version: 66.12
glider: 36
mission: 20
dive: 42
start: 8 6 115 19 16 1
data:
$ID,36
$MISSION,20
$DIVE,42
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$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,3060
$T_ABORT,3120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$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,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,12
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,171
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,060815,190134,3137.7654,-6410.3218,44,1.0,84,-15.5,0.7,134.3,9,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-68.2
$GPS2,060815,191534,3137.5959,-6410.2012,17,1.9,57,-15.5,0.7,149.0,9,5.2
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,BDA_SW
$TGT_LATLONG,3151.000,-6524.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.197483,0.053782
$KALMAN_X,-151.010971,0.000000,0.000000,32919.238281,-151.010971
$KALMAN_Y,-2120.152100,0.000000,0.000000,-13865.273438,-2120.152100
$MHEAD_RNG_PITCHd_Wd,300.7,118721,-12.4,-6.000,-16.34,3687
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,85,-0.65,-146.6,132,1657,2024,2411,3.0,-2.1,6,132,10.85,0.00,-30.67,0.104,18950,0.248,0.000,2937,1657,2705,2478,2932,0,0,0,0,0,0,25.63,25.98,25.81
$GC,432,-0.45,-146.6,2936,1657,2478,2932,35.1,-4.3,41,442,0.20,1.90,0.00,0.000,2308,0.176,0.050,3000,2994,2705,2478,2932,0,0,0,0,0,0,26.01,26.19,26.10
$GC,671,-0.33,-146.6,2999,2994,2478,2932,43.5,-3.5,62,681,0.12,1.88,0.00,0.000,3078,0.166,0.047,3047,1659,2704,2477,2932,0,0,0,0,0,0,26.15,26.48,26.23
$GC,981,-0.27,-146.6,3047,1659,2478,2932,52.0,-2.4,93,991,0.00,1.92,0.00,0.000,516,0.000,0.060,3047,319,2705,2478,2932,0,0,0,0,0,0,26.79,26.47,26.81
$GC,1208,-0.19,-146.6,3047,318,2478,2932,59.9,-4.2,113,1218,0.12,1.80,0.00,0.000,3078,0.161,0.045,3091,1640,2705,2478,2932,0,0,0,0,0,0,26.28,26.64,26.35
$GC,1517,-0.19,-146.6,3091,1641,2478,2932,71.6,-4.3,144,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1641,2705,2478,2932,0,0,0,0,0,0,26.85,26.87,26.87
$GC,1818,-0.19,-146.6,3091,1640,2477,2932,85.9,-3.8,174,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1641,2705,2478,2932,0,0,0,0,0,0,26.84,26.86,26.86
$GC,2128,-0.19,-146.6,3091,1641,2478,2932,98.4,-3.4,205,2138,0.00,1.95,0.00,0.000,260,0.000,0.052,3084,3004,2704,2477,2932,0,0,0,0,0,0,26.89,26.60,26.90
$GC,2242,-0.19,-146.6,3083,3004,2478,2932,103.3,-4.4,215,2245,0.00,1.83,0.00,0.000,1030,0.000,0.047,3084,1691,2705,2478,2932,0,0,0,0,0,0,26.69,26.65,26.70
$GC,2554,-0.19,-146.6,3083,1691,2478,2932,117.7,-5.0,246,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1691,2705,2478,2932,0,0,0,0,0,0,26.89,26.91,26.91
$GC,2854,-0.19,-146.6,3083,1691,2478,2932,132.9,-6.1,276,2864,0.00,1.95,0.00,0.000,516,0.000,0.057,3084,329,2705,2478,2932,0,0,0,0,0,0,26.89,26.58,26.91
$GC,2945,-0.19,-146.6,3083,328,2478,2932,139.2,-6.7,284,2949,0.00,1.77,0.00,0.000,1030,0.000,0.045,3077,1608,2705,2478,2932,0,0,0,0,0,0,26.74,26.72,26.74
