version: 66.12
glider: 38
mission: 4
dive: 115
start: 10 19 115 22 49 3
data:
$ID,38
$MISSION,4
$DIVE,115
$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,117
$R_STBD_OVSHOOT,68
$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
$GPS1,191015,222826,2825.8735,-7335.5142,28,1.0,47,-10.6,0.5,169.9,9,9.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-60.0
$GPS2,191015,224837,2825.7114,-7335.8662,5,1.2,17,-10.6,0.0,0.0,7,9.1
$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,237.9,119479,-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,133,-0.53,-146.6,167,2208,2517,2643,3.9,-4.5,11,155,10.95,1.90,-2.33,0.325,18948,0.293,0.067,2797,839,2645,2589,2701,0,0,0,0,0,0,25.89,26.26,26.08
$GC,482,-0.36,-146.6,2796,839,2593,2696,56.7,-11.4,37,491,0.20,1.90,0.00,0.000,3078,0.174,0.065,2855,2201,2644,2594,2695,0,0,0,0,0,0,26.22,26.71,26.32
$GC,790,-0.36,-146.6,2855,2201,2594,2695,79.5,-6.6,58,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2201,2645,2594,2696,0,0,0,0,0,0,27.11,27.13,27.13
$GC,1090,-0.36,-146.6,2855,2201,2594,2696,96.6,-5.8,78,1094,0.00,1.98,0.00,0.000,260,0.000,0.079,2845,3590,2644,2592,2696,0,0,0,0,0,0,27.15,26.71,27.17
$GC,1362,-0.36,-146.6,2845,3590,2593,2695,111.3,-5.1,94,1371,0.00,1.85,0.00,0.000,1030,0.000,0.060,2845,2183,2644,2594,2695,0,0,0,0,0,0,26.94,26.92,26.95
$GC,1672,-0.36,-146.6,2845,2184,2594,2695,128.8,-5.8,115,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2184,2644,2593,2696,0,0,0,0,0,0,27.18,27.20,27.20
$GC,1971,-0.36,-146.6,2844,2183,2593,2695,145.2,-5.3,135,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2184,2644,2594,2695,0,0,0,0,0,0,27.19,27.21,27.20
$GC,2287,-0.36,-146.6,2845,2183,2593,2694,162.7,-5.9,149,2292,0.00,2.03,0.00,0.000,260,0.000,0.077,2835,3609,2643,2593,2694,0,0,0,0,0,0,27.19,26.74,27.20
$GC,2360,-0.36,-146.6,2834,3609,2593,2695,166.3,-5.7,151,2365,0.00,1.85,0.00,0.000,1030,0.000,0.057,2835,2200,2644,2594,2694,0,0,0,0,0,0,26.95,26.94,26.96
$GC,2680,-0.36,-146.6,2835,2201,2594,2693,186.3,-6.4,162,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2200,2643,2594,2693,0,0,0,0,0,0,27.19,27.21,27.21
$GC,2979,-0.36,-146.6,2834,2200,2594,2693,203.1,-5.3,172,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2200,2643,2594,2692,0,0,0,0,0,0,27.19,27.21,27.20
$GC,3280,-0.36,-146.6,2834,2200,2594,2692,220.0,-5.8,182,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2200,2642,2593,2692,0,0,0,0,0,0,27.19,27.21,27.20
$GC,3579,-0.36,-146.6,2834,2200,2594,2690,238.1,-6.3,192,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2200,2642,2594,2690,0,0,0,0,0,0,27.19,27.21,27.20
$GC,3880,-0.36,-146.6,2835,2200,2593,2689,256.8,-6.3,202,3885,0.00,2.00,0.00,0.000,260,0.000,0.079,2823,3602,2641,2594,2689,0,0,0,0,0,0,27.19,26.72,27.20
$GC,3943,-0.36,-146.6,2824,3602,2593,2688,260.4,-6.2,204,3948,0.00,1.85,0.00,0.000,1030,0.000,0.057,2824,2202,2641,2593,2689,0,0,0,0,0,0,26.94,26.92,26.96
$GC,4273,-0.36,-146.6,2824,2201,2594,2687,280.0,-5.7,215,4275,0.10,0.00,0.00,0.000,2054,0.181,0.000,2862,2199,2640,2594,2686,0,0,0,0,0,0,26.74,26.84,26.81
$GC,4572,-0.36,-146.6,2861,2199,2593,2685,295.0,-4.9,225,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2199,2639,2593,2685,0,0,0,0,0,0,27.18,27.20,27.20
