version: 66.14
glider: 41
mission: 15
dive: 27
start: 9 13 118 19 26 50
data:
$ID,41
$MISSION,15
$DIVE,27
$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,46
$R_STBD_OVSHOOT,60
$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
$GPS1,130918,191505,3151.9717,-6409.7231,31,1.1,34,-14.9,0.6,346.8,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-62.9
$GPS2,130918,192613,3152.0635,-6409.7866,5,1.1,16,-14.9,0.0,289.3,8,4.9
$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,10.7,125819,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,73,-1.57,-146.6,192,2182,725,607,-0.2,-0.3,6,233,0.00,0.00,-148.75,0.149,16390,0.000,0.000,190,2181,2896,2915,2878,0,0,0,0,0,0,26.32,25.86,25.70,9.37,14.48
$GC,236,-1.57,-146.6,189,2181,2916,2878,5.3,-10.0,22,258,11.00,2.40,0.00,0.000,2308,0.288,0.084,2752,3708,2896,2917,2876,0,0,0,0,0,0,25.47,25.76,25.65,9.62,13.85
$GC,863,-1.49,-146.6,2752,3708,2919,2875,79.4,-5.5,78,874,0.15,2.33,0.00,0.000,3078,0.194,0.072,2797,2135,2897,2921,2873,0,0,0,0,0,0,26.08,26.39,26.19,9.61,13.41
$GC,1173,-1.49,-146.6,2796,2135,2922,2873,97.5,-7.1,109,1184,0.00,2.42,0.00,0.000,260,0.000,0.084,2788,3712,2897,2922,2873,0,0,0,0,0,0,26.76,26.37,26.77,9.58,13.57
$GC,1452,-1.42,-146.6,2787,3712,2922,2873,122.7,-10.9,134,1463,0.10,2.28,0.00,0.000,3078,0.189,0.070,2818,2150,2897,2921,2873,0,0,0,0,0,0,26.27,26.55,26.38,9.56,13.18
$GC,1762,-1.42,-146.6,2817,2150,2922,2873,154.6,-10.9,163,1768,0.00,2.40,0.00,0.000,260,0.000,0.087,2808,3712,2897,2922,2873,0,0,0,0,0,0,26.88,26.49,26.89,9.54,13.65
$GC,1868,-1.37,-146.6,2808,3712,2922,2873,167.4,-12.2,168,1873,0.10,2.30,0.00,0.000,3078,0.211,0.070,2836,2149,2897,2922,2873,0,0,0,0,0,0,26.36,26.62,26.53,9.53,13.06
$GC,2182,-1.37,-146.6,2837,2149,2922,2872,202.8,-10.7,184,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2149,2897,2922,2873,0,0,0,0,0,0,26.94,26.95,26.94,9.51,13.49
$GC,2480,-1.37,-146.6,2836,2149,2922,2872,236.2,-11.8,199,2486,0.00,2.40,0.00,0.000,260,0.000,0.084,2827,3713,2897,2922,2873,0,0,0,0,0,0,26.96,26.61,26.98,9.51,13.77
$GC,2540,-1.37,-146.6,2826,3713,2922,2873,243.7,-12.2,202,2547,0.00,2.30,0.00,0.000,1030,0.000,0.070,2827,2151,2897,2922,2873,0,0,0,0,0,0,26.74,26.68,26.77,9.51,13.96
$GC,2862,-1.37,-146.6,2826,2151,2922,2872,285.0,-13.2,218,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2151,2897,2922,2872,0,0,0,0,0,0,27.00,27.01,27.01,9.51,14.16
$GC,3163,-1.37,-146.6,2826,2151,2922,2871,324.0,-12.8,230,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2150,2896,2922,2871,0,0,0,0,0,0,27.02,27.03,27.03,9.50,14.59
$GC,3462,-1.37,-146.6,2827,2151,2922,2870,361.2,-12.3,240,3468,0.00,2.38,0.00,0.000,260,0.000,0.084,2816,3701,2896,2922,2870,0,0,0,0,0,0,27.04,26.68,27.05,9.49,14.36
$GC,3567,-1.37,-146.6,2815,3701,2922,2870,373.3,-12.9,243,3571,0.00,2.28,0.00,0.000,1030,0.000,0.072,2816,2155,2895,2921,2870,0,0,0,0,0,0,26.82,26.74,26.83,9.50,14.36
