version: 66.12
glider: 36
mission: 20
dive: 67
start: 9 16 115 9 58 57
data:
$ID,36
$MISSION,20
$DIVE,67
$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,65
$R_STBD_OVSHOOT,124
$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
$GPS1,160915,094510,3539.7725,-6719.9390,40,0.9,80,-15.2,0.5,183.8,9,3.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-66.1
$GPS2,160915,095828,3539.6902,-6720.0200,12,0.9,52,-15.2,0.6,198.6,9,3.9
$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,27.1,116504,-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,442,-0.30,-146.6,2970,1631,2853,2842,57.1,-17.8,39,444,0.28,0.00,0.00,0.000,2054,0.159,0.000,3060,1632,2847,2853,2842,0,0,0,0,0,0,25.93,26.17,26.09
$GC,742,-0.22,-146.6,3060,1631,2853,2842,89.5,-9.6,59,745,0.00,1.95,0.00,0.000,516,0.000,0.060,3061,296,2847,2853,2842,0,0,0,0,0,0,26.79,26.39,26.80
$GC,843,-0.12,-146.6,3060,296,2853,2842,98.7,-9.1,65,848,0.15,1.92,0.00,0.000,3078,0.144,0.042,3111,1715,2847,2853,2842,0,0,0,0,0,0,26.14,26.58,26.21
$GC,1158,-0.12,-146.6,3110,1715,2853,2842,115.6,-4.7,86,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1715,2847,2853,2842,0,0,0,0,0,0,26.84,26.86,26.86
$GC,1457,-0.12,-146.6,3110,1715,2853,2842,133.8,-7.1,106,1461,0.00,1.88,0.00,0.000,260,0.000,0.052,3103,3042,2847,2853,2841,0,0,0,0,0,0,26.86,26.51,26.87
$GC,1630,-0.12,-146.6,3103,3042,2853,2842,146.2,-7.0,116,1640,0.00,1.95,0.00,0.000,1030,0.000,0.045,3103,1672,2847,2853,2842,0,0,0,0,0,0,26.60,26.58,26.61
$GC,1941,-0.12,-146.6,3103,1672,2853,2842,165.0,-5.8,129,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1672,2847,2853,2842,0,0,0,0,0,0,26.86,26.89,26.89
$GC,2239,-0.12,-146.6,3103,1672,2853,2842,179.7,-4.8,139,2245,0.00,1.95,0.00,0.000,516,0.000,0.060,3103,307,2847,2853,2842,0,0,0,0,0,0,26.87,26.47,26.89
$GC,2313,-0.12,-146.6,3103,308,2853,2842,183.3,-5.3,141,2317,0.00,1.88,0.00,0.000,1030,0.000,0.042,3099,1680,2847,2853,2842,0,0,0,0,0,0,26.68,26.67,26.69
$GC,2632,-0.12,-146.6,3098,1680,2853,2842,202.6,-6.2,152,2638,0.00,1.95,0.00,0.000,260,0.000,0.052,3098,3053,2847,2853,2842,0,0,0,0,0,0,26.87,26.51,26.88
$GC,2716,-0.12,-146.6,3098,3054,2853,2842,206.4,-6.3,154,2726,0.00,1.92,0.00,0.000,1030,0.000,0.045,3098,1699,2847,2853,2842,0,0,0,0,0,0,26.61,26.60,26.63
$GC,3025,-0.12,-146.6,3098,1699,2853,2842,227.0,-5.7,165,3031,0.00,1.98,0.00,0.000,516,0.000,0.057,3098,316,2847,2853,2842,0,0,0,0,0,0,26.86,26.47,26.89
$GC,3099,-0.12,-146.6,3098,316,2853,2842,230.3,-5.5,167,3103,0.00,1.90,0.00,0.000,1030,0.000,0.042,3098,1714,2847,2853,2842,0,0,0,0,0,0,26.67,26.66,26.67
$GC,3418,-0.12,-146.6,3098,1716,2853,2842,250.1,-6.5,178,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1716,2847,2853,2842,0,0,0,0,0,0,26.86,26.89,26.89
