version: 66.12
glider: 37
mission: 17
dive: 62
start: 5 15 117 12 45 54
data:
$ID,37
$MISSION,17
$DIVE,62
$N_DIVES,0
$STOP_T,5171719
$D_SURF,5
$D_FLARE,3
$D_TGT,5400
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2645
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,1614
$C_ROLL_CLIMB,1625
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3500
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,150517,123122,2639.2534,-7618.0171,37,0.7,39,-8.8,0.5,11.6,12,4.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.6
$GPS2,150517,124525,2639.5425,-7617.9463,4,0.8,14,-8.8,0.7,0.3,10,4.5
$SPEED_LIMITS,0.104,0.192
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,275.7,47427,-13.2,-6.000,-17.35,3656
$D_GRID,5400
$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,int_press,humidity
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,2504,-0.59,-146.0,2433,1639,2780,2907,180.4,-6.6,224,2511,0.00,2.12,0.00,0.000,516,0.000,0.065,2433,188,2843,2780,2907,0,0,0,0,0,0,27.17,26.82,27.17,9.15,13.22
$GC,2564,-0.59,-146.0,2433,188,2780,2907,184.6,-6.7,227,2568,0.00,1.95,0.00,0.000,1030,0.000,0.050,2423,1635,2843,2780,2907,0,0,0,0,0,0,26.96,26.91,26.98,9.15,12.51
$GC,2885,-0.59,-146.0,2422,1634,2780,2907,206.9,-6.3,243,2887,0.10,0.00,0.00,0.000,2054,0.186,0.000,2458,1634,2843,2780,2907,0,0,0,0,0,0,26.74,26.89,26.84,9.15,12.86
$GC,3186,-0.66,-146.0,2457,1634,2780,2907,223.8,-6.0,258,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1634,2843,2780,2907,0,0,0,0,0,0,27.18,27.20,27.19,9.13,12.86
$GC,3486,-0.73,-146.0,2457,1634,2780,2907,241.8,-6.4,273,3488,0.10,0.00,0.00,0.000,4102,0.142,0.000,2402,1635,2843,2780,2907,0,0,0,0,0,0,26.87,26.96,26.93,9.13,13.06
$GC,3785,-0.73,-146.0,2402,1634,2780,2907,267.4,-8.4,288,3792,0.00,2.12,0.00,0.000,516,0.000,0.065,2402,187,2843,2780,2906,0,0,0,0,0,0,27.18,26.84,27.19,9.12,12.63
$GC,3838,-0.73,-146.0,2402,187,2780,2906,270.9,-8.6,290,3845,0.00,1.95,0.00,0.000,1030,0.000,0.050,2392,1616,2842,2779,2906,0,0,0,0,0,0,26.98,26.93,26.99,9.12,12.39
$GC,4147,-0.73,-146.0,2391,1616,2780,2906,299.0,-8.7,306,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1616,2843,2780,2906,0,0,0,0,0,0,27.18,27.20,27.20,9.12,13.18
$GC,4466,-0.73,-146.0,2391,1616,2778,2905,325.7,-8.1,317,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1616,2842,2780,2905,0,0,0,0,0,0,27.18,27.20,27.20,9.10,13.14
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$GC,5456,-0.73,-146.0,2381,1614,2780,2902,409.6,-8.7,350,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1614,2841,2780,2902,0,0,0,0,0,0,27.18,27.20,27.20,9.08,13.30
$GC,5755,-0.73,-146.0,2380,1614,2780,2901,435.1,-8.4,360,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1614,2840,2780,2901,0,0,0,0,0,0,27.19,27.20,27.20,9.08,13.33
$GC,6056,-0.73,-146.0,2380,1614,2780,2901,459.7,-8.3,370,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1614,2840,2780,2901,0,0,0,0,0,0,27.19,27.20,27.20,9.07,13.14
$GC,6356,-0.73,-146.0,2381,1614,2780,2900,484.2,-8.1,380,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1614,2840,2780,2900,0,0,0,0,0,0,27.19,27.20,27.20,9.07,13.81
