version: 66.12
glider: 38
mission: 9
dive: 81
start: 5 29 117 12 34 53
data:
$ID,38
$MISSION,9
$DIVE,81
$N_DIVES,0
$STOP_T,5311719
$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,80833
$MASS_COMP,11240.1
$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,350
$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,150
$PITCH_MAX,3880
$C_PITCH,3037
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,1767
$C_ROLL_CLIMB,1712
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,91
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00059000001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,2
$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,-20.293694
$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,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$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,0.004410191
$SEABIRD_T_H,0.00064652628
$SEABIRD_T_I,2.6235177e-05
$SEABIRD_T_J,3.227025e-06
$SEABIRD_C_G,-9.5423679
$SEABIRD_C_H,1.1030561
$SEABIRD_C_I,-0.0018197452
$SEABIRD_C_J,0.00021177332
$SEABIRD_C_Z,2945.9399
$GPS1,290517,122331,2631.0586,-7514.7041,35,1.0,40,-9.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-54.7
$GPS2,290517,123424,2631.0283,-7514.8540,6,0.8,16,-9.4,0.0,0.0,10,4.8
$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,256.1,25175,-27.2,-6.000,-30.00,978
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,154,-1.65,-81.7,156,1743,2333,2283,1.6,-1.4,13,184,9.25,2.40,-14.57,0.176,18948,0.268,0.074,2507,185,2456,2483,2429,0,0,0,0,0,0,25.62,26.03,25.84,9.09,8.53
$GC,451,-1.55,-81.7,2507,185,2479,2427,23.8,-10.1,42,458,0.15,2.22,0.00,0.000,3078,0.228,0.057,2540,1773,2452,2479,2426,0,0,0,0,0,0,25.86,26.45,26.08,9.11,8.57
$GC,757,-1.57,-120.4,2539,1773,2478,2425,42.3,-1.9,73,767,0.00,2.38,-2.42,0.330,16900,0.000,0.077,2540,184,2594,2616,2572,0,0,0,0,0,0,26.84,26.41,26.20,9.11,8.69
$GC,790,-1.59,-146.0,2539,184,2616,2573,43.5,-3.1,76,801,0.00,2.20,-1.48,0.447,17414,0.000,0.057,2530,1788,2682,2702,2662,0,0,0,0,0,0,26.61,26.57,26.25,9.13,8.61
$GC,1100,-1.59,-146.0,2529,1787,2702,2657,73.4,-10.6,107,1104,0.00,2.17,0.00,0.000,260,0.000,0.074,2518,3292,2680,2703,2657,0,0,0,0,0,0,26.91,26.48,26.91,9.14,8.53
$GC,1124,-1.59,-146.0,2518,3292,2703,2657,75.6,-10.1,109,1132,0.00,2.17,0.00,0.000,1030,0.000,0.062,2518,1740,2679,2702,2657,0,0,0,0,0,0,26.65,26.59,26.67,9.14,9.04
$GC,1431,-1.59,-146.0,2518,1741,2702,2656,107.8,-10.5,140,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1740,2678,2701,2656,0,0,0,0,0,0,26.96,26.97,26.96,9.13,8.49
$GC,1732,-1.59,-146.0,2518,1740,2702,2655,141.7,-12.0,170,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1740,2679,2702,2656,0,0,0,0,0,0,26.98,27.00,26.99,9.12,8.73
$GC,2042,-1.59,-146.0,2518,1740,2702,2656,181.7,-13.0,189,2048,0.00,2.28,0.00,0.000,516,0.000,0.079,2518,208,2679,2703,2655,0,0,0,0,0,0,27.00,26.55,27.01,9.11,8.37
$GC,2129,-1.59,-146.0,2518,208,2702,2655,193.0,-14.2,193,2134,0.00,2.12,0.00,0.000,1030,0.000,0.057,2508,1759,2678,2702,2655,0,0,0,0,0,0,26.77,26.73,26.79,9.11,8.73
