version: 66.12
glider: 37
mission: 17
dive: 56
start: 5 6 117 5 4 39
data:
$ID,37
$MISSION,17
$DIVE,56
$N_DIVES,0
$STOP_T,5101719
$D_SURF,5
$D_FLARE,3
$D_TGT,5400
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2645
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,1614
$C_ROLL_CLIMB,1625
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,81
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3500
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,060517,045209,2628.7578,-7549.9736,24,1.1,30,-9.1,0.5,59.3,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-54.0
$GPS2,060517,050355,2628.8921,-7549.8765,4,1.0,20,-9.1,0.0,0.0,9,4.7
$SPEED_LIMITS,0.104,0.192
$TGT_NAME,RM75_30
$TGT_LATLONG,2630.000,-7530.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,93.1,33008,-18.2,-6.000,-21.73,2100
$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,int_press,humidity
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,143,-0.95,-146.0,118,1620,2465,2598,3.4,-2.6,12,173,8.75,2.33,-13.75,0.117,18692,0.273,0.060,2321,3165,2844,2779,2910,0,0,0,0,0,0,25.96,26.35,26.27,9.12,11.41
$GC,370,-0.88,-146.0,2320,3165,2779,2910,39.6,-13.3,34,378,0.12,2.25,0.00,0.000,3078,0.204,0.052,2361,1597,2844,2779,2909,0,0,0,0,0,0,26.32,26.58,26.50,9.15,12.11
$GC,677,-0.88,-146.0,2360,1597,2779,2909,74.5,-11.5,65,687,0.00,2.30,0.00,0.000,260,0.000,0.062,2352,3168,2844,2779,2909,0,0,0,0,0,0,26.98,26.69,26.99,9.16,11.56
$GC,730,-0.88,-146.0,2351,3168,2779,2909,80.5,-11.4,70,739,0.00,2.22,0.00,0.000,1030,0.000,0.052,2352,1605,2843,2778,2909,0,0,0,0,0,0,26.79,26.74,26.82,9.15,12.04
$GC,1041,-0.88,-146.0,2352,1604,2778,2909,115.1,-11.3,101,1044,0.00,2.05,0.00,0.000,516,0.000,0.067,2353,215,2844,2779,2909,0,0,0,0,0,0,27.07,26.76,27.08,9.15,11.96
$GC,1112,-0.88,-146.0,2353,192,2779,2909,124.3,-13.0,108,1115,0.00,1.95,0.00,0.000,1030,0.000,0.050,2345,1615,2844,2779,2909,0,0,0,0,0,0,26.89,26.84,26.91,9.15,11.56
$GC,1434,-0.88,-146.0,2345,1626,2778,2909,163.8,-12.5,135,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1626,2844,2779,2909,0,0,0,0,0,0,27.12,27.14,27.13,9.15,11.72
$GC,1733,-0.88,-146.0,2345,1626,2779,2909,201.3,-12.1,150,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1627,2843,2779,2908,0,0,0,0,0,0,27.14,27.16,27.16,9.14,11.64
$GC,2033,-0.88,-146.0,2345,1626,2779,2909,235.3,-11.2,165,2039,0.00,2.10,0.00,0.000,516,0.000,0.065,2347,180,2844,2779,2909,0,0,0,0,0,0,27.16,26.85,27.17,9.14,12.11
$GC,2075,-0.88,-146.0,2346,180,2779,2908,239.9,-11.4,167,2080,0.00,2.00,0.00,0.000,1030,0.000,0.050,2339,1634,2843,2778,2909,0,0,0,0,0,0,26.95,26.93,26.96,9.13,12.86
$GC,2393,-0.88,-146.0,2338,1634,2778,2909,277.5,-11.7,183,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1634,2844,2779,2909,0,0,0,0,0,0,27.17,27.19,27.19,9.12,12.04
