version: 66.12
glider: 36
mission: 20
dive: 54
start: 8 23 115 0 28 44
data:
$ID,36
$MISSION,20
$DIVE,54
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$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,4000
$T_MISSION,4060
$T_ABORT,4120
$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,96
$R_STBD_OVSHOOT,77
$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
$GPS1,230815,000945,3252.7183,-6610.3340,32,1.4,72,-15.0,0.2,251.4,7,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-68.3
$GPS2,230815,002815,3252.7451,-6610.4316,16,1.2,56,-15.0,0.5,335.6,8,4.5
$SPEED_LIMITS,0.050,0.191
$TGT_NAME,9010S
$TGT_LATLONG,3905.220,-6921.240
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.016833,0.189869
$KALMAN_X,26846.152344,0.000000,0.000000,-183360.062500,-10525.558594
$KALMAN_Y,4251.294922,0.000000,0.000000,119376.906250,-9103.328125
$MHEAD_RNG_PITCHd_Wd,9.9,742354,-10.0,-5.000,-14.70,4397
$D_GRID,6000
$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,95,-0.53,-146.6,133,1646,2123,2488,3.1,-2.9,7,144,11.12,1.90,-26.80,0.104,18948,0.251,0.057,2978,323,2806,2604,3008,0,0,0,0,0,0,25.61,25.98,25.91
$GC,472,-0.31,-146.6,2978,323,2603,3009,54.8,-10.3,41,483,0.25,1.92,0.00,0.000,3078,0.154,0.045,3053,1759,2805,2603,3008,0,0,0,0,0,0,25.97,26.46,26.06
$GC,782,-0.22,-146.6,3053,1759,2604,3008,69.6,-4.7,72,792,0.00,2.08,0.00,0.000,516,0.000,0.057,3053,330,2805,2603,3008,0,0,0,0,0,0,26.78,26.41,26.79
$GC,975,-0.10,-146.6,3053,330,2603,3008,78.8,-5.0,89,986,0.20,1.90,0.00,0.000,3078,0.144,0.045,3121,1750,2806,2604,3008,0,0,0,0,0,0,26.15,26.60,26.23
$GC,1284,-0.10,-146.6,3120,1750,2604,3008,95.0,-4.8,120,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1750,2806,2604,3008,0,0,0,0,0,0,26.85,26.86,26.86
$GC,1585,-0.10,-146.6,3120,1750,2604,3008,107.7,-3.8,150,1595,0.00,1.88,0.00,0.000,260,0.000,0.055,3113,3055,2806,2604,3008,0,0,0,0,0,0,26.86,26.53,26.88
$GC,1654,-0.10,-146.6,3112,3055,2603,3008,109.9,-2.9,156,1664,0.00,1.88,0.00,0.000,1030,0.000,0.047,3113,1696,2805,2603,3008,0,0,0,0,0,0,26.64,26.62,26.65
$GC,1964,-0.10,-146.6,3113,1696,2604,3008,123.9,-6.8,187,1974,0.00,2.00,0.00,0.000,516,0.000,0.060,3113,305,2805,2603,3008,0,0,0,0,0,0,26.88,26.51,26.89
$GC,2145,-0.10,-146.6,3113,306,2603,3008,134.5,-4.6,203,2149,0.00,1.88,0.00,0.000,1030,0.000,0.045,3108,1698,2806,2604,3008,0,0,0,0,0,0,26.70,26.67,26.71
$GC,2457,-0.10,-146.6,3107,1702,2603,3008,150.1,-6.2,234,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1702,2806,2604,3008,0,0,0,0,0,0,26.89,26.91,26.90
$GC,2757,-0.10,-146.6,3108,1702,2604,3008,166.0,-5.0,249,2762,0.00,1.92,0.00,0.000,260,0.000,0.052,3099,3058,2805,2603,3007,0,0,0,0,0,0,26.88,26.55,26.91
$GC,2821,-0.10,-146.6,3098,3058,2604,3008,169.2,-5.2,252,2826,0.00,1.92,0.00,0.000,1030,0.000,0.045,3099,1698,2805,2603,3008,0,0,0,0,0,0,26.65,26.63,26.65
$GC,3141,-0.10,-146.6,3098,1698,2604,3008,188.1,-6.6,268,3146,0.00,1.98,0.00,0.000,516,0.000,0.057,3099,310,2805,2603,3008,0,0,0,0,0,0,26.89,26.52,26.90
$GC,3210,-0.10,-146.6,3098,310,2603,3008,192.5,-6.6,271,3215,0.00,1.90,0.00,0.000,1030,0.000,0.042,3097,1713,2805,2604,3007,0,0,0,0,0,0,26.67,26.66,26.68
