version: 66.12
glider: 37
mission: 17
dive: 79
start: 6 12 117 2 39 40
data:
$ID,37
$MISSION,17
$DIVE,79
$N_DIVES,0
$STOP_T,6141719
$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,61
$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
$GPS1,120617,022645,2623.4648,-7601.8560,36,1.0,49,-8.9,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-64.6
$GPS2,120617,023913,2623.4565,-7601.8457,4,0.8,26,-8.9,0.0,0.0,10,5.0
$SPEED_LIMITS,0.104,0.192
$TGT_NAME,RM75_15
$TGT_LATLONG,2630.000,-7515.000
$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,68.5,78583,-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,256,-0.60,-146.0,2399,3195,2781,2909,24.8,-12.7,23,264,0.15,2.25,0.00,0.000,3078,0.179,0.052,2448,1606,2845,2782,2908,0,0,0,0,0,0,26.04,26.44,26.21,9.21,12.39
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$GC,996,-0.60,-146.0,2449,194,2781,2908,80.4,-7.7,97,1000,0.00,1.98,0.00,0.000,1030,0.000,0.050,2441,1628,2844,2781,2908,0,0,0,0,0,0,26.80,26.75,26.82,9.20,12.86
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$GC,2283,-0.60,-146.0,2430,1638,2781,2908,168.4,-6.8,212,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1638,2844,2781,2908,0,0,0,0,0,0,27.14,27.15,27.15,9.16,12.98
$GC,2582,-0.60,-146.0,2430,1638,2781,2908,188.7,-6.4,227,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1638,2844,2781,2908,0,0,0,0,0,0,27.14,27.15,27.15,9.15,13.57
$GC,2882,-0.60,-146.0,2430,1638,2781,2907,207.8,-6.4,242,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1638,2844,2781,2908,0,0,0,0,0,0,27.15,27.16,27.16,9.14,13.41
$GC,3182,-0.60,-146.0,2430,1638,2781,2907,227.4,-6.5,257,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1638,2844,2781,2907,0,0,0,0,0,0,27.15,27.17,27.15,9.14,13.73
$GC,3483,-0.60,-146.0,2430,1638,2781,2906,246.6,-6.1,272,3489,0.00,2.12,0.00,0.000,516,0.000,0.065,2430,200,2843,2781,2906,0,0,0,0,0,0,27.15,26.70,27.16,9.13,13.96
$GC,3550,-0.60,-146.0,2429,199,2782,2906,250.8,-6.8,275,3555,0.10,1.92,0.00,0.000,3078,0.176,0.050,2456,1618,2844,2782,2906,0,0,0,0,0,0,26.54,26.85,26.66,9.13,13.57
$GC,3864,-0.68,-146.0,2455,1618,2781,2905,269.5,-6.3,291,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1618,2843,2781,2905,0,0,0,0,0,0,27.15,27.17,27.16,9.12,13.22
$GC,4163,-0.77,-146.0,2455,1618,2781,2904,287.5,-6.2,306,4170,0.10,2.25,0.00,0.000,4356,0.142,0.060,2384,3161,2843,2781,2905,0,0,0,0,0,0,26.82,26.73,26.82,9.11,14.08
$GC,4211,-0.77,-146.0,2383,3161,2781,2905,290.6,-6.9,308,4215,0.00,2.20,0.00,0.000,1030,0.000,0.050,2384,1598,2842,2781,2904,0,0,0,0,0,0,26.89,26.82,26.90,9.11,13.89
$GC,4528,-0.77,-146.0,2384,1598,2781,2903,319.7,-9.2,320,4531,0.00,2.03,0.00,0.000,516,0.000,0.067,2384,217,2842,2781,2903,0,0,0,0,0,0,27.15,26.70,27.16,9.11,13.96
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$GC,5264,-0.77,-146.0,2362,3179,2781,2901,384.2,-8.9,344,5269,0.10,2.22,0.00,0.000,3078,0.186,0.050,2394,1606,2840,2780,2901,0,0,0,0,0,0,26.50,26.81,26.63,9.09,14.32
$GC,5577,-0.77,-146.0,2394,1607,2780,2901,409.8,-7.8,355,5583,0.00,2.08,0.00,0.000,516,0.000,0.067,2395,193,2840,2781,2900,0,0,0,0,0,0,27.15,26.69,27.17,9.08,13.93
$GC,5619,-0.77,-146.0,2394,193,2780,2900,412.2,-7.9,356,5623,0.00,2.00,0.00,0.000,1030,0.000,0.050,2387,1637,2840,2780,2900,0,0,0,0,0,0,26.90,26.84,26.91,9.07,13.81
