version: 66.14
glider: 41
mission: 15
dive: 26
start: 9 12 118 22 30 21
data:
$ID,41
$MISSION,15
$DIVE,26
$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,44
$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
$GPS1,120918,221038,3140.8030,-6410.5327,26,0.9,32,-14.9,0.8,262.9,8,4.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-58.5
$GPS2,120918,222945,3141.0112,-6410.5278,5,1.1,23,-14.9,0.4,65.8,8,5.0
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,A
$TGT_LATLONG,3300.000,-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,12.4,146289,-20.9,-10.000,-23.48,2226
$D_GRID,5400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,71,-1.57,-146.6,182,2168,728,603,0.0,0.3,6,221,0.00,0.00,-144.60,0.149,16390,0.000,0.000,181,2168,2897,2914,2880,0,0,0,0,0,0,26.41,25.92,25.75,9.40,13.69
$GC,224,-1.57,-146.6,180,2167,2914,2880,3.8,-6.3,21,246,11.02,2.45,0.00,0.000,2308,0.288,0.084,2761,3713,2897,2917,2877,0,0,0,0,0,0,25.52,25.86,25.80,9.64,13.41
$GC,837,-1.49,-146.6,2760,3713,2918,2875,74.9,-5.1,77,843,0.12,2.35,0.00,0.000,3078,0.204,0.070,2797,2122,2896,2918,2875,0,0,0,0,0,0,26.11,26.39,26.29,9.63,13.30
$GC,1151,-1.49,-146.6,2796,2121,2921,2873,95.8,-8.5,108,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2122,2897,2921,2873,0,0,0,0,0,0,26.76,26.78,26.77,9.61,12.94
$GC,1454,-1.49,-146.6,2796,2121,2922,2872,119.4,-8.3,138,1464,0.00,2.45,0.00,0.000,260,0.000,0.084,2787,3719,2897,2922,2873,0,0,0,0,0,0,26.84,26.48,26.85,9.58,13.06
$GC,1567,-1.42,-146.6,2786,3719,2922,2872,130.3,-10.7,148,1576,0.08,2.33,0.00,0.000,3078,0.194,0.072,2810,2154,2897,2922,2873,0,0,0,0,0,0,26.33,26.58,26.43,9.57,13.37
$GC,1886,-1.42,-146.6,2809,2154,2922,2872,163.3,-10.7,174,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2153,2897,2922,2872,0,0,0,0,0,0,26.91,26.92,26.91,9.55,13.49
$GC,2184,-1.42,-146.6,2809,2154,2922,2872,198.9,-12.4,189,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2154,2897,2922,2872,0,0,0,0,0,0,26.95,26.96,26.96,9.54,13.26
$GC,2484,-1.42,-146.6,2809,2153,2921,2871,236.4,-12.6,204,2491,0.00,2.42,0.00,0.000,260,0.000,0.084,2801,3728,2897,2922,2872,0,0,0,0,0,0,26.97,26.60,26.98,9.53,14.00
$GC,2576,-1.36,-146.6,2800,3729,2922,2871,247.8,-13.7,208,2587,0.12,2.33,0.00,0.000,3078,0.204,0.072,2838,2143,2896,2921,2871,0,0,0,0,0,0,26.42,26.70,26.60,9.52,14.12
$GC,2888,-1.36,-146.6,2837,2143,2922,2870,286.8,-12.4,224,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2143,2895,2922,2869,0,0,0,0,0,0,27.01,27.02,27.01,9.52,13.73
$GC,3187,-1.36,-146.6,2837,2143,2922,2869,326.3,-13.4,236,3193,0.00,2.45,0.00,0.000,260,0.000,0.087,2828,3734,2895,2922,2869,0,0,0,0,0,0,27.03,26.65,27.04,9.50,14.83
$GC,3250,-1.36,-146.6,2827,3734,2922,2869,334.9,-14.1,238,3254,0.00,2.33,0.00,0.000,1030,0.000,0.070,2828,2161,2895,2922,2869,0,0,0,0,0,0,26.77,26.74,26.79,9.51,14.16
