version: 66.12
glider: 38
mission: 4
dive: 113
start: 10 15 115 22 34 19
data:
$ID,38
$MISSION,4
$DIVE,113
$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,3750
$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,78712
$MASS_COMP,9134.2002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,1
$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,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,133
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$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,2
$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,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$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,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,151015,222205,2846.8240,-7245.4263,35,0.9,44,-11.1,0.7,248.4,9,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.1
$GPS2,151015,223353,2846.6323,-7245.6489,5,0.8,12,-11.1,0.6,213.6,10,9.8
$SPEED_LIMITS,0.147,0.208
$TGT_NAME,4_SW
$TGT_LATLONG,2744.630,-7432.070
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.196643,-0.067499
$KALMAN_X,277051.062500,0.000000,0.000000,-871760.125000,15460.062500
$KALMAN_Y,158733.406250,0.000000,0.000000,-424200.437500,4468.718750
$MHEAD_RNG_PITCHd_Wd,249.3,208836,-9.8,-5.333,-14.39,4152
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,468,-0.33,-146.6,2786,3591,2592,2700,51.6,-13.2,38,473,0.22,1.83,0.00,0.000,3078,0.169,0.057,2863,2190,2646,2592,2700,0,0,0,0,0,0,26.20,26.74,26.30
$GC,783,-0.33,-146.6,2862,2189,2592,2700,75.6,-5.9,59,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2189,2646,2592,2700,0,0,0,0,0,0,27.10,27.12,27.11
$GC,1082,-0.33,-146.6,2863,2189,2592,2700,91.3,-5.1,79,1087,0.00,2.00,0.00,0.000,260,0.000,0.077,2853,3589,2646,2592,2700,0,0,0,0,0,0,27.15,26.70,27.17
$GC,1168,-0.33,-146.6,2853,3589,2593,2700,95.2,-4.5,84,1174,0.00,1.80,0.00,0.000,1030,0.000,0.057,2853,2212,2646,2592,2700,0,0,0,0,0,0,26.91,26.90,26.93
$GC,1482,-0.33,-146.6,2853,2212,2592,2699,111.1,-5.4,105,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2212,2646,2592,2700,0,0,0,0,0,0,27.17,27.19,27.19
$GC,1782,-0.33,-146.6,2853,2212,2592,2700,125.2,-5.1,125,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2212,2646,2592,2700,0,0,0,0,0,0,27.18,27.20,27.20
$GC,2084,-0.33,-146.6,2853,2212,2592,2700,140.6,-5.0,145,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2212,2646,2592,2700,0,0,0,0,0,0,27.18,27.21,27.20
$GC,2397,-0.33,-146.6,2853,2211,2592,2700,156.7,-5.1,162,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2212,2646,2593,2699,0,0,0,0,0,0,27.19,27.21,27.20
$GC,2698,-0.33,-146.6,2853,2212,2592,2699,170.0,-4.3,172,2703,0.00,1.95,0.00,0.000,260,0.000,0.077,2843,3590,2646,2593,2699,0,0,0,0,0,0,27.19,26.73,27.21
$GC,2792,-0.33,-146.6,2843,3590,2592,2699,174.6,-4.7,175,2798,0.00,1.83,0.00,0.000,1030,0.000,0.057,2843,2203,2645,2592,2699,0,0,0,0,0,0,26.96,26.94,26.96
$GC,3122,-0.33,-146.6,2843,2203,2593,2697,191.6,-5.4,186,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2203,2645,2593,2697,0,0,0,0,0,0,27.19,27.21,27.20
$GC,3422,-0.33,-146.6,2843,2203,2592,2696,208.1,-5.2,196,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2203,2644,2592,2696,0,0,0,0,0,0,27.19,27.21,27.20