$GC,6656,-0.73,-146.0,2381,1614,2780,2899,508.6,-8.0,390,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1614,2839,2780,2899,0,0,0,0,0,0,27.19,27.20,27.20,9.07,13.30
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$GC,8156,-0.73,-146.0,2381,1614,2778,2896,635.2,-8.4,440,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1614,2837,2778,2896,0,0,0,0,0,0,27.19,27.20,27.20,9.02,13.65
$GC,8456,-0.73,-146.0,2381,1614,2778,2894,659.4,-7.6,450,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1614,2836,2778,2894,0,0,0,0,0,0,27.19,27.20,27.20,9.01,13.89
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$GC,10110,-0.87,-146.0,2353,200,2774,2891,786.0,-10.1,505,10114,0.00,2.00,0.00,0.000,1030,0.000,0.052,2346,1620,2832,2774,2891,0,0,0,0,0,0,26.97,26.91,26.98,8.94,14.20
$GC,10433,-0.87,-146.0,2346,1620,2773,2890,820.7,-10.3,516,10437,0.00,2.35,0.00,0.000,260,0.000,0.062,2335,3188,2831,2773,2890,0,0,0,0,0,0,27.18,26.84,27.19,8.92,14.79
$GC,10483,-0.87,-146.0,2334,3188,2773,2891,824.0,-10.3,517,10488,0.10,2.28,0.00,0.000,3078,0.204,0.050,2364,1602,2831,2772,2890,0,0,0,0,0,0,26.60,26.89,26.76,8.93,14.44
$GC,10790,-0.87,-146.0,2365,1602,2772,2889,854.1,-8.9,527,10796,0.00,2.10,0.00,0.000,516,0.000,0.067,2366,187,2830,2773,2888,0,0,0,0,0,0,27.18,26.80,27.20,8.91,14.32
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$GC,11211,-0.87,-146.0,2357,1620,2772,2886,893.8,-9.4,541,11218,0.00,2.35,0.00,0.000,260,0.000,0.065,2346,3180,2829,2772,2887,0,0,0,0,0,0,27.18,26.84,27.20,8.89,14.08
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$GC,48191,-1.77,-146.0,2092,1626,2738,2849,3911.3,-6.8,1175,48192,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1626,2793,2738,2849,0,0,0,0,0,0,27.13,27.15,27.14,8.59,13.77
$GC,48491,-1.77,-146.0,2092,1626,2738,2849,3931.7,-6.8,1180,48498,0.00,2.42,0.00,0.000,260,0.000,0.070,2082,3180,2794,2739,2849,0,0,0,0,0,0,27.13,26.28,27.14,8.58,13.45
$GC,48544,-1.77,-146.0,2081,3180,2738,2849,3931.7,-6.8,1180,48551,0.00,2.35,0.00,0.000,1030,0.000,0.055,2081,1613,2793,2738,2849,0,0,0,0,0,0,26.57,26.47,26.60,8.58,13.45
$GC,48851,-1.77,-146.0,2081,1613,2738,2849,3957.5,-7.2,1186,48852,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1613,2793,2738,2849,0,0,0,0,0,0,27.13,27.15,27.14,8.58,14.20
$GC,49153,-1.77,-146.0,2080,1614,2738,2848,3979.0,-7.1,1191,49154,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1614,2794,2738,2850,0,0,0,0,0,0,27.10,27.11,27.11,8.59,13.93
$GC,49452,-1.77,-146.0,2081,1613,2738,2849,4000.4,-7.1,1196,49458,0.00,2.22,0.00,0.000,516,0.000,0.077,2081,178,2793,2738,2849,0,0,0,0,0,0,27.09,26.22,27.10,8.59,13.41
$GC,49494,-1.77,-146.0,2080,178,2738,2849,4000.4,-7.1,1196,49498,0.00,2.12,0.00,0.000,1030,0.000,0.057,2071,1624,2793,2738,2849,0,0,0,0,0,0,26.64,26.55,26.66,8.58,13.77
$GC,49812,-1.77,-146.0,2070,1625,2738,2849,4027.5,-7.5,1202,49814,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1624,2793,2738,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,13.96
$GC,50112,-1.77,-146.0,2070,1624,2738,2849,4050.4,-7.6,1207,50117,0.00,2.45,0.00,0.000,260,0.000,0.070,2059,3189,2793,2738,2849,0,0,0,0,0,0,27.09,26.27,27.10,8.59,13.37
