version: 66.14
glider: 39
mission: 27
dive: 18
start: 6 15 118 22 34 13
data:
$ID,39
$MISSION,27
$DIVE,18
$N_DIVES,0
$STOP_T,6211821
$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,79016
$MASS_COMP,9201.2998
$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,300000
$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,150
$PITCH_MAX,3910
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,1737
$C_ROLL_CLIMB,1933
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,103
$R_STBD_OVSHOOT,87
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2020
$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,-21.005692
$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,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.5
$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,0.0044020778
$SEABIRD_T_H,0.00064109167
$SEABIRD_T_I,2.6113514e-05
$SEABIRD_T_J,3.207555e-06
$SEABIRD_C_G,-9.7950287
$SEABIRD_C_H,1.1392668
$SEABIRD_C_I,-0.0017858738
$SEABIRD_C_J,0.00021101594
$SEABIRD_C_Z,2936.5901
$GPS1,150618,222353,2630.3987,-7643.5591,39,1.2,42,-8.5,0.0,40.9,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-59.5
$GPS2,150618,223329,2630.4839,-7643.5269,14,1.1,17,-8.5,0.0,0.0,8,4.7
$SPEED_LIMITS,0.130,0.209
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$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,204.4,1845,-27.5,-7.500,-30.00,1091
$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,1288,-1.43,-95.2,2237,1718,2315,2385,157.6,-11.8,124,1292,0.00,2.00,0.00,0.000,516,0.000,0.070,2240,326,2350,2315,2385,0,0,0,0,0,0,26.93,26.51,26.94,8.84,21.68
$GC,1420,-1.35,-95.2,2238,318,2315,2385,172.9,-12.2,130,1425,0.12,1.92,0.00,0.000,3078,0.223,0.055,2265,1760,2350,2315,2385,0,0,0,0,0,0,26.17,26.68,26.34,8.83,21.76
$GC,1725,-1.35,-95.2,2264,1761,2315,2385,210.0,-12.0,145,1729,0.00,2.08,0.00,0.000,516,0.000,0.067,2266,308,2350,2315,2385,0,0,0,0,0,0,27.00,26.58,27.01,8.82,22.59
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$GC,2490,-1.35,-95.2,2257,1759,2315,2384,310.8,-14.2,182,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,1759,2349,2315,2383,0,0,0,0,0,0,27.08,27.10,27.09,8.79,23.18
$GC,2787,-1.35,-95.2,2256,1759,2315,2384,355.5,-15.3,192,2791,0.00,2.08,0.00,0.000,516,0.000,0.067,2257,345,2349,2315,2384,0,0,0,0,0,0,27.10,26.68,27.12,8.77,23.45
$GC,2946,-1.35,-95.2,2256,317,2314,2383,380.7,-16.7,197,2950,0.00,1.92,0.00,0.000,1030,0.000,0.055,2247,1761,2349,2315,2384,0,0,0,0,0,0,26.88,26.84,26.89,8.77,23.30
$GC,3270,-1.35,-95.2,2246,1761,2315,2383,433.6,-16.0,208,3274,0.00,2.08,0.00,0.000,516,0.000,0.067,2247,315,2349,2315,2383,0,0,0,0,0,0,27.13,26.70,27.14,8.76,23.97
$GC,3423,-1.35,-95.2,2246,315,2315,2382,459.3,-17.0,213,3426,0.00,1.90,0.00,0.000,1030,0.000,0.055,2238,1734,2348,2315,2382,0,0,0,0,0,0,26.90,26.86,26.91,8.75,23.93
