version: 66.12
glider: 36
mission: 20
dive: 79
start: 9 29 115 7 25 45
data:
$ID,36
$MISSION,20
$DIVE,79
$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,1250
$T_MISSION,1440
$T_ABORT,1500
$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,450
$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,75
$R_STBD_OVSHOOT,145
$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
$GPS1,290915,071815,3750.0195,-6819.9565,36,1.1,76,-15.4,2.1,68.4,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-55.7
$GPS2,290915,072522,3750.0933,-6819.4468,12,1.0,52,-15.4,2.1,101.1,8,4.6
$SPEED_LIMITS,0.440,0.469
$TGT_NAME,9010N
$TGT_LATLONG,3905.220,-6921.240
$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,321.8,165072,-16.7,-16.000,-18.85,4193
$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
$STATE,13,begin dive
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$GC,134,-0.95,-439.8,130,1723,1920,2234,3.3,-1.7,11,235,10.88,2.08,-81.95,0.099,18948,0.248,0.052,2842,310,3856,3833,3879,0,0,0,0,0,0,25.32,25.79,25.47
$GC,466,-0.68,-439.8,2841,310,3829,3876,92.3,-35.0,37,476,0.30,1.90,0.00,0.000,3078,0.179,0.045,2925,1654,3852,3828,3876,0,0,0,0,0,0,25.56,26.36,25.67
$GC,775,-0.61,-439.8,2924,1654,3827,3874,170.4,-21.7,55,781,0.00,2.00,0.00,0.000,260,0.000,0.052,2916,3062,3851,3828,3874,0,0,0,0,0,0,26.71,26.34,26.72
$GC,868,-0.61,-439.8,2916,3062,3827,3874,188.1,-19.0,58,873,0.12,1.95,0.00,0.000,3078,0.161,0.047,2957,1684,3850,3827,3874,0,0,0,0,0,0,26.08,26.44,26.20
$GC,1202,-0.61,-439.8,2957,1684,3826,3874,237.5,-13.8,69,1207,0.00,1.98,0.00,0.000,516,0.000,0.057,2957,317,3850,3827,3874,0,0,0,0,0,0,26.77,26.36,26.79
$GC,1298,-0.61,-439.8,2957,317,3826,3874,252.2,-14.8,72,1303,0.00,1.90,0.00,0.000,1030,0.000,0.042,2952,1721,3850,3826,3874,0,0,0,0,0,0,26.58,26.55,26.58
$GC,1629,-0.61,-439.8,2952,1722,3826,3873,301.3,-15.5,83,1634,0.00,1.90,0.00,0.000,260,0.000,0.052,2943,3053,3849,3826,3873,0,0,0,0,0,0,26.79,26.44,26.81
$GC,1720,-0.67,-439.8,2943,3053,3826,3873,314.6,-15.1,85,1724,0.00,1.92,0.00,0.000,1030,0.000,0.045,2943,1688,3849,3826,3873,0,0,0,0,0,0,26.56,26.52,26.58
$GC,2038,-0.67,-439.8,2943,1688,3824,3873,364.3,-15.8,92,2044,0.00,1.98,0.00,0.000,516,0.000,0.057,2942,309,3848,3824,3873,0,0,0,0,0,0,26.80,26.41,26.82
$GC,2090,-0.67,-439.8,2943,309,3824,3873,371.6,-16.0,93,2094,0.00,1.92,0.00,0.000,1030,0.000,0.042,2936,1715,3848,3824,3873,0,0,0,0,0,0,26.59,26.58,26.60
$GC,2399,-0.72,-439.8,2936,1715,3823,3872,421.2,-15.4,100,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1715,3848,3824,3872,0,0,0,0,0,0,26.80,26.82,26.82
$GC,2714,-0.72,-439.8,2936,1715,3822,3871,471.1,-16.6,107,2719,0.00,2.05,0.00,0.000,516,0.000,0.057,2937,320,3846,3822,3871,0,0,0,0,0,0,26.79,26.41,26.82
$GC,2750,-0.72,-439.8,2936,320,3821,3871,471.1,-16.6,107,2759,0.00,1.90,0.00,0.000,1030,0.000,0.042,2930,1698,3846,3822,3871,0,0,0,0,0,0,26.58,26.58,26.59
$GC,3074,-0.72,-439.8,2930,1698,3821,3870,533.4,-17.2,115,3079,0.00,2.00,0.00,0.000,516,0.000,0.057,2930,327,3845,3821,3870,0,0,0,0,0,0,26.79,26.41,26.82
