version: 66.12
glider: 36
mission: 20
dive: 65
start: 9 12 115 15 12 56
data:
$ID,36
$MISSION,20
$DIVE,65
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$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,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,12
$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,63
$R_STBD_OVSHOOT,155
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2340
$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,1
$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
$GPS1,120915,142146,3509.0015,-6700.9478,39,1.0,81,-15.2,1.1,82.0,10,3.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-63.7
$GPS2,120915,151228,3508.5398,-6700.1807,14,1.1,54,-15.2,0.9,180.7,9,4.4
$SPEED_LIMITS,0.137,0.191
$TGT_NAME,9020N
$TGT_LATLONG,3639.480,-6744.400
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.151801,0.115288
$KALMAN_X,130328.718750,0.000000,0.000000,-318531.625000,32153.468750
$KALMAN_Y,-67337.539062,0.000000,0.000000,404316.906250,-20093.242188
$MHEAD_RNG_PITCHd_Wd,0.2,180781,-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,85,-0.53,-146.6,130,1559,1909,2347,3.1,-1.6,6,147,11.00,1.90,-45.30,0.104,18948,0.248,0.057,2973,301,2847,2853,2842,0,0,0,0,1,0,25.70,26.17,25.86
$GC,359,-0.25,-146.6,2973,301,2853,2842,41.5,-18.6,30,365,0.30,1.90,0.00,0.000,3078,0.159,0.045,3064,1652,2847,2853,2842,0,0,0,0,0,0,25.97,26.52,26.25
$GC,674,-0.16,-146.6,3064,1652,2854,2841,75.1,-8.3,51,680,0.08,2.00,0.00,0.000,2308,0.196,0.050,3089,3069,2847,2853,2842,0,0,0,0,0,0,26.39,26.46,26.41
$GC,919,-0.16,-146.6,3089,3069,2853,2841,90.9,-5.5,66,925,0.00,2.00,0.00,0.000,1030,0.000,0.045,3089,1663,2847,2853,2842,0,0,0,0,0,0,26.61,26.59,26.63
$GC,1234,-0.16,-146.6,3089,1663,2853,2842,106.4,-4.9,87,1239,0.00,1.95,0.00,0.000,516,0.000,0.060,3089,316,2847,2853,2841,0,0,0,0,0,0,26.87,26.51,26.89
$GC,1432,-0.16,-146.6,3089,316,2853,2842,118.3,-6.4,99,1437,0.00,1.92,0.00,0.000,1030,0.000,0.042,3082,1716,2847,2853,2841,0,0,0,0,0,0,26.68,26.67,26.69
$GC,1748,-0.16,-146.6,3082,1719,2853,2841,138.8,-5.6,120,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1719,2847,2853,2841,0,0,0,0,0,0,26.88,26.90,26.90
$GC,2046,-0.16,-146.6,3082,1719,2853,2841,155.2,-5.2,137,2052,0.00,1.92,0.00,0.000,260,0.000,0.052,3072,3062,2847,2853,2841,0,0,0,0,0,0,26.89,26.55,26.90
$GC,2151,-0.16,-146.6,3072,3062,2853,2842,160.6,-5.8,140,2156,0.00,1.92,0.00,0.000,1030,0.000,0.045,3073,1701,2847,2853,2841,0,0,0,0,0,0,26.65,26.63,26.66
$GC,2472,-0.16,-146.6,3072,1701,2853,2841,182.2,-6.6,151,2476,0.00,1.98,0.00,0.000,516,0.000,0.060,3072,324,2847,2853,2842,0,0,0,0,0,0,26.89,26.51,26.90
$GC,2649,-0.16,-146.6,3072,324,2853,2841,194.5,-7.9,156,2653,0.00,1.85,0.00,0.000,1030,0.000,0.045,3071,1715,2847,2853,2841,0,0,0,0,0,0,26.70,26.67,26.70
$GC,2958,-0.16,-146.6,3071,1718,2852,2841,220.1,-7.9,166,2964,0.00,1.90,0.00,0.000,260,0.000,0.052,3063,3058,2847,2853,2841,0,0,0,0,0,0,26.88,26.55,26.90
$GC,3019,-0.16,-146.6,3062,3058,2853,2841,224.8,-7.7,168,3025,0.08,1.88,0.00,0.000,3078,0.171,0.045,3098,1689,2847,2853,2841,0,0,0,0,0,0,26.36,26.63,26.41
