version: 66.12
glider: 36
mission: 20
dive: 52
start: 8 19 115 17 18 2
data:
$ID,36
$MISSION,20
$DIVE,52
$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,75
$R_STBD_OVSHOOT,180
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2300
$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,3000
$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
$GPS1,190815,170346,3224.9775,-6529.9854,35,1.1,75,-15.2,0.6,301.8,8,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-67.7
$GPS2,190815,171734,3225.0974,-6530.2280,13,1.1,53,-15.2,0.5,295.9,9,4.3
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,9010N
$TGT_LATLONG,3905.220,-6921.240
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.159010,0.128871
$KALMAN_X,46426.218750,0.000000,0.000000,-139652.453125,8632.449219
$KALMAN_Y,20684.300781,0.000000,0.000000,51213.554688,17519.578125
$MHEAD_RNG_PITCHd_Wd,324.2,812034,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.65,-146.6,182,1659,977,1012,0.0,0.0,0,91,0.00,0.00,-74.00,0.102,16386,0.000,0.000,182,1659,2131,1982,2281,0,0,0,0,1,0,26.43,28.83,25.91
$GC,94,-0.65,-146.6,182,1660,1982,2281,3.0,-2.4,7,154,10.70,1.95,-44.38,0.102,18692,0.248,0.050,2930,2996,2806,2605,3008,0,0,0,0,0,0,25.56,26.01,25.72
$GC,479,-0.42,-146.6,2930,2996,2605,3008,46.5,-9.0,42,489,0.28,1.88,0.00,0.000,3078,0.161,0.045,3015,1680,2806,2605,3008,0,0,0,0,0,0,25.86,26.36,25.98
$GC,788,-0.29,-146.6,3015,1680,2605,3008,66.3,-5.0,73,799,0.10,1.88,0.00,0.000,2308,0.186,0.050,3049,2998,2806,2605,3008,0,0,0,0,0,0,26.22,26.32,26.27
$GC,1127,-0.22,-146.6,3049,2998,2605,3008,82.3,-5.5,103,1138,0.00,1.80,0.00,0.000,1030,0.000,0.047,3050,1698,2806,2605,3008,0,0,0,0,0,0,26.58,26.54,26.59
$GC,1437,-0.15,-146.6,3050,1698,2605,3008,101.5,-7.5,134,1448,0.12,1.83,0.00,0.000,2308,0.166,0.050,3092,2992,2806,2605,3008,0,0,0,0,0,0,26.29,26.40,26.34
$GC,1754,-0.15,-146.6,3092,2992,2605,3008,124.1,-7.4,162,1758,0.00,1.80,0.00,0.000,1030,0.000,0.047,3092,1697,2806,2605,3008,0,0,0,0,0,0,26.63,26.59,26.64
$GC,2067,-0.15,-146.6,3091,1698,2605,3008,145.0,-5.0,193,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1698,2806,2604,3009,0,0,0,0,0,0,26.86,26.88,26.88
$GC,2377,-0.15,-146.6,3092,1698,2605,3008,162.8,-5.9,213,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1698,2806,2605,3008,0,0,0,0,0,0,26.86,26.89,26.88
$GC,2677,-0.15,-146.6,3091,1698,2605,3008,183.2,-7.2,228,2682,0.00,2.00,0.00,0.000,516,0.000,0.057,3092,315,2806,2605,3008,0,0,0,0,0,0,26.87,26.50,26.89
$GC,2746,-0.15,-146.6,3092,315,2605,3008,188.2,-8.0,231,2750,0.00,1.83,0.00,0.000,1030,0.000,0.042,3084,1636,2806,2605,3008,0,0,0,0,0,0,26.69,26.67,26.69
$GC,3060,-0.15,-146.6,3084,1636,2605,3008,212.6,-7.4,247,3066,0.00,1.92,0.00,0.000,260,0.000,0.052,3075,2992,2806,2605,3008,0,0,0,0,0,0,26.87,26.55,26.89
$GC,3167,-0.15,-146.6,3075,2991,2605,3008,220.3,-7.4,252,3172,0.00,1.85,0.00,0.000,1030,0.000,0.045,3075,1696,2806,2605,3008,0,0,0,0,0,0,26.63,26.61,26.64
$GC,3486,-0.15,-146.6,3075,1696,2605,3008,246.8,-8.8,268,3492,0.00,2.00,0.00,0.000,516,0.000,0.057,3075,313,2806,2605,3008,0,0,0,0,0,0,26.87,26.51,26.89