$GC,3110,-0.72,-439.8,2930,327,3821,3870,533.4,-17.2,115,3119,0.00,1.90,0.00,0.000,1030,0.000,0.042,2922,1705,3845,3821,3870,0,0,0,0,0,0,26.58,26.56,26.59
$GC,3434,-0.72,-439.8,2922,1705,3819,3868,597.2,-17.6,123,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1705,3843,3819,3868,0,0,0,0,0,0,26.79,26.82,26.81
$GC,3749,-0.72,-439.8,2922,1705,3816,3867,652.1,-17.5,130,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1705,3841,3816,3866,0,0,0,0,0,0,26.79,26.81,26.80
$GC,4064,-0.72,-439.8,2922,1705,3814,3865,709.6,-18.2,137,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1705,3839,3814,3864,0,0,0,0,0,0,26.78,26.80,26.79
$GC,4379,-0.77,-439.8,2922,1705,3811,3862,766.7,-18.2,144,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1705,3836,3811,3861,0,0,0,0,0,0,26.77,26.80,26.79
$GC,4694,-0.84,-439.8,2922,1706,3808,3860,822.8,-17.6,151,4696,0.08,0.00,0.00,0.000,4102,0.122,0.000,2838,1708,3834,3809,3860,0,0,0,0,0,0,26.58,26.61,26.60
$GC,5010,-0.78,-439.8,2838,1709,3805,3857,899.6,-24.8,158,5012,0.20,0.00,0.00,0.000,2054,0.156,0.000,2903,1709,3831,3805,3857,0,0,0,0,0,0,26.08,26.29,26.22
$GC,5324,-0.83,-439.8,2903,1709,3803,3856,958.3,-18.1,165,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1709,3829,3802,3856,0,0,0,0,0,0,26.77,26.79,26.78
$GC,5714,-0.89,-439.8,2903,1708,3799,3853,1027.7,-17.7,172,5716,0.08,0.00,0.00,0.000,4102,0.119,0.000,2830,1709,3826,3799,3853,0,0,0,0,0,0,26.58,26.60,26.59
$GC,6074,-0.89,-439.8,2829,1709,3796,3850,1114.0,-22.7,175,6076,0.12,0.00,0.00,0.000,2054,0.161,0.000,2875,1709,3823,3796,3850,0,0,0,0,0,0,26.23,26.36,26.32
$GC,6435,-0.89,-439.8,2870,1710,3793,3848,1185.9,-20.8,178,6440,0.00,2.08,0.00,0.000,516,0.000,0.057,2870,320,3820,3793,3848,0,0,0,0,0,0,26.76,26.35,26.77
$GC,6480,-0.89,-439.8,2870,320,3793,3848,1185.9,-20.8,178,6484,0.00,1.92,0.00,0.000,1030,0.000,0.042,2866,1684,3820,3792,3848,0,0,0,0,0,0,26.53,26.51,26.53
$GC,6794,-0.89,-439.8,2866,1684,3791,3846,1257.3,-19.8,181,6800,0.00,2.00,0.00,0.000,260,0.000,0.052,2856,3067,3818,3791,3846,0,0,0,0,0,0,26.76,26.39,26.77
$GC,6845,-0.89,-439.8,2856,3067,3791,3846,1257.3,-19.8,181,6849,0.00,2.00,0.00,0.000,1030,0.000,0.045,2856,1703,3818,3791,3846,0,0,0,0,0,0,26.47,26.46,26.50
$GC,7154,-0.89,-439.8,2856,1703,3789,3845,1328.9,-19.8,184,7160,0.00,2.03,0.00,0.000,516,0.000,0.057,2856,309,3816,3788,3845,0,0,0,0,0,0,26.75,26.34,26.77
$GC,7210,-0.89,-439.8,2856,310,3788,3844,1328.9,-19.8,184,7214,0.00,1.95,0.00,0.000,1030,0.000,0.042,2848,1701,3816,3789,3844,0,0,0,0,0,0,26.53,26.50,26.55
$GC,7634,-0.89,-439.8,2848,1702,3787,3842,1424.2,-19.9,188,7638,0.00,2.00,0.00,0.000,260,0.000,0.050,2839,3070,3814,3787,3842,0,0,0,0,0,0,26.75,26.36,26.77
$GC,7683,-0.89,-439.8,2839,3070,3787,3842,1424.2,-19.9,188,7687,0.00,2.03,0.00,0.000,1030,0.000,0.045,2839,1698,3814,3787,3842,0,0,0,0,0,0,26.46,26.44,26.48