$GC,4874,-0.36,-146.6,2861,2199,2594,2683,308.8,-4.4,233,4880,0.00,1.98,0.00,0.000,260,0.000,0.077,2855,3598,2639,2594,2684,0,0,0,0,0,0,27.17,26.72,27.20
$GC,4973,-0.36,-146.6,2855,3598,2594,2683,313.2,-4.7,235,4977,0.00,1.85,0.00,0.000,1030,0.000,0.057,2855,2198,2638,2594,2683,0,0,0,0,0,0,26.93,26.91,26.95
$GC,5282,-0.36,-146.6,2855,2197,2594,2682,329.6,-5.2,242,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2197,2638,2594,2682,0,0,0,0,0,0,27.17,27.20,27.20
$GC,5597,-0.36,-146.6,2854,2198,2593,2680,347.0,-5.6,249,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2198,2637,2594,2680,0,0,0,0,0,0,27.17,27.20,27.19
$GC,5912,-0.36,-146.6,2855,2197,2594,2679,361.4,-4.2,256,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2198,2636,2594,2679,0,0,0,0,0,0,27.17,27.20,27.19
$GC,6227,-0.36,-146.6,2855,2198,2593,2677,375.2,-4.6,263,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2198,2635,2594,2677,0,0,0,0,0,0,27.17,27.20,27.19
$GC,6542,-0.36,-146.6,2854,2197,2594,2676,391.9,-5.3,270,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2198,2635,2594,2676,0,0,0,0,0,0,27.17,27.19,27.19
$GC,6857,-0.36,-146.6,2855,2197,2594,2674,407.9,-5.1,277,6860,0.00,2.00,0.00,0.000,260,0.000,0.079,2852,3592,2634,2594,2674,0,0,0,0,0,0,27.17,26.69,27.18
$GC,6922,-0.41,-146.6,2852,3594,2594,2674,410.3,-5.1,278,6926,0.00,1.85,0.00,0.000,1030,0.000,0.060,2852,2200,2634,2594,2674,0,0,0,0,0,0,26.95,26.89,26.96
$GC,7265,-0.41,-146.6,2852,2199,2593,2673,427.8,-4.8,286,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2199,2633,2594,2672,0,0,0,0,0,0,27.16,27.18,27.18
$GC,7581,-0.46,-146.6,2852,2199,2594,2671,442.8,-4.7,293,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2199,2632,2594,2671,0,0,0,0,0,0,27.16,27.18,27.17
$GC,7896,-0.51,-146.6,2852,2199,2593,2670,458.0,-4.9,300,7900,0.05,1.85,0.00,0.000,4612,0.191,0.065,2806,851,2631,2593,2670,0,0,0,0,0,0,26.94,26.78,26.96
$GC,7946,-0.51,-146.6,2806,844,2594,2670,461.1,-5.2,301,7951,0.00,1.90,0.00,0.000,1030,0.000,0.062,2804,2205,2631,2593,2670,0,0,0,0,0,0,26.85,26.83,26.87
$GC,8260,-0.51,-146.6,2805,2205,2593,2669,481.2,-6.3,308,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2205,2631,2593,2669,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8575,-0.51,-146.6,2804,2204,2593,2668,500.9,-6.3,315,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2204,2630,2593,2668,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8890,-0.51,-146.6,2804,2204,2593,2667,519.9,-5.9,322,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2204,2630,2593,2667,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9205,-0.51,-146.6,2804,2204,2593,2665,537.8,-5.6,329,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2204,2629,2593,2666,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9520,-0.51,-146.6,2804,2204,2593,2664,555.8,-5.8,336,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2204,2628,2593,2664,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9835,-0.51,-146.6,2804,2204,2593,2663,575.8,-6.5,343,9841,0.00,2.00,0.00,0.000,260,0.000,0.079,2804,3607,2628,2593,2664,0,0,0,0,0,0,27.15,26.65,27.17