$GC,2442,-1.59,-146.0,2507,1759,2702,2656,236.9,-13.4,209,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1759,2679,2702,2656,0,0,0,0,0,0,27.01,27.03,27.03,9.10,8.92
$GC,2743,-1.59,-146.0,2507,1759,2702,2654,281.0,-15.3,224,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1760,2678,2702,2655,0,0,0,0,0,0,27.02,27.03,27.03,9.09,8.57
$GC,3062,-1.59,-146.0,2507,1759,2702,2654,331.3,-15.8,237,3066,0.00,2.35,0.00,0.000,516,0.000,0.077,2508,197,2678,2702,2654,0,0,0,0,0,0,27.02,26.58,27.03,9.08,9.32
$GC,3155,-1.59,-146.0,2507,197,2701,2654,347.1,-16.8,240,3160,0.00,2.20,0.00,0.000,1030,0.000,0.057,2497,1765,2677,2701,2654,0,0,0,0,0,0,26.78,26.77,26.79,9.08,8.73
$GC,3483,-1.59,-146.0,2496,1765,2701,2653,401.9,-16.3,251,3485,0.10,0.00,0.00,0.000,2054,0.233,0.000,2524,1768,2677,2701,2653,0,0,0,0,0,0,26.44,26.62,26.55,9.06,8.81
$GC,3783,-1.59,-146.0,2524,1768,2701,2652,451.1,-16.8,261,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1768,2676,2701,2652,0,0,0,0,0,0,27.03,27.04,27.04,9.05,9.36
$GC,4083,-1.59,-146.0,2524,1768,2700,2652,503.7,-17.8,271,4089,0.00,2.35,0.00,0.000,516,0.000,0.074,2525,207,2676,2700,2652,0,0,0,0,0,0,27.03,26.58,27.04,9.05,9.40
$GC,4157,-1.59,-146.0,2524,207,2699,2652,515.4,-18.7,273,4161,0.00,2.17,0.00,0.000,1030,0.000,0.057,2515,1761,2675,2699,2652,0,0,0,0,0,0,26.80,26.76,26.82,9.04,8.96
$GC,4469,-1.59,-146.0,2514,1761,2699,2652,576.6,-19.1,284,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1761,2675,2699,2651,0,0,0,0,0,0,27.03,27.04,27.04,9.03,9.20
$GC,4768,-1.59,-146.0,2514,1761,2698,2651,633.5,-18.9,294,4775,0.00,2.35,0.00,0.000,516,0.000,0.074,2515,206,2674,2698,2651,0,0,0,0,0,0,27.03,26.58,27.05,9.02,8.96
$GC,4828,-1.59,-146.0,2514,206,2697,2651,646.0,-19.8,296,4833,0.00,2.17,0.00,0.000,1030,0.000,0.060,2505,1765,2674,2698,2651,0,0,0,0,0,0,26.80,26.76,26.82,9.02,9.12
$GC,5160,-1.59,-146.0,2504,1768,2697,2650,712.3,-20.1,307,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1768,2673,2697,2650,0,0,0,0,0,0,27.03,27.05,27.05,9.00,9.04
$GC,5460,-1.54,-146.0,2504,1768,2697,2649,776.9,-21.9,317,5462,0.15,0.00,0.00,0.000,2054,0.226,0.000,2548,1771,2673,2697,2649,0,0,0,0,0,0,26.27,26.53,26.44,8.98,9.36
$GC,5760,-1.54,-146.0,2546,1771,2695,2648,840.5,-21.3,327,5766,0.00,2.38,0.00,0.000,516,0.000,0.077,2548,208,2672,2696,2648,0,0,0,0,0,0,27.03,26.58,27.05,8.95,9.40
$GC,5822,-1.54,-146.0,2547,208,2695,2648,854.4,-22.4,329,5828,0.00,2.22,0.00,0.000,1030,0.000,0.057,2537,1762,2671,2694,2648,0,0,0,0,0,0,26.78,26.77,26.79,8.95,9.32
$GC,6150,-1.54,-146.0,2537,1762,2694,2646,929.6,-22.9,340,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1762,2670,2694,2646,0,0,0,0,0,0,27.03,27.05,27.05,8.92,9.83
$GC,6450,-1.54,-146.0,2537,1762,2693,2645,1001.6,-24.1,350,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1762,2669,2693,2645,0,0,0,0,0,0,27.03,27.05,27.05,8.90,9.20
$GC,6750,-1.54,-146.0,2536,1762,2692,2644,1077.0,-25.5,355,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1762,2667,2692,2643,0,0,0,0,0,0,27.04,27.05,27.05,8.87,9.99
$GC,7050,-1.48,-146.0,2537,1763,2690,2642,1156.7,-26.7,360,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1763,2666,2690,2642,0,0,0,0,0,0,27.04,27.05,27.05,8.84,9.36