$GC,3535,-0.15,-146.6,3075,313,2604,3008,250.6,-9.0,270,3539,0.00,1.83,0.00,0.000,1030,0.000,0.042,3071,1652,2806,2605,3008,0,0,0,0,0,0,26.67,26.67,26.69
$GC,3849,-0.15,-146.6,3071,1652,2605,3008,278.8,-8.5,286,3854,0.00,1.98,0.00,0.000,260,0.000,0.052,3061,3048,2806,2605,3008,0,0,0,0,0,0,26.87,26.55,26.89
$GC,3902,-0.15,-146.6,3061,3048,2605,3008,282.5,-8.5,288,3912,0.10,1.92,0.00,0.000,3078,0.137,0.045,3099,1694,2806,2605,3008,0,0,0,0,0,0,26.31,26.60,26.37
$GC,4211,-0.15,-146.6,3098,1694,2605,3007,303.7,-6.0,303,4217,0.00,2.00,0.00,0.000,516,0.000,0.057,3099,313,2806,2605,3008,0,0,0,0,0,0,26.87,26.51,26.89
$GC,4274,-0.15,-146.6,3099,313,2605,3008,307.8,-6.2,305,4279,0.00,1.85,0.00,0.000,1030,0.000,0.042,3095,1697,2806,2605,3008,0,0,0,0,0,0,26.68,26.66,26.70
$GC,4603,-0.15,-146.6,3094,1696,2605,3008,329.4,-6.6,316,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1696,2806,2605,3008,0,0,0,0,0,0,26.87,26.89,26.89
$GC,4903,-0.15,-146.6,3094,1697,2604,3008,348.9,-6.5,326,4908,0.00,1.92,0.00,0.000,260,0.000,0.052,3085,3052,2806,2605,3008,0,0,0,0,0,0,26.87,26.54,26.89
$GC,4982,-0.21,-146.6,3085,3052,2605,3008,352.8,-6.4,328,4986,0.00,1.92,0.00,0.000,1030,0.000,0.045,3085,1702,2805,2604,3007,0,0,0,0,0,0,26.63,26.61,26.64
$GC,5297,-0.21,-146.6,3085,1702,2605,3008,372.0,-5.6,339,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1702,2806,2605,3008,0,0,0,0,0,0,26.87,26.89,26.89
$GC,5595,-0.21,-146.6,3085,1702,2604,3008,390.2,-6.4,349,5601,0.00,1.98,0.00,0.000,516,0.000,0.057,3085,320,2806,2605,3008,0,0,0,0,0,0,26.87,26.50,26.89
$GC,5656,-0.21,-146.6,3085,320,2605,3008,394.7,-6.8,351,5662,0.00,1.88,0.00,0.000,1030,0.000,0.042,3084,1714,2806,2605,3008,0,0,0,0,0,0,26.67,26.65,26.69
$GC,5987,-0.21,-146.6,3083,1715,2605,3005,417.1,-6.8,362,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1715,2805,2605,3005,0,0,0,0,0,0,26.87,26.89,26.89
$GC,6286,-0.21,-146.6,3083,1714,2605,3005,437.3,-6.8,372,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1715,2804,2605,3004,0,0,0,0,0,0,26.87,26.89,26.89
$GC,6587,-0.26,-146.6,3083,1715,2605,3004,460.5,-8.2,382,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1715,2804,2605,3004,0,0,0,0,0,0,26.87,26.89,26.89
$GC,6888,-0.31,-146.6,3083,1715,2605,3002,484.3,-7.7,392,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1715,2803,2605,3002,0,0,0,0,0,0,26.87,26.89,26.89
$GC,7187,-0.36,-146.6,3083,1715,2605,3002,505.5,-6.7,402,7193,0.08,1.85,0.00,0.000,4356,0.119,0.050,2989,3036,2803,2605,3002,0,0,0,0,0,0,26.67,26.53,26.69
$GC,7250,-0.36,-146.6,2989,3037,2605,3001,511.1,-7.8,404,7255,0.12,1.90,0.00,0.000,3078,0.142,0.045,3032,1696,2803,2605,3001,0,0,0,0,0,0,26.26,26.60,26.33
$GC,7579,-0.36,-146.6,3032,1696,2605,3001,541.4,-9.0,415,7585,0.00,2.00,0.00,0.000,516,0.000,0.057,3032,317,2803,2605,3001,0,0,0,0,0,0,26.87,26.49,26.89
$GC,7640,-0.36,-146.6,3032,317,2605,3001,547.6,-9.5,417,7646,0.00,1.88,0.00,0.000,1030,0.000,0.042,3029,1698,2803,2605,3001,0,0,0,0,0,0,26.67,26.64,26.68