$GC,3722,-0.33,-146.6,2843,2202,2593,2695,224.7,-5.4,206,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2203,2643,2592,2695,0,0,0,0,0,0,27.18,27.21,27.21
$GC,4022,-0.33,-146.6,2843,2202,2593,2694,241.1,-5.5,216,4027,0.00,1.98,0.00,0.000,260,0.000,0.077,2835,3594,2643,2592,2694,0,0,0,0,0,0,27.19,26.72,27.20
$GC,4083,-0.33,-146.6,2835,3594,2592,2694,244.8,-5.8,218,4089,0.00,1.83,0.00,0.000,1030,0.000,0.060,2836,2185,2642,2592,2693,0,0,0,0,0,0,26.96,26.93,26.98
$GC,4414,-0.33,-146.6,2835,2185,2593,2693,263.8,-6.2,229,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2184,2642,2593,2692,0,0,0,0,0,0,27.18,27.20,27.20
$GC,4713,-0.33,-146.6,2835,2185,2592,2690,280.9,-5.8,239,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2185,2642,2593,2691,0,0,0,0,0,0,27.18,27.20,27.20
$GC,5013,-0.33,-146.6,2835,2185,2593,2690,298.2,-5.9,249,5019,0.00,2.00,0.00,0.000,260,0.000,0.077,2826,3585,2641,2592,2690,0,0,0,0,0,0,27.18,26.72,27.20
$GC,5076,-0.33,-146.6,2826,3585,2593,2690,302.1,-6.3,251,5082,0.10,1.83,0.00,0.000,3078,0.151,0.057,2866,2189,2641,2593,2690,0,0,0,0,0,0,26.61,26.92,26.66
$GC,5421,-0.39,-146.6,2866,2188,2592,2688,318.6,-4.7,259,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2187,2640,2592,2688,0,0,0,0,0,0,27.18,27.20,27.20
$GC,5737,-0.44,-146.6,2866,2188,2593,2686,334.3,-5.0,266,5738,0.00,0.00,0.00,0.000,4102,0.000,0.000,2866,2187,2639,2593,2686,0,0,0,0,0,0,27.19,27.20,27.20
$GC,6051,-0.50,-146.6,2866,2188,2593,2684,350.3,-5.1,273,6056,0.08,2.00,0.00,0.000,4356,0.151,0.074,2802,3586,2639,2593,2685,0,0,0,0,0,0,26.91,26.70,26.94
$GC,6102,-0.50,-146.6,2802,3586,2592,2685,353.3,-5.3,274,6107,0.00,1.80,0.00,0.000,1030,0.000,0.057,2802,2218,2638,2592,2684,0,0,0,0,0,0,26.94,26.91,26.94
$GC,6417,-0.50,-146.6,2802,2217,2592,2683,374.8,-6.6,281,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2218,2637,2592,2683,0,0,0,0,0,0,27.17,27.20,27.19
$GC,6732,-0.50,-146.6,2801,2217,2593,2682,396.2,-6.7,288,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2217,2637,2593,2682,0,0,0,0,0,0,27.17,27.19,27.19
$GC,7047,-0.50,-146.6,2801,2218,2593,2682,416.6,-6.6,295,7052,0.00,1.95,0.00,0.000,260,0.000,0.077,2793,3586,2636,2592,2681,0,0,0,0,0,0,27.17,26.70,27.19
$GC,7114,-0.50,-146.6,2794,3586,2592,2681,419.6,-6.8,296,7119,0.00,1.85,0.00,0.000,1030,0.000,0.057,2794,2189,2636,2592,2681,0,0,0,0,0,0,26.92,26.91,26.93
$GC,7453,-0.50,-146.6,2793,2189,2592,2680,444.8,-7.1,304,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2189,2636,2592,2680,0,0,0,0,0,0,27.17,27.19,27.18
$GC,7768,-0.50,-146.6,2793,2189,2593,2679,467.5,-7.2,311,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2189,2635,2592,2678,0,0,0,0,0,0,27.17,27.19,27.18
$GC,8083,-0.50,-146.6,2793,2189,2593,2678,489.1,-6.9,318,8089,0.00,1.98,0.00,0.000,260,0.000,0.077,2785,3584,2635,2593,2677,0,0,0,0,0,0,27.17,26.69,27.18
$GC,8150,-0.50,-146.6,2786,3584,2593,2677,492.3,-6.7,319,8154,0.00,1.83,0.00,0.000,1030,0.000,0.057,2785,2207,2634,2592,2677,0,0,0,0,0,0,26.91,26.90,26.93
$GC,8489,-0.50,-146.6,2785,2206,2592,2676,515.9,-6.5,327,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2206,2634,2593,2676,0,0,0,0,0,0,27.16,27.19,27.18
$GC,8805,-0.50,-146.6,2785,2206,2592,2674,537.4,-6.8,334,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2206,2634,2593,2675,0,0,0,0,0,0,27.16,27.18,27.17