$GC,5936,-0.77,-146.0,2386,1636,2780,2899,439.0,-7.9,367,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1637,2839,2780,2899,0,0,0,0,0,0,27.15,27.17,27.16,9.07,14.04
$GC,6237,-0.77,-146.0,2386,1637,2780,2898,463.7,-8.4,377,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1637,2839,2780,2898,0,0,0,0,0,0,27.15,27.17,27.16,9.07,14.59
$GC,6536,-0.77,-146.0,2386,1637,2780,2898,487.9,-8.2,387,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1637,2839,2780,2898,0,0,0,0,0,0,27.15,27.17,27.16,9.06,14.71
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$GC,7736,-0.77,-146.0,2386,1637,2778,2894,583.6,-8.4,427,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1637,2836,2778,2894,0,0,0,0,0,0,27.15,27.17,27.17,9.03,14.79
$GC,8037,-0.77,-146.0,2386,1637,2777,2894,609.1,-8.5,437,8042,0.00,2.15,0.00,0.000,516,0.000,0.065,2387,196,2835,2777,2894,0,0,0,0,0,0,27.15,26.68,27.17,9.01,14.48
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$GC,8396,-0.77,-146.0,2376,1625,2777,2894,639.3,-8.2,449,8400,0.00,2.30,0.00,0.000,260,0.000,0.062,2365,3148,2835,2777,2893,0,0,0,0,0,0,27.15,26.71,27.16,9.00,14.91
$GC,8435,-0.77,-146.0,2364,3166,2775,2894,641.8,-8.1,450,8440,0.10,2.22,0.00,0.000,3078,0.189,0.050,2397,1614,2834,2775,2893,0,0,0,0,0,0,26.48,26.81,26.61,9.00,14.40
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$GC,9353,-0.93,-146.0,2396,1614,2774,2891,706.9,-6.8,481,9358,0.10,2.12,0.00,0.000,4612,0.149,0.065,2349,199,2832,2774,2891,0,0,0,0,0,0,26.78,26.67,26.80,8.96,14.67
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$GC,9746,-0.93,-146.0,2340,1620,2773,2889,745.3,-10.1,494,9750,0.00,2.35,0.00,0.000,260,0.000,0.062,2330,3175,2831,2773,2889,0,0,0,0,0,0,27.15,26.70,27.17,8.95,14.63
$GC,9791,-0.93,-146.0,2329,3174,2773,2890,748.5,-10.2,495,9795,0.00,2.28,0.00,0.000,1030,0.000,0.052,2329,1605,2831,2773,2890,0,0,0,0,0,0,26.86,26.79,26.88,8.94,14.67
$GC,10103,-0.93,-146.0,2329,1606,2772,2888,784.5,-11.1,506,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1605,2830,2773,2888,0,0,0,0,0,0,27.15,27.17,27.16,8.93,14.36
$GC,10403,-0.93,-146.0,2329,1606,2772,2886,818.2,-11.1,516,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1605,2829,2772,2887,0,0,0,0,0,0,27.15,27.17,27.16,8.92,15.07
$GC,10703,-0.93,-146.0,2329,1605,2771,2886,852.5,-11.4,526,10709,0.00,2.38,0.00,0.000,260,0.000,0.062,2318,3184,2829,2772,2886,0,0,0,0,0,0,27.15,26.67,27.16,8.90,15.26
$GC,10735,-0.93,-146.0,2318,3184,2770,2886,856.0,-11.3,527,10740,0.00,2.30,0.00,0.000,1030,0.000,0.050,2318,1613,2828,2770,2886,0,0,0,0,0,0,26.85,26.78,26.87,8.90,14.71
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$GC,45876,-1.63,-146.0,2095,1611,2736,2848,3789.9,-7.2,1133,45878,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1611,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.08,8.59,14.91
$GC,46176,-1.63,-146.0,2095,1611,2735,2848,3811.3,-7.1,1138,46177,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1610,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.95
$GC,46476,-1.63,-146.0,2095,1610,2735,2848,3832.8,-7.2,1143,46477,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1611,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.58,14.08
$GC,46776,-1.63,-146.0,2095,1610,2735,2848,3854.1,-7.1,1148,46780,0.00,2.45,0.00,0.000,260,0.000,0.070,2085,3160,2791,2735,2848,0,0,0,0,0,0,27.08,25.77,27.10,8.59,14.67
