version: 66.14
glider: 46
mission: 5
dive: 102
start: 8 8 119 11 53 45
data:
$ID,46
$MISSION,5
$DIVE,102
$N_DIVES,0
$STOP_T,8141919
$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,390
$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,50
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2280
$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
$GPS1,080819,113819,3545.1931,-6239.3604,40,1.1,64,-15.8,1.7,324.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-49.1
$GPS2,080819,115307,3545.5083,-6239.7266,10,0.9,41,-15.8,0.8,307.4,10,5.0
$SPEED_LIMITS,0.104,0.205
$TGT_NAME,SW
$TGT_LATLONG,3541.400,-6230.230
$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,156.7,16184,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
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$GC,156,-1.87,-83.2,122,2175,2325,2505,2.0,-1.3,14,185,8.82,3.65,-8.20,0.199,18692,0.243,0.067,2418,3614,2568,2454,2682,0,0,0,0,0,0,26.11,26.51,26.27,8.71,18.61
$GC,680,-1.78,-83.2,2418,3614,2457,2682,35.7,-6.7,66,691,0.17,3.35,0.00,0.000,3078,0.191,0.052,2470,2191,2569,2457,2682,0,0,0,0,0,0,26.50,27.04,26.62,8.74,17.67
$GC,990,-1.79,-150.3,2470,2191,2458,2684,33.1,1.0,97,1001,0.00,3.58,-3.42,0.268,16644,0.000,0.067,2455,3610,2803,2687,2920,0,0,0,0,0,0,27.33,26.70,26.59,8.75,17.71
$GC,1027,-1.80,-170.3,2454,3610,2690,2920,34.4,-3.4,100,1036,0.00,3.30,-0.95,0.584,17414,0.000,0.052,2455,2221,2872,2756,2989,0,0,0,0,0,0,27.12,27.09,26.60,8.77,17.75
$GC,1334,-1.80,-170.3,2454,2221,2756,2992,59.2,-5.3,131,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2221,2874,2756,2992,0,0,0,0,0,0,27.34,27.36,27.36,8.78,17.86
$GC,1637,-1.80,-170.3,2454,2221,2758,2993,71.7,-3.0,161,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2221,2875,2758,2993,0,0,0,0,0,0,27.36,27.38,27.38,8.77,17.75
$GC,1945,-1.80,-170.3,2454,2222,2759,2993,77.2,-2.5,192,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2221,2876,2759,2993,0,0,0,0,0,0,27.38,27.39,27.39,8.76,18.22
$GC,2245,-1.80,-170.3,2454,2221,2759,2994,85.7,-3.6,222,2254,0.00,3.45,0.00,0.000,516,0.000,0.072,2455,841,2876,2758,2995,0,0,0,0,0,0,27.39,26.98,27.39,8.75,17.90
$GC,2576,-1.80,-170.3,2454,841,2759,2995,94.0,-2.8,255,2586,0.00,3.28,0.00,0.000,1030,0.000,0.055,2438,2219,2877,2760,2995,0,0,0,0,0,0,27.15,27.13,27.15,8.73,18.18
$GC,2887,-1.80,-170.3,2437,2218,2760,2995,105.2,-5.0,286,2897,0.00,3.45,0.00,0.000,516,0.000,0.070,2438,841,2877,2760,2995,0,0,0,0,0,0,27.39,27.00,27.40,8.72,18.10
$GC,2972,-1.80,-170.3,2437,841,2760,2995,109.6,-5.4,294,2981,0.15,3.28,0.00,0.000,3078,0.196,0.055,2466,2213,2877,2759,2995,0,0,0,0,0,0,26.71,27.13,26.89,8.71,18.73
$GC,3280,-1.80,-170.3,2465,2213,2760,2995,123.5,-4.5,325,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2213,2877,2760,2995,0,0,0,0,0,0,27.39,27.41,27.41,8.69,18.18
$GC,3581,-1.80,-170.3,2465,2213,2760,2995,137.4,-4.9,355,3590,0.00,3.50,0.00,0.000,260,0.000,0.070,2450,3609,2877,2759,2995,0,0,0,0,0,0,27.40,27.03,27.41,8.68,18.85