$GC,3754,-1.35,-95.2,2237,1747,2314,2381,513.4,-16.0,224,3758,0.00,2.05,0.00,0.000,516,0.000,0.067,2237,350,2348,2315,2381,0,0,0,0,0,0,27.15,26.73,27.16,8.74,24.52
$GC,3815,-1.35,-95.2,2237,317,2314,2380,523.8,-16.5,226,3822,0.12,1.90,0.00,0.000,3078,0.196,0.055,2263,1746,2347,2315,2380,0,0,0,0,0,0,26.39,26.88,26.54,8.73,24.64
$GC,4146,-1.35,-95.2,2262,1745,2315,2379,574.1,-15.2,237,4152,0.00,2.20,0.00,0.000,260,0.000,0.067,2252,3281,2347,2315,2379,0,0,0,0,0,0,27.16,26.74,27.17,8.72,24.95
$GC,4193,-1.35,-95.2,2252,3281,2315,2379,578.6,-15.2,238,4198,0.00,2.10,0.00,0.000,1030,0.000,0.057,2252,1761,2347,2315,2379,0,0,0,0,0,0,26.89,26.86,26.90,8.71,24.83
$GC,4505,-1.35,-95.2,2252,1761,2314,2377,636.4,-17.9,249,4510,0.00,2.12,0.00,0.000,516,0.000,0.070,2253,277,2346,2315,2377,0,0,0,0,0,0,27.17,26.73,27.18,8.69,25.23
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$GC,5752,-1.35,-95.2,2261,287,2314,2368,873.8,-20.0,290,5756,0.00,1.98,0.00,0.000,1030,0.000,0.055,2252,1741,2341,2314,2368,0,0,0,0,0,0,26.94,26.89,26.96,8.59,26.41
$GC,6069,-1.35,-95.2,2252,1742,2314,2365,938.0,-19.5,301,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1742,2339,2314,2365,0,0,0,0,0,0,27.18,27.20,27.20,8.56,27.16
$GC,6369,-1.35,-95.2,2252,1742,2314,2361,997.1,-19.6,311,6375,0.00,2.12,0.00,0.000,516,0.000,0.067,2253,286,2338,2315,2361,0,0,0,0,0,0,27.19,26.72,27.20,8.55,27.12
$GC,6429,-1.35,-95.2,2252,287,2314,2360,1009.3,-19.8,313,6433,0.00,2.00,0.00,0.000,1030,0.000,0.057,2243,1729,2337,2314,2361,0,0,0,0,0,0,26.94,26.89,26.95,8.55,27.39
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$GC,9378,-1.57,-95.2,2182,276,2302,2341,1613.8,-21.2,362,9382,0.00,2.08,0.00,0.000,1030,0.000,0.057,2173,1758,2322,2303,2342,0,0,0,0,0,0,26.89,26.84,26.91,8.42,30.35
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$GC,9778,-1.57,-95.2,2172,293,2300,2340,1689.8,-21.0,368,9783,0.10,2.03,0.00,0.000,3078,0.196,0.057,2189,1741,2320,2300,2340,0,0,0,0,0,0,26.38,26.83,26.50,8.41,30.50
$GC,10091,-1.63,-95.2,2188,1740,2298,2340,1762.9,-19.8,374,10093,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1741,2319,2299,2340,0,0,0,0,0,0,27.19,27.21,27.20,8.40,30.35
$GC,10391,-1.70,-95.2,2188,1741,2297,2339,1821.8,-19.5,379,10396,0.00,2.15,0.00,0.000,516,0.000,0.070,2189,294,2318,2297,2339,0,0,0,0,0,0,27.19,26.62,27.20,8.40,30.74
$GC,10472,-1.76,-95.2,2188,294,2298,2338,1834.5,-19.6,380,10477,0.08,2.03,0.00,0.000,5126,0.137,0.057,2132,1744,2317,2297,2338,0,0,0,0,0,0,26.69,26.82,26.76,8.40,30.70
$GC,10815,-1.76,-95.2,2131,1744,2296,2338,1912.4,-21.7,386,10821,0.00,2.15,0.00,0.000,516,0.000,0.070,2132,296,2317,2296,2338,0,0,0,0,0,0,27.19,26.61,27.20,8.40,30.54