$GC,3718,-0.12,-146.6,3098,1716,2853,2842,270.0,-6.9,188,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1716,2847,2853,2841,0,0,0,0,0,0,26.86,26.89,26.89
$GC,4019,-0.12,-146.6,3098,1716,2853,2841,289.8,-6.4,198,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1716,2847,2853,2841,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4333,-0.12,-146.6,3098,1716,2854,2841,309.4,-6.3,207,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1716,2847,2853,2841,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4648,-0.12,-146.6,3098,1716,2853,2841,328.8,-6.0,214,4654,0.00,1.90,0.00,0.000,260,0.000,0.052,3092,3052,2847,2853,2841,0,0,0,0,0,0,26.86,26.51,26.88
$GC,4720,-0.17,-146.6,3091,3052,2853,2841,331.6,-6.0,215,4724,0.00,1.92,0.00,0.000,1030,0.000,0.045,3092,1669,2847,2853,2841,0,0,0,0,0,0,26.63,26.59,26.64
$GC,5054,-0.17,-146.6,3091,1669,2853,2841,353.6,-6.2,223,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1669,2847,2853,2841,0,0,0,0,0,0,26.86,26.89,26.88
$GC,5369,-0.22,-146.6,3091,1669,2853,2841,373.1,-5.9,230,5376,0.00,1.95,0.00,0.000,516,0.000,0.057,3092,313,2847,2853,2841,0,0,0,0,0,0,26.86,26.46,26.88
$GC,5446,-0.22,-146.6,3091,313,2853,2841,375.8,-5.9,231,5451,0.00,1.90,0.00,0.000,1030,0.000,0.042,3088,1696,2847,2853,2841,0,0,0,0,0,0,26.67,26.65,26.67
$GC,5775,-0.22,-146.6,3088,1696,2853,2841,395.6,-5.3,239,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1696,2847,2853,2841,0,0,0,0,0,0,26.86,26.89,26.88
$GC,6091,-0.27,-146.6,3088,1696,2852,2841,411.6,-5.1,246,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1696,2847,2853,2841,0,0,0,0,0,0,26.86,26.89,26.88
$GC,6406,-0.32,-146.6,3088,1696,2853,2841,428.7,-5.5,253,6412,0.08,1.90,0.00,0.000,4356,0.119,0.050,2989,3049,2846,2852,2841,0,0,0,0,0,0,26.67,26.50,26.68
$GC,6452,-0.32,-146.6,2989,3049,2852,2841,432.6,-6.1,254,6459,0.15,1.92,0.00,0.000,3078,0.134,0.045,3043,1692,2847,2853,2841,0,0,0,0,0,0,26.21,26.58,26.27
$GC,6767,-0.32,-146.6,3043,1692,2851,2840,455.6,-7.1,261,6773,0.00,1.95,0.00,0.000,516,0.000,0.057,3043,328,2846,2853,2840,0,0,0,0,0,0,26.86,26.46,26.88
$GC,6814,-0.32,-146.6,3043,328,2853,2841,459.1,-7.2,262,6820,0.00,1.90,0.00,0.000,1030,0.000,0.042,3043,1716,2846,2852,2841,0,0,0,0,0,0,26.64,26.64,26.65
$GC,7129,-0.32,-146.6,3043,1719,2853,2840,482.3,-7.3,269,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1719,2846,2852,2840,0,0,0,0,0,0,26.86,26.88,26.87
$GC,7444,-0.32,-146.6,3043,1719,2852,2839,505.4,-7.3,276,7450,0.00,1.90,0.00,0.000,260,0.000,0.052,3034,3051,2846,2853,2839,0,0,0,0,0,0,26.86,26.50,26.87
$GC,7511,-0.32,-146.6,3034,3052,2852,2839,509.0,-7.4,277,7515,0.00,1.92,0.00,0.000,1030,0.000,0.045,3034,1705,2845,2852,2839,0,0,0,0,0,0,26.60,26.58,26.61
$GC,7850,-0.32,-146.6,3034,1705,2851,2839,537.3,-7.7,285,7856,0.00,1.98,0.00,0.000,516,0.000,0.057,3034,321,2845,2851,2839,0,0,0,0,0,0,26.86,26.46,26.87