$GC,2713,-0.88,-146.0,2338,1634,2779,2909,315.1,-11.5,197,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1634,2844,2779,2909,0,0,0,0,0,0,27.18,27.20,27.19,9.11,12.94
$GC,3013,-0.88,-146.0,2338,1634,2778,2909,347.9,-10.9,207,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1634,2843,2778,2908,0,0,0,0,0,0,27.18,27.20,27.20,9.11,12.51
$GC,3313,-0.88,-146.0,2338,1634,2778,2907,378.5,-10.0,217,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1634,2843,2779,2908,0,0,0,0,0,0,27.19,27.20,27.20,9.10,12.78
$GC,3613,-0.88,-146.0,2338,1634,2778,2907,410.6,-10.9,227,3617,0.00,2.10,0.00,0.000,516,0.000,0.067,2339,185,2842,2778,2907,0,0,0,0,0,0,27.19,26.87,27.20,9.09,13.33
$GC,3675,-0.88,-146.0,2338,184,2779,2907,418.4,-11.9,229,3679,0.00,1.95,0.00,0.000,1030,0.000,0.052,2331,1615,2842,2778,2906,0,0,0,0,0,0,27.00,26.95,27.01,9.09,12.94
$GC,4007,-0.88,-146.0,2331,1615,2778,2906,457.8,-11.9,240,4011,0.00,2.25,0.00,0.000,260,0.000,0.062,2320,3166,2842,2779,2906,0,0,0,0,0,0,27.19,26.90,27.20,9.08,12.67
$GC,4057,-0.88,-146.0,2319,3165,2779,2906,461.3,-11.8,241,4062,0.12,2.20,0.00,0.000,3078,0.191,0.050,2359,1597,2842,2779,2906,0,0,0,0,0,0,26.68,26.94,26.85,9.07,13.18
$GC,4365,-0.94,-146.0,2358,1598,2779,2905,493.1,-9.2,251,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1597,2841,2778,2905,0,0,0,0,0,0,27.19,27.21,27.20,9.07,13.69
$GC,4664,-1.01,-146.0,2358,1597,2779,2904,521.1,-9.2,261,4671,0.08,2.05,0.00,0.000,4612,0.171,0.065,2328,190,2841,2779,2903,0,0,0,0,0,0,26.90,26.88,26.94,9.07,13.14
$GC,4724,-1.01,-146.0,2327,190,2779,2903,527.9,-10.0,263,4728,0.00,1.95,0.00,0.000,1030,0.000,0.052,2320,1624,2841,2779,2903,0,0,0,0,0,0,27.01,26.96,27.01,9.06,13.18
$GC,5055,-1.01,-146.0,2319,1624,2779,2902,564.8,-11.1,274,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1624,2840,2778,2902,0,0,0,0,0,0,27.20,27.21,27.20,9.06,13.61
$GC,5356,-1.01,-146.0,2319,1624,2779,2901,600.3,-12.0,284,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1624,2839,2778,2901,0,0,0,0,0,0,27.20,27.21,27.21,9.05,13.22
$GC,5655,-1.01,-146.0,2319,1624,2779,2901,636.5,-12.0,294,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1625,2839,2778,2901,0,0,0,0,0,0,27.20,27.21,27.21,9.04,13.18
$GC,5956,-1.01,-146.0,2320,1624,2779,2901,672.0,-11.8,304,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1625,2839,2779,2900,0,0,0,0,0,0,27.20,27.21,27.21,9.02,13.41
$GC,6255,-1.01,-146.0,2319,1624,2778,2899,705.8,-11.3,314,6262,0.00,2.12,0.00,0.000,516,0.000,0.065,2320,189,2839,2779,2899,0,0,0,0,0,0,27.20,26.87,27.21,9.01,13.65
$GC,6298,-1.01,-146.0,2319,189,2778,2899,709.4,-11.4,315,6303,0.00,1.98,0.00,0.000,1030,0.000,0.052,2310,1620,2838,2779,2898,0,0,0,0,0,0,27.01,26.96,27.02,9.02,13.14
$GC,6616,-1.01,-146.0,2309,1620,2779,2898,749.1,-11.8,326,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1620,2838,2778,2898,0,0,0,0,0,0,27.20,27.21,27.21,8.99,12.90
