version: 66.14
glider: 41
mission: 15
dive: 28
start: 9 14 118 15 53 42
data:
$ID,41
$MISSION,15
$DIVE,28
$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,37
$R_STBD_OVSHOOT,48
$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
$GPS1,140918,154134,3203.8965,-6408.9414,36,1.0,38,-15.0,0.4,126.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-55.9
$GPS2,140918,155305,3203.8936,-6408.9429,8,1.0,16,-15.0,0.6,334.5,9,4.5
$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,16.0,103922,-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,-146.6,182,2162,727,598,-0.4,0.3,6,232,0.00,0.00,-150.35,0.149,16390,0.000,0.000,183,2162,2894,2911,2878,0,0,0,0,0,0,26.33,25.80,25.71,9.37,14.32
$GC,235,-1.57,-146.6,182,2162,2912,2878,4.9,-9.2,22,257,10.98,2.45,0.00,0.000,2308,0.288,0.082,2755,3716,2895,2915,2876,0,0,0,0,0,0,25.48,25.77,25.65,9.61,14.00
$GC,573,-1.50,-146.6,2754,3716,2916,2875,57.2,-6.5,52,584,0.12,2.35,0.00,0.000,3078,0.196,0.072,2791,2132,2895,2919,2872,0,0,0,0,0,0,25.96,26.23,26.07,9.62,13.53
$GC,883,-1.50,-146.6,2791,2132,2920,2872,73.1,-6.5,83,894,0.00,2.47,0.00,0.000,260,0.000,0.084,2782,3743,2896,2920,2872,0,0,0,0,0,0,26.66,26.27,26.67,9.61,13.41
$GC,1364,-1.43,-146.6,2781,3743,2921,2872,116.5,-11.0,126,1376,0.10,2.35,0.00,0.000,3078,0.196,0.072,2811,2140,2896,2921,2872,0,0,0,0,0,0,26.27,26.54,26.36,9.56,13.33
$GC,1675,-1.43,-146.6,2811,2140,2921,2872,144.9,-9.4,157,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2141,2896,2921,2872,0,0,0,0,0,0,26.86,26.88,26.87,9.55,12.86
$GC,1977,-1.43,-146.6,2811,2140,2921,2872,178.6,-11.9,175,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2141,2896,2921,2872,0,0,0,0,0,0,26.91,26.93,26.92,9.53,13.30
$GC,2275,-1.43,-146.6,2811,2141,2921,2871,214.2,-11.5,190,2279,0.00,2.42,0.00,0.000,260,0.000,0.082,2802,3723,2896,2921,2872,0,0,0,0,0,0,26.95,26.58,26.96,9.52,13.49
$GC,2340,-1.38,-146.6,2801,3723,2921,2872,221.9,-11.8,193,2345,0.10,2.30,0.00,0.000,3078,0.211,0.070,2831,2165,2896,2921,2872,0,0,0,0,0,0,26.42,26.67,26.58,9.52,13.96
$GC,2664,-1.38,-146.6,2830,2165,2921,2871,259.4,-12.1,209,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2165,2896,2921,2871,0,0,0,0,0,0,26.98,27.00,26.99,9.51,14.12
$GC,2964,-1.38,-146.6,2830,2165,2921,2870,296.5,-12.7,224,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2165,2896,2922,2870,0,0,0,0,0,0,27.01,27.02,27.02,9.50,13.73
$GC,3274,-1.38,-146.6,2830,2165,2921,2869,335.7,-12.6,235,3280,0.00,2.38,0.00,0.000,260,0.000,0.084,2821,3723,2895,2921,2869,0,0,0,0,0,0,27.03,26.68,27.04,9.50,14.00
$GC,3354,-1.38,-146.6,2820,3723,2921,2869,343.4,-12.6,237,3365,0.00,2.33,0.00,0.000,1030,0.000,0.067,2821,2139,2895,2921,2869,0,0,0,0,0,0,26.82,26.75,26.83,9.50,14.59
$GC,3668,-1.38,-146.6,2820,2139,2921,2868,386.2,-12.9,248,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2140,2894,2921,2868,0,0,0,0,0,0,27.05,27.06,27.06,9.49,14.56
