version: 66.14
glider: 41
mission: 15
dive: 21
start: 9 9 118 3 13 8
data:
$ID,41
$MISSION,15
$DIVE,21
$N_DIVES,0
$STOP_T,9201819
$D_SURF,3
$D_FLARE,5
$D_TGT,5400
$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,1800
$T_MISSION,1860
$T_ABORT,1920
$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,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79399.703
$MASS_COMP,10108.4
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,205
$PITCH_MAX,3855
$C_PITCH,3279
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,230
$ROLL_MAX,3810
$ROLL_DEG,45
$C_ROLL_DIVE,2152
$C_ROLL_CLIMB,2066
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,325
$VBD_MAX,3960
$C_VBD,2390
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,14
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.572524
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,2000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.5
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$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,0.0044218274
$SEABIRD_T_H,0.00065427559
$SEABIRD_T_I,2.6669255e-05
$SEABIRD_T_J,3.3126662e-06
$SEABIRD_C_G,-9.8737192
$SEABIRD_C_H,1.1600837
$SEABIRD_C_I,-0.0018781425
$SEABIRD_C_J,0.0002279925
$SEABIRD_C_Z,2921.8601
$GPS1,090918,025934,3151.6082,-6412.9121,39,1.0,41,-14.9,0.0,0.0,9,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-59.4
$GPS2,090918,031213,3151.6323,-6412.9688,8,0.9,15,-14.9,0.0,295.2,9,4.8
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$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,192.1,22046,-21.7,-10.000,-24.22,2067
$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
$GC,72,-1.61,-136.1,203,2163,726,607,-0.4,0.6,6,225,0.00,0.00,-148.73,0.149,16390,0.000,0.000,203,2163,2860,2881,2840,0,0,0,0,0,0,26.29,25.84,25.68,9.37,14.36
$GC,228,-1.63,-146.6,203,2163,2881,2840,3.2,-5.5,21,245,10.88,0.00,-1.05,0.536,18438,0.286,0.000,2749,2162,2897,2926,2869,0,0,0,0,0,0,25.46,25.80,25.63,9.61,13.69
$GC,545,-1.58,-146.6,2748,2162,2927,2868,52.9,-10.0,53,549,0.00,2.50,0.00,0.000,516,0.000,0.082,2750,569,2897,2927,2868,0,0,0,0,0,0,26.44,26.10,26.46,9.63,13.61
$GC,766,-1.50,-146.6,2749,569,2929,2868,72.7,-7.8,73,775,0.17,2.42,0.00,0.000,3078,0.191,0.072,2792,2149,2898,2928,2868,0,0,0,0,0,0,26.02,26.32,26.10,9.61,13.53
$GC,1074,-1.50,-146.6,2791,2149,2928,2868,90.5,-6.8,104,1079,0.00,2.47,0.00,0.000,516,0.000,0.082,2792,567,2898,2928,2868,0,0,0,0,0,0,26.70,26.34,26.70,9.59,12.90
$GC,1185,-1.45,-146.6,2791,566,2929,2868,99.4,-8.4,114,1190,0.00,2.40,0.00,0.000,1030,0.000,0.072,2783,2158,2898,2929,2868,0,0,0,0,0,0,26.50,26.44,26.52,9.58,13.49
$GC,1498,-1.45,-146.6,2783,2158,2929,2868,129.5,-10.9,145,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2158,2898,2929,2868,0,0,0,0,0,0,26.80,26.82,26.81,9.55,13.06