$GC,7997,-0.89,-439.8,2838,1698,3785,3840,1494.2,-19.3,191,8002,0.00,2.03,0.00,0.000,516,0.000,0.057,2839,316,3812,3785,3840,0,0,0,0,0,0,26.75,26.32,26.77
$GC,8053,-0.89,-439.8,2838,316,3785,3840,1494.2,-19.3,191,8058,0.10,1.98,0.00,0.000,3078,0.149,0.042,2866,1704,3812,3785,3840,0,0,0,0,0,0,26.13,26.49,26.18
$GC,8478,-0.96,-439.8,2866,1704,3782,3838,1574.8,-16.7,195,8484,0.00,1.98,0.00,0.000,260,0.000,0.050,2857,3062,3810,3782,3838,0,0,0,0,0,0,26.75,26.36,26.77
$GC,8529,-1.02,-439.8,2858,3059,3782,3837,1574.8,-16.7,195,8534,0.05,2.00,0.00,0.000,5126,0.156,0.045,2795,1684,3809,3782,3837,0,0,0,0,0,0,26.34,26.44,26.39
$GC,8838,-1.02,-439.8,2794,1684,3781,3836,1650.9,-19.9,198,8844,0.00,2.00,0.00,0.000,516,0.000,0.057,2794,319,3808,3780,3836,0,0,0,0,0,0,26.74,26.31,26.77
$GC,8899,-1.02,-439.8,2794,319,3780,3836,1650.9,-19.9,198,8905,0.10,1.98,0.00,0.000,3078,0.159,0.042,2820,1706,3808,3781,3836,0,0,0,0,0,0,26.08,26.48,26.14
$GC,9318,-1.02,-439.8,2819,1706,3779,3835,1746.0,-19.7,202,9323,0.00,1.98,0.00,0.000,260,0.000,0.050,2811,3058,3807,3780,3834,0,0,0,0,0,0,26.74,26.35,26.76
$GC,9374,-1.02,-439.8,2811,3058,3779,3834,1746.0,-19.7,202,9378,0.00,2.00,0.00,0.000,1030,0.000,0.045,2811,1707,3806,3779,3834,0,0,0,0,0,0,26.44,26.42,26.46
$GC,9799,-1.02,-439.8,2811,1707,3776,3833,1835.0,-18.6,206,9804,0.00,2.05,0.00,0.000,516,0.000,0.057,2811,313,3804,3776,3833,0,0,0,0,0,0,26.74,26.29,26.76
$GC,9864,-1.02,-439.8,2811,313,3776,3833,1835.0,-18.6,206,9868,0.00,1.98,0.00,0.000,1030,0.000,0.042,2802,1699,3804,3775,3834,0,0,0,0,0,0,26.49,26.48,26.50
$GC,10278,-1.02,-439.8,2802,1699,3775,3832,1926.0,-19.0,210,10282,0.00,2.00,0.00,0.000,260,0.000,0.050,2793,3064,3803,3775,3832,0,0,0,0,0,0,26.74,26.34,26.76
$GC,10327,-1.02,-439.8,2793,3064,3775,3831,1926.0,-19.0,210,10331,0.00,2.03,0.00,0.000,1030,0.000,0.045,2793,1697,3803,3775,3832,0,0,0,0,0,0,26.44,26.41,26.45
$GC,10641,-1.02,-439.8,2793,1697,3774,3831,1995.1,-19.0,213,10646,0.00,2.05,0.00,0.000,516,0.000,0.057,2792,312,3802,3774,3831,0,0,0,0,0,0,26.74,26.27,26.76
$GC,10697,-1.02,-439.8,2793,312,3773,3831,1995.1,-19.0,213,10702,0.10,1.98,0.00,0.000,3078,0.149,0.042,2819,1701,3802,3773,3831,0,0,0,0,0,0,26.08,26.47,26.13
$GC,11122,-1.09,-439.8,2819,1701,3772,3830,2074.4,-16.4,217,11128,0.00,2.00,0.00,0.000,260,0.000,0.052,2811,3077,3801,3772,3830,0,0,0,0,0,0,26.74,26.32,26.76
$GC,11173,-1.16,-439.8,2810,3078,3772,3830,2074.4,-16.4,217,11177,0.00,2.03,0.00,0.000,1030,0.000,0.045,2811,1694,3801,3772,3830,0,0,0,0,0,0,26.45,26.41,26.47
$GC,11482,-1.24,-439.8,2810,1694,3770,3830,2131.2,-15.7,220,11488,0.08,2.03,0.00,0.000,4612,0.122,0.055,2731,311,3800,3771,3830,0,0,0,0,0,0,26.54,26.25,26.55
$GC,11544,-1.32,-439.8,2731,311,3770,3830,2131.2,-15.7,220,11548,0.00,1.98,0.00,0.000,1030,0.000,0.042,2722,1696,3799,3770,3829,0,0,0,0,0,0,26.47,26.46,26.48
$GC,11962,-1.32,-439.8,2722,1696,3770,3828,2243.5,-23.5,224,11967,0.00,2.00,0.00,0.000,260,0.000,0.050,2712,3069,3799,3770,3828,0,0,0,0,0,0,26.74,26.32,26.76