$GC,7941,-0.32,-146.6,3034,321,2851,2839,544.8,-8.0,287,7946,0.00,1.85,0.00,0.000,1030,0.000,0.042,3031,1689,2845,2851,2839,0,0,0,0,0,0,26.67,26.65,26.67
$GC,8259,-0.32,-146.6,3031,1689,2850,2838,570.5,-8.1,294,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1689,2844,2850,2839,0,0,0,0,0,0,26.86,26.88,26.87
$GC,8574,-0.32,-146.6,3031,1689,2850,2838,594.5,-7.7,301,8579,0.00,1.95,0.00,0.000,260,0.000,0.052,3030,3067,2844,2850,2838,0,0,0,0,0,0,26.86,26.48,26.88
$GC,8647,-0.32,-146.6,3030,3067,2850,2838,598.3,-7.9,302,8651,0.00,1.95,0.00,0.000,1030,0.000,0.045,3030,1677,2844,2851,2838,0,0,0,0,0,0,26.61,26.57,26.63
$GC,8980,-0.32,-146.6,3030,1677,2849,2838,625.6,-7.7,310,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1677,2843,2849,2838,0,0,0,0,0,0,26.86,26.88,26.87
$GC,9295,-0.32,-146.6,3030,1677,2849,2837,650.5,-8.1,317,9301,0.00,1.95,0.00,0.000,516,0.000,0.057,3030,325,2843,2849,2837,0,0,0,0,0,0,26.86,26.44,26.87
$GC,9368,-0.32,-146.6,3029,325,2849,2837,654.4,-8.3,318,9372,0.00,1.90,0.00,0.000,1030,0.000,0.042,3025,1698,2843,2849,2837,0,0,0,0,0,0,26.65,26.64,26.65
$GC,9702,-0.32,-146.6,3025,1698,2848,2836,685.0,-8.3,326,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1698,2842,2849,2836,0,0,0,0,0,0,26.85,26.88,26.87
$GC,10017,-0.32,-146.6,3024,1698,2848,2836,710.1,-7.9,333,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1698,2842,2848,2836,0,0,0,0,0,0,26.85,26.87,26.87
$GC,10332,-0.32,-146.6,3025,1698,2848,2835,734.6,-7.8,340,10337,0.00,1.95,0.00,0.000,260,0.000,0.052,3016,3062,2841,2847,2835,0,0,0,0,0,0,26.85,26.48,26.86
$GC,10389,-0.32,-146.6,3016,3062,2848,2835,738.1,-7.9,341,10393,0.00,1.90,0.00,0.000,1030,0.000,0.045,3017,1698,2841,2848,2835,0,0,0,0,0,0,26.61,26.56,26.62
$GC,10738,-0.32,-146.6,3016,1697,2848,2835,766.3,-7.6,349,10743,0.00,1.98,0.00,0.000,516,0.000,0.057,3016,320,2841,2847,2835,0,0,0,0,0,0,26.85,26.43,26.86
$GC,10797,-0.32,-146.6,3016,320,2847,2835,770.2,-7.7,350,10801,0.12,1.88,0.00,0.000,3078,0.146,0.042,3055,1716,2841,2847,2835,0,0,0,0,0,0,26.27,26.63,26.36
$GC,11140,-0.38,-146.6,3055,1716,2847,2834,792.4,-6.1,358,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1715,2840,2846,2834,0,0,0,0,0,0,26.85,26.87,26.86
$GC,11456,-0.43,-146.6,3055,1716,2846,2834,810.9,-5.8,365,11458,0.08,0.00,0.00,0.000,4102,0.124,0.000,2962,1722,2840,2846,2834,0,0,0,0,0,0,26.65,26.67,26.66
$GC,11770,-0.36,-146.6,2958,1729,2845,2833,842.9,-10.7,372,11772,0.22,0.00,0.00,0.000,2054,0.137,0.000,3037,1729,2838,2845,2832,0,0,0,0,0,0,26.19,26.35,26.30
$GC,12085,-0.36,-146.6,3036,1729,2845,2833,868.5,-8.1,379,12091,0.00,2.03,0.00,0.000,516,0.000,0.057,3036,331,2838,2844,2833,0,0,0,0,0,0,26.84,26.41,26.86
