-7.8,741,56554,0.00,2.10,0.00,0.000,516,0.000,0.055,2646,320,2806,2797,2815,0,0,0,0,0,0,26.65,25.67,26.67
$GC,56614,-1.48,-146.6,2646,320,2797,2815,4420.7,-7.8,741,56619,0.10,2.03,0.00,0.000,3078,0.139,0.040,2674,1705,2805,2796,2815,0,0,0,0,0,0,25.76,26.22,25.77
$GC,57030,-1.48,-146.6,2673,1705,2797,2815,4453.5,-6.8,745,57031,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1705,2806,2797,2815,0,0,0,0,0,0,26.65,26.67,26.67
$GC,57390,-1.48,-146.6,2673,1705,2797,2815,4476.9,-6.5,748,57391,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1705,2806,2797,2815,0,0,0,0,0,0,26.65,26.68,26.67
$GC,57748,-1.48,-146.6,2673,1705,2797,2815,4499.7,-6.4,751,57754,0.00,2.10,0.00,0.000,516,0.000,0.055,2673,322,2806,2797,2815,0,0,0,0,0,0,26.72,25.67,26.74
$GC,57814,-1.48,-146.6,2673,322,2797,2815,4499.7,-6.4,751,57818,0.00,1.98,0.00,0.000,1030,0.000,0.042,2672,1687,2806,2797,2815,0,0,0,0,0,0,26.25,26.22,26.27
$GC,58229,-1.48,-146.6,2671,1702,2796,2815,4530.5,-6.4,755,58231,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1703,2806,2797,2815,0,0,0,0,0,0,26.64,26.66,26.65
$GC,58591,-1.48,-146.6,2671,1702,2797,2815,4552.3,-6.1,758,58596,0.00,2.10,0.00,0.000,516,0.000,0.055,2672,323,2806,2797,2815,0,0,0,0,0,0,26.66,25.65,26.68
$GC,58671,-1.48,-146.6,2671,323,2797,2815,4552.3,-6.1,758,58675,0.00,2.03,0.00,0.000,1030,0.000,0.040,2665,1711,2806,2797,2815,0,0,0,0,0,0,26.22,26.21,26.23
$GC,59071,-1.48,-146.6,2664,1713,2797,2815,4582.7,-6.3,762,59072,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1715,2806,2797,2815,0,0,0,0,0,0,26.63,26.65,26.65
$GC,59432,-1.48,-146.6,2665,1713,2797,2815,4604.7,-6.2,765,59433,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1713,2808,2802,2815,0,0,0,0,0,0,26.65,26.68,26.67
$GC,59791,-1.48,-146.6,2665,1713,2797,2816,4625.9,-5.9,768,59796,0.00,2.10,0.00,0.000,516,0.000,0.055,2665,324,2806,2797,2815,0,0,0,0,0,0,26.62,25.66,26.64
$GC,59876,-1.48,-146.6,2664,324,2797,2815,4625.9,-5.9,768,59881,0.00,2.00,0.00,0.000,1030,0.000,0.040,2660,1694,2806,2797,2815,0,0,0,0,0,0,26.23,26.22,26.25
$GC,60273,-1.48,-146.6,2659,1694,2797,2815,4653.4,-5.7,772,60274,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1694,2806,2797,2815,0,0,0,0,0,0,26.66,26.71,26.68
$GC,60631,-1.48,-146.6,2659,1694,2803,2815,4673.4,-5.6,775,60632,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1694,2806,2797,2815,0,0,0,0,0,0,26.62,26.65,26.63
$GC,60991,-1.48,-146.6,2659,1694,2797,2815,4693.4,-5.6,778,60997,0.00,2.10,0.00,0.000,516,0.000,0.055,2659,313,2806,2797,2815,0,0,0,0,0,0,26.62,25.65,26.64
$GC,61077,-1.48,-146.6,2659,313,2796,2815,4693.4,-5.6,778,61081,0.00,2.00,0.00,0.000,1030,0.000,0.040,2653,1699,2806,2797,2815,0,0,0,0,0,0,26.26,26.24,26.27
$GC,61472,-1.48,-146.6,2653,1702,2797,2815,4721.5,-5.8,782,61473,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1702,2807,2800,2815,0,0,0,0,0,0,26.62,26.65,26.64
$GC,61832,-1.48,-146.6,2653,1702,2797,2815,4742.0,-5.7,785,61834,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1702,2806,2797,2815,0,0,0,0,0,0,26.63,26.66,26.65
