version: 66.14
glider: 46
mission: 5
dive: 91
start: 7 26 119 14 19 29
data:
$ID,46
$MISSION,5
$DIVE,91
$N_DIVES,0
$STOP_T,7311919
$D_SURF,3
$D_FLARE,3
$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,3000
$T_MISSION,3300
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79912.602
$MASS_COMP,10878
$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,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,5
$N_GPS,50840
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3820
$C_PITCH,3045
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.73
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2215
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,1069
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2251
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.768235
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,260719,141434,3621.0076,-6142.7295,5,0.9,27,-16.1,0.3,163.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-51.2
$GPS2,260719,141852,3620.8669,-6142.6768,9,0.9,28,-16.1,1.3,156.3,10,5.0
$SPEED_LIMITS,0.104,0.205
$TGT_NAME,E
$TGT_LATLONG,3630.000,-6129.770
$TGT_RADIUS,20000.000
$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,19.7,25599,-27.2,-6.000,-30.00,978
$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
$STATE,5,begin dive
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$GC,154,-1.87,-82.4,176,3171,2290,2480,2.3,-1.4,14,177,8.80,3.28,-8.00,0.199,18948,0.253,0.055,2436,1840,2535,2424,2647,0,0,0,0,0,0,26.11,26.53,26.29,8.69,18.49
$GC,721,-1.89,-149.2,2435,1825,2424,2651,27.7,1.0,70,729,0.00,0.90,-3.88,0.258,17414,0.000,0.062,2434,2223,2770,2652,2888,0,0,0,0,0,0,26.98,26.98,26.59,8.71,17.94
$GC,1029,-1.89,-149.2,2433,2223,2654,2889,48.3,-4.3,101,1032,0.00,0.90,0.00,0.000,516,0.000,0.062,2434,1823,2772,2655,2889,0,0,0,0,0,0,27.29,27.02,27.30,8.74,18.14
$GC,1576,-1.89,-170.3,2433,1823,2655,2891,49.3,-2.9,155,1585,0.00,0.90,-0.80,0.668,17414,0.000,0.060,2429,2218,2842,2724,2960,0,0,0,0,0,0,27.12,27.08,26.62,8.71,17.90
$GC,1884,-1.89,-170.3,2429,2218,2724,2960,71.6,-6.5,186,1888,0.00,0.88,0.00,0.000,516,0.000,0.065,2429,1824,2842,2724,2961,0,0,0,0,0,0,27.35,27.10,27.36,8.70,18.26
$GC,2429,-1.89,-170.3,2429,1824,2724,2961,108.6,-8.5,240,2437,0.00,0.90,0.00,0.000,1030,0.000,0.060,2425,2215,2842,2724,2961,0,0,0,0,0,0,27.15,27.10,27.17,8.66,17.67
$GC,2739,-1.89,-170.3,2424,2215,2724,2961,132.1,-7.9,271,2742,0.00,0.88,0.00,0.000,516,0.000,0.065,2425,1816,2842,2724,2961,0,0,0,0,0,0,27.39,27.13,27.40,8.63,17.90
$GC,3283,-1.89,-170.3,2424,1816,2723,2960,187.3,-10.5,308,3288,0.00,0.93,0.00,0.000,1030,0.000,0.060,2420,2219,2842,2724,2961,0,0,0,0,0,0,27.17,27.13,27.18,8.60,18.61
$GC,3602,-1.89,-170.3,2420,2220,2723,2960,226.4,-12.5,324,3606,0.00,0.90,0.00,0.000,516,0.000,0.062,2420,1817,2841,2723,2960,0,0,0,0,0,0,27.40,27.14,27.41,8.58,18.69
$GC,3683,-1.89,-170.3,2420,1817,2723,2960,237.6,-13.6,328,3688,0.00,0.90,0.00,0.000,1030,0.000,0.062,2416,2217,2842,2724,2960,0,0,0,0,0,0,27.15,27.13,27.17,8.58,18.77