$GC,3579,-1.36,-146.6,2827,2160,2922,2867,378.8,-12.9,249,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2161,2894,2921,2867,0,0,0,0,0,0,27.05,27.06,27.06,9.51,14.32
$GC,3879,-1.36,-146.6,2827,2161,2922,2866,414.0,-11.6,259,3884,0.00,2.40,0.00,0.000,260,0.000,0.084,2816,3725,2893,2921,2866,0,0,0,0,0,0,27.06,26.70,27.08,9.49,14.52
$GC,3955,-1.36,-146.6,2815,3726,2921,2865,422.2,-12.1,261,3960,0.00,2.33,0.00,0.000,1030,0.000,0.070,2816,2142,2893,2921,2866,0,0,0,0,0,0,26.84,26.78,26.86,9.50,14.71
$GC,4274,-1.36,-146.6,2815,2141,2922,2864,468.1,-14.7,272,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2140,2892,2921,2864,0,0,0,0,0,0,27.08,27.09,27.09,9.49,14.63
$GC,4576,-1.36,-146.6,2815,2141,2922,2863,513.7,-15.2,282,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2141,2892,2921,2863,0,0,0,0,0,0,27.09,27.10,27.10,9.48,14.71
$GC,4874,-1.36,-146.6,2815,2141,2922,2861,555.2,-13.6,292,4878,0.00,2.45,0.00,0.000,260,0.000,0.084,2805,3734,2890,2921,2860,0,0,0,0,0,0,27.10,26.72,27.11,9.46,14.71
$GC,4938,-1.30,-146.6,2804,3734,2922,2861,563.9,-13.6,294,4943,0.17,2.33,0.00,0.000,3078,0.199,0.070,2857,2151,2892,2922,2862,0,0,0,0,0,0,26.48,26.81,26.68,9.46,14.71
$GC,5272,-1.30,-146.6,2857,2151,2921,2859,607.2,-13.8,305,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2151,2890,2921,2859,0,0,0,0,0,0,27.10,27.12,27.12,9.45,15.46
$GC,5572,-1.30,-146.6,2857,2151,2922,2857,651.7,-15.0,315,5578,0.00,2.40,0.00,0.000,260,0.000,0.084,2848,3724,2889,2922,2857,0,0,0,0,0,0,27.10,26.74,27.13,9.43,15.26
$GC,5681,-1.30,-146.6,2847,3725,2922,2857,666.5,-16.0,318,5686,0.00,2.30,0.00,0.000,1030,0.000,0.070,2848,2149,2889,2921,2857,0,0,0,0,0,0,26.88,26.81,26.90,9.43,15.30
$GC,5994,-1.30,-146.6,2847,2149,2921,2856,718.2,-15.4,329,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2149,2889,2922,2856,0,0,0,0,0,0,27.12,27.13,27.13,9.41,14.91
$GC,6294,-1.30,-146.6,2847,2149,2921,2854,762.5,-14.8,339,6300,0.00,2.40,0.00,0.000,260,0.000,0.084,2836,3719,2887,2921,2854,0,0,0,0,0,0,27.13,26.74,27.13,9.38,15.11
$GC,6355,-1.30,-146.6,2835,3718,2921,2854,771.8,-15.0,341,6361,0.00,2.30,0.00,0.000,1030,0.000,0.072,2836,2157,2887,2922,2853,0,0,0,0,0,0,26.84,26.81,26.86,9.38,15.30
$GC,6685,-1.24,-146.6,2835,2157,2921,2851,828.1,-17.7,352,6687,0.15,0.00,0.00,0.000,2054,0.204,0.000,2880,2154,2886,2921,2851,0,0,0,0,0,0,26.55,26.79,26.72,9.35,15.54
$GC,6985,-1.24,-146.6,2880,2153,2921,2849,879.0,-17.2,362,6990,0.00,2.42,0.00,0.000,260,0.000,0.084,2871,3727,2885,2921,2849,0,0,0,0,0,0,27.13,26.73,27.14,9.33,15.07
$GC,7063,-1.24,-146.6,2870,3727,2921,2849,890.6,-17.7,364,7067,0.00,2.35,0.00,0.000,1030,0.000,0.070,2870,2136,2885,2921,2849,0,0,0,0,0,0,26.89,26.82,26.91,9.32,15.38
