version: 66.14
glider: 46
mission: 5
dive: 111
start: 8 16 119 16 26 29
data:
$ID,46
$MISSION,5
$DIVE,111
$N_DIVES,0
$STOP_T,8211919
$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,240
$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,54
$R_STBD_OVSHOOT,61
$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
$GPS1,160819,162101,3541.0654,-6127.9673,5,0.9,37,-16.0,0.8,133.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-48.0
$GPS2,160819,162551,3541.0242,-6127.8599,9,0.9,35,-16.0,0.4,121.1,9,5.0
$SPEED_LIMITS,0.104,0.205
$TGT_NAME,E
$TGT_LATLONG,3605.700,-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,327.4,45789,-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,4,begin dive
$GC,70,-1.86,-38.4,187,2233,849,1024,1.4,0.6,6,152,0.00,0.00,-78.95,0.154,16390,0.000,0.000,185,2233,2414,2321,2507,0,0,0,0,0,0,27.19,26.67,26.48,8.59,18.61
$GC,154,-1.87,-78.5,185,2233,2322,2508,2.1,-1.8,14,177,8.43,3.60,-7.40,0.204,18948,0.238,0.070,2444,833,2551,2438,2665,0,0,0,0,0,0,26.32,26.67,26.46,8.74,18.65
$GC,724,-2.30,-127.0,2444,833,2438,2669,0.8,-0.9,70,742,0.32,3.30,-10.93,0.189,21510,0.084,0.057,2300,2197,2719,2598,2840,0,0,0,0,0,0,27.01,27.05,26.65,8.76,18.77
$GC,1040,-2.18,-127.0,2299,2197,2599,2840,11.7,-4.8,102,1051,0.15,3.40,0.00,0.000,2564,0.231,0.070,2341,832,2719,2599,2839,0,0,0,0,0,0,26.66,26.87,26.78,8.78,18.53
$GC,1267,-2.04,-127.0,2341,832,2599,2840,23.0,-5.7,124,1276,0.20,3.33,0.00,0.000,3078,0.201,0.055,2384,2217,2719,2599,2840,0,0,0,0,0,0,26.67,27.10,26.87,8.79,18.41
$GC,1575,-2.05,-170.3,2384,2216,2599,2839,28.1,-0.7,155,1587,0.00,3.50,-2.47,0.318,16644,0.000,0.070,2369,3612,2871,2757,2985,0,0,0,0,0,0,27.37,26.92,26.71,8.78,18.65
$GC,1681,-1.95,-170.3,2368,3611,2759,2986,31.6,-4.0,165,1692,0.15,3.30,0.00,0.000,3078,0.199,0.052,2413,2205,2872,2759,2986,0,0,0,0,0,0,26.70,27.15,26.81,8.80,18.73
$GC,1990,-1.95,-170.3,2412,2204,2758,2988,33.7,0.2,196,2002,0.00,3.40,0.00,0.000,516,0.000,0.070,2414,841,2873,2759,2988,0,0,0,0,0,0,27.38,27.01,27.39,8.80,18.85
$GC,2460,-1.88,-170.3,2413,841,2759,2989,43.9,-2.2,242,2470,0.15,3.30,0.00,0.000,3078,0.201,0.055,2441,2229,2874,2759,2989,0,0,0,0,0,0,26.73,27.13,26.95,8.78,18.81
$GC,2768,-1.88,-170.3,2440,2229,2759,2990,51.0,-1.5,273,2779,0.00,3.47,0.00,0.000,516,0.000,0.070,2442,839,2874,2759,2990,0,0,0,0,0,0,27.39,27.02,27.40,8.77,18.81
$GC,3044,-1.88,-170.3,2441,839,2759,2990,56.3,-2.0,300,3053,0.00,3.25,0.00,0.000,1030,0.000,0.055,2427,2215,2874,2759,2989,0,0,0,0,0,0,27.16,27.14,27.17,8.76,18.65
$GC,3354,-1.88,-170.3,2426,2215,2758,2990,59.1,-1.0,331,3363,0.00,3.40,0.00,0.000,516,0.000,0.070,2427,848,2874,2759,2990,0,0,0,0,0,0,27.39,27.03,27.41,8.76,18.97