$GC,3966,-1.38,-146.6,2820,2139,2921,2867,426.4,-13.5,258,3972,0.00,2.40,0.00,0.000,260,0.000,0.082,2809,3720,2893,2920,2867,0,0,0,0,0,0,27.06,26.70,27.08,9.49,14.63
$GC,4060,-1.38,-146.6,2809,3720,2921,2867,439.8,-14.1,261,4065,0.00,2.33,0.00,0.000,1030,0.000,0.067,2809,2152,2894,2921,2867,0,0,0,0,0,0,26.81,26.78,26.83,9.48,14.99
$GC,4389,-1.38,-146.6,2808,2152,2921,2865,485.5,-13.7,272,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2152,2893,2921,2865,0,0,0,0,0,0,27.08,27.09,27.09,9.48,14.36
$GC,4689,-1.38,-146.6,2809,2152,2921,2864,525.0,-13.4,282,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2152,2893,2921,2865,0,0,0,0,0,0,27.08,27.10,27.10,9.46,14.75
$GC,4990,-1.33,-146.6,2808,2152,2921,2863,569.4,-15.5,292,4992,0.15,0.00,0.00,0.000,2054,0.199,0.000,2853,2148,2892,2921,2863,0,0,0,0,0,0,26.54,26.77,26.72,9.45,14.75
$GC,5289,-1.33,-146.6,2852,2148,2921,2861,613.1,-14.6,302,5295,0.00,2.40,0.00,0.000,260,0.000,0.084,2843,3722,2891,2921,2861,0,0,0,0,0,0,27.10,26.71,27.11,9.44,14.91
$GC,5383,-1.33,-146.6,2843,3722,2921,2861,627.1,-15.3,305,5388,0.00,2.33,0.00,0.000,1030,0.000,0.067,2843,2156,2891,2921,2861,0,0,0,0,0,0,26.85,26.82,26.87,9.43,15.11
$GC,5713,-1.33,-146.6,2843,2156,2921,2859,676.8,-14.6,316,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2156,2890,2921,2859,0,0,0,0,0,0,27.11,27.13,27.12,9.41,14.91
$GC,6012,-1.33,-146.6,2843,2156,2921,2857,720.8,-14.8,326,6019,0.00,2.40,0.00,0.000,260,0.000,0.084,2832,3725,2889,2921,2857,0,0,0,0,0,0,27.11,26.74,27.13,9.40,15.11
$GC,6113,-1.27,-146.6,2832,3726,2921,2857,736.0,-16.3,329,6118,0.12,2.33,0.00,0.000,3078,0.211,0.067,2869,2150,2889,2921,2857,0,0,0,0,0,0,26.52,26.80,26.70,9.40,14.79
$GC,6431,-1.27,-146.6,2868,2150,2921,2856,786.7,-15.6,340,6436,0.00,2.42,0.00,0.000,260,0.000,0.082,2859,3725,2888,2921,2856,0,0,0,0,0,0,27.12,26.73,27.13,9.36,15.54
$GC,6497,-1.27,-146.6,2859,3725,2921,2855,796.7,-15.6,342,6502,0.00,2.33,0.00,0.000,1030,0.000,0.067,2859,2144,2888,2921,2855,0,0,0,0,0,0,26.89,26.83,26.91,9.37,15.30
$GC,6826,-1.27,-146.6,2858,2143,2921,2853,849.2,-15.9,353,6831,0.00,2.42,0.00,0.000,260,0.000,0.082,2848,3719,2886,2921,2852,0,0,0,0,0,0,27.12,26.72,27.13,9.34,15.30
$GC,6892,-1.27,-146.6,2847,3719,2921,2852,860.1,-16.8,355,6896,0.00,2.30,0.00,0.000,1030,0.000,0.067,2847,2148,2886,2921,2852,0,0,0,0,0,0,26.89,26.82,26.91,9.34,15.19
$GC,7221,-1.22,-146.6,2846,2148,2921,2850,915.8,-16.8,366,7226,0.10,2.45,0.00,0.000,2308,0.223,0.084,2869,3727,2886,2922,2850,0,0,0,0,0,0,26.60,26.72,26.68,9.31,15.34
$GC,7268,-1.17,-146.6,2869,3726,2921,2849,921.7,-17.1,367,7273,0.10,2.33,0.00,0.000,3078,0.214,0.070,2898,2158,2885,2921,2850,0,0,0,0,0,0,26.55,26.82,26.72,9.31,15.22