$GC,3258,-0.19,-146.6,3076,1641,2478,2932,159.1,-6.4,308,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1641,2705,2478,2932,0,0,0,0,0,0,26.89,26.91,26.91
$GC,3557,-0.19,-146.6,3076,1640,2478,2932,176.7,-5.7,323,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1641,2705,2478,2932,0,0,0,0,0,0,26.89,26.92,26.91
$GC,3857,-0.19,-146.6,3076,1641,2478,2932,192.6,-5.1,338,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1640,2705,2478,2932,0,0,0,0,0,0,26.90,26.92,26.91
$GC,4159,-0.19,-146.6,3076,1640,2478,2932,207.9,-5.2,353,4164,0.00,1.92,0.00,0.000,260,0.000,0.052,3068,2998,2705,2478,2932,0,0,0,0,0,0,26.90,26.61,26.91
$GC,4248,-0.19,-146.6,3068,2998,2478,2932,212.4,-5.3,357,4253,0.00,1.85,0.00,0.000,1030,0.000,0.045,3068,1701,2705,2478,2932,0,0,0,0,0,0,26.67,26.66,26.70
$GC,4562,-0.19,-146.6,3068,1701,2478,2932,231.6,-6.3,373,4568,0.00,1.98,0.00,0.000,516,0.000,0.057,3068,314,2705,2478,2932,0,0,0,0,0,0,26.90,26.58,26.91
$GC,4659,-0.19,-146.6,3068,314,2478,2932,237.9,-7.6,377,4667,0.00,1.83,0.00,0.000,1030,0.000,0.042,3061,1632,2705,2478,2932,0,0,0,0,0,0,26.72,26.71,26.73
$GC,4967,-0.19,-146.6,3061,1633,2478,2932,261.7,-7.3,393,4973,0.00,1.95,0.00,0.000,260,0.000,0.052,3052,3004,2705,2478,2932,0,0,0,0,0,0,26.90,26.60,26.91
$GC,5051,-0.19,-146.6,3051,3004,2478,2932,268.0,-7.5,397,5057,0.12,1.83,0.00,0.000,3078,0.154,0.047,3102,1683,2705,2478,2932,0,0,0,0,0,0,26.37,26.66,26.45
$GC,5372,-0.27,-146.6,3101,1682,2477,2932,286.7,-5.7,413,5378,0.08,1.92,0.00,0.000,4612,0.119,0.055,3019,324,2705,2478,2932,0,0,0,0,0,0,26.71,26.58,26.72
$GC,5468,-0.27,-146.6,3019,324,2478,2931,293.9,-8.5,417,5477,0.15,1.83,0.00,0.000,3078,0.142,0.042,3063,1639,2705,2478,2932,0,0,0,0,0,0,26.35,26.70,26.42
$GC,5776,-0.27,-146.6,3063,1639,2478,2932,316.1,-6.6,429,5782,0.00,1.95,0.00,0.000,260,0.000,0.052,3055,2997,2704,2477,2931,0,0,0,0,0,0,26.90,26.60,26.91
$GC,5845,-0.27,-146.6,3054,2997,2478,2931,320.1,-6.6,431,5849,0.00,1.85,0.00,0.000,1030,0.000,0.045,3055,1703,2704,2478,2931,0,0,0,0,0,0,26.67,26.65,26.69
$GC,6170,-0.27,-146.6,3055,1703,2478,2931,341.0,-6.3,442,6175,0.00,1.98,0.00,0.000,516,0.000,0.057,3055,319,2705,2478,2932,0,0,0,0,0,0,26.90,26.58,26.91
$GC,6253,-0.27,-146.6,3055,319,2478,2931,345.4,-6.6,444,6262,0.00,1.83,0.00,0.000,1030,0.000,0.042,3051,1653,2704,2478,2931,0,0,0,0,0,0,26.70,26.69,26.71
$GC,6563,-0.27,-146.6,3051,1653,2478,2931,368.7,-7.2,455,6569,0.00,2.00,0.00,0.000,260,0.000,0.052,3042,3046,2704,2478,2931,0,0,0,0,0,0,26.89,26.60,26.91
$GC,6636,-0.27,-146.6,3042,3046,2478,2928,373.3,-7.2,457,6640,0.00,1.92,0.00,0.000,1030,0.000,0.045,3042,1697,2702,2478,2927,0,0,0,0,0,0,26.67,26.65,26.69
$GC,6956,-0.27,-146.6,3042,1697,2478,2928,398.0,-7.1,468,6961,0.00,1.98,0.00,0.000,516,0.000,0.057,3042,314,2703,2478,2928,0,0,0,0,0,0,26.89,26.57,26.91