$GC,9119,-0.50,-146.6,2785,2206,2593,2673,560.4,-7.3,341,9124,0.00,1.98,0.00,0.000,260,0.000,0.077,2778,3585,2633,2593,2673,0,0,0,0,0,0,27.16,26.67,27.17
$GC,9169,-0.50,-146.6,2777,3586,2592,2673,564.1,-7.5,342,9175,0.10,1.85,0.00,0.000,3078,0.154,0.057,2815,2180,2633,2592,2674,0,0,0,0,0,0,26.56,26.89,26.62
$GC,9484,-0.50,-146.6,2815,2179,2592,2672,582.6,-5.6,349,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2179,2631,2592,2670,0,0,0,0,0,0,27.16,27.18,27.17
$GC,9799,-0.50,-146.6,2815,2179,2592,2671,598.6,-5.0,356,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2179,2631,2592,2671,0,0,0,0,0,0,27.15,27.18,27.17
$GC,10114,-0.50,-146.6,2815,2179,2592,2670,615.4,-5.5,363,10119,0.00,2.00,0.00,0.000,260,0.000,0.077,2806,3584,2631,2593,2670,0,0,0,0,0,0,27.15,26.66,27.17
$GC,10222,-0.50,-146.6,2806,3584,2592,2669,620.8,-5.7,365,10227,0.00,1.83,0.00,0.000,1030,0.000,0.057,2806,2215,2631,2593,2670,0,0,0,0,0,0,26.90,26.88,26.91
$GC,10566,-0.50,-146.6,2806,2213,2592,2669,642.2,-6.0,373,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2214,2631,2593,2669,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10881,-0.50,-146.6,2805,2213,2592,2667,662.0,-6.3,380,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2213,2630,2592,2668,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11196,-0.50,-146.6,2806,2213,2592,2666,681.4,-6.2,387,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2213,2629,2592,2666,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11512,-0.50,-146.6,2806,2213,2592,2665,700.3,-6.0,394,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2213,2628,2592,2664,0,0,0,0,0,0,27.15,27.17,27.17
$GC,11826,-0.50,-146.6,2806,2213,2592,2663,720.6,-6.5,401,11831,0.00,2.00,0.00,0.000,260,0.000,0.079,2805,3595,2627,2592,2663,0,0,0,0,0,0,27.15,26.63,27.17
$GC,11866,-0.50,-146.6,2803,3595,2592,2664,720.6,-6.5,401,11876,0.00,1.88,0.00,0.000,1030,0.000,0.057,2805,2191,2628,2593,2663,0,0,0,0,0,0,26.89,26.87,26.91
$GC,12190,-0.50,-146.6,2805,2191,2592,2662,743.3,-6.1,409,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2191,2627,2592,2662,0,0,0,0,0,0,27.15,27.17,27.17
$GC,12505,-0.50,-146.6,2804,2191,2592,2661,763.1,-6.2,416,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2192,2626,2592,2661,0,0,0,0,0,0,27.15,27.17,27.17
$GC,12820,-0.50,-146.6,2804,2191,2592,2659,783.5,-6.5,423,12825,0.00,2.00,0.00,0.000,260,0.000,0.077,2805,3581,2625,2592,2659,0,0,0,0,0,0,27.15,26.62,27.17
$GC,12902,-0.50,-146.6,2805,3581,2593,2659,786.8,-6.7,424,12911,0.00,1.85,0.00,0.000,1030,0.000,0.057,2805,2202,2625,2593,2658,0,0,0,0,0,0,26.89,26.86,26.90
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$GC,68773,-1.58,-146.6,2488,2188,2572,2599,4272.2,-5.0,936,68780,0.00,2.05,0.00,0.000,516,0.000,0.065,2489,839,2585,2572,2599,0,0,0,0,0,0,27.05,25.98,27.06
$GC,68976,-1.58,-146.6,2489,839,2573,2599,4278.3,-5.1,937,68980,0.00,2.08,0.00,0.000,1030,0.000,0.060,2485,2207,2585,2572,2598,0,0,0,0,0,0,26.19,26.17,26.22
$GC,69377,-1.58,-146.6,2484,2206,2572,2598,4300.2,-4.5,941,69382,0.00,2.17,0.00,0.000,260,0.000,0.079,2483,3584,2585,2572,2598,0,0,0,0,0,0,27.05,25.43,27.07
$GC,69469,-1.58,-146.6,2483,3584,2572,2598,4300.2,-4.5,941,69473,0.00,2.03,0.00,0.000,1030,0.000,0.057,2484,2202,2585,2572,2599,0,0,0,0,0,0,26.35,26.30,26.37