$GC,7970,-0.36,-146.6,3029,1698,2605,3001,579.8,-9.9,428,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1698,2803,2605,3001,0,0,0,0,0,0,26.86,26.89,26.89
$GC,8270,-0.36,-146.6,3029,1698,2605,3000,608.4,-9.0,438,8276,0.00,1.92,0.00,0.000,260,0.000,0.052,3019,3048,2802,2605,3000,0,0,0,0,0,0,26.86,26.53,26.89
$GC,8354,-0.36,-146.6,3019,3048,2605,2999,613.8,-8.9,440,8363,0.00,1.92,0.00,0.000,1030,0.000,0.045,3019,1705,2802,2605,2999,0,0,0,0,0,0,26.61,26.59,26.62
$GC,8663,-0.36,-146.6,3019,1705,2605,2999,642.6,-8.9,451,8668,0.00,1.98,0.00,0.000,516,0.000,0.057,3019,325,2802,2605,2999,0,0,0,0,0,0,26.86,26.48,26.88
$GC,8726,-0.36,-146.6,3019,326,2604,2999,648.7,-9.5,453,8731,0.00,1.90,0.00,0.000,1030,0.000,0.042,3012,1696,2802,2605,2999,0,0,0,0,0,0,26.65,26.64,26.66
$GC,9055,-0.36,-146.6,3011,1696,2605,2997,681.7,-10.0,464,9061,0.00,1.95,0.00,0.000,260,0.000,0.052,3002,3060,2801,2605,2997,0,0,0,0,0,0,26.86,26.53,26.88
$GC,9139,-0.36,-146.6,3002,3061,2605,2996,688.1,-10.0,466,9148,0.00,1.95,0.00,0.000,1030,0.000,0.045,3002,1704,2800,2605,2996,0,0,0,0,0,0,26.60,26.59,26.62
$GC,9448,-0.36,-146.6,3001,1704,2605,2995,721.8,-10.1,477,9453,0.00,2.00,0.00,0.000,516,0.000,0.057,3002,313,2800,2605,2995,0,0,0,0,0,0,26.86,26.48,26.88
$GC,9547,-0.36,-146.6,3002,313,2605,2995,732.5,-11.3,480,9552,0.10,1.92,0.00,0.000,3078,0.146,0.042,3032,1697,2800,2605,2995,0,0,0,0,0,0,26.29,26.63,26.35
$GC,9871,-0.36,-146.6,3032,1696,2604,2994,765.7,-10.0,491,9877,0.00,1.95,0.00,0.000,260,0.000,0.052,3024,3068,2799,2605,2994,0,0,0,0,0,0,26.86,26.51,26.88
$GC,9955,-0.36,-146.6,3024,3068,2605,2993,771.5,-9.7,493,9964,0.00,1.98,0.00,0.000,1030,0.000,0.045,3024,1696,2799,2605,2993,0,0,0,0,0,0,26.59,26.57,26.60
$GC,10264,-0.36,-146.6,3024,1696,2605,2992,804.5,-9.7,504,10269,0.00,1.98,0.00,0.000,516,0.000,0.057,3025,321,2798,2605,2991,0,0,0,0,0,0,26.86,26.47,26.87
$GC,10316,-0.36,-146.6,3024,322,2605,2992,807.8,-9.9,505,10325,0.00,1.92,0.00,0.000,1030,0.000,0.042,3017,1699,2798,2605,2991,0,0,0,0,0,0,26.63,26.61,26.64
$GC,10625,-0.36,-146.6,3017,1699,2605,2990,836.6,-8.2,516,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1699,2797,2605,2989,0,0,0,0,0,0,26.85,26.88,26.87
$GC,10925,-0.36,-146.6,3017,1699,2604,2988,864.9,-9.7,526,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1699,2796,2605,2988,0,0,0,0,0,0,26.85,26.88,26.86
$GC,11227,-0.36,-146.6,3017,1699,2605,2986,895.1,-10.5,536,11232,0.00,1.98,0.00,0.000,260,0.000,0.052,3007,3080,2795,2604,2986,0,0,0,0,0,0,26.85,26.49,26.86
$GC,11304,-0.36,-146.6,3006,3081,2605,2985,901.3,-10.1,538,11308,0.00,2.00,0.00,0.000,1030,0.000,0.045,3007,1702,2794,2604,2985,0,0,0,0,0,0,26.58,26.57,26.60
$GC,11618,-0.36,-146.6,3006,1702,2605,2983,935.7,-9.9,549,11624,0.00,2.03,0.00,0.000,516,0.000,0.057,3007,317,2794,2605,2983,0,0,0,0,0,0,26.84,26.44,26.86
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$GC,47677,-1.28,-146.6,2738,1712,2575,2953,4133.2,-6.8,1159,47678,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1713,2764,2575,2953,0,0,0,0,0,0,26.70,26.72,26.72