$GC,46821,-1.63,-146.0,2084,3160,2735,2848,3854.1,-7.1,1148,46826,0.15,2.38,0.00,0.000,3078,0.273,0.055,2119,1613,2791,2735,2848,0,0,0,0,0,0,25.06,26.18,25.22,8.59,14.28
$GC,47134,-1.68,-146.0,2118,1613,2735,2847,3876.4,-6.0,1154,47135,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,1613,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.71
$GC,47435,-1.74,-146.0,2118,1613,2735,2848,3893.8,-5.8,1159,47436,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,1613,2792,2736,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.52
$GC,47734,-1.80,-146.0,2118,1613,2735,2848,3911.4,-5.9,1164,47736,0.12,0.00,0.00,0.000,4102,0.243,0.000,2085,1613,2791,2735,2848,0,0,0,0,0,0,26.06,26.16,26.12,8.58,14.56
$GC,48034,-1.80,-146.0,2084,1613,2735,2848,3932.2,-7.1,1169,48035,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1613,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.58,14.20
$GC,48334,-1.80,-146.0,2084,1613,2735,2848,3952.6,-6.8,1174,48335,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1613,2791,2734,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.52
$GC,48634,-1.80,-146.0,2084,1613,2735,2848,3972.7,-6.8,1179,48635,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1613,2792,2736,2848,0,0,0,0,0,0,27.08,27.10,27.09,8.58,14.83
$GC,48934,-1.80,-146.0,2084,1613,2735,2848,3992.7,-6.7,1184,48935,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1613,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.36
$GC,49234,-1.80,-146.0,2085,1613,2735,2848,4012.9,-6.7,1189,49235,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1613,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.09,8.59,13.93
$GC,49534,-1.80,-146.0,2085,1613,2735,2848,4032.9,-6.7,1194,49535,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1613,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.36
$GC,49834,-1.80,-146.0,2084,1613,2735,2848,4052.4,-6.5,1199,49835,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1613,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.36
$GC,50134,-1.80,-146.0,2084,1613,2735,2848,4071.5,-6.4,1204,50140,0.00,2.47,0.00,0.000,260,0.000,0.070,2073,3164,2791,2735,2848,0,0,0,0,0,0,27.08,25.72,27.10,8.59,14.59
$GC,50176,-1.80,-146.0,2073,3164,2735,2848,4071.5,-6.4,1204,50181,0.00,2.42,0.00,0.000,1030,0.000,0.055,2073,1602,2791,2735,2848,0,0,0,0,0,0,26.20,26.11,26.24,8.59,14.75
$GC,50489,-1.80,-146.0,2073,1602,2735,2848,4095.4,-6.7,1210,50490,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.20
$GC,50789,-1.80,-146.0,2073,1602,2735,2848,4115.2,-6.7,1215,50790,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.09,8.59,15.07
$GC,51089,-1.80,-146.0,2072,1602,2736,2848,4134.4,-6.4,1220,51090,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,15.03
$GC,51389,-1.80,-146.0,2073,1602,2735,2848,4153.9,-6.5,1225,51390,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.48
$GC,51689,-1.80,-146.0,2072,1602,2735,2848,4173.3,-6.4,1230,51690,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.36
$GC,51989,-1.80,-146.0,2073,1602,2735,2848,4192.3,-6.3,1235,51990,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.59
$GC,52289,-1.80,-146.0,2073,1602,2735,2848,4211.4,-6.3,1240,52290,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,13.69
