version: 66.14
glider: 37
mission: 21
dive: 48
start: 7 29 118 17 14 38
data:
$ID,37
$MISSION,21
$DIVE,48
$N_DIVES,0
$STOP_T,8021821
$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,1000
$T_MISSION,1060
$T_ABORT,1120
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79151.398
$MASS_COMP,8995.7998
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,330
$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,300
$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,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13.5
$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,32
$R_STBD_OVSHOOT,44
$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,3000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$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
$GPS1,290718,171019,2602.3005,-7635.0044,4,0.9,17,-8.5,0.4,213.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.2
$GPS2,290718,171401,2602.2556,-7635.0176,6,0.9,21,-8.5,0.0,205.4,8,5.0
$SPEED_LIMITS,0.257,0.459
$TGT_NAME,HEADING
$TGT_LATLONG,2658.370,-7711.369
$TGT_RADIUS,1852.000
$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,338.5,120000,-19.4,-18.000,-21.42,3716
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
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$GC,165,-1.55,-438.0,144,2733,2340,2488,3.2,-3.3,15,213,7.40,2.33,-33.33,0.109,19204,0.286,0.065,1938,1108,3492,3429,3555,0,0,0,0,0,0,25.81,26.35,26.20,8.54,19.95
$GC,567,-1.22,-438.0,1938,1108,3429,3553,160.6,-33.3,54,574,0.43,2.38,0.00,0.000,3078,0.256,0.065,2043,2722,3491,3429,3553,0,0,0,0,0,0,26.01,26.48,26.20,8.63,19.20
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$GC,1198,-0.86,-438.0,2120,2722,3429,3550,323.8,-23.5,84,1202,0.10,1.75,0.00,0.000,2308,0.238,0.072,2144,3938,3489,3429,3550,0,0,0,0,0,0,26.46,26.63,26.53,8.55,19.67
$GC,1339,-0.74,-438.0,2143,3938,3429,3550,353.0,-23.9,88,1344,0.17,1.73,0.00,0.000,3078,0.204,0.055,2196,2707,3489,3429,3550,0,0,0,0,0,0,26.39,26.79,26.60,8.54,20.66
$GC,1651,-0.74,-438.0,2196,2707,3429,3547,414.2,-17.7,99,1655,0.00,1.80,0.00,0.000,260,0.000,0.072,2190,3943,3487,3428,3547,0,0,0,0,0,0,27.11,26.77,27.13,8.50,20.82
$GC,1816,-0.74,-438.0,2189,3943,3429,3545,444.1,-19.9,104,1819,0.00,1.73,0.00,0.000,1030,0.000,0.055,2190,2729,3486,3428,3545,0,0,0,0,0,0,26.91,26.84,26.94,8.49,20.90
$GC,2133,-0.74,-438.0,2189,2729,3429,3543,506.8,-18.7,115,2137,0.00,1.77,0.00,0.000,260,0.000,0.072,2181,3946,3486,3429,3543,0,0,0,0,0,0,27.14,26.80,27.15,8.47,22.31
$GC,2328,-0.74,-438.0,2181,3946,3427,3543,543.8,-20.6,121,2332,0.00,1.73,0.00,0.000,1030,0.000,0.055,2181,2725,3485,3427,3543,0,0,0,0,0,0,26.89,26.86,26.91,8.45,22.75
$GC,2645,-0.74,-438.0,2181,2724,3427,3539,606.1,-18.3,132,2649,0.00,1.77,0.00,0.000,260,0.000,0.072,2173,3938,3483,3427,3540,0,0,0,0,0,0,27.16,26.82,27.17,8.43,22.47
$GC,2857,-0.69,-438.0,2173,3938,3424,3539,650.9,-21.4,139,2862,0.15,1.70,0.00,0.000,3078,0.204,0.057,2217,2752,3482,3424,3540,0,0,0,0,0,0,26.49,26.86,26.70,8.40,22.98
