version: 66.12
glider: 37
mission: 17
dive: 74
start: 6 3 117 21 19 13
data:
$ID,37
$MISSION,17
$DIVE,74
$N_DIVES,0
$STOP_T,6071719
$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,56
$R_STBD_OVSHOOT,75
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3700
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$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
$GPS1,030617,210635,2634.6936,-7621.8350,38,1.2,42,-8.8,0.0,0.0,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.8
$GPS2,030617,211846,2634.7717,-7621.7788,4,1.0,14,-8.8,0.0,0.0,9,5.0
$SPEED_LIMITS,0.104,0.192
$TGT_NAME,RM75_30
$TGT_LATLONG,2630.000,-7530.000
$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,124.7,86273,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,176,-0.10,-146.0,2416,198,2781,2908,10.4,-16.4,15,183,0.62,2.00,0.00,0.000,3078,0.161,0.050,2612,1635,2844,2781,2908,0,0,0,0,0,0,25.93,26.38,26.13,9.19,12.59
$GC,483,-0.39,-146.0,2612,1635,2781,2908,31.4,-7.6,46,488,0.22,2.15,0.00,0.000,4612,0.117,0.065,2524,212,2844,2781,2908,0,0,0,0,0,0,26.44,26.46,26.48,9.20,12.94
$GC,669,-0.50,-146.0,2524,185,2781,2908,41.5,-4.2,64,678,0.00,1.98,0.00,0.000,1030,0.000,0.050,2516,1630,2844,2781,2908,0,0,0,0,0,0,26.73,26.68,26.74,9.20,12.35
$GC,977,-0.66,-146.0,2515,1630,2782,2908,60.2,-7.2,95,987,0.15,2.10,0.00,0.000,4612,0.114,0.065,2439,193,2844,2781,2908,0,0,0,0,0,0,26.70,26.61,26.72,9.20,12.94
$GC,1173,-0.66,-146.0,2438,194,2781,2908,76.1,-8.1,114,1177,0.00,1.92,0.00,0.000,1030,0.000,0.050,2430,1620,2844,2781,2908,0,0,0,0,0,0,26.83,26.78,26.84,9.20,12.70
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$GC,2148,-0.66,-146.0,2418,1611,2781,2908,149.0,-7.2,211,2157,0.00,2.10,0.00,0.000,516,0.000,0.065,2419,189,2844,2781,2908,0,0,0,0,0,0,27.14,26.70,27.15,9.17,13.02
$GC,2218,-0.66,-146.0,2419,189,2781,2908,154.3,-8.4,215,2221,0.00,1.95,0.00,0.000,1030,0.000,0.050,2409,1619,2844,2781,2908,0,0,0,0,0,0,26.89,26.84,26.91,9.17,12.31
$GC,2530,-0.66,-146.0,2408,1619,2781,2908,181.6,-8.7,231,2534,0.00,2.28,0.00,0.000,260,0.000,0.062,2397,3173,2844,2781,2908,0,0,0,0,0,0,27.15,26.73,27.16,9.15,12.98
$GC,2580,-0.66,-146.0,2397,3173,2781,2908,185.1,-8.5,233,2585,0.10,2.20,0.00,0.000,3078,0.191,0.050,2431,1592,2844,2781,2908,0,0,0,0,0,0,26.51,26.83,26.65,9.14,13.18
$GC,2887,-0.66,-146.0,2430,1592,2781,2908,209.8,-7.8,248,2890,0.00,2.03,0.00,0.000,516,0.000,0.065,2431,220,2844,2781,2908,0,0,0,0,0,0,27.15,26.72,27.16,9.13,13.30
$GC,2930,-0.66,-146.0,2431,208,2781,2908,213.4,-8.0,250,2935,0.00,1.95,0.00,0.000,1030,0.000,0.050,2422,1624,2844,2781,2908,0,0,0,0,0,0,26.89,26.86,26.91,9.13,13.41
$GC,3248,-0.66,-146.0,2422,1624,2781,2908,239.6,-7.7,266,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1624,2844,2781,2908,0,0,0,0,0,0,27.15,27.17,27.17,9.13,13.30
$GC,3548,-0.66,-146.0,2422,1624,2781,2907,260.7,-6.2,281,3553,0.00,2.10,0.00,0.000,516,0.000,0.065,2422,195,2844,2781,2907,0,0,0,0,0,0,27.15,26.72,27.17,9.11,13.85
$GC,3595,-0.66,-146.0,2422,195,2781,2906,263.8,-6.8,283,3599,0.00,1.95,0.00,0.000,1030,0.000,0.050,2412,1605,2843,2781,2906,0,0,0,0,0,0,26.91,26.86,26.93,9.12,13.85