$GC,10875,-1.76,-95.2,2131,296,2296,2337,1926.0,-21.8,387,10879,0.00,2.03,0.00,0.000,1030,0.000,0.057,2122,1725,2316,2296,2337,0,0,0,0,0,0,26.86,26.81,26.89,8.39,30.90
$GC,11250,-1.76,-95.2,2122,1741,2295,2337,2004.7,-21.5,393,11255,0.00,2.15,0.00,0.000,516,0.000,0.070,2122,296,2316,2296,2337,0,0,0,0,0,0,27.17,26.59,27.18,8.38,30.70
$GC,11323,-1.76,-95.2,2122,296,2294,2336,2020.8,-21.7,394,11327,0.00,2.05,0.00,0.000,1030,0.000,0.057,2112,1743,2315,2295,2336,0,0,0,0,0,0,26.85,26.79,26.87,8.38,30.62
$GC,11693,-1.76,-95.2,2112,1751,2294,2336,2102.4,-21.7,400,11700,0.00,2.17,0.00,0.000,516,0.000,0.070,2112,290,2315,2294,2336,0,0,0,0,0,0,27.16,26.58,27.17,8.38,30.19
$GC,11770,-1.76,-95.2,2111,290,2294,2336,2118.4,-21.8,401,11775,0.12,2.05,0.00,0.000,3078,0.216,0.057,2135,1748,2314,2294,2335,0,0,0,0,0,0,26.22,26.78,26.37,8.38,30.74
$GC,12113,-1.76,-95.2,2135,1748,2292,2336,2192.0,-20.2,407,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1748,2313,2292,2335,0,0,0,0,0,0,27.17,27.19,27.18,8.37,30.58
$GC,12426,-1.76,-95.2,2135,1748,2292,2335,2251.4,-19.8,412,12432,0.00,2.17,0.00,0.000,516,0.000,0.072,2136,295,2313,2292,2335,0,0,0,0,0,0,27.15,26.53,27.16,8.37,30.39
$GC,12506,-1.76,-95.2,2135,295,2292,2334,2265.8,-19.8,413,12510,0.00,2.05,0.00,0.000,1030,0.000,0.057,2127,1742,2313,2292,2334,0,0,0,0,0,0,26.82,26.75,26.84,8.37,30.58
$GC,12853,-1.76,-95.2,2126,1742,2291,2334,2336.8,-19.2,419,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,1742,2312,2291,2334,0,0,0,0,0,0,27.16,27.18,27.17,8.37,30.27
$GC,13152,-1.81,-95.2,2126,1742,2290,2334,2391.7,-18.0,424,13158,0.00,2.17,0.00,0.000,516,0.000,0.070,2127,290,2312,2290,2334,0,0,0,0,0,0,27.16,26.51,27.17,8.36,30.46
$GC,13227,-1.81,-95.2,2126,290,2290,2333,2403.1,-18.0,425,13231,0.00,2.05,0.00,0.000,1030,0.000,0.057,2117,1730,2312,2291,2333,0,0,0,0,0,0,26.79,26.74,26.82,8.36,30.58
$GC,13597,-1.87,-95.2,2117,1740,2290,2333,2471.3,-18.1,431,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,1741,2311,2290,2333,0,0,0,0,0,0,27.14,27.16,27.15,8.36,30.78
$GC,13898,-1.92,-95.2,2117,1741,2289,2332,2526.1,-18.1,436,13902,0.00,2.17,0.00,0.000,516,0.000,0.070,2117,290,2310,2289,2332,0,0,0,0,0,0,27.13,26.48,27.15,8.36,29.76
$GC,13973,-1.97,-95.2,2116,290,2289,2332,2540.6,-18.4,437,13979,0.08,2.08,0.00,0.000,5126,0.142,0.057,2044,1759,2311,2290,2332,0,0,0,0,0,0,26.59,26.72,26.66,8.37,30.03
$GC,14337,-1.97,-95.2,2043,1760,2288,2332,2616.1,-20.0,443,14343,0.00,2.20,0.00,0.000,516,0.000,0.070,2044,292,2310,2289,2332,0,0,0,0,0,0,27.15,26.48,27.17,8.36,29.76
$GC,14410,-1.97,-95.2,2043,291,2289,2331,2628.5,-20.0,444,14416,0.10,2.05,0.00,0.000,3078,0.221,0.057,2059,1743,2310,2289,2331,0,0,0,0,0,0,26.24,26.72,26.39,8.36,29.91
$GC,14769,-1.97,-95.2,2059,1743,2288,2331,2700.0,-18.8,450,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1743,2309,2288,2331,0,0,0,0,0,0,27.15,27.17,27.17,8.36,30.15