$GC,3191,-0.74,-438.0,2217,2751,3424,3535,704.8,-15.9,150,3195,0.00,1.75,0.00,0.000,260,0.000,0.074,2212,3944,3479,3424,3535,0,0,0,0,0,0,27.17,26.82,27.18,8.37,23.42
$GC,3356,-0.74,-438.0,2211,3944,3422,3535,731.1,-17.4,155,3360,0.00,1.75,0.00,0.000,1030,0.000,0.057,2212,2704,3478,3422,3535,0,0,0,0,0,0,26.94,26.86,26.96,8.35,24.44
$GC,3673,-0.74,-438.0,2211,2704,3421,3532,788.8,-17.5,166,3677,0.00,1.83,0.00,0.000,260,0.000,0.074,2204,3941,3477,3421,3533,0,0,0,0,0,0,27.17,26.82,27.19,8.32,25.07
$GC,3857,-0.74,-438.0,2203,3941,3417,3532,821.9,-18.5,172,3861,0.00,1.73,0.00,0.000,1030,0.000,0.057,2203,2739,3475,3417,3533,0,0,0,0,0,0,26.89,26.86,26.91,8.31,25.11
$GC,4185,-0.74,-438.0,2203,2739,3418,3526,877.3,-16.5,183,4188,0.00,1.77,0.00,0.000,260,0.000,0.077,2196,3936,3472,3418,3526,0,0,0,0,0,0,27.17,26.82,27.19,8.27,25.90
$GC,4344,-0.74,-438.0,2195,3937,3415,3526,904.3,-18.0,188,4348,0.00,1.73,0.00,0.000,1030,0.000,0.060,2196,2718,3470,3414,3526,0,0,0,0,0,0,26.93,26.85,26.96,8.26,26.33
$GC,4667,-0.74,-438.0,2196,2718,3414,3524,961.2,-16.9,199,4670,0.00,1.83,0.00,0.000,260,0.000,0.074,2187,3944,3469,3414,3524,0,0,0,0,0,0,27.17,26.81,27.19,8.23,26.41
$GC,4746,-0.74,-438.0,2186,3945,3413,3524,972.3,-17.7,201,4750,0.00,1.73,0.00,0.000,1030,0.000,0.060,2187,2732,3468,3413,3524,0,0,0,0,0,0,26.93,26.86,26.96,8.22,27.16
$GC,5088,-0.74,-438.0,2186,2732,3411,3519,1037.0,-17.9,210,5092,0.00,1.80,0.00,0.000,260,0.000,0.077,2179,3936,3465,3411,3519,0,0,0,0,0,0,27.18,26.81,27.19,8.19,29.95
$GC,5142,-0.74,-438.0,2178,3936,3410,3519,1037.0,-17.9,210,5149,0.00,1.73,0.00,0.000,1030,0.000,0.060,2179,2731,3464,3409,3519,0,0,0,0,0,0,26.93,26.85,26.95,8.19,30.07
$GC,5449,-0.74,-438.0,2178,2730,3407,3517,1104.3,-18.4,216,5453,0.00,1.80,0.00,0.000,260,0.000,0.077,2171,3934,3462,3407,3517,0,0,0,0,0,0,27.18,26.80,27.20,8.17,30.58
$GC,5533,-0.74,-438.0,2170,3934,3405,3517,1116.0,-18.5,217,5538,0.10,1.73,0.00,0.000,3078,0.243,0.060,2197,2730,3461,3405,3517,0,0,0,0,0,0,26.46,26.84,26.67,8.16,31.33
$GC,5871,-0.80,-438.0,2196,2730,3404,3514,1175.0,-15.8,223,5875,0.00,1.80,0.00,0.000,260,0.000,0.077,2190,3931,3458,3404,3513,0,0,0,0,0,0,27.17,26.79,27.20,8.14,31.49
$GC,5981,-0.86,-438.0,2190,3931,3402,3513,1185.4,-16.0,224,5984,0.00,1.73,0.00,0.000,1030,0.000,0.060,2191,2736,3457,3402,3513,0,0,0,0,0,0,26.91,26.83,26.94,8.14,30.94
$GC,6293,-0.92,-438.0,2189,2736,3402,3510,1246.0,-16.6,230,6297,0.10,1.83,0.00,0.000,4356,0.184,0.077,2139,3940,3455,3401,3510,0,0,0,0,0,0,26.72,26.77,26.77,8.13,32.12
$GC,6415,-0.92,-438.0,2138,3941,3399,3510,1272.3,-19.0,232,6419,0.00,1.75,0.00,0.000,1030,0.000,0.062,2139,2741,3454,3399,3510,0,0,0,0,0,0,26.89,26.79,26.92,8.13,32.12
$GC,6777,-0.92,-438.0,2138,2741,3399,3506,1348.2,-20.7,238,6780,0.00,1.80,0.00,0.000,260,0.000,0.079,2131,3931,3452,3399,3506,0,0,0,0,0,0,27.17,26.77,27.19,8.11,32.08
$GC,6922,-0.92,-438.0,2131,3931,3398,3506,1374.3,-21.0,240,6926,0.00,1.77,0.00,0.000,1030,0.000,0.065,2131,2717,3451,3397,3505,0,0,0,0,0,0,26.89,26.79,26.92,8.11,31.92