$GC,3524,-0.10,-146.6,3097,1713,2603,3008,213.5,-6.1,287,3530,0.00,1.90,0.00,0.000,260,0.000,0.052,3088,3036,2805,2603,3008,0,0,0,0,0,0,26.89,26.55,26.90
$GC,3594,-0.10,-146.6,3087,3036,2603,3008,217.4,-6.2,290,3598,0.00,1.90,0.00,0.000,1030,0.000,0.045,3087,1695,2805,2603,3008,0,0,0,0,0,0,26.64,26.63,26.65
$GC,3908,-0.10,-146.6,3087,1696,2603,3008,237.2,-6.2,306,3914,0.08,1.95,0.00,0.000,2564,0.171,0.057,3123,323,2806,2604,3008,0,0,0,0,0,0,26.51,26.51,26.53
$GC,3970,-0.10,-146.6,3123,323,2603,3008,240.7,-5.7,309,3976,0.00,1.83,0.00,0.000,1030,0.000,0.045,3122,1698,2806,2604,3008,0,0,0,0,0,0,26.69,26.66,26.70
$GC,4290,-0.10,-146.6,3121,1713,2603,3007,257.1,-5.2,325,4296,0.00,1.92,0.00,0.000,260,0.000,0.052,3120,3038,2805,2603,3007,0,0,0,0,0,0,26.88,26.54,26.90
$GC,4323,-0.15,-146.6,3120,3039,2603,3008,257.8,-5.0,326,4332,0.00,1.90,0.00,0.000,1030,0.000,0.045,3120,1696,2805,2603,3008,0,0,0,0,0,0,26.64,26.63,26.65
$GC,4632,-0.26,-146.6,3120,1696,2603,3007,277.7,-6.6,342,4638,0.08,1.92,0.00,0.000,4612,0.127,0.057,3041,331,2805,2603,3007,0,0,0,0,0,0,26.67,26.51,26.67
$GC,4949,-0.19,-146.6,3040,331,2603,3007,305.2,-9.0,357,4955,0.15,1.83,0.00,0.000,3078,0.151,0.045,3092,1699,2805,2603,3007,0,0,0,0,0,0,26.27,26.65,26.34
$GC,5279,-0.19,-146.6,3092,1699,2603,3006,325.5,-6.0,368,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1699,2804,2603,3006,0,0,0,0,0,0,26.88,26.90,26.89
$GC,5579,-0.19,-146.6,3092,1699,2603,3005,343.9,-5.9,378,5584,0.00,1.92,0.00,0.000,260,0.000,0.052,3084,3052,2804,2603,3005,0,0,0,0,0,0,26.88,26.54,26.89
$GC,5684,-0.19,-146.6,3084,3052,2603,3004,349.5,-6.0,381,5688,0.00,1.92,0.00,0.000,1030,0.000,0.045,3084,1701,2803,2603,3004,0,0,0,0,0,0,26.64,26.62,26.65
$GC,6004,-0.19,-146.6,3084,1701,2603,3004,369.6,-6.0,392,6009,0.00,1.98,0.00,0.000,516,0.000,0.057,3084,317,2803,2603,3004,0,0,0,0,0,0,26.88,26.51,26.90
$GC,6071,-0.19,-146.6,3083,317,2603,3004,373.8,-6.3,394,6076,0.00,1.90,0.00,0.000,1030,0.000,0.042,3079,1697,2803,2603,3004,0,0,0,0,0,0,26.67,26.66,26.68
$GC,6397,-0.19,-146.6,3079,1698,2603,3003,393.7,-5.8,405,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1698,2803,2603,3003,0,0,0,0,0,0,26.88,26.90,26.89
$GC,6695,-0.19,-146.6,3079,1698,2603,3002,410.5,-5.7,415,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1698,2802,2603,3002,0,0,0,0,0,0,26.88,26.90,26.90
$GC,6995,-0.19,-146.6,3079,1698,2603,3002,428.4,-5.9,425,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1698,2802,2603,3002,0,0,0,0,0,0,26.88,26.90,26.89
$GC,7295,-0.19,-146.6,3079,1698,2603,3002,447.2,-6.2,435,7301,0.00,1.95,0.00,0.000,260,0.000,0.052,3071,3063,2802,2603,3001,0,0,0,0,0,0,26.88,26.53,26.89
$GC,7388,-0.19,-146.6,3071,3063,2603,3001,453.8,-6.8,438,7393,0.00,1.90,0.00,0.000,1030,0.000,0.045,3071,1693,2802,2603,3001,0,0,0,0,0,0,26.65,26.62,26.66
$GC,7718,-0.19,-146.6,3071,1692,2603,3001,476.2,-6.9,449,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1692,2801,2602,3001,0,0,0,0,0,0,26.88,26.90,26.89
$GC,8018,-0.19,-146.6,3071,1692,2603,3001,496.1,-6.4,459,8023,0.00,2.00,0.00,0.000,516,0.000,0.057,3071,310,2802,2603,3001,0,0,0,0,0,0,26.88,26.49,26.89
$GC,8110,-0.19,-146.6,3071,310,2603,3001,502.6,-6.7,462,8115,0.00,1.88,0.00,0.000,1030,0.000,0.042,3067,1700,2802,2603,3001,0,0,0,0,0,0,26.68,26.65,26.70