$GC,15069,-1.97,-95.2,2059,1742,2288,2331,2756.0,-18.6,455,15076,0.00,2.17,0.00,0.000,516,0.000,0.072,2059,297,2309,2288,2331,0,0,0,0,0,0,27.15,26.45,27.16,8.35,29.76
$GC,15160,-1.97,-95.2,2059,296,2288,2331,2768.0,-19.0,456,15164,0.00,2.05,0.00,0.000,1030,0.000,0.057,2050,1742,2309,2288,2330,0,0,0,0,0,0,26.76,26.70,26.78,8.35,30.31
$GC,15509,-1.97,-95.2,2049,1742,2287,2330,2840.5,-19.6,462,15510,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1742,2309,2288,2331,0,0,0,0,0,0,27.12,27.14,27.13,8.35,29.44
$GC,15797,-1.97,-95.2,2050,1741,2287,2331,2898.8,-19.2,467,15798,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1741,2309,2287,2331,0,0,0,0,0,0,27.15,27.16,27.16,8.35,30.27
$GC,16097,-1.97,-95.2,2050,1742,2287,2331,2957.5,-19.4,472,16102,0.00,2.17,0.00,0.000,516,0.000,0.072,2051,296,2308,2287,2330,0,0,0,0,0,0,27.15,26.42,27.16,8.34,30.11
$GC,16149,-1.97,-95.2,2050,296,2287,2330,2957.5,-19.4,472,16170,0.00,2.05,0.00,0.000,1030,0.000,0.057,2040,1743,2308,2287,2330,0,0,0,0,0,0,26.74,26.68,26.77,8.35,30.74
$GC,16469,-1.97,-95.2,2040,1743,2287,2330,3029.1,-19.6,478,16470,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1743,2308,2287,2330,0,0,0,0,0,0,27.11,27.13,27.13,8.35,29.95
$GC,16769,-1.97,-95.2,2040,1743,2286,2330,3086.8,-19.4,483,16771,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1743,2308,2286,2331,0,0,0,0,0,0,27.11,27.13,27.13,8.34,30.03
$GC,17069,-1.97,-95.2,2040,1743,2286,2330,3142.8,-18.4,488,17074,0.00,2.17,0.00,0.000,516,0.000,0.070,2040,303,2308,2286,2330,0,0,0,0,0,0,27.11,26.39,27.13,8.34,30.07
$GC,17175,-1.97,-95.2,2039,302,2285,2330,3156.9,-18.4,489,17180,0.12,2.05,0.00,0.000,3078,0.194,0.060,2065,1747,2307,2286,2329,0,0,0,0,0,0,26.10,26.66,26.22,8.34,30.31
$GC,17493,-2.04,-95.2,2064,1747,2286,2329,3219.0,-16.7,495,17494,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1747,2307,2286,2329,0,0,0,0,0,0,27.14,27.16,27.15,8.34,29.91
$GC,17806,-2.11,-95.2,2064,1748,2286,2329,3264.8,-15.1,500,17808,0.08,0.00,0.00,0.000,4102,0.156,0.000,2020,1748,2307,2285,2329,0,0,0,0,0,0,26.82,26.85,26.83,8.34,29.91
$GC,18092,-2.11,-95.2,2020,1748,2285,2329,3314.6,-16.7,505,18093,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1748,2307,2285,2329,0,0,0,0,0,0,27.14,27.16,27.15,8.34,30.42
$GC,18405,-2.11,-95.2,2020,1748,2285,2329,3365.0,-16.7,510,18406,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1748,2307,2285,2329,0,0,0,0,0,0,27.11,27.13,27.13,8.34,29.44
$GC,18693,-2.11,-95.2,2020,1748,2284,2329,3415.1,-16.7,515,18699,0.00,2.20,0.00,0.000,516,0.000,0.070,2020,290,2306,2284,2329,0,0,0,0,0,0,27.14,26.34,27.15,8.34,29.64
$GC,18773,-2.11,-95.2,2020,289,2285,2329,3426.0,-17.0,516,18777,0.00,2.08,0.00,0.000,1030,0.000,0.057,2010,1748,2307,2285,2329,0,0,0,0,0,0,26.70,26.63,26.72,8.33,29.79