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$GC,53271,-1.30,-146.6,2733,1698,2813,2809,3996.5,-7.1,744,53278,0.00,2.08,0.00,0.000,516,0.000,0.057,2733,316,2811,2813,2809,0,0,0,0,0,0,26.72,25.70,26.74
$GC,53402,-1.30,-146.6,2733,316,2812,2809,4005.4,-7.1,745,53406,0.00,2.00,0.00,0.000,1030,0.000,0.042,2732,1716,2810,2812,2809,0,0,0,0,0,0,26.22,26.18,26.23
$GC,53750,-1.30,-146.6,2732,1719,2812,2809,4030.6,-7.1,748,53752,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1722,2810,2812,2809,0,0,0,0,0,0,26.63,26.66,26.65
$GC,54112,-1.30,-146.6,2733,1719,2812,2809,4056.2,-7.1,751,54113,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1719,2811,2813,2809,0,0,0,0,0,0,26.67,26.70,26.68
$GC,54472,-1.30,-146.6,2732,1719,2813,2809,4081.7,-7.1,754,54477,0.00,2.12,0.00,0.000,516,0.000,0.057,2732,320,2811,2813,2809,0,0,0,0,0,0,26.67,25.69,26.68
$GC,54532,-1.30,-146.6,2732,319,2813,2809,4081.7,-7.1,754,54536,0.00,2.00,0.00,0.000,1030,0.000,0.042,2732,1701,2811,2813,2809,0,0,0,0,0,0,26.20,26.19,26.22
$GC,54953,-1.30,-146.6,2732,1701,2813,2809,4115.9,-7.1,758,54954,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1701,2814,2819,2809,0,0,0,0,0,0,26.65,26.67,26.67
$GC,55312,-1.30,-146.6,2732,1701,2813,2809,4140.0,-6.8,761,55313,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1701,2811,2813,2809,0,0,0,0,0,0,26.63,26.65,26.65
$GC,55673,-1.30,-146.6,2732,1701,2813,2809,4163.1,-6.5,764,55674,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1701,2811,2813,2809,0,0,0,0,0,0,26.66,26.69,26.68
$GC,56032,-1.30,-146.6,2731,1701,2813,2809,4184.4,-5.9,767,56033,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1701,2811,2813,2809,0,0,0,0,0,0,26.63,26.65,26.65
$GC,56392,-1.30,-146.6,2731,1701,2812,2809,4205.6,-5.9,770,56394,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1701,2810,2812,2809,0,0,0,0,0,0,26.67,26.67,26.66
$GC,56754,-1.30,-146.6,2732,1701,2813,2809,4226.0,-5.7,773,56755,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1701,2811,2813,2809,0,0,0,0,0,0,26.67,26.69,26.69
$GC,57112,-1.30,-146.6,2732,1701,2813,2809,4246.4,-5.6,776,57113,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1701,2813,2817,2809,0,0,0,0,0,0,26.63,26.65,26.65
$GC,57472,-1.30,-146.6,2732,1701,2813,2809,4266.4,-5.6,779,57477,0.00,2.10,0.00,0.000,516,0.000,0.055,2732,318,2811,2813,2809,0,0,0,0,0,0,26.63,25.69,26.64
$GC,57532,-1.30,-146.6,2732,318,2813,2809,4266.4,-5.6,779,57536,0.00,2.00,0.00,0.000,1030,0.000,0.040,2732,1700,2811,2813,2809,0,0,0,0,0,0,26.23,26.22,26.23
$GC,57952,-1.30,-146.6,2732,1700,2813,2809,4292.8,-5.5,783,57954,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1700,2810,2812,2809,0,0,0,0,0,0,26.65,26.67,26.66
$GC,58312,-1.30,-146.6,2732,1700,2813,2809,4311.7,-5.3,786,58313,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1700,2810,2812,2809,0,0,0,0,0,0,26.63,26.65,26.65