$GC,69853,-1.58,-146.6,2483,2201,2572,2598,4321.3,-4.4,945,69854,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2201,2585,2572,2598,0,0,0,0,0,0,27.03,27.06,27.05
$GC,70212,-1.58,-146.6,2483,2200,2572,2598,4337.0,-4.4,948,70218,0.00,2.25,0.00,0.000,260,0.000,0.079,2474,3597,2584,2571,2598,0,0,0,0,0,0,27.09,25.42,27.11
$GC,70268,-1.58,-146.6,2474,3598,2572,2598,4337.0,-4.4,948,70272,0.00,2.08,0.00,0.000,1030,0.000,0.057,2474,2196,2585,2572,2599,0,0,0,0,0,0,26.32,26.29,26.34
$GC,70692,-1.58,-146.6,2473,2194,2572,2598,4359.1,-4.6,952,70693,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2194,2585,2572,2598,0,0,0,0,0,0,27.09,27.12,27.11
$GC,71053,-1.58,-146.6,2473,2194,2572,2598,4375.5,-4.6,955,71058,0.00,2.28,0.00,0.000,260,0.000,0.079,2470,3587,2585,2572,2598,0,0,0,0,0,0,27.09,25.41,27.10
$GC,71128,-1.58,-146.6,2470,3587,2572,2599,4375.5,-4.6,955,71133,0.00,2.05,0.00,0.000,1030,0.000,0.057,2471,2161,2585,2573,2598,0,0,0,0,0,0,26.34,26.29,26.36
$GC,71532,-1.58,-146.6,2470,2160,2572,2598,4397.9,-4.7,959,71536,0.00,2.35,0.00,0.000,260,0.000,0.079,2463,3591,2585,2572,2598,0,0,0,0,0,0,27.09,25.41,27.11
$GC,71597,-1.58,-146.6,2463,3591,2572,2599,4397.9,-4.7,959,71601,0.00,2.05,0.00,0.000,1030,0.000,0.057,2463,2178,2585,2572,2599,0,0,0,0,0,0,26.34,26.29,26.36
$GC,72018,-1.58,-146.6,2462,2176,2572,2598,4421.0,-4.8,963,72019,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2176,2585,2572,2598,0,0,0,0,0,0,27.05,27.08,27.07
$GC,72375,-1.58,-146.6,2463,2176,2572,2598,4437.4,-4.6,966,72381,0.00,2.30,0.00,0.000,260,0.000,0.079,2457,3586,2585,2573,2598,0,0,0,0,0,0,27.09,25.39,27.11
$GC,72498,-1.58,-146.6,2456,3587,2572,2598,4442.9,-4.6,967,72504,0.00,2.00,0.00,0.000,1030,0.000,0.057,2457,2199,2585,2572,2599,0,0,0,0,0,0,26.31,26.29,26.32
$GC,72857,-1.58,-146.6,2456,2198,2572,2598,4459.1,-4.5,970,72858,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2198,2584,2571,2598,0,0,0,0,0,0,27.09,27.11,27.10
$GC,73217,-1.58,-146.6,2456,2198,2572,2598,4475.5,-4.5,973,73218,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2198,2585,2572,2598,0,0,0,0,0,0,27.09,27.11,27.10
$GC,73580,-1.58,-146.6,2456,2198,2572,2598,4490.8,-4.3,976,73585,0.00,2.28,0.00,0.000,260,0.000,0.079,2447,3581,2585,2572,2598,0,0,0,0,0,0,27.05,25.40,27.07
$GC,73660,-1.58,-146.6,2447,3581,2572,2598,4490.8,-4.3,976,73664,0.00,2.05,0.00,0.000,1030,0.000,0.057,2448,2197,2585,2571,2599,0,0,0,0,0,0,26.29,26.28,26.32
$GC,74061,-1.58,-146.6,2447,2195,2572,2598,4511.4,-4.3,980,74062,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2195,2585,2572,2598,0,0,0,0,0,0,27.04,27.07,27.06
$GC,74419,-1.58,-146.6,2447,2195,2572,2598,4527.4,-4.4,983,74423,0.00,2.30,0.00,0.000,260,0.000,0.079,2438,3596,2585,2572,2598,0,0,0,0,0,0,27.09,25.40,27.11
$GC,74488,-1.58,-146.6,2438,3595,2570,2598,4527.4,-4.4,983,74492,0.00,2.05,0.00,0.000,1030,0.000,0.057,2439,2206,2585,2572,2599,0,0,0,0,0,0,26.29,26.28,26.32
$GC,74902,-1.58,-146.6,2438,2203,2572,2598,4549.9,-4.7,987,74903,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2204,2585,2572,2598,0,0,0,0,0,0,27.09,27.12,27.10
$GC,75262,-1.58,-146.6,2438,2203,2572,2599,4566.3,-4.6,990,75267,0.00,2.25,0.00,0.000,260,0.000,0.079,2430,3583,2585,2572,2598,0,0,0,0,0,0,27.09,25.40,27.11