$GC,19120,-2.11,-95.2,2009,1748,2284,2328,3490.7,-17.4,522,19121,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1748,2306,2284,2329,0,0,0,0,0,0,27.13,27.15,27.15,8.34,29.79
$GC,19433,-2.11,-95.2,2010,1748,2284,2328,3543.1,-17.4,527,19434,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1748,2307,2285,2329,0,0,0,0,0,0,27.11,27.13,27.13,8.33,29.32
$GC,19720,-2.11,-95.2,2010,1748,2284,2329,3592.0,-16.2,532,19727,0.00,2.20,0.00,0.000,516,0.000,0.072,2010,294,2306,2284,2328,0,0,0,0,0,0,27.14,26.31,27.15,8.33,29.64
$GC,19810,-2.11,-95.2,2009,294,2284,2328,3602.3,-16.4,533,19814,0.00,2.08,0.00,0.000,1030,0.000,0.057,2000,1749,2306,2284,2328,0,0,0,0,0,0,26.67,26.60,26.70,8.33,29.87
$GC,20159,-2.11,-95.2,1999,1749,2284,2328,3661.4,-15.9,539,20160,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1749,2306,2284,2328,0,0,0,0,0,0,27.10,27.13,27.12,8.34,29.91
$GC,20460,-2.11,-95.2,1999,1749,2284,2328,3706.6,-15.0,544,20461,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1749,2306,2284,2328,0,0,0,0,0,0,27.11,27.13,27.13,8.33,29.79
$GC,20748,-2.11,-95.2,2000,1749,2284,2328,3749.3,-14.0,549,20749,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1749,2306,2284,2328,0,0,0,0,0,0,27.13,27.15,27.15,8.33,29.44
$GC,21048,-2.16,-95.2,1999,1749,2283,2328,3792.5,-14.6,554,21054,0.00,2.20,0.00,0.000,516,0.000,0.072,2000,295,2306,2284,2328,0,0,0,0,0,0,27.13,26.28,27.15,8.33,29.16
$GC,21122,-2.16,-95.2,2000,294,2283,2328,3801.3,-14.6,555,21126,0.00,2.05,0.00,0.000,1030,0.000,0.057,1990,1735,2305,2284,2327,0,0,0,0,0,0,26.65,26.58,26.67,8.33,29.72
$GC,21479,-2.16,-95.2,1989,1738,2284,2327,3851.3,-13.3,561,21480,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1738,2305,2283,2328,0,0,0,0,0,0,27.13,27.15,27.15,8.33,29.64
$GC,21779,-2.16,-95.2,1989,1738,2284,2328,3892.8,-13.8,566,21781,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1738,2305,2283,2328,0,0,0,0,0,0,27.14,27.15,27.15,8.33,29.36
$STATE,22022,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,22022,begin apogee
$GC,22028,-0.29,0.0,1988,1946,2283,2328,3925.9,-13.8,570,22118,2.10,0.00,85.38,3.583,10246,0.151,0.000,2602,1946,2020,1978,2062,0,0,0,0,0,0,25.30,23.28,21.44,8.33,29.05
$STATE,22119,end apogee,CONTROL_FINISHED_OK
$STATE,22119,begin climb
$GC,22120,1.64,95.2,2602,1946,1978,2062,3927.1,0.0,571,22233,1.80,2.60,102.45,3.511,10500,0.097,0.094,3216,3468,1691,1651,1732,0,0,0,0,0,0,23.81,23.21,21.42,8.30,29.16
$GC,22429,1.29,95.2,3216,3475,1648,1732,3907.1,9.5,576,22435,0.43,2.30,0.00,0.000,5126,0.228,0.057,3115,1954,1690,1649,1731,0,0,0,0,0,0,24.94,25.43,25.22,8.29,28.46
$GC,22737,1.05,95.2,3114,1954,1648,1730,3854.3,14.5,581,22739,0.25,0.00,0.00,0.000,4102,0.226,0.000,3044,1955,1689,1648,1730,0,0,0,0,0,0,25.51,25.87,25.77,8.28,29.05
