version: 66.12
glider: 37
mission: 17
dive: 65
start: 5 20 117 8 21 1
data:
$ID,37
$MISSION,17
$DIVE,65
$N_DIVES,0
$STOP_T,5241719
$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,53
$R_STBD_OVSHOOT,74
$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,3
$ALTIM_SENSITIVITY,1
$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
$GPS1,200517,080804,2633.5515,-7624.6274,24,0.9,27,-8.7,0.8,344.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.1
$GPS2,200517,082034,2633.8062,-7624.6743,4,0.9,15,-8.7,0.0,0.0,10,4.4
$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,129.5,90892,-13.2,-6.000,-17.35,3656
$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,2425,-0.58,-146.0,2445,1626,2782,2907,182.1,-7.2,217,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1626,2844,2782,2907,0,0,0,0,0,0,27.16,27.17,27.17,9.15,13.45
$GC,2725,-0.58,-146.0,2445,1626,2782,2907,204.3,-7.6,232,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1626,2844,2782,2907,0,0,0,0,0,0,27.17,27.18,27.17,9.13,13.18
$GC,3025,-0.58,-146.0,2445,1626,2781,2907,226.6,-7.7,247,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1626,2844,2782,2907,0,0,0,0,0,0,27.17,27.18,27.18,9.13,12.86
$GC,3326,-0.63,-146.0,2445,1626,2782,2907,248.4,-7.3,262,3332,0.00,2.12,0.00,0.000,516,0.000,0.065,2445,178,2844,2782,2907,0,0,0,0,0,0,27.17,26.80,27.18,9.12,13.30
$GC,3379,-0.63,-146.0,2445,178,2782,2907,251.1,-7.2,264,3386,0.00,1.98,0.00,0.000,1030,0.000,0.050,2435,1632,2844,2781,2907,0,0,0,0,0,0,26.96,26.91,26.97,9.12,13.65
$GC,3686,-0.63,-146.0,2434,1633,2782,2907,274.1,-7.2,280,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1633,2844,2782,2907,0,0,0,0,0,0,27.17,27.19,27.18,9.11,13.22
$GC,3986,-0.63,-146.0,2434,1633,2782,2907,293.4,-6.2,295,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1633,2844,2782,2906,0,0,0,0,0,0,27.17,27.19,27.19,9.10,13.89
$GC,4286,-0.63,-146.0,2434,1633,2782,2906,310.4,-5.7,307,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1633,2844,2782,2906,0,0,0,0,0,0,27.17,27.20,27.19,9.10,13.93
$GC,4586,-0.69,-146.0,2434,1633,2782,2906,328.9,-6.4,317,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1633,2844,2782,2906,0,0,0,0,0,0,27.17,27.20,27.19,9.09,13.14
$GC,4886,-0.74,-146.0,2434,1633,2782,2905,348.1,-6.4,327,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1633,2843,2782,2905,0,0,0,0,0,0,27.17,27.19,27.19,9.09,13.96
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$GC,6086,-0.80,-146.0,2376,1634,2782,2901,453.0,-8.9,367,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1634,2841,2781,2901,0,0,0,0,0,0,27.18,27.20,27.19,9.06,14.00
$GC,6386,-0.80,-146.0,2376,1634,2782,2901,479.8,-8.9,377,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1634,2841,2782,2901,0,0,0,0,0,0,27.17,27.20,27.19,9.06,14.12
$GC,6686,-0.80,-146.0,2376,1634,2781,2900,507.7,-9.5,387,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1634,2841,2782,2900,0,0,0,0,0,0,27.18,27.20,27.19,9.06,13.57
$GC,6986,-0.80,-146.0,2376,1634,2781,2899,535.9,-9.2,397,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1634,2840,2782,2899,0,0,0,0,0,0,27.18,27.20,27.19,9.05,13.33
$GC,7286,-0.80,-146.0,2376,1634,2781,2899,562.7,-8.8,407,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1634,2839,2781,2898,0,0,0,0,0,0,27.18,27.20,27.19,9.05,13.69
