version: 66.14
glider: 37
mission: 24
dive: 22
start: 6 5 119 2 27 55
data:
$ID,37
$MISSION,24
$DIVE,22
$N_DIVES,0
$STOP_T,6051919
$D_SURF,3
$D_FLARE,3
$D_TGT,5000
$D_ABORT,6050
$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,1600
$T_MISSION,1615
$T_ABORT,1440
$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,-10
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79116.297
$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,3140
$TGT_DEFAULT_LON,-6410
$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,2
$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,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,18
$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,2381
$C_ROLL_CLIMB,2344
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,1786
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2.5
$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,-23.550753
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3500
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004395098
$SEABIRD_T_H,0.00063361513
$SEABIRD_T_I,2.5651329e-05
$SEABIRD_T_J,3.1717634e-06
$SEABIRD_C_G,-9.9017992
$SEABIRD_C_H,1.1589037
$SEABIRD_C_I,-0.0017859261
$SEABIRD_C_J,0.00021709637
$SEABIRD_C_Z,2927.29
$GPS1,050619,021814,3139.7827,-6406.3232,37,0.8,49,-14.9,0.5,267.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.9
$GPS2,050619,022718,3139.7285,-6406.5439,10,0.8,22,-14.9,0.9,270.4,9,4.9
$SPEED_LIMITS,0.180,0.233
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,9000.000
$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,301.1,5471,-27.9,-10.417,-30.00,1279
$D_GRID,5000
$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,1209,-1.45,-146.6,2838,797,2368,2215,160.6,-15.2,115,1213,0.00,2.30,0.00,0.000,1030,0.000,0.057,2830,2389,2292,2369,2215,0,0,0,0,0,0,26.65,26.58,26.66,8.68,21.25
$GC,1521,-1.45,-146.6,2829,2394,2369,2215,209.9,-15.3,131,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2394,2292,2369,2215,0,0,0,0,0,0,26.93,26.95,26.94,8.67,21.37
$GC,1821,-1.45,-146.6,2829,2393,2369,2215,256.7,-15.8,146,1827,0.00,2.40,0.00,0.000,516,0.000,0.065,2830,794,2292,2369,2215,0,0,0,0,0,0,26.97,26.63,26.98,8.67,21.01
$GC,1934,-1.45,-146.6,2829,794,2369,2215,273.1,-16.2,151,1943,0.00,2.30,0.00,0.000,1030,0.000,0.057,2819,2393,2292,2369,2215,0,0,0,0,0,0,26.75,26.70,26.77,8.66,21.49
$GC,2253,-1.45,-146.6,2819,2393,2369,2215,327.3,-16.8,165,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2393,2292,2369,2215,0,0,0,0,0,0,27.02,27.03,27.03,8.66,21.96
$GC,2552,-1.45,-146.6,2819,2393,2369,2215,376.6,-16.4,175,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2393,2292,2369,2215,0,0,0,0,0,0,27.04,27.05,27.05,8.66,22.23
$GC,2852,-1.45,-146.6,2819,2393,2369,2215,426.0,-16.4,185,2858,0.00,2.40,0.00,0.000,516,0.000,0.062,2819,792,2292,2369,2215,0,0,0,0,0,0,27.06,26.71,27.08,8.66,22.67
$GC,2905,-1.45,-146.6,2818,791,2369,2215,431.5,-17.0,186,2912,0.00,2.30,0.00,0.000,1030,0.000,0.057,2809,2388,2291,2368,2215,0,0,0,0,0,0,26.83,26.77,26.85,8.66,22.39
