version: 66.12
glider: 37
mission: 17
dive: 82
start: 6 17 117 1 14 2
data:
$ID,37
$MISSION,17
$DIVE,82
$N_DIVES,0
$STOP_T,6211719
$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,58
$R_STBD_OVSHOOT,79
$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
$GPS1,170617,010119,2624.5481,-7607.3989,36,0.9,53,-8.9,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-61.8
$GPS2,170617,011335,2624.4824,-7607.4814,6,0.8,21,-8.9,0.0,0.0,10,4.9
$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,70.6,87582,-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,268,-0.60,-146.0,2403,3173,2781,2909,27.1,-13.7,24,279,0.15,2.25,0.00,0.000,3078,0.179,0.052,2452,1600,2845,2781,2909,0,0,0,0,0,0,26.05,26.45,26.22,9.22,12.63
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$GC,618,-0.60,-146.0,2456,202,2781,2909,55.8,-8.1,59,622,0.00,1.95,0.00,0.000,1030,0.000,0.050,2448,1620,2845,2781,2909,0,0,0,0,0,0,26.72,26.67,26.74,9.22,12.15
$GC,930,-0.60,-146.0,2446,1635,2781,2909,78.7,-6.8,90,940,0.00,2.25,0.00,0.000,260,0.000,0.060,2436,3183,2845,2781,2909,0,0,0,0,0,0,27.05,26.62,27.06,9.21,13.61
$GC,983,-0.60,-146.0,2435,3183,2781,2909,82.3,-7.6,95,992,0.00,2.22,0.00,0.000,1030,0.000,0.050,2436,1600,2845,2781,2909,0,0,0,0,0,0,26.77,26.72,26.79,9.22,12.47
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$GC,1695,-0.60,-146.0,2438,195,2781,2909,131.3,-6.7,166,1699,0.00,1.95,0.00,0.000,1030,0.000,0.050,2430,1621,2845,2781,2909,0,0,0,0,0,0,26.87,26.82,26.89,9.18,13.10
$GC,2006,-0.60,-146.0,2429,1638,2781,2909,153.2,-7.5,195,2010,0.00,2.22,0.00,0.000,260,0.000,0.060,2418,3173,2845,2781,2909,0,0,0,0,0,0,27.13,26.70,27.14,9.17,12.86
$GC,2056,-0.60,-146.0,2417,3176,2781,2909,156.4,-7.6,197,2061,0.10,2.20,0.00,0.000,3078,0.179,0.050,2454,1604,2845,2781,2909,0,0,0,0,0,0,26.51,26.80,26.63,9.17,13.10
$GC,2364,-0.67,-146.0,2453,1604,2781,2909,178.3,-6.7,212,2368,0.00,2.03,0.00,0.000,516,0.000,0.065,2454,207,2845,2781,2909,0,0,0,0,0,0,27.13,26.67,27.15,9.16,13.02
$GC,2410,-0.73,-146.0,2453,207,2781,2908,181.6,-7.2,214,2415,0.05,1.95,0.00,0.000,5126,0.191,0.052,2409,1637,2844,2781,2908,0,0,0,0,0,0,26.69,26.84,26.76,9.15,13.33
$GC,2727,-0.73,-146.0,2408,1637,2780,2908,206.3,-7.5,230,2733,0.00,2.25,0.00,0.000,260,0.000,0.062,2397,3170,2844,2781,2908,0,0,0,0,0,0,27.14,26.72,27.15,9.14,13.30
$GC,2770,-0.73,-146.0,2397,3170,2781,2908,209.4,-7.7,232,2774,0.00,2.22,0.00,0.000,1030,0.000,0.052,2398,1619,2844,2781,2908,0,0,0,0,0,0,26.83,26.80,26.85,9.14,13.37
$GC,3088,-0.73,-146.0,2397,1619,2779,2907,235.2,-8.2,248,3091,0.00,2.05,0.00,0.000,516,0.000,0.067,2398,220,2844,2781,2907,0,0,0,0,0,0,27.14,26.69,27.15,9.13,13.41
$GC,3150,-0.73,-146.0,2397,198,2781,2906,241.0,-8.9,251,3153,0.00,1.95,0.00,0.000,1030,0.000,0.050,2387,1608,2843,2781,2906,0,0,0,0,0,0,26.89,26.84,26.90,9.13,13.69
$GC,3471,-0.73,-146.0,2387,1618,2781,2906,270.4,-9.0,267,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1618,2843,2781,2905,0,0,0,0,0,0,27.14,27.16,27.15,9.12,13.93
$GC,3771,-0.73,-146.0,2387,1618,2781,2905,296.5,-8.5,282,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1618,2842,2780,2904,0,0,0,0,0,0,27.15,27.15,27.16,9.11,13.96