$GC,4006,-1.89,-170.3,2415,2217,2723,2958,283.4,-15.0,344,4010,0.00,0.88,0.00,0.000,516,0.000,0.062,2416,1822,2841,2724,2958,0,0,0,0,0,0,27.41,27.15,27.41,8.55,19.52
$GC,4300,-1.89,-170.3,2415,1823,2723,2957,326.2,-16.3,355,4307,0.00,0.88,0.00,0.000,1030,0.000,0.060,2411,2211,2840,2723,2957,0,0,0,0,0,0,27.16,27.13,27.17,8.53,19.08
$GC,4607,-1.89,-170.3,2411,2211,2723,2954,385.1,-18.3,366,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2212,2838,2723,2954,0,0,0,0,0,0,27.41,27.42,27.42,8.50,19.44
$GC,4907,-1.89,-170.3,2411,2211,2724,2952,440.5,-18.5,376,4911,0.00,0.88,0.00,0.000,516,0.000,0.062,2412,1816,2837,2723,2952,0,0,0,0,0,0,27.41,27.16,27.42,8.48,19.60
$GC,5076,-1.89,-170.3,2411,1816,2722,2951,468.7,-18.7,381,5080,0.00,0.90,0.00,0.000,1030,0.000,0.060,2407,2215,2836,2722,2951,0,0,0,0,0,0,27.16,27.14,27.18,8.46,19.71
$GC,5389,-1.89,-170.3,2407,2215,2721,2950,531.5,-19.2,392,5391,0.10,0.00,0.00,0.000,2054,0.223,0.000,2434,2215,2836,2722,2950,0,0,0,0,0,0,26.88,27.05,27.00,8.44,19.91
$GC,5688,-1.89,-170.3,2433,2215,2721,2949,586.5,-18.8,402,5692,0.00,0.88,0.00,0.000,516,0.000,0.062,2434,1823,2835,2721,2949,0,0,0,0,0,0,27.41,27.16,27.43,8.41,20.46
$GC,5922,-1.89,-170.3,2433,1823,2719,2948,627.7,-19.6,409,5929,0.00,0.90,0.00,0.000,1030,0.000,0.060,2432,2218,2833,2720,2947,0,0,0,0,0,0,27.17,27.14,27.18,8.38,20.23
$GC,6230,-1.89,-170.3,2431,2218,2719,2945,695.7,-20.3,420,6233,0.00,0.90,0.00,0.000,516,0.000,0.062,2431,1816,2832,2719,2945,0,0,0,0,0,0,27.42,27.16,27.43,8.36,20.15
$GC,6291,-1.89,-170.3,2431,1816,2719,2945,708.3,-20.5,422,6294,0.00,0.90,0.00,0.000,1030,0.000,0.060,2427,2214,2831,2718,2945,0,0,0,0,0,0,27.16,27.15,27.18,8.35,20.66
$GC,6622,-1.89,-170.3,2426,2214,2717,2942,782.2,-23.5,433,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2830,2717,2943,0,0,0,0,0,0,27.42,27.44,27.43,8.31,20.82
$GC,6921,-1.89,-170.3,2426,2214,2715,2941,851.5,-23.6,443,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2213,2828,2716,2941,0,0,0,0,0,0,27.41,27.44,27.43,8.28,20.90
$GC,7222,-1.89,-170.3,2426,2214,2713,2939,921.8,-23.5,453,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2826,2714,2938,0,0,0,0,0,0,27.43,27.44,27.43,8.26,21.37
$GC,7521,-1.89,-170.3,2426,2214,2712,2937,993.4,-24.5,463,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2824,2711,2937,0,0,0,0,0,0,27.43,27.44,27.44,8.23,21.60
$GC,7852,-1.89,-170.3,2426,2214,2709,2934,1075.7,-24.9,469,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2822,2710,2934,0,0,0,0,0,0,27.43,27.45,27.44,8.20,21.72
$GC,8151,-1.89,-170.3,2426,2213,2708,2932,1151.2,-25.3,474,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2820,2708,2932,0,0,0,0,0,0,27.43,27.45,27.44,8.18,22.16
$GC,8451,-1.89,-170.3,2426,2214,2705,2930,1227.5,-25.4,479,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2818,2705,2931,0,0,0,0,0,0,27.43,27.45,27.44,8.17,22.27