$GC,47976,-1.28,-146.6,2739,1713,2575,2953,4153.4,-6.8,1164,47978,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1712,2764,2575,2953,0,0,0,0,0,0,26.69,26.72,26.71
$GC,48277,-1.28,-146.6,2738,1712,2575,2953,4173.3,-6.7,1169,48278,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1712,2764,2575,2953,0,0,0,0,0,0,26.69,26.72,26.71
$GC,48577,-1.28,-146.6,2738,1713,2575,2953,4192.8,-6.5,1174,48578,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1712,2764,2575,2953,0,0,0,0,0,0,26.69,26.72,26.71
$GC,48876,-1.28,-146.6,2738,1712,2574,2953,4211.9,-6.3,1179,48882,0.00,2.15,0.00,0.000,516,0.000,0.057,2739,309,2764,2575,2953,0,0,0,0,0,0,26.69,25.97,26.71
$GC,48948,-1.28,-146.6,2738,309,2575,2953,4215.7,-6.2,1180,48952,0.00,2.05,0.00,0.000,1030,0.000,0.045,2733,1719,2764,2575,2953,0,0,0,0,0,0,26.29,26.28,26.32
$GC,49297,-1.28,-146.6,2733,1721,2575,2953,4237.6,-6.1,1186,49298,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1721,2764,2575,2953,0,0,0,0,0,0,26.75,26.78,26.77
$GC,49597,-1.28,-146.6,2732,1721,2575,2953,4255.2,-5.8,1191,49598,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1722,2763,2575,2952,0,0,0,0,0,0,26.75,26.78,26.77
$GC,49898,-1.28,-146.6,2732,1721,2575,2953,4272.3,-5.7,1196,49903,0.00,2.15,0.00,0.000,516,0.000,0.057,2733,317,2764,2575,2953,0,0,0,0,0,0,26.69,25.96,26.71
$GC,49964,-1.28,-146.6,2733,317,2575,2953,4276.0,-5.8,1197,49968,0.00,2.00,0.00,0.000,1030,0.000,0.042,2728,1700,2764,2575,2953,0,0,0,0,0,0,26.31,26.29,26.32
$GC,50318,-1.28,-146.6,2727,1700,2575,2953,4296.0,-5.4,1203,50319,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1700,2764,2575,2953,0,0,0,0,0,0,26.75,26.78,26.77
$GC,50619,-1.28,-146.6,2727,1700,2575,2953,4312.3,-5.4,1208,50620,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1700,2764,2575,2953,0,0,0,0,0,0,26.69,26.72,26.71
$GC,50918,-1.28,-146.6,2727,1700,2575,2953,4327.9,-5.1,1213,50923,0.00,2.10,0.00,0.000,516,0.000,0.057,2728,310,2764,2575,2953,0,0,0,0,0,0,26.75,25.96,26.77
$GC,50996,-1.28,-146.6,2727,310,2575,2953,4331.2,-5.2,1214,51001,0.00,2.03,0.00,0.000,1030,0.000,0.042,2727,1702,2764,2575,2953,0,0,0,0,0,0,26.29,26.28,26.31
$GC,51341,-1.28,-146.6,2727,1703,2575,2953,4349.8,-5.0,1220,51342,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1703,2764,2575,2953,0,0,0,0,0,0,26.74,26.78,26.77
$GC,51642,-1.28,-146.6,2726,1703,2575,2953,4365.2,-5.1,1225,51643,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1703,2763,2574,2953,0,0,0,0,0,0,26.75,26.78,26.77
$GC,51942,-1.28,-146.6,2727,1703,2575,2953,4380.3,-4.9,1230,51943,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1703,2764,2575,2953,0,0,0,0,0,0,26.69,26.72,26.71
$GC,52242,-1.28,-146.6,2726,1703,2575,2953,4395.1,-5.0,1235,52247,0.00,2.10,0.00,0.000,516,0.000,0.057,2727,317,2764,2575,2953,0,0,0,0,0,0,26.75,25.96,26.77
$GC,52323,-1.28,-146.6,2727,317,2575,2953,4398.4,-5.0,1236,52328,0.00,2.00,0.00,0.000,1030,0.000,0.042,2727,1704,2764,2575,2953,0,0,0,0,0,0,26.29,26.27,26.31
$GC,52662,-1.33,-146.6,2726,1704,2575,2953,4416.5,-5.0,1242,52664,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1704,2763,2574,2953,0,0,0,0,0,0,26.76,26.77,26.77