$GC,4071,-0.73,-146.0,2387,1618,2781,2904,321.3,-8.2,293,4076,0.00,2.12,0.00,0.000,516,0.000,0.065,2388,187,2842,2781,2903,0,0,0,0,0,0,27.15,26.69,27.16,9.11,13.89
$GC,4124,-0.73,-146.0,2387,187,2781,2902,324.0,-8.4,294,4132,0.10,2.00,0.00,0.000,3078,0.186,0.050,2410,1632,2841,2781,2902,0,0,0,0,0,0,26.50,26.84,26.63,9.11,14.32
$GC,4431,-0.73,-146.0,2409,1633,2781,2902,347.6,-7.0,305,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1633,2841,2781,2902,0,0,0,0,0,0,27.15,27.16,27.16,9.09,14.12
$GC,4731,-0.73,-146.0,2409,1633,2781,2901,369.3,-7.4,315,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1633,2841,2781,2901,0,0,0,0,0,0,27.15,27.16,27.16,9.08,14.16
$GC,5031,-0.73,-146.0,2409,1633,2780,2900,390.2,-6.8,325,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1632,2840,2780,2901,0,0,0,0,0,0,27.15,27.16,27.16,9.08,14.52
$GC,5331,-0.73,-146.0,2409,1633,2781,2900,410.5,-6.7,335,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1633,2840,2781,2899,0,0,0,0,0,0,27.15,27.16,27.16,9.07,14.24
$GC,5631,-0.73,-146.0,2409,1633,2781,2899,430.3,-6.6,345,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1633,2839,2780,2899,0,0,0,0,0,0,27.15,27.17,27.16,9.07,14.24
$GC,5931,-0.73,-146.0,2409,1633,2780,2898,450.1,-6.8,355,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1632,2838,2778,2898,0,0,0,0,0,0,27.15,27.17,27.16,9.06,14.08
$GC,6231,-0.73,-146.0,2409,1633,2779,2897,469.2,-6.3,365,6235,0.00,2.17,0.00,0.000,516,0.000,0.065,2410,194,2838,2779,2897,0,0,0,0,0,0,27.15,26.68,27.16,9.05,14.71
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$GC,7193,-0.73,-146.0,2401,1628,2778,2894,535.1,-6.9,397,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1628,2836,2778,2895,0,0,0,0,0,0,27.15,27.16,27.16,9.04,14.87
$GC,7493,-0.73,-146.0,2401,1628,2777,2894,556.3,-7.0,407,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1628,2835,2777,2894,0,0,0,0,0,0,27.15,27.17,27.16,9.02,14.12
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$GC,8393,-0.73,-146.0,2401,1628,2775,2893,618.9,-7.1,437,8399,0.00,2.20,0.00,0.000,516,0.000,0.067,2402,196,2833,2775,2892,0,0,0,0,0,0,27.15,26.67,27.16,8.99,14.79
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$GC,8798,-0.73,-146.0,2379,3168,2774,2892,649.5,-7.8,450,8803,0.10,2.25,0.00,0.000,3078,0.186,0.050,2412,1608,2833,2774,2892,0,0,0,0,0,0,26.48,26.79,26.60,8.98,15.15
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$GC,9411,-0.87,-146.0,2412,1608,2773,2890,691.0,-6.5,471,9413,0.10,0.00,0.00,0.000,4102,0.144,0.000,2366,1607,2831,2773,2890,0,0,0,0,0,0,26.79,26.86,26.84,8.96,14.91
$GC,9711,-0.87,-146.0,2366,1608,2772,2889,715.2,-8.2,481,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1608,2831,2773,2889,0,0,0,0,0,0,27.15,27.17,27.16,8.95,14.52
$GC,10010,-0.87,-146.0,2366,1608,2772,2887,739.5,-8.4,491,10017,0.00,2.12,0.00,0.000,516,0.000,0.067,2366,196,2829,2772,2887,0,0,0,0,0,0,27.15,26.65,27.16,8.94,15.11
$GC,10059,-0.87,-146.0,2366,196,2772,2886,741.9,-8.5,492,10063,0.00,2.00,0.00,0.000,1030,0.000,0.052,2357,1613,2829,2772,2886,0,0,0,0,0,0,26.87,26.82,26.89,8.93,14.71