$GC,7586,-0.80,-146.0,2376,1635,2781,2898,588.1,-8.4,417,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1634,2839,2781,2898,0,0,0,0,0,0,27.18,27.20,27.20,9.04,13.45
$GC,7886,-0.80,-146.0,2376,1634,2780,2898,613.7,-8.7,427,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1634,2839,2780,2898,0,0,0,0,0,0,27.18,27.20,27.19,9.03,13.93
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$GC,8606,-0.80,-146.0,2365,1596,2779,2896,675.5,-8.5,451,8609,0.00,2.05,0.00,0.000,516,0.000,0.067,2365,221,2837,2779,2896,0,0,0,0,0,0,27.18,26.79,27.19,9.02,14.16
$GC,8645,-0.80,-146.0,2364,202,2779,2896,678.3,-8.6,452,8649,0.00,1.95,0.00,0.000,1030,0.000,0.050,2356,1606,2836,2778,2895,0,0,0,0,0,0,26.96,26.91,26.97,9.01,13.18
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$GC,9040,-0.80,-146.0,2344,3181,2778,2895,713.0,-8.7,465,9045,0.12,2.25,0.00,0.000,3078,0.181,0.050,2385,1603,2836,2778,2895,0,0,0,0,0,0,26.55,26.88,26.72,9.00,14.00
$GC,9358,-0.80,-146.0,2384,1604,2777,2894,738.6,-8.0,476,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1604,2835,2777,2894,0,0,0,0,0,0,27.17,27.20,27.19,8.98,13.73
$GC,9658,-0.80,-146.0,2384,1604,2778,2893,761.3,-7.6,486,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1604,2835,2777,2894,0,0,0,0,0,0,27.18,27.20,27.19,8.96,14.40
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$GC,10258,-0.80,-146.0,2384,1604,2775,2892,804.4,-7.0,506,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1604,2833,2775,2892,0,0,0,0,0,0,27.17,27.20,27.20,8.93,14.52
$GC,10558,-0.80,-146.0,2384,1604,2774,2891,825.8,-7.4,516,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1604,2832,2774,2891,0,0,0,0,0,0,27.18,27.20,27.19,8.92,14.32
$GC,10858,-0.80,-146.0,2384,1604,2774,2890,849.1,-8.3,526,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1603,2831,2773,2890,0,0,0,0,0,0,27.17,27.19,27.19,8.91,14.75
$GC,11158,-0.80,-146.0,2384,1604,2773,2888,874.7,-8.6,536,11164,0.00,2.35,0.00,0.000,260,0.000,0.062,2375,3175,2831,2773,2889,0,0,0,0,0,0,27.17,26.79,27.20,8.90,14.04
$GC,11220,-0.80,-146.0,2375,3175,2772,2888,879.7,-8.7,538,11225,0.00,2.30,0.00,0.000,1030,0.000,0.052,2376,1614,2830,2772,2889,0,0,0,0,0,0,26.89,26.87,26.92,8.90,14.12
$GC,11548,-0.80,-146.0,2375,1614,2772,2887,907.4,-8.4,549,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1614,2829,2772,2887,0,0,0,0,0,0,27.17,27.19,27.19,8.87,14.36
$GC,11848,-0.80,-146.0,2375,1614,2772,2886,933.1,-8.9,559,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1614,2828,2771,2885,0,0,0,0,0,0,27.17,27.19,27.19,8.86,14.08
$GC,12148,-0.80,-146.0,2376,1614,2771,2883,958.7,-8.8,569,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1614,2827,2771,2884,0,0,0,0,0,0,27.17,27.19,27.19,8.85,14.87
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$GC,48392,-1.65,-146.0,2109,1612,2739,2850,3865.2,-6.8,1178,48393,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1613,2794,2738,2851,0,0,0,0,0,0,27.12,27.14,27.13,8.58,13.61
$GC,48693,-1.65,-146.0,2110,1613,2739,2851,3885.2,-6.7,1183,48694,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1612,2794,2739,2850,0,0,0,0,0,0,27.13,27.14,27.13,8.59,13.81
$GC,48992,-1.65,-146.0,2109,1612,2739,2851,3904.8,-6.5,1188,48993,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1612,2795,2739,2851,0,0,0,0,0,0,27.12,27.14,27.13,8.59,14.28