$GC,3351,-0.16,-146.6,3097,1689,2853,2841,245.3,-5.9,179,3356,0.00,1.95,0.00,0.000,516,0.000,0.057,3098,329,2847,2853,2841,0,0,0,0,0,0,26.88,26.50,26.89
$GC,3442,-0.16,-146.6,3098,329,2853,2841,251.2,-6.5,182,3449,0.00,1.83,0.00,0.000,1030,0.000,0.042,3095,1695,2847,2853,2841,0,0,0,0,0,0,26.71,26.69,26.72
$GC,3773,-0.16,-146.6,3094,1695,2853,2841,270.0,-5.6,193,3779,0.00,1.98,0.00,0.000,516,0.000,0.057,3095,326,2847,2853,2841,0,0,0,0,0,0,26.87,26.51,26.89
$GC,3825,-0.16,-146.6,3095,327,2853,2841,271.9,-5.5,194,3834,0.00,1.90,0.00,0.000,1030,0.000,0.042,3094,1724,2847,2853,2841,0,0,0,0,0,0,26.67,26.65,26.68
$GC,4135,-0.16,-146.6,3094,1728,2853,2841,292.2,-6.0,205,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1728,2847,2853,2841,0,0,0,0,0,0,26.88,26.89,26.89
$GC,4464,-0.16,-146.6,3094,1728,2853,2841,311.7,-6.0,214,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1728,2847,2853,2841,0,0,0,0,0,0,26.87,26.89,26.89
$GC,4780,-0.16,-146.6,3094,1728,2853,2840,330.9,-6.2,221,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1728,2846,2853,2840,0,0,0,0,0,0,26.87,26.89,26.89
$GC,5094,-0.16,-146.6,3094,1728,2851,2839,351.4,-6.5,228,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1728,2845,2851,2839,0,0,0,0,0,0,26.86,26.89,26.89
$GC,5410,-0.21,-146.6,3094,1728,2851,2839,370.6,-5.9,235,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1728,2844,2851,2838,0,0,0,0,0,0,26.87,26.89,26.89
$GC,5725,-0.26,-146.6,3094,1728,2850,2838,387.8,-5.4,242,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1728,2844,2850,2838,0,0,0,0,0,0,26.87,26.89,26.89
$GC,6040,-0.32,-146.6,3094,1728,2849,2837,405.4,-5.5,249,6042,0.08,0.00,0.00,0.000,4102,0.117,0.000,3010,1731,2843,2849,2837,0,0,0,0,0,0,26.69,26.71,26.70
$GC,6355,-0.27,-146.6,3010,1731,2849,2836,433.0,-9.1,256,6357,0.15,0.00,0.00,0.000,2054,0.142,0.000,3064,1731,2842,2848,2836,0,0,0,0,0,0,26.37,26.50,26.46
$GC,6669,-0.27,-146.6,3064,1731,2848,2836,456.6,-7.3,263,6675,0.00,2.00,0.00,0.000,516,0.000,0.057,3065,342,2841,2848,2835,0,0,0,0,0,0,26.86,26.48,26.89
$GC,6737,-0.27,-146.6,3064,341,2848,2835,460.2,-7.5,264,6741,0.00,1.85,0.00,0.000,1030,0.000,0.042,3061,1678,2841,2848,2835,0,0,0,0,0,0,26.70,26.67,26.71
$GC,7075,-0.27,-146.6,3061,1678,2848,2835,486.1,-7.0,272,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1678,2841,2847,2835,0,0,0,0,0,0,26.86,26.89,26.89
$GC,7390,-0.27,-146.6,3061,1678,2847,2834,508.5,-7.1,279,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1678,2840,2846,2834,0,0,0,0,0,0,26.86,26.89,26.89
$GC,7705,-0.27,-146.6,3061,1678,2846,2834,529.0,-6.3,286,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1678,2840,2846,2834,0,0,0,0,0,0,26.86,26.89,26.88
$GC,8021,-0.27,-146.6,3061,1678,2846,2834,549.2,-6.3,293,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1678,2839,2846,2833,0,0,0,0,0,0,26.86,26.89,26.88
$GC,8335,-0.27,-146.6,3061,1678,2845,2833,570.3,-6.8,300,8340,0.00,2.00,0.00,0.000,260,0.000,0.052,3058,3058,2839,2845,2833,0,0,0,0,0,0,26.86,26.50,26.88