$GC,10371,-0.87,-146.0,2356,1613,2772,2886,771.6,-9.2,503,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1613,2829,2772,2886,0,0,0,0,0,0,27.15,27.16,27.15,8.92,14.87
$GC,10670,-0.87,-146.0,2356,1613,2771,2885,800.0,-9.7,513,10677,0.00,2.40,0.00,0.000,260,0.000,0.062,2345,3182,2827,2770,2885,0,0,0,0,0,0,27.15,26.67,27.16,8.91,15.34
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$GC,45102,-1.61,-146.0,2112,1611,2735,2847,3850.1,-6.3,1118,45103,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1612,2790,2735,2846,0,0,0,0,0,0,27.08,27.10,27.10,8.59,15.07
$GC,45403,-1.61,-146.0,2112,1612,2735,2846,3869.0,-6.2,1123,45404,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.59
$GC,45702,-1.61,-146.0,2112,1612,2734,2847,3888.1,-6.3,1128,45703,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.36
$GC,46003,-1.66,-146.0,2113,1612,2735,2847,3906.9,-6.2,1133,46004,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.24
$GC,46303,-1.71,-146.0,2113,1612,2735,2847,3925.7,-6.3,1138,46304,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.48
$GC,46603,-1.77,-146.0,2113,1612,2735,2847,3944.9,-6.4,1143,46605,0.08,0.00,0.00,0.000,4102,0.271,0.000,2092,1613,2791,2736,2847,0,0,0,0,0,0,26.44,26.47,26.44,8.59,14.52
$GC,46902,-1.77,-146.0,2091,1612,2735,2846,3967.2,-7.4,1148,46903,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.63
$GC,47202,-1.77,-146.0,2091,1612,2735,2846,3988.9,-7.2,1153,47203,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.10,8.58,14.75
$GC,47502,-1.77,-146.0,2092,1612,2735,2847,4009.5,-6.9,1158,47503,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.63
$GC,47803,-1.77,-146.0,2092,1612,2735,2847,4030.2,-6.8,1163,47809,0.00,2.50,0.00,0.000,260,0.000,0.067,2081,3182,2790,2735,2846,0,0,0,0,0,0,27.08,25.72,27.10,8.60,13.77
$GC,47850,-1.77,-146.0,2080,3182,2735,2847,4030.2,-6.8,1163,47854,0.00,2.42,0.00,0.000,1030,0.000,0.052,2081,1614,2791,2735,2847,0,0,0,0,0,0,26.28,26.19,26.31,8.59,14.95
$GC,48158,-1.77,-146.0,2080,1613,2735,2847,4055.9,-7.3,1168,48159,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1613,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.59
$GC,48457,-1.77,-146.0,2080,1613,2735,2846,4077.5,-7.1,1173,48458,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,1613,2790,2735,2846,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.75
$GC,48757,-1.77,-146.0,2080,1613,2735,2847,4098.5,-7.0,1178,48759,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1613,2790,2735,2846,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.91
$GC,49057,-1.77,-146.0,2080,1613,2735,2847,4119.5,-6.9,1183,49058,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1613,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.32
$GC,49358,-1.77,-146.0,2079,1613,2736,2846,4139.9,-6.9,1188,49359,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1613,2790,2735,2846,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.04
$GC,49657,-1.77,-146.0,2080,1613,2735,2847,4159.5,-6.5,1193,49658,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1613,2790,2734,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.79