$GC,8751,-1.89,-170.3,2426,2214,2702,2929,1304.1,-25.6,484,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2816,2702,2930,0,0,0,0,0,0,27.43,27.45,27.44,8.16,22.82
$GC,9052,-1.89,-170.3,2426,2213,2700,2927,1380.2,-25.3,489,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2813,2700,2927,0,0,0,0,0,0,27.43,27.45,27.44,8.15,23.22
$GC,9351,-1.89,-170.3,2426,2214,2698,2925,1455.3,-25.0,494,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2811,2698,2925,0,0,0,0,0,0,27.43,27.46,27.45,8.13,23.14
$GC,9651,-1.89,-170.3,2426,2214,2696,2923,1529.4,-24.7,499,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2214,2809,2696,2923,0,0,0,0,0,0,27.43,27.45,27.45,8.12,23.22
$GC,9951,-1.89,-170.3,2426,2214,2694,2921,1601.7,-24.0,504,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2213,2808,2695,2922,0,0,0,0,0,0,27.43,27.45,27.44,8.12,23.26
$GC,10252,-1.89,-170.3,2426,2214,2693,2919,1672.6,-23.6,509,10255,0.00,0.90,0.00,0.000,516,0.000,0.057,2427,1819,2806,2693,2920,0,0,0,0,0,0,27.43,27.15,27.44,8.11,24.32
$GC,10355,-1.89,-170.3,2426,1819,2693,2920,1687.5,-23.7,510,10360,0.00,0.90,0.00,0.000,1030,0.000,0.057,2422,2210,2806,2693,2919,0,0,0,0,0,0,27.15,27.13,27.17,8.11,23.65
$GC,10673,-1.89,-170.3,2422,2211,2693,2918,1774.8,-24.3,516,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2210,2804,2692,2917,0,0,0,0,0,0,27.43,27.45,27.45,8.10,23.81
$GC,10972,-1.89,-170.3,2422,2210,2691,2917,1847.9,-24.3,521,10974,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2210,2803,2690,2917,0,0,0,0,0,0,27.43,27.45,27.45,8.09,24.36
$GC,11272,-1.89,-170.3,2422,2210,2689,2915,1919.2,-23.9,526,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2210,2802,2690,2915,0,0,0,0,0,0,27.43,27.45,27.45,8.08,23.85
$GC,11573,-1.89,-170.3,2421,2210,2688,2912,1988.5,-23.1,531,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2210,2800,2688,2913,0,0,0,0,0,0,27.43,27.45,27.45,8.09,24.08
$GC,11873,-1.89,-170.3,2422,2210,2687,2911,2056.0,-22.3,536,11879,0.00,3.60,0.00,0.000,260,0.000,0.067,2405,3612,2799,2687,2911,0,0,0,0,0,0,27.43,26.98,27.44,8.08,24.68
$GC,11910,-1.89,-170.3,2404,3612,2687,2910,2056.0,-22.3,536,11915,0.10,0.85,0.00,0.000,3078,0.204,0.052,2431,3233,2799,2687,2911,0,0,0,0,0,0,26.68,27.19,26.76,8.08,23.81
$GC,12233,-1.89,-170.3,2431,3234,2686,2909,2136.5,-22.0,542,12240,0.00,3.42,0.00,0.000,516,0.000,0.052,2432,1828,2798,2687,2909,0,0,0,0,0,0,27.43,27.10,27.44,8.07,23.77
$GC,12781,-1.89,-170.3,2431,1828,2684,2908,2249.7,-21.0,551,12785,0.00,0.90,0.00,0.000,1030,0.000,0.060,2430,2215,2796,2684,2908,0,0,0,0,0,0,27.14,27.11,27.15,8.07,23.85
$GC,13133,-1.89,-170.3,2429,2215,2683,2907,2326.5,-21.3,557,13137,0.00,0.90,0.00,0.000,516,0.000,0.060,2429,1824,2795,2683,2907,0,0,0,0,0,0,27.43,27.13,27.45,8.06,24.01
$GC,13482,-1.89,-170.3,2429,1824,2683,2906,2391.3,-21.4,562,13486,0.00,0.90,0.00,0.000,1030,0.000,0.060,2425,2209,2794,2683,2906,0,0,0,0,0,0,27.13,27.10,27.15,8.06,23.77