$GC,23037,0.88,95.2,3045,1955,1648,1730,3818.5,11.5,586,23043,0.20,2.33,0.00,0.000,4356,0.219,0.067,2984,3485,1689,1648,1730,0,0,0,0,0,0,25.75,26.00,25.89,8.28,28.77
$GC,23145,0.71,95.2,2984,3486,1648,1730,3812.0,11.3,587,23150,0.22,2.28,0.00,0.000,5126,0.219,0.057,2932,1930,1689,1648,1731,0,0,0,0,0,0,25.72,26.31,25.99,8.28,28.61
$GC,23458,0.64,95.2,2931,1930,1648,1729,3776.7,9.6,593,23459,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1930,1689,1648,1730,0,0,0,0,0,0,26.73,26.75,26.74,8.28,29.05
$GC,23758,0.58,95.2,2931,1930,1649,1730,3749.1,9.3,598,23763,0.12,2.35,0.00,0.000,4612,0.214,0.067,2901,369,1689,1648,1730,0,0,0,0,0,0,26.11,26.27,26.19,8.27,28.89
$GC,23860,0.52,95.2,2901,369,1648,1729,3743.6,9.2,599,23865,0.00,2.25,0.00,0.000,1030,0.000,0.057,2898,1923,1688,1648,1729,0,0,0,0,0,0,26.55,26.49,26.58,8.27,28.97
$GC,24183,0.52,95.2,2897,1923,1648,1729,3713.6,8.2,605,24189,0.00,2.38,0.00,0.000,260,0.000,0.070,2898,3508,1688,1648,1729,0,0,0,0,0,0,26.88,26.42,26.89,8.27,28.73
$GC,24376,0.52,95.2,2897,3508,1648,1729,3697.8,8.6,608,24382,0.12,2.30,0.00,0.000,5126,0.211,0.060,2871,1920,1688,1648,1729,0,0,0,0,0,0,26.06,26.55,26.25,8.28,28.89
$GC,24724,0.52,95.2,2871,1920,1649,1729,3670.0,7.6,614,24730,0.00,2.30,0.00,0.000,516,0.000,0.070,2882,381,1688,1648,1729,0,0,0,0,0,0,26.94,26.45,26.95,8.26,28.46
$GC,24822,0.52,95.2,2881,381,1648,1729,3665.4,7.5,615,24826,0.00,2.25,0.00,0.000,1030,0.000,0.057,2882,1938,1688,1648,1729,0,0,0,0,0,0,26.65,26.58,26.67,8.27,29.52
$GC,25144,0.52,95.2,2881,1940,1648,1729,3637.5,7.7,621,25145,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1941,1688,1648,1729,0,0,0,0,0,0,26.97,26.98,26.98,8.26,29.20
$GC,25444,0.52,95.2,2881,1941,1648,1729,3615.3,7.3,626,25449,0.00,2.35,0.00,0.000,260,0.000,0.070,2882,3507,1688,1648,1729,0,0,0,0,0,0,26.99,26.49,27.01,8.26,29.05
$GC,25585,0.52,95.2,2881,3507,1648,1729,3605.6,7.6,628,25590,0.00,2.28,0.00,0.000,1030,0.000,0.057,2893,1923,1689,1649,1729,0,0,0,0,0,0,26.70,26.63,26.72,8.26,29.52
$GC,25928,0.52,95.2,2892,1922,1648,1729,3578.7,7.4,634,25929,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1923,1688,1648,1729,0,0,0,0,0,0,27.02,27.03,27.03,8.26,29.60
$GC,26227,0.52,95.2,2892,1923,1648,1729,3557.8,7.0,639,26233,0.00,2.33,0.00,0.000,516,0.000,0.070,2905,369,1688,1648,1728,0,0,0,0,0,0,27.03,26.48,27.05,8.25,28.89
$GC,26361,0.52,95.2,2904,369,1648,1728,3549.2,7.0,641,26366,0.12,2.28,0.00,0.000,5126,0.214,0.057,2868,1957,1687,1648,1727,0,0,0,0,0,0,26.10,26.65,26.27,8.25,28.93
$GC,26704,0.52,95.2,2867,1957,1648,1728,3527.5,6.1,647,26710,0.00,2.30,0.00,0.000,260,0.000,0.070,2868,3489,1688,1649,1728,0,0,0,0,0,0,27.05,26.51,27.06,8.25,28.81
$GC,26842,0.52,95.2,2867,3489,1648,1728,3519.9,6.2,649,26847,0.00,2.25,0.00,0.000,1030,0.000,0.057,2879,1925,1687,1648,1727,0,0,0,0,0,0,26.73,26.67,26.75,8.25,28.69