$GC,49957,-1.77,-146.0,2080,1612,2735,2847,4178.7,-6.3,1198,49959,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.95
$GC,50257,-1.77,-146.0,2080,1612,2734,2847,4198.1,-6.5,1203,50258,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.40
$GC,50558,-1.77,-146.0,2080,1612,2735,2847,4217.7,-6.6,1208,50559,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,1612,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.67
$GC,50857,-1.77,-146.0,2080,1613,2735,2846,4237.1,-6.5,1213,50863,0.00,2.30,0.00,0.000,516,0.000,0.074,2081,190,2790,2735,2846,0,0,0,0,0,0,27.08,25.61,27.09,8.60,14.63
$GC,50905,-1.77,-146.0,2080,190,2735,2846,4237.1,-6.5,1213,50910,0.00,2.17,0.00,0.000,1030,0.000,0.057,2071,1624,2790,2735,2846,0,0,0,0,0,0,26.28,26.19,26.31,8.60,14.36
$GC,51219,-1.77,-146.0,2070,1624,2735,2847,4261.6,-6.6,1219,51220,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1624,2790,2734,2846,0,0,0,0,0,0,27.02,27.04,27.03,8.60,15.03
$GC,51519,-1.77,-146.0,2070,1624,2734,2846,4280.7,-6.3,1224,51520,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1624,2790,2735,2846,0,0,0,0,0,0,27.02,27.04,27.03,8.60,14.71
$GC,51818,-1.77,-146.0,2069,1624,2735,2847,4299.7,-6.3,1229,51819,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1624,2790,2735,2846,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.28
$GC,52117,-1.77,-146.0,2070,1624,2735,2847,4317.9,-6.0,1234,52118,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1624,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.59,14.95
$GC,52417,-1.77,-146.0,2070,1624,2735,2846,4336.0,-6.0,1239,52418,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1624,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.00
$GC,52717,-1.77,-146.0,2070,1624,2735,2846,4354.0,-6.0,1244,52718,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1624,2791,2735,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.32
$GC,53018,-1.82,-146.0,2070,1624,2735,2846,4371.7,-5.9,1249,53019,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1624,2791,2736,2847,0,0,0,0,0,0,27.08,27.10,27.09,8.60,14.56
$GC,53318,-1.87,-146.0,2069,1624,2735,2847,4389.1,-5.8,1254,53319,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1623,2791,2735,2847,0,0,0,0,0,0,27.08,27.09,27.09,8.60,14.52
$GC,53618,-1.92,-146.0,2070,1624,2735,2846,4406.1,-5.7,1259,53619,0.08,0.00,0.00,0.000,4102,0.273,0.000,2050,1625,2790,2735,2846,0,0,0,0,0,0,26.41,26.45,26.42,8.60,14.99
$GC,53917,-1.92,-146.0,2049,1625,2735,2846,4425.1,-6.4,1264,53922,0.00,2.33,0.00,0.000,516,0.000,0.072,2050,192,2790,2735,2846,0,0,0,0,0,0,27.08,25.60,27.09,8.60,14.56
$GC,53967,-1.92,-146.0,2049,191,2735,2846,4425.1,-6.4,1264,53971,0.00,2.17,0.00,0.000,1030,0.000,0.057,2039,1619,2790,2735,2846,0,0,0,0,0,0,26.25,26.17,26.29,8.60,14.63
$GC,54280,-1.92,-146.0,2039,1619,2735,2847,4449.6,-6.6,1270,54281,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1619,2791,2735,2847,0,0,0,0,0,0,27.07,27.09,27.08,8.60,14.40
$GC,54579,-1.92,-146.0,2038,1619,2735,2846,4469.8,-6.7,1275,54585,0.00,2.53,0.00,0.000,260,0.000,0.070,2028,3182,2791,2735,2847,0,0,0,0,0,0,27.08,25.66,27.09,8.60,13.85