$GC,50167,-1.77,-146.0,2058,3188,2738,2849,4050.4,-7.6,1207,50174,0.00,2.35,0.00,0.000,1030,0.000,0.055,2058,1612,2793,2738,2848,0,0,0,0,0,0,26.58,26.49,26.62,8.59,13.77
$GC,50476,-1.77,-146.0,2058,1612,2738,2849,4079.2,-8.0,1213,50478,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1612,2793,2738,2849,0,0,0,0,0,0,27.09,27.10,27.11,8.59,12.94
$GC,50776,-1.77,-146.0,2058,1612,2738,2849,4103.4,-8.1,1218,50777,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1612,2793,2738,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,14.00
$GC,51076,-1.77,-146.0,2057,1612,2738,2849,4127.2,-7.9,1223,51077,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1612,2793,2738,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,13.73
$GC,51376,-1.77,-146.0,2058,1612,2738,2849,4150.1,-7.6,1228,51380,0.00,2.22,0.00,0.000,516,0.000,0.074,2059,180,2793,2738,2849,0,0,0,0,0,0,27.09,26.20,27.10,8.59,13.33
$GC,51426,-1.77,-146.0,2058,180,2738,2849,4150.1,-7.6,1228,51430,0.00,2.12,0.00,0.000,1030,0.000,0.057,2049,1628,2793,2738,2849,0,0,0,0,0,0,26.63,26.54,26.65,8.58,13.93
$GC,51740,-1.77,-146.0,2048,1628,2738,2849,4177.7,-7.6,1234,51741,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1628,2793,2738,2849,0,0,0,0,0,0,27.10,27.11,27.10,8.59,13.37
$GC,52038,-1.77,-146.0,2048,1628,2738,2849,4199.6,-7.3,1239,52044,0.00,2.45,0.00,0.000,260,0.000,0.070,2037,3190,2793,2738,2849,0,0,0,0,0,0,27.12,26.25,27.14,8.59,13.93
$GC,52093,-1.77,-146.0,2036,3190,2738,2849,4199.6,-7.3,1239,52102,0.15,2.38,0.00,0.000,3078,0.286,0.055,2071,1606,2793,2738,2849,0,0,0,0,0,0,25.44,26.48,25.70,8.59,13.30
$GC,52398,-1.77,-146.0,2070,1606,2738,2849,4223.1,-6.2,1245,52402,0.00,2.20,0.00,0.000,516,0.000,0.074,2071,185,2793,2738,2849,0,0,0,0,0,0,27.13,26.19,27.14,8.59,13.45
$GC,52449,-1.77,-146.0,2070,185,2738,2849,4223.1,-6.2,1245,52453,0.00,2.12,0.00,0.000,1030,0.000,0.057,2063,1626,2793,2738,2849,0,0,0,0,0,0,26.62,26.54,26.65,8.59,13.81
$GC,52754,-1.77,-146.0,2062,1626,2738,2849,4245.9,-6.4,1250,52756,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1626,2793,2738,2849,0,0,0,0,0,0,27.12,27.14,27.13,8.59,14.08
$GC,53054,-1.77,-146.0,2062,1626,2738,2849,4265.0,-6.3,1255,53055,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1626,2793,2738,2848,0,0,0,0,0,0,27.12,27.14,27.14,8.60,13.96
$GC,53355,-1.77,-146.0,2061,1626,2738,2850,4283.8,-6.3,1260,53356,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1626,2793,2738,2849,0,0,0,0,0,0,27.12,27.15,27.14,8.59,13.10
$GC,53656,-1.77,-146.0,2062,1626,2738,2849,4302.1,-6.1,1265,53657,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1626,2793,2738,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,13.06
$GC,53954,-1.77,-146.0,2062,1626,2738,2849,4320.6,-6.1,1270,53961,0.00,2.28,0.00,0.000,516,0.000,0.074,2062,185,2793,2737,2849,0,0,0,0,0,0,27.12,26.20,27.14,8.59,14.00
$GC,54007,-1.77,-146.0,2062,185,2738,2848,4320.6,-6.1,1270,54014,0.00,2.12,0.00,0.000,1030,0.000,0.057,2052,1627,2793,2738,2849,0,0,0,0,0,0,26.62,26.53,26.65,8.59,14.12
$GC,54314,-1.77,-146.0,2052,1626,2738,2848,4343.7,-6.4,1276,54315,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1626,2793,2738,2848,0,0,0,0,0,0,27.13,27.14,27.13,8.59,14.20