$GC,13794,-1.89,-170.3,2425,2209,2683,2906,2465.2,-20.4,568,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2209,2794,2683,2906,0,0,0,0,0,0,27.43,27.44,27.44,8.06,24.28
$GC,14094,-1.89,-170.3,2425,2209,2682,2905,2525.7,-20.2,573,14095,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2209,2793,2682,2905,0,0,0,0,0,0,27.43,27.45,27.44,8.04,24.16
$GC,14395,-1.95,-170.3,2425,2209,2680,2905,2584.7,-19.6,578,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2209,2792,2680,2905,0,0,0,0,0,0,27.43,27.45,27.44,8.05,24.48
$GC,14695,-2.00,-170.3,2425,2209,2679,2904,2644.7,-20.1,583,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2209,2791,2679,2904,0,0,0,0,0,0,27.43,27.45,27.44,8.04,24.36
$GC,14995,-2.06,-170.3,2425,2209,2679,2904,2704.9,-20.1,588,14997,0.08,0.00,0.00,0.000,4102,0.137,0.000,2383,2209,2791,2679,2904,0,0,0,0,0,0,27.20,27.23,27.21,8.04,24.75
$GC,15294,-2.06,-170.3,2382,2209,2679,2902,2768.3,-21.2,593,15295,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2209,2790,2679,2902,0,0,0,0,0,0,27.43,27.44,27.44,8.03,24.87
$GC,15594,-2.06,-170.3,2382,2209,2678,2901,2832.1,-21.4,598,15598,0.00,0.88,0.00,0.000,516,0.000,0.060,2383,1822,2790,2679,2901,0,0,0,0,0,0,27.43,27.14,27.44,8.03,24.24
$GC,15733,-2.06,-170.3,2381,1823,2678,2901,2858.5,-21.7,600,15737,0.00,0.90,0.00,0.000,1030,0.000,0.057,2378,2211,2789,2678,2901,0,0,0,0,0,0,27.11,27.09,27.13,8.04,24.44
$GC,16075,-2.06,-170.3,2377,2211,2678,2901,2937.8,-22.0,606,16076,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2211,2789,2678,2901,0,0,0,0,0,0,27.43,27.45,27.44,8.03,24.40
$GC,16376,-2.06,-170.3,2377,2211,2677,2900,3003.5,-21.8,611,16377,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2211,2788,2677,2900,0,0,0,0,0,0,27.43,27.45,27.44,8.03,24.68
$GC,16675,-2.06,-170.3,2377,2211,2677,2900,3067.2,-21.2,616,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2211,2788,2677,2900,0,0,0,0,0,0,27.43,27.44,27.44,8.03,24.56
$GC,16975,-2.06,-170.3,2377,2211,2677,2899,3130.9,-21.2,621,16979,0.00,0.88,0.00,0.000,516,0.000,0.060,2378,1825,2788,2677,2900,0,0,0,0,0,0,27.43,27.12,27.44,8.03,25.11
$GC,17104,-2.06,-170.3,2377,1826,2677,2899,3156.7,-21.3,623,17108,0.00,0.93,0.00,0.000,1030,0.000,0.062,2373,2218,2787,2676,2899,0,0,0,0,0,0,27.10,27.08,27.12,8.02,24.60
$GC,17456,-2.06,-170.3,2373,2218,2676,2899,3230.0,-20.2,629,17457,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2218,2787,2676,2899,0,0,0,0,0,0,27.43,27.44,27.44,8.02,25.23
$GC,17756,-2.06,-170.3,2373,2218,2676,2898,3290.2,-20.0,634,17760,0.00,0.90,0.00,0.000,516,0.000,0.060,2373,1826,2787,2676,2898,0,0,0,0,0,0,27.43,27.10,27.44,8.03,24.44
$GC,17939,-2.06,-170.3,2373,1826,2676,2898,3326.2,-19.9,637,17944,0.00,0.93,0.00,0.000,1030,0.000,0.057,2369,2214,2787,2676,2898,0,0,0,0,0,0,27.12,27.06,27.14,8.02,24.64
$GC,18297,-2.06,-170.3,2368,2214,2676,2898,3394.5,-18.7,643,18298,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2214,2786,2676,2897,0,0,0,0,0,0,27.43,27.44,27.44,8.02,24.48