$GC,3911,-0.66,-146.0,2411,1614,2781,2906,285.8,-6.9,299,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2843,2781,2906,0,0,0,0,0,0,27.15,27.17,27.17,9.11,13.53
$GC,4221,-0.66,-146.0,2411,1614,2781,2905,307.1,-6.7,313,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2843,2781,2905,0,0,0,0,0,0,27.15,27.17,27.17,9.10,13.49
$GC,4521,-0.66,-146.0,2411,1614,2781,2904,327.2,-6.8,323,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2842,2781,2904,0,0,0,0,0,0,27.15,27.17,27.17,9.09,13.96
$GC,4821,-0.66,-146.0,2411,1614,2780,2903,347.9,-6.9,333,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2842,2781,2903,0,0,0,0,0,0,27.16,27.17,27.17,9.09,14.08
$GC,5121,-0.66,-146.0,2411,1614,2780,2901,368.8,-7.1,343,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2841,2781,2901,0,0,0,0,0,0,27.15,27.17,27.17,9.08,13.96
$GC,5422,-0.66,-146.0,2411,1614,2780,2901,390.9,-7.2,353,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2841,2781,2901,0,0,0,0,0,0,27.16,27.17,27.17,9.07,14.52
$GC,5721,-0.66,-146.0,2411,1614,2781,2900,411.2,-6.6,363,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2840,2781,2900,0,0,0,0,0,0,27.16,27.17,27.17,9.07,13.49
$GC,6021,-0.66,-146.0,2411,1614,2781,2899,429.6,-5.9,373,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2840,2781,2900,0,0,0,0,0,0,27.16,27.17,27.17,9.06,14.04
$GC,6321,-0.66,-146.0,2411,1614,2781,2899,448.8,-6.5,383,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2839,2780,2899,0,0,0,0,0,0,27.16,27.17,27.17,9.06,14.32
$GC,6622,-0.66,-146.0,2411,1614,2780,2898,467.6,-6.5,393,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,2839,2780,2898,0,0,0,0,0,0,27.16,27.17,27.17,9.05,14.36
$GC,6922,-0.71,-146.0,2411,1614,2779,2897,488.7,-7.1,403,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1613,2838,2779,2897,0,0,0,0,0,0,27.16,27.17,27.17,9.05,14.12
$GC,7222,-0.76,-146.0,2411,1614,2779,2896,508.4,-6.5,413,7228,0.00,2.30,0.00,0.000,260,0.000,0.062,2401,3165,2837,2779,2896,0,0,0,0,0,0,27.16,26.75,27.17,9.04,14.24
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$GC,7607,-0.82,-146.0,2400,1609,2778,2896,536.0,-7.2,426,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1609,2837,2778,2896,0,0,0,0,0,0,27.16,27.17,27.17,9.03,14.20
$GC,7907,-0.82,-146.0,2400,1609,2778,2894,556.5,-6.7,436,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1609,2836,2778,2894,0,0,0,0,0,0,27.16,27.17,27.17,9.02,14.71
$GC,8207,-0.82,-146.0,2400,1609,2777,2894,577.8,-7.1,446,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1609,2835,2777,2894,0,0,0,0,0,0,27.16,27.17,27.17,9.01,13.73
$GC,8507,-0.82,-146.0,2400,1609,2776,2894,599.5,-7.4,456,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1609,2835,2777,2894,0,0,0,0,0,0,27.16,27.17,27.17,9.00,14.28
$GC,8807,-0.82,-146.0,2400,1609,2776,2894,621.6,-7.4,466,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1609,2835,2776,2894,0,0,0,0,0,0,27.16,27.18,27.17,9.00,14.59
$GC,9107,-0.87,-146.0,2400,1609,2775,2892,643.6,-7.3,476,9109,0.05,0.00,0.00,0.000,4102,0.204,0.000,2370,1609,2834,2775,2893,0,0,0,0,0,0,26.91,26.94,26.93,8.97,14.28