$GC,3885,-1.37,-146.6,2815,2154,2922,2869,416.0,-13.2,254,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2154,2895,2922,2869,0,0,0,0,0,0,27.05,27.08,27.07,9.49,14.48
$GC,4185,-1.37,-146.6,2815,2154,2922,2868,456.9,-13.6,264,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2154,2895,2922,2868,0,0,0,0,0,0,27.07,27.08,27.08,9.48,14.87
$GC,4485,-1.37,-146.6,2815,2154,2921,2867,498.6,-13.7,274,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2154,2894,2922,2867,0,0,0,0,0,0,27.08,27.10,27.09,9.47,14.56
$GC,4785,-1.37,-146.6,2815,2154,2922,2866,541.6,-14.9,284,4791,0.00,2.38,0.00,0.000,260,0.000,0.084,2805,3706,2894,2922,2866,0,0,0,0,0,0,27.09,26.71,27.10,9.47,14.52
$GC,4847,-1.32,-146.6,2803,3707,2922,2866,551.1,-15.4,286,4854,0.15,2.25,0.00,0.000,3078,0.191,0.067,2851,2148,2894,2922,2866,0,0,0,0,0,0,26.50,26.81,26.60,9.46,14.83
$GC,5177,-1.32,-146.6,2851,2147,2922,2864,598.7,-14.6,297,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2147,2893,2922,2865,0,0,0,0,0,0,27.10,27.11,27.11,9.45,14.95
$GC,5478,-1.32,-146.6,2851,2148,2922,2863,640.9,-13.8,307,5484,0.00,2.38,0.00,0.000,260,0.000,0.084,2841,3710,2892,2922,2863,0,0,0,0,0,0,27.10,26.74,27.12,9.44,15.11
$GC,5561,-1.32,-146.6,2840,3710,2922,2863,649.3,-13.8,309,5569,0.00,2.33,0.00,0.000,1030,0.000,0.072,2841,2155,2892,2922,2863,0,0,0,0,0,0,26.84,26.82,26.87,9.43,14.83
$GC,5871,-1.32,-146.6,2840,2155,2922,2861,698.1,-15.3,320,5877,0.00,2.38,0.00,0.000,260,0.000,0.087,2830,3708,2891,2922,2861,0,0,0,0,0,0,27.11,26.72,27.13,9.41,15.11
$GC,5913,-1.32,-146.6,2829,3707,2922,2861,703.1,-15.3,321,5917,0.00,2.30,0.00,0.000,1030,0.000,0.067,2830,2142,2891,2922,2861,0,0,0,0,0,0,26.89,26.82,26.90,9.42,15.15
$GC,6232,-1.27,-146.6,2828,2142,2922,2859,756.6,-16.2,332,6239,0.10,2.38,0.00,0.000,2308,0.216,0.082,2853,3702,2890,2922,2859,0,0,0,0,0,0,26.60,26.72,26.69,9.39,15.03
$GC,6306,-1.27,-146.6,2852,3702,2922,2858,766.4,-16.1,334,6310,0.00,2.28,0.00,0.000,1030,0.000,0.070,2853,2141,2890,2922,2858,0,0,0,0,0,0,26.89,26.82,26.91,9.38,14.91
$GC,6624,-1.27,-146.6,2852,2141,2922,2856,818.8,-16.5,345,6631,0.00,2.40,0.00,0.000,260,0.000,0.082,2841,3717,2889,2922,2856,0,0,0,0,0,0,27.12,26.76,27.13,9.35,15.66
$GC,6705,-1.27,-146.6,2840,3717,2922,2856,829.5,-16.9,347,6710,0.10,2.33,0.00,0.000,3078,0.219,0.070,2870,2141,2889,2922,2856,0,0,0,0,0,0,26.53,26.82,26.71,9.35,15.15
$GC,7011,-1.27,-146.6,2870,2141,2922,2854,881.5,-15.5,357,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2141,2888,2922,2854,0,0,0,0,0,0,27.13,27.14,27.13,9.33,15.19
$GC,7311,-1.27,-146.6,2869,2141,2922,2851,928.1,-16.0,367,7316,0.00,2.42,0.00,0.000,260,0.000,0.084,2861,3705,2886,2922,2851,0,0,0,0,0,0,27.13,26.74,27.14,9.30,15.78