$GC,52963,-1.39,-146.6,2726,1704,2575,2953,4431.2,-5.0,1247,52965,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1704,2764,2575,2953,0,0,0,0,0,0,26.70,26.72,26.72
$GC,53262,-1.44,-146.6,2726,1704,2575,2953,4446.2,-5.0,1252,53268,0.05,2.10,0.00,0.000,4612,0.164,0.055,2656,319,2764,2575,2953,0,0,0,0,0,0,26.55,25.96,26.56
$GC,53362,-1.44,-146.6,2656,318,2575,2953,4450.5,-5.4,1253,53367,0.12,2.00,0.00,0.000,3078,0.164,0.042,2690,1709,2764,2575,2953,0,0,0,0,0,0,25.79,26.27,25.88
$GC,53687,-1.44,-146.6,2690,1712,2575,2953,4471.8,-5.6,1259,53688,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1712,2764,2575,2953,0,0,0,0,0,0,26.68,26.71,26.70
$GC,53987,-1.44,-146.6,2690,1712,2574,2953,4488.0,-5.4,1264,53993,0.00,2.12,0.00,0.000,516,0.000,0.057,2691,313,2764,2575,2953,0,0,0,0,0,0,26.75,25.94,26.77
$GC,54085,-1.44,-146.6,2690,313,2575,2953,4491.8,-5.5,1265,54089,0.00,2.00,0.00,0.000,1030,0.000,0.042,2684,1689,2764,2575,2953,0,0,0,0,0,0,26.31,26.29,26.32
$GC,54410,-1.44,-146.6,2684,1689,2575,2953,4512.4,-5.6,1271,54411,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1689,2764,2575,2953,0,0,0,0,0,0,26.68,26.71,26.70
$GC,54709,-1.44,-146.6,2684,1689,2575,2953,4528.8,-5.5,1276,54714,0.00,2.10,0.00,0.000,516,0.000,0.057,2685,317,2764,2575,2953,0,0,0,0,0,0,26.75,25.94,26.77
$GC,54773,-1.44,-146.6,2684,317,2576,2953,4532.3,-5.6,1277,54778,0.00,2.03,0.00,0.000,1030,0.000,0.042,2677,1705,2764,2575,2953,0,0,0,0,0,0,26.29,26.27,26.31
$GC,55133,-1.44,-146.6,2677,1706,2575,2953,4552.6,-5.6,1283,55135,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1706,2763,2574,2953,0,0,0,0,0,0,26.68,26.71,26.70
$GC,55432,-1.44,-146.6,2676,1705,2574,2953,4569.1,-5.5,1288,55438,0.00,2.10,0.00,0.000,516,0.000,0.057,2677,319,2763,2574,2953,0,0,0,0,0,0,26.75,25.94,26.77
$GC,55516,-1.44,-146.6,2677,319,2575,2953,4572.7,-5.6,1289,55520,0.00,2.00,0.00,0.000,1030,0.000,0.042,2671,1697,2764,2575,2953,0,0,0,0,0,0,26.30,26.29,26.32
$GC,55856,-1.44,-146.6,2671,1697,2575,2953,4592.1,-5.3,1295,55857,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1697,2764,2575,2953,0,0,0,0,0,0,26.68,26.71,26.70
$GC,56156,-1.44,-146.6,2671,1697,2575,2953,4607.1,-5.1,1300,56161,0.00,2.08,0.00,0.000,516,0.000,0.057,2671,319,2764,2575,2953,0,0,0,0,0,0,26.75,25.94,26.77
$GC,56228,-1.44,-146.6,2671,318,2575,2953,4610.3,-5.1,1301,56233,0.00,2.03,0.00,0.000,1030,0.000,0.042,2665,1704,2764,2575,2953,0,0,0,0,0,0,26.29,26.28,26.31
$GC,56577,-1.44,-146.6,2665,1703,2575,2953,4629.7,-5.3,1307,56578,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1704,2764,2575,2953,0,0,0,0,0,0,26.75,26.77,26.77
$GC,56877,-1.44,-146.6,2664,1704,2575,2953,4645.4,-5.3,1312,56878,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1704,2764,2575,2953,0,0,0,0,0,0,26.75,26.77,26.77
$GC,57179,-1.44,-146.6,2665,1704,2575,2953,4661.5,-5.3,1317,57184,0.00,2.10,0.00,0.000,516,0.000,0.057,2665,310,2764,2576,2953,0,0,0,0,0,0,26.69,25.94,26.70
$GC,57280,-1.44,-146.6,2665,310,2575,2953,4664.9,-5.4,1318,57284,0.00,2.03,0.00,0.000,1030,0.000,0.042,2658,1699,2763,2575,2952,0,0,0,0,0,0,26.30,26.28,26.31
