version: 66.14
glider: 37
mission: 21
dive: 24
start: 6 23 118 0 31 52
data:
$ID,37
$MISSION,21
$DIVE,24
$N_DIVES,0
$STOP_T,6281821
$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,2400
$T_MISSION,2460
$T_ABORT,3120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,79151.398
$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,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2611
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,19.60647
$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,2736
$C_ROLL_CLIMB,2898
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,1981
$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,-23.438587
$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,2000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$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,0.0043927636
$SEABIRD_T_H,0.00063406175
$SEABIRD_T_I,2.520242e-05
$SEABIRD_T_J,3.0515216e-06
$SEABIRD_C_G,-10.05458
$SEABIRD_C_H,1.1421854
$SEABIRD_C_I,-0.0012484327
$SEABIRD_C_J,0.00018427697
$SEABIRD_C_Z,2969.6799
$GPS1,230618,001736,2619.9475,-7540.2241,31,0.9,34,-9.1,0.3,77.8,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-59.5
$GPS2,230618,003114,2619.8936,-7540.1372,6,1.0,15,-9.1,0.0,0.0,8,5.0
$SPEED_LIMITS,0.130,0.209
$TGT_NAME,RM73_45
$TGT_LATLONG,2630.000,-7345.000
$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,76.3,191746,-16.4,-7.500,-19.77,2948
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
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$GC,6987,-0.78,-146.0,2329,2738,2415,2541,467.5,-7.5,431,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2738,2478,2415,2541,0,0,0,0,0,0,27.24,27.26,27.26,8.35,24.95
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$GC,38449,-1.65,-146.0,2057,2739,2379,2490,3361.1,-8.5,1050,38450,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2739,2435,2379,2491,0,0,0,0,0,0,27.17,27.19,27.18,7.90,25.15
$GC,38735,-1.65,-146.0,2057,2739,2378,2490,3385.8,-8.2,1055,38736,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2740,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,26.01
$GC,39035,-1.65,-146.0,2057,2739,2379,2490,3409.4,-7.8,1060,39039,0.00,1.88,0.00,0.000,260,0.000,0.087,2048,3949,2434,2379,2490,0,0,0,0,0,0,27.18,26.77,27.20,7.90,26.21
$GC,39084,-1.65,-146.0,2048,3949,2378,2490,3409.4,-7.8,1060,39089,0.12,1.88,0.00,0.000,3078,0.303,0.062,2076,2729,2434,2378,2491,0,0,0,0,0,0,26.24,26.81,26.58,7.90,25.70
$GC,39396,-1.65,-146.0,2075,2729,2378,2491,3435.7,-7.0,1066,39401,0.00,2.50,0.00,0.000,516,0.000,0.089,2076,1131,2434,2378,2491,0,0,0,0,0,0,27.18,26.82,27.20,7.90,25.42
$GC,39479,-1.65,-146.0,2075,1131,2378,2490,3440.3,-7.2,1067,39484,0.00,2.53,0.00,0.000,1030,0.000,0.077,2066,2740,2435,2379,2491,0,0,0,0,0,0,26.79,26.56,26.84,7.89,25.31