$GC,3723,-1.80,-170.3,2449,3609,2760,2995,146.8,-7.1,369,3733,0.00,3.30,0.00,0.000,1030,0.000,0.052,2450,2208,2877,2760,2995,0,0,0,0,0,0,27.20,27.18,27.22,8.67,18.49
$GC,4033,-1.80,-170.3,2450,2208,2760,2995,169.6,-7.5,387,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2208,2877,2760,2995,0,0,0,0,0,0,27.40,27.41,27.41,8.65,18.65
$GC,4333,-1.80,-170.3,2450,2208,2760,2995,195.9,-9.3,402,4339,0.00,3.53,0.00,0.000,260,0.000,0.070,2433,3609,2877,2760,2995,0,0,0,0,0,0,27.40,27.03,27.41,8.64,19.08
$GC,4420,-1.80,-170.3,2432,3609,2760,2995,203.9,-10.1,406,4427,0.12,3.30,0.00,0.000,3078,0.196,0.050,2469,2209,2877,2760,2995,0,0,0,0,0,0,26.77,27.18,26.94,8.64,19.12
$GC,4728,-1.80,-170.3,2468,2209,2760,2995,233.0,-9.8,421,4734,0.00,3.42,0.00,0.000,516,0.000,0.070,2469,839,2877,2759,2995,0,0,0,0,0,0,27.41,27.01,27.41,8.62,19.36
$GC,4810,-1.80,-170.3,2468,838,2760,2994,241.8,-10.9,425,4815,0.00,3.30,0.00,0.000,1030,0.000,0.052,2454,2212,2877,2760,2994,0,0,0,0,0,0,27.17,27.13,27.19,8.61,19.64
$GC,5123,-1.80,-170.3,2454,2212,2759,2992,275.7,-10.5,441,5129,0.00,3.40,0.00,0.000,516,0.000,0.070,2454,852,2876,2759,2993,0,0,0,0,0,0,27.41,27.02,27.41,8.61,19.48
$GC,5175,-1.80,-170.3,2454,852,2759,2992,280.3,-11.0,443,5183,0.00,3.28,0.00,0.000,1030,0.000,0.055,2438,2219,2875,2759,2992,0,0,0,0,0,0,27.17,27.11,27.18,8.60,20.23
$GC,5493,-1.80,-170.3,2437,2219,2759,2990,318.0,-11.6,457,5500,0.10,3.42,0.00,0.000,2564,0.214,0.070,2470,850,2874,2759,2990,0,0,0,0,0,0,26.86,26.99,26.93,8.59,20.15
$GC,5583,-1.80,-170.3,2469,850,2760,2990,328.7,-11.7,460,5591,0.00,3.28,0.00,0.000,1030,0.000,0.055,2455,2222,2875,2760,2990,0,0,0,0,0,0,27.17,27.11,27.18,8.59,20.19
$GC,5913,-1.80,-170.3,2454,2221,2759,2988,367.4,-12.0,471,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2221,2873,2759,2988,0,0,0,0,0,0,27.41,27.42,27.42,8.59,19.99
$GC,6213,-1.80,-170.3,2454,2221,2759,2986,402.9,-12.0,481,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2221,2872,2759,2986,0,0,0,0,0,0,27.41,27.42,27.42,8.58,20.38
$GC,6513,-1.80,-170.3,2455,2222,2759,2985,439.3,-12.0,491,6520,0.00,3.45,0.00,0.000,516,0.000,0.070,2455,845,2872,2759,2985,0,0,0,0,0,0,27.41,27.02,27.41,8.58,20.19
$GC,6581,-1.80,-170.3,2454,845,2759,2984,447.3,-12.8,493,6586,0.00,3.30,0.00,0.000,1030,0.000,0.052,2438,2216,2872,2759,2985,0,0,0,0,0,0,27.17,27.13,27.19,8.58,20.46
$GC,6898,-1.80,-170.3,2438,2216,2759,2984,489.5,-12.9,504,6905,0.00,3.45,0.00,0.000,516,0.000,0.070,2439,845,2871,2759,2984,0,0,0,0,0,0,27.41,27.02,27.42,8.57,20.86
$GC,6989,-1.80,-170.3,2438,845,2758,2984,502.2,-13.9,507,6996,0.15,3.28,0.00,0.000,3078,0.184,0.055,2467,2213,2871,2759,2984,0,0,0,0,0,0,26.72,27.13,26.82,8.57,20.30
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$GC,7366,-1.80,-170.3,2467,848,2757,2983,547.2,-12.7,519,7372,0.00,3.30,0.00,0.000,1030,0.000,0.055,2454,2218,2869,2756,2983,0,0,0,0,0,0,27.17,27.12,27.19,8.56,20.78