$GC,3910,-1.83,-170.3,2427,848,2759,2990,72.7,-1.1,386,3920,0.15,3.22,0.00,0.000,3078,0.186,0.055,2456,2207,2874,2759,2990,0,0,0,0,0,0,26.75,27.14,26.86,8.73,19.16
$GC,4219,-1.83,-170.3,2455,2207,2759,2990,78.6,-2.4,417,4229,0.00,3.40,0.00,0.000,516,0.000,0.070,2456,842,2874,2759,2990,0,0,0,0,0,0,27.40,27.04,27.41,8.72,19.32
$GC,4615,-1.83,-170.3,2455,842,2759,2990,91.8,-2.7,456,4624,0.00,3.25,0.00,0.000,1030,0.000,0.055,2441,2213,2874,2759,2990,0,0,0,0,0,0,27.17,27.15,27.17,8.70,19.75
$GC,4926,-1.83,-170.3,2441,2214,2758,2989,101.5,-3.3,487,4935,0.00,3.47,0.00,0.000,260,0.000,0.070,2424,3603,2874,2759,2989,0,0,0,0,0,0,27.40,27.05,27.41,8.70,19.60
$GC,5270,-1.78,-170.3,2424,3603,2758,2987,117.5,-5.2,521,5280,0.15,3.28,0.00,0.000,3078,0.181,0.052,2470,2200,2872,2758,2987,0,0,0,0,0,0,26.77,27.20,26.89,8.68,19.36
$GC,5579,-1.78,-170.3,2470,2200,2758,2987,132.5,-4.6,552,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2200,2872,2758,2987,0,0,0,0,0,0,27.40,27.42,27.41,8.67,19.99
$GC,5881,-1.78,-170.3,2470,2200,2759,2985,147.9,-5.9,582,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2200,2872,2759,2985,0,0,0,0,0,0,27.40,27.41,27.41,8.66,20.58
$GC,6179,-1.78,-170.3,2470,2200,2759,2984,166.8,-6.3,599,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2200,2872,2759,2985,0,0,0,0,0,0,27.41,27.42,27.41,8.64,20.78
$GC,6480,-1.78,-170.3,2470,2200,2759,2984,186.4,-6.9,614,6487,0.00,3.35,0.00,0.000,516,0.000,0.070,2470,859,2870,2758,2983,0,0,0,0,0,0,27.41,27.03,27.41,8.63,20.50
$GC,6608,-1.78,-170.3,2470,859,2758,2983,196.1,-8.3,620,6613,0.00,3.22,0.00,0.000,1030,0.000,0.052,2455,2213,2870,2758,2983,0,0,0,0,0,0,27.19,27.15,27.20,8.63,20.19
$GC,6916,-1.78,-170.3,2455,2213,2758,2981,221.6,-8.5,635,6922,0.00,3.50,0.00,0.000,260,0.000,0.070,2438,3608,2870,2759,2982,0,0,0,0,0,0,27.41,27.05,27.41,8.62,20.42
$GC,7215,-1.78,-170.3,2437,3608,2759,2978,251.4,-10.4,650,7222,0.10,3.25,0.00,0.000,3078,0.184,0.050,2469,2213,2868,2758,2979,0,0,0,0,0,0,26.84,27.21,26.93,8.61,21.13
$GC,7535,-1.78,-170.3,2468,2213,2756,2978,280.0,-8.9,666,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2213,2867,2757,2978,0,0,0,0,0,0,27.40,27.42,27.42,8.60,21.09
$GC,7835,-1.78,-170.3,2468,2212,2756,2978,307.1,-8.9,680,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2212,2867,2756,2978,0,0,0,0,0,0,27.41,27.42,27.42,8.59,21.33
$GC,8135,-1.78,-170.3,2468,2213,2755,2977,335.4,-9.6,690,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2212,2866,2755,2977,0,0,0,0,0,0,27.41,27.42,27.42,8.59,21.29
$GC,8434,-1.78,-170.3,2468,2212,2754,2977,365.1,-10.1,700,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2212,2865,2754,2977,0,0,0,0,0,0,27.41,27.42,27.42,8.58,21.53
$GC,8735,-1.78,-170.3,2468,2213,2753,2976,396.1,-10.4,710,8741,0.00,3.38,0.00,0.000,516,0.000,0.070,2468,862,2864,2753,2976,0,0,0,0,0,0,27.41,27.04,27.42,8.59,21.64