$GC,7350,-1.42,-146.0,2537,1763,2688,2641,1239.5,-27.7,365,7355,0.12,2.40,0.00,0.000,2564,0.241,0.074,2577,212,2664,2688,2641,0,0,0,0,0,0,26.25,26.44,26.34,8.82,10.07
$GC,7396,-1.37,-146.0,2576,211,2687,2640,1239.5,-27.7,365,7400,0.00,2.25,0.00,0.000,1030,0.000,0.057,2567,1774,2663,2687,2640,0,0,0,0,0,0,26.79,26.75,26.82,8.82,9.75
$GC,7708,-1.37,-146.0,2566,1773,2685,2639,1336.5,-27.1,371,7709,0.10,0.00,0.00,0.000,2054,0.241,0.000,2595,1775,2662,2685,2639,0,0,0,0,0,0,26.40,26.59,26.53,8.80,9.63
$GC,8008,-1.37,-146.0,2594,1776,2682,2636,1415.3,-26.2,376,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1776,2659,2683,2636,0,0,0,0,0,0,27.04,27.05,27.05,8.79,9.63
$GC,8308,-1.37,-146.0,2594,1776,2681,2635,1494.3,-26.4,381,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1776,2658,2681,2635,0,0,0,0,0,0,27.04,27.05,27.05,8.77,9.79
$GC,8607,-1.37,-146.0,2594,1776,2679,2634,1573.3,-26.3,386,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1776,2656,2679,2634,0,0,0,0,0,0,27.04,27.05,27.05,8.77,9.75
$GC,8907,-1.37,-146.0,2594,1776,2677,2632,1651.4,-25.9,391,8912,0.00,2.45,0.00,0.000,516,0.000,0.074,2595,214,2654,2677,2632,0,0,0,0,0,0,27.03,26.52,27.05,8.76,9.87
$GC,8953,-1.37,-146.0,2594,214,2676,2632,1651.4,-25.9,391,8957,0.00,2.25,0.00,0.000,1030,0.000,0.057,2585,1766,2653,2675,2632,0,0,0,0,0,0,26.79,26.73,26.80,8.75,10.07
$GC,9264,-1.37,-146.0,2584,1766,2675,2630,1745.3,-26.2,397,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1766,2652,2675,2630,0,0,0,0,0,0,27.04,27.05,27.05,8.74,10.26
$GC,9565,-1.37,-146.0,2585,1766,2673,2628,1824.4,-26.4,402,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1766,2650,2673,2628,0,0,0,0,0,0,27.04,27.05,27.05,8.74,10.15
$GC,9864,-1.37,-146.0,2585,1766,2672,2627,1903.9,-26.5,407,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1766,2648,2671,2626,0,0,0,0,0,0,27.03,27.05,27.05,8.73,10.18
$GC,10164,-1.37,-146.0,2584,1766,2671,2625,1982.8,-26.1,412,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1766,2648,2671,2625,0,0,0,0,0,0,27.04,27.05,27.05,8.72,10.07
$GC,10464,-1.37,-146.0,2585,1766,2669,2624,2060.8,-26.0,417,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1766,2646,2669,2624,0,0,0,0,0,0,27.03,27.05,27.05,8.72,10.34
$GC,10765,-1.37,-146.0,2585,1766,2668,2624,2137.9,-25.7,422,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1766,2646,2668,2624,0,0,0,0,0,0,27.03,27.05,27.05,8.72,10.22
$GC,11064,-1.37,-146.0,2585,1766,2666,2623,2213.6,-25.1,427,11070,0.00,2.42,0.00,0.000,516,0.000,0.077,2585,206,2644,2666,2623,0,0,0,0,0,0,27.03,26.46,27.05,8.72,10.34
$GC,11102,-1.37,-146.0,2585,206,2666,2623,2213.6,-25.1,427,11106,0.00,2.28,0.00,0.000,1030,0.000,0.057,2575,1762,2644,2666,2623,0,0,0,0,0,0,26.76,26.71,26.78,8.71,10.26
$GC,11425,-1.37,-146.0,2574,1762,2666,2621,2304.9,-25.2,433,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1762,2643,2665,2621,0,0,0,0,0,0,27.03,27.05,27.05,8.71,10.54
$GC,11724,-1.37,-146.0,2574,1762,2664,2620,2378.7,-24.6,438,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1762,2642,2664,2620,0,0,0,0,0,0,27.03,27.05,27.05,8.70,10.34