$GC,7674,-1.80,-170.3,2453,2218,2756,2983,589.1,-12.9,529,7680,0.00,3.45,0.00,0.000,516,0.000,0.070,2454,847,2869,2756,2983,0,0,0,0,0,0,27.41,27.02,27.42,8.54,20.62
$GC,7766,-1.80,-170.3,2453,846,2756,2983,602.2,-14.1,532,7772,0.10,3.30,0.00,0.000,3078,0.204,0.055,2466,2211,2869,2756,2983,0,0,0,0,0,0,26.82,27.12,26.96,8.54,21.21
$GC,8094,-1.80,-170.3,2465,2211,2756,2982,648.2,-14.4,543,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2211,2869,2756,2982,0,0,0,0,0,0,27.41,27.43,27.43,8.52,20.66
$GC,8395,-1.80,-170.3,2465,2211,2756,2981,691.7,-15.0,553,8401,0.00,3.42,0.00,0.000,516,0.000,0.070,2466,850,2868,2756,2981,0,0,0,0,0,0,27.41,27.03,27.42,8.51,21.01
$GC,8517,-1.80,-170.3,2465,850,2755,2981,711.2,-16.3,557,8522,0.00,3.30,0.00,0.000,1030,0.000,0.055,2452,2213,2868,2756,2981,0,0,0,0,0,0,27.18,27.13,27.20,8.50,21.37
$GC,8839,-1.80,-170.3,2451,2213,2755,2979,761.7,-15.7,568,8846,0.00,3.53,0.00,0.000,260,0.000,0.070,2434,3611,2867,2755,2979,0,0,0,0,0,0,27.41,27.04,27.43,8.48,20.93
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$GC,9229,-1.80,-170.3,2462,2215,2754,2977,825.7,-16.2,581,9236,0.00,3.42,0.00,0.000,516,0.000,0.070,2462,848,2866,2754,2978,0,0,0,0,0,0,27.41,27.03,27.43,8.45,20.86
$GC,9322,-1.80,-170.3,2462,848,2754,2978,841.3,-16.9,584,9327,0.00,3.33,0.00,0.000,1030,0.000,0.055,2448,2218,2866,2754,2978,0,0,0,0,0,0,27.18,27.13,27.20,8.44,21.53
$GC,9645,-1.80,-170.3,2447,2218,2753,2977,898.3,-17.8,595,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2218,2865,2753,2977,0,0,0,0,0,0,27.42,27.43,27.43,8.40,21.13
$GC,9944,-1.80,-170.3,2447,2218,2753,2976,952.8,-18.6,605,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2218,2864,2753,2976,0,0,0,0,0,0,27.41,27.43,27.43,8.38,21.29
$GC,10275,-1.80,-170.3,2447,2218,2752,2975,1015.1,-19.2,615,10281,0.00,3.53,0.00,0.000,260,0.000,0.067,2430,3616,2863,2752,2975,0,0,0,0,0,0,27.42,27.04,27.43,8.34,21.41
$GC,10317,-1.80,-170.3,2430,3616,2752,2974,1015.1,-19.2,615,10324,0.12,3.35,0.00,0.000,3078,0.199,0.050,2466,2218,2863,2752,2974,0,0,0,0,0,0,26.77,27.19,26.94,8.34,21.45
$GC,10631,-1.80,-170.3,2465,2217,2751,2973,1086.3,-19.6,621,10638,0.00,3.47,0.00,0.000,516,0.000,0.070,2466,836,2862,2751,2973,0,0,0,0,0,0,27.42,27.03,27.43,8.31,21.64
$GC,10674,-1.80,-170.3,2465,836,2750,2973,1086.3,-19.6,621,10679,0.00,3.35,0.00,0.000,1030,0.000,0.052,2452,2215,2861,2750,2973,0,0,0,0,0,0,27.18,27.13,27.20,8.31,22.39
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$GC,28239,-2.26,-170.3,2336,2217,2706,2925,4448.0,-14.4,913,28240,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2217,2815,2706,2925,0,0,0,0,0,0,27.35,27.37,27.37,7.99,25.62
$GC,28538,-2.32,-170.3,2336,2217,2705,2925,4490.7,-14.2,918,28546,0.08,3.58,0.00,0.000,4612,0.137,0.067,2302,835,2815,2705,2925,0,0,0,0,0,0,27.17,26.72,27.18,8.00,25.62
$GC,28629,-2.32,-170.3,2301,835,2706,2925,4500.8,-14.7,919,28636,0.00,3.45,0.00,0.000,1030,0.000,0.052,2285,2218,2815,2706,2925,0,0,0,0,0,0,27.02,26.96,27.05,8.00,25.62