$GC,7584,-1.17,-146.6,2897,2158,2921,2847,976.0,-16.5,378,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2157,2884,2921,2847,0,0,0,0,0,0,27.13,27.14,27.14,9.28,15.19
$GC,7913,-1.17,-146.6,2898,2158,2921,2844,1029.3,-15.9,386,7918,0.00,2.40,0.00,0.000,260,0.000,0.087,2889,3713,2882,2921,2844,0,0,0,0,0,0,27.13,26.73,27.14,9.26,15.42
$GC,8027,-1.17,-146.6,2888,3713,2921,2844,1039.5,-16.1,387,8036,0.00,2.35,0.00,0.000,1030,0.000,0.070,2888,2148,2882,2921,2843,0,0,0,0,0,0,26.86,26.82,26.89,9.26,15.54
$GC,8333,-1.17,-146.6,2888,2148,2920,2840,1100.0,-16.7,393,8339,0.00,2.42,0.00,0.000,260,0.000,0.084,2878,3722,2881,2921,2841,0,0,0,0,0,0,27.13,26.75,27.14,9.24,15.46
$GC,8407,-1.17,-146.6,2877,3722,2920,2840,1110.7,-16.9,394,8411,0.00,2.35,0.00,0.000,1030,0.000,0.070,2877,2151,2880,2920,2840,0,0,0,0,0,0,26.89,26.82,26.91,9.24,15.46
$GC,8749,-1.17,-146.6,2876,2151,2920,2837,1173.2,-17.5,400,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2150,2878,2920,2837,0,0,0,0,0,0,27.13,27.15,27.15,9.22,15.93
$GC,9050,-1.17,-146.6,2877,2151,2918,2836,1226.8,-17.9,405,9056,0.00,2.45,0.00,0.000,260,0.000,0.087,2866,3722,2877,2918,2836,0,0,0,0,0,0,27.14,26.70,27.15,9.21,15.85
$GC,9122,-1.17,-146.6,2866,3722,2918,2836,1238.5,-18.2,406,9127,0.12,2.35,0.00,0.000,3078,0.211,0.067,2903,2145,2877,2919,2836,0,0,0,0,0,0,26.48,26.81,26.67,9.21,15.85
$GC,9466,-1.17,-146.6,2902,2145,2918,2832,1300.8,-17.3,412,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,2875,2918,2832,0,0,0,0,0,0,27.13,27.15,27.15,9.20,15.85
$GC,9767,-1.17,-146.6,2902,2145,2917,2832,1353.4,-17.5,417,9772,0.00,2.45,0.00,0.000,260,0.000,0.082,2893,3721,2874,2917,2831,0,0,0,0,0,0,27.14,26.72,27.15,9.19,16.41
$GC,9873,-1.17,-146.6,2893,3721,2915,2831,1365.4,-17.8,418,9878,0.00,2.35,0.00,0.000,1030,0.000,0.070,2893,2149,2873,2916,2831,0,0,0,0,0,0,26.89,26.81,26.91,9.19,16.29
$GC,10188,-1.17,-146.6,2892,2149,2916,2829,1429.8,-18.0,424,10192,0.00,2.45,0.00,0.000,260,0.000,0.084,2882,3719,2872,2916,2829,0,0,0,0,0,0,27.14,26.72,27.15,9.17,16.01
$GC,10237,-1.17,-146.6,2881,3719,2915,2828,1429.8,-18.0,424,10242,0.00,2.35,0.00,0.000,1030,0.000,0.072,2882,2154,2872,2915,2829,0,0,0,0,0,0,26.87,26.79,26.90,9.18,16.05
$GC,10546,-1.17,-146.6,2881,2153,2913,2828,1497.3,-18.9,429,10551,0.00,2.45,0.00,0.000,260,0.000,0.087,2872,3712,2870,2913,2828,0,0,0,0,0,0,27.14,26.67,27.15,9.17,16.76
$GC,10596,-1.17,-146.6,2871,3712,2912,2828,1497.3,-18.9,429,10601,0.10,2.35,0.00,0.000,3078,0.219,0.070,2900,2145,2870,2912,2828,0,0,0,0,0,0,26.49,26.80,26.67,9.17,15.89
$GC,10904,-1.17,-146.6,2899,2145,2912,2825,1561.6,-17.6,434,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,2869,2912,2826,0,0,0,0,0,0,27.13,27.15,27.15,9.16,16.13
$GC,11205,-1.17,-146.6,2899,2145,2910,2824,1612.8,-16.9,439,11211,0.00,2.45,0.00,0.000,260,0.000,0.084,2890,3722,2867,2910,2824,0,0,0,0,0,0,27.14,26.68,27.15,9.15,16.05