$GC,6915,-1.01,-146.0,2309,1620,2778,2896,784.7,-12.0,336,6922,0.00,2.30,0.00,0.000,260,0.000,0.062,2298,3178,2836,2777,2896,0,0,0,0,0,0,27.20,26.89,27.21,8.98,13.10
$GC,6953,-1.01,-146.0,2297,3178,2777,2897,788.2,-11.9,337,6957,0.00,2.22,0.00,0.000,1030,0.000,0.050,2297,1607,2837,2777,2897,0,0,0,0,0,0,26.99,26.94,27.01,8.98,12.90
$GC,7270,-1.01,-146.0,2297,1607,2776,2895,829.3,-13.4,348,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,1606,2835,2776,2895,0,0,0,0,0,0,27.20,27.21,27.21,8.96,13.57
$GC,7571,-1.01,-146.0,2297,1606,2775,2894,867.4,-12.5,358,7576,0.00,2.08,0.00,0.000,516,0.000,0.067,2297,198,2834,2775,2894,0,0,0,0,0,0,27.20,26.86,27.21,8.95,13.61
$GC,7623,-1.01,-146.0,2297,197,2775,2894,871.4,-12.6,359,7631,0.10,1.98,0.00,0.000,3078,0.211,0.050,2317,1613,2834,2775,2894,0,0,0,0,0,0,26.66,26.96,26.84,8.94,13.73
$GC,7930,-1.01,-146.0,2316,1613,2774,2893,908.9,-10.9,370,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1613,2833,2774,2893,0,0,0,0,0,0,27.20,27.21,27.21,8.92,13.26
$GC,8231,-1.06,-146.0,2316,1613,2774,2892,942.2,-11.2,380,8237,0.00,2.33,0.00,0.000,260,0.000,0.062,2307,3172,2832,2773,2892,0,0,0,0,0,0,27.20,26.89,27.20,8.91,14.24
$GC,8273,-1.11,-146.0,2307,3172,2773,2892,945.6,-11.2,381,8278,0.00,2.25,0.00,0.000,1030,0.000,0.052,2308,1610,2833,2773,2893,0,0,0,0,0,0,26.98,26.93,27.01,8.90,12.90
$GC,8585,-1.11,-146.0,2307,1609,2773,2890,986.9,-13.1,392,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1609,2831,2773,2890,0,0,0,0,0,0,27.19,27.21,27.21,8.88,13.65
$GC,8885,-1.11,-146.0,2307,1609,2773,2889,1023.7,-12.1,399,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1609,2830,2772,2889,0,0,0,0,0,0,27.19,27.21,27.21,8.86,13.57
$GC,9185,-1.11,-146.0,2307,1610,2771,2887,1059.5,-12.0,404,9192,0.00,2.35,0.00,0.000,260,0.000,0.065,2296,3184,2828,2770,2887,0,0,0,0,0,0,27.19,26.87,27.21,8.85,13.53
$GC,9228,-1.11,-146.0,2296,3184,2770,2887,1059.5,-12.0,404,9233,0.00,2.30,0.00,0.000,1030,0.000,0.052,2296,1605,2828,2770,2887,0,0,0,0,0,0,26.98,26.91,27.00,8.84,13.41
$GC,9545,-1.11,-146.0,2296,1605,2769,2885,1105.8,-13.0,410,9550,0.00,2.12,0.00,0.000,516,0.000,0.070,2296,184,2826,2769,2884,0,0,0,0,0,0,27.19,26.84,27.20,8.83,13.69
$GC,9600,-1.11,-146.0,2296,184,2770,2883,1105.8,-13.0,410,9607,0.00,2.03,0.00,0.000,1030,0.000,0.052,2286,1608,2827,2770,2884,0,0,0,0,0,0,26.99,26.93,27.00,8.82,14.28
$GC,9908,-1.11,-146.0,2285,1609,2768,2882,1155.0,-13.5,416,9914,0.00,2.38,0.00,0.000,260,0.000,0.065,2274,3175,2825,2768,2882,0,0,0,0,0,0,27.19,26.86,27.20,8.81,14.24
$GC,9960,-1.11,-146.0,2274,3176,2766,2882,1155.0,-13.5,416,9968,0.00,2.30,0.00,0.000,1030,0.000,0.052,2275,1601,2824,2767,2882,0,0,0,0,0,0,26.97,26.91,26.99,8.81,13.89
$GC,10267,-1.11,-146.0,2274,1601,2767,2881,1203.7,-13.7,422,10273,0.00,2.10,0.00,0.000,516,0.000,0.070,2274,200,2823,2767,2880,0,0,0,0,0,0,27.19,26.84,27.20,8.80,13.96