$GC,28960,-2.32,-170.3,2284,2219,2705,2924,4555.8,-14.9,925,28967,0.00,3.58,0.00,0.000,516,0.000,0.067,2285,835,2814,2705,2924,0,0,0,0,0,0,27.41,26.72,27.41,7.99,25.74
$GC,29021,-2.32,-170.3,2284,835,2705,2923,4565.7,-15.2,926,29029,0.10,3.42,0.00,0.000,3078,0.206,0.052,2294,2216,2814,2705,2924,0,0,0,0,0,0,26.41,26.96,26.46,7.99,25.74
$GC,29382,-2.32,-170.3,2294,2216,2705,2923,4618.4,-14.6,932,29388,0.00,3.55,0.00,0.000,516,0.000,0.067,2295,842,2814,2705,2923,0,0,0,0,0,0,27.41,26.71,27.42,7.99,25.97
$GC,29444,-2.32,-170.3,2294,843,2705,2923,4628.0,-14.9,933,29450,0.00,3.40,0.00,0.000,1030,0.000,0.055,2280,2212,2814,2705,2924,0,0,0,0,0,0,26.98,26.96,27.01,7.99,25.46
$GC,29804,-2.32,-170.3,2280,2212,2705,2923,4682.1,-14.9,939,29810,0.00,3.55,0.00,0.000,516,0.000,0.067,2280,836,2814,2705,2923,0,0,0,0,0,0,27.35,26.70,27.36,7.99,25.62
$GC,29862,-2.32,-170.3,2280,836,2705,2923,4691.7,-15.0,940,29870,0.12,3.45,0.00,0.000,3078,0.211,0.052,2298,2220,2814,2705,2923,0,0,0,0,0,0,26.32,26.96,26.39,8.00,26.13
$GC,30224,-2.32,-170.3,2297,2220,2705,2923,4742.4,-13.9,946,30231,0.00,3.58,0.00,0.000,516,0.000,0.070,2298,840,2814,2705,2923,0,0,0,0,0,0,27.35,26.70,27.36,7.99,26.05
$GC,30291,-2.32,-170.3,2297,840,2705,2923,4751.5,-14.1,947,30297,0.00,3.45,0.00,0.000,1030,0.000,0.052,2283,2220,2814,2705,2923,0,0,0,0,0,0,27.01,26.95,27.03,7.99,25.94
$GC,30640,-2.32,-170.3,2282,2220,2705,2922,4801.9,-14.0,953,30646,0.00,3.58,0.00,0.000,516,0.000,0.067,2283,840,2814,2705,2923,0,0,0,0,0,0,27.34,26.70,27.35,7.99,25.42
$GC,30701,-2.32,-170.3,2283,840,2705,2923,4810.9,-14.1,954,30707,0.12,3.42,0.00,0.000,3078,0.216,0.052,2300,2215,2814,2705,2923,0,0,0,0,0,0,26.35,26.94,26.49,7.99,25.46
$GC,31060,-2.32,-170.3,2299,2215,2705,2923,4859.0,-13.1,960,31067,0.00,3.55,0.00,0.000,516,0.000,0.067,2300,844,2813,2703,2923,0,0,0,0,0,0,27.40,26.68,27.41,7.99,26.09
$GC,31124,-2.32,-170.3,2300,844,2705,2922,4867.2,-13.2,961,31130,0.00,3.42,0.00,0.000,1030,0.000,0.055,2285,2214,2814,2705,2923,0,0,0,0,0,0,27.00,26.94,27.02,7.99,26.05
$GC,31477,-2.32,-170.3,2285,2214,2705,2923,4914.1,-13.0,967,31484,0.00,3.55,0.00,0.000,516,0.000,0.067,2285,841,2813,2704,2923,0,0,0,0,0,0,27.41,26.69,27.41,7.99,25.62
$GC,31540,-2.32,-170.3,2284,841,2705,2922,4922.5,-13.2,968,31546,0.10,3.45,0.00,0.000,3078,0.221,0.052,2294,2222,2814,2705,2923,0,0,0,0,0,0,26.44,26.94,26.56,7.99,25.46
$GC,31893,-2.32,-170.3,2293,2221,2704,2922,4968.0,-12.6,974,31895,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2221,2813,2704,2923,0,0,0,0,0,0,27.41,27.42,27.42,7.99,25.46
$STATE,32193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,32193,begin apogee
$GC,32197,-0.68,0.0,2293,2222,2704,2922,5005.6,-12.5,979,32376,1.80,0.00,174.85,4.087,10246,0.176,0.000,2822,2221,2279,2162,2396,0,0,0,0,0,0,25.60,22.92,20.75,7.99,25.58
$STATE,32377,end apogee,CONTROL_FINISHED_OK
$STATE,32377,begin climb
$GC,32379,1.89,170.3,2822,2222,2161,2395,5008.8,0.0,982,32581,2.62,4.05,189.05,4.017,10500,0.112,0.082,3642,3563,1692,1583,1801,0,0,0,0,0,0,23.61,22.57,20.93,7.98,25.70