$GC,7049,-0.27,-146.6,3042,314,2478,2928,404.7,-7.2,471,7054,0.00,1.90,0.00,0.000,1030,0.000,0.042,3037,1697,2703,2478,2928,0,0,0,0,0,0,26.70,26.69,26.71
$GC,7379,-0.27,-146.6,3037,1697,2478,2927,425.9,-6.3,482,7384,0.00,1.92,0.00,0.000,260,0.000,0.052,3028,3053,2703,2478,2928,0,0,0,0,0,0,26.89,26.60,26.91
$GC,7457,-0.27,-146.6,3028,3053,2478,2928,430.0,-6.6,484,7462,0.10,1.92,0.00,0.000,3078,0.132,0.045,3065,1695,2703,2478,2928,0,0,0,0,0,0,26.41,26.65,26.46
$GC,7772,-0.32,-146.6,3065,1695,2478,2928,448.1,-5.6,495,7777,0.00,1.98,0.00,0.000,516,0.000,0.057,3065,311,2703,2478,2928,0,0,0,0,0,0,26.89,26.57,26.91
$GC,7850,-0.32,-146.6,3065,311,2477,2928,451.6,-5.6,497,7854,0.00,1.92,0.00,0.000,1030,0.000,0.042,3060,1698,2703,2478,2928,0,0,0,0,0,0,26.70,26.69,26.71
$GC,8164,-0.32,-146.6,3060,1698,2478,2926,471.4,-6.1,508,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1698,2702,2478,2926,0,0,0,0,0,0,26.89,26.92,26.91
$GC,8465,-0.32,-146.6,3060,1698,2478,2926,491.0,-6.9,518,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1698,2702,2478,2926,0,0,0,0,0,0,26.89,26.91,26.91
$GC,8764,-0.38,-146.6,3060,1698,2478,2926,511.9,-7.1,528,8770,0.00,1.95,0.00,0.000,260,0.000,0.052,3052,3066,2702,2478,2926,0,0,0,0,0,0,26.89,26.59,26.91
$GC,8833,-0.43,-146.6,3051,3066,2478,2924,516.2,-7.0,530,8837,0.08,1.95,0.00,0.000,5126,0.124,0.045,2971,1678,2700,2477,2924,0,0,0,0,0,0,26.55,26.65,26.62
$GC,9157,-0.36,-146.6,2959,1678,2478,2924,551.4,-11.0,541,9163,0.20,1.92,0.00,0.000,2564,0.149,0.055,3034,333,2700,2477,2924,0,0,0,0,0,0,26.32,26.48,26.41
$GC,9319,-0.36,-146.6,3034,334,2477,2924,564.8,-8.1,546,9323,0.00,1.90,0.00,0.000,1030,0.000,0.042,3033,1708,2701,2478,2924,0,0,0,0,0,0,26.69,26.67,26.70
$GC,9643,-0.36,-146.6,3033,1708,2478,2923,586.2,-6.0,557,9648,0.00,1.92,0.00,0.000,260,0.000,0.052,3023,3057,2700,2478,2923,0,0,0,0,0,0,26.89,26.59,26.91
$GC,9706,-0.36,-146.6,3023,3057,2478,2922,590.0,-6.0,559,9710,0.00,1.95,0.00,0.000,1030,0.000,0.045,3023,1697,2700,2478,2922,0,0,0,0,0,0,26.67,26.65,26.68
$GC,10035,-0.36,-146.6,3023,1697,2478,2922,611.1,-6.5,570,10041,0.00,1.98,0.00,0.000,516,0.000,0.057,3023,313,2699,2478,2921,0,0,0,0,0,0,26.89,26.55,26.91
$GC,10135,-0.36,-146.6,3023,313,2478,2922,618.0,-7.5,573,10139,0.00,1.92,0.00,0.000,1030,0.000,0.042,3017,1705,2700,2478,2922,0,0,0,0,0,0,26.68,26.67,26.70
$GC,10459,-0.36,-146.6,3016,1705,2478,2921,644.7,-8.4,584,10464,0.00,1.95,0.00,0.000,260,0.000,0.052,3006,3069,2699,2477,2921,0,0,0,0,0,0,26.89,26.58,26.91
$GC,10511,-0.36,-146.6,3007,3070,2478,2920,647.2,-8.5,585,10520,0.00,1.98,0.00,0.000,1030,0.000,0.045,3007,1697,2699,2478,2920,0,0,0,0,0,0,26.65,26.64,26.67
$GC,10820,-0.36,-146.6,3006,1697,2478,2920,677.8,-9.1,596,10825,0.00,1.98,0.00,0.000,516,0.000,0.057,3007,315,2699,2478,2920,0,0,0,0,0,0,26.89,26.55,26.91
$GC,10935,-0.36,-146.6,3006,315,2478,2920,687.4,-10.2,599,10944,0.00,1.92,0.00,0.000,1030,0.000,0.045,3002,1697,2698,2477,2920,0,0,0,0,0,0,26.68,26.66,26.70