$GC,1799,-1.40,-146.6,2782,2159,2929,2868,165.7,-12.6,169,1801,0.15,0.00,0.00,0.000,2054,0.204,0.000,2827,2159,2898,2929,2868,0,0,0,0,0,0,26.32,26.55,26.49,9.53,13.26
$GC,2098,-1.40,-146.6,2826,2158,2929,2868,200.4,-11.7,184,2104,0.00,2.40,0.00,0.000,260,0.000,0.087,2816,3733,2898,2929,2868,0,0,0,0,0,0,26.90,26.55,26.91,9.52,13.26
$GC,2209,-1.40,-146.6,2816,3733,2929,2868,213.4,-12.6,189,2213,0.00,2.38,0.00,0.000,1030,0.000,0.070,2816,2128,2899,2930,2868,0,0,0,0,0,0,26.69,26.62,26.70,9.52,13.49
$GC,2517,-1.40,-146.6,2815,2128,2929,2867,253.4,-12.9,204,2523,0.00,2.45,0.00,0.000,260,0.000,0.084,2805,3719,2898,2929,2867,0,0,0,0,0,0,26.94,26.55,26.96,9.51,14.28
$GC,2580,-1.40,-146.6,2805,3720,2929,2868,261.5,-13.2,207,2586,0.00,2.33,0.00,0.000,1030,0.000,0.070,2805,2144,2898,2929,2867,0,0,0,0,0,0,26.72,26.66,26.74,9.51,14.20
$GC,2910,-1.40,-146.6,2804,2144,2929,2866,306.1,-13.5,223,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2144,2897,2929,2866,0,0,0,0,0,0,26.98,27.00,26.99,9.50,14.36
$GC,3210,-1.40,-146.6,2804,2144,2930,2865,347.2,-13.5,233,3216,0.00,2.42,0.00,0.000,260,0.000,0.084,2793,3727,2897,2929,2865,0,0,0,0,0,0,27.01,26.63,27.02,9.50,14.12
$GC,3350,-1.35,-146.6,2793,3727,2929,2865,365.0,-14.6,237,3356,0.17,2.33,0.00,0.000,3078,0.199,0.070,2846,2142,2897,2929,2865,0,0,0,0,0,0,26.41,26.72,26.61,9.49,14.24
$GC,3658,-1.35,-146.6,2845,2142,2929,2864,405.3,-12.0,247,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2142,2896,2929,2864,0,0,0,0,0,0,27.03,27.04,27.04,9.49,15.15
$GC,3958,-1.35,-146.6,2845,2142,2929,2863,441.0,-11.5,257,3964,0.00,2.42,0.00,0.000,260,0.000,0.087,2836,3723,2895,2929,2862,0,0,0,0,0,0,27.05,26.66,27.06,9.48,14.24
$GC,4019,-1.35,-146.6,2835,3723,2929,2862,448.7,-11.7,259,4026,0.00,2.28,0.00,0.000,1030,0.000,0.070,2836,2161,2895,2929,2862,0,0,0,0,0,0,26.79,26.76,26.82,9.48,14.87
$GC,4349,-1.35,-146.6,2835,2161,2929,2861,489.4,-13.0,270,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2161,2895,2929,2861,0,0,0,0,0,0,27.06,27.08,27.07,9.46,14.28
$GC,4650,-1.35,-146.6,2835,2161,2929,2860,531.2,-14.0,280,4655,0.00,2.40,0.00,0.000,260,0.000,0.084,2825,3729,2894,2929,2860,0,0,0,0,0,0,27.08,26.70,27.09,9.45,14.56
$GC,4702,-1.35,-146.6,2824,3730,2929,2860,535.3,-14.0,281,4711,0.00,2.35,0.00,0.000,1030,0.000,0.070,2824,2144,2894,2929,2860,0,0,0,0,0,0,26.82,26.78,26.83,9.44,14.48
$GC,5009,-1.35,-146.6,2824,2144,2929,2858,583.2,-14.6,292,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2144,2893,2929,2858,0,0,0,0,0,0,27.08,27.10,27.10,9.43,14.59
$GC,5310,-1.35,-146.6,2824,2144,2929,2857,629.1,-15.2,302,5316,0.00,2.42,0.00,0.000,260,0.000,0.084,2812,3721,2893,2929,2857,0,0,0,0,0,0,27.10,26.69,27.10,9.42,14.71
$GC,5387,-1.35,-146.6,2812,3721,2929,2857,638.7,-15.8,304,5392,0.10,2.33,0.00,0.000,3078,0.214,0.070,2841,2152,2892,2929,2856,0,0,0,0,0,0,26.52,26.79,26.70,9.42,14.59