$GC,3213,-1.45,-146.6,2808,2388,2369,2215,488.8,-17.5,197,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2388,2292,2369,2215,0,0,0,0,0,0,27.08,27.10,27.09,8.66,22.67
$GC,3512,-1.45,-146.6,2808,2388,2368,2215,543.2,-18.3,207,3518,0.00,2.38,0.00,0.000,516,0.000,0.062,2808,802,2291,2368,2215,0,0,0,0,0,0,27.09,26.74,27.10,8.64,22.23
$GC,3609,-1.45,-146.6,2808,802,2368,2215,559.9,-18.5,210,3615,0.12,2.28,0.00,0.000,3078,0.246,0.057,2830,2381,2291,2368,2215,0,0,0,0,0,0,26.31,26.79,26.55,8.64,23.22
$GC,3929,-1.45,-146.6,2829,2381,2368,2214,615.8,-17.0,221,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2381,2291,2369,2214,0,0,0,0,0,0,27.10,27.13,27.12,8.63,22.67
$GC,4227,-1.45,-146.6,2829,2381,2368,2214,665.0,-15.9,231,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2381,2291,2369,2214,0,0,0,0,0,0,27.12,27.13,27.13,8.63,22.67
$GC,4527,-1.45,-146.6,2829,2382,2368,2213,711.0,-15.2,241,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2382,2290,2368,2213,0,0,0,0,0,0,27.13,27.14,27.13,8.61,22.79
$GC,4828,-1.45,-146.6,2829,2382,2368,2212,760.0,-16.8,251,4834,0.00,2.40,0.00,0.000,516,0.000,0.065,2830,783,2290,2368,2212,0,0,0,0,0,0,27.13,26.77,27.14,8.59,23.49
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$GC,5840,-1.45,-146.6,2820,807,2367,2208,933.0,-19.6,284,5847,0.00,2.33,0.00,0.000,1030,0.000,0.057,2810,2383,2288,2367,2209,0,0,0,0,0,0,26.89,26.82,26.91,8.51,23.93
$GC,6149,-1.45,-146.6,2809,2383,2367,2205,993.7,-18.3,295,6155,0.00,2.30,0.00,0.000,260,0.000,0.074,2799,3907,2286,2367,2205,0,0,0,0,0,0,27.14,26.73,27.15,8.50,24.36
$GC,6208,-1.45,-146.6,2798,3907,2367,2203,1006.0,-19.2,297,6213,0.12,2.28,0.00,0.000,3078,0.246,0.057,2830,2364,2284,2366,2203,0,0,0,0,0,0,26.32,26.87,26.57,8.49,24.01
$GC,6572,-1.50,-146.6,2830,2363,2366,2202,1072.4,-18.4,303,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2363,2284,2366,2203,0,0,0,0,0,0,27.14,27.16,27.15,8.47,24.56
$GC,6871,-1.57,-146.6,2830,2363,2365,2202,1124.9,-17.4,308,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2363,2283,2365,2202,0,0,0,0,0,0,27.14,27.16,27.15,8.44,25.46
$GC,7171,-1.63,-146.6,2830,2363,2364,2199,1178.0,-17.8,313,7173,0.12,0.00,0.00,0.000,4102,0.166,0.000,2784,2363,2281,2364,2199,0,0,0,0,0,0,26.67,26.83,26.78,8.43,25.23
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$GC,8486,-1.63,-146.6,2772,2374,2357,2193,1446.6,-20.2,335,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2374,2275,2357,2193,0,0,0,0,0,0,27.15,27.16,27.16,8.36,32.12
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$GC,9124,-1.63,-146.6,2772,818,2353,2191,1568.4,-20.2,345,9128,0.00,2.38,0.00,0.000,1030,0.000,0.065,2763,2381,2272,2353,2191,0,0,0,0,0,0,26.85,26.75,26.87,8.34,32.08
$GC,9441,-1.63,-146.6,2762,2382,2353,2189,1640.5,-20.3,351,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2382,2270,2353,2188,0,0,0,0,0,0,27.15,27.17,27.16,8.34,32.51