$GC,11244,-0.36,-146.6,3002,1697,2477,2918,718.8,-9.4,610,11250,0.08,1.92,0.00,0.000,2308,0.186,0.050,3027,3058,2698,2478,2918,0,0,0,0,0,0,26.48,26.56,26.52
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$GC,47128,-1.30,-146.6,2711,1703,2457,2868,3757.4,-8.2,1261,47129,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1703,2662,2457,2868,0,0,0,0,0,0,26.79,26.82,26.80
$GC,47428,-1.30,-146.6,2712,1704,2457,2868,3781.6,-8.0,1266,47429,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1704,2662,2457,2868,0,0,0,0,0,0,26.79,26.81,26.81
$GC,47728,-1.30,-146.6,2712,1704,2457,2868,3805.1,-7.8,1271,47729,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1704,2662,2457,2868,0,0,0,0,0,0,26.79,26.81,26.80
$GC,48028,-1.30,-146.6,2712,1704,2457,2868,3828.0,-7.6,1276,48029,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1704,2662,2457,2868,0,0,0,0,0,0,26.79,26.81,26.81
$GC,48328,-1.30,-146.6,2711,1704,2458,2867,3850.2,-7.4,1281,48329,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1704,2662,2457,2868,0,0,0,0,0,0,26.79,26.82,26.80
$GC,48628,-1.30,-146.6,2712,1703,2457,2868,3871.5,-7.1,1286,48629,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1704,2663,2458,2868,0,0,0,0,0,0,26.79,26.82,26.80
$GC,48928,-1.30,-146.6,2712,1703,2458,2868,3892.3,-6.9,1291,48929,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1704,2662,2457,2868,0,0,0,0,0,0,26.79,26.81,26.80
$GC,49228,-1.30,-146.6,2712,1705,2457,2868,3912.4,-6.7,1296,49231,0.00,2.12,0.00,0.000,516,0.000,0.057,2712,329,2662,2457,2868,0,0,0,0,0,0,26.79,26.11,26.80
$GC,49302,-1.30,-146.6,2712,315,2457,2868,3916.6,-6.7,1297,49307,0.00,2.00,0.00,0.000,1030,0.000,0.042,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.39,26.38,26.41
$GC,49651,-1.30,-146.6,2704,1692,2457,2868,3940.4,-6.5,1303,49652,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1692,2662,2457,2868,0,0,0,0,0,0,26.79,26.81,26.80
$GC,49951,-1.30,-146.6,2705,1693,2457,2868,3959.3,-6.3,1308,49952,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.79,26.81,26.80
$GC,50251,-1.30,-146.6,2705,1693,2457,2868,3977.9,-6.2,1313,50253,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.79,26.81,26.80
$GC,50551,-1.30,-146.6,2705,1693,2457,2868,3996.2,-6.0,1318,50552,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.79,26.81,26.80
$GC,50851,-1.30,-146.6,2705,1693,2457,2868,4013.8,-5.8,1323,50852,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.79,26.82,26.80
$GC,51153,-1.30,-146.6,2705,1693,2457,2868,4031.3,-5.8,1328,51154,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.73,26.76,26.75
$GC,51453,-1.30,-146.6,2705,1693,2457,2868,4048.6,-5.7,1333,51454,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.80
$GC,51753,-1.30,-146.6,2704,1693,2457,2868,4065.6,-5.7,1338,51754,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.80
$GC,52053,-1.30,-146.6,2705,1693,2457,2868,4083.0,-5.7,1343,52054,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.73,26.75,26.74