$GC,58674,-1.35,-146.6,2732,1699,2813,2809,4330.1,-5.1,789,58675,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1700,2811,2813,2809,0,0,0,0,0,0,26.67,26.70,26.69
$GC,59031,-1.41,-146.6,2731,1700,2813,2809,4347.1,-4.8,792,59033,0.05,0.00,0.00,0.000,4102,0.161,0.000,2662,1701,2811,2813,2809,0,0,0,0,0,0,26.52,26.53,26.53
$GC,59393,-1.41,-146.6,2661,1701,2813,2809,4370.3,-6.1,795,59399,0.08,2.10,0.00,0.000,2564,0.169,0.055,2695,324,2811,2813,2809,0,0,0,0,0,0,26.21,25.65,26.21
$GC,59522,-1.41,-146.6,2695,324,2813,2809,4377.9,-6.4,796,59526,0.00,1.95,0.00,0.000,1030,0.000,0.042,2691,1696,2810,2812,2809,0,0,0,0,0,0,26.22,26.18,26.23
$GC,59870,-1.41,-146.6,2691,1696,2812,2809,4398.0,-5.8,799,59871,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1695,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,60230,-1.41,-146.6,2691,1696,2813,2807,4419.1,-5.8,802,60231,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1696,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,60591,-1.41,-146.6,2691,1696,2812,2809,4442.4,-6.3,805,60592,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1696,2810,2812,2809,0,0,0,0,0,0,26.63,26.65,26.65
$GC,60951,-1.41,-146.6,2691,1696,2813,2809,4466.1,-6.6,808,60952,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1696,2811,2813,2809,0,0,0,0,0,0,26.63,26.65,26.65
$GC,61310,-1.41,-146.6,2690,1696,2813,2809,4489.0,-6.4,811,61315,0.00,2.08,0.00,0.000,516,0.000,0.057,2692,326,2810,2812,2809,0,0,0,0,0,0,26.72,25.66,26.74
$GC,61366,-1.41,-146.6,2691,325,2813,2809,4489.0,-6.4,811,61370,0.00,2.00,0.00,0.000,1030,0.000,0.042,2687,1695,2811,2813,2809,0,0,0,0,0,0,26.20,26.19,26.22
$GC,61790,-1.41,-146.6,2687,1695,2812,2809,4518.6,-6.2,815,61791,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1695,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,62151,-1.41,-146.6,2691,1695,2812,2809,4540.1,-5.9,818,62152,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1695,2811,2813,2809,0,0,0,0,0,0,26.63,26.65,26.64
$GC,62511,-1.41,-146.6,2687,1695,2813,2809,4562.2,-6.1,821,62517,0.00,2.08,0.00,0.000,516,0.000,0.057,2687,326,2811,2813,2809,0,0,0,0,0,0,26.63,25.65,26.64
$GC,62581,-1.41,-146.6,2687,326,2813,2809,4562.2,-6.1,821,62586,0.00,2.00,0.00,0.000,1030,0.000,0.042,2681,1699,2811,2813,2809,0,0,0,0,0,0,26.20,26.18,26.21
$GC,62991,-1.41,-146.6,2681,1700,2812,2809,4590.8,-6.0,825,62993,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1699,2811,2813,2809,0,0,0,0,0,0,26.63,26.65,26.64
$GC,63351,-1.41,-146.6,2681,1699,2810,2808,4609.7,-5.4,828,63352,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1699,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,63710,-1.41,-146.6,2681,1699,2812,2809,4629.2,-5.3,831,63715,0.00,2.12,0.00,0.000,516,0.000,0.055,2680,315,2810,2813,2808,0,0,0,0,0,0,26.72,25.64,26.74