$GC,18597,-2.06,-170.3,2368,2214,2676,2897,3450.8,-19.0,648,18598,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2213,2786,2676,2897,0,0,0,0,0,0,27.43,27.45,27.44,8.01,24.71
$GC,18897,-2.06,-170.3,2368,2214,2676,2896,3505.8,-18.2,653,18901,0.00,0.90,0.00,0.000,516,0.000,0.060,2369,1822,2786,2676,2897,0,0,0,0,0,0,27.43,27.10,27.44,8.01,24.68
$GC,19086,-2.06,-170.3,2368,1821,2676,2897,3540.0,-18.7,656,19090,0.00,0.93,0.00,0.000,1030,0.000,0.057,2365,2214,2786,2676,2897,0,0,0,0,0,0,27.08,27.05,27.10,8.01,24.79
$GC,19439,-2.06,-170.3,2364,2214,2675,2896,3607.6,-18.7,662,19440,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2214,2785,2675,2896,0,0,0,0,0,0,27.43,27.44,27.44,8.01,25.15
$GC,19739,-2.11,-170.3,2364,2214,2675,2896,3662.0,-18.0,667,19743,0.00,0.90,0.00,0.000,516,0.000,0.060,2364,1822,2785,2675,2896,0,0,0,0,0,0,27.43,27.10,27.44,8.01,25.27
$GC,19938,-2.16,-170.3,2364,1822,2674,2896,3695.4,-18.3,670,19942,0.00,0.93,0.00,0.000,1030,0.000,0.060,2360,2218,2785,2675,2896,0,0,0,0,0,0,27.07,27.04,27.10,8.01,24.24
$GC,20280,-2.21,-170.3,2359,2218,2674,2896,3762.3,-18.6,676,20284,0.00,0.90,0.00,0.000,516,0.000,0.060,2360,1826,2785,2674,2896,0,0,0,0,0,0,27.43,27.08,27.44,8.00,24.64
$GC,20420,-2.27,-170.3,2359,1826,2674,2895,3785.6,-18.8,678,20424,0.05,0.93,0.00,0.000,5126,0.109,0.057,2324,2218,2785,2674,2896,0,0,0,0,0,0,26.89,27.04,26.94,8.01,24.75
$GC,20761,-2.27,-170.3,2323,2218,2674,2895,3854.5,-19.1,684,20762,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2218,2784,2674,2895,0,0,0,0,0,0,27.43,27.44,27.43,8.00,24.64
$GC,21062,-2.27,-170.3,2323,2218,2674,2895,3910.5,-18.5,689,21065,0.00,0.90,0.00,0.000,516,0.000,0.057,2324,1828,2784,2673,2895,0,0,0,0,0,0,27.42,27.07,27.43,8.00,24.64
$GC,21196,-2.27,-170.3,2323,1828,2674,2895,3933.6,-18.9,691,21200,0.00,0.90,0.00,0.000,1030,0.000,0.060,2319,2210,2784,2674,2895,0,0,0,0,0,0,27.07,27.04,27.08,8.00,24.60
$GC,21544,-2.27,-170.3,2319,2210,2673,2894,4000.8,-18.5,697,21545,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2210,2783,2673,2894,0,0,0,0,0,0,27.37,27.39,27.38,8.00,24.99
$GC,21843,-2.27,-170.3,2318,2210,2673,2894,4055.2,-18.0,702,21846,0.00,0.90,0.00,0.000,516,0.000,0.057,2319,1820,2783,2673,2894,0,0,0,0,0,0,27.42,27.06,27.43,8.00,24.75
$GC,22059,-2.27,-170.3,2318,1821,2673,2894,4088.1,-18.0,705,22063,0.00,0.95,0.00,0.000,1030,0.000,0.057,2314,2222,2783,2673,2894,0,0,0,0,0,0,27.05,27.03,27.07,8.01,25.19
$GC,22387,-2.27,-170.3,2313,2222,2673,2894,4151.8,-17.5,711,22388,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2222,2783,2673,2893,0,0,0,0,0,0,27.41,27.43,27.43,8.00,25.38
$GC,22690,-2.27,-170.3,2313,2222,2672,2893,4204.2,-17.5,716,22693,0.00,0.93,0.00,0.000,516,0.000,0.060,2314,1823,2783,2672,2894,0,0,0,0,0,0,27.39,27.05,27.40,8.00,25.03
$GC,22960,-2.27,-170.3,2313,1823,2672,2894,4247.9,-17.8,720,22965,0.00,0.93,0.00,0.000,1030,0.000,0.057,2310,2216,2782,2672,2893,0,0,0,0,0,0,27.05,27.02,27.05,8.00,24.60