$GC,5694,-1.35,-146.6,2841,2152,2929,2855,688.0,-15.4,314,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2152,2892,2929,2855,0,0,0,0,0,0,27.10,27.12,27.11,9.40,14.67
$GC,5994,-1.35,-146.6,2841,2151,2929,2853,734.8,-15.5,324,6000,0.00,2.45,0.00,0.000,260,0.000,0.087,2832,3727,2891,2929,2853,0,0,0,0,0,0,27.11,26.71,27.12,9.39,15.07
$GC,6062,-1.35,-146.6,2830,3727,2929,2853,744.8,-16.0,326,6067,0.00,2.35,0.00,0.000,1030,0.000,0.070,2831,2137,2890,2929,2852,0,0,0,0,0,0,26.87,26.80,26.89,9.38,15.26
$GC,6385,-1.35,-146.6,2831,2136,2929,2851,799.9,-17.1,337,6391,0.00,2.42,0.00,0.000,260,0.000,0.084,2820,3723,2890,2929,2851,0,0,0,0,0,0,27.11,26.74,27.13,9.36,15.19
$GC,6499,-1.28,-146.6,2819,3723,2929,2850,816.2,-17.9,340,6506,0.15,2.33,0.00,0.000,3078,0.206,0.072,2864,2141,2889,2929,2850,0,0,0,0,0,0,26.47,26.79,26.67,9.35,15.30
$GC,6804,-1.28,-146.6,2864,2141,2929,2848,870.8,-16.4,351,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2141,2888,2929,2848,0,0,0,0,0,0,27.12,27.14,27.13,9.33,15.42
$GC,7104,-1.28,-146.6,2864,2141,2929,2845,921.0,-16.8,361,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2141,2887,2929,2845,0,0,0,0,0,0,27.13,27.14,27.13,9.31,15.19
$GC,7406,-1.28,-146.6,2864,2141,2929,2843,974.1,-18.3,371,7411,0.00,2.47,0.00,0.000,260,0.000,0.084,2854,3734,2886,2929,2843,0,0,0,0,0,0,27.13,26.72,27.14,9.27,15.30
$GC,7522,-1.28,-146.6,2854,3734,2928,2842,992.6,-19.4,374,7529,0.00,2.33,0.00,0.000,1030,0.000,0.070,2854,2154,2885,2929,2842,0,0,0,0,0,0,26.88,26.82,26.91,9.27,14.99
$GC,7859,-1.28,-146.6,2853,2154,2929,2839,1063.6,-19.9,381,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2154,2884,2929,2839,0,0,0,0,0,0,27.13,27.15,27.14,9.25,15.11
$GC,8158,-1.28,-146.6,2853,2154,2928,2837,1121.8,-19.4,386,8165,0.00,2.45,0.00,0.000,260,0.000,0.087,2843,3726,2883,2928,2838,0,0,0,0,0,0,27.13,26.73,27.15,9.23,15.30
$GC,8256,-1.28,-146.6,2842,3726,2926,2838,1134.0,-19.5,387,8261,0.00,2.35,0.00,0.000,1030,0.000,0.070,2842,2147,2881,2926,2837,0,0,0,0,0,0,26.89,26.81,26.91,9.23,15.30
$GC,8580,-1.23,-146.6,2842,2146,2923,2837,1203.7,-19.4,393,8582,0.12,0.00,0.00,0.000,2054,0.211,0.000,2879,2142,2879,2922,2837,0,0,0,0,0,0,26.56,26.79,26.72,9.22,16.13
$GC,8879,-1.23,-146.6,2878,2142,2922,2834,1257.6,-17.7,398,8885,0.00,2.45,0.00,0.000,260,0.000,0.087,2869,3723,2878,2922,2834,0,0,0,0,0,0,27.14,26.73,27.15,9.21,15.74
$GC,8926,-1.23,-146.6,2868,3723,2922,2834,1257.6,-17.7,398,8930,0.00,2.35,0.00,0.000,1030,0.000,0.070,2868,2148,2878,2922,2834,0,0,0,0,0,0,26.89,26.81,26.91,9.21,15.50
$GC,9238,-1.23,-146.6,2868,2147,2922,2831,1322.6,-17.9,404,9245,0.00,2.47,0.00,0.000,260,0.000,0.084,2858,3729,2876,2922,2831,0,0,0,0,0,0,27.14,26.72,27.15,9.20,15.85
$GC,9286,-1.23,-146.6,2857,3729,2922,2831,1322.6,-17.9,404,9291,0.00,2.35,0.00,0.000,1030,0.000,0.072,2857,2153,2876,2922,2831,0,0,0,0,0,0,26.89,26.82,26.91,9.20,16.49