$GC,8442,-0.19,-146.6,3067,1700,2603,3000,523.1,-6.0,473,8447,0.00,1.92,0.00,0.000,260,0.000,0.052,3058,3052,2801,2603,3000,0,0,0,0,0,0,26.88,26.53,26.89
$GC,8550,-0.19,-146.6,3058,3053,2603,3000,528.9,-6.2,476,8554,0.00,1.92,0.00,0.000,1030,0.000,0.045,3059,1704,2801,2603,2999,0,0,0,0,0,0,26.63,26.63,26.64
$GC,8864,-0.19,-146.6,3058,1704,2603,2999,549.4,-6.4,487,8870,0.00,1.98,0.00,0.000,516,0.000,0.057,3058,321,2801,2604,2999,0,0,0,0,0,0,26.88,26.49,26.89
$GC,8938,-0.19,-146.6,3058,322,2603,2999,553.4,-6.5,489,8943,0.10,1.90,0.00,0.000,3078,0.139,0.042,3091,1699,2801,2603,2999,0,0,0,0,0,0,26.33,26.65,26.39
$GC,9257,-0.26,-146.6,3092,1698,2603,2997,570.4,-5.0,500,9262,0.00,1.95,0.00,0.000,260,0.000,0.052,3084,3051,2800,2603,2998,0,0,0,0,0,0,26.88,26.53,26.89
$GC,9320,-0.32,-146.6,3084,3051,2603,2997,573.3,-4.9,502,9325,0.05,1.92,0.00,0.000,5126,0.097,0.045,3022,1698,2800,2603,2997,0,0,0,0,0,0,26.48,26.61,26.51
$GC,9649,-0.32,-146.6,3022,1699,2603,2997,596.6,-6.9,513,9654,0.00,1.98,0.00,0.000,516,0.000,0.057,3022,319,2800,2603,2997,0,0,0,0,0,0,26.87,26.49,26.89
$GC,9733,-0.32,-146.6,3022,319,2603,2997,601.0,-7.1,515,9742,0.00,1.90,0.00,0.000,1030,0.000,0.042,3020,1702,2800,2603,2997,0,0,0,0,0,0,26.64,26.63,26.65
$GC,10042,-0.32,-146.6,3020,1702,2603,2996,627.1,-7.7,526,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1702,2799,2603,2995,0,0,0,0,0,0,26.87,26.89,26.89
$GC,10342,-0.32,-146.6,3020,1702,2603,2995,651.7,-8.6,536,10347,0.00,1.92,0.00,0.000,260,0.000,0.052,3011,3054,2799,2603,2995,0,0,0,0,0,0,26.87,26.52,26.89
$GC,10441,-0.32,-146.6,3011,3054,2603,2994,659.6,-8.4,539,10446,0.10,1.92,0.00,0.000,3078,0.134,0.045,3049,1702,2798,2603,2994,0,0,0,0,0,0,26.32,26.60,26.37
$GC,10765,-0.32,-146.6,3048,1702,2603,2994,683.5,-6.8,550,10771,0.00,2.00,0.00,0.000,516,0.000,0.057,3050,320,2798,2603,2994,0,0,0,0,0,0,26.87,26.48,26.89
$GC,10859,-0.32,-146.6,3048,319,2603,2994,691.0,-8.1,553,10864,0.00,1.85,0.00,0.000,1030,0.000,0.042,3047,1700,2798,2603,2994,0,0,0,0,0,0,26.66,26.63,26.67
$GC,11188,-0.32,-146.6,3046,1701,2602,2993,715.3,-6.9,564,11193,0.00,1.95,0.00,0.000,260,0.000,0.052,3042,3047,2798,2603,2993,0,0,0,0,0,0,26.87,26.51,26.89
$GC,11266,-0.32,-146.6,3041,3047,2602,2991,719.7,-7.2,566,11270,0.00,1.92,0.00,0.000,1030,0.000,0.045,3042,1704,2797,2603,2992,0,0,0,0,0,0,26.61,26.60,26.63
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$GC,64069,-1.36,-146.6,2713,1694,2568,2951,4482.2,-4.4,1504,64074,0.00,2.08,0.00,0.000,516,0.000,0.057,2714,319,2759,2568,2951,0,0,0,0,0,0,26.70,25.85,26.71
$GC,64135,-1.36,-146.6,2713,319,2568,2952,4485.5,-4.6,1505,64139,0.00,2.03,0.00,0.000,1030,0.000,0.042,2708,1720,2759,2568,2951,0,0,0,0,0,0,26.26,26.23,26.27
$GC,64490,-1.36,-146.6,2708,1721,2568,2951,4501.9,-4.6,1511,64491,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1722,2759,2567,2951,0,0,0,0,0,0,26.67,26.69,26.68
$GC,64789,-1.36,-146.6,2708,1721,2568,2951,4515.6,-4.6,1516,64790,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1722,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,65089,-1.36,-146.6,2708,1722,2568,2951,4528.8,-4.3,1521,65094,0.00,2.12,0.00,0.000,516,0.000,0.055,2708,311,2759,2568,2951,0,0,0,0,0,0,26.74,25.85,26.76