$GC,75354,-1.58,-146.6,2430,3584,2572,2598,4566.3,-4.6,990,75358,0.10,2.03,0.00,0.000,3078,0.166,0.057,2466,2189,2585,2572,2599,0,0,0,0,0,0,25.92,26.27,25.97
$GC,75737,-1.58,-146.6,2465,2188,2572,2598,4585.5,-4.0,994,75738,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2188,2585,2572,2598,0,0,0,0,0,0,27.09,27.11,27.10
$STATE,75976,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,75976,begin apogee
$GC,75980,-0.25,0.0,2466,2188,2572,2598,4594.5,-3.8,996,76120,1.23,0.00,136.52,3.744,10246,0.114,0.000,2899,2188,2140,2145,2135,0,0,0,0,0,0,24.87,22.80,21.12
$STATE,76121,end apogee,CONTROL_FINISHED_OK
$STATE,76121,begin climb
$GC,76122,0.53,146.6,2899,2188,2145,2135,4595.6,0.0,997,76290,0.68,2.30,158.98,3.702,10756,0.089,0.089,3168,850,1636,1652,1621,0,0,0,0,0,0,23.35,22.55,21.25
$GC,76367,0.53,146.6,3167,850,1652,1621,4563.0,20.5,999,76372,0.00,2.20,0.00,0.000,1030,0.000,0.060,3168,2194,1636,1652,1620,0,0,0,0,0,0,24.72,24.69,24.74
$GC,76697,0.02,146.6,3167,2194,1652,1621,4476.3,23.3,1002,76703,0.62,2.12,0.00,0.000,4612,0.216,0.062,2993,845,1636,1652,1621,0,0,0,0,0,0,25.44,25.72,25.60
$GC,76820,-0.45,146.6,2992,844,1652,1621,4455.7,22.5,1003,76826,0.43,2.10,0.00,0.000,5126,0.186,0.060,2863,2208,1636,1652,1621,0,0,0,0,0,0,25.67,26.09,25.82
$GC,77181,-0.70,146.6,2862,2208,1652,1621,4419.2,11.5,1006,77183,0.35,0.00,0.00,0.000,4102,0.159,0.000,2744,2208,1637,1652,1622,0,0,0,0,0,0,26.03,26.28,26.21
$GC,77540,-0.75,146.6,2743,2207,1652,1620,4400.0,6.2,1009,77541,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2208,1636,1652,1621,0,0,0,0,0,0,26.79,26.82,26.81
$GC,77900,-0.75,146.6,2743,2207,1651,1621,4381.3,5.2,1012,77906,0.00,2.10,0.00,0.000,516,0.000,0.067,2745,842,1636,1651,1621,0,0,0,0,0,0,26.87,26.51,26.89
$GC,77941,-0.75,146.6,2745,841,1652,1621,4381.3,5.2,1012,77946,0.00,2.08,0.00,0.000,1030,0.000,0.060,2745,2201,1636,1652,1620,0,0,0,0,0,0,26.59,26.56,26.62
$GC,78261,-0.75,146.6,2744,2201,1652,1621,4363.2,5.1,1015,78262,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2201,1636,1652,1620,0,0,0,0,0,0,26.92,26.94,26.94
$GC,78620,-0.75,146.6,2744,2201,1652,1621,4345.3,5.0,1018,78621,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2201,1636,1652,1621,0,0,0,0,0,0,26.96,26.98,26.98
$GC,78980,-0.75,146.6,2744,2201,1652,1621,4327.8,4.9,1021,78981,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2201,1636,1652,1620,0,0,0,0,0,0,26.99,27.01,27.01
$GC,79340,-0.75,146.6,2744,2201,1652,1620,4311.0,4.7,1024,79341,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2201,1636,1652,1620,0,0,0,0,0,0,27.01,27.04,27.03
$GC,79700,-0.75,146.6,2744,2200,1652,1620,4294.6,4.6,1027,79702,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2200,1636,1652,1621,0,0,0,0,0,0,27.03,27.05,27.05
$GC,80060,-0.75,146.6,2744,2201,1652,1620,4279.0,4.4,1030,80061,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2201,1636,1652,1620,0,0,0,0,0,0,27.05,27.07,27.06
$GC,80420,-0.75,146.6,2744,2201,1652,1620,4263.5,4.3,1033,80421,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2201,1636,1652,1621,0,0,0,0,0,0,27.05,27.08,27.07
$GC,80780,-0.75,146.6,2744,2200,1652,1620,4247.7,4.4,1036,80781,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2200,1636,1651,1621,0,0,0,0,0,0,27.06,27.08,27.08