$GC,7419,-1.27,-146.6,2860,3705,2922,2850,944.2,-16.9,370,7423,0.00,2.30,0.00,0.000,1030,0.000,0.070,2860,2147,2886,2922,2850,0,0,0,0,0,0,26.90,26.84,26.92,9.30,15.70
$GC,7732,-1.27,-146.6,2860,2147,2921,2848,1002.0,-18.2,381,7736,0.00,2.42,0.00,0.000,260,0.000,0.084,2849,3709,2885,2922,2848,0,0,0,0,0,0,27.13,26.72,27.14,9.26,15.19
$GC,7776,-1.27,-146.6,2849,3709,2922,2848,1002.0,-18.2,381,7781,0.00,2.30,0.00,0.000,1030,0.000,0.070,2849,2157,2885,2922,2848,0,0,0,0,0,0,26.88,26.80,26.90,9.27,15.22
$GC,8096,-1.21,-146.6,2848,2156,2922,2845,1069.3,-18.6,387,8102,0.12,2.40,0.00,0.000,2308,0.211,0.084,2879,3708,2883,2922,2844,0,0,0,0,0,0,26.55,26.72,26.64,9.25,15.50
$GC,8194,-1.15,-146.6,2879,3708,2922,2844,1080.6,-18.7,388,8199,0.10,2.33,0.00,0.000,3078,0.211,0.070,2908,2148,2882,2921,2844,0,0,0,0,0,0,26.53,26.79,26.71,9.24,15.15
$GC,8513,-1.15,-146.6,2908,2148,2922,2841,1141.4,-16.8,394,8519,0.00,2.40,0.00,0.000,260,0.000,0.087,2899,3708,2881,2922,2841,0,0,0,0,0,0,27.13,26.75,27.15,9.22,16.13
$GC,8575,-1.15,-146.6,2899,3708,2921,2841,1152.5,-17.1,395,8579,0.00,2.33,0.00,0.000,1030,0.000,0.070,2899,2141,2881,2921,2841,0,0,0,0,0,0,26.89,26.82,26.91,9.23,15.74
$GC,8933,-1.15,-146.6,2898,2141,2922,2837,1213.3,-16.6,401,8940,0.00,2.42,0.00,0.000,260,0.000,0.084,2889,3706,2879,2922,2837,0,0,0,0,0,0,27.13,26.74,27.15,9.22,15.78
$GC,9002,-1.15,-146.6,2888,3706,2921,2837,1223.6,-16.6,402,9006,0.00,2.33,0.00,0.000,1030,0.000,0.070,2888,2146,2879,2921,2837,0,0,0,0,0,0,26.89,26.82,26.91,9.21,15.66
$GC,9349,-1.15,-146.6,2888,2146,2920,2836,1283.3,-16.7,408,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2147,2877,2919,2836,0,0,0,0,0,0,27.13,27.15,27.15,9.21,15.74
$GC,9650,-1.15,-146.6,2887,2146,2918,2834,1333.8,-16.9,413,9654,0.00,2.45,0.00,0.000,260,0.000,0.084,2877,3716,2876,2918,2834,0,0,0,0,0,0,27.14,26.70,27.15,9.19,16.45
$GC,9730,-1.15,-146.6,2876,3716,2918,2834,1344.9,-17.1,414,9736,0.10,2.35,0.00,0.000,3078,0.216,0.072,2905,2152,2875,2917,2834,0,0,0,0,0,0,26.51,26.80,26.69,9.19,15.70
$GC,10075,-1.15,-146.6,2905,2152,2918,2831,1407.6,-17.2,420,10080,0.00,2.42,0.00,0.000,260,0.000,0.089,2897,3706,2874,2918,2831,0,0,0,0,0,0,27.14,26.65,27.15,9.18,16.17
$GC,10147,-1.15,-146.6,2896,3706,2917,2831,1418.5,-17.5,421,10152,0.00,2.33,0.00,0.000,1030,0.000,0.070,2896,2151,2873,2917,2830,0,0,0,0,0,0,26.86,26.77,26.89,9.18,15.97
$GC,10496,-1.15,-146.6,2895,2151,2916,2830,1482.6,-17.6,427,10501,0.00,2.42,0.00,0.000,260,0.000,0.089,2886,3703,2873,2917,2830,0,0,0,0,0,0,27.13,26.69,27.15,9.17,16.41
$GC,10558,-1.15,-146.6,2885,3703,2916,2830,1493.4,-17.7,428,10562,0.00,2.33,0.00,0.000,1030,0.000,0.072,2886,2150,2873,2916,2830,0,0,0,0,0,0,26.89,26.81,26.91,9.17,15.97
$GC,10917,-1.15,-146.6,2885,2151,2915,2828,1556.8,-17.5,434,10923,0.00,2.42,0.00,0.000,260,0.000,0.087,2876,3706,2871,2914,2828,0,0,0,0,0,0,27.14,26.70,27.15,9.16,16.45