$GC,10340,-1.11,-146.0,2274,200,2766,2880,1212.4,-13.7,423,10345,0.00,2.05,0.00,0.000,1030,0.000,0.052,2264,1620,2823,2767,2880,0,0,0,0,0,0,26.98,26.93,27.00,8.79,14.56
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$GC,27374,-1.66,-146.0,2079,3211,2739,2853,3307.6,-10.0,706,27380,0.12,2.42,0.00,0.000,3078,0.288,0.057,2108,1598,2796,2739,2853,0,0,0,0,0,0,26.01,26.72,26.30,8.60,13.14
$GC,27688,-1.73,-146.0,2107,1598,2740,2853,3340.2,-9.0,712,27689,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1599,2796,2740,2853,0,0,0,0,0,0,27.15,27.17,27.17,8.60,13.85
$GC,27988,-1.80,-146.0,2107,1598,2740,2853,3367.0,-9.0,717,27990,0.08,0.00,0.00,0.000,4102,0.258,0.000,2088,1599,2796,2740,2853,0,0,0,0,0,0,26.60,26.74,26.69,8.60,13.06
$GC,28287,-1.80,-146.0,2088,1599,2739,2853,3396.6,-9.8,722,28294,0.00,2.45,0.00,0.000,260,0.000,0.070,2077,3203,2796,2740,2853,0,0,0,0,0,0,27.15,26.63,27.17,8.60,13.30
$GC,28347,-1.80,-146.0,2076,3204,2739,2853,3402.5,-9.8,723,28354,0.00,2.40,0.00,0.000,1030,0.000,0.057,2076,1604,2796,2739,2853,0,0,0,0,0,0,26.82,26.72,26.84,8.60,13.41
$GC,28707,-1.80,-146.0,2076,1603,2739,2852,3439.1,-10.2,729,28708,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,1603,2796,2739,2853,0,0,0,0,0,0,27.15,27.17,27.17,8.60,13.18
$GC,29008,-1.80,-146.0,2076,1603,2740,2853,3469.3,-10.0,734,29009,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1603,2796,2739,2853,0,0,0,0,0,0,27.15,27.17,27.17,8.60,13.89
$GC,29307,-1.80,-146.0,2076,1603,2739,2853,3499.0,-9.9,739,29313,0.00,2.45,0.00,0.000,260,0.000,0.067,2064,3203,2796,2739,2853,0,0,0,0,0,0,27.15,26.62,27.17,8.59,13.18
$GC,29345,-1.80,-146.0,2064,3203,2739,2853,3499.0,-9.9,739,29349,0.00,2.38,0.00,0.000,1030,0.000,0.055,2065,1614,2796,2739,2853,0,0,0,0,0,0,26.81,26.71,26.84,8.60,13.45
$GC,29662,-1.80,-146.0,2064,1615,2739,2853,3535.5,-10.3,745,29663,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1614,2796,2739,2853,0,0,0,0,0,0,27.15,27.17,27.17,8.60,13.30
$GC,29962,-1.80,-146.0,2064,1614,2739,2853,3565.8,-10.0,750,29963,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1614,2796,2739,2853,0,0,0,0,0,0,27.15,27.17,27.17,8.60,14.08
$GC,30262,-1.80,-146.0,2064,1614,2739,2853,3594.8,-9.6,755,30267,0.00,2.42,0.00,0.000,260,0.000,0.067,2053,3196,2796,2739,2853,0,0,0,0,0,0,27.15,26.61,27.17,8.60,13.49
$GC,30302,-1.80,-146.0,2052,3196,2739,2853,3594.8,-9.6,755,30307,0.00,2.38,0.00,0.000,1030,0.000,0.055,2053,1606,2795,2738,2853,0,0,0,0,0,0,26.80,26.70,26.83,8.60,13.33
$GC,30625,-1.80,-146.0,2052,1605,2739,2853,3631.1,-10.0,761,30626,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1605,2796,2739,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.89
$GC,30924,-1.80,-146.0,2052,1605,2738,2853,3660.5,-9.7,766,30925,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1605,2796,2739,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,14.16