$GC,8856,-1.78,-170.3,2468,862,2753,2976,410.9,-12.2,714,8863,0.00,3.25,0.00,0.000,1030,0.000,0.052,2454,2224,2864,2753,2976,0,0,0,0,0,0,27.16,27.15,27.17,8.59,21.60
$GC,9185,-1.78,-170.3,2453,2223,2753,2975,449.2,-11.4,725,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2224,2863,2752,2975,0,0,0,0,0,0,27.41,27.43,27.42,8.58,21.64
$GC,9485,-1.78,-170.3,2453,2224,2752,2974,484.0,-11.7,735,9492,0.00,3.47,0.00,0.000,260,0.000,0.067,2436,3610,2863,2752,2974,0,0,0,0,0,0,27.41,27.05,27.43,8.57,21.64
$GC,9575,-1.78,-170.3,2436,3611,2752,2973,495.8,-13.0,738,9583,0.12,3.28,0.00,0.000,3078,0.191,0.050,2474,2220,2862,2752,2973,0,0,0,0,0,0,26.82,27.20,26.98,8.57,21.60
$GC,9905,-1.78,-170.3,2473,2220,2751,2973,534.2,-11.8,749,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2219,2862,2752,2973,0,0,0,0,0,0,27.41,27.43,27.42,8.56,22.00
$GC,10205,-1.78,-170.3,2473,2220,2751,2973,570.2,-12.2,759,10212,0.00,3.42,0.00,0.000,516,0.000,0.070,2474,846,2861,2750,2973,0,0,0,0,0,0,27.41,27.04,27.42,8.54,22.23
$GC,10268,-1.78,-170.3,2473,847,2750,2973,578.0,-12.5,761,10273,0.00,3.30,0.00,0.000,1030,0.000,0.052,2459,2223,2861,2750,2973,0,0,0,0,0,0,27.19,27.13,27.20,8.54,21.96
$GC,10591,-1.78,-170.3,2459,2222,2750,2972,620.6,-13.2,772,10597,0.00,3.45,0.00,0.000,516,0.000,0.067,2459,848,2861,2751,2972,0,0,0,0,0,0,27.41,27.04,27.42,8.53,21.92
$GC,10758,-1.78,-170.3,2458,848,2750,2972,642.8,-15.2,777,10764,0.10,3.30,0.00,0.000,3078,0.204,0.052,2472,2218,2861,2750,2972,0,0,0,0,0,0,26.83,27.13,26.98,8.52,21.88
$GC,11065,-1.78,-170.3,2471,2218,2750,2971,688.2,-14.1,787,11072,0.00,3.42,0.00,0.000,516,0.000,0.067,2472,850,2860,2750,2971,0,0,0,0,0,0,27.41,27.04,27.42,8.50,21.76
$GC,11159,-1.78,-170.3,2470,850,2750,2971,701.8,-15.0,790,11167,0.00,3.30,0.00,0.000,1030,0.000,0.052,2458,2216,2860,2750,2971,0,0,0,0,0,0,27.19,27.14,27.20,8.49,22.00
$GC,11485,-1.78,-170.3,2458,2216,2749,2970,749.7,-14.9,801,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2217,2859,2750,2969,0,0,0,0,0,0,27.41,27.43,27.42,8.47,22.31
$GC,11785,-1.78,-170.3,2457,2216,2749,2968,794.4,-15.3,811,11792,0.00,3.50,0.00,0.000,260,0.000,0.067,2440,3612,2858,2749,2968,0,0,0,0,0,0,27.41,27.05,27.42,8.44,22.12
$GC,11893,-1.78,-170.3,2439,3612,2749,2967,810.4,-17.4,814,11899,0.10,3.33,0.00,0.000,3078,0.199,0.050,2469,2219,2858,2749,2967,0,0,0,0,0,0,26.84,27.20,26.99,8.43,22.19
$GC,12206,-1.78,-170.3,2468,2219,2749,2967,864.0,-16.5,825,12213,0.00,3.45,0.00,0.000,516,0.000,0.067,2469,844,2858,2749,2967,0,0,0,0,0,0,27.41,27.03,27.43,8.40,22.47
$GC,12254,-1.78,-170.3,2468,844,2749,2967,869.2,-16.6,826,12259,0.00,3.33,0.00,0.000,1030,0.000,0.052,2454,2218,2858,2749,2967,0,0,0,0,0,0,27.18,27.13,27.20,8.41,22.19