$GC,32606,1.89,170.3,3641,3563,1584,1801,4984.4,16.8,985,32615,0.00,3.80,0.00,0.000,1030,0.000,0.050,3658,2186,1692,1584,1801,0,0,0,0,0,0,24.56,24.51,24.57,7.95,24.83
$GC,32914,1.77,170.3,3658,2186,1584,1800,4897.0,24.2,991,32921,0.15,3.72,0.00,0.000,4612,0.209,0.067,3632,781,1692,1584,1801,0,0,0,0,0,0,26.00,26.20,26.11,7.94,24.71
$GC,32987,1.65,170.3,3631,781,1584,1801,4882.8,24.0,992,32996,0.20,3.55,0.00,0.000,5126,0.201,0.052,3577,2159,1692,1584,1801,0,0,0,0,0,0,26.15,26.47,26.35,7.93,24.28
$GC,33334,1.59,170.3,3577,2159,1584,1801,4806.6,20.7,998,33335,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2159,1692,1584,1801,0,0,0,0,0,0,27.08,27.10,27.09,7.93,24.20
$GC,33634,1.53,170.3,3577,2159,1584,1800,4745.2,20.4,1003,33641,0.10,3.58,0.00,0.000,4612,0.221,0.070,3560,780,1692,1584,1801,0,0,0,0,0,0,26.65,26.81,26.74,7.91,24.28
$GC,33677,1.48,170.3,3560,779,1584,1801,4745.2,20.4,1003,33685,0.15,3.50,0.00,0.000,5126,0.219,0.052,3521,2170,1692,1584,1801,0,0,0,0,0,0,26.53,26.92,26.75,7.91,24.12
$GC,33994,1.48,170.3,3520,2170,1584,1801,4679.1,18.0,1009,33995,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2170,1692,1584,1801,0,0,0,0,0,0,27.25,27.27,27.27,7.91,24.48
$GC,34293,1.48,170.3,3520,2170,1584,1801,4626.7,17.4,1014,34300,0.00,3.60,0.00,0.000,516,0.000,0.070,3536,782,1692,1584,1801,0,0,0,0,0,0,27.29,26.90,27.30,7.90,24.95
$GC,34336,1.48,170.3,3535,782,1584,1801,4626.7,17.4,1014,34342,0.00,3.50,0.00,0.000,1030,0.000,0.052,3536,2175,1692,1584,1801,0,0,0,0,0,0,27.06,27.01,27.08,7.90,25.03
$GC,34649,1.48,170.3,3535,2176,1584,1801,4563.9,17.6,1020,34650,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2176,1692,1584,1801,0,0,0,0,0,0,27.32,27.33,27.32,7.90,24.68
$GC,34949,1.48,170.3,3535,2175,1583,1801,4512.5,17.1,1025,34950,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2176,1692,1584,1801,0,0,0,0,0,0,27.33,27.34,27.34,7.88,25.03
$GC,35249,1.48,170.3,3535,2176,1584,1801,4461.4,17.1,1030,35256,0.00,3.60,0.00,0.000,516,0.000,0.070,3552,779,1692,1584,1801,0,0,0,0,0,0,27.34,26.93,27.35,7.89,25.19
$GC,35297,1.48,170.3,3551,779,1584,1801,4461.4,17.1,1030,35303,0.10,3.50,0.00,0.000,5126,0.221,0.055,3527,2170,1692,1584,1801,0,0,0,0,0,0,26.67,27.05,26.86,7.88,25.23
$GC,35604,1.48,170.3,3526,2169,1584,1800,4401.7,16.5,1035,35605,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2169,1692,1584,1801,0,0,0,0,0,0,27.35,27.36,27.36,7.88,25.07
$GC,35904,1.48,170.3,3526,2169,1584,1801,4352.4,16.4,1040,35906,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2169,1692,1584,1801,0,0,0,0,0,0,27.36,27.37,27.37,7.88,25.11
$GC,36204,1.48,170.3,3526,2169,1583,1801,4304.0,16.2,1045,36205,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2169,1692,1584,1801,0,0,0,0,0,0,27.36,27.38,27.38,7.88,25.23
$GC,36504,1.48,170.3,3526,2169,1584,1801,4256.8,15.8,1050,36505,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2169,1692,1584,1801,0,0,0,0,0,0,27.36,27.39,27.39,7.87,25.34