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$GC,28342,-1.34,-146.6,2822,2137,2894,2803,4015.3,-12.1,712,28343,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2138,2849,2894,2804,0,0,0,0,0,0,26.94,26.96,26.95,9.07,15.78
$GC,28641,-1.34,-146.6,2822,2138,2894,2804,4051.5,-12.1,717,28647,0.00,2.53,0.00,0.000,260,0.000,0.089,2813,3718,2848,2894,2803,0,0,0,0,0,0,26.94,26.22,26.96,9.07,15.62
$GC,28726,-1.34,-146.6,2813,3718,2894,2804,4060.4,-12.1,718,28731,0.08,2.42,0.00,0.000,3078,0.201,0.072,2845,2161,2848,2894,2803,0,0,0,0,0,0,26.00,26.44,26.16,9.07,15.54
$GC,29110,-1.34,-146.6,2844,2161,2894,2803,4102.6,-10.8,724,29111,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2161,2848,2894,2803,0,0,0,0,0,0,26.93,26.95,26.94,9.07,15.66
$GC,29394,-1.34,-146.6,2844,2161,2894,2803,4135.4,-10.9,729,29400,0.00,2.47,0.00,0.000,260,0.000,0.089,2837,3713,2848,2894,2803,0,0,0,0,0,0,26.92,26.21,26.94,9.06,15.50
$GC,29478,-1.34,-146.6,2836,3713,2894,2803,4143.4,-11.0,730,29483,0.00,2.42,0.00,0.000,1030,0.000,0.070,2836,2145,2848,2894,2803,0,0,0,0,0,0,26.48,26.44,26.51,9.07,15.62
$GC,29862,-1.34,-146.6,2835,2146,2894,2803,4185.4,-11.0,736,29863,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2145,2848,2894,2803,0,0,0,0,0,0,26.94,26.95,26.95,9.07,15.38
$GC,30146,-1.34,-146.6,2835,2145,2894,2803,4218.2,-10.9,741,30152,0.00,2.53,0.00,0.000,260,0.000,0.089,2827,3722,2848,2894,2803,0,0,0,0,0,0,26.94,26.19,26.95,9.07,15.62
$GC,30229,-1.34,-146.6,2826,3722,2894,2803,4226.2,-11.1,742,30234,0.00,2.42,0.00,0.000,1030,0.000,0.070,2827,2156,2848,2894,2803,0,0,0,0,0,0,26.51,26.47,26.53,9.07,15.82
$GC,30601,-1.34,-146.6,2826,2156,2894,2803,4268.1,-10.9,748,30607,0.00,2.53,0.00,0.000,260,0.000,0.092,2819,3721,2848,2894,2803,0,0,0,0,0,0,26.93,26.17,26.94,9.07,15.54
$GC,30672,-1.34,-146.6,2818,3721,2894,2803,4276.2,-10.9,749,30679,0.08,2.40,0.00,0.000,3078,0.201,0.072,2841,2151,2848,2894,2803,0,0,0,0,0,0,26.09,26.45,26.15,9.07,15.89
$GC,31042,-1.34,-146.6,2840,2151,2894,2803,4314.9,-10.3,755,31043,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2151,2848,2894,2803,0,0,0,0,0,0,26.91,26.94,26.93,9.06,15.70
$GC,31354,-1.34,-146.6,2840,2151,2894,2803,4345.7,-10.2,760,31358,0.00,2.53,0.00,0.000,260,0.000,0.089,2834,3714,2848,2894,2803,0,0,0,0,0,0,26.92,26.16,26.93,9.07,15.85
$GC,31467,-1.34,-146.6,2834,3715,2894,2803,4354.6,-10.4,761,31471,0.00,2.40,0.00,0.000,1030,0.000,0.072,2833,2151,2848,2894,2803,0,0,0,0,0,0,26.51,26.41,26.54,9.07,15.58
$GC,31787,-1.34,-146.6,2833,2151,2894,2802,4391.4,-10.1,767,31789,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2151,2848,2894,2802,0,0,0,0,0,0,26.91,26.93,26.93,9.07,16.29
$STATE,31850,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,31850,begin apogee
$GC,31855,-0.33,0.0,2834,2058,2894,2803,4397.1,-10.0,768,31999,1.08,0.00,140.20,3.687,10246,0.174,0.000,3168,2058,2390,2462,2318,0,0,0,0,0,0,25.62,23.11,21.51,9.07,15.42