$GC,57601,-1.44,-146.6,2658,1700,2575,2953,4684.9,-5.5,1324,57602,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1699,2764,2575,2953,0,0,0,0,0,0,26.75,26.77,26.77
$GC,57901,-1.44,-146.6,2657,1699,2575,2953,4701.3,-5.4,1329,57902,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1700,2764,2575,2954,0,0,0,0,0,0,26.75,26.77,26.77
$GC,58199,-1.44,-146.6,2658,1699,2575,2953,4717.2,-5.4,1334,58200,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1700,2764,2575,2953,0,0,0,0,0,0,26.75,26.78,26.77
$GC,58499,-1.44,-146.6,2658,1699,2575,2953,4732.8,-5.1,1339,58500,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1700,2764,2575,2953,0,0,0,0,0,0,26.75,26.77,26.77
$GC,58799,-1.44,-146.6,2658,1699,2575,2953,4747.5,-4.9,1344,58800,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1700,2764,2575,2953,0,0,0,0,0,0,26.75,26.77,26.77
$GC,59099,-1.44,-146.6,2658,1699,2575,2953,4762.3,-4.9,1349,59100,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1700,2764,2575,2953,0,0,0,0,0,0,26.75,26.77,26.77
$GC,59399,-1.44,-146.6,2658,1699,2575,2953,4778.2,-5.4,1354,59405,0.00,2.12,0.00,0.000,516,0.000,0.057,2658,304,2764,2575,2953,0,0,0,0,0,0,26.75,25.94,26.77
$GC,59486,-1.44,-146.6,2658,304,2575,2953,4782.0,-5.6,1355,59491,0.10,2.05,0.00,0.000,3078,0.151,0.042,2686,1715,2763,2574,2953,0,0,0,0,0,0,25.83,26.26,25.86
$GC,59825,-1.44,-146.6,2686,1715,2575,2953,4798.5,-4.3,1361,59826,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1715,2764,2575,2953,0,0,0,0,0,0,26.75,26.77,26.77
$GC,60125,-1.44,-146.6,2686,1716,2575,2953,4811.0,-4.1,1366,60126,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1716,2764,2575,2953,0,0,0,0,0,0,26.75,26.78,26.77
$GC,60425,-1.44,-146.6,2686,1715,2575,2953,4823.3,-4.0,1371,60426,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1716,2764,2575,2953,0,0,0,0,0,0,26.75,26.77,26.77
$GC,60725,-1.44,-146.6,2686,1716,2575,2953,4835.5,-4.1,1376,60726,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1716,2764,2575,2953,0,0,0,0,0,0,26.75,26.78,26.77
$GC,61025,-1.44,-146.6,2686,1716,2575,2953,4847.6,-4.1,1381,61026,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1716,2764,2575,2953,0,0,0,0,0,0,26.75,26.78,26.77
$GC,61325,-1.44,-146.6,2686,1715,2575,2953,4859.8,-4.1,1386,61326,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1716,2764,2575,2954,0,0,0,0,0,0,26.75,26.78,26.77
$STATE,61384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,61384,begin apogee
$GC,61388,-0.24,0.0,2686,1492,2575,2953,4862.3,-4.2,1387,61520,1.12,0.00,129.02,4.236,10246,0.102,0.000,3079,1492,2300,2118,2482,0,0,0,0,0,0,25.41,21.97,19.52
$STATE,61521,end apogee,CONTROL_FINISHED_OK
$STATE,61521,begin climb
$GC,61523,0.65,146.6,3078,1492,2118,2481,4860.6,0.0,1389,61720,0.85,0.00,183.95,4.137,10246,0.070,0.000,3384,1492,1794,1728,1861,0,0,0,0,2,0,22.78,22.01,19.66
$GC,61985,0.16,146.6,3385,1492,1725,1854,4753.3,26.9,1397,61988,0.70,0.00,0.00,0.000,4102,0.209,0.000,3202,1491,1789,1725,1854,0,0,0,0,0,0,24.64,24.98,24.89