$GC,12562,-1.78,-170.3,2453,2218,2748,2966,925.8,-17.2,836,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2218,2857,2748,2966,0,0,0,0,0,0,27.41,27.43,27.43,8.37,22.39
$GC,12861,-1.78,-170.3,2454,2218,2748,2965,980.1,-18.5,846,12869,0.00,3.50,0.00,0.000,260,0.000,0.067,2436,3609,2855,2747,2964,0,0,0,0,0,0,27.41,27.05,27.43,8.34,23.14
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$GC,29067,-2.16,-170.3,2339,2216,2701,2918,4037.6,-15.6,1118,29075,0.00,3.55,0.00,0.000,516,0.000,0.067,2339,843,2809,2701,2917,0,0,0,0,0,0,27.41,26.75,27.41,7.99,26.80
$GC,29151,-2.16,-170.3,2339,844,2701,2917,4047.7,-15.9,1119,29156,0.00,3.42,0.00,0.000,1030,0.000,0.052,2324,2217,2809,2701,2917,0,0,0,0,0,0,27.03,26.96,27.05,7.99,26.45
$GC,29489,-2.16,-170.3,2323,2218,2702,2917,4105.9,-16.1,1125,29496,0.10,3.55,0.00,0.000,2564,0.211,0.067,2354,847,2809,2701,2917,0,0,0,0,0,0,26.70,26.74,26.74,7.99,26.25
$GC,29567,-2.16,-170.3,2353,847,2701,2917,4116.2,-16.3,1126,29572,0.00,3.42,0.00,0.000,1030,0.000,0.052,2340,2220,2809,2701,2917,0,0,0,0,0,0,27.03,26.96,27.05,7.99,26.57
$GC,29910,-2.16,-170.3,2339,2220,2701,2917,4172.4,-15.4,1132,29916,0.00,3.55,0.00,0.000,516,0.000,0.067,2340,845,2809,2701,2917,0,0,0,0,0,0,27.40,26.74,27.41,7.99,26.84
$GC,29970,-2.16,-170.3,2339,845,2701,2917,4182.4,-15.6,1133,29976,0.00,3.40,0.00,0.000,1030,0.000,0.055,2323,2216,2809,2701,2917,0,0,0,0,0,0,26.98,26.96,27.00,7.99,26.25
$GC,30329,-2.16,-170.3,2323,2215,2701,2917,4238.8,-15.7,1139,30331,0.10,0.00,0.00,0.000,2054,0.209,0.000,2349,2216,2809,2701,2917,0,0,0,0,0,0,26.81,26.91,26.86,7.99,26.17
$GC,30630,-2.22,-170.3,2349,2216,2701,2917,4282.0,-14.4,1144,30637,0.00,3.55,0.00,0.000,516,0.000,0.067,2349,842,2809,2701,2917,0,0,0,0,0,0,27.34,26.72,27.36,7.99,26.45
$GC,30752,-2.22,-170.3,2349,842,2700,2917,4300.2,-14.7,1146,30759,0.00,3.42,0.00,0.000,1030,0.000,0.055,2336,2221,2809,2701,2917,0,0,0,0,0,0,26.98,26.94,27.00,7.98,26.57
$GC,31111,-2.22,-170.3,2335,2221,2700,2917,4352.2,-14.2,1152,31113,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2221,2808,2700,2917,0,0,0,0,0,0,27.39,27.41,27.41,7.98,26.41
$GC,31412,-2.27,-170.3,2335,2221,2700,2917,4394.2,-13.9,1157,31418,0.00,3.58,0.00,0.000,516,0.000,0.067,2336,839,2808,2700,2917,0,0,0,0,0,0,27.39,26.71,27.41,7.99,27.08
$GC,31535,-2.27,-170.3,2335,839,2700,2916,4412.7,-14.5,1159,31541,0.00,3.45,0.00,0.000,1030,0.000,0.052,2319,2223,2808,2700,2917,0,0,0,0,0,0,27.01,26.95,27.03,7.98,26.45
$GC,31890,-2.27,-170.3,2318,2224,2700,2916,4462.6,-13.9,1165,31896,0.00,3.58,0.00,0.000,516,0.000,0.067,2319,841,2807,2700,2915,0,0,0,0,0,0,27.35,26.70,27.36,7.98,26.53
$GC,31981,-2.27,-170.3,2318,841,2700,2916,4471.7,-14.2,1166,31986,0.00,3.42,0.00,0.000,1030,0.000,0.052,2303,2217,2808,2700,2917,0,0,0,0,0,0,27.01,26.95,27.03,7.98,26.80