$GC,9407,-0.87,-146.0,2369,1609,2775,2892,668.1,-8.2,486,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1609,2833,2775,2892,0,0,0,0,0,0,27.16,27.17,27.17,8.97,14.28
$GC,9707,-0.87,-146.0,2370,1609,2774,2892,693.6,-8.4,496,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1609,2833,2774,2892,0,0,0,0,0,0,27.16,27.17,27.17,8.96,14.91
$GC,10007,-0.87,-146.0,2369,1609,2775,2890,716.3,-7.5,506,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1609,2832,2774,2891,0,0,0,0,0,0,27.16,27.17,27.17,8.95,14.75
$GC,10307,-0.87,-146.0,2369,1609,2773,2889,740.7,-8.7,516,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1609,2831,2773,2889,0,0,0,0,0,0,27.15,27.17,27.17,8.94,14.59
$GC,10607,-0.87,-146.0,2370,1609,2772,2888,766.7,-8.6,526,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1609,2830,2773,2888,0,0,0,0,0,0,27.15,27.17,27.17,8.92,14.59
$GC,10907,-0.87,-146.0,2370,1609,2772,2887,791.3,-8.3,536,10913,0.00,2.33,0.00,0.000,260,0.000,0.062,2359,3171,2829,2772,2887,0,0,0,0,0,0,27.15,26.70,27.17,8.91,14.00
$GC,10945,-0.87,-146.0,2358,3170,2771,2887,793.9,-8.6,537,10949,0.00,2.25,0.00,0.000,1030,0.000,0.052,2359,1620,2829,2772,2887,0,0,0,0,0,0,26.87,26.80,26.89,8.91,14.04
$GC,11262,-0.87,-146.0,2358,1620,2771,2886,823.3,-9.3,548,11269,0.00,2.15,0.00,0.000,516,0.000,0.067,2359,199,2828,2771,2885,0,0,0,0,0,0,27.16,26.67,27.16,8.90,14.20
$GC,11324,-0.87,-146.0,2358,199,2772,2885,829.5,-9.9,550,11329,0.00,2.03,0.00,0.000,1030,0.000,0.052,2349,1603,2828,2771,2885,0,0,0,0,0,0,26.86,26.82,26.87,8.89,14.56
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$GC,46078,-1.69,-146.0,2087,1614,2736,2849,3768.4,-7.7,1153,46080,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1614,2793,2737,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.58,14.40
$GC,46378,-1.69,-146.0,2087,1614,2737,2849,3791.5,-7.7,1158,46379,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,1614,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.58,14.24
$GC,46678,-1.69,-146.0,2087,1614,2736,2849,3814.5,-7.7,1163,46679,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1614,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.58,14.08
$GC,46978,-1.69,-146.0,2086,1614,2736,2849,3837.5,-7.7,1168,46979,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1614,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,14.83
$GC,47280,-1.69,-146.0,2087,1614,2736,2849,3860.5,-7.7,1173,47286,0.00,2.45,0.00,0.000,260,0.000,0.070,2076,3175,2792,2736,2849,0,0,0,0,0,0,27.05,25.85,27.07,8.59,13.85
$GC,47321,-1.69,-146.0,2075,3175,2736,2849,3860.5,-7.7,1173,47325,0.00,2.40,0.00,0.000,1030,0.000,0.052,2076,1606,2792,2736,2849,0,0,0,0,0,0,26.36,26.27,26.39,8.59,14.56
$GC,47634,-1.69,-146.0,2075,1606,2736,2849,3888.4,-7.9,1179,47635,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1606,2792,2736,2849,0,0,0,0,0,0,27.08,27.11,27.10,8.59,13.89
$GC,47933,-1.69,-146.0,2075,1606,2736,2849,3912.3,-8.0,1184,47934,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1606,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,14.36