$GC,49292,-1.65,-146.0,2110,1612,2739,2850,3923.1,-6.2,1193,49293,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1612,2795,2739,2851,0,0,0,0,0,0,27.11,27.14,27.13,8.59,14.28
$GC,49592,-1.65,-146.0,2109,1612,2739,2851,3940.9,-5.9,1198,49593,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1613,2794,2739,2850,0,0,0,0,0,0,27.12,27.14,27.13,8.59,14.24
$GC,49893,-1.65,-146.0,2109,1613,2739,2850,3958.6,-5.9,1203,49894,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1612,2794,2739,2850,0,0,0,0,0,0,27.12,27.14,27.13,8.58,13.61
$GC,50194,-1.65,-146.0,2109,1613,2739,2850,3976.4,-5.8,1208,50195,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1613,2794,2739,2850,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.32
$GC,50493,-1.71,-146.0,2109,1613,2739,2851,3993.3,-5.7,1213,50494,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1612,2795,2739,2851,0,0,0,0,0,0,27.13,27.14,27.13,8.58,14.00
$GC,50793,-1.76,-146.0,2110,1613,2739,2850,4010.4,-5.7,1218,50794,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1612,2794,2739,2850,0,0,0,0,0,0,27.12,27.14,27.13,8.59,14.04
$GC,51095,-1.82,-146.0,2110,1612,2739,2850,4027.3,-5.6,1223,51096,0.12,0.00,0.00,0.000,4102,0.241,0.000,2074,1613,2794,2739,2850,0,0,0,0,0,0,26.13,26.28,26.22,8.59,13.81
$GC,51392,-1.82,-146.0,2073,1613,2739,2850,4047.6,-6.7,1228,51394,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1613,2795,2740,2850,0,0,0,0,0,0,27.12,27.14,27.13,8.59,14.40
$GC,51692,-1.82,-146.0,2073,1613,2739,2850,4067.8,-6.7,1233,51693,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1613,2794,2738,2851,0,0,0,0,0,0,27.12,27.14,27.13,8.59,13.77
$GC,51992,-1.82,-146.0,2073,1613,2739,2850,4087.1,-6.4,1238,51993,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1613,2794,2739,2850,0,0,0,0,0,0,27.12,27.13,27.13,8.59,14.12
$GC,52293,-1.82,-146.0,2073,1613,2739,2851,4106.7,-6.5,1243,52294,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1613,2794,2739,2850,0,0,0,0,0,0,27.11,27.14,27.13,8.59,13.85
$GC,52595,-1.82,-146.0,2073,1613,2739,2850,4125.9,-6.4,1248,52596,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1613,2794,2739,2850,0,0,0,0,0,0,27.09,27.11,27.10,8.59,13.37
$GC,52892,-1.82,-146.0,2073,1613,2739,2850,4145.0,-6.3,1253,52893,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1613,2794,2739,2850,0,0,0,0,0,0,27.12,27.14,27.13,8.59,14.04
$GC,53192,-1.82,-146.0,2073,1613,2739,2850,4163.7,-6.2,1258,53193,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1613,2794,2738,2850,0,0,0,0,0,0,27.12,27.14,27.13,8.59,13.81
$GC,53493,-1.82,-146.0,2073,1613,2739,2851,4182.0,-6.1,1263,53494,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1612,2794,2739,2850,0,0,0,0,0,0,27.12,27.13,27.13,8.59,13.77
$GC,53794,-1.82,-146.0,2073,1613,2740,2850,4200.6,-6.2,1268,53795,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1613,2794,2739,2850,0,0,0,0,0,0,27.08,27.10,27.10,8.59,14.20
$GC,54092,-1.82,-146.0,2073,1613,2739,2851,4219.2,-6.2,1273,54093,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1613,2794,2739,2850,0,0,0,0,0,0,27.12,27.14,27.13,8.59,13.45
$GC,54393,-1.82,-146.0,2073,1613,2739,2850,4237.7,-6.2,1278,54394,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1613,2794,2738,2851,0,0,0,0,0,0,27.12,27.14,27.13,8.60,13.53