$GC,39827,-1.65,-146.0,2066,2741,2378,2491,3466.9,-7.1,1073,39832,0.00,1.85,0.00,0.000,260,0.000,0.087,2057,3937,2434,2378,2490,0,0,0,0,0,0,27.18,26.75,27.20,7.89,25.62
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$GC,40622,-1.65,-146.0,2072,2744,2379,2490,3523.9,-7.0,1086,40626,0.00,1.85,0.00,0.000,260,0.000,0.087,2065,3940,2434,2378,2490,0,0,0,0,0,0,27.15,26.75,27.17,7.90,26.01
$GC,40677,-1.65,-146.0,2065,3940,2378,2491,3523.9,-7.0,1086,40684,0.00,1.85,0.00,0.000,1030,0.000,0.062,2065,2736,2434,2378,2491,0,0,0,0,0,0,26.90,26.79,26.93,7.90,25.58
$GC,40984,-1.65,-146.0,2065,2737,2378,2490,3550.9,-7.1,1092,40990,0.00,2.53,0.00,0.000,516,0.000,0.089,2065,1124,2434,2378,2490,0,0,0,0,0,0,27.17,26.80,27.19,7.89,25.38
$GC,41052,-1.65,-146.0,2065,1124,2378,2490,3555.4,-7.1,1093,41057,0.00,2.55,0.00,0.000,1030,0.000,0.077,2054,2741,2434,2378,2490,0,0,0,0,0,0,26.77,26.53,26.82,7.89,25.15
$GC,41413,-1.65,-146.0,2053,2743,2378,2490,3581.2,-7.2,1099,41414,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2743,2434,2378,2490,0,0,0,0,0,0,27.16,27.18,27.17,7.90,25.66
$GC,41711,-1.65,-146.0,2053,2743,2378,2490,3602.5,-7.1,1104,41713,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2743,2434,2379,2490,0,0,0,0,0,0,27.16,27.18,27.17,7.89,25.54
$GC,42012,-1.65,-146.0,2053,2742,2378,2490,3623.4,-6.9,1109,42013,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2743,2434,2378,2490,0,0,0,0,0,0,27.16,27.18,27.18,7.89,25.97
$GC,42299,-1.65,-146.0,2054,2743,2378,2490,3644.0,-6.9,1114,42300,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2742,2434,2378,2490,0,0,0,0,0,0,27.17,27.20,27.19,7.89,26.13
$GC,42599,-1.65,-146.0,2054,2743,2378,2490,3664.7,-6.9,1119,42600,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2743,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.38
$GC,42899,-1.65,-146.0,2054,2743,2378,2490,3685.2,-6.8,1124,42900,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2743,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.97
$GC,43200,-1.65,-146.0,2053,2743,2378,2490,3705.0,-6.6,1129,43201,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2743,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.90,25.94
$GC,43499,-1.65,-146.0,2054,2743,2378,2489,3724.3,-6.4,1134,43503,0.00,1.88,0.00,0.000,260,0.000,0.087,2045,3942,2434,2379,2490,0,0,0,0,0,0,27.18,26.74,27.20,7.89,25.97
$GC,43568,-1.65,-146.0,2044,3942,2378,2490,3728.4,-6.4,1135,43573,0.12,1.88,0.00,0.000,3078,0.300,0.062,2073,2727,2434,2378,2490,0,0,0,0,0,0,26.20,26.79,26.54,7.89,26.25
$GC,43921,-1.73,-146.0,2073,2727,2378,2490,3748.9,-5.6,1141,43929,0.00,2.53,0.00,0.000,516,0.000,0.092,2073,1124,2434,2378,2490,0,0,0,0,0,0,27.18,26.80,27.20,7.89,25.74
$GC,43990,-1.80,-146.0,2073,1124,2377,2490,3752.6,-5.7,1142,43995,0.00,2.58,0.00,0.000,1030,0.000,0.079,2064,2747,2434,2378,2490,0,0,0,0,0,0,26.76,26.52,26.82,7.89,25.54