$GC,32311,-2.27,-170.3,2302,2218,2700,2917,4522.8,-14.0,1172,32317,0.00,3.53,0.00,0.000,516,0.000,0.067,2302,845,2808,2700,2916,0,0,1,0,0,0,27.36,26.70,27.36,7.98,26.80
$GC,32392,-2.27,-170.3,2302,845,2700,2916,4531.7,-14.1,1173,32398,0.10,3.40,0.00,0.000,3078,0.219,0.052,2313,2216,2808,2700,2916,0,0,0,0,0,0,26.46,26.94,26.58,7.98,26.25
$GC,32725,-2.27,-170.3,2312,2217,2700,2916,4579.7,-13.2,1179,32732,0.00,3.55,0.00,0.000,516,0.000,0.067,2313,846,2808,2700,2916,0,0,0,0,0,0,27.40,26.70,27.41,7.98,26.37
$GC,32808,-2.27,-170.3,2311,846,2700,2916,4587.9,-13.2,1180,32814,0.00,3.40,0.00,0.000,1030,0.000,0.052,2298,2216,2808,2700,2916,0,0,0,0,0,0,27.00,26.94,27.02,7.98,25.94
$GC,33141,-2.27,-170.3,2297,2216,2700,2916,4635.9,-13.3,1186,33148,0.00,3.55,0.00,0.000,516,0.000,0.067,2298,844,2808,2700,2916,0,0,0,0,0,0,27.40,26.69,27.41,7.98,26.29
$GC,33231,-2.27,-170.3,2298,844,2700,2915,4644.7,-13.5,1187,33237,0.12,3.42,0.00,0.000,3078,0.206,0.052,2315,2219,2808,2700,2916,0,0,0,0,0,0,26.37,26.94,26.50,7.99,26.25
$GC,33559,-2.27,-170.3,2314,2219,2700,2916,4691.0,-12.7,1193,33566,0.00,3.58,0.00,0.000,516,0.000,0.067,2315,838,2807,2700,2915,0,0,0,0,0,0,27.39,26.67,27.41,7.98,26.41
$GC,33637,-2.27,-170.3,2314,839,2699,2915,4699.1,-12.8,1194,33642,0.00,3.42,0.00,0.000,1030,0.000,0.052,2300,2214,2807,2700,2915,0,0,0,0,0,0,27.00,26.94,27.02,7.98,26.45
$GC,33976,-2.27,-170.3,2300,2215,2700,2915,4744.2,-12.5,1200,33981,0.00,3.55,0.00,0.000,516,0.000,0.067,2301,843,2807,2700,2915,0,0,0,0,0,0,27.33,26.67,27.34,7.98,26.37
$GC,34068,-2.27,-170.3,2300,844,2699,2915,4752.2,-12.6,1201,34074,0.12,3.42,0.00,0.000,3078,0.209,0.052,2317,2218,2807,2700,2915,0,0,0,0,0,0,26.36,26.93,26.49,7.98,26.33
$GC,34391,-2.32,-170.3,2316,2218,2699,2915,4794.9,-11.7,1207,34398,0.00,3.55,0.00,0.000,516,0.000,0.067,2317,849,2807,2699,2915,0,0,0,0,0,0,27.39,26.66,27.41,7.98,26.76
$GC,34473,-2.32,-170.3,2317,849,2698,2915,4802.4,-11.9,1208,34478,0.00,3.40,0.00,0.000,1030,0.000,0.052,2303,2216,2807,2699,2915,0,0,0,0,0,0,26.98,26.92,27.01,7.98,26.72
$STATE,34749,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,34749,begin apogee
$GC,34753,-0.68,0.0,2303,2216,2699,2915,4838.0,-11.7,1213,34931,1.77,0.00,173.50,3.988,10246,0.174,0.000,2823,2216,2279,2164,2394,0,0,0,0,0,0,25.56,22.91,20.74,7.98,26.29
$STATE,34933,end apogee,CONTROL_FINISHED_OK
$STATE,34933,begin climb
$GC,34934,1.89,170.3,2823,2217,2163,2393,4840.4,0.0,1216,35130,2.65,0.00,190.30,3.906,10246,0.112,0.000,3638,2216,1692,1585,1799,0,0,0,0,0,0,23.61,22.92,20.92,7.97,25.82
$GC,35410,1.81,170.3,3637,2216,1583,1797,4743.8,23.8,1224,35412,0.00,0.00,0.00,0.000,6,0.000,0.000,3638,2216,1690,1583,1797,0,0,0,0,0,0,26.41,26.44,26.43,7.92,24.91