$GC,54693,-1.82,-146.0,2073,1613,2739,2850,4256.0,-6.1,1283,54694,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1613,2794,2739,2850,0,0,0,0,0,0,27.12,27.13,27.13,8.59,14.04
$GC,54992,-1.82,-146.0,2073,1613,2739,2850,4274.7,-6.2,1288,54993,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1613,2795,2739,2851,0,0,0,0,0,0,27.12,27.14,27.13,8.59,14.16
$GC,55292,-1.82,-146.0,2073,1613,2739,2851,4292.0,-5.8,1293,55293,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1613,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.59,13.81
$GC,55592,-1.82,-146.0,2073,1613,2739,2851,4309.3,-5.7,1298,55593,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1613,2795,2739,2851,0,0,0,0,0,0,27.11,27.13,27.13,8.59,14.16
$GC,55894,-1.82,-146.0,2073,1613,2739,2851,4325.8,-5.5,1303,55900,0.00,2.22,0.00,0.000,516,0.000,0.079,2074,194,2794,2739,2850,0,0,0,0,0,0,27.08,26.04,27.10,8.59,13.89
$GC,55953,-1.82,-146.0,2073,194,2739,2850,4329.5,-5.6,1304,55959,0.00,2.12,0.00,0.000,1030,0.000,0.057,2063,1623,2794,2739,2850,0,0,0,0,0,0,26.53,26.44,26.56,8.59,13.93
$GC,56313,-1.82,-146.0,2062,1623,2739,2850,4349.9,-5.7,1310,56314,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.59,14.00
$GC,56613,-1.82,-146.0,2062,1623,2739,2850,4366.8,-5.6,1315,56614,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.59,13.69
$GC,56913,-1.82,-146.0,2062,1622,2739,2850,4383.0,-5.4,1320,56914,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.61
$GC,57216,-1.82,-146.0,2063,1623,2739,2850,4400.5,-5.9,1325,57218,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2739,2850,0,0,0,0,0,0,27.10,27.11,27.11,8.59,13.61
$GC,57513,-1.82,-146.0,2062,1623,2739,2850,4417.4,-5.7,1330,57514,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2738,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.59,13.89
$GC,57813,-1.82,-146.0,2062,1623,2739,2850,4434.0,-5.6,1335,57814,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.37
$GC,58114,-1.82,-146.0,2062,1624,2739,2850,4450.8,-5.6,1340,58116,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2739,2850,0,0,0,0,0,0,27.08,27.10,27.09,8.59,13.93
$GC,58413,-1.82,-146.0,2062,1623,2739,2850,4467.9,-5.6,1345,58415,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.59,14.20
$GC,58713,-1.87,-146.0,2063,1623,2739,2850,4484.6,-5.6,1350,58714,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1623,2794,2738,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.89
$GC,59015,-1.92,-146.0,2062,1623,2739,2850,4501.2,-5.5,1355,59017,0.08,0.00,0.00,0.000,4102,0.281,0.000,2043,1625,2794,2739,2849,0,0,0,0,0,0,26.43,26.50,26.45,8.59,14.04
$GC,59313,-1.92,-146.0,2043,1625,2739,2850,4519.3,-6.0,1360,59318,0.00,2.28,0.00,0.000,516,0.000,0.074,2044,189,2794,2739,2850,0,0,0,0,0,0,27.12,26.03,27.13,8.59,13.41
$GC,59368,-1.92,-146.0,2043,190,2738,2850,4519.3,-6.0,1360,59376,0.00,2.15,0.00,0.000,1030,0.000,0.057,2034,1619,2794,2739,2850,0,0,0,0,0,0,26.52,26.43,26.55,8.60,13.30
$GC,59676,-1.92,-146.0,2033,1619,2739,2850,4542.2,-6.2,1366,59677,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1618,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.61
$GC,59975,-1.92,-146.0,2033,1619,2739,2851,4560.4,-6.0,1371,59977,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1619,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.59,13.73