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$GC,27476,-1.27,-146.6,2855,3706,2897,2805,3875.5,-11.7,699,27481,0.00,2.42,0.00,0.000,1030,0.000,0.072,2855,2156,2850,2896,2805,0,0,0,0,0,0,26.48,26.44,26.51,9.07,15.46
$GC,27849,-1.27,-146.6,2854,2155,2896,2805,3918.7,-11.6,705,27850,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2155,2850,2896,2805,0,0,0,0,0,0,26.94,26.96,26.95,9.07,15.54
$GC,28145,-1.27,-146.6,2854,2155,2897,2805,3952.7,-11.4,710,28150,0.00,2.50,0.00,0.000,260,0.000,0.089,2847,3707,2850,2897,2804,0,0,0,0,0,0,26.94,26.21,26.96,9.07,15.62
$GC,28235,-1.27,-146.6,2846,3706,2897,2805,3961.7,-11.6,711,28239,0.00,2.40,0.00,0.000,1030,0.000,0.072,2845,2141,2851,2897,2805,0,0,0,0,0,0,26.54,26.44,26.57,9.06,15.70
$GC,28618,-1.27,-146.6,2845,2142,2896,2805,4006.6,-11.8,717,28619,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2142,2850,2896,2805,0,0,0,0,0,0,26.94,26.96,26.96,9.07,15.93
$GC,28917,-1.27,-146.6,2845,2141,2896,2805,4041.9,-11.7,722,28918,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2142,2850,2896,2805,0,0,0,0,0,0,26.94,26.96,26.96,9.07,15.89
$GC,29207,-1.27,-146.6,2845,2141,2896,2805,4076.5,-11.6,727,29214,0.00,2.50,0.00,0.000,260,0.000,0.089,2838,3698,2850,2896,2804,0,0,0,0,0,0,26.93,26.17,26.94,9.07,16.45
$GC,29293,-1.27,-146.6,2837,3698,2896,2805,4085.3,-11.6,728,29299,0.10,2.40,0.00,0.000,3078,0.201,0.072,2876,2151,2850,2896,2805,0,0,0,0,0,0,25.91,26.44,26.10,9.06,15.54
$GC,29677,-1.32,-146.6,2875,2151,2896,2804,4125.9,-10.4,734,29682,0.00,2.53,0.00,0.000,260,0.000,0.094,2869,3701,2850,2896,2804,0,0,0,0,0,0,26.94,26.17,26.94,9.06,15.97
$GC,29754,-1.38,-146.6,2868,3701,2896,2804,4135.5,-10.5,735,29758,0.00,2.38,0.00,0.000,1030,0.000,0.072,2868,2154,2850,2896,2805,0,0,0,0,0,0,26.53,26.44,26.56,9.06,15.62
$GC,30118,-1.43,-146.6,2868,2153,2896,2804,4173.4,-10.4,741,30120,0.10,0.00,0.00,0.000,4102,0.137,0.000,2818,2153,2850,2896,2804,0,0,0,0,0,0,26.63,26.68,26.66,9.06,15.42
$GC,30418,-1.43,-146.6,2817,2153,2896,2804,4208.0,-11.6,746,30424,0.00,2.50,0.00,0.000,260,0.000,0.092,2808,3709,2850,2896,2804,0,0,0,0,0,0,26.94,26.17,26.96,9.06,15.54
$GC,30531,-1.43,-146.6,2808,3709,2895,2805,4216.3,-11.6,747,30535,0.00,2.38,0.00,0.000,1030,0.000,0.070,2808,2152,2850,2896,2804,0,0,0,0,0,0,26.53,26.44,26.56,9.06,15.50
$GC,30873,-1.43,-146.6,2807,2152,2896,2804,4260.1,-11.7,753,30874,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2152,2850,2896,2805,0,0,0,0,0,0,26.94,26.95,26.95,9.07,16.33
$GC,31159,-1.43,-146.6,2808,2152,2896,2804,4295.7,-11.9,758,31166,0.00,2.47,0.00,0.000,260,0.000,0.089,2799,3695,2850,2896,2804,0,0,0,0,0,0,26.92,26.15,26.94,9.07,15.54
$GC,31256,-1.43,-146.6,2798,3695,2895,2805,4304.2,-12.0,759,31260,0.00,2.38,0.00,0.000,1030,0.000,0.072,2798,2152,2850,2895,2805,0,0,0,0,0,0,26.48,26.37,26.51,9.07,16.21