$GC,65169,-1.36,-146.6,2708,311,2568,2951,4531.5,-4.3,1522,65173,0.00,2.00,0.00,0.000,1030,0.000,0.042,2702,1688,2760,2568,2952,0,0,0,0,0,0,26.27,26.25,26.28
$GC,65513,-1.36,-146.6,2702,1689,2568,2951,4547.1,-4.2,1528,65514,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1688,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.77
$GC,65813,-1.36,-146.6,2702,1688,2568,2951,4559.4,-4.1,1533,65818,0.00,2.08,0.00,0.000,516,0.000,0.057,2702,314,2759,2568,2951,0,0,0,0,0,0,26.74,25.85,26.77
$GC,65892,-1.36,-146.6,2702,314,2568,2952,4562.2,-4.2,1534,65896,0.00,1.98,0.00,0.000,1030,0.000,0.042,2698,1724,2760,2568,2952,0,0,0,0,0,0,26.27,26.24,26.29
$GC,66230,-1.36,-146.6,2698,1727,2568,2952,4578.0,-4.4,1540,66231,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1727,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,66531,-1.36,-146.6,2698,1727,2568,2951,4591.3,-4.4,1545,66532,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1727,2759,2568,2951,0,0,0,0,0,0,26.66,26.69,26.68
$GC,66830,-1.36,-146.6,2699,1727,2568,2952,4604.5,-4.4,1550,66835,0.00,2.12,0.00,0.000,516,0.000,0.055,2698,314,2760,2568,2952,0,0,0,0,0,0,26.74,25.85,26.76
$GC,66902,-1.36,-146.6,2698,314,2567,2951,4607.4,-4.5,1551,66906,0.00,2.00,0.00,0.000,1030,0.000,0.042,2693,1695,2759,2568,2951,0,0,0,0,0,0,26.27,26.25,26.29
$GC,67251,-1.36,-146.6,2693,1695,2568,2951,4623.1,-4.3,1557,67252,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1696,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,67551,-1.36,-146.6,2693,1696,2568,2952,4636.4,-4.3,1562,67552,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1696,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,67851,-1.36,-146.6,2693,1695,2568,2952,4649.9,-4.5,1567,67852,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1695,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.77
$GC,68153,-1.36,-146.6,2693,1695,2568,2951,4662.4,-4.2,1572,68154,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1695,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,68452,-1.36,-146.6,2693,1695,2568,2951,4674.6,-4.1,1577,68454,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1696,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.77
$GC,68752,-1.36,-146.6,2693,1695,2568,2951,4687.1,-4.2,1582,68754,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1695,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.77
$GC,69051,-1.36,-146.6,2693,1696,2568,2952,4699.7,-4.2,1587,69052,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1696,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,69354,-1.36,-146.6,2693,1695,2568,2951,4712.0,-4.1,1592,69355,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1695,2759,2568,2951,0,0,0,0,0,0,26.70,26.72,26.71
$GC,69651,-1.36,-146.6,2693,1696,2568,2952,4724.3,-4.1,1597,69652,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1695,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,69953,-1.36,-146.6,2693,1695,2568,2952,4736.5,-4.0,1602,69954,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1695,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,70251,-1.36,-146.6,2693,1695,2568,2952,4748.1,-3.8,1607,70252,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1696,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,70551,-1.36,-146.6,2693,1695,2568,2951,4759.2,-3.7,1612,70552,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1695,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,70852,-1.36,-146.6,2693,1695,2568,2952,4770.8,-3.8,1617,70857,0.00,2.10,0.00,0.000,516,0.000,0.055,2693,308,2759,2568,2951,0,0,0,0,0,0,26.66,25.84,26.68