$GC,81140,-0.75,146.6,2744,2200,1651,1620,4231.9,4.4,1039,81142,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2201,1636,1652,1620,0,0,0,0,0,0,27.07,27.10,27.09
$GC,81500,-0.75,146.6,2744,2200,1651,1620,4216.0,4.5,1042,81501,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2201,1635,1651,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,81860,-0.75,146.6,2744,2200,1651,1620,4200.2,4.4,1045,81861,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2201,1635,1651,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,82220,-0.75,146.6,2744,2200,1651,1620,4184.8,4.3,1048,82221,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2201,1635,1651,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,82580,-0.75,146.6,2744,2201,1651,1620,4169.0,4.4,1051,82582,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2201,1635,1651,1620,0,0,0,0,0,0,27.09,27.11,27.10
$GC,82940,-0.75,146.6,2744,2201,1651,1621,4153.4,4.4,1054,82941,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2200,1635,1651,1620,0,0,0,0,0,0,27.09,27.11,27.10
$GC,83300,-0.75,146.6,2744,2200,1651,1620,4138.3,4.2,1057,83301,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2201,1635,1651,1620,0,0,0,0,0,0,27.10,27.12,27.11
$GC,83660,-0.75,146.6,2744,2200,1651,1620,4124.0,4.0,1060,83661,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2200,1635,1651,1620,0,0,0,0,0,0,27.10,27.12,27.11
$GC,84020,-0.75,146.6,2744,2200,1651,1620,4109.7,4.0,1063,84021,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2200,1635,1651,1620,0,0,0,0,0,0,27.10,27.12,27.11
$GC,84380,-0.75,146.6,2744,2201,1651,1620,4095.8,3.9,1066,84384,0.00,2.12,0.00,0.000,516,0.000,0.065,2744,842,1636,1651,1621,0,0,0,0,0,0,27.10,26.55,27.12
$GC,84424,-0.75,146.6,2744,841,1651,1620,4095.8,3.9,1066,84428,0.00,2.05,0.00,0.000,1030,0.000,0.060,2745,2212,1635,1650,1620,0,0,0,0,0,0,26.71,26.64,26.73
$GC,84743,-0.67,146.6,2744,2212,1651,1620,4078.3,4.6,1069,84749,0.00,2.15,0.00,0.000,260,0.000,0.079,2745,3584,1635,1651,1620,0,0,0,0,0,0,27.10,26.37,27.11
$GC,84755,-0.60,146.6,2744,3585,1649,1620,4078.3,4.6,1069,84759,0.00,2.00,0.00,0.000,3078,0.000,0.057,2745,2207,1635,1649,1621,0,0,0,0,0,0,26.75,26.67,26.77
$GC,85100,-0.51,146.6,2744,2205,1650,1620,4060.2,5.1,1072,85107,0.08,2.15,0.00,0.000,2308,0.146,0.074,2803,3588,1635,1650,1621,0,0,0,0,0,0,26.82,26.37,26.82
$GC,85255,-0.45,146.6,2804,3587,1650,1620,4053.2,5.2,1073,85259,0.00,2.03,0.00,0.000,1030,0.000,0.057,2808,2194,1635,1650,1621,0,0,0,0,0,0,26.73,26.67,26.76
$GC,85584,-0.45,146.6,2807,2191,1650,1620,4034.9,5.2,1076,85585,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2191,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.12
$GC,85943,-0.45,146.6,2807,2191,1650,1620,4018.1,4.8,1079,85948,0.00,2.12,0.00,0.000,516,0.000,0.065,2808,822,1635,1650,1620,0,0,0,0,0,0,27.10,26.53,27.12
$GC,85988,-0.45,146.6,2808,821,1650,1620,4018.1,4.8,1079,85992,0.00,2.08,0.00,0.000,1030,0.000,0.060,2808,2212,1635,1650,1621,0,0,0,0,0,0,26.69,26.61,26.71
$GC,86302,-0.45,146.6,2808,2212,1650,1620,4001.8,4.5,1082,86303,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2211,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.12
$GC,86661,-0.45,146.6,2808,2212,1650,1620,3985.3,4.6,1085,86663,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2211,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.12