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$GC,7393,-0.92,-438.0,2122,3937,3394,3501,1471.9,-20.4,248,7397,0.00,1.77,0.00,0.000,1030,0.000,0.062,2123,2737,3448,3394,3502,0,0,0,0,0,0,26.86,26.76,26.90,8.10,32.55
$GC,7739,-0.92,-438.0,2122,2738,3394,3497,1543.9,-19.7,254,7743,0.00,1.83,0.00,0.000,260,0.000,0.079,2115,3938,3446,3394,3498,0,0,0,0,0,0,27.17,26.75,27.19,8.09,32.04
$GC,7863,-0.92,-438.0,2115,3938,3392,3498,1569.4,-20.3,256,7867,0.00,1.80,0.00,0.000,1030,0.000,0.062,2116,2740,3445,3393,3498,0,0,0,0,0,0,26.79,26.74,26.82,8.09,32.04
$GC,8220,-0.92,-438.0,2115,2740,3392,3495,1640.2,-19.4,262,8224,0.00,1.83,0.00,0.000,260,0.000,0.082,2107,3938,3443,3392,3495,0,0,0,0,0,0,27.17,26.74,27.19,8.09,31.72
$GC,8389,-0.92,-438.0,2106,3938,3391,3495,1665.9,-20.3,264,8394,0.12,1.80,0.00,0.000,3078,0.266,0.062,2137,2717,3443,3391,3495,0,0,0,0,0,0,26.22,26.72,26.51,8.08,32.04
$GC,8702,-0.92,-438.0,2136,2716,3391,3493,1730.0,-17.0,270,8705,0.00,1.85,0.00,0.000,260,0.000,0.082,2131,3932,3442,3391,3494,0,0,0,0,0,0,27.17,26.73,27.19,8.08,32.39
$GC,8842,-0.92,-438.0,2130,3932,3389,3493,1751.6,-17.3,272,8845,0.00,1.77,0.00,0.000,1030,0.000,0.062,2131,2733,3441,3389,3493,0,0,0,0,0,0,26.84,26.72,26.87,8.08,31.96
$GC,9183,-0.92,-438.0,2130,2732,3389,3491,1812.1,-16.6,278,9187,0.00,1.83,0.00,0.000,260,0.000,0.079,2123,3929,3440,3389,3491,0,0,0,0,0,0,27.17,26.72,27.18,8.07,32.08
$GC,9342,-0.92,-438.0,2122,3929,3387,3491,1833.7,-17.2,280,9346,0.00,1.77,0.00,0.000,1030,0.000,0.062,2123,2727,3438,3386,3491,0,0,0,0,0,0,26.83,26.70,26.86,8.07,32.08
$GC,9664,-0.92,-438.0,2122,2728,3387,3489,1894.6,-16.6,286,9668,0.00,1.85,0.00,0.000,260,0.000,0.082,2115,3938,3438,3387,3489,0,0,0,0,0,0,27.17,26.71,27.19,8.06,32.08
$GC,9815,-0.92,-438.0,2114,3939,3386,3489,1916.4,-17.3,288,9819,0.00,1.80,0.00,0.000,1030,0.000,0.062,2115,2723,3437,3385,3489,0,0,0,0,0,0,26.82,26.69,26.86,8.06,32.24
$GC,10146,-0.92,-438.0,2114,2723,3385,3486,1978.0,-16.8,294,10150,0.00,1.85,0.00,0.000,260,0.000,0.082,2106,3936,3436,3385,3487,0,0,0,0,0,0,27.17,26.70,27.18,8.06,31.92
$GC,10315,-0.92,-438.0,2106,3937,3384,3487,2000.0,-17.4,296,10320,0.12,1.77,0.00,0.000,3078,0.268,0.062,2136,2741,3435,3384,3487,0,0,0,0,0,0,26.17,26.72,26.46,8.06,31.88
$GC,10628,-1.02,-438.0,2136,2741,3384,3486,2054.1,-14.1,302,10632,0.00,1.80,0.00,0.000,260,0.000,0.082,2130,3929,3435,3384,3486,0,0,0,0,0,0,27.17,26.70,27.19,8.06,32.24
$GC,10783,-1.11,-438.0,2130,3929,3382,3486,2072.4,-14.3,304,10788,0.10,1.77,0.00,0.000,5126,0.221,0.062,2097,2729,3434,3382,3486,0,0,0,0,0,0,26.41,26.70,26.60,8.05,32.75
$GC,11110,-1.11,-438.0,2096,2729,3382,3484,2131.8,-16.7,310,11114,0.00,1.85,0.00,0.000,260,0.000,0.082,2088,3937,3433,3382,3485,0,0,0,0,0,0,27.17,26.68,27.18,8.05,31.84
$GC,11269,-1.11,-438.0,2088,3937,3381,3484,2153.6,-17.2,312,11273,0.00,1.77,0.00,0.000,1030,0.000,0.062,2088,2742,3433,3381,3485,0,0,0,0,0,0,26.82,26.70,26.85,8.05,32.04
$GC,11592,-1.11,-438.0,2087,2742,3381,3483,2214.3,-16.6,318,11595,0.00,1.83,0.00,0.000,260,0.000,0.082,2080,3934,3432,3381,3484,0,0,0,0,0,0,27.17,26.67,27.18,8.05,32.24