$GC,62285,-0.12,146.6,3202,1491,1725,1854,4700.4,17.0,1402,62291,0.20,1.92,0.00,0.000,4612,0.189,0.057,3145,218,1789,1725,1854,0,0,0,0,0,0,25.32,25.53,25.44
$GC,62326,-0.40,146.6,3145,218,1725,1854,4700.4,17.0,1402,62331,0.38,1.88,0.00,0.000,5126,0.164,0.045,3026,1520,1789,1725,1854,0,0,0,0,0,0,25.37,25.80,25.57
$GC,62640,-0.46,146.6,3026,1520,1725,1851,4666.3,8.6,1408,62641,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1520,1787,1724,1851,0,0,0,0,0,0,26.25,26.28,26.27
$GC,62940,-0.51,146.6,3026,1520,1724,1851,4640.8,8.5,1413,62946,0.10,1.95,0.00,0.000,4612,0.179,0.057,2993,217,1788,1725,1851,0,0,0,0,0,0,25.91,26.02,25.96
$GC,62986,-0.57,146.6,2992,217,1724,1852,4640.8,8.5,1413,62990,0.00,1.83,0.00,0.000,1030,0.000,0.045,2993,1496,1787,1724,1851,0,0,0,0,0,0,26.22,26.17,26.23
$GC,63300,-0.57,146.6,2992,1500,1724,1851,4614.7,7.1,1419,63301,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1500,1787,1724,1851,0,0,0,0,0,0,26.47,26.50,26.49
$GC,63600,-0.57,146.6,2992,1500,1724,1851,4594.5,6.8,1424,63601,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1500,1788,1725,1851,0,0,0,0,0,0,26.52,26.55,26.54
$GC,63900,-0.57,146.6,2992,1500,1724,1851,4574.6,6.6,1429,63901,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1500,1787,1724,1851,0,0,0,0,0,0,26.56,26.59,26.58
$GC,64200,-0.57,146.6,2992,1500,1724,1851,4554.9,6.5,1434,64203,0.00,1.95,0.00,0.000,516,0.000,0.062,3000,209,1787,1724,1851,0,0,0,0,0,0,26.60,26.20,26.61
$GC,64248,-0.57,146.6,3000,209,1724,1851,4554.9,6.5,1434,64253,0.10,1.83,0.00,0.000,5126,0.124,0.045,2965,1504,1787,1724,1851,0,0,0,0,0,0,26.08,26.36,26.15
$GC,64562,-0.57,146.6,2964,1507,1724,1851,4535.5,5.1,1440,64563,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1507,1787,1724,1851,0,0,0,0,0,0,26.62,26.65,26.64
$GC,64862,-0.57,146.6,2964,1507,1724,1851,4520.5,5.0,1445,64863,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1507,1787,1724,1851,0,0,0,0,0,0,26.64,26.66,26.66
$GC,65162,-0.57,146.6,2964,1507,1724,1851,4506.5,4.6,1450,65163,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1507,1787,1724,1851,0,0,0,0,0,0,26.65,26.68,26.67
$GC,65462,-0.57,146.6,2964,1507,1724,1851,4493.1,4.4,1455,65467,0.00,1.98,0.00,0.000,260,0.000,0.050,2964,2846,1788,1725,1851,0,0,0,0,0,0,26.67,26.33,26.69
$GC,65503,-0.57,146.6,2964,2846,1724,1851,4493.1,4.4,1455,65507,0.00,2.03,0.00,0.000,1030,0.000,0.047,2967,1507,1787,1724,1851,0,0,0,0,0,0,26.36,26.34,26.38
$GC,65822,-0.57,146.6,2967,1507,1724,1851,4477.4,4.3,1461,65823,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1507,1787,1724,1851,0,0,0,0,0,0,26.67,26.71,26.70
$GC,66122,-0.57,146.6,2967,1507,1724,1851,4464.5,4.3,1466,66123,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1507,1787,1724,1851,0,0,0,0,0,0,26.69,26.72,26.71
$GC,66422,-0.57,146.6,2967,1507,1724,1851,4452.0,4.3,1471,66423,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1507,1787,1724,1851,0,0,0,0,0,0,26.70,26.72,26.72
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$GC,142095,0.79,298.8,3401,1519,1264,1257,168.2,6.1,2976,142096,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1519,1260,1264,1257,0,0,0,0,0,0,26.84,26.87,26.86