$GC,7377,-1.24,-146.6,2869,2135,2921,2845,946.0,-16.8,375,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2135,2883,2922,2845,0,0,0,0,0,0,27.13,27.15,27.15,9.30,15.15
$GC,7676,-1.24,-146.6,2870,2135,2921,2843,996.0,-16.7,385,7682,0.00,2.45,0.00,0.000,260,0.000,0.087,2859,3725,2882,2922,2843,0,0,0,0,0,0,27.13,26.73,27.15,9.28,15.34
$GC,7723,-1.24,-146.6,2859,3725,2922,2843,1001.5,-17.1,386,7727,0.00,2.35,0.00,0.000,1030,0.000,0.070,2859,2141,2882,2921,2843,0,0,0,0,0,0,26.89,26.82,26.91,9.27,15.26
$GC,8039,-1.19,-146.6,2858,2138,2922,2840,1062.0,-18.4,392,8045,0.10,2.45,0.00,0.000,2308,0.216,0.084,2882,3725,2880,2921,2840,0,0,0,0,0,0,26.61,26.74,26.68,9.25,15.62
$GC,8086,-1.14,-146.6,2881,3725,2921,2840,1062.0,-18.4,392,8091,0.10,2.35,0.00,0.000,3078,0.211,0.072,2911,2149,2880,2921,2840,0,0,0,0,0,0,26.55,26.83,26.71,9.25,15.46
$GC,8399,-1.14,-146.6,2910,2149,2921,2836,1124.2,-17.0,398,8406,0.00,2.42,0.00,0.000,260,0.000,0.087,2901,3720,2878,2921,2836,0,0,0,0,0,0,27.13,26.70,27.15,9.23,15.30
$GC,8472,-1.14,-146.6,2901,3720,2920,2836,1134.7,-17.2,399,8476,0.00,2.33,0.00,0.000,1030,0.000,0.070,2901,2151,2878,2920,2836,0,0,0,0,0,0,26.89,26.81,26.91,9.22,15.34
$GC,8815,-1.14,-146.6,2900,2151,2919,2834,1197.3,-17.6,405,8822,0.00,2.42,0.00,0.000,260,0.000,0.084,2890,3720,2876,2918,2835,0,0,0,0,0,0,27.13,26.70,27.15,9.22,15.74
$GC,8852,-1.14,-146.6,2890,3720,2918,2835,1197.3,-17.6,405,8856,0.00,2.33,0.00,0.000,1030,0.000,0.070,2890,2150,2876,2918,2835,0,0,0,0,0,0,26.89,26.82,26.91,9.22,15.70
$GC,9172,-1.14,-146.6,2889,2150,2917,2831,1261.3,-17.9,411,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2150,2874,2918,2831,0,0,0,0,0,0,27.14,27.15,27.15,9.21,16.01
$GC,9471,-1.14,-146.6,2889,2150,2917,2830,1314.3,-17.6,416,9475,0.00,2.45,0.00,0.000,260,0.000,0.084,2879,3720,2873,2917,2830,0,0,0,0,0,0,27.14,26.71,27.15,9.20,16.25
$GC,9546,-1.14,-146.6,2879,3720,2917,2830,1325.8,-17.7,417,9551,0.10,2.35,0.00,0.000,3078,0.214,0.072,2907,2152,2873,2917,2830,0,0,0,0,0,0,26.51,26.78,26.68,9.19,16.41
$GC,9890,-1.14,-146.6,2907,2152,2916,2828,1384.7,-16.4,423,9894,0.00,2.47,0.00,0.000,260,0.000,0.087,2898,3726,2871,2915,2828,0,0,0,0,0,0,27.14,26.67,27.15,9.19,16.09
$GC,9935,-1.14,-146.6,2898,3726,2915,2828,1384.7,-16.4,423,9939,0.00,2.35,0.00,0.000,1030,0.000,0.070,2898,2147,2872,2915,2829,0,0,0,0,0,0,26.88,26.80,26.90,9.19,16.84
$GC,10249,-1.14,-146.6,2897,2147,2914,2826,1445.6,-17.0,429,10254,0.00,2.47,0.00,0.000,260,0.000,0.084,2888,3728,2869,2914,2825,0,0,0,0,0,0,27.14,26.69,27.15,9.18,16.01
$GC,10304,-1.14,-146.6,2888,3728,2913,2826,1445.6,-17.0,429,10312,0.00,2.38,0.00,0.000,1030,0.000,0.070,2887,2155,2869,2913,2826,0,0,0,0,0,0,26.83,26.80,26.86,9.18,16.49
$GC,10613,-1.14,-146.6,2887,2155,2912,2824,1509.8,-17.6,435,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2155,2868,2913,2824,0,0,0,0,0,0,27.14,27.15,27.15,9.17,16.41