$GC,48233,-1.69,-146.0,2075,1606,2736,2849,3935.8,-7.8,1189,48234,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1606,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.59,14.00
$GC,48533,-1.69,-146.0,2075,1606,2736,2848,3958.8,-7.6,1194,48534,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1606,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,14.20
$GC,48835,-1.69,-146.0,2075,1606,2736,2849,3981.5,-7.5,1199,48841,0.00,2.47,0.00,0.000,260,0.000,0.070,2065,3175,2792,2736,2849,0,0,0,0,0,0,27.05,25.85,27.06,8.60,14.63
$GC,48886,-1.69,-146.0,2063,3175,2736,2850,3981.5,-7.5,1199,48895,0.15,2.40,0.00,0.000,3078,0.278,0.052,2099,1605,2793,2737,2849,0,0,0,0,0,0,25.10,26.27,25.29,8.59,14.12
$GC,49193,-1.69,-146.0,2098,1605,2736,2849,4006.1,-6.5,1205,49194,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1605,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,14.40
$GC,49493,-1.69,-146.0,2098,1605,2736,2849,4025.6,-6.5,1210,49494,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1605,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.59,14.12
$GC,49793,-1.69,-146.0,2098,1605,2736,2849,4045.3,-6.5,1215,49794,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1605,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.60,14.20
$GC,50094,-1.74,-146.0,2098,1605,2736,2849,4065.0,-6.5,1220,50100,0.00,2.22,0.00,0.000,516,0.000,0.077,2099,193,2792,2736,2849,0,0,0,0,0,0,27.09,25.75,27.10,8.59,13.81
$GC,50148,-1.79,-146.0,2098,193,2737,2849,4065.0,-6.5,1220,50156,0.00,2.12,0.00,0.000,1030,0.000,0.057,2091,1619,2792,2736,2849,0,0,0,0,0,0,26.37,26.29,26.40,8.60,14.28
$GC,50453,-1.79,-146.0,2090,1619,2736,2849,4089.6,-6.8,1226,50454,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1619,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.59,14.04
$GC,50753,-1.79,-146.0,2090,1619,2737,2849,4109.5,-6.6,1231,50754,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1619,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.59,14.24
$GC,51053,-1.79,-146.0,2089,1619,2736,2849,4129.3,-6.6,1236,51054,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1619,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,14.24
$GC,51354,-1.84,-146.0,2090,1619,2736,2849,4148.9,-6.5,1241,51356,0.08,0.00,0.00,0.000,4102,0.276,0.000,2070,1620,2792,2736,2849,0,0,0,0,0,0,26.44,26.48,26.45,8.59,13.49
$GC,51653,-1.84,-146.0,2070,1620,2736,2849,4169.8,-7.0,1246,51654,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1620,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,13.69
$GC,51953,-1.84,-146.0,2070,1620,2736,2848,4190.6,-6.9,1251,51954,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1620,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.59,13.85
$GC,52253,-1.84,-146.0,2069,1620,2736,2849,4211.1,-6.9,1256,52254,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1620,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,14.16
$GC,52554,-1.84,-146.0,2070,1620,2736,2849,4230.9,-6.6,1261,52555,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1620,2792,2736,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.28