$GC,52353,-1.30,-146.6,2705,1693,2457,2868,4099.7,-5.6,1348,52354,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2867,0,0,0,0,0,0,26.78,26.81,26.80
$GC,52653,-1.30,-146.6,2705,1693,2457,2868,4116.0,-5.4,1353,52654,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.80
$GC,52953,-1.30,-146.6,2705,1693,2457,2868,4132.3,-5.4,1358,52954,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2662,2457,2868,0,0,0,0,0,0,26.73,26.75,26.74
$GC,53253,-1.30,-146.6,2705,1693,2457,2868,4148.4,-5.4,1363,53258,0.00,2.08,0.00,0.000,516,0.000,0.057,2705,317,2662,2457,2868,0,0,0,0,0,0,26.78,26.09,26.79
$GC,53355,-1.30,-146.6,2705,317,2457,2868,4151.9,-5.5,1364,53360,0.10,2.03,0.00,0.000,3078,0.139,0.045,2734,1703,2662,2457,2868,0,0,0,0,0,0,25.96,26.36,26.00
$GC,53674,-1.36,-146.6,2733,1704,2457,2868,4169.5,-4.6,1370,53676,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1704,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.79
$GC,53974,-1.42,-146.6,2734,1703,2457,2868,4183.4,-4.6,1375,53976,0.08,0.00,0.00,0.000,4102,0.124,0.000,2655,1709,2662,2457,2868,0,0,0,0,0,0,26.56,26.58,26.58
$GC,54275,-1.42,-146.6,2654,1716,2457,2868,4202.6,-6.5,1380,54281,0.10,2.10,0.00,0.000,2564,0.164,0.055,2695,317,2662,2457,2868,0,0,0,0,0,0,26.20,26.09,26.21
$GC,54362,-1.42,-146.6,2695,317,2457,2868,4206.6,-6.6,1381,54366,0.00,2.03,0.00,0.000,1030,0.000,0.045,2690,1699,2662,2457,2868,0,0,0,0,0,0,26.37,26.36,26.39
$GC,54697,-1.42,-146.6,2689,1700,2457,2868,4227.3,-5.6,1387,54699,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2868,0,0,0,0,0,0,26.78,26.80,26.79
$GC,54997,-1.42,-146.6,2689,1700,2457,2868,4243.7,-5.4,1392,54998,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1701,2662,2457,2868,0,0,0,0,0,0,26.78,26.80,26.79
$GC,55296,-1.42,-146.6,2690,1700,2457,2868,4259.4,-5.2,1397,55297,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2868,0,0,0,0,0,0,26.78,26.80,26.79
$GC,55597,-1.42,-146.6,2690,1700,2457,2868,4275.0,-5.2,1402,55598,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2868,0,0,0,0,0,0,26.78,26.80,26.80
$GC,55897,-1.42,-146.6,2690,1700,2457,2868,4290.3,-5.1,1407,55898,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2868,0,0,0,0,0,0,26.72,26.75,26.74
$GC,56197,-1.42,-146.6,2690,1700,2457,2868,4305.3,-4.9,1412,56199,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2867,0,0,0,0,0,0,26.78,26.80,26.79
$GC,56497,-1.42,-146.6,2690,1701,2457,2868,4320.9,-5.2,1417,56498,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2868,0,0,0,0,0,0,26.78,26.80,26.79
$GC,56796,-1.42,-146.6,2689,1700,2457,2868,4335.6,-5.0,1422,56797,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.79
$GC,57096,-1.42,-146.6,2690,1700,2457,2868,4350.4,-4.9,1427,57097,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.79
$GC,57396,-1.42,-146.6,2689,1700,2457,2868,4364.6,-4.8,1432,57397,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1700,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.79