$GC,12025,-1.37,-146.0,2574,1762,2663,2618,2451.1,-24.1,443,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1762,2641,2663,2619,0,0,0,0,0,0,27.03,27.05,27.05,8.70,10.22
$GC,12324,-1.37,-146.0,2574,1762,2662,2618,2522.3,-23.8,448,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1762,2639,2661,2618,0,0,0,0,0,0,27.03,27.05,27.05,8.70,10.26
$GC,12624,-1.37,-146.0,2574,1762,2661,2617,2594.0,-23.7,453,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1762,2639,2661,2617,0,0,0,0,0,0,27.03,27.05,27.04,8.69,10.15
$GC,12924,-1.37,-146.0,2574,1762,2661,2616,2664.8,-23.6,458,12925,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1762,2638,2661,2616,0,0,0,0,0,0,27.03,27.05,27.05,8.69,10.18
$GC,13225,-1.37,-146.0,2574,1762,2660,2616,2735.6,-23.6,463,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1762,2638,2660,2616,0,0,0,0,0,0,27.03,27.05,27.04,8.69,10.26
$GC,13524,-1.37,-146.0,2574,1762,2659,2614,2805.0,-23.1,468,13530,0.00,2.50,0.00,0.000,516,0.000,0.074,2575,206,2637,2659,2615,0,0,0,0,0,0,27.03,26.39,27.04,8.69,10.11
$GC,13567,-1.37,-146.0,2574,206,2659,2615,2805.0,-23.1,468,13572,0.12,2.30,0.00,0.000,3078,0.228,0.057,2598,1765,2637,2659,2615,0,0,0,0,0,0,26.06,26.67,26.23,8.68,10.38
$GC,13884,-1.37,-146.0,2599,1765,2659,2614,2885.3,-21.8,474,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1765,2636,2658,2614,0,0,0,0,0,0,27.03,27.04,27.04,8.68,10.18
$GC,14184,-1.37,-146.0,2599,1765,2658,2613,2949.5,-21.4,479,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1765,2635,2658,2613,0,0,0,0,0,0,27.03,27.04,27.04,8.69,10.30
$GC,14485,-1.37,-146.0,2599,1765,2658,2612,3012.1,-20.8,484,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1765,2635,2658,2612,0,0,0,0,0,0,27.03,27.04,27.04,8.68,10.22
$GC,14784,-1.37,-146.0,2599,1765,2657,2612,3073.8,-20.7,489,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1765,2634,2657,2612,0,0,0,0,0,0,27.03,27.05,27.04,8.68,10.18
$GC,15084,-1.37,-146.0,2599,1765,2657,2611,3134.9,-20.3,494,15085,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1765,2633,2656,2611,0,0,0,0,0,0,27.03,27.04,27.04,8.67,10.22
$GC,15385,-1.42,-146.0,2599,1765,2656,2611,3194.9,-19.9,499,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1765,2633,2656,2611,0,0,0,0,0,0,27.03,27.05,27.04,8.68,10.34
$GC,15685,-1.47,-146.0,2599,1765,2654,2611,3254.1,-19.6,504,15691,0.00,2.45,0.00,0.000,4612,0.000,0.074,2600,221,2633,2655,2611,0,0,0,0,0,0,27.04,26.33,27.04,8.68,10.93
$GC,15733,-1.52,-146.0,2599,220,2654,2611,3254.1,-19.6,504,15737,0.00,2.30,0.00,0.000,5126,0.000,0.057,2590,1768,2632,2654,2611,0,0,0,0,0,0,26.72,26.64,26.73,8.67,10.74
$GC,16040,-1.52,-146.0,2590,1768,2654,2611,3324.4,-19.6,509,16041,0.00,0.00,0.00,0.000,4102,0.000,0.000,2590,1768,2632,2654,2611,0,0,0,0,0,0,27.03,27.05,27.04,8.67,10.50
$GC,16340,-1.58,-146.0,2590,1768,2654,2610,3382.9,-19.5,514,16342,0.08,0.00,0.00,0.000,4102,0.154,0.000,2551,1770,2632,2654,2610,0,0,0,0,0,0,26.74,26.79,26.77,8.67,10.93