$GC,44338,-1.87,-146.0,2064,2748,2378,2490,3773.7,-5.8,1148,44343,0.10,1.85,0.00,0.000,4356,0.268,0.087,2026,3939,2434,2378,2490,0,0,0,0,0,0,26.44,26.67,26.55,7.89,25.42
$GC,44394,-1.94,-146.0,2026,3939,2378,2490,3773.7,-5.8,1148,44401,0.08,1.85,0.00,0.000,5126,0.281,0.062,2007,2737,2433,2377,2490,0,0,0,0,0,0,26.46,26.79,26.66,7.89,25.34
$GC,44714,-1.94,-146.0,2006,2736,2378,2490,3801.6,-7.9,1154,44718,0.00,2.53,0.00,0.000,516,0.000,0.092,2007,1127,2434,2378,2490,0,0,0,0,0,0,27.16,26.79,27.17,7.89,25.82
$GC,44799,-1.94,-146.0,2006,1127,2377,2490,3807.7,-7.9,1155,44804,0.00,2.55,0.00,0.000,1030,0.000,0.079,1996,2736,2434,2378,2490,0,0,0,0,0,0,26.74,26.48,26.80,7.90,25.66
$GC,45132,-1.94,-146.0,1995,2737,2377,2490,3836.1,-8.0,1161,45133,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2737,2434,2378,2490,0,0,0,0,0,0,27.17,27.20,27.19,7.89,25.70
$GC,45432,-1.94,-146.0,1995,2737,2378,2490,3859.8,-7.9,1166,45433,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2737,2434,2378,2490,0,0,0,0,0,0,27.17,27.20,27.19,7.89,25.27
$GC,45745,-1.94,-146.0,1995,2737,2378,2490,3883.3,-7.8,1171,45746,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2737,2434,2378,2490,0,0,0,0,0,0,27.17,27.18,27.18,7.89,25.38
$GC,46031,-1.94,-146.0,1995,2737,2378,2490,3906.3,-7.6,1176,46032,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2737,2433,2377,2490,0,0,0,0,0,0,27.17,27.20,27.19,7.89,25.07
$GC,46331,-1.94,-146.0,1994,2738,2378,2490,3928.8,-7.4,1181,46332,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2738,2434,2378,2490,0,0,0,0,0,0,27.17,27.20,27.20,7.89,25.70
$GC,46632,-1.94,-146.0,1995,2737,2377,2490,3950.3,-7.2,1186,46633,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2737,2433,2377,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.23
$GC,46931,-1.94,-146.0,1995,2737,2378,2490,3971.8,-7.2,1191,46932,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.11
$GC,47231,-1.94,-146.0,1995,2738,2378,2490,3992.7,-7.0,1196,47232,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,26.21
$GC,47531,-1.94,-146.0,1995,2738,2378,2490,4013.0,-6.8,1201,47532,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2433,2378,2488,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.34
$GC,47832,-1.94,-146.0,1995,2738,2378,2490,4032.9,-6.6,1206,47833,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.70
$GC,48131,-1.94,-146.0,1995,2738,2378,2490,4052.5,-6.5,1211,48132,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,24.95
$GC,48431,-1.94,-146.0,1995,2738,2379,2490,4071.8,-6.5,1216,48432,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.90,25.74
$GC,48731,-1.94,-146.0,1995,2738,2378,2490,4091.1,-6.4,1221,48732,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.90,25.34
$GC,49032,-1.94,-146.0,1995,2738,2378,2490,4110.7,-6.5,1226,49033,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2433,2377,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,26.13