$GC,12013,-1.32,-439.8,2712,3069,3770,3828,2243.5,-23.5,224,12017,0.00,2.00,0.00,0.000,1030,0.000,0.045,2712,1701,3799,3770,3828,0,0,0,0,0,0,26.44,26.39,26.46
$GC,12323,-1.32,-439.8,2712,1701,3769,3828,2326.8,-23.1,227,12328,0.00,2.05,0.00,0.000,516,0.000,0.057,2712,316,3798,3769,3828,0,0,0,0,0,0,26.73,26.25,26.75
$GC,12373,-1.32,-439.8,2712,316,3768,3828,2326.8,-23.1,227,12377,0.00,1.98,0.00,0.000,1030,0.000,0.042,2703,1700,3798,3768,3828,0,0,0,0,0,0,26.46,26.45,26.48
$GC,12687,-1.27,-439.8,2703,1700,3767,3827,2414.4,-23.9,230,12693,0.10,1.98,0.00,0.000,2308,0.184,0.050,2738,3058,3797,3768,3827,0,0,0,0,0,0,26.15,26.23,26.19
$GC,12728,-1.22,-439.8,2738,3058,3767,3827,2414.4,-23.9,230,12732,0.00,2.00,0.00,0.000,1030,0.000,0.045,2738,1696,3797,3768,3827,0,0,0,0,0,0,26.44,26.39,26.45
$GC,13047,-1.22,-439.8,2738,1697,3767,3826,2488.0,-21.2,233,13051,0.00,2.05,0.00,0.000,516,0.000,0.057,2738,312,3796,3767,3826,0,0,0,0,0,0,26.74,26.23,26.75
$GC,13106,-1.22,-439.8,2738,312,3767,3826,2488.0,-21.2,233,13111,0.00,2.00,0.00,0.000,1030,0.000,0.042,2730,1705,3796,3767,3826,0,0,0,0,0,0,26.46,26.44,26.47
$GC,13530,-1.22,-439.8,2729,1706,3766,3826,2588.2,-20.7,237,13536,0.00,2.00,0.00,0.000,260,0.000,0.052,2727,3070,3796,3766,3826,0,0,0,0,0,0,26.73,26.30,26.75
$GC,13571,-1.22,-439.8,2726,3070,3766,3826,2588.2,-20.7,237,13576,0.10,2.05,0.00,0.000,3078,0.134,0.045,2761,1686,3796,3767,3825,0,0,0,0,0,0,26.04,26.37,26.09
$GC,13891,-1.22,-439.8,2761,1686,3766,3825,2649.9,-17.9,240,13896,0.00,2.03,0.00,0.000,516,0.000,0.057,2761,314,3795,3765,3825,0,0,0,0,0,0,26.73,26.22,26.75
$GC,13941,-1.22,-439.8,2761,314,3765,3825,2649.9,-17.9,240,13946,0.00,1.98,0.00,0.000,1030,0.000,0.042,2755,1698,3795,3765,3825,0,0,0,0,0,0,26.46,26.44,26.47
$GC,14251,-1.29,-439.8,2755,1698,3765,3825,2710.6,-16.7,243,14257,0.00,2.00,0.00,0.000,260,0.000,0.050,2746,3063,3795,3765,3825,0,0,0,0,0,0,26.73,26.28,26.75
$GC,14297,-1.36,-439.8,2746,3064,3765,3824,2710.6,-16.7,243,14301,0.00,2.00,0.00,0.000,1030,0.000,0.045,2746,1697,3794,3765,3824,0,0,0,0,0,0,26.42,26.37,26.44
$GC,14606,-1.43,-439.8,2746,1697,3765,3823,2769.8,-16.7,246,14611,0.08,2.05,0.00,0.000,4612,0.124,0.055,2654,309,3793,3764,3823,0,0,0,0,0,0,26.51,26.21,26.52
$GC,14666,-1.50,-439.8,2654,309,3764,3823,2769.8,-16.7,246,14671,0.00,2.00,0.00,0.000,1030,0.000,0.042,2645,1700,3793,3764,3823,0,0,0,0,0,0,26.46,26.44,26.46
$GC,15090,-1.50,-439.8,2644,1700,3764,3823,2888.2,-24.5,250,15096,0.00,2.00,0.00,0.000,260,0.000,0.050,2634,3067,3793,3764,3823,0,0,0,0,0,0,26.73,26.27,26.75
$GC,15136,-1.50,-439.8,2634,3066,3764,3823,2888.2,-24.5,250,15141,0.12,2.03,0.00,0.000,3078,0.164,0.045,2675,1687,3793,3764,3823,0,0,0,0,0,0,25.94,26.35,26.06
$GC,15446,-1.50,-439.8,2674,1687,3763,3823,2961.7,-21.5,253,15450,0.00,2.05,0.00,0.000,516,0.000,0.057,2675,308,3793,3764,3823,0,0,0,0,0,0,26.73,26.19,26.74
$GC,15500,-1.50,-439.8,2674,308,3763,3823,2961.7,-21.5,253,15504,0.00,2.00,0.00,0.000,1030,0.000,0.042,2668,1705,3793,3764,3823,0,0,0,0,0,0,26.44,26.42,26.44