$GC,11751,-1.11,-438.0,2079,3933,3380,3483,2236.3,-17.4,320,11755,0.00,1.80,0.00,0.000,1030,0.000,0.062,2080,2720,3432,3380,3484,0,0,0,0,0,0,26.79,26.67,26.84,8.04,32.24
$GC,12073,-1.11,-438.0,2079,2719,3380,3482,2298.9,-17.2,326,12077,0.00,1.85,0.00,0.000,260,0.000,0.082,2071,3927,3431,3380,3482,0,0,0,0,0,0,27.17,26.67,27.18,8.04,32.04
$GC,12232,-1.11,-438.0,2070,3927,3378,3483,2320.9,-17.6,328,12236,0.00,1.77,0.00,0.000,1030,0.000,0.062,2070,2730,3430,3379,3482,0,0,0,0,0,0,26.79,26.67,26.83,8.05,32.28
$GC,12554,-1.11,-438.0,2070,2730,3379,3481,2382.5,-16.8,334,12558,0.00,1.85,0.00,0.000,260,0.000,0.082,2063,3937,3430,3379,3481,0,0,0,0,0,0,27.17,26.66,27.18,8.04,32.31
$GC,12708,-1.11,-438.0,2062,3937,3378,3481,2404.2,-17.3,336,12712,0.00,1.80,0.00,0.000,1030,0.000,0.065,2062,2728,3429,3378,3481,0,0,0,0,0,0,26.78,26.65,26.82,8.04,31.88
$GC,13035,-1.11,-438.0,2062,2729,3378,3480,2465.6,-16.9,342,13039,0.00,1.85,0.00,0.000,260,0.000,0.082,2055,3936,3429,3378,3480,0,0,0,0,0,0,27.17,26.65,27.18,8.04,31.92
$GC,13189,-1.11,-438.0,2053,3936,3377,3480,2487.8,-17.6,344,13194,0.10,1.80,0.00,0.000,3078,0.288,0.062,2074,2732,3429,3377,3481,0,0,0,0,0,0,26.13,26.66,26.39,8.04,32.08
$GC,13517,-1.18,-438.0,2075,2732,3377,3480,2543.5,-15.0,350,13521,0.00,1.85,0.00,0.000,260,0.000,0.082,2070,3935,3428,3377,3480,0,0,0,0,0,0,27.17,26.64,27.17,8.04,31.92
$GC,13669,-1.24,-438.0,2069,3935,3377,3480,2562.9,-15.3,352,13672,0.00,1.80,0.00,0.000,1030,0.000,0.062,2070,2730,3428,3376,3480,0,0,0,0,0,0,26.77,26.65,26.81,8.04,32.04
$GC,14001,-1.31,-438.0,2069,2730,3377,3478,2615.9,-14.6,358,14005,0.10,1.85,0.00,0.000,4356,0.226,0.079,2025,3930,3428,3377,3479,0,0,0,0,0,0,26.51,26.63,26.57,8.03,32.08
$GC,14166,-1.31,-438.0,2024,3930,3376,3479,2638.0,-16.2,360,14170,0.00,1.77,0.00,0.000,1030,0.000,0.065,2025,2740,3427,3376,3479,0,0,0,0,0,0,26.78,26.67,26.82,8.03,32.47
$GC,14483,-1.31,-438.0,2024,2739,3376,3478,2701.9,-17.3,366,14487,0.00,1.85,0.00,0.000,260,0.000,0.082,2017,3938,3427,3376,3478,0,0,0,0,0,0,27.16,26.62,27.17,8.04,31.53
$GC,14613,-1.31,-438.0,2016,3938,3376,3478,2723.9,-17.7,368,14617,0.00,1.83,0.00,0.000,1030,0.000,0.065,2017,2721,3427,3376,3478,0,0,0,0,0,0,26.79,26.67,26.82,8.03,32.51
$GC,14965,-1.31,-438.0,2016,2720,3375,3478,2787.5,-17.5,374,14968,0.00,1.88,0.00,0.000,260,0.000,0.082,2009,3937,3426,3376,3477,0,0,0,0,0,0,27.16,26.61,27.17,8.03,31.84
$GC,15129,-1.31,-438.0,2008,3937,3376,3477,2809.9,-17.9,376,15133,0.00,1.83,0.00,0.000,1030,0.000,0.067,2009,2718,3426,3376,3477,0,0,0,0,0,0,26.78,26.67,26.82,8.03,31.29
$GC,15446,-1.31,-438.0,2008,2717,3375,3477,2871.7,-16.8,382,15450,0.00,1.88,0.00,0.000,260,0.000,0.082,2001,3934,3426,3375,3477,0,0,0,0,0,0,27.16,26.60,27.17,8.03,31.25
$GC,15570,-1.31,-438.0,2000,3934,3376,3476,2893.7,-17.5,384,15574,0.00,1.80,0.00,0.000,1030,0.000,0.067,2001,2720,3426,3375,3477,0,0,0,0,0,0,26.74,26.62,26.79,8.02,31.84