$GC,57696,-1.42,-146.6,2690,1700,2457,2868,4378.7,-4.7,1437,57699,0.00,2.12,0.00,0.000,516,0.000,0.057,2690,333,2662,2457,2868,0,0,0,0,0,0,26.78,26.07,26.80
$GC,57780,-1.42,-146.6,2689,316,2458,2868,4381.8,-4.8,1438,57785,0.00,2.03,0.00,0.000,1030,0.000,0.045,2682,1702,2662,2457,2868,0,0,0,0,0,0,26.39,26.36,26.40
$GC,58119,-1.42,-146.6,2681,1702,2457,2868,4399.1,-4.8,1444,58120,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1702,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.80
$GC,58419,-1.42,-146.6,2682,1702,2457,2868,4413.2,-4.7,1449,58420,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1702,2662,2457,2868,0,0,0,0,0,0,26.78,26.80,26.79
$GC,58719,-1.42,-146.6,2682,1702,2457,2868,4427.0,-4.7,1454,58720,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1702,2662,2457,2868,0,0,0,0,0,0,26.78,26.80,26.79
$GC,59019,-1.42,-146.6,2681,1702,2457,2868,4440.4,-4.4,1459,59020,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1702,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.80
$GC,59319,-1.42,-146.6,2681,1702,2457,2868,4453.8,-4.5,1464,59320,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1702,2662,2457,2868,0,0,0,0,0,0,26.78,26.81,26.80
$STATE,59438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,59438,begin apogee
$GC,59442,-0.24,0.0,2682,1493,2457,2867,4459.3,-4.5,1466,59567,1.15,0.00,121.03,4.030,10246,0.107,0.000,3080,1493,2199,1999,2400,0,0,0,0,0,0,25.60,21.93,19.70
$STATE,59568,end apogee,CONTROL_FINISHED_OK
$STATE,59568,begin climb
$GC,59570,0.65,146.6,3079,1493,2000,2400,4457.3,0.0,1468,59775,0.82,0.00,196.35,3.903,10246,0.067,0.000,3379,1493,1695,1672,1718,0,0,0,0,1,0,22.78,21.85,19.57
$GC,60040,0.20,146.6,3378,1493,1670,1716,4353.5,25.9,1476,60042,0.60,0.00,0.00,0.000,4102,0.199,0.000,3218,1493,1692,1669,1716,0,0,0,0,0,0,24.68,24.98,24.91
$GC,60340,-0.05,146.6,3218,1492,1669,1716,4302.0,16.6,1481,60346,0.20,1.92,0.00,0.000,4612,0.184,0.057,3161,221,1693,1670,1716,0,0,0,0,0,0,25.34,25.54,25.46
$GC,60407,-0.29,146.6,3161,221,1670,1716,4293.1,16.2,1482,60412,0.28,1.88,0.00,0.000,5126,0.164,0.045,3077,1528,1693,1670,1716,0,0,0,0,0,0,25.44,25.79,25.62
$GC,60757,-0.37,146.6,3076,1529,1670,1716,4258.8,9.3,1488,60759,0.15,0.00,0.00,0.000,4102,0.166,0.000,3027,1529,1692,1669,1716,0,0,0,0,0,0,25.76,25.95,25.89
$GC,61056,-0.37,146.6,3026,1529,1669,1716,4237.4,6.9,1493,61061,0.00,2.00,0.00,0.000,516,0.000,0.060,3035,221,1692,1669,1716,0,0,0,0,0,0,26.37,26.04,26.39
$GC,61133,-0.37,146.6,3034,220,1665,1716,4233.4,6.9,1494,61137,0.00,1.83,0.00,0.000,1030,0.000,0.045,3035,1489,1690,1665,1716,0,0,0,0,0,0,26.20,26.18,26.23
$GC,61477,-0.37,146.6,3034,1493,1663,1714,4207.6,7.1,1500,61478,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1493,1688,1663,1714,0,0,0,0,0,0,26.48,26.50,26.49
$GC,61777,-0.37,146.6,3034,1493,1663,1713,4186.8,7.0,1505,61782,0.00,1.92,0.00,0.000,516,0.000,0.060,3044,211,1688,1663,1714,0,0,0,0,0,0,26.53,26.19,26.54