$GC,8437,-0.27,-146.6,3057,3058,2845,2832,576.7,-6.8,302,8442,0.00,1.92,0.00,0.000,1030,0.000,0.045,3058,1706,2838,2845,2832,0,0,0,0,0,0,26.61,26.59,26.62
$GC,8747,-0.27,-146.6,3058,1706,2845,2832,599.1,-7.1,309,8752,0.00,2.00,0.00,0.000,516,0.000,0.057,3058,320,2838,2845,2832,0,0,0,0,0,0,26.86,26.46,26.88
$GC,8891,-0.27,-146.6,3058,320,2844,2832,609.6,-7.5,312,8895,0.00,1.92,0.00,0.000,1030,0.000,0.042,3057,1756,2838,2844,2832,0,0,0,0,0,0,26.65,26.62,26.66
$GC,9200,-0.27,-146.6,3057,1761,2844,2832,631.0,-6.5,319,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1762,2838,2844,2832,0,0,0,0,0,0,26.86,26.89,26.88
$GC,9515,-0.27,-146.6,3057,1762,2844,2831,651.0,-6.4,326,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1762,2837,2844,2831,0,0,0,0,0,0,26.86,26.88,26.87
$GC,9830,-0.27,-146.6,3057,1761,2843,2831,671.0,-6.4,333,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1761,2837,2843,2831,0,0,0,0,0,0,26.86,26.88,26.87
$GC,10145,-0.27,-146.6,3057,1761,2843,2830,691.6,-6.3,340,10149,0.00,2.10,0.00,0.000,516,0.000,0.057,3057,322,2836,2843,2830,0,0,0,0,0,0,26.85,26.44,26.87
$GC,10195,-0.27,-146.6,3057,323,2842,2830,694.8,-6.4,341,10200,0.00,1.92,0.00,0.000,1030,0.000,0.042,3057,1716,2836,2842,2830,0,0,0,0,0,0,26.63,26.62,26.64
$GC,10510,-0.27,-146.6,3057,1718,2842,2830,714.9,-6.3,348,10514,0.00,1.90,0.00,0.000,260,0.000,0.052,3051,3045,2836,2842,2830,0,0,0,0,0,0,26.85,26.48,26.86
$GC,10580,-0.27,-146.6,3051,3045,2842,2829,718.1,-6.4,349,10585,0.00,1.92,0.00,0.000,1030,0.000,0.045,3051,1704,2836,2842,2830,0,0,0,0,0,0,26.59,26.57,26.60
$GC,10920,-0.27,-146.6,3051,1704,2840,2829,742.8,-6.9,357,10925,0.00,1.98,0.00,0.000,516,0.000,0.057,3051,327,2834,2840,2829,0,0,0,0,0,0,26.85,26.44,26.86
$GC,11074,-0.27,-146.6,3051,327,2840,2829,753.8,-7.8,360,11079,0.00,1.90,0.00,0.000,1030,0.000,0.042,3051,1698,2834,2840,2829,0,0,0,0,0,0,26.63,26.61,26.63
$GC,11418,-0.27,-146.6,3050,1698,2839,2829,782.2,-7.8,368,11423,0.00,1.95,0.00,0.000,260,0.000,0.052,3044,3055,2834,2839,2829,0,0,0,0,0,0,26.84,26.46,26.86
$GC,11499,-0.27,-146.6,3044,3055,2839,2829,786.4,-8.0,369,11504,0.00,1.95,0.00,0.000,1030,0.000,0.045,3044,1700,2834,2839,2829,0,0,0,0,0,0,26.58,26.56,26.59
$GC,11828,-0.27,-146.6,3043,1700,2838,2828,816.7,-8.3,377,11834,0.00,1.98,0.00,0.000,516,0.000,0.057,3044,327,2833,2838,2828,0,0,0,0,0,0,26.84,26.41,26.86
$GC,11890,-0.27,-146.6,3043,327,2838,2829,820.6,-8.4,378,11894,0.00,1.90,0.00,0.000,1030,0.000,0.042,3044,1700,2833,2838,2828,0,0,0,0,0,0,26.62,26.60,26.63
$GC,12234,-0.27,-146.6,3044,1700,2837,2828,847.7,-7.1,386,12239,0.00,1.95,0.00,0.000,260,0.000,0.052,3044,3057,2832,2837,2828,0,0,0,0,0,0,26.84,26.45,26.86
$GC,12291,-0.27,-146.6,3043,3056,2837,2827,850.9,-7.0,387,12296,0.00,1.95,0.00,0.000,1030,0.000,0.045,3044,1700,2832,2837,2827,0,0,0,0,0,0,26.57,26.55,26.58
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$GC,51854,-1.33,-146.6,2726,1713,2805,2804,4035.7,-7.0,742,51858,0.00,2.15,0.00,0.000,516,0.000,0.055,2726,306,2804,2805,2804,0,0,0,0,0,0,26.64,25.71,26.66