$GC,9598,-1.23,-146.6,2857,2154,2921,2830,1390.2,-18.7,410,9605,0.00,2.47,0.00,0.000,260,0.000,0.089,2846,3727,2875,2920,2830,0,0,0,0,0,0,27.14,26.65,27.15,9.19,16.37
$GC,9651,-1.23,-146.6,2845,3727,2920,2830,1390.2,-18.7,410,9660,0.12,2.35,0.00,0.000,3078,0.216,0.070,2881,2151,2875,2920,2830,0,0,0,0,0,0,26.45,26.81,26.65,9.19,16.01
$GC,9959,-1.23,-146.6,2881,2150,2920,2828,1455.8,-18.0,416,9963,0.00,2.47,0.00,0.000,260,0.000,0.087,2872,3725,2874,2920,2828,0,0,0,0,0,0,27.14,26.70,27.15,9.17,16.09
$GC,10013,-1.23,-146.6,2871,3725,2919,2828,1455.8,-18.0,416,10021,0.00,2.33,0.00,0.000,1030,0.000,0.070,2872,2160,2873,2919,2828,0,0,0,0,0,0,26.86,26.78,26.89,9.18,15.93
$GC,10321,-1.23,-146.6,2871,2160,2918,2826,1523.3,-18.7,422,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2160,2872,2918,2826,0,0,0,0,0,0,27.14,27.16,27.15,9.18,16.17
$GC,10621,-1.23,-146.6,2871,2160,2918,2825,1579.4,-18.7,427,10627,0.00,2.45,0.00,0.000,260,0.000,0.087,2861,3717,2871,2917,2825,0,0,0,0,0,0,27.14,26.64,27.15,9.16,16.25
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$GC,28674,-1.35,-146.6,2807,3718,2898,2803,4180.9,-11.4,719,28679,0.12,2.45,0.00,0.000,3078,0.209,0.072,2843,2146,2850,2898,2803,0,0,0,0,0,0,25.98,26.40,26.14,9.06,15.50
$GC,29057,-1.35,-146.6,2842,2147,2898,2803,4220.5,-10.2,725,29058,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2147,2850,2898,2803,0,0,0,0,0,0,26.92,26.94,26.94,9.07,15.70
$GC,29342,-1.40,-146.6,2842,2146,2898,2803,4251.4,-10.4,730,29343,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2147,2850,2898,2803,0,0,0,0,0,0,26.93,26.94,26.94,9.07,16.09
$GC,29658,-1.45,-146.6,2843,2147,2898,2803,4282.4,-10.3,735,29664,0.00,2.53,0.00,0.000,260,0.000,0.089,2835,3718,2850,2898,2803,0,0,0,0,0,0,26.94,26.15,26.95,9.07,16.33
$GC,29746,-1.45,-146.6,2834,3718,2898,2803,4291.4,-10.5,736,29750,0.00,2.42,0.00,0.000,1030,0.000,0.072,2834,2151,2850,2898,2803,0,0,0,0,0,0,26.49,26.40,26.53,9.07,15.58
$GC,30094,-1.45,-146.6,2833,2151,2898,2803,4330.3,-10.7,742,30095,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2151,2850,2898,2803,0,0,0,0,0,0,26.92,26.94,26.94,9.07,15.34
$GC,30407,-1.45,-146.6,2833,2151,2898,2803,4362.3,-10.6,747,30413,0.00,2.53,0.00,0.000,260,0.000,0.092,2824,3718,2850,2898,2803,0,0,0,0,0,0,26.91,26.15,26.94,9.07,15.82
$GC,30490,-1.45,-146.6,2824,3717,2898,2803,4371.5,-10.7,748,30494,0.00,2.45,0.00,0.000,1030,0.000,0.074,2824,2138,2850,2898,2803,0,0,0,0,0,0,26.47,26.36,26.51,9.07,16.13
$GC,30841,-1.45,-146.6,2823,2138,2898,2802,4410.3,-10.6,754,30842,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2138,2850,2898,2803,0,0,0,0,0,0,26.90,26.92,26.91,9.07,16.37
$GC,31155,-1.45,-146.6,2823,2138,2898,2802,4441.4,-10.3,759,31162,0.00,2.58,0.00,0.000,260,0.000,0.092,2815,3724,2850,2898,2802,0,0,0,0,0,0,26.91,26.12,26.93,9.07,15.42