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$GC,10041,-1.74,-146.6,2762,2382,2350,2187,1759.5,-19.6,361,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2382,2268,2350,2187,0,0,0,0,0,0,27.15,27.16,27.16,8.32,32.55
$GC,10341,-1.80,-146.6,2762,2382,2350,2186,1817.3,-19.2,366,10346,0.08,2.47,0.00,0.000,4612,0.236,0.072,2740,812,2268,2350,2186,0,0,0,0,0,0,26.67,26.66,26.73,8.32,32.75
$GC,10382,-1.87,-146.6,2739,812,2349,2187,1817.3,-19.2,366,10387,0.00,2.40,0.00,0.000,1030,0.000,0.067,2729,2383,2267,2349,2186,0,0,0,0,0,0,26.82,26.72,26.86,8.32,32.55
$GC,10705,-1.87,-146.6,2729,2383,2349,2186,1891.2,-20.1,372,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2383,2267,2349,2186,0,0,0,0,0,0,27.14,27.16,27.16,8.32,32.63
$GC,11004,-1.87,-146.6,2728,2383,2348,2185,1950.1,-19.6,377,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2383,2266,2348,2185,0,0,0,0,0,0,27.15,27.16,27.16,8.31,32.71
$GC,11304,-1.87,-146.6,2729,2383,2347,2185,2008.1,-19.4,382,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2383,2265,2347,2184,0,0,0,0,0,0,27.15,27.17,27.16,8.31,32.47
$GC,11605,-1.92,-146.6,2729,2383,2346,2184,2063.0,-18.3,387,11607,0.10,0.00,0.00,0.000,4102,0.216,0.000,2696,2385,2265,2346,2184,0,0,0,0,0,0,26.56,26.74,26.67,8.30,32.43
$GC,11905,-1.92,-146.6,2695,2385,2345,2184,2121.5,-19.5,392,11911,0.00,2.45,0.00,0.000,516,0.000,0.074,2696,816,2264,2346,2183,0,0,0,0,0,0,27.15,26.63,27.15,8.30,32.16
$GC,11957,-1.92,-146.6,2696,816,2345,2184,2121.5,-19.5,392,11965,0.00,2.40,0.00,0.000,1030,0.000,0.067,2685,2393,2264,2345,2184,0,0,0,0,0,0,26.79,26.69,26.83,8.30,32.51
$GC,12264,-1.92,-146.6,2685,2394,2345,2182,2192.8,-19.6,398,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2394,2264,2345,2183,0,0,0,0,0,0,27.14,27.16,27.15,8.30,32.51
$GC,12564,-1.92,-146.6,2684,2394,2344,2181,2250.2,-19.1,403,12571,0.00,2.47,0.00,0.000,516,0.000,0.074,2685,823,2262,2343,2182,0,0,0,0,0,0,27.15,26.60,27.15,8.30,32.31
$GC,12602,-1.92,-146.6,2684,823,2343,2182,2250.2,-19.1,403,12606,0.00,2.38,0.00,0.000,1030,0.000,0.067,2675,2382,2262,2343,2182,0,0,0,0,0,0,26.79,26.68,26.82,8.29,32.67
$GC,12919,-1.92,-146.6,2674,2382,2343,2181,2318.1,-19.0,409,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2382,2262,2344,2181,0,0,0,0,0,0,27.14,27.16,27.15,8.29,32.79
$GC,13219,-1.92,-146.6,2674,2382,2342,2181,2373.1,-18.3,414,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2382,2261,2343,2180,0,0,0,0,0,0,27.14,27.16,27.15,8.28,32.35
$GC,13520,-1.92,-146.6,2674,2382,2343,2180,2428.3,-18.4,419,13526,0.00,2.45,0.00,0.000,516,0.000,0.074,2674,819,2261,2343,2180,0,0,0,0,0,0,27.14,26.58,27.15,8.28,32.55
$GC,13567,-1.92,-146.6,2674,819,2342,2180,2428.3,-18.4,419,13572,0.00,2.38,0.00,0.000,1030,0.000,0.067,2663,2380,2261,2342,2180,0,0,0,0,0,0,26.77,26.65,26.80,8.29,32.75
$GC,13875,-1.92,-146.6,2662,2381,2342,2180,2495.0,-18.7,424,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2381,2260,2342,2179,0,0,0,0,0,0,27.14,27.16,27.15,8.28,33.10
$GC,14174,-1.92,-146.6,2662,2381,2342,2179,2550.7,-18.6,429,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2381,2260,2342,2179,0,0,0,0,0,0,27.14,27.16,27.15,8.28,32.08