$GC,51927,-1.33,-146.6,2726,306,2805,2804,4035.7,-7.0,742,51932,0.00,2.05,0.00,0.000,1030,0.000,0.042,2721,1703,2804,2805,2804,0,0,0,0,0,0,26.20,26.18,26.22
$GC,52336,-1.33,-146.6,2720,1704,2805,2804,4068.9,-6.8,746,52338,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1704,2804,2805,2804,0,0,0,0,0,0,26.72,26.75,26.74
$GC,52699,-1.33,-146.6,2720,1704,2805,2804,4093.3,-6.8,749,52700,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1704,2804,2805,2804,0,0,0,0,0,0,26.67,26.70,26.69
$GC,53058,-1.33,-146.6,2720,1704,2805,2804,4118.6,-6.9,752,53059,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1704,2804,2805,2804,0,0,0,0,0,0,26.65,26.67,26.67
$GC,53417,-1.33,-146.6,2720,1704,2805,2804,4143.9,-7.1,755,53422,0.00,2.12,0.00,0.000,516,0.000,0.055,2720,313,2804,2805,2804,0,0,0,0,0,0,26.64,25.70,26.65
$GC,53471,-1.33,-146.6,2720,313,2805,2804,4143.9,-7.1,755,53476,0.00,2.03,0.00,0.000,1030,0.000,0.042,2718,1701,2805,2806,2804,0,0,0,0,0,0,26.19,26.17,26.20
$GC,53782,-1.33,-146.6,2718,1701,2805,2804,4170.6,-7.3,758,53783,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1701,2805,2806,2804,0,0,0,0,0,0,26.64,26.66,26.65
$GC,54143,-1.33,-146.6,2718,1701,2805,2804,4195.3,-6.9,761,54145,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1701,2804,2805,2804,0,0,0,0,0,0,26.67,26.70,26.70
$GC,54500,-1.33,-146.6,2718,1701,2805,2804,4219.0,-6.6,764,54502,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1700,2804,2805,2804,0,0,0,0,0,0,26.72,26.75,26.74
$GC,54862,-1.33,-146.6,2718,1701,2806,2804,4241.6,-6.3,767,54863,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1701,2804,2805,2804,0,0,0,0,0,0,26.63,26.66,26.65
$GC,55222,-1.33,-146.6,2718,1701,2805,2804,4263.6,-6.1,770,55223,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1701,2805,2806,2804,0,0,0,0,0,0,26.64,26.66,26.65
$GC,55584,-1.33,-146.6,2718,1701,2805,2804,4283.8,-5.7,773,55585,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1701,2804,2805,2804,0,0,0,0,0,0,26.67,26.70,26.70
$GC,55942,-1.33,-146.6,2718,1701,2806,2804,4303.7,-5.5,776,55946,0.00,2.12,0.00,0.000,516,0.000,0.055,2719,316,2805,2806,2804,0,0,0,0,0,0,26.63,25.69,26.65
$GC,56020,-1.33,-146.6,2718,316,2805,2804,4303.7,-5.5,776,56025,0.00,2.03,0.00,0.000,1030,0.000,0.042,2718,1703,2804,2805,2804,0,0,0,0,0,0,26.18,26.17,26.19
$GC,56427,-1.33,-146.6,2719,1704,2805,2804,4330.3,-5.5,780,56428,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1704,2804,2805,2804,0,0,0,0,0,0,26.67,26.69,26.68
$GC,56785,-1.33,-146.6,2718,1704,2806,2804,4349.6,-5.3,783,56786,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1704,2804,2805,2804,0,0,0,0,0,0,26.72,26.75,26.74
$GC,57145,-1.33,-146.6,2718,1704,2805,2804,4369.0,-5.4,786,57146,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1704,2804,2805,2804,0,0,0,0,0,0,26.72,26.75,26.74
$GC,57504,-1.33,-146.6,2718,1704,2806,2804,4388.6,-5.4,789,57506,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1704,2804,2805,2804,0,0,0,0,0,0,26.72,26.75,26.74