$GC,54615,-1.77,-146.0,2052,1626,2738,2849,4362.8,-6.3,1281,54616,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1626,2794,2739,2849,0,0,0,0,0,0,27.12,27.14,27.13,8.59,13.33
$GC,54914,-1.77,-146.0,2051,1627,2738,2849,4381.7,-6.3,1286,54915,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1627,2793,2738,2849,0,0,0,0,0,0,27.13,27.14,27.14,8.59,13.61
$GC,55216,-1.77,-146.0,2052,1626,2738,2849,4400.2,-6.2,1291,55217,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1626,2793,2738,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.60,13.53
$GC,55514,-1.77,-146.0,2052,1626,2738,2849,4418.3,-6.1,1296,55519,0.00,2.28,0.00,0.000,516,0.000,0.074,2052,184,2793,2738,2849,0,0,0,0,0,0,27.13,26.19,27.14,8.60,14.08
$GC,55564,-1.77,-146.0,2051,184,2738,2849,4418.3,-6.1,1296,55569,0.12,2.12,0.00,0.000,3078,0.276,0.057,2071,1622,2794,2739,2849,0,0,0,0,0,0,25.63,26.53,25.83,8.59,14.20
$GC,55872,-1.82,-146.0,2071,1622,2738,2849,4438.0,-5.3,1301,55873,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1622,2793,2738,2849,0,0,0,0,0,0,27.12,27.14,27.13,8.59,13.93
$GC,56172,-1.88,-146.0,2070,1622,2738,2848,4454.0,-5.3,1306,56173,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1622,2793,2738,2849,0,0,0,0,0,0,27.13,27.14,27.13,8.59,13.65
$GC,56472,-1.94,-146.0,2070,1622,2739,2849,4470.0,-5.3,1311,56474,0.12,0.00,0.00,0.000,4102,0.251,0.000,2037,1623,2793,2738,2849,0,0,0,0,0,0,26.14,26.32,26.25,8.59,14.08
$GC,56771,-1.94,-146.0,2037,1624,2738,2849,4488.5,-6.2,1316,56773,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1623,2793,2738,2849,0,0,0,0,0,0,27.12,27.14,27.14,8.59,14.08
$GC,57072,-1.94,-146.0,2037,1623,2738,2849,4506.6,-6.0,1321,57076,0.00,2.25,0.00,0.000,516,0.000,0.072,2038,195,2793,2738,2849,0,0,0,0,0,0,27.13,26.18,27.14,8.60,13.81
$GC,57138,-1.94,-146.0,2037,195,2738,2849,4510.8,-6.2,1322,57142,0.00,2.10,0.00,0.000,1030,0.000,0.057,2028,1614,2793,2738,2849,0,0,0,0,0,0,26.61,26.53,26.64,8.59,13.45
$GC,57489,-1.94,-146.0,2027,1615,2738,2849,4532.6,-6.1,1328,57491,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1615,2793,2738,2849,0,0,0,0,0,0,27.12,27.14,27.13,8.60,13.69
$GC,57793,-1.94,-146.0,2027,1615,2738,2849,4551.1,-6.2,1333,57794,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1615,2793,2738,2849,0,0,0,0,0,0,27.10,27.12,27.12,8.59,13.77
$GC,58089,-1.94,-146.0,2027,1615,2738,2849,4569.2,-6.0,1338,58091,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1615,2793,2738,2848,0,0,0,0,0,0,27.13,27.14,27.13,8.59,13.41
$GC,58389,-1.94,-146.0,2027,1615,2738,2849,4586.9,-5.8,1343,58396,0.00,2.25,0.00,0.000,516,0.000,0.072,2028,185,2793,2738,2849,0,0,0,0,0,0,27.13,26.17,27.13,8.60,13.96
$GC,58458,-1.94,-146.0,2027,185,2738,2849,4590.8,-6.0,1344,58462,0.00,2.12,0.00,0.000,1030,0.000,0.057,2018,1622,2794,2739,2849,0,0,0,0,0,0,26.60,26.52,26.64,8.60,13.69
$GC,58804,-1.94,-146.0,2017,1622,2738,2849,4612.7,-6.3,1350,58806,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1622,2793,2738,2849,0,0,0,0,0,0,27.13,27.14,27.13,8.60,14.12
$GC,59104,-1.94,-146.0,2017,1622,2738,2849,4630.7,-6.0,1355,59106,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1623,2793,2738,2849,0,0,0,0,0,0,27.12,27.14,27.13,8.60,13.53