$GC,16639,-1.58,-146.0,2550,1769,2654,2610,3446.6,-21.3,519,16641,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1770,2631,2653,2610,0,0,0,0,0,0,27.03,27.04,27.04,8.67,10.58
$GC,16942,-1.58,-146.0,2550,1770,2653,2610,3509.2,-20.9,524,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1769,2631,2653,2610,0,0,0,0,0,0,27.00,27.02,27.01,8.66,10.15
$GC,17240,-1.58,-146.0,2550,1770,2653,2609,3570.9,-20.5,529,17241,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1769,2631,2653,2609,0,0,0,0,0,0,27.03,27.03,27.03,8.67,10.22
$GC,17541,-1.58,-146.0,2550,1770,2653,2609,3632.0,-20.3,534,17547,0.00,2.47,0.00,0.000,516,0.000,0.077,2551,222,2630,2652,2609,0,0,0,0,0,0,26.99,26.27,27.00,8.66,10.15
$GC,17593,-1.58,-146.0,2550,222,2652,2609,3632.0,-20.3,534,17600,0.00,2.33,0.00,0.000,1030,0.000,0.057,2540,1778,2631,2653,2609,0,0,0,0,0,0,26.67,26.62,26.70,8.66,10.30
$GC,17901,-1.58,-146.0,2539,1778,2652,2609,3706.6,-20.6,540,17902,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1779,2630,2652,2609,0,0,0,0,0,0,26.98,27.00,27.00,8.67,9.95
$GC,18200,-1.58,-146.0,2539,1779,2652,2608,3768.4,-20.6,545,18201,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1778,2629,2651,2608,0,0,0,0,0,0,27.02,27.03,27.03,8.66,10.26
$GC,18503,-1.58,-146.0,2539,1778,2651,2608,3828.6,-20.0,550,18504,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1779,2629,2651,2608,0,0,0,0,0,0,27.00,27.01,27.01,8.66,11.01
$GC,18799,-1.58,-146.0,2539,1779,2651,2608,3887.7,-19.7,555,18806,0.00,2.55,0.00,0.000,516,0.000,0.077,2539,209,2629,2651,2607,0,0,0,0,0,0,27.02,26.22,27.03,8.66,10.38
$GC,18849,-1.58,-146.0,2539,208,2651,2607,3887.7,-19.7,555,18853,0.00,2.35,0.00,0.000,1030,0.000,0.057,2529,1771,2629,2651,2607,0,0,0,0,0,0,26.67,26.60,26.68,8.66,9.99
$GC,19162,-1.58,-146.0,2528,1771,2650,2608,3959.9,-19.8,561,19163,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1771,2629,2650,2608,0,0,0,0,0,0,26.98,27.00,26.99,8.66,10.42
$GC,19461,-1.58,-146.0,2528,1771,2650,2607,4018.2,-19.4,566,19462,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1771,2628,2650,2607,0,0,0,0,0,0,27.02,27.03,27.03,8.66,10.70
$GC,19761,-1.58,-146.0,2528,1771,2650,2607,4074.9,-18.9,571,19762,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1771,2628,2650,2607,0,0,0,0,0,0,27.01,27.03,27.03,8.66,10.18
$GC,20062,-1.58,-146.0,2528,1771,2650,2607,4131.0,-18.7,576,20068,0.00,2.53,0.00,0.000,516,0.000,0.077,2529,212,2628,2650,2607,0,0,0,0,0,0,26.98,26.18,26.99,8.66,10.89
$GC,20108,-1.58,-146.0,2528,211,2650,2607,4131.0,-18.7,576,20113,0.00,2.38,0.00,0.000,1030,0.000,0.057,2518,1805,2628,2650,2607,0,0,0,0,0,0,26.63,26.57,26.65,8.66,10.30
$GC,20422,-1.58,-146.0,2517,1805,2650,2607,4200.1,-19.0,582,20423,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1805,2628,2650,2607,0,0,0,0,0,0,26.98,27.00,26.99,8.66,10.11
$GC,20723,-1.58,-146.0,2517,1805,2650,2607,4256.4,-18.8,587,20728,0.00,2.58,0.00,0.000,516,0.000,0.077,2518,215,2628,2650,2607,0,0,0,0,0,0,26.99,26.18,27.01,8.66,10.62
$GC,20778,-1.58,-146.0,2516,215,2650,2607,4256.4,-18.8,587,20785,0.00,2.33,0.00,0.000,1030,0.000,0.057,2507,1766,2628,2650,2607,0,0,0,0,0,0,26.63,26.58,26.65,8.66,10.18