$GC,87021,-0.45,146.6,2808,2212,1650,1620,3969.5,4.4,1088,87027,0.00,2.12,0.00,0.000,516,0.000,0.065,2810,829,1635,1650,1620,0,0,0,0,0,0,27.10,26.51,27.12
$GC,87072,-0.45,146.6,2810,829,1650,1620,3969.5,4.4,1088,87077,0.00,2.08,0.00,0.000,1030,0.000,0.060,2810,2196,1635,1650,1621,0,0,0,0,0,0,26.64,26.60,26.66
$GC,87384,-0.45,146.6,2810,2196,1650,1620,3953.0,4.6,1091,87385,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2196,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.13
$GC,87741,-0.45,146.6,2810,2196,1650,1620,3936.1,4.6,1094,87743,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2196,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.13
$GC,88101,-0.45,146.6,2810,2196,1650,1620,3919.3,4.7,1097,88103,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2196,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.12
$GC,88461,-0.45,146.6,2810,2196,1650,1620,3903.0,4.5,1100,88463,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2196,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.13
$GC,88822,-0.45,146.6,2809,2196,1650,1620,3886.5,4.6,1103,88823,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2196,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.13
$GC,89181,-0.45,146.6,2810,2196,1650,1620,3870.4,4.5,1106,89183,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2196,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.13
$GC,89541,-0.45,146.6,2810,2196,1650,1620,3854.3,4.5,1109,89547,0.00,2.10,0.00,0.000,516,0.000,0.065,2810,831,1635,1650,1620,0,0,0,0,0,0,27.10,26.48,27.13
$GC,89593,-0.45,146.6,2810,831,1650,1620,3854.3,4.5,1109,89597,0.00,2.08,0.00,0.000,1030,0.000,0.060,2810,2199,1635,1650,1620,0,0,0,0,0,0,26.61,26.58,26.63
$GC,89903,-0.45,146.6,2810,2199,1650,1621,3838.3,4.5,1112,89905,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2199,1635,1650,1620,0,0,0,0,0,0,27.11,27.13,27.13
$GC,90262,-0.45,146.6,2809,2199,1650,1620,3822.9,4.3,1115,90263,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2198,1635,1650,1620,0,0,0,0,0,0,27.10,27.13,27.13
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$STATE,168294,end climb,SURFACE_DEPTH_REACHED
$STATE,168294,begin surface coast
$FINISH,-0.1,1.009092
$STATE,168352,end surface coast,CONTROL_FINISHED_OK
$STATE,168352,begin surface
$SM_CCo,168429,0.00,0.000,0,0,1064,312.86
$SM_GC,1.15,7.65,1.90,0.00,0.074,0.057,0.000,128,2215,1064,-8.80,-2.15,312.86,0,0,0,0,0,0,26.69,26.87,26.75
$IRIDIUM_FIX,2845.75,-7223.77,090808,130942
$TT8_MAMPS,0.024717,0.024717
$HUMID,73.86
$INTERNAL_PRESSURE,9.53405
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4581.0,39.5
$24V_AH,21.12,37.074
$10V_AH,10.36,25.731
$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,25.150,803.750,460.725,0.000,113.700,45.494,43.921,358.990,15.250,0.000,13.386,8833.887,144017.109,1074.701,14551.104,571.466,0.000,6620.512,0.000,13782.638,0.000,111.687,0.000
$DEVICE_MAMPS,295.477,89.388,3744.364,0.000,196.157,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1475.511,7037.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329904
$DATA_FILE_SIZE,133526,2151
$CAP_FILE_SIZE,920828,0
$CFSIZE,1024409600,997851136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,270.78,1
$GPS,171015,212237,2840.284,-7309.489,26,1.1,31,-10.9,0.0,0.0,7,9.4