$GC,23293,-2.27,-170.3,2309,2216,2672,2893,4310.6,-17.4,726,23296,0.00,0.90,0.00,0.000,516,0.000,0.062,2310,1826,2782,2671,2893,0,0,0,0,0,0,27.41,27.05,27.43,8.00,25.03
$GC,23469,-2.27,-170.3,2309,1826,2672,2893,4332.2,-17.5,728,23477,0.00,0.93,0.00,0.000,1030,0.000,0.060,2306,2218,2782,2671,2893,0,0,0,0,0,0,27.04,27.01,27.05,8.00,25.11
$GC,23776,-2.27,-170.3,2305,2218,2672,2892,4393.5,-16.9,734,23777,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2217,2782,2671,2893,0,0,0,0,0,0,27.41,27.43,27.43,8.00,24.71
$GC,24077,-2.27,-170.3,2305,2218,2671,2892,4443.5,-16.6,739,24081,0.00,0.90,0.00,0.000,516,0.000,0.060,2306,1827,2782,2671,2893,0,0,0,0,0,0,27.36,27.03,27.37,8.00,24.83
$GC,24343,-2.27,-170.3,2305,1827,2671,2893,4483.8,-16.5,743,24347,0.00,0.90,0.00,0.000,1030,0.000,0.060,2301,2211,2781,2671,2892,0,0,0,0,0,0,27.04,27.01,27.05,8.00,24.64
$GC,24683,-2.27,-170.3,2301,2211,2671,2892,4542.7,-16.3,749,24687,0.00,0.90,0.00,0.000,516,0.000,0.060,2301,1821,2781,2671,2892,0,0,0,0,0,0,27.38,27.04,27.39,8.00,24.68
$GC,24865,-2.27,-170.3,2300,1821,2670,2892,4572.4,-16.2,752,24869,0.00,0.93,0.00,0.000,1030,0.000,0.060,2296,2215,2781,2671,2892,0,0,0,0,0,0,27.03,27.01,27.05,8.00,25.31
$GC,25228,-2.27,-170.3,2296,2215,2672,2892,4628.8,-15.6,758,25231,0.00,0.90,0.00,0.000,516,0.000,0.060,2296,1825,2781,2670,2892,0,0,0,0,0,0,27.36,27.04,27.37,8.00,24.60
$GC,25412,-2.27,-170.3,2296,1825,2670,2892,4658.1,-15.7,761,25416,0.00,0.93,0.00,0.000,1030,0.000,0.060,2292,2218,2780,2670,2891,0,0,0,0,0,0,27.01,27.01,27.04,8.00,24.75
$GC,25773,-2.27,-170.3,2292,2218,2670,2892,4713.4,-15.3,767,25774,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2217,2781,2670,2892,0,0,0,0,0,0,27.41,27.43,27.42,8.01,24.95
$GC,26073,-2.27,-170.3,2292,2218,2670,2892,4758.5,-15.0,772,26077,0.00,0.90,0.00,0.000,516,0.000,0.060,2292,1827,2781,2671,2892,0,0,0,0,0,0,27.41,27.03,27.42,8.00,25.38
$GC,26377,-2.27,-170.3,2291,1827,2671,2892,4804.5,-15.0,777,26382,0.10,0.90,0.00,0.000,3078,0.196,0.060,2315,2210,2781,2670,2892,0,0,0,0,0,0,26.46,27.00,26.51,8.00,24.71
$GC,26740,-2.33,-170.3,2314,2210,2670,2890,4854.3,-13.6,783,26744,0.00,0.88,0.00,0.000,516,0.000,0.060,2315,1831,2781,2670,2892,0,0,0,0,0,0,27.41,27.02,27.43,8.00,24.64
$STATE,26861,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,26861,begin apogee
$GC,26865,-0.68,0.0,2312,2172,2670,2892,4870.9,-13.6,785,27042,1.75,0.00,167.95,3.993,10246,0.176,0.000,2825,2172,2249,2131,2368,0,0,0,0,0,0,25.67,22.68,21.11,8.00,24.64
$STATE,27043,end apogee,CONTROL_FINISHED_OK
$STATE,27043,begin climb
$GC,27044,1.89,170.3,2825,2172,2131,2368,4874.4,0.0,788,27236,2.62,0.00,186.80,3.911,10246,0.107,0.000,3640,2173,1663,1554,1773,0,0,0,0,0,0,23.88,23.08,21.23,7.99,24.64
$GC,27521,1.79,170.3,3639,2173,1551,1770,4787.5,22.3,796,27525,0.00,0.95,0.00,0.000,516,0.000,0.060,3644,1787,1661,1551,1771,0,0,0,0,0,0,26.27,26.01,26.28,7.94,23.57