$GC,57864,-1.33,-146.6,2718,1704,2805,2804,4408.4,-5.5,792,57871,0.00,2.12,0.00,0.000,516,0.000,0.057,2718,311,2804,2805,2804,0,0,0,0,0,0,26.72,25.67,26.74
$GC,57932,-1.33,-146.6,2718,310,2805,2804,4408.4,-5.5,792,57936,0.00,2.00,0.00,0.000,1030,0.000,0.042,2718,1716,2805,2806,2804,0,0,0,0,0,0,26.20,26.15,26.20
$GC,58342,-1.33,-146.6,2718,1719,2805,2804,4433.9,-5.4,796,58343,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1719,2804,2805,2804,0,0,0,0,0,0,26.65,26.67,26.67
$GC,58701,-1.33,-146.6,2718,1719,2806,2804,4451.5,-5.0,799,58702,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1719,2804,2805,2804,0,0,0,0,0,0,26.63,26.65,26.65
$GC,59060,-1.33,-146.6,2718,1719,2805,2804,4468.4,-4.7,802,59066,0.00,2.12,0.00,0.000,516,0.000,0.057,2718,315,2804,2805,2804,0,0,0,0,0,0,26.72,25.66,26.74
$GC,59121,-1.33,-146.6,2718,315,2806,2804,4468.4,-4.7,802,59126,0.00,2.00,0.00,0.000,1030,0.000,0.042,2718,1691,2805,2806,2805,0,0,0,0,0,0,26.18,26.17,26.20
$GC,59542,-1.33,-146.6,2718,1691,2805,2804,4491.0,-4.7,806,59544,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1691,2804,2805,2804,0,0,0,0,0,0,26.66,26.69,26.68
$GC,59901,-1.38,-146.6,2718,1691,2805,2804,4507.6,-4.6,809,59902,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1691,2805,2806,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,60263,-1.43,-146.6,2718,1691,2805,2804,4524.7,-4.7,812,60264,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1691,2804,2805,2804,0,0,0,0,0,0,26.67,26.70,26.69
$GC,60621,-1.49,-146.6,2718,1690,2805,2805,4541.6,-4.7,815,60623,0.08,0.00,0.00,0.000,4102,0.119,0.000,2644,1693,2804,2805,2804,0,0,0,0,0,0,26.43,26.45,26.44
$GC,60981,-1.49,-146.6,2644,1693,2805,2804,4564.5,-6.0,818,60986,0.00,2.10,0.00,0.000,516,0.000,0.057,2644,315,2804,2805,2804,0,0,0,0,0,0,26.63,25.65,26.65
$GC,61081,-1.49,-146.6,2644,315,2805,2804,4564.5,-6.0,818,61086,0.10,2.03,0.00,0.000,3078,0.139,0.042,2673,1701,2804,2805,2804,0,0,0,0,0,0,25.72,26.16,25.74
$GC,61462,-1.49,-146.6,2673,1701,2805,2804,4592.9,-5.8,822,61463,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1701,2804,2805,2804,0,0,0,0,0,0,26.65,26.67,26.66
$GC,61821,-1.49,-146.6,2673,1701,2805,2804,4611.6,-5.3,825,61822,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1701,2805,2806,2804,0,0,0,0,0,0,26.63,26.65,26.65
$GC,62182,-1.49,-146.6,2673,1701,2805,2804,4630.2,-5.1,828,62184,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1701,2805,2806,2804,0,0,0,0,0,0,26.66,26.69,26.68
$GC,62540,-1.49,-146.6,2673,1701,2805,2804,4648.3,-5.1,831,62541,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1701,2804,2805,2804,0,0,0,0,0,0,26.71,26.75,26.74
$GC,62900,-1.49,-146.6,2673,1702,2806,2804,4666.0,-4.9,834,62906,0.00,2.10,0.00,0.000,516,0.000,0.057,2673,321,2804,2805,2804,0,0,0,0,0,0,26.72,25.65,26.74
$GC,62991,-1.49,-146.6,2673,321,2805,2804,4666.0,-4.9,834,62996,0.00,2.03,0.00,0.000,1030,0.000,0.042,2668,1746,2805,2806,2804,0,0,0,0,0,0,26.19,26.15,26.20