$STATE,32000,end apogee,CONTROL_FINISHED_OK
$STATE,32000,begin climb
$GC,32001,1.57,146.6,3168,2058,2462,2318,4402.1,0.0,770,32166,1.85,0.00,157.88,3.618,10758,0.119,0.000,3767,2058,1884,1970,1799,0,0,0,0,0,0,23.60,23.11,21.58,9.03,15.74
$GC,32441,1.47,146.6,3767,2058,1970,1798,4354.4,14.7,778,32442,0.00,0.00,0.00,0.000,6,0.000,0.000,3767,2058,1884,1970,1798,0,0,0,0,0,0,25.71,25.72,25.72,9.00,15.30
$GC,32743,1.36,146.6,3767,2058,1970,1798,4311.2,14.4,783,32745,0.17,0.00,0.00,0.000,4102,0.233,0.000,3723,2058,1883,1969,1798,0,0,0,0,0,0,25.56,25.86,25.79,8.99,15.15
$GC,33042,1.29,146.6,3722,2058,1969,1798,4272.6,12.8,788,33047,0.00,2.55,0.00,0.000,260,0.000,0.092,3721,3626,1883,1969,1798,0,0,0,0,0,0,26.40,26.02,26.41,8.98,15.89
$GC,33163,1.21,146.6,3721,3626,1970,1798,4255.8,13.4,790,33169,0.22,2.42,0.00,0.000,5126,0.243,0.074,3673,2079,1883,1969,1798,0,0,0,0,0,0,25.74,26.13,25.91,8.98,16.13
$GC,33523,1.21,146.6,3673,2079,1969,1798,4214.2,11.3,796,33524,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,2079,1883,1969,1798,0,0,0,0,0,0,26.58,26.60,26.60,8.98,15.66
$GC,33824,1.21,146.6,3673,2079,1969,1798,4180.6,11.2,801,33825,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,2079,1883,1969,1798,0,0,0,0,0,0,26.66,26.67,26.67,8.98,15.46
$GC,34123,1.21,146.6,3673,2079,1969,1798,4147.2,11.1,806,34127,0.00,2.53,0.00,0.000,260,0.000,0.092,3673,3637,1883,1969,1797,0,0,0,0,0,0,26.72,26.27,26.72,8.98,15.82
$GC,34209,1.21,146.6,3672,3637,1969,1798,4139.9,11.2,807,34213,0.00,2.45,0.00,0.000,1030,0.000,0.077,3681,2065,1883,1969,1797,0,0,0,0,0,0,26.47,26.38,26.50,8.97,15.50
$GC,34542,1.21,146.6,3680,2066,1969,1798,4100.1,11.1,813,34543,0.00,0.00,0.00,0.000,6,0.000,0.000,3681,2066,1883,1968,1798,0,0,0,0,0,0,26.77,26.79,26.79,8.97,16.37
$GC,34842,1.21,146.6,3681,2065,1969,1798,4067.1,11.0,818,34848,0.00,2.50,0.00,0.000,260,0.000,0.092,3681,3628,1883,1968,1798,0,0,0,0,0,0,26.81,26.37,26.82,8.97,15.82
$GC,34910,1.21,146.6,3681,3628,1969,1798,4060.3,11.0,819,34914,0.00,2.42,0.00,0.000,1030,0.000,0.074,3693,2064,1883,1969,1798,0,0,0,0,0,0,26.54,26.45,26.57,8.97,15.89
$GC,35259,1.21,146.6,3691,2064,1969,1798,4021.3,10.9,825,35260,0.00,0.00,0.00,0.000,6,0.000,0.000,3692,2064,1883,1969,1798,0,0,0,0,0,0,26.84,26.86,26.85,8.97,15.66
$GC,35558,1.21,146.6,3691,2065,1968,1797,3989.5,10.6,830,35560,0.00,0.00,0.00,0.000,6,0.000,0.000,3692,2064,1882,1968,1797,0,0,0,0,0,0,26.86,26.88,26.88,8.97,15.82
$GC,35860,1.21,146.6,3692,2064,1968,1798,3958.3,10.3,835,35861,0.00,0.00,0.00,0.000,6,0.000,0.000,3692,2064,1883,1968,1798,0,0,0,0,0,0,26.89,26.91,26.90,8.96,16.01
$GC,36158,1.21,148.1,3691,2064,1967,1798,3928.1,9.9,840,36160,0.00,0.00,0.00,0.000,6,0.000,0.000,3692,2064,1882,1968,1797,0,0,0,0,0,0,26.91,26.92,26.91,8.96,15.85