$GC,14474,-1.92,-146.6,2662,2381,2342,2179,2604.7,-17.9,434,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2381,2260,2342,2178,0,0,0,0,0,0,27.14,27.16,27.15,8.28,32.83
$GC,14776,-1.92,-146.6,2662,2381,2341,2178,2657.3,-17.6,439,14777,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2381,2260,2342,2178,0,0,0,0,0,0,27.14,27.16,27.15,8.27,33.02
$GC,15075,-1.92,-146.6,2662,2381,2341,2178,2710.9,-17.9,444,15081,0.00,2.45,0.00,0.000,516,0.000,0.074,2663,813,2259,2341,2177,0,0,0,0,0,0,27.14,26.54,27.15,8.28,32.28
$GC,15113,-1.92,-146.6,2662,813,2340,2178,2710.9,-17.9,444,15118,0.12,2.42,0.00,0.000,3078,0.293,0.067,2679,2393,2259,2340,2178,0,0,0,0,0,0,25.91,26.63,26.20,8.27,32.59
$GC,15431,-1.99,-146.6,2679,2393,2340,2177,2769.7,-16.2,450,15432,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2394,2258,2340,2177,0,0,0,0,0,0,27.14,27.15,27.15,8.27,32.63
$GC,15731,-2.08,-146.6,2679,2394,2340,2177,2818.2,-16.1,455,15733,0.10,0.00,0.00,0.000,4102,0.238,0.000,2651,2395,2258,2340,2177,0,0,0,0,0,0,26.46,26.65,26.58,8.26,32.47
$GC,16031,-2.13,-146.6,2651,2395,2340,2176,2869.8,-17.2,460,16038,0.08,2.47,0.00,0.000,4612,0.253,0.074,2630,829,2257,2339,2176,0,0,0,0,0,0,26.59,26.53,26.65,8.27,33.30
$GC,16074,-2.19,-146.6,2630,829,2339,2176,2869.8,-17.2,460,16079,0.00,2.40,0.00,0.000,1030,0.000,0.067,2621,2390,2257,2338,2177,0,0,0,0,0,0,26.73,26.61,26.77,8.27,33.26
$GC,16391,-2.19,-146.6,2621,2390,2339,2176,2935.0,-18.0,466,16392,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2390,2257,2338,2176,0,0,0,0,0,0,27.13,27.15,27.15,8.27,32.24
$GC,16692,-2.19,-146.6,2620,2390,2338,2176,2988.0,-17.7,471,16698,0.00,2.47,0.00,0.000,516,0.000,0.077,2621,819,2257,2339,2176,0,0,0,0,0,0,27.13,26.50,27.15,8.26,32.67
$GC,16744,-2.19,-146.6,2621,818,2338,2176,2988.0,-17.7,471,16752,0.00,2.40,0.00,0.000,1030,0.000,0.070,2611,2385,2256,2337,2176,0,0,0,0,0,0,26.71,26.60,26.75,8.27,32.87
$GC,17051,-2.19,-146.6,2610,2384,2338,2176,3053.7,-18.1,477,17052,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2385,2257,2339,2176,0,0,0,0,0,0,27.13,27.15,27.15,8.26,32.47
$GC,17351,-2.19,-146.6,2610,2385,2338,2175,3106.8,-17.6,482,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2385,2257,2338,2176,0,0,0,0,0,0,27.13,27.15,27.15,8.27,32.31
$GC,17653,-2.19,-146.6,2610,2385,2338,2175,3158.2,-17.1,487,17657,0.00,2.50,0.00,0.000,516,0.000,0.077,2610,814,2256,2338,2175,0,0,0,0,0,0,27.13,26.48,27.15,8.26,33.02
$GC,17703,-2.19,-146.6,2610,814,2338,2176,3158.2,-17.1,487,17707,0.00,2.42,0.00,0.000,1030,0.000,0.070,2600,2389,2257,2338,2176,0,0,0,0,0,0,26.70,26.58,26.73,8.26,32.71
$GC,18011,-2.19,-146.6,2599,2390,2338,2175,3219.8,-17.0,492,18012,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2390,2256,2338,2175,0,0,0,0,0,0,27.13,27.15,27.15,8.26,33.18
$GC,18310,-2.19,-146.6,2599,2390,2338,2175,3268.6,-16.2,497,18311,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2390,2256,2337,2175,0,0,0,0,0,0,27.13,27.15,27.15,8.25,32.91