$GC,31224,-1.80,-146.0,2052,1605,2738,2853,3689.2,-9.5,771,31225,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1605,2796,2739,2853,0,0,0,0,0,0,27.15,27.17,27.17,8.60,13.57
$GC,31524,-1.80,-146.0,2053,1605,2738,2853,3717.8,-9.5,776,31529,0.00,2.42,0.00,0.000,260,0.000,0.067,2041,3191,2796,2739,2853,0,0,0,0,0,0,27.15,26.60,27.16,8.60,14.20
$GC,31574,-1.80,-146.0,2040,3190,2738,2853,3717.8,-9.5,776,31578,0.00,2.35,0.00,0.000,1030,0.000,0.055,2041,1613,2795,2738,2853,0,0,0,0,0,0,26.79,26.69,26.82,8.60,14.16
$GC,31883,-1.80,-146.0,2040,1613,2738,2853,3752.8,-9.7,781,31884,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1613,2795,2738,2853,0,0,0,0,0,0,27.12,27.14,27.14,8.60,13.73
$GC,32182,-1.80,-146.0,2041,1613,2738,2853,3781.6,-9.6,786,32183,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1613,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.93
$GC,32481,-1.80,-146.0,2041,1613,2738,2853,3810.0,-9.4,791,32482,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1613,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.77
$GC,32781,-1.80,-146.0,2041,1613,2738,2853,3838.5,-9.5,796,32783,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1613,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.41
$GC,33081,-1.80,-146.0,2041,1613,2738,2853,3866.7,-9.4,801,33082,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1613,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.06
$GC,33382,-1.80,-146.0,2041,1613,2738,2852,3894.4,-9.3,806,33383,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1613,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.22
$GC,33681,-1.80,-146.0,2041,1613,2738,2853,3922.1,-9.2,811,33687,0.00,2.42,0.00,0.000,260,0.000,0.067,2030,3194,2796,2739,2853,0,0,0,0,0,0,27.15,26.58,27.17,8.60,13.37
$GC,33729,-1.80,-146.0,2030,3194,2738,2853,3922.1,-9.2,811,33734,0.12,2.38,0.00,0.000,3078,0.288,0.055,2060,1604,2795,2738,2853,0,0,0,0,0,0,25.93,26.68,26.21,8.60,13.41
$GC,34044,-1.88,-146.0,2059,1604,2738,2853,3952.0,-8.1,817,34045,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1604,2795,2738,2853,0,0,0,0,0,0,27.12,27.14,27.14,8.59,13.14
$GC,34345,-1.96,-146.0,2059,1604,2738,2853,3976.0,-8.0,822,34347,0.10,0.00,0.00,0.000,4102,0.261,0.000,2034,1605,2795,2738,2853,0,0,0,0,0,0,26.37,26.59,26.51,8.60,14.24
$GC,34644,-1.96,-146.0,2033,1605,2739,2853,4002.4,-8.9,827,34645,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1604,2795,2737,2853,0,0,0,0,0,0,27.13,27.15,27.14,8.59,13.69
$GC,34945,-2.01,-146.0,2033,1604,2738,2853,4028.8,-8.7,832,34951,0.00,2.42,0.00,0.000,260,0.000,0.067,2022,3186,2795,2738,2853,0,0,0,0,0,0,27.13,26.58,27.14,8.59,13.93
$GC,35004,-2.06,-146.0,2021,3186,2738,2853,4034.4,-8.8,833,35011,0.08,2.35,0.00,0.000,5126,0.268,0.055,2002,1611,2795,2738,2853,0,0,0,0,0,0,26.28,26.67,26.44,8.59,13.06