$GC,62193,-1.48,-146.6,2653,1702,2797,2815,4762.0,-5.6,788,62198,0.00,2.12,0.00,0.000,516,0.000,0.055,2653,314,2806,2797,2815,0,0,0,0,0,0,26.65,25.63,26.67
$GC,62287,-1.48,-146.6,2653,314,2797,2815,4762.0,-5.6,788,62292,0.00,2.03,0.00,0.000,1030,0.000,0.040,2650,1703,2806,2797,2815,0,0,0,0,0,0,26.21,26.20,26.22
$GC,62676,-1.48,-146.6,2649,1704,2797,2815,4788.6,-5.5,792,62677,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1704,2806,2797,2815,0,0,0,0,0,0,26.72,26.74,26.73
$GC,63036,-1.48,-146.6,2650,1704,2797,2815,4808.1,-5.4,795,63042,0.00,2.12,0.00,0.000,516,0.000,0.055,2650,323,2805,2797,2813,0,0,0,0,0,0,26.72,25.65,26.73
$GC,63117,-1.48,-146.6,2649,323,2797,2815,4808.1,-5.4,795,63122,0.00,2.00,0.00,0.000,1030,0.000,0.040,2646,1697,2805,2796,2815,0,0,0,0,0,0,26.22,26.20,26.22
$GC,63518,-1.48,-146.6,2645,1697,2797,2815,4833.8,-5.4,799,63519,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1697,2806,2797,2815,0,0,0,0,0,0,26.63,26.66,26.65
$GC,63879,-1.48,-146.6,2646,1697,2797,2814,4852.8,-5.3,802,63881,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1697,2806,2797,2815,0,0,0,0,0,0,26.60,26.63,26.62
$GC,64237,-1.48,-146.6,2645,1697,2797,2815,4872.3,-5.4,805,64244,0.00,2.12,0.00,0.000,516,0.000,0.055,2646,317,2805,2796,2815,0,0,0,0,0,0,26.61,25.63,26.63
$GC,64344,-1.48,-146.6,2646,317,2797,2815,4872.3,-5.4,805,64349,0.12,2.00,0.00,0.000,3078,0.146,0.040,2683,1704,2805,2796,2815,0,0,0,0,0,0,25.73,26.21,25.78
$GC,64713,-1.48,-146.6,2682,1704,2797,2815,4894.9,-4.9,808,64715,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1704,2806,2797,2815,0,0,0,0,0,0,26.72,26.74,26.73
$GC,65074,-1.55,-146.6,2682,1704,2797,2815,4909.8,-4.2,811,65079,0.00,2.12,0.00,0.000,516,0.000,0.055,2683,316,2805,2797,2813,0,0,0,0,0,0,26.72,25.63,26.73
$GC,65169,-1.62,-146.6,2682,316,2797,2815,4909.8,-4.2,811,65174,0.08,2.00,0.00,0.000,5126,0.072,0.042,2612,1699,2806,2797,2815,0,0,0,0,0,0,26.05,26.22,26.06
$GC,65559,-1.62,-146.6,2611,1700,2797,2815,4936.2,-5.5,815,65561,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1700,2806,2797,2815,0,0,0,0,0,0,26.72,26.74,26.73
$GC,65918,-1.62,-146.6,2611,1699,2797,2814,4956.9,-5.7,818,65923,0.00,2.12,0.00,0.000,516,0.000,0.055,2612,320,2806,2797,2815,0,0,0,0,0,0,26.72,25.62,26.73
$GC,66029,-1.62,-146.6,2612,320,2796,2815,4956.9,-5.7,818,66038,0.00,2.00,0.00,0.000,1030,0.000,0.042,2608,1697,2806,2797,2815,0,0,0,0,0,0,26.21,26.20,26.22
$GC,66399,-1.62,-146.6,2608,1697,2797,2815,4984.4,-5.7,822,66400,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1697,2806,2797,2815,0,0,0,0,0,0,26.72,26.74,26.73
$GC,66758,-1.62,-146.6,2608,1697,2797,2815,5003.6,-5.4,825,66759,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1697,2806,2797,2815,0,0,0,0,0,0,26.72,26.74,26.73
$STATE,67117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,67117,begin apogee
$GC,67121,-0.24,0.0,2608,1514,2797,2815,5021.9,-5.1,828,67252,1.40,0.00,126.40,4.310,10246,0.107,0.000,3079,1513,2339,2315,2363,0,0,0,0,0,0,24.58,22.11,19.47
$STATE,67253,end apogee,CONTROL_FINISHED_OK
$STATE,67253,begin climb