$GC,52853,-1.84,-146.0,2070,1620,2736,2849,4250.8,-6.7,1266,52854,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1619,2793,2737,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.59,14.52
$GC,53153,-1.84,-146.0,2070,1619,2736,2848,4269.6,-6.2,1271,53154,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1619,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.59,14.24
$GC,53453,-1.84,-146.0,2069,1620,2736,2848,4288.7,-6.4,1276,53458,0.00,2.30,0.00,0.000,516,0.000,0.074,2070,190,2793,2737,2849,0,0,0,0,0,0,27.09,25.72,27.10,8.60,14.20
$GC,53503,-1.84,-146.0,2070,190,2736,2849,4288.7,-6.4,1276,53507,0.00,2.15,0.00,0.000,1030,0.000,0.057,2059,1618,2792,2737,2848,0,0,0,0,0,0,26.34,26.26,26.38,8.60,14.04
$GC,53816,-1.84,-146.0,2059,1619,2736,2849,4312.5,-6.6,1282,53817,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1618,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.60,13.93
$GC,54115,-1.84,-146.0,2059,1618,2737,2849,4331.1,-6.2,1287,54116,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1618,2793,2737,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.59,14.04
$GC,54415,-1.84,-146.0,2059,1618,2737,2849,4349.3,-6.0,1292,54417,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1619,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.60,14.36
$GC,54715,-1.84,-146.0,2059,1618,2736,2849,4366.6,-5.8,1297,54716,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1619,2792,2736,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.60,14.63
$GC,55016,-1.84,-146.0,2059,1619,2736,2848,4383.5,-5.5,1302,55022,0.00,2.30,0.00,0.000,516,0.000,0.074,2060,191,2793,2737,2849,0,0,0,0,0,0,27.09,25.72,27.10,8.60,14.20
$GC,55083,-1.84,-146.0,2059,191,2737,2849,4387.1,-5.6,1303,55087,0.00,2.15,0.00,0.000,1030,0.000,0.057,2050,1616,2792,2736,2849,0,0,0,0,0,0,26.33,26.25,26.36,8.60,14.12
$GC,55431,-1.84,-146.0,2050,1617,2736,2849,4407.8,-5.7,1309,55432,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1617,2793,2737,2849,0,0,0,0,0,0,27.08,27.11,27.09,8.61,14.00
$GC,55730,-1.84,-146.0,2050,1616,2736,2849,4424.8,-5.7,1314,55732,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1617,2792,2736,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.60,14.36
$GC,56032,-1.84,-146.0,2050,1616,2736,2849,4440.9,-5.4,1319,56033,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1617,2793,2737,2849,0,0,0,0,0,0,27.03,27.05,27.05,8.60,14.12
$GC,56330,-1.84,-146.0,2050,1616,2736,2849,4457.1,-5.3,1324,56335,0.00,2.30,0.00,0.000,516,0.000,0.074,2050,188,2792,2736,2848,0,0,0,0,0,0,27.09,25.71,27.10,8.60,14.12
$GC,56385,-1.84,-146.0,2050,188,2736,2849,4457.1,-5.3,1324,56396,0.00,2.15,0.00,0.000,1030,0.000,0.060,2040,1617,2792,2736,2849,0,0,0,0,0,0,26.32,26.23,26.35,8.60,14.24
$GC,56693,-1.84,-146.0,2039,1617,2737,2849,4478.0,-5.8,1330,56694,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1617,2792,2737,2848,0,0,0,0,0,0,27.09,27.10,27.10,8.60,14.12
$GC,56992,-1.84,-146.0,2039,1617,2736,2849,4495.7,-5.9,1335,56994,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1617,2792,2736,2849,0,0,0,0,0,0,27.09,27.10,27.10,8.60,13.81