$GC,35364,-2.06,-146.0,2001,1611,2738,2853,4070.4,-10.0,839,35366,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1611,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.59,13.77
$GC,35664,-2.06,-146.0,2001,1611,2737,2853,4099.7,-9.8,844,35665,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1611,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.22
$GC,35966,-2.06,-146.0,2001,1611,2738,2853,4128.3,-9.5,849,35967,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1611,2795,2738,2853,0,0,0,0,0,0,27.12,27.14,27.13,8.60,12.98
$GC,36264,-2.06,-146.0,2001,1611,2738,2852,4156.7,-9.5,854,36265,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1611,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.61,13.26
$GC,36564,-2.06,-146.0,2001,1611,2737,2853,4184.4,-9.3,859,36565,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1611,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.93
$GC,36864,-2.06,-146.0,2001,1611,2738,2853,4211.9,-9.1,864,36865,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1611,2795,2738,2853,0,0,0,0,0,0,27.15,27.16,27.16,8.60,13.37
$GC,37164,-2.06,-146.0,2001,1611,2738,2853,4238.8,-8.9,869,37165,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1612,2795,2738,2853,0,0,0,0,0,0,27.15,27.17,27.16,8.60,13.37
$GC,37464,-2.06,-146.0,2001,1611,2737,2853,4265.0,-8.7,874,37470,0.00,2.45,0.00,0.000,260,0.000,0.070,1990,3198,2795,2738,2853,0,0,0,0,0,0,27.15,26.54,27.16,8.60,13.30
$GC,37518,-2.06,-146.0,1989,3199,2738,2853,4265.0,-8.7,874,37525,0.00,2.38,0.00,0.000,1030,0.000,0.055,1990,1614,2795,2738,2853,0,0,0,0,0,0,26.76,26.66,26.79,8.60,14.08
$GC,37824,-2.06,-146.0,1989,1614,2737,2853,4297.0,-8.8,880,37825,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1614,2795,2738,2853,0,0,0,0,0,0,27.14,27.16,27.15,8.60,14.04
$GC,38124,-2.06,-146.0,1989,1614,2738,2852,4323.0,-8.7,885,38125,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1614,2795,2737,2853,0,0,0,0,0,0,27.14,27.16,27.16,8.60,13.14
$GC,38424,-2.06,-146.0,1989,1614,2738,2853,4347.8,-8.3,890,38425,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1614,2795,2738,2853,0,0,0,0,0,0,27.15,27.16,27.16,8.60,13.65
$GC,38724,-2.06,-146.0,1989,1614,2737,2853,4372.4,-8.1,895,38725,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1614,2795,2737,2853,0,0,0,0,0,0,27.15,27.16,27.16,8.60,13.49
$GC,39024,-2.06,-146.0,1989,1614,2738,2853,4396.7,-8.1,900,39025,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1614,2795,2738,2853,0,0,0,0,0,0,27.14,27.16,27.16,8.60,13.81
$GC,39324,-2.06,-146.0,1989,1614,2737,2853,4420.2,-7.8,905,39325,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1614,2795,2737,2853,0,0,0,0,0,0,27.15,27.16,27.16,8.60,13.30
$GC,39624,-2.06,-146.0,1989,1614,2738,2853,4443.9,-8.0,910,39625,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1614,2795,2737,2853,0,0,0,0,0,0,27.15,27.16,27.16,8.60,13.18