$GC,60277,-1.92,-146.0,2033,1619,2739,2850,4578.0,-5.9,1376,60278,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1619,2794,2739,2850,0,0,0,0,0,0,27.08,27.10,27.09,8.59,13.93
$GC,60575,-1.92,-146.0,2033,1619,2739,2850,4594.4,-5.5,1381,60577,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1619,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.81
$GC,60876,-1.92,-146.0,2034,1619,2739,2850,4610.6,-5.4,1386,60877,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1619,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,14.24
$GC,61178,-1.92,-146.0,2033,1618,2739,2850,4626.8,-5.4,1391,61179,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1618,2794,2739,2850,0,0,0,0,0,0,27.09,27.10,27.10,8.60,13.73
$GC,61475,-1.92,-146.0,2033,1619,2739,2850,4643.0,-5.3,1396,61482,0.00,2.28,0.00,0.000,516,0.000,0.074,2034,192,2794,2739,2850,0,0,0,0,0,0,27.11,26.02,27.13,8.60,14.04
$GC,61535,-1.92,-146.0,2033,191,2739,2850,4646.6,-5.5,1397,61542,0.00,2.15,0.00,0.000,1030,0.000,0.057,2024,1621,2794,2739,2850,0,0,0,0,0,0,26.51,26.43,26.54,8.60,13.93
$GC,61895,-1.92,-146.0,2023,1621,2739,2850,4667.2,-5.7,1403,61897,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1621,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.10
$GC,62196,-1.92,-146.0,2023,1621,2739,2850,4685.4,-6.0,1408,62197,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1621,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.30
$GC,62497,-1.92,-146.0,2023,1621,2739,2850,4703.0,-5.9,1413,62498,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1621,2794,2739,2850,0,0,0,0,0,0,27.07,27.09,27.08,8.60,13.45
$GC,62795,-1.92,-146.0,2023,1621,2739,2850,4720.7,-5.8,1418,62797,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1621,2795,2740,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.73
$GC,63095,-1.92,-146.0,2023,1621,2739,2850,4737.3,-5.6,1423,63097,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1621,2794,2739,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.93
$GC,63396,-1.92,-146.0,2023,1621,2739,2850,4753.4,-5.3,1428,63402,0.00,2.28,0.00,0.000,516,0.000,0.074,2024,190,2794,2739,2850,0,0,0,0,0,0,27.11,26.02,27.13,8.60,14.00
$GC,63464,-1.92,-146.0,2023,190,2739,2850,4756.9,-5.4,1429,63468,0.00,2.15,0.00,0.000,1030,0.000,0.057,2014,1619,2794,2739,2849,0,0,0,0,0,0,26.51,26.42,26.54,8.59,14.32
$GC,63814,-1.92,-146.0,2014,1620,2739,2850,4775.9,-5.3,1435,63815,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1620,2794,2739,2850,0,0,0,0,0,0,27.07,27.09,27.08,8.60,13.69
$GC,64110,-1.92,-146.0,2013,1619,2739,2850,4791.8,-5.3,1440,64112,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1620,2794,2738,2850,0,0,0,0,0,0,27.11,27.13,27.13,8.60,13.61
$STATE,64229,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,64229,begin apogee
$GC,64234,-0.25,0.0,2014,1620,2739,2850,4797.9,-5.2,1442,64380,1.92,0.00,141.98,3.970,10246,0.199,0.000,2562,1619,2340,2276,2404,0,0,0,0,0,0,24.91,22.60,20.89,8.60,13.73
$STATE,64381,end apogee,CONTROL_FINISHED_OK
$STATE,64381,begin climb
$GC,64383,0.70,146.0,2562,1620,2276,2404,4801.7,0.0,1444,64555,1.05,2.67,163.23,3.978,10756,0.169,0.097,2876,185,1837,1758,1916,0,0,0,0,0,0,23.05,22.58,20.97,8.57,13.41
$GC,65097,0.15,146.0,2875,184,1758,1916,4658.8,25.2,1456,65105,0.80,2.25,0.00,0.000,5126,0.335,0.062,2703,1637,1837,1758,1916,0,0,0,0,0,0,25.46,26.03,25.84,8.53,12.90