$GC,27179,0.52,95.2,2878,1925,1648,1728,3499.1,5.9,655,27185,0.00,2.35,0.00,0.000,260,0.000,0.070,2879,3480,1688,1648,1728,0,0,0,0,0,0,27.06,26.51,27.08,8.25,28.73
$GC,27318,0.52,95.2,2878,3481,1649,1728,3491.7,6.1,657,27322,0.00,2.22,0.00,0.000,1030,0.000,0.057,2890,1928,1688,1649,1728,0,0,0,0,0,0,26.73,26.67,26.75,8.25,28.65
$GC,27661,0.52,95.2,2889,1928,1648,1727,3471.1,5.7,663,27667,0.00,2.33,0.00,0.000,260,0.000,0.070,2890,3479,1688,1648,1728,0,0,0,0,0,0,27.07,26.51,27.09,8.25,29.44
$GC,27781,0.52,95.2,2889,3479,1648,1728,3464.4,5.5,665,27788,0.10,2.22,0.00,0.000,5126,0.211,0.057,2871,1929,1688,1648,1728,0,0,0,0,0,0,26.22,26.67,26.32,8.25,29.48
$GC,28142,0.53,125.2,2871,1929,1648,1727,3447.6,4.7,671,28178,0.00,2.50,29.02,3.211,8708,0.000,0.089,2882,388,1588,1550,1626,0,0,0,0,0,0,27.09,24.77,22.92,8.25,29.20
$GC,28389,0.53,125.2,2882,387,1551,1624,3430.3,7.4,675,28393,0.00,2.28,0.00,0.000,1030,0.000,0.057,2882,1912,1587,1551,1624,0,0,0,0,0,0,25.96,25.90,25.98,8.24,28.10
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$GC,65981,1.40,263.6,3156,3497,1068,1152,633.4,12.5,1371,65989,0.00,2.22,0.00,0.000,1030,0.000,0.055,3167,1922,1110,1068,1152,0,0,0,0,0,0,26.77,26.71,26.79,8.32,27.39
$GC,66288,1.40,263.6,3167,1921,1068,1152,592.1,12.9,1382,66294,0.00,2.25,0.00,0.000,516,0.000,0.067,3179,385,1109,1068,1151,0,0,0,0,0,0,27.13,26.51,27.15,8.33,26.80
$GC,66350,1.40,263.6,3179,384,1068,1151,584.6,12.5,1384,66356,0.08,2.20,0.00,0.000,5126,0.201,0.055,3156,1942,1110,1068,1152,0,0,0,0,0,0,26.27,26.71,26.32,8.34,26.37
$GC,66679,1.40,263.6,3156,1942,1068,1152,541.4,13.1,1395,66686,0.00,2.25,0.00,0.000,260,0.000,0.067,3156,3483,1110,1068,1152,0,0,0,0,0,0,27.13,26.53,27.15,8.36,26.49
$GC,66732,1.40,263.6,3156,3482,1068,1152,537.1,13.5,1396,66739,0.00,2.17,0.00,0.000,1030,0.000,0.055,3167,1923,1110,1068,1152,0,0,0,0,0,0,26.79,26.73,26.81,8.35,26.64
$GC,67039,1.40,263.6,3166,1923,1068,1152,488.4,15.0,1407,67045,0.00,2.25,0.00,0.000,516,0.000,0.067,3178,381,1110,1068,1152,0,0,0,0,0,0,27.14,26.53,27.15,8.38,26.64
$GC,67101,1.40,263.6,3178,380,1068,1152,478.9,15.6,1409,67106,0.00,2.20,0.00,0.000,1030,0.000,0.055,3178,1929,1110,1068,1152,0,0,0,0,0,0,26.78,26.72,26.77,8.39,26.49
$GC,67429,1.40,263.6,3178,1929,1068,1152,425.5,16.5,1420,67431,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1929,1110,1068,1152,0,0,0,0,0,0,27.14,27.16,27.15,8.41,26.57
$GC,67731,1.40,263.6,3178,1929,1068,1153,376.5,16.4,1430,67732,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1929,1110,1068,1153,0,0,0,0,0,0,27.14,27.16,27.15,8.43,26.68
$GC,68029,1.40,263.6,3177,1929,1068,1154,326.1,16.6,1440,68031,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1929,1111,1068,1154,0,0,0,0,0,0,27.15,27.16,27.16,8.45,25.94