$GC,10912,-1.14,-146.6,2887,2155,2911,2823,1562.6,-17.7,440,10918,0.00,2.45,0.00,0.000,260,0.000,0.087,2877,3720,2867,2911,2823,0,0,0,0,0,0,27.15,26.66,27.15,9.17,16.37
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$GC,28801,-1.30,-146.6,2822,3724,2894,2801,4044.3,-11.6,729,28807,0.10,2.45,0.00,0.000,3078,0.199,0.072,2861,2146,2847,2894,2801,0,0,0,0,0,0,25.89,26.42,26.08,9.06,15.66
$GC,29184,-1.30,-146.6,2860,2146,2894,2801,4084.4,-10.2,735,29185,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2146,2847,2894,2800,0,0,0,0,0,0,26.93,26.94,26.94,9.06,15.46
$GC,29471,-1.30,-146.6,2860,2146,2893,2800,4115.3,-10.3,740,29473,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2146,2846,2893,2799,0,0,0,0,0,0,26.94,26.95,26.94,9.06,15.66
$GC,29784,-1.30,-146.6,2860,2146,2893,2800,4145.6,-10.2,745,29790,0.00,2.53,0.00,0.000,260,0.000,0.089,2852,3724,2846,2893,2800,0,0,0,0,0,0,26.94,26.17,26.96,9.05,15.89
$GC,29877,-1.30,-146.6,2850,3724,2893,2800,4154.5,-10.3,746,29881,0.00,2.42,0.00,0.000,1030,0.000,0.072,2851,2154,2847,2894,2800,0,0,0,0,0,0,26.51,26.41,26.54,9.06,16.41
$GC,30222,-1.30,-146.6,2850,2154,2893,2800,4192.8,-10.5,752,30223,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2154,2846,2893,2799,0,0,0,0,0,0,26.94,26.96,26.96,9.06,15.58
$GC,30533,-1.30,-146.6,2850,2153,2894,2800,4223.5,-10.2,757,30539,0.00,2.50,0.00,0.000,260,0.000,0.092,2843,3716,2846,2893,2800,0,0,0,0,0,0,26.94,26.13,26.95,9.06,15.46
$GC,30606,-1.30,-146.6,2842,3716,2893,2799,4232.7,-10.5,758,30610,0.00,2.42,0.00,0.000,1030,0.000,0.072,2842,2146,2846,2893,2800,0,0,0,0,0,0,26.51,26.41,26.54,9.06,15.70
$GC,30970,-1.30,-146.6,2841,2146,2893,2800,4271.0,-10.4,764,30971,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2147,2846,2893,2800,0,0,0,0,0,0,26.93,26.95,26.94,9.07,15.30
$GC,31282,-1.30,-146.6,2841,2146,2893,2799,4301.7,-10.3,769,31289,0.00,2.53,0.00,0.000,260,0.000,0.089,2835,3724,2846,2893,2799,0,0,0,0,0,0,26.93,26.14,26.94,9.07,16.21
$GC,31380,-1.30,-146.6,2834,3725,2893,2799,4310.7,-10.2,770,31385,0.00,2.42,0.00,0.000,1030,0.000,0.070,2834,2148,2846,2893,2799,0,0,0,0,0,0,26.48,26.39,26.51,9.07,15.34
$GC,31720,-1.30,-146.6,2833,2148,2893,2799,4348.2,-10.2,776,31721,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2148,2846,2893,2799,0,0,0,0,0,0,26.93,26.94,26.94,9.07,15.78
$GC,32019,-1.30,-146.6,2833,2148,2893,2799,4379.4,-10.3,781,32023,0.00,2.55,0.00,0.000,260,0.000,0.089,2825,3729,2846,2893,2799,0,0,0,0,0,0,26.93,26.13,26.94,9.07,15.50
$GC,32113,-1.30,-146.6,2824,3729,2893,2799,4387.2,-10.4,782,32119,0.12,2.42,0.00,0.000,3078,0.206,0.070,2860,2156,2846,2893,2799,0,0,0,0,0,0,25.95,26.41,26.10,9.07,16.29
$GC,32487,-1.36,-146.6,2860,2155,2893,2799,4423.5,-9.2,788,32488,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2156,2846,2893,2799,0,0,0,0,0,0,26.94,26.95,26.95,9.07,15.66