$GC,15809,-1.50,-439.8,2667,1708,3764,3822,3035.1,-20.2,256,15814,0.00,2.00,0.00,0.000,260,0.000,0.050,2658,3071,3793,3764,3822,0,0,0,0,0,0,26.73,26.26,26.74
$GC,15841,-1.50,-439.8,2657,3071,3763,3822,3035.1,-20.2,256,15845,0.00,2.00,0.00,0.000,1030,0.000,0.045,2657,1694,3793,3764,3822,0,0,0,0,0,0,26.40,26.34,26.41
$GC,16164,-1.50,-439.8,2657,1694,3763,3825,3106.1,-19.9,259,16170,0.00,2.08,0.00,0.000,516,0.000,0.057,2657,306,3792,3763,3822,0,0,0,0,0,0,26.73,26.18,26.74
$GC,16220,-1.50,-439.8,2657,306,3763,3822,3106.1,-19.9,259,16224,0.00,2.00,0.00,0.000,1030,0.000,0.042,2649,1697,3792,3763,3822,0,0,0,0,0,0,26.42,26.41,26.44
$GC,16644,-1.50,-439.8,2649,1697,3763,3821,3204.2,-20.4,263,16649,0.00,2.00,0.00,0.000,260,0.000,0.050,2639,3063,3792,3763,3821,0,0,0,0,0,0,26.72,26.25,26.74
$GC,16695,-1.50,-439.8,2638,3063,3763,3821,3204.2,-20.4,263,16699,0.00,2.03,0.00,0.000,1030,0.000,0.045,2639,1690,3792,3763,3821,0,0,0,0,0,0,26.39,26.34,26.41
$GC,17004,-1.50,-439.8,2639,1690,3762,3821,3275.5,-19.8,266,17009,0.08,2.08,0.00,0.000,2564,0.189,0.055,2667,305,3791,3762,3821,0,0,0,0,0,0,26.25,26.16,26.27
$GC,17074,-1.50,-439.8,2669,305,3762,3821,3275.5,-19.8,266,17078,0.00,2.00,0.00,0.000,1030,0.000,0.042,2663,1703,3791,3762,3821,0,0,0,0,0,0,26.44,26.41,26.44
$GC,17488,-1.50,-439.8,2663,1704,3761,3821,3359.6,-17.4,270,17494,0.00,2.00,0.00,0.000,260,0.000,0.052,2654,3066,3791,3761,3821,0,0,0,0,0,0,26.72,26.24,26.74
$GC,17524,-1.50,-439.8,2653,3066,3761,3821,3359.6,-17.4,270,17528,0.00,2.05,0.00,0.000,1030,0.000,0.045,2654,1693,3791,3761,3821,0,0,0,0,0,0,26.36,26.34,26.37
$GC,17850,-1.50,-439.8,2653,1693,3761,3820,3421.5,-17.1,273,17855,0.00,2.05,0.00,0.000,516,0.000,0.057,2654,306,3791,3761,3821,0,0,0,0,0,0,26.72,26.15,26.74
$GC,17910,-1.50,-439.8,2653,306,3760,3821,3421.5,-17.1,273,17914,0.00,2.00,0.00,0.000,1030,0.000,0.042,2646,1704,3790,3760,3821,0,0,0,0,0,0,26.41,26.40,26.43
$GC,18329,-1.50,-439.8,2646,1706,3760,3820,3506.2,-17.6,277,18333,0.00,2.00,0.00,0.000,260,0.000,0.050,2637,3058,3790,3760,3821,0,0,0,0,0,0,26.72,26.22,26.74
$GC,18363,-1.50,-439.8,2636,3058,3760,3820,3506.2,-17.6,277,18368,0.10,2.03,0.00,0.000,3078,0.139,0.045,2671,1691,3790,3760,3820,0,0,0,0,0,0,25.98,26.34,26.02
$GC,18692,-1.50,-439.8,2671,1691,3760,3820,3561.1,-15.6,280,18698,0.00,2.03,0.00,0.000,516,0.000,0.057,2671,324,3789,3760,3819,0,0,0,0,0,0,26.72,26.13,26.74
$GC,18758,-1.50,-439.8,2671,324,3759,3820,3561.1,-15.6,280,18763,0.00,1.98,0.00,0.000,1030,0.000,0.040,2665,1700,3790,3760,3820,0,0,0,0,0,0,26.43,26.41,26.44
$GC,19173,-1.56,-439.8,2665,1699,3760,3820,3632.3,-14.9,284,19179,0.00,2.00,0.00,0.000,260,0.000,0.050,2655,3064,3789,3759,3819,0,0,0,0,0,0,26.72,26.22,26.74
$GC,19211,-1.62,-439.8,2655,3065,3759,3819,3632.3,-14.9,284,19215,0.00,1.98,0.00,0.000,1030,0.000,0.045,2655,1701,3789,3760,3819,0,0,0,0,0,0,26.38,26.33,26.39
$GC,19529,-1.68,-439.8,2655,1701,3760,3819,3685.8,-14.9,287,19535,0.08,2.03,0.00,0.000,4612,0.122,0.055,2571,320,3788,3758,3819,0,0,0,0,0,0,26.50,26.13,26.51