$GC,31618,-1.43,-146.6,2797,2152,2895,2804,4349.6,-11.8,765,31619,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2152,2849,2895,2804,0,0,0,0,0,0,26.91,26.92,26.91,9.07,15.74
$GC,31927,-1.43,-146.6,2797,2152,2896,2805,4384.0,-11.4,770,31933,0.00,2.50,0.00,0.000,260,0.000,0.089,2790,3709,2849,2895,2804,0,0,0,0,0,0,26.93,26.10,26.94,9.07,15.46
$GC,32039,-1.43,-146.6,2789,3709,2895,2805,4394.0,-11.5,771,32043,0.00,2.40,0.00,0.000,1030,0.000,0.072,2789,2138,2850,2895,2805,0,0,0,0,0,0,26.48,26.39,26.52,9.07,15.26
$GC,32366,-1.43,-146.6,2788,2138,2895,2805,4436.2,-11.3,777,32372,0.00,2.53,0.00,0.000,260,0.000,0.092,2780,3705,2849,2895,2804,0,0,0,0,0,0,26.91,26.14,26.93,9.07,15.89
$GC,32448,-1.43,-146.6,2779,3706,2895,2804,4444.4,-11.4,778,32453,0.10,2.40,0.00,0.000,3078,0.201,0.072,2817,2161,2849,2894,2804,0,0,0,0,0,0,25.85,26.41,26.03,9.06,15.78
$STATE,32513,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,32514,begin apogee
$GC,32519,-0.33,0.0,2817,2046,2895,2804,4453.2,-11.3,779,32664,1.12,0.00,141.15,3.732,10246,0.174,0.000,3167,2046,2390,2462,2318,0,0,0,0,0,0,25.57,23.09,21.46,9.06,16.09
$STATE,32665,end apogee,CONTROL_FINISHED_OK
$STATE,32665,begin climb
$GC,32666,1.57,146.6,3166,2046,2462,2318,4457.6,0.0,781,32830,1.88,0.00,158.62,3.648,10246,0.114,0.000,3768,2046,1884,1970,1799,0,0,0,0,0,0,23.59,23.09,21.57,9.03,15.46
$GC,33109,1.46,146.6,3768,2046,1970,1799,4407.1,15.1,789,33110,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,2046,1884,1970,1799,0,0,0,0,0,0,25.70,25.72,25.72,9.00,15.70
$GC,33407,1.35,146.6,3768,2046,1970,1799,4362.8,14.7,794,33409,0.20,0.00,0.00,0.000,4102,0.238,0.000,3717,2047,1884,1970,1799,0,0,0,0,0,0,25.52,25.84,25.77,8.99,15.46
$GC,33707,1.29,146.6,3717,2047,1970,1799,4323.5,13.0,799,33708,0.00,0.00,0.00,0.000,6,0.000,0.000,3718,2047,1884,1970,1798,0,0,0,0,0,0,26.39,26.40,26.40,8.99,15.19
$GC,34006,1.22,146.6,3717,2047,1970,1799,4285.5,12.6,804,34008,0.15,0.00,0.00,0.000,4102,0.246,0.000,3678,2047,1884,1970,1798,0,0,0,0,0,0,25.86,26.17,26.10,8.98,15.46
$GC,34307,1.22,146.6,3677,2047,1970,1799,4251.3,11.3,809,34308,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,2047,1884,1970,1798,0,0,0,0,0,0,26.61,26.63,26.63,8.98,15.38
$GC,34606,1.22,146.6,3678,2047,1969,1797,4218.3,10.9,814,34607,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,2047,1884,1969,1799,0,0,0,0,0,0,26.67,26.69,26.69,8.98,15.38
$GC,34906,1.22,146.6,3677,2047,1969,1799,4186.7,10.5,819,34908,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,2047,1884,1969,1799,0,0,0,0,0,0,26.73,26.74,26.74,8.98,15.58
$GC,35206,1.22,146.6,3677,2047,1969,1798,4155.7,10.4,824,35212,0.00,2.55,0.00,0.000,260,0.000,0.092,3677,3625,1884,1969,1799,0,0,0,0,0,0,26.77,26.34,26.78,8.97,16.09
$GC,35294,1.22,146.6,3677,3625,1969,1799,4149.0,10.5,825,35298,0.00,2.42,0.00,0.000,1030,0.000,0.074,3685,2067,1883,1969,1798,0,0,0,0,0,0,26.51,26.41,26.54,8.97,16.09