$GC,57292,-1.84,-146.0,2039,1617,2736,2849,4514.0,-6.0,1340,57294,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1617,2793,2737,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.60,13.61
$GC,57592,-1.84,-146.0,2039,1617,2737,2849,4531.9,-6.0,1345,57597,0.00,2.30,0.00,0.000,516,0.000,0.074,2040,190,2793,2737,2849,0,0,0,0,0,0,27.08,25.70,27.10,8.60,13.65
$GC,57672,-1.84,-146.0,2039,190,2736,2849,4535.9,-6.1,1346,57677,0.00,2.15,0.00,0.000,1030,0.000,0.057,2030,1618,2793,2737,2849,0,0,0,0,0,0,26.32,26.22,26.34,8.60,14.56
$GC,58015,-1.84,-146.0,2029,1619,2736,2848,4558.0,-6.2,1352,58016,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1620,2792,2736,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.60,14.16
$GC,58315,-1.84,-146.0,2030,1619,2736,2849,4576.1,-6.0,1357,58316,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1619,2793,2737,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.60,13.81
$GC,58614,-1.84,-146.0,2030,1619,2737,2849,4594.0,-6.0,1362,58621,0.00,2.30,0.00,0.000,516,0.000,0.074,2030,192,2793,2737,2849,0,0,0,0,0,0,27.08,25.69,27.10,8.61,14.04
$GC,58667,-1.84,-146.0,2029,191,2737,2849,4594.0,-6.0,1362,58675,0.12,2.15,0.00,0.000,3078,0.271,0.057,2049,1619,2793,2737,2849,0,0,0,0,0,0,25.28,26.22,25.42,8.61,14.59
$GC,58975,-1.90,-146.0,2049,1619,2736,2849,4613.6,-5.2,1368,58976,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1619,2792,2736,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.60,14.20
$GC,59275,-1.95,-146.0,2049,1618,2736,2849,4629.2,-5.2,1373,59276,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1619,2793,2737,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.20
$GC,59575,-2.01,-146.0,2048,1619,2737,2848,4644.5,-5.1,1378,59581,0.10,2.33,0.00,0.000,4612,0.263,0.072,2020,187,2792,2737,2848,0,0,0,0,0,0,26.11,25.67,26.13,8.60,14.32
$GC,59637,-2.01,-146.0,2019,187,2737,2849,4648.6,-5.4,1379,59641,0.00,2.15,0.00,0.000,1030,0.000,0.057,2010,1613,2793,2737,2849,0,0,0,0,0,0,26.30,26.22,26.33,8.60,14.40
$GC,59994,-2.01,-146.0,2009,1614,2736,2849,4670.3,-6.1,1385,59996,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1614,2793,2737,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.60,14.32
$GC,60294,-2.01,-146.0,2009,1614,2736,2849,4688.3,-5.9,1390,60296,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1614,2792,2737,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.60,14.32
$GC,60595,-2.01,-146.0,2009,1614,2736,2849,4705.6,-5.7,1395,60601,0.00,2.28,0.00,0.000,516,0.000,0.074,2010,188,2792,2737,2848,0,0,0,0,0,0,27.08,25.68,27.10,8.60,13.85
$GC,60667,-2.01,-146.0,2009,188,2736,2849,4709.7,-5.9,1396,60672,0.00,2.15,0.00,0.000,1030,0.000,0.060,2000,1621,2792,2736,2849,0,0,0,0,0,0,26.30,26.22,26.33,8.60,14.48
$GC,61015,-2.01,-146.0,1999,1621,2736,2849,4731.4,-6.0,1402,61016,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1621,2793,2737,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.59,13.96
$GC,61315,-2.01,-146.0,1999,1621,2736,2849,4749.4,-6.1,1407,61316,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1621,2792,2736,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.60,14.56