$GC,59405,-1.94,-146.0,2017,1622,2738,2849,4648.8,-6.1,1360,59406,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1622,2793,2738,2849,0,0,0,0,0,0,27.13,27.14,27.14,8.60,13.26
$GC,59705,-1.94,-146.0,2017,1622,2738,2849,4667.3,-6.1,1365,59711,0.00,2.28,0.00,0.000,516,0.000,0.072,2018,182,2793,2738,2849,0,0,0,0,0,0,27.13,26.17,27.14,8.60,13.81
$GC,59778,-1.94,-146.0,2017,182,2738,2849,4671.3,-6.2,1366,59782,0.00,2.12,0.00,0.000,1030,0.000,0.057,2008,1615,2793,2738,2849,0,0,0,0,0,0,26.60,26.52,26.64,8.60,13.33
$GC,60120,-1.94,-146.0,2007,1615,2738,2848,4693.6,-6.3,1372,60121,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1615,2793,2738,2848,0,0,0,0,0,0,27.12,27.14,27.13,8.60,13.69
$GC,60419,-1.94,-146.0,2007,1615,2738,2849,4712.9,-6.4,1377,60421,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1615,2793,2738,2849,0,0,0,0,0,0,27.12,27.13,27.13,8.60,13.26
$GC,60719,-1.94,-146.0,2007,1615,2738,2849,4731.7,-6.3,1382,60721,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1615,2793,2738,2849,0,0,0,0,0,0,27.13,27.13,27.13,8.60,14.16
$GC,61021,-1.94,-146.0,2007,1615,2738,2849,4750.5,-6.3,1387,61027,0.00,2.22,0.00,0.000,516,0.000,0.074,2008,197,2793,2738,2849,0,0,0,0,0,0,27.09,26.17,27.10,8.60,13.69
$GC,61098,-1.94,-146.0,2007,198,2738,2848,4754.8,-6.5,1388,61102,0.00,2.12,0.00,0.000,1030,0.000,0.057,1998,1624,2793,2738,2849,0,0,0,0,0,0,26.60,26.52,26.63,8.60,13.73
$GC,61437,-1.94,-146.0,1997,1624,2739,2849,4777.9,-6.5,1394,61438,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1624,2793,2738,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.60,13.49
$GC,61735,-1.94,-146.0,1997,1624,2738,2849,4796.4,-6.2,1399,61736,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1624,2793,2737,2849,0,0,0,0,0,0,27.12,27.14,27.13,8.60,13.49
$GC,62035,-1.94,-146.0,1997,1625,2737,2849,4814.4,-5.9,1404,62041,0.00,2.28,0.00,0.000,516,0.000,0.074,1998,181,2793,2738,2849,0,0,0,0,0,0,27.12,26.17,27.14,8.60,13.53
$GC,62103,-1.94,-146.0,1997,181,2738,2849,4818.3,-5.9,1405,62108,0.12,2.12,0.00,0.000,3078,0.288,0.057,2014,1613,2793,2738,2849,0,0,0,0,0,0,25.55,26.51,25.76,8.60,13.65
$GC,62451,-1.94,-146.0,2014,1614,2738,2849,4837.0,-5.2,1411,62452,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1614,2793,2738,2848,0,0,0,0,0,0,27.12,27.14,27.13,8.60,12.98
$GC,62754,-1.94,-146.0,2014,1614,2738,2849,4852.0,-5.0,1416,62755,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1614,2793,2738,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.60,13.89
$GC,63051,-1.94,-146.0,2014,1614,2738,2849,4867.4,-5.0,1421,63052,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1614,2793,2738,2848,0,0,0,0,0,0,27.12,27.13,27.13,8.61,13.93
$STATE,63233,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,63233,begin apogee
$GC,63238,-0.25,0.0,2014,1614,2738,2848,4876.8,-5.1,1424,63384,1.95,0.00,141.85,3.990,10246,0.211,0.000,2562,1614,2340,2276,2404,0,0,0,0,0,0,25.12,22.51,20.81,8.60,13.22
$STATE,63385,end apogee,CONTROL_FINISHED_OK
$STATE,63385,begin climb
$GC,63387,0.70,146.0,2562,1614,2276,2403,4880.9,0.0,1426,63561,1.08,2.62,164.25,3.993,10756,0.169,0.097,2879,196,1837,1758,1916,0,0,0,0,0,0,22.95,22.23,20.88,8.57,13.18