$GC,65429,-0.20,146.0,2703,1637,1758,1916,4591.2,17.8,1462,65435,0.43,2.33,0.00,0.000,4612,0.313,0.077,2614,178,1837,1758,1916,0,0,0,0,0,0,25.69,26.08,25.91,8.52,12.74
$GC,65522,-0.53,146.0,2614,178,1758,1916,4581.8,17.2,1463,65528,0.52,2.22,0.00,0.000,5126,0.283,0.065,2484,1639,1837,1758,1916,0,0,0,0,0,0,25.78,26.34,26.12,8.52,13.53
$GC,65851,-0.62,146.0,2483,1640,1757,1915,4546.3,8.9,1469,65852,0.12,0.00,0.00,0.000,4102,0.305,0.000,2457,1639,1837,1758,1916,0,0,0,0,0,0,25.93,26.34,26.23,8.51,12.90
$GC,66150,-0.62,146.0,2456,1640,1758,1915,4523.2,7.6,1474,66154,0.00,2.30,0.00,0.000,516,0.000,0.079,2467,184,1836,1758,1915,0,0,0,0,0,0,26.82,26.39,26.83,8.51,12.78
$GC,66205,-0.62,146.0,2466,183,1758,1915,4523.2,7.6,1474,66212,0.00,2.20,0.00,0.000,1030,0.000,0.065,2467,1633,1836,1758,1915,0,0,0,0,0,0,26.59,26.51,26.61,8.52,13.37
$GC,66512,-0.67,146.0,2466,1633,1758,1915,4494.9,7.8,1480,66514,0.15,0.00,0.00,0.000,4102,0.300,0.000,2434,1634,1836,1758,1915,0,0,0,0,0,0,25.97,26.41,26.29,8.51,13.96
$GC,66812,-0.67,146.0,2433,1635,1757,1915,4475.3,6.4,1485,66813,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1634,1836,1757,1915,0,0,0,0,0,0,26.91,26.93,26.93,8.52,13.69
$GC,67111,-0.67,146.0,2433,1634,1757,1915,4456.1,6.4,1490,67113,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1635,1836,1757,1915,0,0,0,0,0,0,26.94,26.96,26.96,8.51,13.14
$GC,67412,-0.67,146.0,2433,1634,1757,1915,4437.5,6.2,1495,67418,0.00,2.28,0.00,0.000,516,0.000,0.077,2443,189,1836,1757,1915,0,0,0,0,0,0,26.96,26.50,26.98,8.51,13.73
$GC,67471,-0.67,146.0,2442,189,1757,1914,4433.3,6.3,1496,67478,0.00,2.17,0.00,0.000,1030,0.000,0.065,2443,1639,1835,1757,1914,0,0,0,0,0,0,26.71,26.63,26.73,8.50,13.14
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$GC,137807,0.56,365.5,2856,1631,985,1178,35.4,10.5,2972,137808,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1631,1081,984,1178,0,0,0,0,0,0,27.13,27.15,27.15,8.92,12.86
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$STATE,138165,end climb,SURFACE_DEPTH_REACHED
$STATE,138165,begin surface coast
$FINISH,0.7,1.024578
$STATE,138227,end surface coast,CONTROL_FINISHED_OK
$STATE,138227,begin surface
$SM_CCo,138242,24.12,0.613,0,0,963,400.00
$SM_GC,1.04,6.88,0.00,24.12,0.077,0.000,0.613,118,1632,963,-7.81,0.51,400.00,0,0,0,0,0,0,26.71,27.17,25.90
$IRIDIUM_FIX,2624.61,-7646.95,180517,153251
$TT8_MAMPS,0.020972,0.182756
$HUMID,13.18
$INTERNAL_PRESSURE,8.88584
$TCM_TEMP,25.60
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.6,0.0
$ALTIM_BOTTOM_PING,4775.9,46.4
$24V_AH,20.89,31.440
$10V_AH,10.39,10.531
$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,24.175,387.150,513.775,24.125,133.725,23.814,26.848,472.148,23.250,0.000,16.666,10029.360,119979.461,1083.343,7111.621,716.980,0.000,4772.734,0.000,6427.938,0.000,124.509,0.000
$DEVICE_MAMPS,335.205,96.837,3977.766,613.301,119.184,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2104.524,3985.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284488
$DATA_FILE_SIZE,207419,3014
$CAP_FILE_SIZE,701937,0
$CFSIZE,2047311872,2030338048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,213.16,1
$GPS,210517,224701,2621.852,-7610.352,45,0.9,49,-8.8,0.7,320.7,8,4.5