$GC,63815,-1.41,-146.6,2681,314,2813,2809,4629.2,-5.3,831,63819,0.00,1.98,0.00,0.000,1030,0.000,0.042,2678,1695,2811,2813,2809,0,0,0,0,0,0,26.21,26.17,26.22
$GC,64193,-1.41,-146.6,2678,1701,2813,2809,4656.5,-5.6,835,64194,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1701,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,64554,-1.41,-146.6,2677,1701,2813,2809,4675.2,-5.2,838,64555,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1701,2811,2813,2809,0,0,0,0,0,0,26.62,26.65,26.64
$GC,64915,-1.41,-146.6,2677,1701,2813,2809,4693.5,-5.2,841,64916,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1701,2811,2813,2809,0,0,0,0,0,0,26.63,26.66,26.65
$GC,65276,-1.41,-146.6,2677,1701,2813,2809,4711.2,-4.9,844,65280,0.00,2.12,0.00,0.000,516,0.000,0.055,2678,317,2811,2813,2809,0,0,0,0,0,0,26.65,25.63,26.67
$GC,65350,-1.41,-146.6,2677,317,2813,2809,4711.2,-4.9,844,65354,0.00,2.03,0.00,0.000,1030,0.000,0.042,2677,1706,2811,2813,2809,0,0,0,0,0,0,26.18,26.17,26.20
$GC,65759,-1.41,-146.6,2677,1707,2813,2809,4736.3,-5.2,848,65760,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1706,2810,2813,2808,0,0,0,0,0,0,26.72,26.74,26.74
$GC,66120,-1.41,-146.6,2677,1707,2813,2809,4755.0,-5.2,851,66126,0.00,2.10,0.00,0.000,516,0.000,0.055,2677,325,2810,2813,2808,0,0,0,0,0,0,26.63,25.65,26.64
$GC,66185,-1.41,-146.6,2677,325,2813,2809,4755.0,-5.2,851,66190,0.00,2.00,0.00,0.000,1030,0.000,0.040,2677,1701,2811,2813,2809,0,0,0,0,0,0,26.20,26.19,26.22
$GC,66600,-1.41,-146.6,2676,1701,2813,2809,4779.2,-5.0,855,66601,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1701,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,66959,-1.41,-146.6,2676,1701,2813,2809,4796.6,-4.8,858,66960,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1701,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.74
$GC,67322,-1.41,-146.6,2676,1701,2813,2809,4813.6,-4.8,861,67328,0.00,2.10,0.00,0.000,516,0.000,0.055,2677,321,2811,2813,2809,0,0,0,0,0,0,26.65,25.64,26.67
$GC,67413,-1.41,-146.6,2676,321,2813,2809,4813.6,-4.8,861,67417,0.00,2.00,0.00,0.000,1030,0.000,0.040,2673,1699,2811,2813,2809,0,0,0,0,0,0,26.21,26.20,26.22
$GC,67802,-1.41,-146.6,2673,1699,2813,2809,4835.8,-4.6,865,67803,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1699,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.73
$GC,68163,-1.41,-146.6,2673,1699,2813,2810,4850.7,-4.1,868,68164,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1698,2811,2813,2809,0,0,0,0,0,0,26.64,26.68,26.65
$GC,68522,-1.41,-146.6,2673,1699,2813,2809,4865.3,-4.1,871,68526,0.00,2.12,0.00,0.000,516,0.000,0.055,2673,312,2811,2813,2809,0,0,0,0,0,0,26.72,25.63,26.74