$GC,15927,-1.31,-438.0,2001,2719,3375,3476,2954.9,-16.8,390,15931,0.00,1.88,0.00,0.000,260,0.000,0.084,1992,3931,3425,3375,3476,0,0,0,0,0,0,27.16,26.59,27.17,8.03,31.84
$GC,16081,-1.31,-438.0,1992,3931,3374,3476,2976.8,-17.4,392,16085,0.00,1.77,0.00,0.000,1030,0.000,0.067,1992,2737,3425,3375,3476,0,0,0,0,0,0,26.74,26.61,26.78,8.02,32.08
$GC,16408,-1.31,-438.0,1992,2737,3375,3475,3037.0,-16.3,398,16412,0.00,1.85,0.00,0.000,260,0.000,0.084,1984,3931,3425,3375,3475,0,0,0,0,0,0,27.15,26.58,27.17,8.02,31.65
$GC,16544,-1.31,-438.0,1983,3932,3374,3475,3059.9,-16.8,400,16549,0.12,1.77,0.00,0.000,3078,0.298,0.067,2011,2742,3425,3375,3475,0,0,0,0,0,0,25.87,26.59,26.17,8.03,31.61
$GC,16902,-1.37,-438.0,2010,2742,3374,3475,3111.3,-14.0,406,16906,0.00,1.85,0.00,0.000,260,0.000,0.084,2005,3937,3424,3374,3475,0,0,0,0,0,0,27.15,26.56,27.16,8.02,31.17
$GC,17044,-1.42,-438.0,2005,3937,3374,3475,3131.8,-14.8,408,17048,0.00,1.83,0.00,0.000,1030,0.000,0.067,2006,2718,3424,3374,3475,0,0,0,0,0,0,26.74,26.63,26.78,8.02,31.72
$GC,17409,-1.48,-438.0,2005,2718,3374,3474,3183.4,-14.2,414,17413,0.08,1.90,0.00,0.000,4356,0.263,0.082,1975,3938,3424,3374,3474,0,0,0,0,0,0,26.57,26.55,26.63,8.02,31.45
$GC,17561,-1.48,-438.0,1975,3939,3373,3474,3206.0,-15.6,416,17565,0.00,1.83,0.00,0.000,1030,0.000,0.070,1975,2728,3423,3373,3474,0,0,0,0,0,0,26.68,26.54,26.73,8.02,31.68
$GC,17916,-1.48,-438.0,1975,2728,3373,3474,3267.9,-16.4,422,17919,0.00,1.88,0.00,0.000,260,0.000,0.084,1966,3935,3423,3373,3473,0,0,0,0,0,0,27.12,26.53,27.13,8.02,31.61
$GC,18051,-1.48,-438.0,1966,3935,3373,3475,3293.4,-17.0,424,18055,0.00,1.83,0.00,0.000,1030,0.000,0.067,1967,2747,3423,3373,3474,0,0,0,0,0,0,26.60,26.55,26.63,8.02,31.76
$GC,18409,-1.48,-438.0,1966,2746,3373,3474,3353.2,-16.4,430,18412,0.00,1.85,0.00,0.000,260,0.000,0.087,1959,3933,3423,3373,3474,0,0,0,0,0,0,27.13,26.53,27.15,8.01,31.57
$GC,18550,-1.48,-438.0,1958,3933,3372,3474,3376.4,-16.9,432,18554,0.00,1.83,0.00,0.000,1030,0.000,0.070,1959,2722,3423,3372,3474,0,0,0,0,0,0,26.65,26.49,26.69,8.01,31.68
$GC,18902,-1.48,-438.0,1958,2722,3372,3473,3435.5,-16.3,438,18906,0.00,1.90,0.00,0.000,260,0.000,0.087,1950,3938,3423,3372,3474,0,0,0,0,0,0,27.13,26.51,27.15,8.02,31.57
$GC,19063,-1.48,-438.0,1949,3937,3372,3474,3458.8,-16.9,440,19067,0.00,1.83,0.00,0.000,1030,0.000,0.070,1950,2730,3423,3372,3474,0,0,0,0,0,0,26.59,26.41,26.65,8.02,32.20
$GC,19395,-1.48,-438.0,1949,2730,3372,3473,3518.6,-16.4,446,19399,0.00,1.90,0.00,0.000,260,0.000,0.089,1942,3938,3422,3371,3474,0,0,0,0,0,0,27.13,26.51,27.15,8.02,31.29
$GC,19522,-1.48,-438.0,1941,3938,3371,3473,3529.2,-16.5,447,19542,0.00,1.85,0.00,0.000,1030,0.000,0.072,1942,2722,3422,3371,3473,0,0,0,0,0,0,26.54,26.34,26.60,8.01,31.68
$GC,19828,-1.48,-438.0,1941,2722,3371,3473,3591.7,-16.5,453,19832,0.00,1.90,0.00,0.000,260,0.000,0.087,1934,3936,3422,3371,3473,0,0,0,0,0,0,27.13,26.49,27.14,8.02,31.33
$GC,19944,-1.48,-438.0,1933,3936,3371,3473,3602.0,-16.6,454,19949,0.12,1.83,0.00,0.000,3078,0.305,0.070,1960,2737,3422,3371,3473,0,0,0,0,0,0,25.73,26.36,26.03,8.02,31.61