$GC,39924,-2.06,-146.0,1989,1614,2738,2853,4466.8,-7.6,915,39925,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1614,2795,2738,2853,0,0,0,0,0,0,27.15,27.16,27.16,8.60,13.77
$GC,40224,-2.06,-146.0,1989,1613,2738,2853,4489.2,-7.5,920,40231,0.00,2.42,0.00,0.000,260,0.000,0.070,1979,3189,2795,2737,2853,0,0,0,0,0,0,27.15,26.52,27.16,8.60,13.18
$GC,40272,-2.06,-146.0,1978,3188,2737,2853,4489.2,-7.5,920,40276,0.00,2.35,0.00,0.000,1030,0.000,0.057,1978,1609,2795,2738,2853,0,0,0,0,0,0,26.74,26.65,26.78,8.60,13.02
$GC,40579,-2.06,-146.0,1978,1609,2738,2853,4517.8,-8.1,925,40580,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1609,2795,2737,2853,0,0,0,0,0,0,27.14,27.16,27.15,8.60,13.57
$GC,40879,-2.06,-146.0,1977,1609,2737,2853,4541.0,-7.8,930,40880,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1609,2795,2737,2853,0,0,0,0,0,0,27.15,27.16,27.16,8.61,13.10
$GC,41179,-2.06,-146.0,1978,1609,2737,2853,4565.0,-8.0,935,41180,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1609,2795,2737,2853,0,0,0,0,0,0,27.14,27.16,27.16,8.60,14.00
$GC,41479,-2.06,-146.0,1978,1609,2738,2853,4588.3,-7.7,940,41480,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1609,2795,2737,2853,0,0,0,0,0,0,27.14,27.17,27.15,8.61,13.65
$GC,41779,-2.06,-146.0,1978,1609,2737,2853,4611.4,-7.8,945,41780,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1609,2795,2737,2853,0,0,0,0,0,0,27.14,27.16,27.15,8.59,13.49
$GC,42079,-2.06,-146.0,1978,1609,2738,2853,4633.6,-7.3,950,42080,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1609,2795,2737,2853,0,0,0,0,0,0,27.15,27.16,27.16,8.60,13.30
$GC,42381,-2.11,-146.0,1978,1609,2737,2853,4654.3,-6.8,955,42382,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1609,2795,2737,2853,0,0,0,0,0,0,27.12,27.15,27.14,8.61,13.02
$GC,42679,-2.11,-146.0,1978,1609,2737,2853,4673.2,-6.1,960,42680,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1609,2795,2738,2853,0,0,0,0,0,0,27.15,27.16,27.15,8.61,13.37
$GC,42979,-2.22,-146.0,1978,1609,2738,2852,4687.3,-4.4,965,42981,0.10,0.00,0.00,0.000,4102,0.263,0.000,1952,1610,2795,2737,2853,0,0,0,0,0,0,26.36,26.55,26.48,8.60,13.93
$STATE,43217,end dive,NO_VERTICAL_VELOCITY
$STATE,43217,begin apogee
$GC,43222,-0.25,0.0,1951,1610,2737,2853,4686.5,0.0,969,43365,1.95,0.00,138.52,3.883,10246,0.179,0.000,2561,1609,2340,2277,2403,0,0,0,0,0,0,25.88,22.44,20.87,8.60,13.53
$STATE,43366,end apogee,CONTROL_FINISHED_OK
$STATE,43366,begin climb
$GC,43367,0.95,146.0,2560,1609,2277,2403,4685.8,0.0,971,43538,1.27,2.47,162.45,3.873,10756,0.154,0.097,2953,196,1837,1760,1914,0,0,0,0,0,0,22.89,22.11,20.85,8.58,13.57
$GC,44065,0.45,146.0,2952,196,1761,1912,4548.1,26.6,983,44071,0.77,2.17,0.00,0.000,5126,0.340,0.062,2796,1633,1836,1761,1912,0,0,0,0,0,0,25.58,26.01,25.91,8.53,12.90
$GC,44420,0.11,146.0,2795,1632,1760,1912,4474.0,20.3,989,44427,0.47,2.25,0.00,0.000,4612,0.328,0.079,2699,189,1836,1760,1913,0,0,0,0,0,0,25.86,26.19,26.06,8.53,12.39