$GC,54627,-1.92,-146.0,2027,3182,2735,2847,4469.8,-6.7,1275,54632,0.00,2.42,0.00,0.000,1030,0.000,0.055,2028,1611,2791,2735,2847,0,0,0,0,0,0,26.19,26.10,26.22,8.59,14.24
$GC,54939,-1.92,-146.0,2027,1610,2735,2847,4495.1,-7.1,1281,54940,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1611,2790,2734,2847,0,0,0,0,0,0,27.07,27.09,27.08,8.60,14.16
$GC,55239,-1.92,-146.0,2027,1610,2735,2847,4516.3,-7.1,1286,55244,0.00,2.25,0.00,0.000,516,0.000,0.074,2028,195,2790,2735,2846,0,0,0,0,0,0,27.08,25.59,27.09,8.60,14.75
$GC,55294,-1.92,-146.0,2027,195,2735,2846,4516.3,-7.1,1286,55303,0.00,2.15,0.00,0.000,1030,0.000,0.055,2018,1614,2791,2735,2847,0,0,0,0,0,0,26.25,26.17,26.28,8.60,14.36
$GC,55603,-1.92,-146.0,2017,1615,2735,2846,4542.7,-7.2,1292,55605,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1615,2791,2735,2847,0,0,0,0,0,0,27.02,27.04,27.03,8.61,14.08
$GC,55903,-1.92,-146.0,2017,1614,2735,2847,4563.3,-6.8,1297,55909,0.00,2.53,0.00,0.000,260,0.000,0.070,2006,3189,2791,2735,2847,0,0,0,0,0,0,27.01,25.65,27.03,8.61,14.44
$GC,55949,-1.92,-146.0,2006,3189,2735,2847,4563.3,-6.8,1297,55954,0.00,2.42,0.00,0.000,1030,0.000,0.055,2007,1604,2791,2735,2847,0,0,0,0,0,0,26.22,26.14,26.25,8.60,14.36
$GC,56262,-1.92,-146.0,2006,1604,2735,2847,4588.9,-7.1,1303,56263,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1605,2791,2735,2847,0,0,0,0,0,0,27.07,27.09,27.08,8.60,14.16
$GC,56562,-1.92,-146.0,2005,1604,2735,2846,4610.2,-7.0,1308,56566,0.00,2.25,0.00,0.000,516,0.000,0.074,2006,190,2791,2735,2847,0,0,0,0,0,0,27.07,25.58,27.08,8.61,14.44
$GC,56616,-1.92,-146.0,2007,190,2735,2847,4610.2,-7.0,1308,56624,0.12,2.17,0.00,0.000,3078,0.276,0.057,2024,1626,2791,2735,2847,0,0,0,0,0,0,25.15,26.17,25.29,8.61,14.71
$GC,56924,-1.92,-146.0,2023,1626,2735,2846,4634.2,-6.4,1314,56926,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1626,2791,2735,2847,0,0,0,0,0,0,27.07,27.09,27.08,8.60,14.32
$GC,57224,-1.92,-146.0,2023,1626,2735,2846,4652.6,-6.1,1319,57225,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1626,2790,2735,2846,0,0,0,0,0,0,27.07,27.09,27.08,8.61,14.91
$GC,57524,-1.92,-146.0,2023,1626,2735,2846,4670.5,-5.9,1324,57525,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1626,2790,2735,2846,0,0,0,0,0,0,27.07,27.09,27.08,8.60,15.07
$GC,57825,-1.92,-146.0,2023,1626,2735,2847,4688.3,-5.9,1329,57826,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1626,2791,2735,2847,0,0,0,0,0,0,27.08,27.09,27.08,8.60,14.36
$GC,58124,-1.92,-146.0,2023,1626,2736,2847,4705.5,-5.7,1334,58130,0.00,2.53,0.00,0.000,260,0.000,0.070,2014,3191,2791,2735,2847,0,0,0,0,0,0,27.08,25.64,27.08,8.60,13.85
$GC,58171,-1.92,-146.0,2013,3191,2735,2847,4705.5,-5.7,1334,58176,0.00,2.42,0.00,0.000,1030,0.000,0.055,2014,1616,2791,2735,2847,0,0,0,0,0,0,26.22,26.13,26.25,8.61,14.71
$GC,58479,-1.92,-146.0,2013,1617,2735,2847,4726.5,-5.8,1339,58485,0.00,2.28,0.00,0.000,516,0.000,0.074,2014,189,2790,2735,2846,0,0,0,0,0,0,27.07,25.56,27.08,8.60,14.44
$GC,58539,-1.92,-146.0,2013,188,2735,2846,4730.2,-6.0,1340,58545,0.00,2.17,0.00,0.000,1030,0.000,0.057,2005,1625,2791,2735,2847,0,0,0,0,0,0,26.25,26.16,26.27,8.61,14.71