$GC,61828,-0.37,146.6,3044,210,1663,1713,4186.8,7.0,1505,61837,0.00,1.85,0.00,0.000,1030,0.000,0.045,3044,1511,1688,1663,1713,0,0,0,0,0,0,26.32,26.31,26.34
$GC,62137,-0.37,146.6,3044,1511,1662,1713,4161.0,7.2,1511,62138,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1511,1687,1662,1713,0,0,0,0,0,0,26.57,26.60,26.59
$GC,62437,-0.37,146.6,3044,1511,1662,1713,4139.9,7.0,1516,62442,0.00,1.95,0.00,0.000,516,0.000,0.060,3053,221,1688,1663,1713,0,0,0,0,0,0,26.60,26.25,26.62
$GC,62497,-0.37,146.6,3052,221,1663,1713,4135.3,7.2,1517,62500,0.00,1.80,0.00,0.000,1030,0.000,0.047,3053,1469,1688,1664,1713,0,0,0,0,0,0,26.42,26.38,26.44
$GC,62859,-0.37,146.6,3052,1511,1663,1713,4108.5,7.4,1523,62860,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1511,1688,1663,1713,0,0,0,0,0,0,26.63,26.65,26.65
$GC,63159,-0.37,146.6,3053,1511,1662,1713,4086.6,7.4,1528,63164,0.00,1.95,0.00,0.000,516,0.000,0.060,3061,195,1687,1662,1713,0,0,0,0,0,0,26.65,26.29,26.67
$GC,63221,-0.37,146.6,3060,195,1663,1713,4082.0,7.5,1529,63226,0.00,1.92,0.00,0.000,1030,0.000,0.045,3061,1546,1687,1662,1713,0,0,0,0,0,0,26.44,26.43,26.46
$GC,63580,-0.37,146.6,3061,1549,1663,1713,4055.4,7.4,1535,63586,0.00,1.98,0.00,0.000,516,0.000,0.062,3069,218,1688,1663,1713,0,0,0,0,0,0,26.66,26.29,26.69
$GC,63631,-0.37,146.6,3069,218,1663,1713,4055.4,7.4,1535,63641,0.10,1.83,0.00,0.000,5126,0.137,0.045,3034,1506,1687,1662,1713,0,0,0,0,0,0,26.14,26.44,26.20
$GC,63940,-0.37,146.6,3034,1505,1663,1713,4032.7,6.0,1541,63941,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1505,1688,1663,1713,0,0,0,0,0,0,26.68,26.71,26.70
$GC,64240,-0.37,146.6,3034,1506,1662,1713,4014.7,6.0,1546,64241,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1505,1687,1662,1713,0,0,0,0,0,0,26.70,26.72,26.71
$GC,64540,-0.37,146.6,3034,1506,1663,1713,3996.7,6.0,1551,64544,0.00,1.95,0.00,0.000,516,0.000,0.062,3042,213,1688,1663,1713,0,0,0,0,0,0,26.70,26.32,26.72
$GC,64584,-0.37,146.6,3041,213,1663,1713,3996.7,6.0,1551,64588,0.00,1.83,0.00,0.000,1030,0.000,0.045,3041,1499,1688,1663,1713,0,0,0,0,0,0,26.48,26.46,26.50
$GC,64903,-0.37,146.6,3042,1503,1662,1713,3974.2,6.2,1557,64904,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1503,1687,1662,1713,0,0,0,0,0,0,26.71,26.74,26.73
$GC,65203,-0.37,146.6,3041,1503,1662,1713,3955.6,6.2,1562,65208,0.00,1.95,0.00,0.000,516,0.000,0.062,3051,213,1688,1663,1713,0,0,0,0,0,0,26.72,26.33,26.74
$GC,65249,-0.37,146.6,3050,213,1662,1713,3955.6,6.2,1562,65253,0.00,1.83,0.00,0.000,1030,0.000,0.045,3050,1499,1687,1662,1713,0,0,0,0,0,0,26.50,26.48,26.51
$GC,65563,-0.37,146.6,3050,1503,1662,1713,3933.1,6.2,1568,65564,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1503,1687,1662,1713,0,0,0,0,0,0,26.72,26.74,26.74
$GC,65863,-0.37,146.6,3050,1503,1663,1713,3914.7,6.1,1573,65864,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1503,1687,1662,1713,0,0,0,0,0,0,26.73,26.76,26.75