$GC,35626,1.22,146.6,3685,2067,1969,1799,4111.4,10.3,831,35627,0.00,0.00,0.00,0.000,6,0.000,0.000,3685,2067,1884,1969,1799,0,0,0,0,0,0,26.82,26.83,26.82,8.98,15.50
$GC,35929,1.22,146.6,3685,2067,1969,1798,4080.8,10.2,836,35930,0.00,0.00,0.00,0.000,6,0.000,0.000,3685,2067,1884,1969,1799,0,0,0,0,0,0,26.84,26.86,26.85,8.97,15.66
$GC,36228,1.22,146.6,3684,2067,1968,1799,4050.3,10.1,841,36229,0.00,0.00,0.00,0.000,6,0.000,0.000,3685,2067,1883,1969,1798,0,0,0,0,0,0,26.86,26.88,26.88,8.97,15.54
$GC,36526,1.22,146.6,3685,2067,1968,1798,4019.8,10.2,846,36532,0.00,2.55,0.00,0.000,516,0.000,0.092,3697,492,1883,1968,1799,0,0,0,0,0,0,26.89,26.38,26.89,8.96,16.05
$GC,36613,1.22,146.6,3695,492,1968,1798,4013.5,10.3,847,36618,0.00,2.42,0.00,0.000,1030,0.000,0.079,3696,2039,1883,1968,1798,0,0,0,0,0,0,26.58,26.46,26.61,8.97,15.70
$GC,36946,1.22,146.6,3696,2039,1968,1798,3976.6,10.1,853,36947,0.00,0.00,0.00,0.000,6,0.000,0.000,3697,2039,1883,1968,1798,0,0,0,0,0,0,26.91,26.92,26.92,8.96,15.70
$GC,37246,1.23,155.5,3696,2039,1968,1798,3947.5,9.6,858,37257,0.00,0.00,9.38,2.890,8198,0.000,0.000,3696,2039,1853,1936,1771,0,0,0,0,0,0,26.92,25.88,24.20,8.96,16.17
$GC,37551,1.24,161.1,3696,2039,1936,1771,3918.4,9.7,863,37560,0.00,0.00,7.10,2.669,8198,0.000,0.000,3697,2039,1834,1917,1752,0,0,0,0,0,0,26.53,25.66,23.95,8.96,15.74
$GC,37848,1.24,162.9,3696,2039,1917,1752,3888.8,9.9,868,37849,0.00,0.00,0.00,0.000,6,0.000,0.000,3696,2039,1834,1917,1752,0,0,0,0,0,0,26.40,26.42,26.41,8.95,15.66
$GC,38146,1.25,170.8,3696,2039,1917,1752,3859.7,9.6,873,38159,0.00,0.00,10.90,2.905,8198,0.000,0.000,3697,2039,1801,1884,1719,0,0,0,0,0,0,26.55,25.42,23.80,8.95,15.54
$GC,38447,1.25,170.8,3696,2039,1883,1719,3829.3,10.2,878,38448,0.00,0.00,0.00,0.000,6,0.000,0.000,3697,2039,1801,1883,1719,0,0,0,0,0,0,26.29,26.32,26.31,8.95,15.62
$GC,38747,1.25,170.8,3696,2039,1883,1720,3799.2,10.0,883,38748,0.00,0.00,0.00,0.000,6,0.000,0.000,3697,2039,1801,1883,1719,0,0,0,0,0,0,26.48,26.49,26.49,8.94,15.74
$GC,39046,1.26,175.0,3696,2039,1883,1719,3769.7,9.8,888,39054,0.00,0.00,5.65,2.332,8198,0.000,0.000,3697,2039,1786,1868,1705,0,0,0,0,0,0,26.59,25.83,24.13,8.94,15.58
$GC,39346,1.26,176.0,3696,2039,1868,1705,3740.1,10.0,893,39347,0.00,0.00,0.00,0.000,6,0.000,0.000,3696,2038,1786,1868,1705,0,0,0,0,0,0,26.48,26.51,26.50,8.95,15.78
$GC,39646,1.27,181.8,3696,2039,1868,1705,3710.6,9.7,898,39659,0.00,2.58,8.10,2.649,8708,0.000,0.097,3707,490,1763,1845,1681,0,0,0,0,0,0,26.60,25.38,24.05,8.95,15.97
$GC,39736,1.27,186.2,3707,490,1845,1681,3705.0,9.8,899,39750,0.00,2.55,5.93,2.359,9222,0.000,0.077,3707,2073,1748,1830,1666,0,0,0,0,0,0,26.03,25.94,23.87,8.94,15.46
$GC,40066,1.27,186.2,3706,2073,1830,1666,3668.2,10.2,905,40067,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2073,1748,1830,1666,0,0,0,0,0,0,26.33,26.35,26.34,8.94,15.74