$GC,9894,-0.51,-146.6,2804,3606,2593,2664,579.1,-6.8,344,9898,0.00,1.85,0.00,0.000,1030,0.000,0.057,2805,2198,2628,2593,2664,0,0,0,0,0,0,26.91,26.86,26.92
$GC,10237,-0.51,-146.6,2804,2197,2593,2662,602.2,-6.4,352,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2197,2627,2593,2662,0,0,0,0,0,0,27.15,27.17,27.16
$GC,10552,-0.51,-146.6,2804,2197,2593,2661,620.9,-6.0,359,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2197,2627,2593,2661,0,0,0,0,0,0,27.15,27.17,27.16
$GC,10867,-0.51,-146.6,2804,2197,2592,2660,640.1,-6.1,366,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2197,2626,2593,2660,0,0,0,0,0,0,27.15,27.16,27.16
$GC,11182,-0.51,-146.6,2803,2197,2594,2659,660.3,-6.6,373,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2197,2625,2592,2659,0,0,0,0,0,0,27.14,27.17,27.16
$GC,11497,-0.51,-146.6,2803,2197,2592,2657,681.3,-6.5,380,11502,0.00,1.98,0.00,0.000,260,0.000,0.079,2804,3586,2624,2592,2657,0,0,0,0,0,0,27.14,26.62,27.16
$GC,11588,-0.51,-146.6,2804,3586,2593,2657,687.5,-6.6,382,11594,0.00,1.80,0.00,0.000,1030,0.000,0.060,2805,2199,2625,2592,2658,0,0,0,0,0,0,26.90,26.86,26.91
$GC,11903,-0.51,-146.6,2804,2198,2593,2656,707.5,-6.4,389,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2198,2624,2593,2656,0,0,0,0,0,0,27.15,27.16,27.16
$GC,12218,-0.51,-146.6,2804,2198,2593,2655,727.7,-6.3,396,12222,0.00,2.03,0.00,0.000,260,0.000,0.079,2804,3590,2624,2593,2655,0,0,0,0,0,0,27.14,26.62,27.16
$GC,12293,-0.51,-146.6,2804,3592,2593,2655,730.7,-6.3,397,12298,0.00,1.88,0.00,0.000,1030,0.000,0.060,2805,2193,2624,2593,2655,0,0,0,0,0,0,26.87,26.86,26.89
$GC,12627,-0.51,-146.6,2804,2192,2593,2653,751.6,-5.5,405,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2192,2623,2593,2653,0,0,0,0,0,0,27.15,27.17,27.16
$GC,12942,-0.51,-146.6,2804,2192,2593,2651,769.3,-5.7,412,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2192,2622,2593,2651,0,0,0,0,0,0,27.15,27.17,27.16
$GC,13257,-0.51,-146.6,2804,2192,2593,2650,789.6,-6.6,419,13262,0.00,2.05,0.00,0.000,260,0.000,0.079,2805,3595,2621,2593,2650,0,0,0,0,0,0,27.15,26.61,27.16
$GC,13328,-0.51,-146.6,2804,3595,2593,2650,792.9,-6.9,420,13332,0.00,1.88,0.00,0.000,1030,0.000,0.057,2804,2209,2621,2592,2650,0,0,0,0,0,0,26.88,26.87,26.89
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$GC,68937,-1.53,-146.6,2472,3572,2568,2595,4261.9,-5.0,927,68941,0.00,2.00,0.00,0.000,1030,0.000,0.057,2472,2211,2582,2569,2595,0,0,0,0,0,0,26.32,26.27,26.34
$GC,69311,-1.53,-146.6,2472,2194,2568,2595,4286.6,-5.1,931,69312,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2194,2581,2568,2595,0,0,0,0,0,0,27.09,27.11,27.10
$GC,69673,-1.53,-146.6,2472,2193,2568,2595,4304.9,-5.1,934,69678,0.00,2.28,0.00,0.000,260,0.000,0.079,2469,3574,2581,2568,2595,0,0,0,0,0,0,27.03,25.33,27.05
$GC,69773,-1.53,-146.6,2469,3574,2568,2595,4304.9,-5.1,934,69777,0.00,2.05,0.00,0.000,1030,0.000,0.057,2470,2183,2582,2569,2595,0,0,0,0,0,0,26.28,26.25,26.29
$GC,70152,-1.53,-146.6,2469,2181,2568,2595,4328.3,-4.9,938,70153,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2181,2581,2568,2595,0,0,0,0,0,0,27.08,27.10,27.10
$GC,70513,-1.53,-146.6,2469,2181,2568,2595,4345.5,-4.8,941,70519,0.00,2.28,0.00,0.000,260,0.000,0.079,2461,3570,2581,2567,2595,0,0,0,0,0,0,27.03,25.32,27.05