$GC,36459,1.22,154.0,3691,2064,1968,1797,3898.9,9.7,845,36469,0.00,0.00,7.88,2.719,8198,0.000,0.000,3692,2064,1859,1942,1776,0,0,0,0,0,0,26.92,25.99,24.30,8.96,15.74
$GC,36758,1.22,158.5,3692,2064,1942,1776,3869.7,9.8,850,36766,0.00,0.00,6.10,2.456,8198,0.000,0.000,3692,2064,1843,1926,1761,0,0,0,0,0,0,26.60,25.81,24.10,8.96,16.09
$GC,37058,1.24,167.4,3691,2064,1927,1761,3840.9,9.6,855,37071,0.00,0.00,10.32,2.850,8198,0.000,0.000,3692,2064,1812,1895,1730,0,0,0,0,0,0,26.49,25.41,23.80,8.96,16.29
$GC,37358,1.24,169.0,3691,2064,1895,1730,3811.3,9.9,860,37363,0.00,2.58,0.00,0.000,260,0.000,0.089,3692,3630,1812,1894,1730,0,0,0,0,0,0,26.31,25.95,26.32,8.95,15.78
$GC,37429,1.24,169.0,3691,3630,1895,1730,3804.4,10.1,861,37434,0.00,2.47,0.00,0.000,1030,0.000,0.074,3703,2065,1812,1895,1730,0,0,0,0,0,0,26.13,26.06,26.15,8.95,15.58
$GC,37778,1.24,171.3,3703,2065,1895,1730,3768.9,9.9,867,37785,0.00,0.00,5.20,2.212,8198,0.000,0.000,3703,2065,1800,1882,1719,0,0,0,0,0,0,26.53,25.82,24.10,8.95,15.66
$GC,38078,1.24,173.5,3703,2064,1882,1719,3738.9,9.9,872,38084,0.00,0.00,4.20,1.912,8198,0.000,0.000,3703,2065,1792,1874,1710,0,0,0,0,0,0,26.48,25.82,24.06,8.95,15.62
$GC,38377,1.24,173.5,3703,2065,1873,1710,3708.0,10.3,877,38379,0.00,0.00,0.00,0.000,6,0.000,0.000,3703,2065,1792,1874,1710,0,0,0,0,0,0,26.49,26.51,26.51,8.95,16.37
$GC,38678,1.24,173.5,3703,2064,1874,1710,3677.9,10.1,882,38679,0.00,0.00,0.00,0.000,6,0.000,0.000,3703,2065,1792,1874,1710,0,0,0,0,0,0,26.60,26.62,26.61,8.94,16.60
$GC,38979,1.25,178.3,3703,2065,1873,1710,3648.3,9.8,887,38987,0.00,0.00,6.03,2.341,8198,0.000,0.000,3703,2065,1775,1857,1694,0,0,0,0,0,0,26.67,25.90,24.23,8.94,15.78
$GC,39278,1.25,178.4,3703,2065,1857,1694,3618.3,10.0,892,39279,0.00,0.00,0.00,0.000,6,0.000,0.000,3703,2065,1775,1857,1694,0,0,0,0,0,0,26.53,26.55,26.54,8.94,16.45
$GC,39578,1.25,181.8,3703,2065,1858,1694,3588.6,9.8,897,39585,0.00,0.00,4.93,2.091,8198,0.000,0.000,3703,2065,1764,1846,1683,0,0,0,0,0,0,26.63,25.92,24.22,8.94,15.78
$GC,39878,1.25,183.1,3703,2065,1846,1683,3559.1,9.9,902,39884,0.00,2.55,0.00,0.000,260,0.000,0.092,3703,3631,1764,1846,1683,0,0,0,0,0,0,26.55,26.16,26.56,8.94,15.70
$GC,39951,1.25,183.1,3703,3631,1846,1683,3552.9,10.0,903,39956,0.12,2.47,0.00,0.000,5126,0.258,0.077,3683,2064,1764,1845,1683,0,0,0,0,0,0,25.91,26.25,26.16,8.93,15.93
$GC,40295,1.27,199.8,3682,2064,1845,1683,3519.8,9.2,909,40315,0.00,0.00,18.38,2.962,8198,0.000,0.000,3683,2064,1702,1785,1619,0,0,0,0,0,0,26.67,25.10,23.59,8.94,15.66
$GC,40595,1.28,201.7,3682,2064,1785,1619,3490.6,9.9,914,40596,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2064,1702,1785,1619,0,0,0,0,0,0,26.20,26.21,26.21,8.93,15.78
$GC,40896,1.28,203.0,3682,2064,1785,1619,3461.1,9.9,919,40902,0.00,0.00,4.75,1.989,8198,0.000,0.000,3683,2064,1691,1773,1609,0,0,0,0,0,0,26.41,25.73,24.05,8.93,15.70