$GC,32774,-1.42,-146.6,2860,2156,2893,2799,4451.3,-9.3,793,32781,0.08,2.53,0.00,0.000,4356,0.159,0.089,2814,3724,2846,2893,2799,0,0,0,0,0,0,26.65,26.13,26.66,9.07,15.78
$GC,32884,-1.42,-146.6,2813,3725,2893,2799,4458.6,-9.5,794,32888,0.00,2.42,0.00,0.000,1030,0.000,0.070,2813,2149,2846,2893,2799,0,0,0,0,0,0,26.47,26.36,26.51,9.07,15.66
$GC,33211,-1.42,-146.6,2813,2149,2893,2799,4497.5,-10.5,800,33212,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2149,2846,2893,2799,0,0,0,0,0,0,26.92,26.94,26.94,9.06,16.29
$GC,33510,-1.42,-146.6,2813,2149,2893,2799,4528.6,-10.3,805,33516,0.00,2.53,0.00,0.000,260,0.000,0.089,2805,3720,2846,2893,2799,0,0,0,0,0,0,26.91,26.15,26.92,9.06,16.09
$GC,33621,-1.42,-146.6,2804,3720,2893,2799,4535.8,-10.4,806,33626,0.00,2.40,0.00,0.000,1030,0.000,0.067,2804,2139,2845,2893,2798,0,0,0,0,0,0,26.49,26.41,26.53,9.07,15.78
$STATE,33706,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,33707,begin apogee
$GC,33711,-0.33,0.0,2804,2072,2893,2799,4549.7,-10.6,808,33856,1.17,0.00,140.50,3.792,10246,0.179,0.000,3164,2072,2390,2463,2318,0,0,0,0,0,0,25.53,23.06,21.41,9.07,15.89
$STATE,33857,end apogee,CONTROL_FINISHED_OK
$STATE,33857,begin climb
$GC,33859,1.57,146.6,3163,2072,2463,2318,4554.0,0.0,810,34022,1.90,0.00,159.15,3.710,10246,0.119,0.000,3769,2072,1884,1970,1798,0,0,0,0,0,0,23.57,23.06,21.51,9.04,15.66
$GC,34300,1.46,146.6,3769,2072,1970,1799,4500.8,15.6,818,34301,0.00,0.00,0.00,0.000,6,0.000,0.000,3770,2072,1884,1970,1799,0,0,0,0,0,0,25.69,25.70,25.70,8.99,15.26
$GC,34599,1.34,146.6,3769,2072,1970,1799,4455.0,15.3,823,34606,0.20,2.55,0.00,0.000,4356,0.236,0.087,3714,3629,1884,1970,1799,0,0,0,0,0,0,25.50,25.75,25.65,8.99,15.78
$GC,34683,1.23,146.6,3714,3629,1970,1799,4446.2,15.2,824,34688,0.17,2.47,0.00,0.000,5126,0.253,0.077,3681,2073,1884,1970,1799,0,0,0,0,0,0,25.56,25.89,25.81,8.99,15.11
$GC,35017,1.23,146.6,3680,2073,1970,1799,4401.0,12.3,830,35018,0.00,0.00,0.00,0.000,6,0.000,0.000,3681,2073,1884,1970,1799,0,0,0,0,0,0,26.43,26.45,26.44,8.99,15.19
$GC,35316,1.23,146.6,3680,2073,1970,1799,4364.1,12.3,835,35323,0.00,2.55,0.00,0.000,260,0.000,0.089,3681,3641,1884,1970,1799,0,0,0,0,0,0,26.55,26.14,26.55,8.99,15.66
$GC,35384,1.23,146.6,3680,3641,1969,1799,4356.4,12.4,836,35389,0.00,2.47,0.00,0.000,1030,0.000,0.074,3690,2065,1884,1970,1799,0,0,0,0,0,0,26.32,26.22,26.34,8.98,15.19
$GC,35732,1.23,146.6,3689,2065,1969,1799,4311.8,12.5,842,35733,0.00,0.00,0.00,0.000,6,0.000,0.000,3690,2065,1884,1969,1799,0,0,0,0,0,0,26.65,26.67,26.66,8.97,16.01
$GC,36031,1.23,146.6,3689,2065,1969,1799,4275.4,12.1,847,36036,0.00,2.55,0.00,0.000,260,0.000,0.092,3690,3639,1884,1969,1799,0,0,0,0,0,0,26.71,26.27,26.72,8.98,15.50