$GC,40364,1.27,186.2,3706,2073,1830,1666,3637.5,10.3,910,40365,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2073,1747,1829,1666,0,0,0,0,0,0,26.49,26.51,26.51,8.94,15.58
$GC,40663,1.27,186.2,3706,2073,1830,1667,3606.7,10.3,915,40664,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2073,1748,1830,1666,0,0,0,0,0,0,26.60,26.61,26.61,8.94,15.82
$GC,40963,1.27,186.2,3706,2073,1830,1666,3576.5,10.1,920,40964,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2073,1748,1830,1666,0,0,0,0,0,0,26.67,26.69,26.68,8.93,15.42
$GC,41263,1.27,186.2,3706,2073,1829,1666,3546.3,10.2,925,41265,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2073,1748,1830,1667,0,0,0,0,0,0,26.72,26.74,26.74,8.94,15.54
$GC,41565,1.27,186.2,3707,2073,1830,1666,3516.1,10.2,930,41566,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2073,1748,1830,1667,0,0,0,0,0,0,26.77,26.79,26.78,8.93,16.09
$GC,41863,1.27,187.1,3706,2073,1830,1666,3485.9,10.0,935,41865,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2073,1748,1830,1666,0,0,0,0,0,0,26.80,26.82,26.82,8.94,15.46
$GC,42163,1.27,187.1,3707,2073,1830,1666,3455.8,10.0,940,42170,0.00,2.55,0.00,0.000,516,0.000,0.092,3717,492,1748,1830,1666,0,0,0,0,0,0,26.84,26.43,26.85,8.93,15.70
$GC,42256,1.27,187.1,3717,491,1829,1666,3449.7,10.0,941,42260,0.00,2.50,0.00,0.000,1030,0.000,0.082,3718,2074,1748,1830,1666,0,0,0,0,0,0,26.57,26.46,26.60,8.93,15.66
$GC,42579,1.27,187.1,3717,2074,1830,1666,3413.6,10.1,947,42581,0.00,0.00,0.00,0.000,6,0.000,0.000,3718,2074,1748,1830,1666,0,0,0,0,0,0,26.86,26.88,26.88,8.93,16.09
$GC,42881,1.28,189.8,3717,2075,1829,1666,3383.9,9.9,952,42888,0.00,0.00,4.95,2.031,8198,0.000,0.000,3718,2075,1735,1817,1654,0,0,0,0,0,0,26.89,26.19,24.53,8.93,16.29
$GC,43180,1.28,193.0,3717,2075,1816,1655,3354.2,9.9,957,43190,0.00,2.62,4.85,1.994,8708,0.000,0.097,3729,491,1724,1805,1644,0,0,0,0,0,0,26.74,26.11,24.38,8.92,15.74
$GC,43268,1.28,197.0,3728,491,1805,1645,3348.2,9.8,958,43279,0.12,2.50,5.30,2.091,13318,0.246,0.077,3697,2073,1711,1793,1630,0,0,0,0,0,0,25.95,26.25,24.26,8.93,15.78
$GC,43599,1.30,209.0,3697,2073,1792,1631,3314.0,9.4,964,43614,0.00,0.00,13.20,2.721,8198,0.000,0.000,3697,2072,1669,1752,1586,0,0,0,0,0,0,26.51,25.31,23.80,8.92,15.58
$GC,43898,1.30,209.5,3696,2073,1752,1586,3284.2,10.0,969,43903,0.00,2.60,0.00,0.000,516,0.000,0.092,3707,489,1669,1752,1586,0,0,0,0,0,0,26.25,25.90,26.26,8.92,15.58
$GC,43971,1.30,211.7,3706,489,1751,1587,3278.1,9.9,970,43980,0.00,2.55,4.10,1.706,9222,0.000,0.077,3707,2075,1661,1743,1579,0,0,0,0,0,0,26.08,25.99,24.01,8.92,16.45
$GC,44314,1.31,216.8,3705,2076,1742,1580,3243.1,9.8,976,44323,0.00,0.00,6.60,2.250,8198,0.000,0.000,3706,2075,1642,1723,1561,0,0,0,0,0,0,26.41,25.63,24.06,8.92,15.50
$GC,44614,1.32,224.8,3706,2076,1723,1561,3214.2,9.6,981,44625,0.00,0.00,8.98,2.468,8198,0.000,0.000,3706,2076,1615,1697,1533,0,0,0,0,0,0,26.36,25.44,23.93,8.92,16.05