$GC,67254,0.57,146.6,3078,1513,2315,2364,5021.7,0.0,829,67487,0.77,0.00,229.25,4.358,10246,0.072,0.000,3362,1513,1835,1827,1843,0,0,0,0,0,0,22.89,22.13,19.59
$GC,67839,0.06,146.6,3362,1513,1798,1817,4887.3,26.0,834,67844,0.70,2.03,0.00,0.000,4612,0.214,0.052,3178,202,1808,1798,1818,0,0,0,0,0,0,24.98,25.26,25.15
$GC,67909,-0.46,146.6,3178,192,1793,1818,4887.3,26.0,834,67914,0.52,1.88,0.00,0.000,5126,0.169,0.040,3021,1562,1805,1793,1818,0,0,0,0,0,0,25.22,25.69,25.46
$GC,68318,-0.64,146.6,3019,1561,1788,1810,4832.4,11.1,838,68324,0.22,2.03,0.00,0.000,4612,0.151,0.055,2949,210,1799,1788,1810,0,0,0,0,0,0,25.72,25.89,25.82
$GC,68415,-0.83,146.6,2948,210,1782,1810,4832.4,11.1,838,68419,0.20,1.85,0.00,0.000,5126,0.129,0.042,2879,1565,1796,1782,1810,0,0,0,0,0,0,25.84,26.16,25.98
$GC,68794,-0.74,146.6,2879,1568,1781,1805,4801.9,6.3,842,68799,0.05,2.05,0.00,0.000,2564,0.159,0.055,2908,202,1793,1781,1805,0,0,0,0,0,0,26.29,26.12,26.30
$GC,68919,-0.59,146.6,2908,202,1778,1805,4793.1,6.7,843,68923,0.10,1.83,0.00,0.000,3078,0.122,0.042,2961,1568,1794,1783,1805,0,0,0,0,0,0,26.14,26.31,26.22
$GC,69283,-0.49,146.6,2962,1575,1778,1805,4766.3,7.3,846,69289,0.03,2.03,0.00,0.000,2564,0.266,0.055,2987,208,1791,1778,1805,0,0,0,0,0,0,26.42,26.18,26.41
$GC,69329,-0.38,146.6,2988,207,1778,1804,4766.3,7.3,846,69334,0.08,1.85,0.00,0.000,3078,0.127,0.042,3069,1551,1791,1778,1805,0,0,0,0,0,0,26.22,26.36,26.29
$GC,69643,-0.44,146.6,3068,1558,1778,1805,4730.6,9.4,849,69645,0.20,0.00,0.00,0.000,4102,0.159,0.000,3005,1561,1791,1778,1804,0,0,0,0,0,0,25.91,26.16,26.10
$GC,70003,-0.54,146.6,3005,1561,1777,1801,4702.6,8.3,852,70009,0.00,2.00,0.00,0.000,516,0.000,0.057,3013,206,1790,1778,1802,0,0,0,0,0,0,26.63,26.22,26.65
$GC,70085,-0.63,146.6,3013,206,1775,1802,4702.6,8.3,852,70090,0.20,1.83,0.00,0.000,5126,0.137,0.042,2947,1546,1788,1776,1801,0,0,0,0,0,0,25.98,26.41,26.14
$GC,70483,-0.63,146.6,2951,1548,1773,1800,4673.2,6.0,856,70485,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1548,1786,1773,1800,0,0,0,0,0,0,26.65,26.68,26.67
$GC,70846,-0.63,146.6,2946,1548,1773,1799,4654.2,5.4,859,70851,0.00,1.98,0.00,0.000,516,0.000,0.057,2954,210,1786,1772,1800,0,0,0,0,0,0,26.67,26.23,26.69
$GC,70901,-0.63,146.6,2953,210,1772,1799,4654.2,5.4,859,70905,0.00,1.77,0.00,0.000,1030,0.000,0.040,2954,1500,1785,1772,1799,0,0,0,0,0,0,26.46,26.45,26.46
$GC,71325,-0.63,146.6,2953,1508,1770,1799,4628.8,5.3,863,71326,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1508,1785,1771,1799,0,0,0,0,0,0,26.68,26.70,26.70
$GC,71685,-0.63,146.6,2954,1508,1771,1797,4610.2,5.2,866,71686,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1508,1785,1771,1800,0,0,0,0,0,0,26.69,26.72,26.71
$GC,72045,-0.63,146.6,2954,1508,1771,1800,4592.1,5.0,869,72046,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1508,1785,1771,1799,0,0,0,0,0,0,26.70,26.72,26.72
$GC,72405,-0.63,146.6,2954,1508,1771,1799,4575.2,4.7,872,72406,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1508,1784,1770,1799,0,0,0,0,0,0,26.70,26.73,26.72