$GC,36804,1.48,170.3,3526,2169,1583,1801,4210.2,15.6,1055,36811,0.00,3.60,0.00,0.000,516,0.000,0.070,3541,780,1692,1583,1801,0,0,0,0,0,0,27.37,26.92,27.39,7.87,25.31
$GC,36852,1.48,170.3,3540,780,1583,1801,4210.2,15.6,1055,36857,0.00,3.47,0.00,0.000,1030,0.000,0.052,3541,2173,1692,1583,1801,0,0,0,0,0,0,27.13,27.08,27.15,7.88,25.34
$GC,37159,1.48,170.3,3541,2174,1584,1801,4154.5,15.6,1060,37160,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2174,1692,1583,1801,0,0,0,0,0,0,27.37,27.39,27.39,7.87,25.07
$GC,37459,1.48,170.3,3541,2174,1583,1801,4109.3,15.1,1065,37461,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2174,1692,1583,1802,0,0,0,0,0,0,27.38,27.40,27.39,7.87,25.78
$GC,37759,1.48,170.3,3541,2174,1583,1801,4064.3,15.0,1070,37760,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.40,27.39,7.86,25.15
$GC,38059,1.48,170.3,3541,2174,1583,1801,4020.4,14.5,1075,38060,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2175,1692,1583,1801,0,0,0,0,0,0,27.39,27.40,27.40,7.86,25.11
$GC,38359,1.48,170.3,3540,2174,1583,1801,3976.7,14.5,1080,38360,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.40,27.40,7.86,25.50
$GC,38659,1.48,170.3,3540,2174,1583,1800,3934.5,14.1,1085,38661,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.40,27.40,7.86,25.07
$GC,38959,1.48,170.3,3541,2174,1583,1801,3892.2,14.0,1090,38960,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.40,7.86,25.23
$GC,39259,1.48,170.3,3541,2174,1583,1801,3849.9,14.1,1095,39260,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.85,25.19
$GC,39559,1.48,170.3,3541,2174,1583,1801,3807.9,13.9,1100,39560,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2174,1692,1583,1802,0,0,0,0,0,0,27.40,27.41,27.40,7.85,25.19
$GC,39859,1.48,170.3,3541,2174,1583,1801,3766.5,13.8,1105,39860,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.40,7.84,25.62
$GC,40159,1.48,170.3,3540,2174,1583,1801,3726.2,13.4,1110,40160,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.40,7.85,25.27
$GC,40459,1.48,170.3,3541,2174,1583,1801,3686.8,13.2,1115,40460,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.85,24.99
$GC,40759,1.48,170.3,3541,2174,1583,1801,3647.6,13.1,1120,40760,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2174,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.84,25.11
$GC,41059,1.48,170.3,3541,2174,1583,1801,3608.9,12.9,1125,41066,0.00,3.62,0.00,0.000,516,0.000,0.070,3558,777,1692,1583,1801,0,0,0,0,0,0,27.39,26.84,27.41,7.84,24.91
$GC,41122,1.48,170.3,3557,777,1583,1801,3601.1,13.0,1126,41128,0.12,3.50,0.00,0.000,5126,0.204,0.052,3523,2176,1692,1583,1801,0,0,0,0,0,0,26.58,27.05,26.75,7.85,25.03
$GC,41476,1.53,170.3,3522,2176,1583,1801,3557.1,12.4,1132,41483,0.00,3.58,0.00,0.000,260,0.000,0.067,3523,3563,1692,1583,1801,0,0,0,0,0,0,27.40,26.89,27.41,7.84,25.15
$GC,41528,1.59,170.3,3522,3563,1583,1801,3557.1,12.4,1132,41537,0.00,3.47,0.00,0.000,1030,0.000,0.050,3539,2159,1692,1583,1801,0,0,0,0,0,0,27.12,27.06,27.14,7.85,24.79