$GC,36116,1.23,146.6,3690,3639,1969,1798,4267.2,12.3,848,36120,0.00,2.47,0.00,0.000,1030,0.000,0.077,3701,2060,1883,1968,1799,0,0,0,0,0,0,26.45,26.34,26.48,8.98,15.46
$GC,36449,1.18,146.6,3701,2060,1969,1799,4223.0,12.4,854,36450,0.15,0.00,0.00,0.000,4102,0.248,0.000,3664,2059,1883,1969,1798,0,0,0,0,0,0,26.03,26.36,26.27,8.97,15.46
$GC,36749,1.18,146.6,3662,2059,1969,1799,4189.4,11.0,859,36755,0.00,2.53,0.00,0.000,260,0.000,0.089,3663,3630,1884,1969,1799,0,0,0,0,0,0,26.79,26.32,26.81,8.98,15.42
$GC,36826,1.18,146.6,3662,3630,1969,1799,4182.5,11.2,860,36831,0.00,2.45,0.00,0.000,1030,0.000,0.074,3672,2056,1884,1969,1799,0,0,0,0,0,0,26.53,26.44,26.55,8.97,15.58
$GC,37164,1.18,146.6,3671,2055,1968,1798,4143.2,11.0,866,37165,0.00,0.00,0.00,0.000,6,0.000,0.000,3672,2055,1884,1969,1799,0,0,0,0,0,0,26.83,26.85,26.84,8.97,16.33
$GC,37463,1.18,146.6,3672,2055,1968,1799,4111.1,10.6,871,37470,0.00,2.58,0.00,0.000,260,0.000,0.097,3672,3635,1884,1969,1799,0,0,0,0,0,0,26.86,26.39,26.87,8.97,16.13
$GC,37566,1.18,146.6,3672,3635,1969,1799,4104.1,10.8,872,37570,0.00,2.42,0.00,0.000,1030,0.000,0.072,3682,2064,1883,1968,1799,0,0,0,0,0,0,26.58,26.48,26.61,8.97,15.66
$GC,37879,1.18,146.6,3681,2064,1969,1798,4065.9,10.7,878,37880,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2064,1883,1968,1798,0,0,0,0,0,0,26.88,26.90,26.89,8.96,15.62
$GC,38178,1.18,146.6,3681,2064,1967,1799,4033.7,10.6,883,38179,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2064,1883,1968,1799,0,0,0,0,0,0,26.90,26.91,26.91,8.96,15.62
$GC,38478,1.18,146.6,3681,2064,1968,1799,4001.9,10.6,888,38483,0.00,2.55,0.00,0.000,260,0.000,0.094,3682,3640,1883,1968,1798,0,0,0,0,0,0,26.91,26.41,26.93,8.96,15.66
$GC,38568,1.18,146.6,3681,3639,1968,1799,3994.7,10.7,889,38573,0.12,2.45,0.00,0.000,5126,0.268,0.077,3662,2052,1883,1968,1799,0,0,0,0,0,0,26.06,26.52,26.32,8.96,16.41
$GC,38904,1.19,149.3,3661,2052,1968,1799,3958.2,9.9,895,38909,0.00,0.00,3.75,1.832,8198,0.000,0.000,3662,2052,1875,1958,1793,0,0,0,0,0,0,26.93,26.27,24.38,8.95,16.01
$GC,39203,1.19,150.6,3662,2052,1958,1792,3928.4,9.9,900,39208,0.00,2.50,0.00,0.000,516,0.000,0.092,3671,493,1875,1958,1793,0,0,0,0,0,0,26.83,26.37,26.84,8.95,15.66
$GC,39284,1.19,150.6,3670,493,1959,1793,3922.2,10.0,901,39288,0.00,2.45,0.00,0.000,1030,0.000,0.077,3671,2055,1875,1958,1793,0,0,0,0,0,0,26.56,26.46,26.59,8.96,16.01
$GC,39618,1.19,152.9,3670,2055,1958,1792,3886.8,9.9,907,39625,0.00,0.00,5.18,2.282,8198,0.000,0.000,3671,2055,1862,1944,1781,0,0,0,0,0,0,26.87,26.13,24.37,8.95,15.74
$GC,39918,1.19,155.1,3670,2056,1944,1781,3857.0,9.9,912,39923,0.00,0.00,3.65,1.736,8198,0.000,0.000,3670,2056,1856,1938,1774,0,0,0,0,0,0,26.70,26.06,24.19,8.95,15.46
$GC,40218,1.20,162.8,3670,2055,1938,1774,3827.9,9.6,917,40229,0.00,0.00,9.27,2.853,8198,0.000,0.000,3671,2056,1829,1911,1747,0,0,0,0,0,0,26.65,25.63,23.96,8.95,16.05