$GC,70619,-1.53,-146.6,2461,3571,2568,2596,4345.5,-4.8,941,70623,0.00,2.00,0.00,0.000,1030,0.000,0.057,2461,2206,2582,2569,2596,0,0,0,0,0,0,26.32,26.27,26.34
$GC,70993,-1.53,-146.6,2461,2189,2568,2595,4369.7,-5.0,945,70994,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2189,2581,2568,2595,0,0,0,0,0,0,27.08,27.11,27.10
$GC,71353,-1.53,-146.6,2460,2188,2568,2594,4387.4,-5.0,948,71358,0.00,2.28,0.00,0.000,260,0.000,0.082,2457,3579,2582,2569,2595,0,0,0,0,0,0,27.08,25.31,27.10
$GC,71475,-1.53,-146.6,2457,3579,2568,2595,4393.4,-5.0,949,71478,0.00,2.00,0.00,0.000,1030,0.000,0.060,2457,2201,2582,2569,2596,0,0,0,0,0,0,26.29,26.24,26.32
$GC,71838,-1.53,-146.6,2456,2183,2568,2595,4410.7,-4.8,952,71839,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2183,2581,2568,2595,0,0,0,0,0,0,27.03,27.05,27.04
$GC,72197,-1.53,-146.6,2456,2183,2568,2595,4426.9,-4.6,955,72203,0.00,2.30,0.00,0.000,260,0.000,0.079,2447,3571,2581,2568,2595,0,0,0,0,0,0,27.08,25.31,27.10
$GC,72289,-1.53,-146.6,2447,3571,2568,2595,4426.9,-4.6,955,72292,0.00,2.03,0.00,0.000,1030,0.000,0.057,2446,2198,2582,2569,2595,0,0,0,0,0,0,26.31,26.25,26.32
$GC,72678,-1.53,-146.6,2447,2179,2568,2595,4448.0,-4.4,959,72680,0.10,0.00,0.00,0.000,2054,0.164,0.000,2484,2179,2582,2569,2595,0,0,0,0,0,0,26.61,26.63,26.61
$GC,73039,-1.53,-146.6,2484,2179,2568,2594,4460.8,-3.7,962,73043,0.00,2.35,0.00,0.000,260,0.000,0.082,2483,3585,2581,2568,2595,0,0,0,0,0,0,27.03,25.28,27.04
$GC,73119,-1.53,-146.6,2483,3585,2569,2595,4460.8,-3.7,962,73123,0.00,2.05,0.00,0.000,1030,0.000,0.060,2483,2176,2582,2569,2595,0,0,0,0,0,0,26.29,26.25,26.32
$GC,73522,-1.53,-146.6,2483,2175,2568,2595,4478.8,-3.7,966,73523,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2175,2582,2569,2595,0,0,0,0,0,0,27.08,27.10,27.10
$GC,73883,-1.53,-146.6,2482,2175,2568,2595,4492.2,-3.7,969,73889,0.00,2.33,0.00,0.000,260,0.000,0.079,2475,3575,2581,2568,2595,0,0,0,0,0,0,27.03,25.29,27.05
$GC,73955,-1.53,-146.6,2475,3576,2568,2596,4492.2,-3.7,969,73959,0.00,2.00,0.00,0.000,1030,0.000,0.057,2476,2198,2582,2569,2595,0,0,0,0,0,0,26.30,26.25,26.32
$GC,74359,-1.53,-146.6,2475,2196,2568,2595,4510.2,-3.8,973,74360,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2197,2581,2568,2595,0,0,0,0,0,0,27.03,27.05,27.04
$GC,74719,-1.53,-146.6,2475,2196,2568,2595,4523.1,-3.6,976,74720,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2197,2581,2568,2595,0,0,0,0,0,0,27.03,27.05,27.04
$GC,75078,-1.53,-146.6,2475,2196,2567,2595,4535.5,-3.5,979,75083,0.00,2.30,0.00,0.000,260,0.000,0.079,2472,3578,2581,2568,2595,0,0,0,0,0,0,27.08,25.30,27.10
$GC,75139,-1.53,-146.6,2472,3579,2569,2595,4535.5,-3.5,979,75143,0.00,2.03,0.00,0.000,1030,0.000,0.060,2472,2202,2582,2569,2595,0,0,0,0,0,0,26.27,26.25,26.28
$GC,75560,-1.53,-146.6,2471,2200,2568,2594,4551.6,-3.3,983,75561,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2201,2581,2568,2595,0,0,0,0,0,0,27.03,27.06,27.05
$GC,75919,-1.53,-146.6,2472,2201,2568,2595,4563.7,-3.3,986,75921,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2201,2581,2568,2595,0,0,0,0,0,0,27.03,27.05,27.05