$GC,142394,0.79,298.8,3401,1519,1264,1257,147.6,7.5,2992,142395,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1519,1260,1263,1257,0,0,0,0,0,0,26.84,26.87,26.86
$GC,142694,0.79,298.8,3401,1519,1264,1257,125.6,7.3,3022,142704,0.00,1.92,0.00,0.000,516,0.000,0.060,3409,194,1260,1264,1257,0,0,0,0,0,0,26.85,26.41,26.86
$GC,142763,0.79,298.8,3409,193,1264,1256,120.4,8.0,3028,142767,0.00,1.75,0.00,0.000,1030,0.000,0.042,3409,1476,1260,1264,1257,0,0,0,0,0,0,26.65,26.63,26.66
$GC,143076,0.84,298.8,3409,1552,1265,1255,103.3,7.0,3059,143077,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1552,1261,1264,1258,0,0,0,0,0,0,26.85,26.87,26.87
$GC,143376,0.90,298.8,3409,1552,1264,1257,83.7,8.1,3089,143377,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1552,1260,1264,1257,0,0,0,0,0,0,26.85,26.88,26.87
$GC,143676,0.98,298.8,3409,1552,1264,1257,63.5,5.5,3119,143687,0.08,1.95,0.00,0.000,2564,0.124,0.057,3490,201,1260,1264,1257,0,0,0,0,0,0,26.63,26.41,26.65
$GC,143723,0.98,298.8,3489,201,1264,1257,60.0,7.5,3123,143726,0.00,1.77,0.00,0.000,1030,0.000,0.042,3490,1492,1260,1264,1257,0,0,0,0,0,0,26.67,26.64,26.67
$GC,144035,0.98,298.8,3489,1565,1263,1257,36.9,7.2,3154,144045,0.00,1.98,0.00,0.000,516,0.000,0.060,3495,202,1260,1264,1257,0,0,0,0,0,0,26.86,26.42,26.87
$GC,144070,0.98,298.8,3494,202,1264,1257,33.8,8.2,3157,144081,0.10,1.80,0.00,0.000,5126,0.146,0.042,3458,1585,1260,1264,1257,0,0,0,0,0,0,26.36,26.65,26.44
$GC,144381,1.04,298.8,3458,1586,1264,1257,15.2,6.0,3188,144391,0.00,1.85,0.00,0.000,260,0.000,0.050,3458,2896,1260,1264,1257,0,0,0,0,0,0,26.86,26.51,26.88
$GC,144472,1.10,298.8,3458,2896,1264,1258,9.7,6.4,3196,144483,0.05,2.00,0.00,0.000,3078,0.094,0.047,3523,1491,1260,1264,1257,0,0,0,0,0,0,26.42,26.55,26.46
$STATE,144561,end climb,SURFACE_DEPTH_REACHED
$STATE,144561,begin surface coast
$FINISH,1.2,1.009515
$STATE,144593,end surface coast,CONTROL_FINISHED_OK
$STATE,144593,begin surface
$SM_CCo,144668,0.00,0.000,0,0,1260,302.11
$SM_GC,2.32,8.43,0.22,0.00,0.055,0.065,0.000,173,1713,1260,-9.17,-2.57,302.11,0,0,0,0,0,0,26.51,26.69,26.55
$IRIDIUM_FIX,3153.16,-6531.26,130608,172952
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.00
$INTERNAL_PRESSURE,9.07333
$TCM_TEMP,22.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4691.4,199.5
$24V_AH,19.52,29.171
$10V_AH,9.64,18.325
$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,28.050,573.050,495.550,0.000,118.375,24.471,21.597,550.741,43.250,0.000,54.093,9647.129,118946.391,1093.380,15238.054,487.429,0.609,5839.286,0.000,14275.594,0.000,313.164,0.000
$DEVICE_MAMPS,248.300,64.558,4235.998,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2202.049,10455.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329444
$DATA_FILE_SIZE,193267,3208
$CAP_FILE_SIZE,839631,0
$CFSIZE,1024409600,1008664576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$INTR,0,13192.29,0x23577e,0,24
$INTR,1,59401.46,0x23577e,0,24
$GPS,210815,093110,3239.993,-6554.367,39,0.9,79,-15.1,0.7,257.9,9,4.1