$GC,35710,1.72,170.3,3637,2216,1583,1797,4674.6,23.1,1229,35718,0.10,3.70,0.00,0.000,4612,0.214,0.067,3622,798,1690,1583,1798,0,0,0,0,0,0,26.50,26.65,26.58,7.91,24.87
$GC,35774,1.64,170.3,3621,798,1584,1797,4661.1,22.8,1230,35782,0.17,3.42,0.00,0.000,5126,0.196,0.052,3573,2169,1690,1584,1797,0,0,0,0,0,0,26.44,26.77,26.65,7.91,25.70
$GC,36131,1.64,170.3,3573,2169,1584,1797,4588.6,19.8,1236,36132,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1584,1797,0,0,0,0,0,0,27.20,27.22,27.21,7.90,25.03
$GC,36430,1.64,170.3,3573,2169,1584,1797,4529.7,19.6,1241,36431,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1798,0,0,0,0,0,0,27.25,27.27,27.27,7.90,25.23
$GC,36730,1.64,170.3,3572,2169,1584,1797,4471.2,19.4,1246,36731,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1691,1584,1798,0,0,0,0,0,0,27.29,27.30,27.30,7.89,25.46
$GC,37030,1.64,170.3,3573,2169,1583,1797,4414.9,18.9,1251,37031,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1797,0,0,0,0,0,0,27.31,27.32,27.32,7.89,25.78
$GC,37331,1.64,170.3,3573,2169,1584,1797,4358.8,18.7,1256,37332,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2169,1691,1584,1798,0,0,0,0,0,0,27.32,27.34,27.34,7.88,25.90
$GC,37630,1.64,170.3,3573,2169,1583,1797,4303.8,18.3,1261,37631,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1584,1797,0,0,0,0,0,0,27.34,27.35,27.35,7.87,26.13
$GC,37930,1.64,170.3,3573,2169,1584,1797,4249.7,18.0,1266,37931,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1691,1584,1798,0,0,0,0,0,0,27.35,27.36,27.36,7.87,26.29
$GC,38230,1.64,170.3,3572,2169,1583,1797,4197.8,17.3,1271,38231,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1584,1797,0,0,0,0,0,0,27.36,27.37,27.36,7.87,26.09
$GC,38530,1.64,170.3,3573,2169,1583,1797,4146.9,17.0,1276,38532,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1797,0,0,0,0,0,0,27.36,27.38,27.37,7.87,26.01
$GC,38830,1.64,170.3,3573,2169,1584,1798,4096.0,16.9,1281,38831,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1584,1797,0,0,0,0,0,0,27.36,27.38,27.38,7.86,25.90
$GC,39130,1.64,170.3,3573,2169,1583,1798,4046.1,16.6,1286,39131,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1797,0,0,0,0,0,0,27.36,27.39,27.38,7.86,26.05
$GC,39430,1.64,170.3,3573,2169,1583,1798,3997.0,16.3,1291,39431,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1689,1583,1796,0,0,0,0,0,0,27.37,27.39,27.39,7.86,25.86
$GC,39731,1.64,170.3,3573,2169,1583,1797,3948.5,16.1,1296,39732,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1798,0,0,0,0,0,0,27.37,27.39,27.39,7.86,26.57
$GC,40030,1.64,170.3,3573,2169,1583,1797,3900.5,16.0,1301,40031,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1797,0,0,0,0,0,0,27.38,27.39,27.39,7.86,25.94