$GC,41835,1.59,170.3,3539,2159,1583,1801,3510.5,12.7,1138,41836,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,2159,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.85,25.34
$GC,42135,1.59,170.3,3538,2159,1583,1801,3473.2,12.4,1143,42136,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,2159,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.84,24.95
$GC,42435,1.59,170.3,3538,2159,1583,1801,3436.5,12.1,1148,42442,0.00,3.55,0.00,0.000,516,0.000,0.070,3556,788,1692,1583,1801,0,0,0,0,0,0,27.39,26.83,27.41,7.84,25.58
$GC,42495,1.59,170.3,3555,787,1583,1801,3428.7,12.3,1149,42502,0.00,3.45,0.00,0.000,1030,0.000,0.052,3556,2171,1692,1583,1801,0,0,0,0,0,0,27.10,27.05,27.13,7.84,24.83
$GC,42855,1.59,170.3,3555,2170,1583,1801,3384.4,12.2,1155,42857,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2171,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.84,24.75
$GC,43155,1.59,170.3,3555,2171,1583,1801,3348.6,11.9,1160,43156,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2171,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.84,24.99
$GC,43455,1.59,170.3,3555,2171,1583,1801,3313.7,11.6,1165,43456,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2171,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.84,25.34
$GC,43755,1.59,170.3,3554,2171,1583,1801,3279.7,11.4,1170,43762,0.00,3.58,0.00,0.000,516,0.000,0.070,3572,787,1692,1583,1801,0,0,0,0,0,0,27.40,26.82,27.41,7.84,25.27
$GC,43823,1.59,170.3,3571,787,1583,1801,3272.8,11.4,1171,43828,0.00,3.45,0.00,0.000,1030,0.000,0.052,3572,2170,1692,1583,1801,0,0,0,0,0,0,27.10,27.05,27.12,7.84,24.87
$GC,44170,1.59,170.3,3571,2170,1583,1801,3231.1,11.7,1177,44171,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2170,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.84,24.79
$GC,44471,1.59,170.3,3571,2170,1583,1801,3197.2,11.3,1182,44477,0.00,3.58,0.00,0.000,516,0.000,0.070,3588,787,1692,1583,1801,0,0,0,0,0,0,27.39,26.82,27.41,7.84,25.19
$GC,44538,1.59,170.3,3587,787,1583,1801,3190.1,11.4,1183,44545,0.12,3.50,0.00,0.000,5126,0.179,0.052,3554,2192,1692,1583,1801,0,0,0,0,0,0,26.63,27.04,26.76,7.83,24.44
$GC,44888,1.64,170.3,3553,2192,1582,1801,3152.4,10.5,1189,44889,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2192,1692,1583,1801,0,0,0,0,0,0,27.39,27.41,27.41,7.84,24.68
$GC,45187,1.64,170.3,3553,2192,1583,1801,3121.9,10.2,1194,45194,0.00,3.65,0.00,0.000,516,0.000,0.070,3568,784,1692,1583,1801,0,0,0,0,0,0,27.39,26.79,27.41,7.83,24.52
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$GC,81652,1.94,170.3,3669,2170,1585,1809,648.7,11.6,1869,81653,0.00,0.00,0.00,0.000,6,0.000,0.000,3670,2170,1697,1585,1809,0,0,0,0,0,0,27.39,27.41,27.40,8.10,22.59
$GC,81951,1.94,170.3,3670,2169,1585,1810,612.0,12.7,1879,81959,0.00,3.55,0.00,0.000,516,0.000,0.070,3684,791,1697,1585,1810,0,0,0,0,0,0,27.39,26.72,27.40,8.11,22.71
$GC,82034,1.94,170.3,3683,791,1585,1810,603.7,13.2,1881,82043,0.00,3.38,0.00,0.000,1030,0.000,0.052,3684,2169,1698,1586,1810,0,0,0,0,0,0,27.08,27.03,27.09,8.13,22.55