$GC,40518,1.21,166.4,3670,2056,1911,1747,3798.6,9.8,922,40529,0.00,2.62,5.10,2.257,8452,0.000,0.097,3670,3652,1816,1898,1735,0,0,0,0,0,0,26.39,25.72,23.91,8.95,16.29
$GC,40584,1.21,168.9,3670,3652,1898,1736,3792.9,9.9,923,40594,0.00,2.53,4.25,1.964,9222,0.000,0.077,3681,2066,1808,1891,1726,0,0,0,0,0,0,26.01,25.92,23.84,8.96,15.89
$GC,40936,1.21,168.9,3681,2066,1890,1726,3756.3,10.1,929,40937,0.00,0.00,0.00,0.000,6,0.000,0.000,3681,2066,1808,1891,1726,0,0,0,0,0,0,26.38,26.39,26.39,8.95,16.37
$GC,41232,1.22,174.7,3680,2066,1890,1726,3727.0,9.7,934,41241,0.00,0.00,7.38,2.612,8198,0.000,0.000,3681,2066,1787,1869,1705,0,0,0,0,0,0,26.52,25.63,23.96,8.95,15.74
$GC,41533,1.22,175.8,3681,2066,1869,1706,3697.6,9.9,939,41535,0.00,0.00,0.00,0.000,6,0.000,0.000,3681,2066,1787,1869,1706,0,0,0,0,0,0,26.38,26.39,26.39,8.94,15.38
$GC,41835,1.23,184.2,3681,2066,1869,1706,3668.7,9.6,944,41851,0.00,2.65,10.38,2.826,8452,0.000,0.097,3681,3648,1755,1838,1673,0,0,0,0,0,0,26.53,25.15,23.84,8.93,15.97
$GC,41941,1.24,191.3,3680,3648,1839,1673,3663.0,9.7,945,41957,0.00,2.50,8.52,2.657,9222,0.000,0.074,3692,2066,1730,1813,1648,0,0,0,0,0,0,25.88,25.79,23.62,8.94,15.54
$GC,42309,1.24,191.3,3691,2066,1813,1647,3619.6,10.3,952,42310,0.00,0.00,0.00,0.000,6,0.000,0.000,3691,2066,1730,1813,1648,0,0,0,0,0,0,26.26,26.27,26.27,8.93,15.82
$GC,42610,1.24,191.3,3691,2066,1813,1648,3589.0,10.4,957,42611,0.00,0.00,0.00,0.000,6,0.000,0.000,3692,2066,1730,1813,1648,0,0,0,0,0,0,26.44,26.46,26.46,8.93,16.01
$GC,42909,1.24,191.3,3691,2066,1813,1648,3557.6,10.5,962,42916,0.00,2.58,0.00,0.000,260,0.000,0.089,3692,3657,1730,1813,1647,0,0,0,0,0,0,26.55,26.17,26.57,8.93,16.09
$GC,42997,1.24,191.3,3691,3657,1813,1648,3551.1,10.6,963,43002,0.00,2.50,0.00,0.000,1030,0.000,0.074,3703,2063,1730,1813,1648,0,0,0,0,0,0,26.35,26.27,26.37,8.93,15.54
$GC,43333,1.24,191.3,3703,2063,1813,1648,3512.6,10.6,969,43334,0.00,0.00,0.00,0.000,6,0.000,0.000,3703,2063,1730,1813,1647,0,0,0,0,0,0,26.66,26.67,26.67,8.93,15.50
$GC,43629,1.24,191.3,3702,2063,1813,1647,3481.4,10.4,974,43630,0.00,0.00,0.00,0.000,6,0.000,0.000,3704,2062,1730,1813,1648,0,0,0,0,0,0,26.72,26.73,26.72,8.93,15.89
$GC,43931,1.24,191.3,3703,2063,1813,1648,3450.8,10.2,979,43932,0.00,0.00,0.00,0.000,6,0.000,0.000,3703,2062,1730,1813,1648,0,0,0,0,0,0,26.76,26.78,26.77,8.93,15.62
$GC,44230,1.24,193.8,3703,2063,1813,1648,3421.2,9.9,984,44236,0.00,0.00,4.15,1.810,8198,0.000,0.000,3703,2062,1721,1804,1639,0,0,0,0,0,0,26.79,26.14,24.40,8.93,16.05
$GC,44531,1.25,202.0,3702,2063,1803,1640,3392.5,9.6,989,44542,0.00,0.00,9.20,2.610,8198,0.000,0.000,3703,2063,1693,1776,1611,0,0,0,0,0,0,26.70,25.73,24.18,8.93,15.89
$GC,44831,1.25,203.7,3703,2063,1776,1612,3362.9,9.9,994,44832,0.00,0.00,0.00,0.000,6,0.000,0.000,3703,2063,1693,1776,1611,0,0,0,0,0,0,26.42,26.44,26.44,8.93,16.09