$GC,52589,-1.80,-146.0,2073,1602,2735,2848,4229.8,-6.1,1245,52590,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,13.96
$GC,52889,-1.80,-146.0,2073,1602,2735,2848,4248.3,-6.1,1250,52890,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.36
$GC,53189,-1.80,-146.0,2073,1602,2735,2849,4265.9,-5.8,1255,53190,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.24
$GC,53490,-1.80,-146.0,2073,1602,2735,2848,4283.3,-5.7,1260,53491,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.02,27.04,27.03,8.59,14.40
$GC,53791,-1.80,-146.0,2073,1602,2735,2848,4300.5,-5.7,1265,53792,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.03,27.05,27.05,8.60,14.16
$GC,54089,-1.80,-146.0,2072,1602,2735,2848,4317.3,-5.7,1270,54090,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1602,2791,2735,2848,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.44
$GC,54389,-1.80,-146.0,2073,1602,2735,2848,4333.7,-5.5,1275,54395,0.00,2.30,0.00,0.000,516,0.000,0.077,2073,184,2791,2735,2847,0,0,0,0,0,0,27.08,25.59,27.10,8.59,14.87
$GC,54441,-1.80,-146.0,2073,184,2736,2848,4333.7,-5.5,1275,54449,0.00,2.15,0.00,0.000,1030,0.000,0.060,2063,1607,2791,2735,2847,0,0,0,0,0,0,26.25,26.16,26.28,8.60,14.12
$GC,54749,-1.80,-146.0,2062,1607,2735,2847,4354.3,-5.7,1281,54750,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1607,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.79
$GC,55049,-1.80,-146.0,2063,1607,2735,2847,4371.6,-5.7,1286,55050,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1607,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.00
$GC,55349,-1.80,-146.0,2063,1607,2735,2847,4389.0,-5.8,1291,55350,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1607,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.00
$GC,55649,-1.80,-146.0,2063,1607,2735,2847,4406.5,-5.8,1296,55650,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1606,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.20
$GC,55949,-1.80,-146.0,2062,1607,2735,2847,4423.8,-5.8,1301,55950,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1607,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.44
$GC,56251,-1.80,-146.0,2062,1607,2735,2847,4441.1,-5.8,1306,56252,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1607,2791,2735,2847,0,0,0,0,0,0,27.03,27.05,27.04,8.59,14.40
$GC,56549,-1.85,-146.0,2063,1607,2735,2847,4458.5,-5.9,1311,56550,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1607,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.48
$GC,56849,-1.90,-146.0,2062,1607,2735,2847,4475.5,-5.6,1316,56850,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1607,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.20
$GC,57149,-1.96,-146.0,2063,1607,2735,2847,4492.8,-5.8,1321,57151,0.10,0.00,0.00,0.000,4102,0.263,0.000,2036,1607,2790,2735,2846,0,0,0,0,0,0,26.20,26.27,26.22,8.60,14.63
$GC,57449,-1.96,-146.0,2035,1607,2735,2847,4512.5,-6.5,1326,57455,0.00,2.30,0.00,0.000,516,0.000,0.074,2036,185,2791,2735,2847,0,0,0,0,0,0,27.08,25.57,27.10,8.59,14.32
$GC,57496,-1.96,-146.0,2036,185,2735,2847,4512.5,-6.5,1326,57501,0.00,2.20,0.00,0.000,1030,0.000,0.060,2026,1619,2791,2735,2847,0,0,0,0,0,0,26.21,26.12,26.24,8.60,14.16
$GC,57809,-1.96,-146.0,2025,1621,2735,2847,4537.1,-6.7,1332,57810,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.48