$GC,58899,-1.92,-146.0,2004,1625,2735,2847,4751.8,-6.0,1346,58900,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1625,2790,2734,2846,0,0,0,0,0,0,27.07,27.08,27.08,8.61,14.28
$GC,59199,-1.92,-146.0,2003,1624,2735,2847,4769.1,-5.8,1351,59200,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1625,2790,2735,2846,0,0,0,0,0,0,27.07,27.09,27.08,8.60,14.56
$STATE,59257,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,59257,begin apogee
$GC,59262,-0.25,0.0,2004,1625,2735,2846,4772.7,-5.8,1352,59409,2.00,0.00,142.52,3.928,10246,0.194,0.000,2557,1624,2340,2276,2404,0,0,0,0,0,0,23.98,22.74,20.94,8.61,14.52
$STATE,59410,end apogee,CONTROL_FINISHED_OK
$STATE,59410,begin climb
$GC,59412,0.70,146.0,2557,1625,2276,2404,4777.3,0.0,1354,59582,1.05,2.92,160.68,3.911,10500,0.164,0.092,2859,3188,1837,1758,1917,0,0,0,0,0,0,23.21,22.79,21.04,8.58,14.36
$GC,59815,0.16,146.0,2858,3188,1756,1917,4716.5,23.8,1361,59823,0.80,2.53,0.00,0.000,5126,0.320,0.055,2705,1621,1836,1756,1917,0,0,0,0,0,0,24.92,25.43,25.27,8.54,13.96
$GC,60162,-0.20,146.0,2704,1620,1756,1917,4651.0,17.4,1367,60169,0.43,2.25,0.00,0.000,4612,0.313,0.074,2616,181,1836,1756,1917,0,0,0,0,0,0,25.48,25.89,25.71,8.53,14.28
$GC,60235,-0.54,146.0,2616,181,1757,1917,4641.8,16.9,1368,60241,0.52,2.22,0.00,0.000,5126,0.271,0.060,2483,1633,1836,1756,1917,0,0,0,0,0,0,25.63,26.20,25.96,8.53,13.41
$GC,60579,-0.63,146.0,2482,1634,1756,1917,4607.0,9.3,1374,60581,0.15,0.00,0.00,0.000,4102,0.283,0.000,2448,1635,1836,1756,1917,0,0,0,0,0,0,25.81,26.24,26.12,8.52,14.16
$GC,60878,-0.63,146.0,2448,1635,1755,1917,4583.0,7.9,1379,60879,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1635,1836,1756,1917,0,0,0,0,0,0,26.79,26.82,26.82,8.52,13.49
$GC,61178,-0.63,146.0,2447,1634,1756,1917,4560.1,7.6,1384,61183,0.00,2.30,0.00,0.000,516,0.000,0.077,2458,183,1837,1757,1917,0,0,0,0,0,0,26.86,26.36,26.88,8.53,14.28
$GC,61273,-0.63,146.0,2457,183,1756,1917,4555.0,7.7,1385,61277,0.00,2.20,0.00,0.000,1030,0.000,0.060,2458,1633,1837,1756,1918,0,0,0,0,0,0,26.60,26.52,26.63,8.52,13.73
$GC,61601,-0.63,146.0,2457,1635,1756,1916,4526.8,7.7,1391,61602,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1635,1836,1756,1916,0,0,0,0,0,0,26.91,26.94,26.93,8.52,14.59
$GC,61900,-0.63,146.0,2458,1635,1756,1917,4503.5,7.8,1396,61906,0.00,2.33,0.00,0.000,516,0.000,0.077,2469,178,1836,1756,1917,0,0,0,0,0,0,26.94,26.40,26.96,8.52,13.85
$GC,61961,-0.68,146.0,2469,178,1756,1916,4498.4,7.9,1397,61967,0.15,2.20,0.00,0.000,5126,0.288,0.060,2435,1635,1836,1756,1916,0,0,0,0,0,0,25.79,26.57,26.12,8.52,14.28
$GC,62320,-0.68,146.0,2434,1635,1756,1916,4473.6,6.8,1403,62321,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1635,1836,1756,1917,0,0,0,0,0,0,26.97,26.99,26.98,8.52,14.04
$GC,62620,-0.68,146.0,2434,1635,1756,1917,4453.8,6.6,1408,62621,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1635,1836,1756,1916,0,0,0,0,0,0,26.99,27.01,27.01,8.51,14.44
$GC,62921,-0.68,146.0,2434,1634,1757,1916,4434.0,6.5,1413,62922,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1634,1836,1756,1916,0,0,0,0,0,0,27.01,27.02,27.02,8.51,14.75