$GC,20262,-1.54,-438.0,1959,2736,3371,3472,3659.1,-14.6,460,20266,0.00,1.85,0.00,0.000,260,0.000,0.084,1953,3927,3422,3371,3473,0,0,0,0,0,0,27.13,26.50,27.14,8.01,30.66
$GC,20399,-1.59,-438.0,1953,3926,3370,3473,3679.9,-15.1,462,20402,0.00,1.80,0.00,0.000,1030,0.000,0.065,1954,2734,3421,3370,3472,0,0,0,0,0,0,26.64,26.50,26.68,8.02,31.25
$GC,20756,-1.66,-438.0,1953,2734,3370,3472,3733.3,-14.7,468,20761,0.10,1.90,0.00,0.000,4356,0.256,0.087,1914,3931,3421,3370,3472,0,0,0,0,0,0,26.32,26.44,26.37,8.01,31.49
$GC,20899,-1.66,-438.0,1914,3935,3369,3472,3757.0,-16.1,470,20903,0.00,1.85,0.00,0.000,1030,0.000,0.072,1914,2727,3420,3369,3472,0,0,0,0,0,0,26.50,26.29,26.56,8.02,30.70
$GC,21251,-1.66,-438.0,1914,2727,3370,3472,3818.0,-16.6,476,21255,0.00,1.90,0.00,0.000,260,0.000,0.089,1906,3935,3421,3370,3472,0,0,0,0,0,0,27.13,26.48,27.14,8.02,30.94
$GC,21397,-1.66,-438.0,1905,3936,3369,3471,3841.4,-17.0,478,21400,0.00,1.83,0.00,0.000,1030,0.000,0.070,1906,2731,3420,3369,3472,0,0,0,0,0,0,26.53,26.34,26.58,8.01,31.02
$GC,21770,-1.66,-438.0,1905,2731,3369,3471,3903.4,-16.4,484,21774,0.00,1.90,0.00,0.000,260,0.000,0.089,1898,3938,3420,3369,3471,0,0,0,0,0,0,27.10,26.47,27.12,8.02,31.80
$GC,21884,-1.66,-438.0,1897,3938,3369,3471,3915.9,-16.4,485,21905,0.00,1.83,0.00,0.000,1030,0.000,0.070,1898,2737,3420,3369,3471,0,0,0,0,0,0,26.54,26.36,26.60,8.01,31.21
$GC,22191,-1.66,-438.0,1897,2737,3369,3471,3975.7,-16.4,491,22195,0.00,1.88,0.00,0.000,260,0.000,0.089,1890,3927,3419,3369,3470,0,0,0,0,0,0,27.12,26.46,27.13,8.02,31.02
$GC,22319,-1.66,-438.0,1889,3927,3369,3471,3986.2,-16.5,492,22326,0.00,1.83,0.00,0.000,1030,0.000,0.070,1890,2727,3420,3369,3471,0,0,0,0,0,0,26.53,26.34,26.58,8.01,30.50
$GC,22637,-1.66,-438.0,1889,2727,3369,3471,4048.0,-16.4,498,22641,0.00,1.90,0.00,0.000,260,0.000,0.089,1882,3933,3420,3369,3471,0,0,0,0,0,0,27.10,26.45,27.11,8.01,31.13
$GC,22748,-1.66,-438.0,1881,3933,3369,3471,4060.3,-16.4,499,22752,0.00,1.83,0.00,0.000,1030,0.000,0.070,1881,2738,3420,3369,3471,0,0,0,0,0,0,26.51,26.33,26.56,8.01,30.62
$GC,23083,-1.66,-438.0,1881,2739,3369,3471,4122.8,-16.5,505,23086,0.00,1.88,0.00,0.000,260,0.000,0.089,1873,3925,3420,3369,3471,0,0,0,0,0,0,27.10,26.44,27.11,8.02,30.50
$GC,23219,-1.66,-438.0,1872,3926,3369,3470,4146.1,-16.9,507,23224,0.12,1.85,0.00,0.000,3078,0.313,0.070,1899,2728,3420,3369,3471,0,0,0,0,0,0,25.51,26.28,25.68,8.02,31.13
$GC,23590,-1.71,-438.0,1897,2729,3369,3470,4201.1,-14.4,513,23594,0.00,1.90,0.00,0.000,260,0.000,0.089,1893,3932,3420,3369,3471,0,0,0,0,0,0,27.10,26.44,27.12,8.01,31.09
$GC,23732,-1.71,-438.0,1892,3932,3368,3471,4221.9,-14.8,515,23736,0.00,1.83,0.00,0.000,1030,0.000,0.070,1893,2738,3420,3369,3471,0,0,0,0,0,0,26.53,26.36,26.58,8.02,30.35
$GC,24085,-1.76,-438.0,1892,2738,3368,3470,4275.1,-14.2,521,24088,0.00,1.88,0.00,0.000,260,0.000,0.089,1884,3926,3419,3369,3470,0,0,0,0,0,0,27.11,26.43,27.13,8.01,30.86
$GC,24213,-1.76,-438.0,1884,3926,3369,3470,4284.2,-14.2,522,24220,0.00,1.83,0.00,0.000,1030,0.000,0.070,1885,2730,3419,3368,3470,0,0,0,0,0,0,26.51,26.33,26.56,8.01,31.02