$GC,58109,-1.96,-146.0,2025,1621,2735,2847,4556.5,-6.4,1337,58110,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.59,15.11
$GC,58409,-1.96,-146.0,2025,1621,2735,2847,4574.8,-6.0,1342,58410,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.44
$GC,58709,-1.96,-146.0,2025,1621,2735,2847,4593.0,-6.0,1347,58710,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.52
$GC,59009,-1.96,-146.0,2025,1621,2735,2847,4611.5,-6.1,1352,59010,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,13.96
$GC,59309,-1.96,-146.0,2025,1621,2735,2847,4629.8,-6.0,1357,59310,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.40
$GC,59609,-1.96,-146.0,2025,1621,2735,2847,4647.4,-5.8,1362,59610,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.59
$GC,59909,-1.96,-146.0,2025,1621,2735,2847,4665.2,-5.8,1367,59910,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,15.07
$GC,60212,-1.96,-146.0,2025,1621,2735,2847,4682.5,-5.6,1372,60213,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1621,2791,2735,2847,0,0,0,0,0,0,27.01,27.03,27.03,8.60,14.59
$GC,60509,-1.96,-146.0,2025,1621,2735,2847,4697.2,-4.8,1377,60516,0.00,2.55,0.00,0.000,260,0.000,0.070,2014,3199,2791,2735,2847,0,0,0,0,0,0,27.08,25.63,27.10,8.60,14.28
$GC,60572,-1.96,-146.0,2013,3199,2735,2847,4700.5,-4.6,1378,60577,0.00,2.42,0.00,0.000,1030,0.000,0.057,2014,1614,2791,2735,2847,0,0,0,0,0,0,26.15,26.06,26.19,8.60,14.95
$GC,60930,-1.96,-146.0,2013,1614,2735,2847,4717.0,-4.5,1384,60934,0.00,2.28,0.00,0.000,516,0.000,0.074,2014,181,2791,2735,2847,0,0,0,0,0,0,27.08,25.55,27.09,8.60,14.44
$GC,61016,-1.96,-146.0,2013,181,2735,2847,4720.2,-4.9,1385,61020,0.00,2.20,0.00,0.000,1030,0.000,0.060,2004,1624,2791,2735,2847,0,0,0,0,0,0,26.20,26.10,26.22,8.60,14.16
$GC,61348,-1.96,-146.0,2004,1624,2735,2847,4739.2,-5.3,1391,61349,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1624,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.32
$GC,61648,-1.96,-146.0,2004,1624,2735,2847,4756.7,-5.9,1396,61654,0.00,2.50,0.00,0.000,260,0.000,0.070,1993,3193,2791,2735,2847,0,0,0,0,0,0,27.07,25.62,27.08,8.60,14.24
$STATE,61707,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,61707,begin apogee
$GC,61714,-0.25,0.0,1992,1622,2735,2848,4760.6,-5.9,1397,61860,2.15,0.00,141.43,3.936,10246,0.211,0.000,2558,1622,2340,2277,2403,0,0,0,0,0,0,24.05,22.75,20.99,8.60,14.63
$STATE,61861,end apogee,CONTROL_FINISHED_OK
$STATE,61862,begin climb
$GC,61863,0.70,146.0,2558,1622,2277,2404,4765.7,0.0,1399,62035,1.05,2.85,161.02,3.938,10500,0.176,0.089,2859,3200,1837,1757,1917,0,0,0,0,0,0,23.20,22.47,21.08,8.57,13.93
$GC,62293,0.17,146.0,2858,3200,1756,1917,4706.8,23.2,1406,62299,0.82,2.53,0.00,0.000,5126,0.333,0.060,2707,1633,1836,1756,1917,0,0,0,0,0,0,24.94,25.47,25.32,8.53,13.22
$GC,62607,-0.19,146.0,2706,1633,1756,1917,4640.5,17.5,1412,62614,0.45,2.30,0.00,0.000,4612,0.323,0.077,2617,176,1836,1756,1917,0,0,0,0,0,0,25.41,25.83,25.65,8.53,13.37
$GC,62706,-0.53,146.0,2616,175,1756,1917,4631.3,17.3,1413,62713,0.55,2.22,0.00,0.000,5126,0.276,0.062,2481,1634,1836,1756,1917,0,0,0,0,0,0,25.58,26.19,25.94,8.52,14.00
$GC,63027,-0.62,146.0,2480,1634,1756,1917,4595.6,8.9,1419,63034,0.10,2.33,0.00,0.000,4612,0.313,0.077,2466,179,1836,1756,1916,0,0,0,0,0,0,25.84,26.11,26.00,8.53,14.08