$GC,27755,1.70,170.3,3643,1786,1551,1771,4748.5,21.6,799,27763,0.17,1.00,0.00,0.000,5126,0.186,0.055,3594,2206,1661,1552,1771,0,0,0,0,0,0,26.25,26.57,26.36,7.94,23.61
$GC,28062,1.64,170.3,3593,2206,1551,1771,4677.8,19.1,805,28067,0.00,1.00,0.00,0.000,516,0.000,0.060,3597,1783,1661,1551,1771,0,0,0,0,0,0,27.06,26.79,27.07,7.93,23.57
$GC,28297,1.58,170.3,3596,1783,1552,1771,4643.6,18.8,808,28305,0.15,0.90,0.00,0.000,5126,0.179,0.057,3555,2170,1661,1552,1771,0,0,0,0,0,0,26.55,26.89,26.66,7.92,23.45
$GC,28605,1.58,170.3,3554,2170,1551,1770,4581.2,17.1,814,28606,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2170,1661,1552,1771,0,0,0,0,0,0,27.22,27.23,27.22,7.91,23.97
$GC,28904,1.58,170.3,3554,2170,1551,1771,4530.8,16.7,819,28908,0.00,0.93,0.00,0.000,516,0.000,0.062,3557,1781,1661,1551,1771,0,0,0,0,0,0,27.26,26.98,27.27,7.91,23.77
$GC,29145,1.58,170.3,3556,1782,1551,1771,4491.3,16.4,823,29148,0.00,0.90,0.00,0.000,1030,0.000,0.060,3557,2163,1661,1551,1771,0,0,0,0,0,0,27.04,27.03,27.06,7.91,23.93
$GC,29505,1.58,170.3,3557,2163,1551,1771,4432.0,16.4,829,29507,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2163,1661,1551,1771,0,0,0,0,0,0,27.31,27.32,27.32,7.90,24.24
$GC,29805,1.58,170.3,3557,2163,1551,1771,4381.6,16.9,834,29810,0.00,0.90,0.00,0.000,516,0.000,0.065,3561,1782,1661,1552,1771,0,0,0,0,0,0,27.32,27.02,27.34,7.90,24.64
$GC,29959,1.58,170.3,3560,1782,1551,1771,4361.0,17.0,836,29964,0.00,0.93,0.00,0.000,1030,0.000,0.055,3561,2176,1660,1550,1771,0,0,0,0,0,0,27.09,27.06,27.10,7.90,24.83
$GC,30287,1.58,170.3,3561,2176,1551,1771,4300.5,16.7,842,30288,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2176,1661,1552,1771,0,0,0,0,0,0,27.34,27.36,27.36,7.89,24.75
$GC,30587,1.58,170.3,3560,2176,1552,1770,4252.0,16.2,847,30590,0.00,0.93,0.00,0.000,516,0.000,0.062,3565,1783,1661,1551,1771,0,0,0,0,0,0,27.35,27.04,27.36,7.89,24.91
$GC,30795,1.58,170.3,3565,1783,1552,1771,4222.9,16.0,850,30800,0.00,0.90,0.00,0.000,1030,0.000,0.057,3565,2167,1661,1552,1771,0,0,0,0,0,0,27.10,27.08,27.12,7.89,24.83
$GC,31128,1.58,170.3,3565,2167,1551,1771,4166.3,15.6,856,31129,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2167,1661,1552,1771,0,0,0,0,0,0,27.36,27.39,27.38,7.88,24.08
$GC,31427,1.58,170.3,3565,2167,1551,1771,4119.2,15.8,861,31429,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2167,1661,1552,1771,0,0,0,0,0,0,27.37,27.39,27.39,7.88,24.44
$GC,31728,1.58,170.3,3565,2167,1551,1771,4072.9,15.5,866,31729,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2167,1661,1551,1771,0,0,0,0,0,0,27.38,27.39,27.39,7.88,24.20
$GC,32027,1.58,170.3,3565,2168,1551,1771,4027.6,15.0,871,32031,0.00,0.90,0.00,0.000,516,0.000,0.065,3569,1784,1661,1551,1771,0,0,0,0,0,0,27.39,27.05,27.39,7.88,24.48
$GC,32236,1.58,170.3,3569,1784,1552,1771,4000.7,14.9,874,32241,0.00,0.90,0.00,0.000,1030,0.000,0.057,3569,2166,1661,1551,1771,0,0,0,0,0,0,27.12,27.08,27.13,7.88,24.36