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$GC,135088,0.52,439.2,2833,1620,731,929,251.9,10.0,2769,135094,0.00,2.15,0.00,0.000,516,0.000,0.070,2844,186,830,732,929,0,0,0,0,0,0,27.10,26.41,27.12,8.75,13.85
$GC,135130,0.52,439.2,2843,186,733,929,247.6,10.3,2771,135135,0.08,2.08,0.00,0.000,5126,0.181,0.052,2818,1634,831,733,929,0,0,0,0,0,0,26.31,26.68,26.36,8.76,13.61
$GC,135449,0.58,439.2,2818,1634,732,929,218.6,9.2,2787,135450,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1634,831,733,929,0,0,0,0,0,0,27.10,27.13,27.12,8.77,13.73
$GC,135748,0.64,439.2,2818,1634,734,929,190.4,9.5,2802,135749,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1635,831,734,929,0,0,0,0,0,0,27.10,27.13,27.12,8.78,13.96
$GC,136048,0.70,439.2,2818,1634,734,929,164.6,8.4,2817,136050,0.10,0.00,0.00,0.000,2054,0.144,0.000,2876,1634,831,734,929,0,0,0,0,0,0,26.75,26.81,26.78,8.79,14.16
$GC,136349,0.70,439.2,2875,1635,734,929,131.1,11.4,2840,136350,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1634,832,734,930,0,0,0,0,0,0,27.11,27.13,27.13,8.81,13.77
$GC,136647,0.70,439.2,2875,1634,735,929,97.0,11.1,2870,136649,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1634,832,735,929,0,0,0,0,0,0,27.11,27.13,27.13,8.83,14.00
$GC,136948,0.70,439.2,2875,1634,736,929,66.0,10.2,2900,136949,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1634,832,736,929,0,0,0,0,0,0,27.11,27.13,27.13,8.85,14.56
$GC,137248,0.70,439.2,2875,1634,738,929,36.6,9.7,2930,137249,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1634,833,738,929,0,0,0,0,0,0,27.11,27.13,27.13,8.87,14.24
$GC,137549,0.77,439.2,2875,1634,739,929,11.1,6.1,2960,137558,0.00,2.17,0.00,0.000,516,0.000,0.067,2886,163,834,740,929,0,0,0,0,0,0,27.12,26.51,27.13,8.90,14.40
$GC,137603,0.84,439.2,2885,163,741,929,6.8,7.8,2965,137612,0.00,2.05,0.00,0.000,1030,0.000,0.052,2886,1642,835,741,929,0,0,0,0,0,0,26.80,26.74,26.82,8.91,13.81
$STATE,137628,end climb,SURFACE_DEPTH_REACHED
$STATE,137629,begin surface coast
$FINISH,-0.2,1.024037
$STATE,137691,end surface coast,CONTROL_FINISHED_OK
$STATE,137691,begin surface
$SM_CCo,137766,0.00,0.000,0,0,834,437.48
$SM_GC,0.55,7.03,0.00,0.00,0.077,0.000,0.000,129,1643,834,-7.80,0.82,437.48,0,0,0,0,0,0,26.39,27.13,26.50
$IRIDIUM_FIX,2614.98,-7553.74,150617,085103
$TT8_MAMPS,0.021721,0.181258
$HUMID,13.65
$INTERNAL_PRESSURE,8.87608
$TCM_TEMP,27.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.6
$ALTIM_BOTTOM_PING,4681.3,103.4
$24V_AH,20.94,40.716
$10V_AH,10.34,15.214
$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,25.800,517.425,569.275,0.000,127.425,25.914,16.227,461.902,13.750,0.000,22.394,10179.097,118730.500,1156.333,7592.138,750.454,0.000,5150.216,0.000,6899.372,0.000,122.069,0.000
$DEVICE_MAMPS,320.307,91.871,3928.106,0.000,134.082,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2078.426,3932.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284476
$DATA_FILE_SIZE,210785,2974
$CAP_FILE_SIZE,738603,0
$CFSIZE,2047311872,2024964096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,63285.77,0x213daa,1,24
$CURRENT,0.251,235.23,1
$GPS,180617,153136,2620.826,-7606.862,36,0.8,46,-8.9,0.0,0.0,10,5.0