$GC,19601,-1.74,-439.8,2571,320,3759,3819,3685.8,-14.9,287,19604,0.00,1.95,0.00,0.000,1030,0.000,0.042,2563,1701,3789,3759,3819,0,0,0,0,0,0,26.44,26.40,26.45
$GC,20004,-1.74,-439.8,2563,1701,3759,3819,3786.2,-21.2,291,20008,0.00,2.03,0.00,0.000,260,0.000,0.050,2553,3073,3789,3759,3819,0,0,0,0,0,0,26.72,26.20,26.74
$GC,20044,-1.74,-439.8,2553,3073,3759,3819,3786.2,-21.2,291,20050,0.12,2.03,0.00,0.000,3078,0.166,0.045,2592,1692,3789,3759,3819,0,0,0,0,0,0,25.86,26.30,25.96
$GC,20368,-1.74,-439.8,2590,1693,3759,3819,3853.2,-18.8,294,20374,0.00,2.03,0.00,0.000,516,0.000,0.057,2592,324,3789,3759,3819,0,0,0,0,0,0,26.72,26.11,26.74
$GC,20440,-1.74,-439.8,2591,324,3758,3819,3853.2,-18.8,294,20444,0.00,1.95,0.00,0.000,1030,0.000,0.042,2584,1699,3789,3759,3819,0,0,0,0,0,0,26.43,26.39,26.44
$GC,20844,-1.74,-439.8,2584,1700,3758,3819,3939.7,-18.2,298,20845,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1700,3789,3759,3819,0,0,0,0,0,0,26.72,26.74,26.74
$GC,21204,-1.74,-439.8,2584,1699,3758,3818,4002.8,-17.6,301,21210,0.00,2.00,0.00,0.000,260,0.000,0.050,2574,3061,3788,3759,3818,0,0,0,0,0,0,26.67,26.20,26.69
$GC,21240,-1.74,-439.8,2574,3061,3759,3818,4002.8,-17.6,301,21244,0.00,2.03,0.00,0.000,1030,0.000,0.045,2574,1702,3788,3759,3818,0,0,0,0,0,0,26.33,26.31,26.34
$GC,21566,-1.74,-439.8,2574,1702,3757,3818,4065.9,-17.5,304,21573,0.00,2.08,0.00,0.000,516,0.000,0.057,2574,313,3788,3758,3818,0,0,0,0,0,0,26.68,26.10,26.70
$GC,21633,-1.74,-439.8,2574,313,3758,3818,4065.9,-17.5,304,21637,0.00,2.00,0.00,0.000,1030,0.000,0.042,2567,1699,3788,3758,3818,0,0,0,0,0,0,26.39,26.38,26.41
$GC,22055,-1.74,-439.8,2567,1699,3758,3818,4154.0,-18.0,308,22060,0.00,2.03,0.00,0.000,260,0.000,0.052,2557,3068,3788,3758,3818,0,0,0,0,0,0,26.69,26.18,26.71
$GC,22095,-1.74,-439.8,2557,3068,3758,3818,4154.0,-18.0,308,22100,0.10,2.05,0.00,0.000,3078,0.146,0.045,2589,1690,3788,3758,3818,0,0,0,0,0,0,25.90,26.29,25.94
$GC,22421,-1.74,-439.8,2589,1690,3758,3818,4211.5,-16.1,311,22427,0.00,2.05,0.00,0.000,516,0.000,0.057,2590,320,3787,3758,3817,0,0,0,0,0,0,26.67,26.08,26.69
$GC,22492,-1.74,-439.8,2589,320,3758,3818,4211.5,-16.1,311,22497,0.00,2.00,0.00,0.000,1030,0.000,0.042,2583,1700,3788,3758,3818,0,0,0,0,0,0,26.39,26.39,26.41
$GC,22909,-1.74,-439.8,2582,1700,3758,3818,4287.1,-15.5,315,22911,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1700,3788,3758,3818,0,0,0,0,0,0,26.69,26.72,26.71
$GC,23269,-1.74,-439.8,2583,1700,3758,3818,4340.0,-14.8,318,23270,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1700,3788,3758,3818,0,0,0,0,0,0,26.68,26.71,26.70
$GC,23628,-1.74,-439.8,2583,1700,3758,3817,4390.8,-14.2,321,23629,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1700,3788,3758,3818,0,0,0,0,0,0,26.71,26.74,26.73
$GC,23987,-1.80,-439.8,2582,1700,3758,3818,4440.5,-13.8,324,23988,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1700,3788,3758,3818,0,0,0,0,0,0,26.72,26.74,26.73