$GC,49331,-1.94,-146.0,1995,2738,2378,2490,4129.9,-6.4,1231,49332,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.46
$GC,49631,-1.94,-146.0,1995,2738,2378,2490,4149.1,-6.4,1236,49632,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.90,25.66
$GC,49931,-1.94,-146.0,1995,2738,2378,2490,4167.9,-6.3,1241,49932,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.90,25.31
$GC,50232,-1.94,-146.0,1995,2738,2378,2490,4186.7,-6.4,1246,50233,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.27
$GC,50531,-1.94,-146.0,1995,2738,2378,2490,4205.4,-6.2,1251,50532,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.90,25.38
$GC,50843,-1.94,-146.0,1995,2738,2378,2490,4223.5,-6.0,1256,50845,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.17,27.19,27.18,7.89,25.50
$GC,51143,-1.94,-146.0,1995,2738,2378,2490,4241.2,-5.9,1261,51145,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2738,2434,2378,2490,0,0,0,0,0,0,27.17,27.19,27.18,7.90,25.42
$GC,51431,-1.94,-146.0,1995,2738,2378,2490,4258.5,-5.7,1266,51433,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.90,25.70
$GC,51731,-1.94,-146.0,1995,2738,2378,2490,4275.9,-5.8,1271,51732,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.17,27.20,27.20,7.89,25.54
$GC,52031,-1.94,-146.0,1995,2738,2378,2490,4293.1,-5.8,1276,52032,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2738,2434,2378,2490,0,0,0,0,0,0,27.19,27.20,27.20,7.90,25.74
$GC,52331,-1.94,-146.0,1994,2738,2378,2490,4310.3,-5.7,1281,52332,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.42
$GC,52632,-1.94,-146.0,1995,2738,2378,2490,4326.9,-5.4,1286,52633,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2738,2434,2378,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.89,25.11
$GC,52944,-1.94,-146.0,1995,2738,2378,2490,4342.9,-5.3,1291,52947,0.00,1.90,0.00,0.000,260,0.000,0.089,1987,3941,2434,2378,2490,0,0,0,0,0,0,27.17,26.72,27.18,7.89,24.87
$GC,53028,-1.94,-146.0,1985,3941,2377,2490,4347.0,-5.4,1292,53032,0.00,1.90,0.00,0.000,1030,0.000,0.065,1986,2727,2433,2377,2490,0,0,0,0,0,0,26.88,26.77,26.91,7.89,25.74
$GC,53366,-1.94,-146.0,1986,2727,2377,2490,4366.4,-5.3,1298,53373,0.00,2.53,0.00,0.000,516,0.000,0.094,1987,1130,2434,2377,2491,0,0,0,0,0,0,27.18,26.78,27.20,7.90,25.54
$GC,53434,-1.94,-146.0,1986,1129,2378,2490,4370.1,-5.5,1299,53438,0.00,2.60,0.00,0.000,1030,0.000,0.082,1975,2746,2434,2378,2490,0,0,0,0,0,0,26.70,26.44,26.77,7.90,25.42
$GC,53781,-1.94,-146.0,1974,2748,2377,2490,4390.1,-5.6,1305,53783,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2748,2433,2377,2490,0,0,0,0,0,0,27.17,27.20,27.19,7.90,25.42
$GC,54081,-1.94,-146.0,1975,2748,2378,2489,4406.6,-5.5,1310,54082,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2748,2434,2378,2490,0,0,0,0,0,0,27.17,27.20,27.20,7.90,25.11