$GC,32568,1.58,170.3,3569,2166,1551,1770,3949.0,14.2,880,32569,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2165,1661,1551,1771,0,0,0,0,0,0,27.39,27.40,27.40,7.87,24.36
$GC,32868,1.58,170.3,3569,2165,1551,1771,3906.3,14.4,885,32872,0.00,0.90,0.00,0.000,516,0.000,0.062,3573,1784,1661,1551,1771,0,0,0,0,0,0,27.39,27.05,27.40,7.87,24.40
$GC,33049,1.58,170.3,3572,1784,1551,1771,3880.4,14.2,888,33053,0.00,0.90,0.00,0.000,1030,0.000,0.060,3574,2167,1661,1551,1771,0,0,0,0,0,0,27.11,27.10,27.14,7.87,24.01
$GC,33411,1.58,170.3,3573,2166,1551,1771,3830.0,13.8,894,33412,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2166,1661,1551,1771,0,0,0,0,0,0,27.39,27.41,27.41,7.87,24.12
$GC,33710,1.58,170.3,3573,2167,1551,1770,3788.1,14.1,899,33712,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2166,1661,1551,1771,0,0,0,0,0,0,27.39,27.41,27.41,7.87,24.32
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$GC,83542,1.91,213.9,3661,1786,1400,1633,281.5,14.5,1875,83546,0.00,0.85,0.00,0.000,1030,0.000,0.060,3663,2157,1517,1401,1633,0,0,0,0,0,0,27.08,27.07,27.10,8.10,21.92
$GC,83858,1.91,213.9,3662,2157,1402,1633,235.1,15.0,1891,83861,0.00,0.88,0.00,0.000,516,0.000,0.065,3666,1783,1517,1402,1633,0,0,0,0,0,0,27.40,27.02,27.40,8.12,22.12
$GC,84401,1.91,213.9,3666,1783,1403,1635,144.3,17.3,1919,84409,0.00,0.90,0.00,0.000,1030,0.000,0.057,3667,2178,1519,1403,1635,0,0,0,0,0,0,27.08,27.05,27.10,8.16,21.60
$GC,84708,1.91,213.9,3666,2178,1405,1635,91.7,16.4,1950,84712,0.00,0.93,0.00,0.000,516,0.000,0.065,3671,1776,1519,1404,1635,0,0,0,0,0,0,27.40,27.01,27.41,8.18,21.41
$GC,85253,1.91,213.9,3670,1776,1404,1637,19.0,11.1,2004,85261,0.00,0.90,3.22,0.454,9222,0.000,0.057,3671,2170,1513,1395,1632,0,0,0,0,0,0,27.09,27.13,24.30,8.26,22.47
$STATE,85398,end climb,SURFACE_DEPTH_REACHED
$STATE,85399,begin surface coast
$FINISH,1.0,0.997478
$STATE,85420,end surface coast,CONTROL_FINISHED_OK
$STATE,85420,begin surface
$SM_CCo,85436,121.62,0.859,0,0,941,380.26
$SM_GC,2.28,9.15,0.00,121.62,0.070,0.000,0.859,194,2170,941,-8.82,-1.27,380.26,0,0,0,0,0,0,26.89,27.39,24.69
$IRIDIUM_FIX,3624.52,-6141.95,260719,132728
$TT8_MAMPS,0.02247,0.173019
$HUMID,22.23
$INTERNAL_PRESSURE,8.24332
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,4768.0,115.0
$24V_AH,21.11,37.942
$10V_AH,10.26,18.499
$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,24.375,218.675,400.850,121.625,91.000,25.949,39.524,102.129,10.500,0.000,29.637,9419.187,62739.477,881.735,12444.516,367.382,0.000,6584.841,0.000,11850.812,0.000,88.858,0.000
$DEVICE_MAMPS,253.266,69.524,3992.664,859.118,667.927,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1411.098,2638.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318736
$DATA_FILE_SIZE,145502,2021
$CAP_FILE_SIZE,659115,0
$CFSIZE,2046525440,2023129088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.131,187.87,1
$GPS,270719,140703,3622.632,-6142.238,38,0.8,53,-16.1,1.4,189.6,11,5.0