$GC,63380,-1.49,-146.6,2668,1750,2806,2804,4689.9,-5.0,838,63381,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1750,2805,2806,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,63740,-1.49,-146.6,2668,1750,2806,2804,4707.8,-5.0,841,63746,0.00,2.17,0.00,0.000,516,0.000,0.057,2668,313,2804,2805,2804,0,0,0,0,0,0,26.72,25.63,26.74
$GC,63861,-1.49,-146.6,2668,313,2805,2804,4714.3,-5.1,842,63868,0.00,1.98,0.00,0.000,1030,0.000,0.042,2665,1699,2804,2805,2804,0,0,0,0,0,0,26.16,26.15,26.17
$GC,64223,-1.49,-146.6,2664,1699,2805,2804,4732.5,-5.1,845,64224,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1699,2804,2805,2804,0,0,0,0,0,0,26.63,26.66,26.65
$GC,64584,-1.49,-146.6,2664,1699,2805,2804,4750.9,-5.1,848,64585,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1700,2804,2805,2804,0,0,0,0,0,0,26.66,26.68,26.67
$GC,64941,-1.49,-146.6,2664,1699,2805,2806,4768.9,-5.0,851,64948,0.00,2.10,0.00,0.000,516,0.000,0.055,2664,319,2804,2805,2804,0,0,0,0,0,0,26.72,25.65,26.74
$GC,65009,-1.49,-146.6,2664,318,2805,2804,4768.9,-5.0,851,65013,0.00,1.98,0.00,0.000,1030,0.000,0.042,2664,1708,2804,2805,2804,0,0,0,0,0,0,26.19,26.15,26.20
$GC,65419,-1.49,-146.6,2663,1709,2805,2804,4792.9,-5.0,855,65420,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1709,2804,2805,2804,0,0,0,0,0,0,26.64,26.67,26.65
$GC,65777,-1.49,-146.6,2662,1709,2805,2804,4809.8,-4.8,858,65781,0.00,2.15,0.00,0.000,516,0.000,0.057,2663,306,2804,2805,2804,0,0,0,0,0,0,26.72,25.64,26.74
$GC,65851,-1.49,-146.6,2663,306,2805,2804,4809.8,-4.8,858,65855,0.00,2.03,0.00,0.000,1030,0.000,0.042,2663,1693,2804,2805,2804,0,0,0,0,0,0,26.17,26.15,26.18
$GC,66261,-1.49,-146.6,2663,1693,2806,2804,4833.0,-4.8,862,66262,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1693,2804,2804,2804,0,0,0,0,0,0,26.62,26.65,26.64
$GC,66621,-1.49,-146.6,2663,1693,2805,2804,4850.1,-4.7,865,66626,0.00,2.10,0.00,0.000,516,0.000,0.057,2664,316,2804,2805,2804,0,0,0,0,0,0,26.63,25.63,26.64
$GC,66711,-1.49,-146.6,2663,315,2805,2804,4850.1,-4.7,865,66715,0.00,1.98,0.00,0.000,1030,0.000,0.042,2663,1703,2805,2806,2804,0,0,0,0,0,0,26.19,26.15,26.20
$GC,67102,-1.49,-146.6,2663,1702,2805,2804,4872.5,-4.6,869,67103,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1702,2804,2806,2803,0,0,0,0,0,0,26.64,26.66,26.65
$GC,67460,-1.49,-146.6,2663,1702,2805,2804,4888.8,-4.6,872,67464,0.00,2.12,0.00,0.000,516,0.000,0.055,2664,316,2805,2806,2804,0,0,0,0,0,0,26.72,25.63,26.74
$GC,67544,-1.49,-146.6,2663,316,2805,2804,4888.8,-4.6,872,67548,0.00,1.98,0.00,0.000,1030,0.000,0.042,2663,1703,2804,2805,2804,0,0,0,0,0,0,26.18,26.15,26.20
$GC,67945,-1.49,-146.6,2663,1704,2803,2804,4910.9,-4.6,876,67946,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2804,2805,2804,0,0,0,0,0,0,26.65,26.68,26.67
$GC,68303,-1.49,-146.6,2663,1704,2806,2804,4926.8,-4.4,879,68304,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1704,2804,2805,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,68666,-1.49,-146.6,2663,1704,2805,2804,4942.9,-4.5,882,68667,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2805,2806,2804,0,0,0,0,0,0,26.67,26.69,26.68