$GC,54394,-1.94,-146.0,1974,2748,2378,2490,4423.1,-5.4,1315,54395,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2748,2433,2377,2490,0,0,0,0,0,0,27.17,27.19,27.18,7.90,24.95
$GC,54681,-1.94,-146.0,1975,2748,2377,2490,4439.1,-5.4,1320,54685,0.00,1.88,0.00,0.000,260,0.000,0.089,1966,3942,2433,2377,2490,0,0,0,0,0,0,27.18,26.72,27.20,7.90,25.38
$GC,54758,-1.94,-146.0,1965,3943,2377,2490,4442.5,-5.4,1321,54761,0.00,1.90,0.00,0.000,1030,0.000,0.067,1965,2720,2433,2377,2490,0,0,0,0,0,0,26.86,26.76,26.90,7.90,25.11
$GC,55128,-1.94,-146.0,1965,2721,2378,2490,4463.1,-5.5,1327,55134,0.00,2.53,0.00,0.000,516,0.000,0.094,1966,1125,2433,2377,2490,0,0,0,0,0,0,27.17,26.77,27.18,7.90,24.83
$GC,55239,-1.94,-146.0,1965,1125,2377,2490,4467.3,-5.5,1328,55247,0.12,2.58,0.00,0.000,3078,0.333,0.082,1978,2737,2434,2378,2490,0,0,0,0,0,0,25.99,26.45,26.39,7.90,25.11
$GC,55548,-1.94,-146.0,1978,2738,2377,2490,4485.6,-5.0,1334,55549,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2738,2433,2377,2490,0,0,0,0,0,0,27.17,27.19,27.19,7.90,24.87
$GC,55860,-1.94,-146.0,1978,2738,2377,2490,4500.3,-4.8,1339,55863,0.00,1.90,0.00,0.000,260,0.000,0.089,1972,3949,2433,2377,2490,0,0,0,0,0,0,27.16,26.71,27.17,7.90,24.91
$GC,55929,-1.94,-146.0,1971,3949,2377,2490,4503.9,-4.9,1340,55933,0.00,1.90,0.00,0.000,1030,0.000,0.065,1972,2729,2433,2377,2490,0,0,0,0,0,0,26.84,26.72,26.88,7.90,24.99
$GC,56295,-1.94,-146.0,1971,2728,2377,2490,4521.1,-4.7,1346,56300,0.00,2.53,0.00,0.000,516,0.000,0.094,1972,1131,2433,2377,2490,0,0,0,0,0,0,27.16,26.76,27.17,7.89,25.34
$GC,56361,-1.94,-146.0,1971,1130,2378,2490,4524.9,-4.9,1347,56366,0.00,2.58,0.00,0.000,1030,0.000,0.082,1961,2744,2433,2377,2490,0,0,0,0,0,0,26.69,26.43,26.76,7.90,24.83
$GC,56727,-1.94,-146.0,1961,2744,2378,2490,4542.8,-5.1,1353,56728,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2744,2433,2377,2490,0,0,0,0,0,0,27.16,27.18,27.17,7.90,24.95
$GC,57014,-1.94,-146.0,1960,2744,2377,2490,4558.0,-5.1,1358,57015,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2744,2434,2378,2490,0,0,0,0,0,0,27.17,27.20,27.19,7.91,25.58
$GC,57315,-1.94,-146.0,1960,2744,2378,2490,4572.6,-4.9,1363,57316,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2744,2433,2377,2490,0,0,0,0,0,0,27.17,27.20,27.19,7.90,24.95
$GC,57614,-1.94,-146.0,1960,2744,2377,2490,4587.6,-5.0,1368,57615,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2744,2433,2377,2490,0,0,0,0,0,0,27.17,27.20,27.19,7.90,24.95
$GC,57926,-1.94,-146.0,1960,2744,2377,2490,4602.3,-4.9,1373,57927,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2744,2433,2377,2490,0,0,0,0,0,0,27.16,27.18,27.17,7.90,25.15
$GC,58214,-1.94,-146.0,1960,2744,2377,2490,4616.5,-4.7,1378,58215,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2744,2433,2377,2490,0,0,0,0,0,0,27.18,27.20,27.20,7.90,25.34