$GC,24518,-1.76,-438.0,1884,2730,3368,3470,4337.4,-13.9,528,24522,0.00,1.90,0.00,0.000,260,0.000,0.089,1876,3933,3419,3369,3470,0,0,0,0,0,0,27.12,26.42,27.13,8.01,31.05
$GC,24646,-1.76,-438.0,1875,3933,3368,3470,4346.4,-14.0,529,24653,0.00,1.85,0.00,0.000,1030,0.000,0.070,1876,2721,3419,3369,3470,0,0,0,0,0,0,26.48,26.30,26.54,8.01,31.29
$GC,24952,-1.76,-438.0,1875,2721,3368,3470,4398.4,-13.5,535,24956,0.00,1.92,0.00,0.000,260,0.000,0.092,1868,3934,3419,3368,3470,0,0,0,0,0,0,27.12,26.42,27.13,8.02,30.62
$GC,25048,-1.76,-438.0,1867,3934,3368,3470,4407.3,-13.7,536,25052,0.00,1.85,0.00,0.000,1030,0.000,0.072,1868,2728,3419,3368,3470,0,0,0,0,0,0,26.44,26.24,26.51,8.02,30.82
$GC,25375,-1.76,-438.0,1867,2729,3368,3470,4456.5,-13.3,542,25379,0.00,1.90,0.00,0.000,260,0.000,0.092,1859,3932,3419,3368,3470,0,0,0,0,0,0,27.13,26.41,27.14,8.02,31.29
$GC,25505,-1.76,-438.0,1858,3932,3368,3470,4474.0,-13.8,544,25509,0.00,1.85,0.00,0.000,1030,0.000,0.070,1859,2717,3419,3368,3471,0,0,0,0,0,0,26.44,26.22,26.50,8.02,31.45
$GC,25857,-1.76,-438.0,1858,2717,3369,3470,4523.9,-13.9,550,25861,0.00,1.92,0.00,0.000,260,0.000,0.092,1851,3930,3419,3369,3470,0,0,0,0,0,0,27.13,26.41,27.15,8.02,30.19
$GC,26001,-1.76,-438.0,1850,3930,3367,3471,4541.9,-14.3,552,26005,0.00,1.83,0.00,0.000,1030,0.000,0.070,1850,2737,3419,3368,3470,0,0,0,0,0,0,26.44,26.25,26.51,8.01,30.94
$GC,26338,-1.76,-438.0,1850,2737,3368,3470,4592.7,-14.0,558,26342,0.00,1.90,0.00,0.000,260,0.000,0.089,1842,3938,3419,3368,3470,0,0,0,0,0,0,27.13,26.41,27.15,8.01,30.62
$GC,26461,-1.76,-438.0,1841,3937,3368,3470,4610.9,-14.4,560,26465,0.12,1.85,0.00,0.000,3078,0.323,0.070,1866,2716,3419,3369,3470,0,0,0,0,0,0,25.53,26.20,25.84,8.01,30.42
$GC,26825,-1.83,-438.0,1866,2716,3368,3470,4656.0,-12.1,566,26828,0.00,1.92,0.00,0.000,260,0.000,0.092,1860,3933,3419,3369,3470,0,0,0,0,0,0,27.13,26.41,27.15,8.01,30.23
$STATE,26945,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,26945,begin apogee
$GC,26952,-0.37,0.0,1860,2902,3368,3470,4672.1,-12.6,568,27402,1.70,0.00,445.20,3.926,10246,0.236,0.000,2315,2899,1981,1906,2056,0,0,0,0,0,0,25.29,23.07,21.49,8.01,30.82
$STATE,27403,end apogee,CONTROL_FINISHED_OK
$STATE,27403,begin climb
$GC,27405,1.55,438.0,2315,2899,1906,2057,4692.9,0.0,575,27894,2.08,2.85,473.20,3.891,10756,0.166,0.109,2946,1285,472,376,568,0,0,0,0,0,0,23.53,22.91,21.66,7.92,24.99
$GC,28072,1.13,438.0,2946,1285,375,564,4448.3,49.9,586,28079,0.68,2.67,0.00,0.000,5126,0.330,0.089,2810,2894,469,375,564,0,0,0,0,0,0,24.94,25.17,25.12,7.80,22.71
$GC,28387,0.80,438.0,2810,2894,372,564,4287.2,43.6,592,28393,0.50,1.65,0.00,0.000,4356,0.340,0.079,2705,3944,467,371,564,0,0,0,0,0,0,25.65,25.92,25.84,7.79,22.71
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$GC,48819,1.23,934.2,2866,2889,44,237,523.2,20.8,976,48823,0.00,1.60,0.00,0.000,260,0.000,0.077,2866,3938,140,44,237,0,0,0,0,0,0,27.12,26.69,27.13,7.81,24.99
$GC,48959,1.23,934.2,2866,3939,44,237,495.8,22.4,980,48964,0.12,1.55,0.00,0.000,5126,0.276,0.057,2843,2880,140,44,237,0,0,0,0,0,0,26.18,26.79,26.51,7.82,25.78