$GC,21087,-1.58,-146.0,2506,1767,2650,2606,4325.3,-18.7,593,21088,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1767,2627,2649,2606,0,0,0,0,0,0,26.98,27.00,26.99,8.66,10.15
$GC,21386,-1.58,-146.0,2507,1766,2649,2606,4380.7,-18.5,598,21388,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1767,2627,2649,2606,0,0,0,0,0,0,26.98,26.99,26.99,8.66,10.97
$GC,21688,-1.58,-146.0,2506,1767,2649,2606,4434.5,-17.9,603,21694,0.00,2.47,0.00,0.000,516,0.000,0.079,2507,223,2627,2649,2606,0,0,0,0,0,0,26.99,26.15,27.01,8.66,10.78
$GC,21746,-1.58,-146.0,2506,223,2648,2606,4445.7,-18.0,604,21754,0.12,2.33,0.00,0.000,3078,0.228,0.060,2531,1776,2627,2648,2606,0,0,0,0,0,0,25.89,26.55,26.02,8.66,10.11
$GC,22108,-1.58,-146.0,2531,1776,2649,2606,4505.8,-16.5,610,22109,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1777,2627,2649,2606,0,0,0,0,0,0,26.98,26.99,26.98,8.66,10.15
$GC,22411,-1.58,-146.0,2531,1777,2648,2606,4554.4,-16.1,615,22412,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1777,2627,2648,2606,0,0,0,0,0,0,26.98,26.99,26.99,8.66,10.26
$GC,22707,-1.63,-146.0,2531,1777,2648,2606,4602.4,-16.0,620,22713,0.00,2.53,0.00,0.000,516,0.000,0.077,2532,214,2627,2648,2606,0,0,0,0,0,0,27.01,26.10,27.02,8.66,10.15
$GC,22755,-1.68,-146.0,2531,214,2648,2606,4602.4,-16.0,620,22760,0.00,2.33,0.00,0.000,1030,0.000,0.057,2522,1773,2626,2647,2606,0,0,0,0,0,0,26.61,26.55,26.63,8.66,10.07
$STATE,22825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,22826,begin apogee
$GC,22829,-0.29,0.0,2521,1773,2648,2606,4622.6,-16.5,622,22975,1.40,0.00,141.50,3.968,10246,0.189,0.000,2943,1776,2175,2202,2148,0,0,0,0,0,0,25.01,23.01,21.39,8.66,10.34
$STATE,22976,end apogee,CONTROL_FINISHED_OK
$STATE,22976,begin climb
$GC,22977,1.69,146.0,2942,1776,2202,2148,4627.2,0.0,624,23144,1.88,0.00,162.35,3.965,10246,0.119,0.000,3550,1776,1672,1683,1661,0,0,0,0,0,0,23.49,22.99,21.46,8.64,9.79
$GC,23427,1.69,146.0,3549,1776,1683,1658,4587.5,12.8,632,23428,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1776,1670,1683,1658,0,0,0,0,0,0,26.10,26.11,26.10,8.59,10.22
$GC,23727,1.69,146.0,3549,1777,1683,1656,4549.3,12.6,637,23733,0.00,2.58,0.00,0.000,516,0.000,0.079,3562,190,1670,1683,1657,0,0,0,0,0,0,26.52,26.16,26.53,8.59,9.91
$GC,23814,1.69,146.0,3561,190,1683,1657,4541.5,12.6,638,23819,0.00,2.30,0.00,0.000,1030,0.000,0.060,3561,1710,1670,1683,1657,0,0,0,0,0,0,26.38,26.33,26.39,8.59,9.67
$GC,24147,1.69,146.0,3561,1710,1683,1657,4496.8,12.3,644,24148,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1711,1669,1683,1656,0,0,0,0,0,0,26.72,26.74,26.73,8.58,9.99
$GC,24447,1.69,146.0,3561,1711,1683,1656,4460.0,12.3,649,24448,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1710,1669,1683,1656,0,0,0,0,0,0,26.79,26.81,26.80,8.58,9.71
$GC,24747,1.69,146.0,3561,1711,1682,1656,4424.2,11.9,654,24748,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1711,1669,1682,1656,0,0,0,0,0,0,26.84,26.86,26.85,8.59,9.67
$GC,25047,1.69,146.0,3561,1711,1683,1656,4389.6,11.6,659,25048,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1710,1669,1683,1656,0,0,0,0,0,0,26.88,26.89,26.89,8.58,9.91