$GC,70973,-1.36,-146.6,2693,307,2567,2952,4775.8,-3.9,1619,70978,0.00,1.95,0.00,0.000,1030,0.000,0.045,2691,1707,2760,2568,2952,0,0,0,0,0,0,26.25,26.23,26.27
$GC,71332,-1.36,-146.6,2691,1707,2568,2951,4788.9,-3.7,1625,71333,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1707,2759,2567,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,71632,-1.36,-146.6,2691,1707,2568,2951,4798.4,-3.2,1630,71633,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1707,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,71933,-1.36,-146.6,2691,1707,2568,2951,4806.3,-2.7,1635,71934,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1707,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,72234,-1.36,-146.6,2691,1707,2568,2951,4814.6,-2.7,1640,72235,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1707,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,72534,-1.36,-146.6,2691,1707,2568,2951,4823.5,-3.0,1645,72535,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1707,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,72834,-1.36,-146.6,2691,1707,2568,2952,4832.0,-2.9,1650,72840,0.00,2.10,0.00,0.000,516,0.000,0.055,2691,317,2760,2568,2952,0,0,0,0,0,0,26.74,25.84,26.76
$GC,72955,-1.36,-146.6,2691,317,2568,2951,4836.0,-3.0,1652,72960,0.00,1.95,0.00,0.000,1030,0.000,0.042,2686,1712,2759,2568,2951,0,0,0,0,0,0,26.26,26.24,26.27
$GC,73315,-1.36,-146.6,2685,1712,2568,2951,4845.9,-2.7,1658,73316,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1712,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,73615,-1.36,-146.6,2686,1713,2568,2951,4853.7,-2.6,1663,73616,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1713,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,73916,-1.36,-146.6,2686,1713,2568,2951,4861.8,-2.8,1668,73917,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1712,2760,2568,2952,0,0,0,0,0,0,26.67,26.70,26.69
$GC,74215,-1.36,-146.6,2686,1713,2568,2951,4870.0,-2.6,1673,74216,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1713,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,74514,-1.36,-146.6,2686,1713,2568,2952,4879.8,-3.3,1678,74520,0.00,2.10,0.00,0.000,516,0.000,0.055,2686,317,2759,2567,2952,0,0,0,0,0,0,26.74,25.84,26.76
$GC,74604,-1.36,-146.6,2686,317,2568,2951,4882.3,-3.6,1679,74609,0.10,2.00,0.00,0.000,3078,0.129,0.042,2717,1691,2760,2568,2952,0,0,0,0,0,0,25.84,26.25,25.86
$GC,74939,-1.44,-146.6,2717,1691,2568,2951,4892.1,-2.5,1685,74940,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1691,2760,2569,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,75240,-1.52,-146.6,2717,1691,2568,2952,4901.4,-3.1,1690,75242,0.10,0.00,0.00,0.000,4102,0.099,0.000,2645,1696,2760,2568,2952,0,0,0,0,0,0,26.45,26.47,26.46