$GC,31268,-1.45,-146.6,2814,3724,2898,2802,4450.5,-10.5,760,31273,0.00,2.42,0.00,0.000,1030,0.000,0.072,2814,2147,2850,2898,2803,0,0,0,0,0,0,26.45,26.34,26.49,9.07,15.46
$GC,31595,-1.45,-146.6,2813,2146,2898,2802,4489.3,-10.5,766,31596,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2147,2850,2898,2803,0,0,0,0,0,0,26.91,26.94,26.93,9.07,15.89
$STATE,31898,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,31898,begin apogee
$GC,31903,-0.33,0.0,2813,2052,2898,2802,4520.2,-10.3,771,32049,1.15,0.00,141.75,3.806,10246,0.174,0.000,3168,2052,2390,2464,2317,0,0,0,0,0,0,25.60,23.04,21.35,9.07,15.42
$STATE,32050,end apogee,CONTROL_FINISHED_OK
$STATE,32050,begin climb
$GC,32052,1.63,146.6,3167,2052,2464,2317,4524.7,0.0,773,32220,1.90,2.90,157.65,3.720,10756,0.122,0.104,3791,496,1884,1970,1799,0,0,0,0,0,0,23.56,23.08,21.43,9.04,15.89
$GC,32295,1.63,146.6,3790,496,1970,1799,4510.7,8.8,777,32302,0.00,2.62,0.00,0.000,1030,0.000,0.074,3791,2057,1884,1970,1799,0,0,0,0,0,0,24.79,24.72,24.81,9.00,14.87
$GC,32605,1.51,146.6,3790,2058,1970,1799,4452.8,16.0,783,32611,0.00,2.65,0.00,0.000,260,0.000,0.092,3790,3648,1884,1970,1799,0,0,0,0,0,0,25.88,25.54,25.89,8.99,15.70
$GC,32691,1.39,146.6,3790,3649,1970,1800,4442.6,16.0,784,32697,0.30,2.55,0.00,0.000,5126,0.253,0.079,3728,2075,1884,1970,1799,0,0,0,0,0,0,25.37,25.67,25.63,8.99,15.11
$GC,33021,1.32,146.6,3727,2075,1970,1799,4392.1,13.8,790,33023,0.00,0.00,0.00,0.000,6,0.000,0.000,3728,2075,1884,1970,1799,0,0,0,0,0,0,26.30,26.32,26.31,8.98,15.07
$GC,33320,1.26,146.6,3727,2075,1970,1799,4351.9,13.4,795,33327,0.12,2.58,0.00,0.000,4356,0.261,0.092,3692,3649,1884,1970,1799,0,0,0,0,0,0,25.81,26.06,25.95,8.99,15.62
$GC,33388,1.20,146.6,3691,3649,1969,1799,4343.6,13.3,796,33393,0.15,2.53,0.00,0.000,5126,0.248,0.077,3664,2048,1884,1970,1799,0,0,0,0,0,0,25.82,26.15,26.06,8.99,15.19
$GC,33745,1.20,146.6,3663,2048,1970,1799,4301.4,11.5,802,33746,0.00,0.00,0.00,0.000,6,0.000,0.000,3663,2048,1884,1970,1799,0,0,0,0,0,0,26.59,26.60,26.60,8.98,15.46
$GC,34040,1.20,146.6,3663,2048,1969,1799,4267.1,11.4,807,34045,0.00,2.60,0.00,0.000,260,0.000,0.092,3664,3651,1884,1970,1799,0,0,0,0,0,0,26.65,26.25,26.66,8.98,15.22
$GC,34110,1.20,146.6,3663,3651,1969,1799,4259.4,11.6,808,34115,0.00,2.47,0.00,0.000,1030,0.000,0.074,3673,2067,1884,1969,1799,0,0,0,0,0,0,26.41,26.32,26.44,8.98,15.26
$GC,34458,1.20,146.6,3672,2067,1969,1799,4218.8,11.3,814,34460,0.00,0.00,0.00,0.000,6,0.000,0.000,3672,2067,1884,1969,1799,0,0,0,0,0,0,26.72,26.74,26.73,8.97,15.30
$GC,34758,1.20,146.6,3672,2066,1969,1799,4185.7,10.9,819,34765,0.00,2.55,0.00,0.000,260,0.000,0.092,3673,3655,1884,1969,1799,0,0,0,0,0,0,26.76,26.29,26.77,8.97,15.38
$GC,34851,1.20,146.6,3672,3655,1969,1799,4178.8,11.1,820,34855,0.00,2.47,0.00,0.000,1030,0.000,0.074,3683,2065,1884,1969,1799,0,0,0,0,0,0,26.51,26.41,26.53,8.98,15.82