$GC,18610,-2.19,-146.6,2599,2390,2337,2175,3315.6,-15.6,502,18611,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2390,2256,2338,2174,0,0,0,0,0,0,27.13,27.15,27.15,8.26,33.54
$GC,18910,-2.19,-146.6,2599,2390,2337,2174,3361.1,-15.2,507,18911,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2390,2255,2337,2174,0,0,0,0,0,0,27.13,27.15,27.15,8.26,32.83
$GC,19210,-2.24,-146.6,2599,2390,2337,2174,3405.1,-14.6,512,19215,0.00,2.50,0.00,0.000,516,0.000,0.077,2600,814,2255,2337,2174,0,0,0,0,0,0,27.13,26.44,27.15,8.26,32.55
$GC,19277,-2.29,-146.6,2599,814,2337,2174,3414.9,-14.7,513,19281,0.00,2.42,0.00,0.000,1030,0.000,0.070,2589,2390,2255,2337,2174,0,0,0,0,0,0,26.67,26.55,26.71,8.26,32.55
$GC,19628,-2.29,-146.6,2588,2390,2337,2174,3467.1,-14.6,519,19629,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2390,2255,2337,2174,0,0,0,0,0,0,27.13,27.15,27.15,8.25,33.14
$GC,19929,-2.35,-146.6,2588,2389,2337,2174,3510.1,-14.3,524,19931,0.08,0.00,0.00,0.000,4102,0.263,0.000,2568,2392,2256,2337,2175,0,0,0,0,0,0,26.54,26.66,26.60,8.25,33.06
$GC,20228,-2.35,-146.6,2567,2392,2337,2174,3554.5,-14.8,529,20234,0.00,2.50,0.00,0.000,516,0.000,0.077,2568,821,2255,2337,2174,0,0,0,0,0,0,27.12,26.41,27.13,8.25,32.98
$GC,20304,-2.35,-146.6,2567,822,2337,2174,3563.8,-14.9,530,20308,0.00,2.42,0.00,0.000,1030,0.000,0.070,2557,2394,2254,2335,2174,0,0,0,0,0,0,26.64,26.52,26.68,8.25,32.91
$GC,20655,-2.35,-146.6,2557,2394,2336,2174,3619.4,-15.1,536,20657,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2394,2255,2336,2174,0,0,0,0,0,0,27.11,27.13,27.13,8.26,32.39
$GC,20969,-2.35,-146.6,2557,2394,2336,2174,3663.9,-14.9,541,20976,0.00,2.47,0.00,0.000,516,0.000,0.077,2556,827,2255,2337,2174,0,0,0,0,0,0,27.09,26.39,27.10,8.25,32.83
$GC,21021,-2.35,-146.6,2557,827,2336,2175,3663.9,-14.9,541,21028,0.00,2.40,0.00,0.000,1030,0.000,0.070,2546,2385,2255,2336,2174,0,0,0,0,0,0,26.61,26.50,26.66,8.26,32.47
$GC,21328,-2.35,-146.6,2546,2385,2336,2174,3720.0,-14.9,547,21333,0.00,2.50,0.00,0.000,516,0.000,0.077,2546,814,2255,2336,2174,0,0,0,0,0,0,27.10,26.37,27.12,8.25,33.42
$GC,21383,-2.35,-146.6,2546,814,2336,2174,3720.0,-14.9,547,21403,0.00,2.42,0.00,0.000,1030,0.000,0.070,2536,2385,2255,2336,2174,0,0,0,0,0,0,26.60,26.48,26.65,8.25,33.18
$GC,21691,-2.35,-146.6,2535,2385,2336,2174,3775.3,-15.1,553,21692,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2386,2255,2336,2174,0,0,0,0,0,0,27.10,27.11,27.11,8.25,32.83
$GC,21991,-2.35,-146.6,2535,2385,2336,2174,3819.9,-14.8,558,21992,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2386,2254,2335,2174,0,0,0,0,0,0,27.10,27.11,27.11,8.25,32.75
$GC,22303,-2.35,-146.6,2535,2386,2336,2174,3863.4,-14.5,563,22310,0.00,2.47,0.00,0.000,516,0.000,0.077,2536,827,2254,2335,2174,0,0,0,0,0,0,27.07,26.35,27.08,8.25,32.83
$GC,22355,-2.35,-146.6,2534,828,2335,2174,3863.4,-14.5,563,22363,0.00,2.40,0.00,0.000,1030,0.000,0.070,2525,2393,2255,2336,2174,0,0,0,0,0,0,26.59,26.47,26.63,8.25,33.10