$GC,25347,1.69,146.0,3561,1711,1683,1655,4356.0,11.2,664,25353,0.00,2.45,0.00,0.000,516,0.000,0.082,3572,184,1668,1682,1655,0,0,0,0,0,0,26.90,26.44,26.91,8.57,10.07
$GC,25449,1.69,146.0,3572,184,1682,1656,4349.0,11.2,665,25454,0.00,2.30,0.00,0.000,1030,0.000,0.060,3573,1721,1669,1682,1656,0,0,0,0,0,0,26.67,26.62,26.70,8.57,10.03
$GC,25767,1.69,146.0,3572,1722,1682,1655,4309.6,10.8,671,25768,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1721,1668,1682,1655,0,0,0,0,0,0,26.93,26.94,26.94,8.56,9.95
$GC,26067,1.69,146.0,3572,1721,1682,1656,4278.0,10.6,676,26068,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1721,1668,1682,1655,0,0,0,0,0,0,26.94,26.96,26.95,8.56,9.79
$GC,26367,1.69,146.0,3572,1721,1682,1655,4247.4,10.2,681,26368,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1721,1668,1682,1655,0,0,0,0,0,0,26.95,26.96,26.96,8.56,10.70
$GC,26667,1.69,146.0,3572,1722,1682,1655,4217.4,10.0,686,26673,0.00,2.45,0.00,0.000,516,0.000,0.082,3583,192,1669,1683,1655,0,0,0,0,0,0,26.96,26.45,26.97,8.56,10.11
$GC,26764,1.69,146.0,3582,192,1682,1655,4211.3,10.0,687,26769,0.00,2.28,0.00,0.000,1030,0.000,0.060,3582,1716,1668,1681,1655,0,0,0,0,0,0,26.71,26.65,26.72,8.56,10.15
$GC,27087,1.69,146.0,3582,1717,1682,1655,4174.8,10.0,693,27088,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1717,1668,1681,1655,0,0,0,0,0,0,26.96,26.98,26.98,8.56,10.11
$GC,27387,1.69,146.0,3582,1716,1682,1655,4145.5,9.7,698,27388,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1717,1668,1682,1655,0,0,0,0,0,0,26.98,26.99,26.99,8.55,10.42
$GC,27687,1.69,146.0,3582,1716,1682,1655,4116.5,9.6,703,27688,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1717,1668,1682,1655,0,0,0,0,0,0,26.98,26.99,26.99,8.55,9.91
$GC,27987,1.69,146.0,3582,1716,1682,1655,4088.9,9.3,708,27988,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1717,1668,1681,1655,0,0,0,0,0,0,26.98,27.00,26.99,8.55,9.99
$GC,28287,1.69,146.0,3582,1716,1683,1654,4062.0,8.9,713,28288,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1717,1668,1682,1655,0,0,0,0,0,0,26.98,27.00,27.00,8.55,10.15
$GC,28587,1.69,146.0,3582,1717,1682,1655,4036.6,8.5,718,28588,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1716,1668,1682,1654,0,0,0,0,0,0,26.99,27.01,27.00,8.54,10.54
$GC,28887,1.69,146.0,3582,1716,1682,1654,4011.7,8.2,723,28888,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1717,1667,1681,1654,0,0,0,0,0,0,26.99,27.01,27.01,8.55,10.07
$GC,29187,1.69,146.0,3582,1717,1681,1654,3987.1,8.2,728,29188,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1717,1668,1682,1654,0,0,0,0,0,0,26.99,27.01,27.01,8.55,9.83
$GC,29487,1.69,146.0,3582,1717,1682,1654,3963.0,8.0,733,29491,0.00,2.38,0.00,0.000,260,0.000,0.074,3583,3273,1667,1681,1654,0,0,0,0,0,0,26.99,26.44,27.01,8.54,9.91
$GC,29566,1.69,146.0,3582,3273,1682,1653,3958.0,8.0,734,29571,0.00,2.28,0.00,0.000,1030,0.000,0.062,3594,1723,1667,1681,1653,0,0,0,0,0,0,26.65,26.57,26.67,8.55,10.03
$GC,29909,1.69,146.0,3593,1723,1682,1653,3929.0,8.0,740,29910,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1723,1668,1682,1654,0,0,0,0,0,0,26.99,27.01,27.01,8.54,10.66