$GC,61615,-2.01,-146.0,1999,1621,2737,2849,4767.0,-5.9,1412,61619,0.00,2.30,0.00,0.000,516,0.000,0.074,2000,184,2792,2736,2849,0,0,0,0,0,0,27.08,25.67,27.10,8.60,14.79
$GC,61677,-2.01,-146.0,1999,184,2736,2849,4771.2,-6.1,1413,61681,0.00,2.15,0.00,0.000,1030,0.000,0.060,1989,1616,2792,2736,2849,0,0,0,0,0,0,26.29,26.22,26.34,8.60,13.85
$GC,62039,-2.01,-146.0,1989,1616,2736,2849,4793.3,-6.1,1419,62040,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1616,2793,2737,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.60,13.69
$GC,62339,-2.01,-146.0,1989,1616,2736,2849,4812.1,-6.2,1424,62340,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1616,2793,2737,2849,0,0,0,0,0,0,27.08,27.10,27.10,8.61,13.65
$STATE,62457,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,62457,begin apogee
$GC,62462,-0.25,0.0,1989,1616,2737,2849,4819.6,-6.3,1426,62609,2.15,0.00,142.12,3.968,10246,0.211,0.000,2560,1617,2340,2276,2404,0,0,0,0,0,0,24.28,22.75,21.01,8.61,14.24
$STATE,62610,end apogee,CONTROL_FINISHED_OK
$STATE,62610,begin climb
$GC,62612,0.70,146.0,2560,1617,2276,2405,4823.5,0.0,1428,62782,1.05,2.60,161.48,3.960,10756,0.176,0.097,2877,202,1837,1757,1917,0,0,0,0,0,0,23.20,22.79,21.11,8.58,13.37
$GC,63325,0.15,146.0,2876,202,1757,1916,4681.6,25.1,1440,63330,0.77,2.20,0.00,0.000,5126,0.318,0.057,2702,1640,1837,1757,1917,0,0,0,0,0,0,25.43,26.06,25.82,8.52,13.26
$GC,63659,-0.20,146.0,2700,1640,1756,1917,4615.5,17.7,1446,63665,0.43,2.28,0.00,0.000,4612,0.320,0.074,2615,197,1836,1756,1916,0,0,0,0,0,0,25.57,25.99,25.81,8.53,13.85
$GC,63767,-0.54,146.0,2614,197,1757,1916,4606.2,17.1,1447,63779,0.55,2.17,0.00,0.000,5126,0.293,0.060,2483,1642,1836,1757,1916,0,0,0,0,0,0,25.64,26.34,26.03,8.53,13.45
$GC,64078,-0.62,146.0,2483,1642,1757,1916,4569.2,9.1,1453,64080,0.12,0.00,0.00,0.000,4102,0.303,0.000,2454,1642,1836,1757,1916,0,0,0,0,0,0,25.86,26.28,26.16,8.52,14.04
$GC,64378,-0.62,146.0,2454,1642,1756,1916,4544.7,8.1,1458,64379,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1643,1836,1757,1916,0,0,0,0,0,0,26.83,26.85,26.84,8.52,13.57
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$GC,137194,0.51,377.1,2820,1636,947,1139,288.1,9.5,2835,137199,0.00,2.33,0.00,0.000,260,0.000,0.065,2821,3185,1043,947,1139,0,0,0,0,0,0,27.12,26.55,27.13,8.79,13.57
$GC,137236,0.51,377.1,2820,3185,947,1139,284.0,9.6,2837,137241,0.00,2.28,0.00,0.000,1030,0.000,0.052,2833,1603,1043,947,1139,0,0,0,0,0,0,26.75,26.67,26.78,8.79,14.04
$GC,137559,0.51,377.1,2832,1601,948,1139,253.8,8.9,2853,137563,0.00,2.10,0.00,0.000,516,0.000,0.070,2844,198,1043,948,1139,0,0,0,0,0,0,27.11,26.53,27.13,8.79,13.77
$GC,137622,0.51,377.1,2843,197,949,1139,247.9,9.5,2856,137628,0.10,2.05,0.00,0.000,5126,0.179,0.052,2810,1637,1044,949,1139,0,0,0,0,0,0,26.32,26.74,26.39,8.80,13.65
$GC,137941,0.51,377.1,2809,1637,950,1139,221.6,8.5,2872,137947,0.00,2.30,0.00,0.000,260,0.000,0.065,2810,3181,1044,950,1139,0,0,0,0,0,0,27.12,26.57,27.13,8.81,13.73
$GC,137988,0.51,377.1,2809,3180,949,1139,218.0,8.8,2874,137993,0.00,2.25,0.00,0.000,1030,0.000,0.052,2819,1620,1044,949,1139,0,0,0,0,0,0,26.77,26.70,26.79,8.81,13.57