$GC,75538,-1.52,-146.6,2645,1700,2568,2951,4913.2,-3.8,1695,75539,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1700,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,75838,-1.52,-146.6,2645,1700,2568,2951,4926.4,-4.5,1700,75839,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1699,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,76140,-1.52,-146.6,2645,1700,2568,2952,4939.3,-4.3,1705,76145,0.00,2.10,0.00,0.000,516,0.000,0.057,2645,309,2760,2568,2952,0,0,0,0,0,0,26.74,25.82,26.76
$GC,76221,-1.52,-146.6,2645,309,2568,2951,4942.0,-3.9,1706,76225,0.00,2.03,0.00,0.000,1030,0.000,0.042,2640,1701,2759,2567,2952,0,0,0,0,0,0,26.25,26.22,26.25
$GC,76560,-1.52,-146.6,2640,1701,2568,2952,4956.5,-3.9,1712,76565,0.00,2.03,0.00,0.000,260,0.000,0.052,2634,3070,2760,2568,2952,0,0,0,0,0,0,26.74,25.93,26.76
$GC,76647,-1.52,-146.6,2634,3070,2568,2951,4958.6,-3.8,1713,76651,0.00,2.05,0.00,0.000,1030,0.000,0.045,2634,1697,2760,2568,2952,0,0,0,0,0,0,26.15,26.13,26.17
$GC,76981,-1.52,-146.6,2634,1697,2568,2951,4972.7,-3.8,1719,76982,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1697,2759,2568,2951,0,0,0,0,0,0,26.74,26.77,26.76
$GC,77281,-1.52,-146.6,2634,1697,2568,2952,4983.8,-3.6,1724,77282,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1697,2759,2567,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,77581,-1.52,-146.6,2633,1697,2568,2951,4994.9,-3.6,1729,77582,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1697,2760,2568,2952,0,0,0,0,0,0,26.74,26.77,26.76
$GC,77881,-1.52,-146.6,2634,1697,2568,2952,5004.6,-3.1,1734,77885,0.00,2.10,0.00,0.000,516,0.000,0.057,2634,321,2759,2568,2951,0,0,0,0,0,0,26.74,25.81,26.76
$GC,77981,-1.52,-146.6,2634,309,2568,2951,5006.9,-3.1,1735,77986,0.10,2.03,0.00,0.000,3078,0.137,0.042,2666,1713,2760,2568,2952,0,0,0,0,0,0,25.80,26.22,25.82
$STATE,78184,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,78184,begin apogee
$GC,78188,-0.24,0.0,2666,1484,2568,2951,5014.6,-3.1,1739,78319,1.17,0.00,127.57,4.313,10246,0.099,0.000,3077,1484,2299,2115,2484,0,0,0,0,0,0,25.24,21.96,19.39
$STATE,78320,end apogee,CONTROL_FINISHED_OK
$STATE,78320,begin climb
$GC,78321,0.53,146.6,3077,1484,2115,2483,5011.8,0.0,1741,78532,0.75,0.00,196.60,4.251,10246,0.074,0.000,3351,1484,1794,1745,1844,0,0,0,0,2,0,22.75,21.97,19.53
$GC,78785,0.02,146.6,3351,1484,1742,1842,4902.6,27.1,1749,78788,0.73,0.00,0.00,0.000,4102,0.206,0.000,3161,1483,1792,1742,1842,0,0,0,0,0,0,24.60,24.93,24.84
$GC,79085,-0.27,146.6,3161,1483,1742,1842,4852.0,16.4,1754,79087,0.28,0.00,0.00,0.000,4102,0.181,0.000,3078,1483,1792,1742,1842,0,0,0,0,0,0,25.29,25.58,25.50
$GC,79385,-0.47,146.6,3078,1483,1742,1842,4815.3,12.0,1759,79391,0.22,1.88,0.00,0.000,4612,0.169,0.057,3007,226,1792,1742,1842,0,0,0,0,0,0,25.58,25.77,25.68
$GC,79457,-0.64,146.6,3007,227,1742,1842,4809.6,11.4,1760,79462,0.20,1.83,0.00,0.000,5126,0.137,0.045,2942,1536,1792,1742,1842,0,0,0,0,0,0,25.70,26.04,25.84
$GC,79806,-0.64,146.6,2942,1539,1739,1838,4788.3,5.7,1766,79807,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1539,1788,1739,1838,0,0,0,0,0,0,26.40,26.42,26.41
$GC,80106,-0.64,146.6,2942,1539,1738,1837,4771.5,5.7,1771,80107,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1539,1787,1738,1837,0,0,0,0,0,0,26.46,26.49,26.49