$GC,68658,-1.41,-146.6,2673,312,2813,2810,4870.8,-4.2,872,68662,0.00,2.03,0.00,0.000,1030,0.000,0.042,2671,1698,2811,2813,2809,0,0,0,0,0,0,26.17,26.17,26.19
$GC,69007,-1.41,-146.6,2670,1698,2813,2808,4885.6,-4.2,875,69008,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1698,2811,2813,2809,0,0,0,0,0,0,26.72,26.73,26.74
$GC,69370,-1.41,-146.6,2670,1698,2813,2809,4900.2,-4.0,878,69375,0.00,2.10,0.00,0.000,516,0.000,0.055,2669,320,2811,2813,2809,0,0,0,0,0,0,26.66,25.63,26.67
$GC,69497,-1.41,-146.6,2670,320,2813,2809,4905.9,-4.2,879,69501,0.00,1.98,0.00,0.000,1030,0.000,0.042,2668,1705,2811,2813,2809,0,0,0,0,0,0,26.20,26.16,26.21
$GC,69854,-1.41,-146.6,2667,1712,2813,2809,4921.9,-4.5,882,69860,0.08,2.10,0.00,0.000,2564,0.179,0.055,2701,325,2811,2813,2809,0,0,0,0,0,0,26.20,25.60,26.20
$GC,69930,-1.41,-146.6,2701,325,2813,2809,4921.9,-4.5,882,69934,0.00,2.00,0.00,0.000,1030,0.000,0.042,2701,1702,2811,2813,2809,0,0,0,0,0,0,26.19,26.16,26.20
$GC,70339,-1.48,-146.6,2701,1703,2813,2809,4942.5,-4.3,886,70340,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1703,2811,2813,2809,0,0,0,0,0,0,26.65,26.67,26.67
$GC,70695,-1.56,-146.6,2701,1703,2813,2809,4956.8,-4.0,889,70701,0.08,2.10,0.00,0.000,4612,0.122,0.055,2633,325,2811,2813,2809,0,0,0,0,0,0,26.48,25.60,26.49
$GC,70836,-1.62,-146.6,2633,325,2813,2809,4963.0,-4.2,890,70840,0.00,2.00,0.00,0.000,1030,0.000,0.042,2632,1706,2811,2813,2809,0,0,0,0,0,0,26.19,26.15,26.21
$GC,71175,-1.62,-146.6,2632,1709,2813,2809,4980.7,-5.0,893,71176,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1709,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.73
$GC,71537,-1.62,-146.6,2632,1709,2811,2808,4997.4,-4.7,896,71542,0.00,2.10,0.00,0.000,516,0.000,0.055,2632,328,2811,2813,2809,0,0,0,0,0,0,26.72,25.62,26.74
$GC,71675,-1.62,-146.6,2632,329,2813,2809,5003.6,-4.7,897,71679,0.00,1.95,0.00,0.000,1030,0.000,0.042,2628,1697,2811,2813,2809,0,0,0,0,0,0,26.20,26.17,26.22
$GC,72013,-1.62,-146.6,2628,1698,2813,2809,5020.1,-4.7,900,72014,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1698,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.73
$GC,72373,-1.62,-146.6,2628,1698,2813,2809,5037.6,-4.8,903,72379,0.00,2.10,0.00,0.000,516,0.000,0.055,2628,321,2811,2813,2809,0,0,0,0,0,0,26.72,25.61,26.74
$GC,72496,-1.62,-146.6,2628,321,2813,2809,5043.7,-4.9,904,72500,0.00,2.03,0.00,0.000,1030,0.000,0.042,2623,1707,2811,2813,2809,0,0,0,0,0,0,26.17,26.17,26.20
$GC,72855,-1.62,-146.6,2622,1709,2813,2809,5061.2,-4.9,907,72856,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1709,2811,2813,2809,0,0,0,0,0,0,26.72,26.74,26.73
$STATE,73214,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,73214,begin apogee
$GC,73218,-0.24,0.0,2623,1507,2813,2809,5077.6,-4.6,910,73350,1.33,0.00,128.40,4.395,10246,0.104,0.000,3073,1504,2339,2324,2355,0,0,0,0,0,0,24.72,22.09,19.41