$GC,24347,-1.86,-439.8,2583,1700,3758,3817,4489.6,-13.6,327,24349,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1700,3787,3758,3817,0,0,0,0,0,0,26.72,26.74,26.73
$STATE,24465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,24465,begin apogee
$GC,24469,-0.24,0.0,2583,1504,3758,3817,4505.4,-13.5,328,24917,1.45,0.00,443.67,3.836,10246,0.114,0.000,3075,1503,2339,2235,2444,0,0,0,0,0,0,25.43,22.26,19.69
$STATE,24918,end apogee,CONTROL_FINISHED_OK
$STATE,24918,begin climb
$GC,24919,0.95,439.8,3075,1503,2235,2443,4522.0,0.0,331,25500,1.08,2.38,565.38,3.945,10500,0.062,0.067,3496,2871,824,800,848,0,0,0,0,0,0,23.03,21.84,19.92
$GC,25729,0.48,439.8,3497,2871,793,837,4271.0,43.4,338,25736,0.75,2.08,0.00,0.000,5126,0.226,0.045,3306,1506,814,793,836,0,0,0,0,0,0,25.22,25.56,25.48
$GC,26146,0.19,439.8,3306,1506,788,837,4105.8,33.8,342,26153,0.30,1.92,0.00,0.000,4612,0.191,0.057,3218,200,812,788,837,0,0,0,0,0,0,25.92,26.14,26.06
$GC,26174,-0.10,439.8,3218,200,787,836,4105.8,33.8,342,26179,0.28,1.85,0.00,0.000,5126,0.159,0.042,3132,1529,811,787,836,0,0,0,0,0,0,25.99,26.32,26.19
$GC,26505,-0.20,439.8,3131,1533,787,836,4047.6,19.5,345,26507,0.15,0.00,0.00,0.000,4102,0.159,0.000,3080,1534,812,787,837,0,0,0,0,0,0,26.17,26.36,26.32
$GC,26863,-0.07,642.8,3079,1534,787,836,4011.1,11.0,348,27051,0.08,2.33,179.57,3.424,10756,0.119,0.079,3179,206,319,317,321,0,0,0,0,0,0,26.45,22.08,20.43
$GC,27081,0.04,833.5,3179,206,315,321,3991.4,11.3,349,27085,0.00,1.98,0.00,0.000,1030,0.000,0.042,3179,1493,317,314,321,0,0,0,0,0,0,24.13,24.10,24.14
$GC,27455,0.04,833.5,3179,1502,314,320,3897.4,19.9,353,27456,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1503,316,312,320,0,0,0,0,0,0,26.22,26.25,26.24
$GC,27815,0.04,833.5,3179,1502,314,321,3827.8,19.4,356,27816,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1502,317,314,320,0,0,0,0,0,0,26.51,26.53,26.52
$GC,28175,0.04,833.5,3179,1502,314,320,3760.7,18.8,359,28176,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1502,317,315,320,0,0,0,0,0,0,26.60,26.63,26.62
$GC,28536,0.04,833.5,3179,1502,314,320,3696.4,18.0,362,28537,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1502,317,314,320,0,0,0,0,0,0,26.64,26.67,26.66
$GC,28895,0.04,833.5,3179,1502,312,320,3635.0,17.2,365,28899,0.00,1.92,0.00,0.000,516,0.000,0.060,3188,205,317,314,320,0,0,0,0,0,0,26.67,26.35,26.70
$GC,28929,0.04,833.5,3188,205,313,320,3635.0,17.2,365,28933,0.00,1.83,0.00,0.000,1030,0.000,0.042,3188,1530,316,313,320,0,0,0,0,0,0,26.50,26.48,26.51
$GC,29259,0.04,833.5,3187,1533,313,320,3574.0,16.8,368,29260,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1533,316,313,320,0,0,0,0,0,0,26.68,26.71,26.70
$GC,29618,0.04,833.5,3187,1533,313,320,3516.3,16.2,371,29623,0.00,1.95,0.00,0.000,516,0.000,0.057,3195,208,316,313,320,0,0,0,0,0,0,26.69,26.36,26.71
$GC,29654,0.04,833.5,3195,208,312,320,3516.3,16.2,371,29658,0.10,1.77,0.00,0.000,5126,0.122,0.042,3160,1496,316,313,320,0,0,0,0,0,0,26.23,26.49,26.38