$GC,80406,-0.64,146.6,2941,1539,1738,1836,4755.1,5.4,1776,80409,0.00,2.00,0.00,0.000,516,0.000,0.060,2949,219,1787,1738,1836,0,0,0,0,0,0,26.52,26.13,26.54
$GC,80454,-0.64,146.6,2949,218,1738,1836,4755.1,5.4,1776,80459,0.00,1.80,0.00,0.000,1030,0.000,0.042,2950,1506,1786,1737,1836,0,0,0,0,0,0,26.32,26.30,26.35
$GC,80768,-0.64,146.6,2949,1509,1738,1836,4733.6,6.0,1782,80769,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1510,1786,1737,1836,0,0,0,0,0,0,26.57,26.59,26.58
$GC,81068,-0.64,146.6,2949,1510,1737,1836,4717.5,5.5,1787,81069,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1510,1786,1737,1836,0,0,0,0,0,0,26.60,26.62,26.62
$GC,81368,-0.64,146.6,2950,1510,1738,1836,4702.1,5.1,1792,81369,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1510,1786,1737,1836,0,0,0,0,0,0,26.62,26.65,26.64
$GC,81668,-0.64,146.6,2949,1510,1738,1836,4686.9,5.1,1797,81669,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1509,1786,1737,1836,0,0,0,0,0,0,26.64,26.66,26.66
$GC,81968,-0.64,146.6,2950,1509,1737,1836,4671.3,5.2,1802,81969,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1510,1787,1738,1836,0,0,0,0,0,0,26.65,26.67,26.67
$GC,82268,-0.64,146.6,2950,1510,1737,1836,4656.6,4.8,1807,82269,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1510,1786,1737,1836,0,0,0,0,0,0,26.67,26.70,26.69
$GC,82568,-0.64,146.6,2949,1509,1737,1836,4641.2,5.1,1812,82569,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1509,1786,1737,1836,0,0,0,0,0,0,26.67,26.70,26.70
$GC,82868,-0.64,146.6,2949,1510,1738,1836,4626.7,4.9,1817,82869,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1509,1786,1737,1836,0,0,0,0,0,0,26.69,26.71,26.71
$GC,83168,-0.64,146.6,2949,1510,1737,1836,4612.1,4.9,1822,83169,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1509,1786,1737,1836,0,0,0,0,0,0,26.70,26.72,26.72
$GC,83468,-0.64,146.6,2949,1510,1737,1836,4597.9,4.8,1827,83469,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1509,1786,1737,1836,0,0,0,0,0,0,26.70,26.73,26.72
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$STATE,172707,end climb,SURFACE_DEPTH_REACHED
$STATE,172708,begin surface coast
$FINISH,1.7,1.023285
$STATE,172720,end surface coast,CONTROL_FINISHED_OK
$STATE,172721,begin surface
$SM_CCo,172797,0.00,0.000,0,0,1086,352.65
$SM_GC,2.09,8.43,1.77,0.00,0.057,0.042,0.000,195,1696,1086,-9.11,1.44,352.65,0,0,0,0,0,0,26.46,26.55,26.51
$IRIDIUM_FIX,3226.28,-6554.97,160608,230040
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.12
$INTERNAL_PRESSURE,9.0538
$TCM_TEMP,22.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,4932.3,111.3
$24V_AH,19.39,30.322
$10V_AH,9.61,19.246
$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,28.500,783.400,552.425,0.000,101.550,25.085,40.252,770.755,49.500,0.000,56.812,11458.929,141384.172,1228.283,19104.846,614.738,0.610,7403.444,0.000,17799.000,0.000,356.915,0.000
$DEVICE_MAMPS,250.783,79.456,4312.971,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2545.631,12081.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329412
$DATA_FILE_SIZE,223542,3707
$CAP_FILE_SIZE,1041958,1
$CFSIZE,1024409600,1007779840
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,14265.88,0x23577e,0,24
$INTR,1,29628.80,0x235780,0,24
$GPS,250815,003044,3313.887,-6616.046,41,1.3,81,-15.0,0.5,297.8,7,5.1