$GC,45133,1.26,212.6,3703,2063,1776,1612,3333.9,9.6,999,45151,0.00,2.67,11.35,2.694,8452,0.000,0.099,3703,3649,1657,1740,1575,0,0,0,0,0,0,26.55,25.49,23.88,8.93,16.37
$GC,45238,1.27,220.1,3703,3649,1740,1576,3327.9,9.7,1000,45252,0.00,2.55,8.40,2.478,9222,0.000,0.074,3714,2056,1632,1715,1549,0,0,0,0,0,0,25.88,25.80,23.68,8.92,15.58
$GC,45552,1.27,220.1,3713,2055,1715,1548,3290.6,10.2,1006,45557,0.00,2.62,0.00,0.000,260,0.000,0.092,3714,3646,1632,1715,1549,0,0,0,0,0,0,26.20,25.86,26.22,8.91,15.74
$GC,45623,1.27,220.1,3714,3646,1715,1549,3283.8,10.4,1007,45629,0.12,2.53,0.00,0.000,5126,0.258,0.074,3694,2065,1632,1715,1549,0,0,0,0,0,0,25.67,25.94,25.91,8.92,15.46
$GC,45967,1.29,232.3,3693,2065,1715,1549,3249.4,9.4,1013,45982,0.00,0.00,12.98,2.697,8198,0.000,0.000,3694,2064,1589,1673,1506,0,0,0,0,0,0,26.46,25.27,23.78,8.91,16.05
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$GC,68306,1.58,335.1,3788,2058,1324,1159,940.2,10.6,1395,68307,0.00,0.00,0.00,0.000,6,0.000,0.000,3788,2057,1241,1323,1159,0,0,0,0,0,0,27.03,27.04,27.03,8.92,15.78
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$GC,68907,1.58,335.1,3787,2058,1324,1160,874.4,11.7,1415,68908,0.00,0.00,0.00,0.000,6,0.000,0.000,3788,2058,1242,1324,1160,0,0,0,0,0,0,27.03,27.05,27.05,8.93,15.50
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$GC,69506,1.58,335.1,3788,2058,1324,1161,802.4,11.8,1435,69507,0.00,0.00,0.00,0.000,6,0.000,0.000,3788,2058,1242,1324,1161,0,0,0,0,0,0,27.05,27.06,27.05,8.96,15.54
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$STATE,74446,end climb,SURFACE_DEPTH_REACHED
$STATE,74446,begin surface coast
$FINISH,-0.9,1.023044
$STATE,74468,end surface coast,CONTROL_FINISHED_OK
$STATE,74468,begin surface
$SM_CCo,74486,120.45,0.683,0,0,668,500.24
$SM_GC,-0.06,9.05,0.15,120.45,0.077,0.109,0.683,206,2180,668,-9.54,-1.10,500.24,0,0,0,0,0,0,26.69,26.78,24.79
$IRIDIUM_FIX,3140.64,-6411.40,120918,222303
$TT8_MAMPS,0.021721,0.278628
$HUMID,15.66
$INTERNAL_PRESSURE,9.23467
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.6
$ALTIM_BOTTOM_PING,4503.8,56.5
$24V_AH,21.41,21.636
$10V_AH,10.21,15.230
$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,26.500,360.150,534.800,120.450,144.600,91.918,125.714,530.956,676.750,0.000,23.979,6323.057,56337.441,1070.750,11363.377,610.373,0.000,3720.654,0.000,5568.085,0.000,7626.330,0.000
$DEVICE_MAMPS,288.028,136.565,3791.541,682.825,148.980,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1170.414,2213.342,3205.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319020
$DATA_FILE_SIZE,131642,1672
$CAP_FILE_SIZE,822044,0
$CFSIZE,2047311872,2036400128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017,101.67,1
$GPS,130918,191505,3151.972,-6409.723,31,1.1,34,-14.9,0.6,346.8,8,4.9