$GC,69023,-1.49,-146.6,2663,1704,2805,2804,4958.9,-4.5,885,69024,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1704,2805,2806,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,69385,-1.49,-146.6,2663,1704,2805,2804,4974.7,-4.4,888,69386,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1704,2804,2805,2804,0,0,0,0,0,0,26.66,26.68,26.67
$GC,69744,-1.49,-146.6,2663,1704,2806,2804,4990.2,-4.3,891,69745,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2804,2805,2804,0,0,0,0,0,0,26.62,26.65,26.64
$GC,70103,-1.49,-146.6,2663,1703,2806,2804,5004.8,-4.2,894,70105,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2805,2806,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,70463,-1.49,-146.6,2663,1704,2805,2804,5019.2,-4.0,897,70464,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2804,2805,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,70824,-1.49,-146.6,2663,1704,2805,2804,5033.0,-3.8,900,70825,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1704,2804,2805,2804,0,0,0,0,0,0,26.63,26.65,26.64
$GC,71183,-1.49,-146.6,2663,1704,2806,2804,5046.8,-3.8,903,71184,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2804,2805,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,71543,-1.49,-146.6,2663,1704,2805,2804,5060.1,-3.7,906,71544,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1704,2804,2805,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,71903,-1.49,-146.6,2661,1703,2806,2804,5073.3,-3.7,909,71904,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1704,2805,2806,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,72263,-1.49,-146.6,2663,1703,2805,2802,5085.9,-3.5,912,72269,0.00,2.03,0.00,0.000,260,0.000,0.052,2655,3070,2804,2805,2804,0,0,0,0,0,0,26.72,25.80,26.74
$GC,72331,-1.49,-146.6,2655,3070,2805,2804,5085.9,-3.5,912,72335,0.00,2.00,0.00,0.000,1030,0.000,0.045,2656,1697,2805,2806,2804,0,0,0,0,0,0,26.08,26.03,26.09
$GC,72739,-1.49,-146.6,2655,1697,2806,2807,5103.2,-3.6,916,72744,0.00,2.10,0.00,0.000,516,0.000,0.057,2656,314,2805,2806,2805,0,0,0,0,0,0,26.72,25.61,26.74
$GC,72886,-1.49,-146.6,2655,315,2805,2804,5108.1,-3.7,917,72891,0.00,2.03,0.00,0.000,1030,0.000,0.042,2653,1699,2804,2805,2804,0,0,0,0,0,0,26.17,26.15,26.18
$GC,73220,-1.49,-146.6,2653,1699,2805,2804,5122.4,-4.0,920,73221,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1699,2805,2806,2804,0,0,0,0,0,0,26.72,26.74,26.74
$GC,73580,-1.49,-146.6,2653,1699,2805,2804,5136.4,-3.9,923,73581,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1699,2805,2806,2804,0,0,0,0,0,0,26.72,26.74,26.74
$STATE,73819,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,73819,begin apogee
$GC,73823,-0.24,0.0,2653,1504,2805,2804,5145.4,-3.8,925,73953,1.23,0.00,125.80,4.373,10246,0.097,0.000,3077,1502,2339,2322,2357,0,0,0,0,0,0,24.89,22.11,19.60
$STATE,73954,end apogee,CONTROL_FINISHED_OK
$STATE,73954,begin climb
$GC,73955,0.53,146.6,3076,1502,2321,2356,5144.9,0.0,926,74198,0.70,2.33,232.25,4.452,10756,0.079,0.082,3350,208,1829,1833,1826,0,0,0,0,0,0,22.85,22.19,19.59