$GC,29979,0.13,953.0,3160,1500,313,320,3471.7,13.1,374,29986,0.03,1.95,0.00,0.000,2308,0.266,0.047,3205,2829,316,313,320,0,0,0,0,0,0,26.56,26.41,26.55
$GC,30011,0.22,1072.4,3204,2829,313,320,3471.7,13.1,374,30015,0.00,1.98,0.00,0.000,1030,0.000,0.045,3211,1494,316,313,320,0,0,0,0,0,0,26.48,26.43,26.51
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$GC,50315,1.04,4202.3,3507,1541,313,320,330.5,15.5,602,50321,0.00,1.98,0.00,0.000,516,0.000,0.057,3518,207,316,313,320,0,0,0,0,0,0,26.72,26.20,26.74
$GC,50414,1.04,4202.3,3517,207,313,320,314.9,16.4,604,50419,0.10,1.80,0.00,0.000,5126,0.146,0.042,3483,1530,316,313,320,0,0,0,0,0,0,26.06,26.47,26.10
$GC,50723,1.07,4330.8,3482,1532,313,320,273.2,12.9,613,50729,0.00,1.95,0.00,0.000,516,0.000,0.057,3490,207,316,313,320,0,0,0,0,0,0,26.73,26.20,26.74
$GC,50816,1.11,4442.0,3490,207,313,320,260.8,13.3,616,50819,0.00,1.70,0.00,0.000,1030,0.000,0.042,3490,1451,316,313,320,0,0,0,0,0,0,26.51,26.48,26.52
$GC,51148,1.11,4442.0,3490,1509,313,320,212.0,14.8,627,51154,0.00,1.92,0.00,0.000,516,0.000,0.057,3500,206,316,313,320,0,0,0,0,0,0,26.74,26.22,26.75
$GC,51186,1.11,4442.0,3499,206,313,320,207.6,14.7,628,51190,0.00,1.83,0.00,0.000,1030,0.000,0.042,3500,1544,316,313,320,0,0,0,0,0,0,26.50,26.48,26.51
$GC,51511,1.15,4573.5,3499,1547,313,320,160.3,12.8,639,51516,0.00,1.98,0.00,0.000,516,0.000,0.057,3507,205,316,313,320,0,0,0,0,0,0,26.74,26.22,26.76
$GC,51580,1.24,4683.7,3507,206,313,320,152.0,13.3,641,51584,0.05,1.77,0.00,0.000,3078,0.094,0.042,3585,1527,316,313,320,0,0,0,0,0,0,26.33,26.50,26.41
$GC,51889,1.27,4772.9,3585,1533,313,320,96.9,13.8,661,51890,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1533,316,313,320,0,0,0,0,0,0,26.75,26.77,26.77
$GC,52188,1.27,4772.9,3585,1534,313,320,52.0,16.1,681,52189,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1534,316,313,320,0,0,0,0,0,0,26.75,26.78,26.77
$STATE,52492,end climb,SURFACE_DEPTH_REACHED
$STATE,52493,begin surface coast
$FINISH,1.7,1.023470
$STATE,52513,end surface coast,CONTROL_FINISHED_OK
$STATE,52513,begin surface
$SM_CCo,52588,0.00,0.000,0,0,316,587.95
$SM_GC,2.46,8.70,0.00,0.00,0.055,0.000,0.000,178,1537,316,-9.17,-4.61,587.95,0,0,0,0,0,0,26.32,26.78,26.36
$IRIDIUM_FIX,3729.01,-6817.48,250708,051230
$TT8_MAMPS,0.023219,0.023219
$HUMID,40.94
$INTERNAL_PRESSURE,8.86824
$TCM_TEMP,20.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,4356.8,164.9
$24V_AH,19.69,52.354
$10V_AH,9.27,26.967
$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,28.075,309.275,1188.625,0.000,195.875,26.590,15.666,232.329,10.250,0.000,52.955,3077.107,42912.801,1284.398,5527.945,192.055,0.000,3622.092,0.000,5063.352,0.000,58.816,0.000
$DEVICE_MAMPS,265.681,79.456,3945.487,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.670,2316.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329472
$DATA_FILE_SIZE,46890,711
$CAP_FILE_SIZE,350930,0
$CFSIZE,1024409600,1002291200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.303,103.82,1
$GPS,290915,220409,3756.258,-6821.337,40,1.6,80,-15.4,2.3,48.0,7,5.7