$STATE,73351,end apogee,CONTROL_FINISHED_OK
$STATE,73351,begin climb
$GC,73353,0.53,146.6,3073,1504,2324,2354,5077.4,0.0,911,73591,0.70,0.00,232.40,4.447,10502,0.077,0.000,3342,1504,1834,1837,1831,0,0,0,0,0,0,22.86,22.12,19.66
$GC,73935,0.01,146.6,3342,1504,1803,1801,4940.8,26.4,916,73940,0.68,2.00,0.00,0.000,4612,0.211,0.052,3164,212,1802,1803,1801,0,0,0,0,0,0,24.96,25.22,25.12
$GC,73981,-0.51,146.6,3164,198,1799,1801,4940.8,26.4,916,73986,0.52,1.90,0.00,0.000,5126,0.169,0.042,3007,1555,1799,1798,1801,0,0,0,0,0,0,25.15,25.59,25.39
$GC,74296,-0.79,146.6,3006,1555,1793,1795,4900.4,14.7,919,74302,0.32,2.03,0.00,0.000,4612,0.142,0.057,2901,217,1794,1793,1795,0,0,0,0,0,0,25.63,25.80,25.73
$GC,74352,-1.07,146.6,2901,217,1787,1795,4900.4,14.7,919,74357,0.28,1.83,0.00,0.000,5126,0.109,0.045,2802,1542,1791,1787,1795,0,0,0,0,0,0,25.77,26.04,25.91
$GC,74771,-0.89,146.6,2801,1545,1785,1793,4865.2,7.6,923,74773,0.17,0.00,0.00,0.000,2054,0.104,0.000,2871,1545,1788,1785,1792,0,0,0,0,0,0,26.07,26.18,26.15
$GC,75131,-0.66,146.6,2871,1545,1783,1792,4838.3,7.7,926,75133,0.20,0.00,0.00,0.000,2054,0.112,0.000,2949,1545,1788,1784,1792,0,0,0,0,0,0,26.14,26.25,26.22
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$GC,167281,1.40,431.0,3529,1516,830,868,6.5,9.2,2015,167285,0.10,1.77,0.00,0.000,2308,0.122,0.047,3593,2765,849,831,868,0,0,0,0,0,0,26.48,26.43,26.49
$GC,167305,1.40,431.0,3593,2770,830,868,4.0,9.7,2017,167317,0.00,1.83,0.00,0.000,1030,0.000,0.045,3601,1487,849,831,868,0,0,0,0,0,0,26.52,26.48,26.53
$STATE,167324,end climb,SURFACE_DEPTH_REACHED
$STATE,167324,begin surface coast
$FINISH,1.3,1.023207
$STATE,167348,end surface coast,CONTROL_FINISHED_OK
$STATE,167348,begin surface
$SM_CCo,167423,0.00,0.000,0,0,849,433.12
$SM_GC,2.30,8.68,0.00,0.00,0.055,0.000,0.000,166,1487,849,-9.18,-6.02,433.12,0,0,0,0,0,0,26.46,26.79,26.49
$IRIDIUM_FIX,3509.80,-6708.57,110708,005718
$TT8_MAMPS,0.023219,0.023219
$HUMID,38.18
$INTERNAL_PRESSURE,9.06356
$TCM_TEMP,23.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,4974.9,129.8
$24V_AH,19.41,38.030
$10V_AH,9.50,24.497
$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,29.725,721.875,638.925,0.000,106.825,39.378,25.109,497.006,26.000,0.000,52.794,8747.814,142292.359,1162.864,15384.017,541.820,0.000,7086.300,0.000,14388.439,0.000,190.149,0.000
$DEVICE_MAMPS,245.817,99.320,4447.053,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1383.722,6586.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329508
$DATA_FILE_SIZE,130046,2021
$CAP_FILE_SIZE,945279,0
$CFSIZE,1024409600,1003896832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,235.30,1
$GPS,180915,083115,3552.031,-6724.280,33,1.1,73,-15.2,0.7,222.0,8,4.6