$GC,74282,0.53,146.6,3350,209,1802,1806,5105.4,22.4,928,74287,0.00,2.00,0.00,0.000,1030,0.000,0.035,3350,1491,1804,1802,1806,0,0,0,0,0,0,24.45,24.44,24.46
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$GC,154381,0.65,322.9,3370,207,1225,1205,280.8,6.0,1757,154384,0.00,1.77,0.00,0.000,1030,0.000,0.042,3369,1503,1214,1224,1205,0,0,0,0,0,0,26.58,26.55,26.60
$GC,154713,0.65,322.9,3369,1594,1225,1204,262.6,5.4,1768,154719,0.00,2.03,0.00,0.000,516,0.000,0.057,3369,202,1214,1225,1204,0,0,0,0,0,0,26.82,26.27,26.84
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$GC,155120,0.65,322.9,3369,192,1225,1205,239.7,6.1,1781,155124,0.00,1.80,0.00,0.000,1030,0.000,0.042,3370,1573,1214,1225,1204,0,0,0,0,0,0,26.60,26.57,26.60
$GC,155439,0.65,322.9,3370,1594,1225,1204,218.4,5.9,1792,155444,0.00,2.03,0.00,0.000,516,0.000,0.057,3370,204,1214,1224,1205,0,0,0,0,0,0,26.82,26.27,26.84
$GC,155486,0.65,322.9,3369,204,1225,1204,216.4,6.3,1793,155491,0.00,1.83,0.00,0.000,1030,0.000,0.042,3370,1594,1214,1225,1204,0,0,0,0,0,0,26.59,26.58,26.60
$GC,155800,0.70,322.9,3370,1597,1226,1205,196.9,5.7,1804,155805,0.00,2.05,0.00,0.000,516,0.000,0.057,3370,194,1215,1225,1205,0,0,0,0,0,0,26.82,26.29,26.84
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$GC,156227,0.81,322.9,3410,203,1225,1205,174.9,5.5,1818,156231,0.00,1.77,0.00,0.000,1030,0.000,0.042,3410,1505,1215,1225,1205,0,0,0,0,0,0,26.61,26.58,26.62
$GC,156561,0.81,322.9,3410,1596,1225,1204,152.5,7.0,1829,156566,0.00,2.03,0.00,0.000,516,0.000,0.057,3411,202,1215,1225,1205,0,0,0,0,0,0,26.83,26.30,26.84
$GC,156597,0.81,322.9,3411,202,1225,1205,149.9,7.4,1830,156606,0.00,1.83,0.00,0.000,1030,0.000,0.040,3411,1590,1214,1225,1204,0,0,0,0,0,0,26.60,26.59,26.60
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$STATE,159062,end climb,SURFACE_DEPTH_REACHED
$STATE,159062,begin surface coast
$FINISH,1.4,1.023271
$STATE,159087,end surface coast,CONTROL_FINISHED_OK
$STATE,159087,begin surface
$SM_CCo,159164,0.00,0.000,0,0,1214,326.80
$SM_GC,2.57,8.35,2.15,0.00,0.055,0.040,0.000,186,1778,1214,-9.13,-2.21,326.80,0,0,0,0,0,0,26.48,26.63,26.51
$IRIDIUM_FIX,3451.37,-6659.50,090708,041902
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.28
$INTERNAL_PRESSURE,9.10263
$TCM_TEMP,23.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,5042.4,130.3
$24V_AH,19.59,36.716
$10V_AH,9.53,23.694
$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,29.550,747.050,554.800,0.000,109.550,97.474,190.253,2236.785,27.000,0.000,55.548,8395.296,135951.703,1085.125,16110.426,569.888,0.000,6459.252,0.000,13148.817,0.000,197.696,0.000
$DEVICE_MAMPS,248.300,81.939,4452.019,0.000,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1379.871,6565.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329500
$DATA_FILE_SIZE,126933,2014
$CAP_FILE_SIZE,943820,0
$CFSIZE,1024409600,1004535808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.052,210.56,1
$GPS,140915,112745,3524.158,-6708.683,44,1.2,84,-15.2,1.6,248.3,8,4.6