$GC,58514,-1.94,-146.0,1960,2744,2378,2490,4630.7,-4.7,1383,58516,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2744,2433,2377,2490,0,0,0,0,0,0,27.18,27.20,27.19,7.90,25.74
$GC,58814,-1.94,-146.0,1960,2744,2378,2490,4644.2,-4.5,1388,58818,0.00,1.88,0.00,0.000,260,0.000,0.092,1952,3937,2434,2378,2490,0,0,0,0,0,0,27.17,26.70,27.19,7.90,25.58
$GC,58899,-1.94,-146.0,1951,3938,2377,2490,4647.2,-4.6,1389,58903,0.15,1.88,0.00,0.000,3078,0.315,0.062,1983,2736,2433,2377,2490,0,0,0,0,0,0,26.02,26.72,26.40,7.90,25.03
$GC,59245,-2.00,-146.0,1982,2735,2377,2490,4662.0,-4.0,1395,59251,0.00,2.55,0.00,0.000,516,0.000,0.097,1983,1127,2433,2377,2490,0,0,0,0,0,0,27.17,26.76,27.18,7.90,24.60
$GC,59327,-2.06,-146.0,1982,1127,2377,2490,4665.1,-4.1,1396,59331,0.00,2.58,0.00,0.000,1030,0.000,0.084,1974,2737,2433,2377,2490,0,0,0,0,0,0,26.67,26.41,26.74,7.90,24.52
$STATE,59668,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,59668,begin apogee
$GC,59673,-0.26,0.0,1973,2933,2377,2490,4680.0,-4.3,1402,59815,1.92,0.10,136.43,3.896,10246,0.228,0.137,2521,2877,1981,1917,2045,0,0,0,0,0,0,26.07,22.72,21.18,7.90,24.87
$STATE,59816,end apogee,CONTROL_FINISHED_OK
$STATE,59816,begin climb
$GC,59818,0.87,146.0,2521,2877,1917,2045,4678.8,0.0,1404,59988,1.23,2.95,160.20,3.819,10756,0.169,0.109,2892,1302,1478,1398,1558,0,0,0,0,0,0,23.17,22.55,21.05,7.88,24.83
$GC,60076,0.37,146.0,2891,1301,1399,1557,4611.4,27.9,1409,60083,0.77,2.72,0.00,0.000,5126,0.350,0.077,2744,2884,1478,1398,1558,0,0,0,0,0,0,24.28,24.49,24.46,7.84,23.57
$GC,60438,0.01,146.0,2744,2885,1398,1557,4515.1,26.3,1415,60440,0.60,0.00,0.00,0.000,4102,0.338,0.000,2622,2885,1477,1398,1557,0,0,0,0,0,0,25.29,25.61,25.56,7.83,23.06
$GC,60736,-0.23,146.0,2621,2886,1398,1557,4453.6,20.2,1420,60739,0.30,0.00,0.00,0.000,4102,0.318,0.000,2558,2886,1478,1398,1558,0,0,0,0,0,0,25.64,25.98,25.92,7.83,24.16
$GC,61037,-0.38,146.0,2558,2886,1398,1558,4403.6,16.4,1425,61039,0.28,0.00,0.00,0.000,4102,0.305,0.000,2497,2886,1478,1398,1558,0,0,0,0,0,0,25.87,26.20,26.13,7.83,24.28
$GC,61336,-0.45,146.0,2496,2886,1397,1557,4364.0,13.0,1430,61341,0.00,1.67,0.00,0.000,260,0.000,0.084,2497,3944,1477,1398,1557,0,0,0,0,0,0,26.58,26.29,26.60,7.83,23.93
$GC,61402,-0.53,146.0,2496,3944,1398,1558,4355.4,13.2,1431,61407,0.22,1.65,0.00,0.000,5126,0.293,0.060,2450,2899,1477,1397,1558,0,0,0,0,0,0,26.03,26.36,26.29,7.82,23.65
$GC,61760,-0.53,146.0,2450,2898,1396,1557,4316.2,10.6,1437,61761,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2899,1477,1397,1557,0,0,0,0,0,0,26.72,26.74,26.73,7.82,24.79
$GC,62059,-0.53,146.0,2449,2898,1398,1557,4285.2,10.3,1442,62065,0.00,2.53,0.00,0.000,516,0.000,0.084,2461,1297,1477,1397,1557,0,0,0,0,0,0,26.79,26.51,26.79,7.82,24.40
$GC,62121,-0.53,146.0,2460,1297,1397,1557,4278.9,10.3,1443,62126,0.00,2.53,0.00,0.000,1030,0.000,0.077,2461,2917,1477,1397,1557,0,0,0,0,0,0,26.59,26.49,26.61,7.82,24.01