$GC,44543,-0.19,146.0,2698,189,1760,1912,4452.6,18.9,991,44548,0.40,2.17,0.00,0.000,5126,0.295,0.067,2602,1634,1836,1760,1912,0,0,0,0,0,0,25.96,26.36,26.25,8.52,12.43
$GC,44898,-0.31,146.0,2602,1635,1760,1913,4406.3,12.7,997,44900,0.22,0.00,0.00,0.000,4102,0.308,0.000,2552,1637,1836,1760,1912,0,0,0,0,0,0,26.03,26.44,26.35,8.52,13.10
$GC,45196,-0.36,146.0,2552,1637,1759,1912,4374.3,10.5,1002,45202,0.00,2.28,0.00,0.000,516,0.000,0.079,2562,182,1836,1760,1912,0,0,0,0,0,0,26.82,26.47,26.84,8.51,12.86
$GC,45294,-0.42,146.0,2561,182,1760,1912,4367.8,10.6,1003,45299,0.20,2.17,0.00,0.000,5126,0.295,0.065,2516,1634,1835,1759,1912,0,0,0,0,0,0,26.10,26.57,26.42,8.51,12.90
$GC,45612,-0.42,146.0,2515,1634,1760,1912,4334.9,9.0,1009,45613,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1634,1836,1760,1912,0,0,0,0,0,0,26.89,26.91,26.91,8.51,13.49
$GC,45912,-0.42,146.0,2516,1634,1760,1912,4308.9,8.6,1014,45913,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1634,1835,1760,1911,0,0,0,0,0,0,26.93,26.94,26.94,8.51,12.90
$GC,46212,-0.42,146.0,2516,1634,1759,1912,4282.9,8.7,1019,46213,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1634,1835,1759,1912,0,0,0,0,0,0,26.96,26.97,26.97,8.51,13.06
$GC,46512,-0.42,146.0,2515,1634,1759,1912,4257.4,8.5,1024,46514,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1634,1835,1759,1912,0,0,0,0,0,0,26.98,27.00,26.99,8.51,13.33
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$GC,111626,0.79,325.3,2901,1633,1141,1312,8.4,10.1,2373,111637,0.00,2.28,3.28,0.365,8452,0.000,0.062,2901,3193,1219,1127,1311,0,0,0,0,0,0,27.17,26.37,25.89,8.92,13.49
$STATE,111659,end climb,SURFACE_DEPTH_REACHED
$STATE,111659,begin surface coast
$FINISH,0.7,1.025288
$STATE,111702,end surface coast,CONTROL_FINISHED_OK
$STATE,111702,begin surface
$SM_CCo,111719,49.88,0.633,0,0,963,400.00
$SM_GC,1.55,7.00,2.33,49.88,0.082,0.050,0.633,129,1615,963,-7.79,1.24,400.00,0,0,0,0,0,0,26.77,26.85,25.67
$IRIDIUM_FIX,2617.39,-7613.59,040517,130252
$TT8_MAMPS,0.021721,0.180509
$HUMID,12.78
$INTERNAL_PRESSURE,8.85654
$TCM_TEMP,25.40
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,20.85,26.594
$10V_AH,10.48,8.077
$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,24.800,397.700,471.450,49.875,136.275,23.637,26.561,434.276,21.250,0.000,21.437,8247.406,96204.766,968.501,6373.306,613.058,0.000,4276.630,0.000,5723.878,0.000,111.934,0.000
$DEVICE_MAMPS,340.171,96.837,3883.412,633.165,116.701,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1662.817,3146.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284420
$DATA_FILE_SIZE,166286,2380
$CAP_FILE_SIZE,604574,0
$CFSIZE,2047311872,2033221632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25357.57,0x213daa,0,24
$CURRENT,0.112,157.69,1
$GPS,070517,120852,2623.202,-7532.091,38,1.0,41,-9.2,0.0,0.0,9,4.7