$GC,41195,1.29,208.7,3682,2064,1773,1608,3432.1,9.7,924,41204,0.00,0.00,7.55,2.443,8198,0.000,0.000,3683,2064,1670,1753,1587,0,0,0,0,0,0,26.43,25.58,24.00,8.92,15.50
$GC,41495,1.29,211.7,3682,2064,1753,1587,3402.6,9.9,929,41501,0.00,0.00,4.45,1.872,8198,0.000,0.000,3683,2064,1661,1743,1579,0,0,0,0,0,0,26.34,25.69,24.02,8.92,15.58
$GC,41795,1.29,215.3,3682,2064,1743,1579,3373.3,9.8,934,41802,0.00,0.00,5.32,2.078,8198,0.000,0.000,3683,2064,1648,1731,1565,0,0,0,0,0,0,26.41,25.70,24.06,8.92,15.82
$GC,42095,1.30,220.0,3682,2064,1731,1565,3344.1,9.8,939,42103,0.00,0.00,6.10,2.207,8198,0.000,0.000,3683,2064,1631,1713,1549,0,0,0,0,0,0,26.41,25.65,24.05,8.92,15.93
$GC,42395,1.30,222.5,3683,2063,1713,1549,3314.7,9.9,944,42401,0.00,0.00,3.95,1.669,8198,0.000,0.000,3683,2064,1623,1705,1541,0,0,0,0,0,0,26.38,25.75,24.06,8.92,15.70
$GC,42695,1.30,223.5,3682,2063,1706,1542,3285.0,10.0,949,42696,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2063,1623,1705,1541,0,0,0,0,0,0,26.44,26.45,26.46,8.92,15.42
$GC,42995,1.30,224.0,3682,2063,1705,1542,3254.8,10.0,954,42996,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2063,1623,1705,1542,0,0,0,0,0,0,26.55,26.58,26.57,8.92,15.58
$GC,43297,1.30,224.0,3682,2064,1705,1542,3225.0,10.1,959,43298,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2063,1623,1705,1542,0,0,0,0,0,0,26.64,26.65,26.65,8.91,15.58
$GC,43594,1.30,224.0,3682,2064,1705,1542,3194.8,10.0,964,43596,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2063,1623,1705,1541,0,0,0,0,0,0,26.70,26.72,26.71,8.92,15.46
$GC,43895,1.31,226.9,3682,2063,1705,1542,3165.4,9.9,969,43903,0.00,0.00,6.20,2.153,8198,0.000,0.000,3683,2063,1607,1690,1525,0,0,0,0,0,0,26.74,25.98,24.38,8.92,15.74
$GC,44195,1.31,226.9,3682,2063,1689,1525,3135.0,10.1,974,44196,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2064,1607,1690,1525,0,0,0,0,0,0,26.58,26.60,26.60,8.91,15.66
$GC,44496,1.31,230.5,3682,2064,1689,1525,3105.4,9.8,979,44502,0.00,0.00,4.97,1.899,8198,0.000,0.000,3683,2064,1595,1677,1513,0,0,0,0,0,0,26.66,25.98,24.37,8.92,15.58
$GC,44795,1.32,235.9,3683,2063,1677,1512,3076.1,9.8,984,44803,0.00,0.00,6.55,2.153,8198,0.000,0.000,3683,2063,1577,1660,1495,0,0,0,0,0,0,26.58,25.81,24.26,8.91,15.78
$GC,45095,1.32,240.2,3682,2063,1660,1495,3046.6,9.8,989,45102,0.00,0.00,5.57,2.016,8198,0.000,0.000,3683,2063,1562,1645,1480,0,0,0,0,0,0,26.46,25.75,24.19,8.91,16.09
$GC,45395,1.32,240.2,3682,2063,1645,1480,3016.0,10.2,994,45399,0.00,2.58,0.00,0.000,260,0.000,0.089,3682,3640,1562,1645,1480,0,0,0,0,0,0,26.44,26.08,26.45,8.91,15.85
$GC,45460,1.32,240.2,3682,3640,1645,1481,3009.1,10.5,995,45464,0.00,2.50,0.00,0.000,1030,0.000,0.077,3692,2066,1562,1645,1480,0,0,0,0,0,0,26.24,26.15,26.26,8.91,16.01
$GC,45819,1.32,240.2,3691,2066,1646,1480,2970.8,10.6,1001,45820,0.00,0.00,0.00,0.000,6,0.000,0.000,3691,2066,1562,1645,1480,0,0,0,0,0,0,26.59,26.60,26.60,8.90,16.17