$GC,35178,1.20,146.6,3683,2065,1968,1799,4138.9,11.0,826,35179,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2065,1884,1969,1799,0,0,0,0,0,0,26.80,26.82,26.82,8.97,15.82
$GC,35478,1.20,146.6,3682,2065,1968,1799,4106.1,10.9,831,35485,0.00,2.58,0.00,0.000,260,0.000,0.092,3683,3655,1883,1968,1799,0,0,0,0,0,0,26.82,26.39,26.84,8.97,15.46
$GC,35561,1.20,146.6,3683,3656,1968,1799,4099.3,11.0,832,35566,0.10,2.47,0.00,0.000,5126,0.271,0.077,3670,2061,1884,1969,1799,0,0,0,0,0,0,26.09,26.46,26.34,8.97,15.62
$GC,35903,1.20,146.6,3670,2061,1968,1799,4060.9,10.5,838,35904,0.00,0.00,0.00,0.000,6,0.000,0.000,3671,2061,1883,1968,1799,0,0,0,0,0,0,26.86,26.87,26.86,8.97,15.82
$GC,36199,1.20,146.6,3670,2060,1968,1799,4030.2,10.3,843,36200,0.00,0.00,0.00,0.000,6,0.000,0.000,3670,2060,1883,1968,1799,0,0,0,0,0,0,26.88,26.89,26.89,8.96,16.05
$GC,36499,1.20,146.6,3670,2061,1968,1799,3999.6,10.1,848,36505,0.00,2.58,0.00,0.000,260,0.000,0.092,3670,3658,1883,1968,1799,0,0,0,0,0,0,26.89,26.44,26.91,8.97,15.78
$GC,36586,1.20,146.6,3669,3658,1968,1799,3993.0,10.3,849,36591,0.00,2.47,0.00,0.000,1030,0.000,0.077,3680,2057,1883,1968,1799,0,0,0,0,0,0,26.62,26.52,26.65,8.96,15.70
$GC,36919,1.20,148.5,3679,2057,1968,1799,3957.1,9.9,855,36920,0.00,0.00,0.00,0.000,6,0.000,0.000,3680,2057,1883,1968,1799,0,0,0,0,0,0,26.91,26.93,26.92,8.96,15.70
$GC,37221,1.21,154.3,3679,2057,1968,1799,3928.0,9.7,860,37231,0.00,0.00,8.32,2.831,8198,0.000,0.000,3679,2057,1857,1940,1775,0,0,0,0,0,0,26.93,25.94,24.22,8.96,15.66
$GC,37521,1.21,154.3,3679,2057,1940,1775,3898.1,10.1,865,37527,0.00,2.60,0.00,0.000,260,0.000,0.097,3680,3648,1858,1940,1776,0,0,0,0,0,0,26.56,26.17,26.58,8.96,15.42
$GC,37598,1.21,154.3,3679,3648,1940,1775,3891.9,10.1,866,37602,0.00,2.50,0.00,0.000,1030,0.000,0.074,3691,2057,1857,1940,1775,0,0,0,0,0,0,26.34,26.24,26.36,8.96,15.50
$GC,37936,1.21,158.9,3690,2058,1940,1776,3856.9,9.8,872,37944,0.00,0.00,6.12,2.495,8198,0.000,0.000,3691,2057,1842,1924,1760,0,0,0,0,0,0,26.67,25.85,24.10,8.95,15.58
$GC,38236,1.22,163.2,3690,2057,1923,1761,3827.5,9.8,877,38248,0.00,2.62,5.62,2.404,8452,0.000,0.099,3691,3649,1828,1909,1747,0,0,0,0,0,0,26.51,25.78,23.96,8.96,15.50
$GC,38313,1.22,164.5,3690,3649,1909,1747,3821.0,9.9,878,38318,0.12,2.53,0.00,0.000,5126,0.253,0.077,3672,2063,1828,1909,1747,0,0,0,0,0,0,25.73,25.97,25.96,8.95,15.62
$GC,38652,1.23,175.5,3671,2064,1909,1747,3787.0,9.5,884,38667,0.00,0.00,13.60,3.037,8198,0.000,0.000,3672,2064,1784,1867,1702,0,0,0,0,0,0,26.48,25.14,23.52,8.95,16.25
$GC,38955,1.24,177.9,3671,2064,1867,1702,3757.9,9.9,889,38956,0.00,0.00,0.00,0.000,6,0.000,0.000,3672,2064,1784,1867,1702,0,0,0,0,0,0,26.19,26.20,26.20,8.94,15.78
$GC,39251,1.24,180.2,3671,2064,1867,1702,3728.2,9.9,894,39259,0.00,0.00,6.15,2.431,8198,0.000,0.000,3672,2064,1768,1851,1686,0,0,0,0,0,0,26.40,25.59,23.89,8.95,15.97
$GC,39553,1.24,181.2,3672,2064,1851,1687,3698.3,10.0,899,39554,0.00,0.00,0.00,0.000,6,0.000,0.000,3672,2064,1769,1852,1687,0,0,0,0,0,0,26.34,26.36,26.36,8.93,15.66