$GC,72765,-0.63,146.6,2954,1508,1771,1799,4558.0,4.7,875,72769,0.00,1.95,0.00,0.000,516,0.000,0.057,2961,205,1785,1771,1800,0,0,0,0,0,0,26.70,26.22,26.72
$GC,72803,-0.63,146.6,2961,202,1771,1799,4558.0,4.7,875,72808,0.00,1.77,0.00,0.000,1030,0.000,0.040,2961,1497,1785,1771,1800,0,0,0,0,0,0,26.47,26.46,26.48
$GC,73129,-0.63,146.6,2961,1502,1771,1799,4540.5,4.8,878,73130,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1503,1785,1771,1799,0,0,0,0,0,0,26.71,26.73,26.73
$GC,73488,-0.63,146.6,2960,1503,1771,1799,4524.0,4.6,881,73489,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1503,1785,1771,1799,0,0,0,0,0,0,26.71,26.74,26.73
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$GC,159834,0.79,334.6,3410,1549,1178,1171,114.7,6.0,1837,159840,0.00,1.98,0.00,0.000,516,0.000,0.057,3411,186,1174,1178,1171,0,0,0,0,0,0,26.83,26.32,26.84
$GC,159883,0.86,334.6,3410,186,1178,1171,111.7,6.4,1840,159889,0.00,1.67,0.00,0.000,1030,0.000,0.042,3411,1503,1174,1178,1171,0,0,0,0,0,0,26.61,26.60,26.62
$GC,160198,0.93,334.6,3410,1508,1178,1171,93.8,4.5,1861,160200,0.05,0.00,0.00,0.000,2054,0.166,0.000,3453,1508,1174,1178,1171,0,0,0,0,0,0,26.63,26.65,26.65
$GC,160499,0.99,334.6,3452,1508,1178,1171,77.6,5.9,1881,160500,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1508,1174,1178,1171,0,0,0,0,0,0,26.83,26.86,26.85
$GC,160798,1.06,334.6,3452,1509,1178,1171,61.7,5.2,1901,160800,0.05,0.00,0.00,0.000,2054,0.174,0.000,3503,1508,1174,1178,1171,0,0,0,0,0,0,26.63,26.65,26.65
$GC,161098,1.06,334.6,3503,1508,1178,1171,40.4,7.2,1921,161103,0.00,1.90,0.00,0.000,516,0.000,0.060,3506,196,1174,1178,1171,0,0,0,0,0,0,26.84,26.35,26.86
$GC,161132,1.06,334.6,3506,196,1178,1171,37.9,8.0,1924,161141,0.00,1.65,0.00,0.000,1030,0.000,0.042,3506,1513,1174,1178,1171,0,0,0,0,0,0,26.63,26.63,26.64
$GC,161441,1.06,334.6,3505,1513,1178,1171,12.8,7.8,1955,161442,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,1513,1174,1178,1171,0,0,0,0,0,0,26.84,26.86,26.86
$STATE,161580,end climb,SURFACE_DEPTH_REACHED
$STATE,161580,begin surface coast
$FINISH,1.4,1.011075
$STATE,161612,end surface coast,CONTROL_FINISHED_OK
$STATE,161612,begin surface
$SM_CCo,161687,0.00,0.000,0,0,1174,338.71
$SM_GC,2.38,8.40,0.00,0.00,0.055,0.000,0.000,157,1514,1174,-9.18,-5.26,338.71,0,0,0,0,0,0,26.51,26.87,26.55
$IRIDIUM_FIX,3549.54,-6719.94,160708,172410
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.04
$INTERNAL_PRESSURE,9.11239
$TCM_TEMP,24.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,4884.4,165.0
$24V_AH,19.47,39.915
$10V_AH,9.52,25.587
$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,29.450,594.575,556.700,0.000,96.725,26.606,25.560,496.202,23.500,0.000,56.637,7863.700,140465.109,1146.880,12432.118,474.837,0.000,5659.543,0.000,11551.202,0.000,168.796,0.000
$DEVICE_MAMPS,265.681,59.592,4357.665,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1351.493,6428.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123685,1972
$CAP_FILE_SIZE,814617,0
$CFSIZE,1024409600,1003143168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,53.37,1
$GPS,230915,221714,3637.605,-6728.014,29,1.2,70,-15.4,0.3,163.5,8,4.5