$GC,44914,1.32,224.8,3706,2076,1697,1533,3184.3,10.0,986,44918,0.00,2.62,0.00,0.000,516,0.000,0.092,3717,494,1615,1697,1533,0,0,0,0,0,0,26.28,25.92,26.29,8.91,16.41
$GC,44989,1.32,224.8,3717,494,1697,1532,3177.6,10.1,987,44994,0.00,2.50,0.00,0.000,1030,0.000,0.074,3717,2064,1615,1697,1533,0,0,0,0,0,0,26.12,26.02,26.13,8.91,15.78
$GC,45333,1.32,224.8,3716,2064,1698,1533,3140.4,10.4,993,45337,0.00,2.58,0.00,0.000,260,0.000,0.092,3717,3651,1615,1698,1533,0,0,0,0,0,0,26.51,26.13,26.51,8.91,15.42
$GC,45419,1.32,224.8,3716,3651,1697,1533,3133.5,10.5,994,45423,0.00,2.47,0.00,0.000,1030,0.000,0.074,3727,2065,1615,1698,1533,0,0,0,0,0,0,26.31,26.22,26.33,8.91,15.42
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$GC,67785,1.47,351.7,3762,2069,1267,1102,805.1,11.9,1393,67786,0.00,0.00,0.00,0.000,6,0.000,0.000,3762,2069,1184,1267,1102,0,0,0,0,0,0,26.99,27.01,27.01,8.95,15.66
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$GC,68685,1.47,351.7,3762,2069,1267,1105,687.1,14.4,1423,68690,0.00,2.53,0.00,0.000,516,0.000,0.089,3773,489,1186,1267,1105,0,0,0,0,0,0,27.02,26.54,27.03,9.00,15.89
$GC,68787,1.47,351.7,3773,489,1266,1105,673.0,14.7,1426,68792,0.00,2.42,0.00,0.000,1030,0.000,0.074,3773,2060,1186,1267,1105,0,0,0,0,0,0,26.73,26.62,26.76,9.00,15.89
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$GC,69712,1.47,351.7,3773,2061,1261,1099,539.0,15.4,1457,69713,0.00,0.00,0.00,0.000,6,0.000,0.000,3773,2060,1180,1262,1099,0,0,0,0,0,0,27.00,27.01,27.01,9.07,16.52
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$STATE,72654,end climb,SURFACE_DEPTH_REACHED
$STATE,72654,begin surface coast
$FINISH,-0.6,1.023350
$STATE,72675,end surface coast,CONTROL_FINISHED_OK
$STATE,72676,begin surface
$SM_CCo,72693,108.88,0.683,0,0,667,500.24
$SM_GC,-0.04,9.10,0.10,108.88,0.082,0.129,0.683,196,2161,667,-9.56,-1.22,500.24,0,0,0,0,0,0,26.72,26.80,24.87
$IRIDIUM_FIX,3142.97,-6413.68,120918,222524
$TT8_MAMPS,0.020223,0.270389
$HUMID,15.74
$INTERNAL_PRESSURE,9.23467
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,4444.4,16.0
$24V_AH,21.46,22.223
$10V_AH,10.22,15.675
$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,26.725,410.525,547.075,108.875,148.750,27.116,29.251,430.976,637.750,0.000,18.083,6260.156,53867.066,1097.854,11617.142,571.658,0.000,3886.691,0.000,6367.230,0.000,7224.114,0.000
$DEVICE_MAMPS,288.028,129.116,3731.949,682.825,148.980,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1136.687,2149.808,3690.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318720
$DATA_FILE_SIZE,132021,1624
$CAP_FILE_SIZE,744049,0
$CFSIZE,2047311872,2036203520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,70013.82,0x213b2e,1,24
$CURRENT,0.026,341.52,1
$GPS,140918,154134,3203.896,-6408.941,36,1.0,38,-15.0,0.4,126.3,9,5.0