$GC,40330,1.64,170.3,3572,2169,1583,1798,3852.7,15.9,1306,40331,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1798,0,0,0,0,0,0,27.38,27.39,27.39,7.85,26.21
$GC,40630,1.64,170.3,3573,2169,1583,1797,3806.3,15.4,1311,40631,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1797,0,0,0,0,0,0,27.38,27.40,27.39,7.85,25.97
$GC,40931,1.64,170.3,3573,2169,1583,1797,3760.1,15.3,1316,40932,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1797,0,0,0,0,0,0,27.38,27.40,27.39,7.85,26.21
$GC,41230,1.64,170.3,3573,2169,1583,1798,3714.7,15.2,1321,41231,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1798,0,0,0,0,0,0,27.38,27.40,27.39,7.85,25.82
$GC,41530,1.64,170.3,3573,2169,1583,1797,3668.9,15.3,1326,41531,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2169,1690,1583,1798,0,0,0,0,0,0,27.39,27.40,27.39,7.85,26.25
$GC,41830,1.64,170.3,3572,2169,1583,1797,3624.2,14.8,1331,41837,0.00,3.62,0.00,0.000,260,0.000,0.067,3573,3571,1690,1583,1797,0,0,0,0,0,0,27.39,26.90,27.39,7.84,26.09
$GC,41878,1.64,170.3,3573,3571,1583,1797,3624.2,14.8,1331,41883,0.00,3.42,0.00,0.000,1030,0.000,0.050,3588,2181,1690,1583,1797,0,0,0,0,0,0,27.13,27.08,27.15,7.84,25.70
$GC,42185,1.64,170.3,3588,2181,1583,1797,3571.2,14.6,1336,42186,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2181,1690,1583,1797,0,0,0,0,0,0,27.38,27.40,27.39,7.84,25.78
$GC,42486,1.64,170.3,3588,2181,1583,1797,3527.2,14.7,1341,42487,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2181,1689,1582,1796,0,0,0,0,0,0,27.39,27.40,27.40,7.84,25.54
$GC,42785,1.64,170.3,3588,2181,1583,1798,3483.7,14.5,1346,42786,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2181,1690,1583,1797,0,0,0,0,0,0,27.39,27.40,27.40,7.84,25.94
$GC,43085,1.64,170.3,3588,2181,1582,1797,3440.3,14.4,1351,43086,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2181,1689,1582,1797,0,0,0,0,0,0,27.39,27.40,27.40,7.83,26.05
$GC,43385,1.64,170.3,3588,2181,1583,1797,3397.1,14.5,1356,43386,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2181,1690,1583,1797,0,0,0,0,0,0,27.39,27.40,27.40,7.84,25.86
$GC,43686,1.64,170.3,3587,2181,1583,1797,3354.4,14.1,1361,43687,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2180,1690,1583,1797,0,0,0,0,0,0,27.39,27.41,27.40,7.84,25.54
$GC,43985,1.64,170.3,3588,2181,1583,1797,3312.6,13.9,1366,43992,0.00,3.60,0.00,0.000,260,0.000,0.067,3588,3570,1690,1583,1797,0,0,0,0,0,0,27.39,26.87,27.40,7.83,25.62
$GC,44038,1.64,170.3,3588,3570,1583,1797,3312.6,13.9,1366,44047,0.12,3.45,0.00,0.000,5126,0.201,0.050,3571,2168,1690,1583,1797,0,0,0,0,0,0,26.58,27.07,26.74,7.83,25.97
$GC,44345,1.64,170.3,3570,2168,1583,1798,3262.3,13.6,1372,44346,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2168,1690,1583,1797,0,0,0,0,0,0,27.39,27.40,27.40,7.83,25.70