$GC,49272,1.23,934.2,2843,2880,45,237,431.6,18.6,991,49277,0.00,1.62,0.03,0.365,8452,0.000,0.074,2843,3947,140,44,237,0,0,0,0,0,0,27.12,26.70,26.91,7.85,25.03
$GC,49369,1.23,934.2,2843,3947,45,237,412.5,20.0,994,49372,0.00,1.55,0.00,0.000,1030,0.000,0.057,2850,2879,140,44,237,0,0,0,0,0,0,26.87,26.79,26.90,7.87,24.71
$GC,49695,1.23,934.2,2849,2879,46,237,348.5,19.1,1005,49701,0.00,1.60,0.75,0.122,8452,0.000,0.072,2850,3948,141,46,237,0,0,0,0,0,0,27.12,26.65,26.56,7.90,24.79
$GC,49785,1.23,934.2,2850,3949,46,237,329.3,20.8,1008,49792,0.00,1.52,2.50,0.348,9222,0.000,0.057,2858,2894,140,44,237,0,0,0,0,0,0,26.89,26.82,25.28,7.91,24.91
$GC,50096,1.23,934.2,2857,2894,45,237,265.9,20.1,1021,50099,0.00,1.58,0.00,0.000,260,0.000,0.074,2858,3940,140,44,237,0,0,0,0,0,0,27.11,26.71,27.13,7.93,23.81
$GC,50199,1.23,934.2,2857,3940,45,236,243.6,22.1,1026,50204,0.00,1.52,0.17,0.127,9222,0.000,0.055,2865,2897,140,44,237,0,0,0,0,0,0,26.85,26.82,26.58,7.95,24.05
$GC,50517,1.23,934.2,2864,2896,46,237,179.6,19.8,1042,50521,0.00,0.00,2.40,0.291,8198,0.000,0.000,2865,2897,140,44,237,0,0,0,0,0,0,27.12,26.38,25.41,7.97,23.34
$GC,50818,1.30,934.2,2864,2896,44,237,123.6,18.3,1064,50822,0.00,1.58,0.28,0.142,8452,0.000,0.072,2866,3945,141,45,237,0,0,0,0,0,0,27.11,26.69,26.61,8.00,23.45
$GC,50943,1.35,934.2,2864,3945,45,237,100.1,19.3,1076,50951,0.00,1.55,0.17,0.124,9222,0.000,0.055,2873,2881,141,45,237,0,0,0,0,0,0,26.86,26.83,26.60,8.01,23.42
$GC,51251,1.58,1189.7,2872,2881,47,237,58.6,10.9,1107,51262,0.15,1.60,2.42,0.241,10500,0.137,0.074,2945,3947,140,44,237,0,0,0,0,0,0,26.71,26.10,25.52,8.06,23.53
$GC,51468,1.68,1302.9,2945,3948,44,237,24.4,14.9,1128,51475,0.00,1.52,0.00,0.000,1030,0.000,0.055,2954,2883,140,44,237,0,0,0,0,0,0,26.91,26.86,26.93,8.09,23.81
$STATE,51593,end climb,SURFACE_DEPTH_REACHED
$STATE,51593,begin surface coast
$FINISH,0.9,1.022777
$STATE,51625,end surface coast,CONTROL_FINISHED_OK
$STATE,51626,begin surface
$SM_CCo,51702,0.00,0.000,0,0,141,534.50
$SM_GC,0.01,7.35,0.17,0.00,0.097,0.089,0.000,147,2744,141,-7.11,1.55,534.50,0,0,0,0,0,0,26.57,26.87,26.70
$IRIDIUM_FIX,2601.27,-7633.89,290718,165639
$TT8_MAMPS,0.021721,0.188748
$HUMID,23.26
$INTERNAL_PRESSURE,8.10456
$TCM_TEMP,29.00
$XPDR_PINGS,88
$ALTIM_TOP_PING,19.9,9.0
$ALTIM_BOTTOM_PING,4366.0,325.3
$24V_AH,21.49,25.818
$10V_AH,10.28,21.131
$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,23.850,344.950,1034.900,0.000,121.550,0.000,0.000,0.000,125.000,0.000,22.962,5139.275,37219.922,1159.261,7877.500,398.979,0.000,4770.361,0.000,6880.902,0.000,1161.112,0.000
$DEVICE_MAMPS,340.171,109.252,3925.623,0.000,109.252,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.800,1513.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311680
$DATA_FILE_SIZE,86723,1144
$CAP_FILE_SIZE,508834,0
$CFSIZE,2047311872,2029879296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300718,073735,2606.571,-7637.172,31,0.8,34,-8.5,0.6,152.1,10,4.5