$GC,63087,-0.71,146.0,2465,179,1756,1917,4590.4,8.9,1420,63094,0.17,2.20,0.00,0.000,5126,0.283,0.062,2425,1628,1836,1756,1917,0,0,0,0,0,0,25.72,26.38,26.06,8.52,13.02
$GC,63446,-0.71,146.0,2424,1628,1756,1917,4565.7,6.7,1426,63448,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1627,1836,1756,1917,0,0,0,0,0,0,26.81,26.83,26.82,8.52,13.73
$GC,63746,-0.71,146.0,2424,1628,1756,1917,4546.7,6.3,1431,63748,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1628,1836,1756,1917,0,0,0,0,0,0,26.86,26.89,26.88,8.52,13.61
$GC,64047,-0.71,146.0,2424,1627,1756,1917,4527.5,6.4,1436,64048,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1627,1836,1756,1916,0,0,0,0,0,0,26.91,26.92,26.91,8.51,14.56
$GC,64346,-0.71,146.0,2424,1628,1756,1917,4508.3,6.4,1441,64348,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1628,1836,1756,1917,0,0,0,0,0,0,26.94,26.95,26.95,8.51,13.81
$GC,64646,-0.71,146.0,2424,1628,1756,1917,4489.3,6.4,1446,64648,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1627,1836,1756,1917,0,0,0,0,0,0,26.96,26.97,26.97,8.51,14.12
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$GC,137874,0.58,387.3,2855,182,918,1104,94.0,9.7,2925,137878,0.00,2.03,0.00,0.000,1030,0.000,0.052,2855,1634,1010,917,1104,0,0,0,0,0,0,26.79,26.74,26.82,8.86,13.61
$GC,138186,0.58,387.3,2854,1635,917,1104,65.5,8.3,2956,138187,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1634,1011,918,1104,0,0,0,0,0,0,27.12,27.14,27.13,8.88,13.61
$GC,138486,0.58,387.3,2854,1635,919,1104,41.7,7.6,2986,138495,0.00,2.30,0.00,0.000,260,0.000,0.062,2855,3187,1011,919,1104,0,0,0,0,0,0,27.13,26.56,27.13,8.90,13.85
$GC,138548,0.58,387.3,2854,3187,919,1104,36.4,8.9,2992,138558,0.10,2.25,0.00,0.000,5126,0.194,0.052,2833,1615,1011,919,1104,0,0,0,0,0,0,26.35,26.69,26.47,8.91,13.93
$GC,138860,0.68,387.3,2833,1614,920,1104,16.5,7.1,3023,138869,0.00,2.10,0.00,0.000,516,0.000,0.067,2842,189,1012,921,1104,0,0,0,0,0,0,27.12,26.55,27.13,8.93,13.77
$GC,138986,0.80,387.3,2841,189,921,1104,8.7,6.5,3035,138994,0.12,2.00,0.00,0.000,3078,0.117,0.050,2911,1643,1013,922,1104,0,0,0,0,0,0,26.61,26.77,26.69,8.94,13.81
$STATE,139030,end climb,SURFACE_DEPTH_REACHED
$STATE,139030,begin surface coast
$FINISH,0.3,1.023752
$STATE,139081,end surface coast,CONTROL_FINISHED_OK
$STATE,139081,begin surface
$SM_CCo,139097,10.70,0.561,0,0,963,400.00
$SM_GC,2.06,7.05,0.00,10.70,0.077,0.000,0.561,131,1644,963,-7.77,0.85,400.00,0,0,0,0,0,0,26.48,27.14,25.63
$IRIDIUM_FIX,2612.58,-7601.33,100617,113350
$TT8_MAMPS,0.021721,0.182007
$HUMID,13.73
$INTERNAL_PRESSURE,8.90537
$TCM_TEMP,26.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.7
$ALTIM_BOTTOM_PING,4742.6,31.0
$24V_AH,20.99,39.012
$10V_AH,10.37,14.365
$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,25.475,476.100,529.400,10.700,122.100,22.639,37.172,460.680,14.250,0.000,27.222,10246.458,120206.859,1113.434,7464.673,737.583,0.000,5027.026,0.000,6757.523,0.000,130.777,0.000
$DEVICE_MAMPS,332.722,89.388,3938.038,561.158,119.184,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2126.859,4026.616,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284528
$DATA_FILE_SIZE,214580,3045
$CAP_FILE_SIZE,728627,0
$CFSIZE,2047311872,2025947136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.235,247.21,1
$GPS,130617,171938,2624.387,-7602.868,34,0.8,46,-8.9,0.7,264.2,11,5.0