$GC,22663,-2.35,-146.6,2525,2393,2335,2174,3917.9,-14.6,569,22664,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2393,2254,2335,2174,0,0,0,0,0,0,27.08,27.11,27.10,8.25,32.98
$GC,22976,-2.35,-146.6,2524,2393,2335,2174,3960.5,-14.2,574,22982,0.00,2.47,0.00,0.000,516,0.000,0.077,2525,828,2254,2335,2174,0,0,0,0,0,0,27.07,26.34,27.08,8.25,33.02
$GC,23058,-2.35,-146.6,2524,828,2335,2174,3970.9,-14.1,575,23063,0.12,2.40,0.00,0.000,3078,0.320,0.070,2539,2385,2255,2336,2174,0,0,0,0,0,0,25.58,26.45,25.87,8.25,32.98
$GC,23396,-2.41,-146.6,2538,2385,2336,2174,4019.3,-13.1,581,23397,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2385,2254,2335,2174,0,0,0,0,0,0,27.08,27.10,27.10,8.25,33.02
$GC,23696,-2.46,-146.6,2538,2385,2335,2173,4057.6,-12.6,586,23698,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2385,2254,2335,2174,0,0,0,0,0,0,27.08,27.10,27.10,8.25,32.47
$GC,23996,-2.53,-146.6,2538,2385,2335,2173,4095.1,-12.4,591,23998,0.12,0.00,0.00,0.000,4102,0.243,0.000,2506,2386,2255,2336,2174,0,0,0,0,0,0,26.18,26.40,26.32,8.25,32.71
$GC,24296,-2.53,-146.6,2505,2386,2335,2173,4135.1,-13.3,596,24302,0.00,2.47,0.00,0.000,516,0.000,0.077,2506,827,2254,2335,2173,0,0,0,0,0,0,27.08,26.32,27.10,8.25,32.98
$GC,24381,-2.53,-146.6,2505,827,2335,2173,4143.6,-13.4,597,24386,0.00,2.40,0.00,0.000,1030,0.000,0.070,2495,2383,2254,2335,2174,0,0,0,0,0,0,26.56,26.44,26.60,8.26,32.67
$GC,24728,-2.53,-146.6,2494,2383,2335,2173,4193.5,-13.3,603,24730,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2383,2254,2335,2173,0,0,0,0,0,0,27.08,27.10,27.10,8.26,32.87
$GC,25029,-2.53,-146.6,2493,2383,2335,2173,4232.9,-13.2,608,25036,0.00,2.47,0.00,0.000,516,0.000,0.077,2495,822,2254,2335,2174,0,0,0,0,0,0,27.08,26.30,27.10,8.25,32.59
$GC,25102,-2.53,-146.6,2494,822,2335,2174,4241.0,-13.2,609,25108,0.00,2.40,0.00,0.000,1030,0.000,0.070,2484,2377,2254,2336,2173,0,0,0,0,0,0,26.48,26.43,26.52,8.26,32.91
$GC,25461,-2.53,-146.6,2484,2376,2335,2173,4289.4,-13.0,615,25462,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2377,2254,2335,2173,0,0,0,0,0,0,27.08,27.10,27.10,8.25,32.47
$GC,25775,-2.53,-146.6,2484,2376,2335,2173,4327.5,-12.6,620,25776,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2377,2254,2335,2174,0,0,0,0,0,0,27.06,27.08,27.08,8.26,32.83
$GC,26074,-2.53,-146.6,2484,2377,2335,2173,4364.3,-12.3,625,26080,0.00,2.45,0.00,0.000,516,0.000,0.077,2484,827,2254,2335,2173,0,0,0,0,0,0,27.06,26.27,27.08,8.26,32.08
$GC,26160,-2.53,-146.6,2484,827,2335,2173,4373.3,-12.3,626,26165,0.00,2.40,0.00,0.000,1030,0.000,0.070,2474,2390,2254,2335,2174,0,0,0,0,0,0,26.53,26.41,26.57,8.26,33.61
$GC,26493,-2.53,-146.6,2473,2390,2335,2173,4417.0,-12.0,632,26494,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2390,2254,2335,2173,0,0,0,0,0,0,27.08,27.10,27.10,8.25,33.10
$GC,26793,-2.53,-146.6,2473,2390,2335,2173,4452.7,-11.9,637,26797,0.00,2.50,0.00,0.000,516,0.000,0.079,2473,823,2254,2335,2173,0,0,0,0,0,0,27.08,26.26,27.10,8.26,32.83
$GC,26878,-2.53,-146.6,2473,823,2335,2173,4460.3,-12.0,638,26883,0.00,2.40,0.00,0.000,1030,0.000,0.070,2463,2384,2254,2334,2174,0,0,0,0,0,0,26.53,26.41,26.58,8.26,32.67