$GC,66163,-0.37,146.6,3050,1503,1662,1713,3896.4,6.1,1578,66168,0.00,1.92,0.00,0.000,516,0.000,0.060,3058,212,1688,1663,1713,0,0,0,0,0,0,26.73,26.33,26.75
$GC,66222,-0.37,146.6,3058,212,1662,1713,3892.7,6.1,1579,66226,0.00,1.80,0.00,0.000,1030,0.000,0.047,3058,1465,1687,1662,1713,0,0,0,0,0,0,26.53,26.49,26.55
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$GC,125387,0.68,303.4,3383,1510,1138,1142,344.0,7.2,2715,125388,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1510,1139,1138,1141,0,0,0,0,0,0,26.84,26.87,26.86
$GC,125687,0.68,303.4,3383,1510,1139,1141,321.3,7.4,2725,125688,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1510,1140,1139,1141,0,0,0,0,0,0,26.84,26.87,26.86
$GC,125988,0.68,303.4,3383,1510,1139,1141,299.6,7.2,2735,125994,0.00,1.92,0.00,0.000,516,0.000,0.060,3387,200,1140,1139,1141,0,0,0,0,0,0,26.85,26.46,26.87
$GC,126030,0.68,303.4,3386,200,1138,1142,296.5,7.2,2737,126035,0.00,1.73,0.00,0.000,1030,0.000,0.042,3387,1512,1140,1139,1141,0,0,0,0,0,0,26.65,26.64,26.66
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$GC,126950,0.68,303.4,3386,1515,1138,1141,228.2,7.1,2783,126955,0.00,1.92,0.00,0.000,516,0.000,0.060,3390,204,1139,1138,1141,0,0,0,0,0,0,26.86,26.46,26.87
$GC,126991,0.73,303.4,3390,204,1139,1141,225.3,7.3,2785,126995,0.00,1.65,0.00,0.000,1030,0.000,0.045,3390,1459,1140,1139,1141,0,0,0,0,0,0,26.68,26.65,26.69
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$GC,129516,1.07,417.0,3416,1513,1139,1141,30.8,2.8,2984,129627,0.12,2.10,103.30,1.058,10756,0.097,0.065,3516,199,762,734,790,0,0,0,0,0,0,26.63,25.05,24.22
$GC,129698,1.07,417.0,3516,199,730,790,18.6,7.6,3001,129702,0.00,1.77,0.00,0.000,1030,0.000,0.045,3516,1504,759,729,790,0,0,0,0,0,0,25.84,25.82,25.85
$STATE,129889,end climb,SURFACE_DEPTH_REACHED
$STATE,129889,begin surface coast
$FINISH,1.2,1.009790
$STATE,129920,end surface coast,CONTROL_FINISHED_OK
$STATE,129920,begin surface
$SM_CCo,129996,0.00,0.000,0,0,759,418.60
$SM_GC,2.20,8.45,0.08,0.00,0.052,0.114,0.000,192,1714,759,-9.10,-4.47,418.60,0,0,0,0,0,0,26.13,26.24,26.17
$IRIDIUM_FIX,3135.41,-6431.87,310508,200002
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.43
$INTERNAL_PRESSURE,8.97567
$TCM_TEMP,21.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,4311.4,177.3
$24V_AH,19.57,24.399
$10V_AH,9.77,15.079
$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,27.825,523.875,599.325,0.000,95.025,23.684,46.102,547.992,9.250,0.000,57.785,8932.495,105983.883,1078.311,14325.563,440.821,0.582,5542.791,0.000,13469.959,0.000,62.236,0.000
$DEVICE_MAMPS,248.300,114.218,4029.909,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2071.646,9852.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329984
$DATA_FILE_SIZE,183403,3023
$CAP_FILE_SIZE,755853,0
$CFSIZE,1024409600,1011220480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080815,072440,3140.479,-6422.924,42,1.0,83,-15.4,0.3,61.8,9,4.1