$GC,46119,1.32,240.2,3691,2066,1645,1480,2940.0,10.3,1006,46120,0.00,0.00,0.00,0.000,6,0.000,0.000,3691,2066,1563,1645,1481,0,0,0,0,0,0,26.66,26.68,26.67,8.91,16.33
$GC,46420,1.32,240.2,3691,2066,1645,1480,2908.8,10.3,1011,46421,0.00,0.00,0.00,0.000,6,0.000,0.000,3691,2066,1563,1645,1481,0,0,0,0,0,0,26.72,26.74,26.73,8.91,15.93
$GC,46719,1.32,240.2,3691,2066,1645,1480,2878.2,10.3,1016,46720,0.00,0.00,0.00,0.000,6,0.000,0.000,3692,2066,1562,1645,1480,0,0,0,0,0,0,26.77,26.78,26.78,8.90,15.74
$GC,47019,1.33,241.1,3691,2066,1645,1480,2848.2,10.0,1021,47025,0.00,2.53,0.00,0.000,260,0.000,0.094,3691,3631,1562,1645,1480,0,0,0,0,0,0,26.80,26.35,26.82,8.91,15.85
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$GC,67384,1.57,355.0,3804,498,1253,1085,694.2,16.1,1402,67389,0.00,2.45,0.00,0.000,1030,0.000,0.077,3805,2081,1169,1254,1085,0,0,0,0,0,0,26.56,26.46,26.59,8.99,15.78
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$GC,68298,1.57,355.0,3804,2081,1254,1089,549.9,14.5,1433,68299,0.00,0.00,0.00,0.000,6,0.000,0.000,3805,2081,1171,1254,1089,0,0,0,0,0,0,26.92,26.94,26.94,9.06,15.54
$GC,68598,1.57,355.0,3804,2081,1254,1092,498.3,18.2,1443,68599,0.00,0.00,0.00,0.000,6,0.000,0.000,3805,2081,1173,1254,1092,0,0,0,0,0,0,26.94,26.96,26.96,9.08,16.09
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$GC,69498,1.52,355.0,3764,2081,1254,1095,331.1,18.3,1473,69503,0.00,0.00,3.42,0.526,8198,0.000,0.000,3764,2081,1167,1250,1084,0,0,0,0,0,0,26.99,26.36,25.46,9.15,16.29
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$STATE,71203,end climb,SURFACE_DEPTH_REACHED
$STATE,71203,begin surface coast
$FINISH,-0.3,1.023407
$STATE,71225,end surface coast,CONTROL_FINISHED_OK
$STATE,71225,begin surface
$SM_CCo,71242,106.97,0.685,0,0,668,500.24
$SM_GC,-0.02,8.90,0.12,106.97,0.074,0.122,0.685,214,2163,668,-9.53,-1.27,500.24,0,0,0,0,0,0,26.63,26.74,24.87
$IRIDIUM_FIX,3155.76,-6412.66,130918,191752
$TT8_MAMPS,0.020972,0.266644
$HUMID,15.62
$INTERNAL_PRESSURE,9.22491
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,20.1
$ALTIM_BOTTOM_PING,4361.0,46.1
$24V_AH,21.51,22.802
$10V_AH,10.28,16.114
$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,26.000,342.450,545.825,106.975,150.350,25.086,35.753,452.467,616.750,0.000,17.179,5973.771,53236.008,1048.359,11177.233,550.850,0.000,3583.367,0.000,6127.702,0.000,6945.250,0.000
$DEVICE_MAMPS,288.028,121.667,3687.255,685.308,148.980,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.258,2112.835,3863.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318964
$DATA_FILE_SIZE,128467,1596
$CAP_FILE_SIZE,681150,0
$CFSIZE,2047311872,2036006912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,341.77,1
$GPS,150918,114405,3215.637,-6408.207,29,0.9,31,-15.0,0.6,311.5,10,4.8