$GC,44645,1.64,170.3,3570,2168,1583,1797,3222.9,13.0,1377,44646,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2168,1690,1583,1797,0,0,0,0,0,0,27.39,27.41,27.40,7.83,25.94
$GC,44946,1.64,170.3,3570,2168,1583,1797,3185.4,12.5,1382,44952,0.00,3.62,0.00,0.000,260,0.000,0.067,3571,3567,1690,1583,1797,0,0,0,0,0,0,27.39,26.86,27.40,7.83,25.74
$GC,44998,1.64,170.3,3570,3567,1583,1797,3185.4,12.5,1382,45007,0.00,3.45,0.00,0.000,1030,0.000,0.050,3586,2171,1690,1583,1797,0,0,0,0,0,0,27.11,27.06,27.13,7.84,25.42
$GC,45305,1.64,170.3,3585,2171,1583,1797,3138.9,12.7,1388,45306,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2171,1690,1583,1798,0,0,0,0,0,0,27.39,27.41,27.40,7.83,25.70
$GC,45605,1.64,170.3,3586,2171,1583,1797,3101.0,12.5,1393,45606,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2171,1690,1583,1798,0,0,0,0,0,0,27.39,27.40,27.40,7.83,25.62
$GC,45905,1.64,170.3,3586,2171,1583,1797,3064.1,12.3,1398,45906,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2171,1690,1583,1797,0,0,0,0,0,0,27.39,27.40,27.40,7.83,25.58
$GC,46205,1.64,170.3,3586,2171,1583,1797,3027.3,12.3,1403,46207,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2171,1690,1583,1797,0,0,0,0,0,0,27.39,27.41,27.40,7.83,25.70
$GC,46505,1.64,170.3,3585,2172,1583,1797,2991.4,12.0,1408,46506,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2171,1690,1583,1797,0,0,0,0,0,0,27.39,27.41,27.40,7.83,25.58
$GC,46805,1.64,170.3,3586,2171,1582,1798,2955.2,12.0,1413,46813,0.00,3.62,0.00,0.000,260,0.000,0.067,3586,3568,1690,1583,1798,0,0,0,0,0,0,27.39,26.84,27.40,7.83,25.74
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$STATE,75638,end climb,SURFACE_DEPTH_REACHED
$STATE,75638,begin surface coast
$FINISH,1.5,1.023522
$STATE,75659,end surface coast,CONTROL_FINISHED_OK
$STATE,75659,begin surface
$SM_CCo,75675,163.05,0.829,0,0,936,390.14
$SM_GC,1.74,9.05,0.00,163.05,0.070,0.000,0.829,199,2197,936,-8.82,-0.51,390.14,0,0,0,0,0,0,26.85,27.39,24.51
$IRIDIUM_FIX,3542.72,-6133.33,160819,150859
$TT8_MAMPS,0.02247,0.169274
$HUMID,22.12
$INTERNAL_PRESSURE,8.30191
$TCM_TEMP,24.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4802.4,49.6
$24V_AH,20.74,46.803
$10V_AH,10.27,22.705
$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,27.400,574.675,371.975,163.050,99.750,30.866,38.989,116.509,11.000,0.000,36.132,7351.629,61259.641,1145.208,6101.332,304.358,0.000,4285.642,0.000,5697.858,0.000,89.455,0.000
$DEVICE_MAMPS,263.198,69.524,3987.698,829.322,317.824,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1445.939,2724.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319092
$DATA_FILE_SIZE,148881,2087
$CAP_FILE_SIZE,483667,0
$CFSIZE,2046525440,2018443264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.057,93.46,1
$GPS,170819,133205,3546.357,-6134.422,39,0.9,56,-16.0,1.1,141.1,11,4.9