$GC,62479,-0.53,146.0,2460,2917,1397,1557,4240.9,10.5,1449,62483,0.00,1.58,0.00,0.000,260,0.000,0.084,2461,3921,1477,1398,1557,0,0,0,0,0,0,26.85,26.55,26.86,7.81,24.68
$GC,62558,-0.53,146.0,2460,3921,1398,1557,4234.1,10.7,1450,62562,0.00,1.60,0.00,0.000,1030,0.000,0.060,2468,2892,1477,1397,1557,0,0,0,0,0,0,26.67,26.60,26.70,7.82,24.20
$GC,62900,-0.53,146.0,2467,2891,1397,1557,4195.2,10.7,1456,62901,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2891,1477,1397,1557,0,0,0,0,0,0,26.90,26.92,26.91,7.82,24.68
$GC,63201,-0.53,146.0,2467,2892,1397,1557,4163.9,10.4,1461,63207,0.00,2.47,0.00,0.000,516,0.000,0.084,2480,1300,1477,1397,1557,0,0,0,0,0,0,26.94,26.65,26.95,7.81,25.11
$GC,63261,-0.53,146.0,2479,1300,1397,1557,4157.8,10.3,1462,63268,0.12,2.47,0.00,0.000,5126,0.318,0.074,2451,2897,1477,1397,1557,0,0,0,0,0,0,26.28,26.62,26.48,7.81,24.05
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$GC,116804,0.68,283.2,2803,2909,925,1099,65.3,8.7,2600,116805,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2909,1012,925,1099,0,0,0,0,0,0,27.21,27.22,27.22,8.17,22.71
$GC,117104,0.77,283.2,2803,2909,926,1099,39.9,8.3,2630,117115,0.10,0.00,3.58,0.412,10246,0.146,0.000,2862,2909,1005,912,1099,0,0,0,0,0,0,26.92,26.58,26.16,8.19,22.27
$GC,117415,0.84,283.2,2861,2909,912,1099,11.0,6.8,2661,117425,0.00,2.33,0.00,0.000,516,0.000,0.065,2872,1310,1005,912,1098,0,0,0,0,0,0,27.19,26.90,27.20,8.22,23.02
$GC,117448,0.91,283.2,2873,1310,913,1098,8.5,6.8,2664,117457,0.00,2.28,0.00,0.000,1030,0.000,0.065,2873,2891,1005,913,1098,0,0,0,0,0,0,26.94,26.89,26.97,8.23,22.75
$STATE,117505,end climb,SURFACE_DEPTH_REACHED
$STATE,117506,begin surface coast
$FINISH,-0.3,1.023224
$STATE,117577,end surface coast,CONTROL_FINISHED_OK
$STATE,117577,begin surface
$SM_CCo,117593,85.75,0.633,0,0,603,400.00
$SM_GC,0.44,7.15,0.20,85.75,0.102,0.077,0.633,123,2716,603,-7.67,1.78,400.00,0,0,0,0,0,0,26.86,26.99,25.44
$IRIDIUM_FIX,2613.39,-7547.92,210618,144411
$TT8_MAMPS,0.021721,0.18725
$HUMID,23.02
$INTERNAL_PRESSURE,8.19246
$TCM_TEMP,27.40
$XPDR_PINGS,53
$ALTIM_TOP_PING,19.2,19.9
$ALTIM_BOTTOM_PING,4680.0,18.7
$24V_AH,21.05,13.694
$10V_AH,10.40,13.223
$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,25.700,504.950,423.725,85.750,123.425,26.412,42.826,540.627,215.750,0.000,17.335,9744.803,97513.250,1019.769,9427.649,721.269,0.000,5053.413,0.000,7137.825,0.000,2270.478,0.000
$DEVICE_MAMPS,350.103,146.497,3895.827,633.165,104.286,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1866.616,3568.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311888
$DATA_FILE_SIZE,187067,2677
$CAP_FILE_SIZE,778681,0
$CFSIZE,2047311872,2037579776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,327.52,1
$GPS,240618,091434,2627.566,-7526.966,33,0.8,35,-9.3,0.0,0.0,10,4.8