$GC,68329,1.40,263.6,3178,1929,1068,1156,274.2,17.5,1452,68331,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1929,1112,1068,1157,0,0,0,0,0,0,27.15,27.17,27.16,8.47,26.17
$GC,68630,1.40,263.6,3178,1929,1068,1158,221.9,17.6,1467,68634,0.00,2.30,0.00,0.000,260,0.000,0.067,3178,3501,1113,1068,1158,0,0,0,0,0,0,27.15,26.57,27.16,8.49,26.37
$GC,68705,1.40,263.6,3178,3501,1068,1159,210.2,18.5,1470,68713,0.12,2.17,0.00,0.000,5126,0.206,0.055,3152,1918,1113,1068,1159,0,0,0,0,0,0,26.20,26.79,26.34,8.49,25.94
$GC,69013,1.40,263.6,3151,1918,1068,1159,156.6,16.2,1486,69014,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1918,1114,1068,1160,0,0,0,0,0,0,27.15,27.17,27.17,8.52,25.66
$GC,69314,1.45,263.6,3151,1918,1069,1162,109.0,16.0,1513,69323,0.00,2.28,0.00,0.000,260,0.000,0.067,3152,3488,1115,1068,1163,0,0,0,0,0,0,27.15,26.58,27.17,8.55,25.90
$GC,69365,1.45,263.6,3151,3488,1068,1163,100.0,16.9,1518,69370,0.00,2.15,0.00,0.000,1030,0.000,0.055,3162,1919,1115,1068,1163,0,0,0,0,0,0,26.85,26.81,26.86,8.56,25.42
$GC,69678,1.53,263.6,3162,1918,1068,1165,55.1,12.5,1549,69682,0.00,2.20,0.00,0.000,516,0.000,0.067,3174,385,1116,1068,1164,0,0,0,0,0,0,27.16,26.60,27.17,8.58,25.82
$GC,69730,1.59,263.6,3173,384,1069,1165,48.4,13.3,1554,69740,0.05,2.15,0.00,0.000,3078,0.191,0.055,3206,1955,1116,1068,1165,0,0,0,0,0,0,26.63,26.80,26.68,8.58,26.49
$GC,70040,1.64,263.6,3205,1955,1068,1168,5.8,13.0,1585,70049,0.00,2.20,0.00,0.000,260,0.000,0.067,3206,3476,1118,1068,1169,0,0,0,0,0,0,27.16,26.62,27.17,8.62,25.34
$STATE,70053,end climb,SURFACE_DEPTH_REACHED
$STATE,70053,begin surface coast
$FINISH,0.1,1.023270
$STATE,70084,end surface coast,CONTROL_FINISHED_OK
$STATE,70084,begin surface
$SM_CCo,70102,112.18,0.839,0,0,643,400.00
$SM_GC,0.27,7.78,2.45,112.18,0.065,0.052,0.839,148,1744,643,-7.91,2.94,400.00,0,0,0,0,0,0,26.56,26.81,24.53
$IRIDIUM_FIX,2615.41,-7649.70,150618,020751
$TT8_MAMPS,0.02247,0.260652
$HUMID,25.46
$INTERNAL_PRESSURE,8.52581
$TCM_TEMP,23.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,18.5
$ALTIM_BOTTOM_PING,3925.9,12.0
$24V_AH,21.42,12.705
$10V_AH,9.94,4.164
$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,25.300,341.325,351.950,112.175,139.925,25.491,35.282,350.506,145.000,0.000,23.877,6122.760,56666.891,845.699,6615.295,512.410,0.000,3653.445,0.000,5015.191,0.000,1624.108,0.000
$DEVICE_MAMPS,248.300,94.354,3582.969,839.254,216.021,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.588,2121.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,272736
$DATA_FILE_SIZE,114458,1589
$CAP_FILE_SIZE,508714,0
$CFSIZE,2047311872,2036301824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,3,0
$INTR,0,8233.71,0x2139fa,0,24
$WARN,PPS timeout
$CURRENT,0.129,21.43,1
$GPS,160618,180553,2627.655,-7642.725,39,0.8,41,-8.5,0.3,1.1,10,4.8