$GC,138301,0.51,377.1,2819,1621,951,1139,189.0,8.8,2890,138307,0.00,2.15,0.00,0.000,516,0.000,0.067,2830,188,1045,951,1139,0,0,0,0,0,0,27.13,26.54,27.14,8.82,13.14
$GC,138343,0.51,377.1,2830,188,952,1139,185.0,9.4,2892,138347,0.00,2.05,0.00,0.000,1030,0.000,0.052,2830,1631,1045,953,1138,0,0,0,0,0,0,26.79,26.77,26.81,8.83,13.69
$GC,138661,0.51,377.1,2830,1631,952,1139,155.9,9.1,2908,138662,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1631,1045,952,1139,0,0,0,0,0,0,27.13,27.14,27.14,8.84,13.37
$GC,138962,0.51,377.1,2830,1631,953,1138,130.3,7.9,2934,138963,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1631,1046,953,1139,0,0,0,0,0,0,27.13,27.15,27.14,8.85,13.57
$GC,139261,0.51,377.1,2830,1631,954,1139,105.5,7.8,2964,139262,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1631,1047,955,1139,0,0,0,0,0,0,27.13,27.15,27.15,8.87,13.96
$GC,139561,0.56,377.1,2829,1631,955,1139,81.6,7.7,2994,139570,0.00,2.17,0.00,0.000,516,0.000,0.067,2840,183,1047,956,1139,0,0,0,0,0,0,27.13,26.58,27.15,8.88,13.69
$GC,139596,0.61,377.1,2839,183,957,1139,79.2,7.9,2997,139603,0.00,2.03,0.00,0.000,1030,0.000,0.052,2841,1637,1047,956,1139,0,0,0,0,0,0,26.84,26.79,26.86,8.89,13.53
$GC,139903,0.61,377.1,2839,1637,956,1138,53.1,8.1,3028,139907,0.00,2.30,0.00,0.000,260,0.000,0.062,2840,3184,1048,957,1139,0,0,0,0,0,0,27.13,26.60,27.15,8.90,14.12
$GC,139944,0.61,377.1,2839,3184,956,1139,49.6,8.5,3032,139949,0.00,2.22,0.00,0.000,1030,0.000,0.052,2852,1620,1048,957,1139,0,0,0,0,0,0,26.81,26.74,26.83,8.90,13.49
$GC,140257,0.67,377.1,2851,1620,958,1139,24.6,6.7,3063,140262,0.00,2.12,0.00,0.000,516,0.000,0.067,2863,188,1048,958,1139,0,0,0,0,0,0,27.13,26.60,27.15,8.92,13.41
$GC,140353,0.73,377.1,2862,188,959,1139,17.3,7.7,3072,140363,0.00,2.00,3.58,0.387,9222,0.000,0.052,2863,1636,1041,944,1138,0,0,0,0,0,0,26.86,26.80,25.53,8.93,12.98
$STATE,140520,end climb,SURFACE_DEPTH_REACHED
$STATE,140521,begin surface coast
$FINISH,0.4,1.024139
$STATE,140591,end surface coast,CONTROL_FINISHED_OK
$STATE,140591,begin surface
$SM_CCo,140606,15.90,0.586,0,0,963,400.00
$SM_GC,1.75,6.90,0.00,15.90,0.077,0.000,0.586,121,1641,963,-7.80,0.76,400.00,0,0,0,0,0,0,26.59,27.13,25.82
$IRIDIUM_FIX,2617.39,-7700.32,020617,035435
$TT8_MAMPS,0.021721,0.223202
$HUMID,13.96
$INTERNAL_PRESSURE,8.89561
$TCM_TEMP,26.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,0.0
$ALTIM_BOTTOM_PING,4800.8,32.5
$24V_AH,21.01,36.260
$10V_AH,10.35,12.989
$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,26.575,521.300,522.775,15.900,126.850,23.802,46.735,445.340,14.750,0.000,15.396,10549.062,120941.914,1160.152,7854.872,760.086,0.000,5279.439,0.000,7150.015,0.000,134.859,0.000
$DEVICE_MAMPS,320.307,96.837,3967.834,585.988,114.218,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2160.992,4093.258,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284520
$DATA_FILE_SIZE,214439,3096
$CAP_FILE_SIZE,761814,0
$CFSIZE,2047311872,2027520000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,259.28,1
$GPS,050617,122404,2625.329,-7612.575,23,0.9,25,-8.8,0.0,0.0,9,5.0