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$GC,82454,1.94,170.3,3699,791,1586,1811,545.0,14.8,1895,82463,0.12,3.38,0.00,0.000,5126,0.194,0.052,3665,2172,1699,1586,1812,0,0,0,0,0,0,26.53,27.03,26.64,8.15,22.27
$GC,82762,1.94,170.3,3664,2172,1587,1812,497.0,14.6,1906,82768,0.00,3.55,0.00,0.000,516,0.000,0.070,3678,791,1699,1587,1812,0,0,0,0,0,0,27.39,26.74,27.39,8.17,22.04
$GC,82814,1.94,170.3,3678,791,1587,1812,492.7,14.6,1907,82823,0.00,3.38,0.00,0.000,1030,0.000,0.052,3679,2163,1700,1588,1812,0,0,0,0,0,0,27.07,27.02,27.09,8.17,21.88
$GC,83122,1.94,170.3,3678,2162,1589,1812,440.1,16.1,1918,83129,0.00,3.50,0.00,0.000,516,0.000,0.070,3695,792,1700,1589,1812,0,0,0,0,0,0,27.39,26.74,27.40,8.20,22.19
$GC,83174,1.94,170.3,3695,792,1589,1813,434.6,16.5,1919,83186,0.00,3.40,3.53,0.593,9222,0.000,0.052,3695,2175,1694,1581,1807,0,0,0,0,0,0,27.08,27.03,23.30,8.20,21.72
$GC,83513,1.94,170.3,3694,2175,1583,1807,368.6,18.6,1931,83521,0.00,3.55,0.00,0.000,516,0.000,0.070,3711,793,1695,1583,1807,0,0,0,0,0,0,27.36,26.75,27.38,8.23,21.84
$GC,83591,1.88,170.3,3710,794,1583,1808,356.6,19.2,1933,83598,0.20,3.38,0.00,0.000,5126,0.189,0.052,3654,2164,1695,1583,1808,0,0,0,0,0,0,26.30,27.01,26.49,8.23,21.64
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$GC,84573,1.88,170.3,3667,2181,1588,1812,170.8,19.3,1977,84574,0.00,0.00,0.00,0.000,6,0.000,0.000,3668,2182,1700,1588,1812,0,0,0,0,0,0,27.38,27.40,27.39,8.28,21.17
$GC,84874,1.88,170.3,3667,2182,1589,1813,114.0,18.0,2001,84883,0.00,0.00,3.70,0.534,8198,0.000,0.000,3668,2182,1692,1579,1806,0,0,0,0,0,0,27.38,25.03,24.22,8.30,20.90
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$STATE,85655,end climb,SURFACE_DEPTH_REACHED
$STATE,85655,begin surface coast
$FINISH,1.0,1.023183
$STATE,85666,end surface coast,CONTROL_FINISHED_OK
$STATE,85666,begin surface
$SM_CCo,85686,160.48,0.869,0,0,936,390.14
$SM_GC,1.63,9.20,3.53,160.48,0.074,0.052,0.869,205,2215,936,-8.82,-1.13,390.14,0,0,0,0,0,0,26.81,27.02,24.54
$IRIDIUM_FIX,3558.43,-6227.75,060819,190156
$TT8_MAMPS,0.02247,0.174517
$HUMID,21.45
$INTERNAL_PRESSURE,8.35074
$TCM_TEMP,24.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4883.0,131.3
$24V_AH,20.75,43.243
$10V_AH,10.23,21.009
$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,28.600,683.475,375.425,160.475,94.000,26.371,23.230,612.507,11.750,0.000,42.109,7555.088,70672.352,1181.927,6901.780,351.239,0.000,4598.072,0.000,6012.187,0.000,94.785,0.000
$DEVICE_MAMPS,243.334,81.939,4087.018,869.050,583.505,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1444.884,2715.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319068
$DATA_FILE_SIZE,148878,2080
$CAP_FILE_SIZE,544344,0
$CFSIZE,2046525440,2020409344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,23953.73,0x236d44,0,24
$CURRENT,0.061,355.02,1
$GPS,090819,114624,3540.722,-6232.666,39,1.0,69,-15.8,0.8,340.2,8,5.0