$GC,39851,1.24,181.2,3671,2064,1851,1687,3667.9,10.2,904,39852,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,2064,1769,1851,1687,0,0,0,0,0,0,26.49,26.51,26.50,8.94,15.93
$GC,40151,1.24,181.2,3672,2064,1851,1687,3637.8,10.1,909,40158,0.00,2.60,0.00,0.000,260,0.000,0.089,3672,3662,1769,1851,1687,0,0,0,0,0,0,26.58,26.20,26.60,8.94,15.70
$GC,40219,1.24,181.2,3671,3662,1851,1687,3631.6,10.1,910,40224,0.00,2.53,0.00,0.000,1030,0.000,0.077,3681,2058,1769,1851,1687,0,0,0,0,0,0,26.36,26.27,26.39,8.93,15.70
$GC,40567,1.24,181.2,3680,2058,1852,1686,3595.5,10.1,916,40568,0.00,0.00,0.00,0.000,6,0.000,0.000,3681,2058,1768,1851,1686,0,0,0,0,0,0,26.67,26.69,26.69,8.94,15.38
$GC,40867,1.25,187.0,3680,2058,1851,1687,3566.0,9.7,921,40876,0.00,0.00,7.78,2.582,8198,0.000,0.000,3681,2058,1745,1827,1663,0,0,0,0,0,0,26.72,25.81,24.15,8.93,15.58
$GC,41169,1.25,191.8,3680,2058,1827,1663,3537.0,9.8,926,41177,0.00,0.00,6.60,2.418,8198,0.000,0.000,3681,2058,1728,1810,1647,0,0,0,0,0,0,26.47,25.65,23.99,8.93,15.78
$GC,41468,1.26,197.0,3680,2058,1809,1647,3507.6,9.7,931,41480,0.00,2.65,6.47,2.371,8452,0.000,0.097,3681,3648,1711,1793,1630,0,0,0,0,0,0,26.37,25.25,23.91,8.92,15.58
$GC,41571,1.27,203.1,3680,3648,1793,1630,3501.9,9.7,932,41585,0.00,2.53,7.43,2.478,9222,0.000,0.077,3692,2061,1690,1772,1608,0,0,0,0,0,0,25.96,25.86,23.72,8.93,15.74
$GC,41884,1.27,203.1,3691,2061,1772,1608,3464.9,10.2,938,41885,0.00,0.00,0.00,0.000,6,0.000,0.000,3692,2061,1690,1772,1608,0,0,0,0,0,0,26.22,26.24,26.23,8.93,15.66
$GC,42183,1.27,203.2,3691,2061,1772,1608,3434.9,10.0,943,42184,0.00,0.00,0.00,0.000,6,0.000,0.000,3692,2061,1690,1772,1608,0,0,0,0,0,0,26.41,26.43,26.42,8.93,15.42
$GC,42483,1.28,210.1,3691,2061,1772,1608,3405.5,9.7,948,42496,0.00,2.65,7.95,2.505,8452,0.000,0.099,3692,3659,1666,1749,1584,0,0,0,0,0,0,26.53,25.32,24.03,8.93,16.01
$GC,42552,1.29,217.6,3691,3659,1749,1585,3399.9,9.6,949,42567,0.00,2.55,9.15,2.582,9222,0.000,0.072,3703,2055,1639,1723,1556,0,0,0,0,0,0,25.96,25.88,23.68,8.92,15.46
$GC,42899,1.29,217.6,3703,2055,1723,1557,3361.9,10.5,955,42901,0.00,0.00,0.00,0.000,6,0.000,0.000,3704,2055,1639,1723,1556,0,0,0,0,0,0,26.22,26.23,26.23,8.92,15.93
$GC,43200,1.29,217.6,3703,2055,1724,1557,3330.6,10.4,960,43206,0.00,2.60,0.00,0.000,260,0.000,0.092,3703,3648,1639,1722,1557,0,0,0,0,0,0,26.41,26.06,26.41,8.92,15.54
$GC,43282,1.29,217.6,3703,3648,1723,1557,3323.8,10.6,961,43287,0.00,2.50,0.00,0.000,1030,0.000,0.077,3714,2061,1640,1723,1557,0,0,0,0,0,0,26.22,26.13,26.25,8.92,15.50
$GC,43616,1.29,217.6,3714,2060,1723,1557,3286.4,10.4,967,43617,0.00,0.00,0.00,0.000,6,0.000,0.000,3714,2061,1640,1723,1557,0,0,0,0,0,0,26.55,26.57,26.56,8.91,15.58
$GC,43914,1.29,217.6,3714,2061,1722,1557,3255.2,10.3,972,43921,0.00,2.60,0.00,0.000,260,0.000,0.092,3714,3658,1640,1723,1557,0,0,0,0,0,0,26.63,26.24,26.64,8.92,15.26