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$GC,86267,1.87,264.6,3644,1712,1276,1239,872.3,8.8,1705,86274,0.00,2.33,0.00,0.000,260,0.000,0.074,3644,3263,1256,1275,1238,0,0,0,0,0,0,26.99,26.32,27.01,8.55,9.67
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$GC,86766,1.87,264.6,3666,170,1276,1239,826.7,10.3,1721,86771,0.12,2.20,0.00,0.000,5126,0.231,0.060,3632,1724,1256,1275,1238,0,0,0,0,0,0,25.96,26.60,26.15,8.56,9.63
$GC,87078,1.87,264.6,3631,1724,1276,1238,793.3,10.1,1732,87084,0.00,2.42,0.00,0.000,516,0.000,0.079,3642,168,1257,1276,1239,0,0,0,0,0,0,26.99,26.29,27.01,8.58,9.48
$GC,87281,1.87,264.6,3642,168,1276,1239,772.9,11.4,1738,87288,0.00,2.20,0.00,0.000,1030,0.000,0.060,3642,1701,1257,1276,1239,0,0,0,0,0,0,26.66,26.60,26.69,8.59,9.67
$GC,87588,1.87,264.6,3642,1701,1275,1238,733.7,12.1,1749,87592,0.00,2.33,0.00,0.000,260,0.000,0.074,3642,3249,1257,1276,1239,0,0,0,0,0,0,27.00,26.32,27.01,8.60,9.99
$GC,87662,1.87,264.6,3642,3264,1276,1238,725.7,12.6,1751,87667,0.00,2.28,0.00,0.000,1030,0.000,0.060,3653,1712,1257,1276,1238,0,0,0,0,0,0,26.60,26.52,26.63,8.61,9.63
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$GC,88183,1.81,264.6,3664,173,1276,1239,655.2,14.9,1768,88191,0.17,2.20,0.00,0.000,5126,0.226,0.057,3615,1725,1257,1275,1239,0,0,0,0,0,0,25.78,26.61,26.03,8.64,9.48
$GC,88490,1.81,264.6,3615,1724,1276,1239,608.6,14.6,1779,88491,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1724,1257,1276,1239,0,0,0,0,0,0,27.00,27.01,27.01,8.66,9.67
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$GC,91491,1.81,264.6,3615,1724,1276,1244,37.6,19.3,1927,91500,0.00,2.38,0.00,0.000,516,0.000,0.077,3627,166,1260,1276,1244,0,0,0,0,0,0,27.01,26.40,27.01,8.85,10.26
$GC,91534,1.81,264.6,3626,166,1276,1245,29.6,18.7,1931,91542,0.00,2.17,0.00,0.000,1030,0.000,0.057,3627,1699,1260,1276,1245,0,0,0,0,0,0,26.67,26.65,26.70,8.85,10.22
$STATE,91662,end climb,SURFACE_DEPTH_REACHED
$STATE,91662,begin surface coast
$FINISH,1.0,1.024103
$STATE,91683,end surface coast,CONTROL_FINISHED_OK
$STATE,91683,begin surface
$SM_CCo,91699,75.62,0.732,0,0,970,350.04
$SM_GC,1.04,8.82,0.00,75.62,0.082,0.000,0.732,164,1700,970,-8.89,-1.89,350.04,0,0,0,0,0,0,26.48,27.01,25.08
$IRIDIUM_FIX,2624.61,-7452.94,280517,013827
$TT8_MAMPS,0.021721,0.228445
$HUMID,9.32
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,4583.3,64.3
$24V_AH,21.39,39.154
$10V_AH,10.46,11.868
$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,25.350,456.475,426.375,75.625,152.175,25.894,57.876,378.308,11.750,0.000,17.338,7410.080,76408.898,1044.229,7100.624,391.350,0.000,4550.770,0.000,6422.264,0.000,110.310,0.000
$DEVICE_MAMPS,268.164,94.354,3967.834,732.485,446.940,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1342.243,2591.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284524
$DATA_FILE_SIZE,138506,1946
$CAP_FILE_SIZE,567447,0
$CFSIZE,2047311872,2026045440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,260.50,1
$GPS,300517,140534,2626.664,-7528.427,27,0.8,29,-9.3,0.0,0.0,11,4.4