$STATE,26970,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,26970,begin apogee
$GC,26975,-0.56,0.0,2462,2384,2335,2173,4474.0,-12.0,640,27124,2.62,0.00,143.73,3.804,10246,0.261,0.000,3112,2384,1786,1872,1701,0,0,0,0,0,0,25.04,22.86,21.20,8.25,33.10
$STATE,27125,end apogee,CONTROL_FINISHED_OK
$STATE,27125,begin climb
$GC,27127,1.59,146.6,3112,2384,1872,1701,4473.4,0.0,642,27289,2.33,0.00,157.30,3.752,10246,0.159,0.000,3804,2384,1280,1370,1191,0,0,0,0,0,0,23.44,22.86,21.28,8.23,32.67
$GC,27571,1.22,146.6,3803,2384,1370,1190,4344.2,34.1,650,27577,0.57,2.60,0.00,0.000,4612,0.372,0.074,3715,786,1280,1370,1190,0,0,0,0,0,0,25.08,25.47,25.32,8.18,32.55
$GC,27954,0.92,146.6,3714,785,1371,1190,4234.1,30.2,656,27960,0.57,2.45,0.00,0.000,5126,0.360,0.070,3603,2351,1280,1370,1190,0,0,0,0,0,0,25.52,26.10,25.93,8.18,32.16
$GC,28288,0.72,146.6,3602,2351,1370,1190,4141.4,25.4,662,28294,0.32,2.50,0.00,0.000,4612,0.367,0.077,3549,784,1280,1371,1190,0,0,0,0,0,0,25.64,26.07,25.91,8.17,32.35
$GC,28471,0.55,146.6,3549,784,1370,1189,4099.2,23.6,665,28476,0.32,2.42,0.00,0.000,5126,0.345,0.070,3484,2345,1280,1370,1190,0,0,0,0,0,0,25.72,26.33,26.12,8.17,31.96
$GC,28824,0.46,146.6,3483,2345,1370,1189,4026.5,20.0,671,28831,0.12,2.47,0.00,0.000,4612,0.375,0.077,3469,786,1279,1370,1189,0,0,0,0,0,0,25.79,26.20,26.03,8.16,32.28
$GC,28947,0.38,146.6,3468,786,1370,1189,4003.4,19.5,673,28952,0.20,2.40,0.00,0.000,5126,0.345,0.070,3430,2344,1279,1370,1189,0,0,0,0,0,0,25.76,26.43,26.18,8.16,32.51
$GC,29299,0.38,146.6,3430,2344,1369,1189,3940.7,17.4,679,29306,0.00,2.47,0.00,0.000,516,0.000,0.082,3440,781,1279,1370,1189,0,0,0,0,0,0,26.82,26.41,26.84,8.16,32.43
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$STATE,62919,end climb,SURFACE_DEPTH_REACHED
$STATE,62919,begin surface coast
$FINISH,1.2,1.024921
$STATE,62930,end surface coast,CONTROL_FINISHED_OK
$STATE,62930,begin surface
$SM_CCo,62948,107.20,0.683,0,0,408,400.02
$SM_GC,0.74,9.38,0.10,107.20,0.092,0.114,0.683,148,2394,408,-9.81,-1.41,400.02,0,0,0,0,0,0,26.39,26.86,24.78
$IRIDIUM_FIX,3140.07,-6420.44,040619,083024
$TT8_MAMPS,0.021721,0.256907
$HUMID,23.02
$INTERNAL_PRESSURE,8.41707
$TCM_TEMP,22.70
$XPDR_PINGS,11
$ALTIM_TOP_PING,18.6,17.8
$ALTIM_BOTTOM_PING,4424.1,66.2
$24V_AH,21.20,27.680
$10V_AH,10.36,13.953
$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,31.575,407.350,410.250,107.200,144.325,26.103,19.814,334.501,72.500,0.000,23.375,5649.662,50336.863,1001.766,6140.487,445.851,0.000,3803.342,0.000,5079.449,0.000,780.653,0.000
$DEVICE_MAMPS,374.933,114.218,3803.956,682.825,124.150,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.932,1853.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319924
$DATA_FILE_SIZE,100583,1399
$CAP_FILE_SIZE,455639,0
$CFSIZE,2047311872,2037645312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.106,259.15,1
$GPS,050619,200017,3141.567,-6419.781,28,1.0,42,-14.9,0.4,206.5,9,5.0