$GC,43982,1.29,217.6,3713,3658,1722,1557,3248.7,10.4,973,43988,0.12,2.50,0.00,0.000,5126,0.258,0.074,3695,2065,1640,1723,1557,0,0,0,0,0,0,26.01,26.32,26.26,8.92,15.50
$GC,44336,1.29,220.0,3694,2065,1723,1556,3212.9,9.9,979,44338,0.00,0.00,0.00,0.000,6,0.000,0.000,3695,2065,1639,1722,1557,0,0,0,0,0,0,26.70,26.72,26.71,8.92,15.58
$GC,44637,1.30,227.2,3694,2065,1723,1557,3184.0,9.6,984,44649,0.00,0.00,10.27,2.570,8198,0.000,0.000,3695,2065,1607,1690,1524,0,0,0,0,0,0,26.74,25.70,24.16,8.92,15.78
$GC,44938,1.30,228.2,3694,2065,1690,1524,3154.1,10.0,989,44939,0.00,0.00,0.00,0.000,6,0.000,0.000,3695,2065,1607,1690,1524,0,0,0,0,0,0,26.40,26.41,26.41,8.91,15.66
$GC,45236,1.30,230.2,3694,2065,1690,1524,3124.4,9.9,994,45242,0.00,0.00,4.57,1.830,8198,0.000,0.000,3695,2065,1596,1679,1514,0,0,0,0,0,0,26.52,25.85,24.24,8.91,15.70
$GC,45537,1.31,234.3,3694,2065,1679,1514,3095.5,9.8,999,45548,0.00,2.62,5.50,2.034,8452,0.000,0.094,3693,3661,1582,1665,1499,0,0,0,0,0,0,26.48,25.82,24.18,8.91,15.82
$GC,45604,1.31,239.2,3693,3661,1665,1500,3089.8,9.8,1000,45617,0.00,2.53,6.25,2.138,9222,0.000,0.074,3704,2065,1565,1648,1483,0,0,0,0,0,0,26.08,26.00,24.02,8.91,15.46
$GC,45951,1.31,239.2,3703,2065,1648,1483,3053.6,10.1,1006,45952,0.00,0.00,0.00,0.000,6,0.000,0.000,3704,2065,1566,1649,1483,0,0,0,0,0,0,26.33,26.34,26.34,8.91,15.30
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$GC,67312,1.56,314.6,3802,3645,1390,1227,849.9,11.9,1384,67317,0.12,2.42,0.00,0.000,5126,0.256,0.074,3783,2061,1308,1390,1227,0,0,0,0,0,0,26.20,26.62,26.46,8.94,15.58
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$STATE,72783,end climb,SURFACE_DEPTH_REACHED
$STATE,72783,begin surface coast
$FINISH,0.5,1.023271
$STATE,72802,end surface coast,CONTROL_FINISHED_OK
$STATE,72802,begin surface
$SM_CCo,72820,136.48,0.713,0,0,668,500.24
$SM_GC,0.05,9.62,0.17,136.48,0.109,0.104,0.713,210,2180,668,-9.54,-0.62,500.24,0,0,0,0,0,0,26.65,26.76,24.65
$IRIDIUM_FIX,3150.02,-6414.86,090918,030211
$TT8_MAMPS,0.021721,0.270389
$HUMID,15.50
$INTERNAL_PRESSURE,9.23467
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.4
$ALTIM_BOTTOM_PING,4464.1,65.5
$24V_AH,21.35,18.894
$10V_AH,10.23,13.359
$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,27.275,397.425,505.050,136.475,149.775,50.361,56.913,412.522,645.250,0.000,16.473,6310.985,55044.871,1042.896,10689.026,596.473,0.000,3787.185,0.000,5387.912,0.000,7243.683,0.000
$DEVICE_MAMPS,285.545,111.735,3806.439,712.621,536.328,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.220,2165.762,2842.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318884
$DATA_FILE_SIZE,128419,1636
$CAP_FILE_SIZE,833484,0
$CFSIZE,2047311872,2037907456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.033,99.81,1
$GPS,090918,233029,3140.769,-6411.257,38,1.0,41,-14.9,0.3,0.0,8,4.5