$GC,63842,0.14,146.0,2878,196,1758,1915,4796.0,26.8,1434,63847,0.82,2.22,0.00,0.000,5126,0.328,0.060,2702,1621,1836,1758,1915,0,0,0,0,0,0,25.08,25.54,25.42,8.54,12.39
$GC,64185,-0.22,146.0,2701,1621,1757,1915,4725.5,19.0,1440,64188,0.47,0.00,0.00,0.000,4102,0.323,0.000,2599,1624,1836,1758,1915,0,0,0,0,0,0,25.59,26.05,25.94,8.53,13.33
$GC,64486,-0.46,146.0,2598,1623,1757,1915,4681.0,14.6,1445,64493,0.38,2.25,0.00,0.000,4612,0.308,0.077,2520,188,1836,1757,1915,0,0,0,0,0,0,25.78,26.13,26.00,8.53,13.02
$GC,64564,-0.69,146.0,2520,188,1757,1915,4673.8,14.1,1446,64569,0.35,2.17,0.00,0.000,5126,0.276,0.062,2434,1628,1836,1757,1915,0,0,0,0,0,0,25.83,26.35,26.17,8.52,13.30
$GC,64903,-0.69,146.0,2433,1628,1757,1914,4643.4,8.1,1452,64904,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1628,1835,1757,1914,0,0,0,0,0,0,26.75,26.77,26.77,8.52,13.33
$GC,65202,-0.69,146.0,2433,1628,1757,1915,4619.7,7.9,1457,65203,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1628,1835,1757,1914,0,0,0,0,0,0,26.82,26.84,26.84,8.51,13.26
$GC,65502,-0.69,146.0,2433,1628,1757,1915,4596.8,7.6,1462,65503,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1628,1836,1757,1915,0,0,0,0,0,0,26.87,26.89,26.89,8.51,13.57
$GC,65802,-0.69,146.0,2433,1629,1757,1914,4574.7,7.3,1467,65806,0.00,2.25,0.00,0.000,516,0.000,0.077,2443,195,1835,1756,1914,0,0,0,0,0,0,26.91,26.49,26.92,8.51,13.10
$GC,65857,-0.69,146.0,2443,195,1757,1914,4574.7,7.3,1467,65864,0.00,2.15,0.00,0.000,1030,0.000,0.060,2443,1640,1835,1757,1914,0,0,0,0,0,0,26.68,26.61,26.70,8.51,13.22
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$GC,140268,0.47,362.9,2824,1644,1001,1185,267.4,9.8,2879,140269,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1644,1093,1001,1185,0,0,0,0,0,0,27.14,27.16,27.15,8.80,12.94
$GC,140568,0.47,362.9,2824,1644,1002,1185,237.2,9.9,2894,140569,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1644,1093,1002,1185,0,0,0,0,0,0,27.15,27.16,27.16,8.81,12.59
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$STATE,143173,end climb,SURFACE_DEPTH_REACHED
$STATE,143173,begin surface coast
$FINISH,4.3,1.024599
$STATE,143176,end surface coast,CONTROL_FINISHED_OK
$STATE,143176,begin surface
$SM_CCo,143194,27.73,0.623,0,0,963,400.00
$SM_GC,0.78,7.12,2.05,27.73,0.097,0.050,0.623,142,1619,963,-7.76,-2.18,400.00,0,0,0,0,0,0,26.67,26.87,25.86
$IRIDIUM_FIX,2627.01,-7604.84,130517,203849
$TT8_MAMPS,0.020972,0.182007
$HUMID,12.67
$INTERNAL_PRESSURE,8.87608
$TCM_TEMP,25.80
$XPDR_PINGS,42
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,4876.8,16.6
$24V_AH,20.81,29.790
$10V_AH,10.42,9.712
$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,25.850,464.175,510.400,27.725,133.650,60.688,49.097,452.235,25.250,0.000,15.262,10488.602,123959.164,1116.911,7655.905,755.710,0.000,5118.192,0.000,6908.777,0.000,135.224,0.000
$DEVICE_MAMPS,327.756,96.837,3992.664,623.233,116.701,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2163.710,4096.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284512
$DATA_FILE_SIZE,214223,3098
$CAP_FILE_SIZE,750909,0
$CFSIZE,2047311872,2031255552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,65.70,1
$GPS,170517,043425,2640.134,-7633.794,39,1.0,44,-8.6,0.7,0.6,9,4.6