$GC,76278,-1.53,-146.6,2472,2201,2568,2595,4575.9,-3.4,989,76279,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2201,2581,2568,2595,0,0,0,0,0,0,27.08,27.11,27.10
$GC,76639,-1.53,-146.6,2471,2201,2568,2595,4588.8,-3.6,992,76645,0.00,2.28,0.00,0.000,260,0.000,0.079,2471,3573,2581,2568,2595,0,0,0,0,0,0,27.08,25.29,27.10
$GC,76715,-1.53,-146.6,2470,3572,2568,2595,4588.8,-3.6,992,76719,0.00,2.03,0.00,0.000,1030,0.000,0.057,2470,2199,2581,2568,2595,0,0,0,0,0,0,26.27,26.24,26.28
$GC,77119,-1.53,-146.6,2470,2198,2568,2595,4606.3,-3.6,996,77120,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2198,2581,2568,2595,0,0,0,0,0,0,27.09,27.11,27.10
$GC,77480,-1.53,-146.6,2470,2198,2568,2595,4620.5,-4.0,999,77481,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2198,2581,2568,2595,0,0,0,0,0,0,27.08,27.11,27.10
$STATE,77598,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,77598,begin apogee
$GC,77602,-0.25,0.0,2470,2198,2568,2595,4624.7,-3.9,1000,77741,1.23,0.00,135.85,3.769,10246,0.114,0.000,2899,2198,2140,2145,2135,0,0,0,0,0,0,24.80,22.79,21.07
$STATE,77742,end apogee,CONTROL_FINISHED_OK
$STATE,77742,begin climb
$GC,77744,0.53,146.6,2900,2198,2146,2135,4625.5,0.0,1001,77912,0.70,2.35,160.70,3.724,10756,0.087,0.089,3171,838,1636,1653,1619,0,0,0,0,0,0,23.34,22.52,21.19
$GC,78008,0.53,146.6,3171,837,1653,1620,4592.0,20.9,1003,78013,0.00,2.17,0.00,0.000,1030,0.000,0.060,3170,2187,1636,1653,1620,0,0,0,0,0,0,24.84,24.80,24.85
$GC,78319,0.02,146.6,3169,2187,1653,1620,4503.6,23.8,1006,78326,0.65,2.10,0.00,0.000,4612,0.216,0.065,2988,829,1636,1653,1619,0,0,0,0,0,0,25.44,25.72,25.59
$GC,78468,-0.45,146.6,2987,829,1653,1619,4483.4,22.8,1007,78473,0.43,2.08,0.00,0.000,5126,0.186,0.062,2858,2207,1635,1652,1619,0,0,0,0,0,0,25.70,26.12,25.94
$GC,78798,-0.70,146.6,2858,2207,1652,1619,4447.2,11.5,1010,78800,0.35,0.00,0.00,0.000,4102,0.156,0.000,2739,2207,1635,1652,1619,0,0,0,0,0,0,26.03,26.29,26.21
$GC,79157,-0.70,146.6,2739,2207,1652,1619,4427.7,6.2,1013,79164,0.00,2.12,0.00,0.000,516,0.000,0.065,2740,828,1636,1653,1620,0,0,0,0,0,0,26.79,26.45,26.81
$GC,79198,-0.70,146.6,2739,828,1653,1620,4427.7,6.2,1013,79203,0.00,2.08,0.00,0.000,1030,0.000,0.062,2739,2197,1636,1653,1619,0,0,0,0,0,0,26.53,26.50,26.55
$GC,79519,-0.70,146.6,2739,2197,1652,1619,4409.5,5.1,1016,79520,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2197,1636,1653,1619,0,0,0,0,0,0,26.87,26.89,26.89
$GC,79877,-0.70,146.6,2739,2197,1653,1619,4391.4,5.0,1019,79879,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2197,1635,1652,1619,0,0,0,0,0,0,26.93,26.95,26.94
$GC,80237,-0.70,146.6,2739,2197,1652,1619,4373.8,4.9,1022,80238,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2197,1635,1652,1619,0,0,0,0,0,0,26.96,26.98,26.98
$GC,80597,-0.70,146.6,2739,2197,1652,1619,4356.4,4.8,1025,80603,0.00,2.08,0.00,0.000,516,0.000,0.065,2739,829,1635,1652,1619,0,0,0,0,0,0,26.99,26.59,27.01
$GC,80638,-0.70,146.6,2739,829,1652,1619,4356.4,4.8,1025,80643,0.00,2.08,0.00,0.000,1030,0.000,0.062,2740,2205,1635,1652,1619,0,0,0,0,0,0,26.67,26.63,26.72
$GC,80957,-0.70,146.6,2739,2205,1652,1619,4339.2,4.8,1028,80959,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2205,1635,1652,1619,0,0,0,0,0,0,27.01,27.03,27.03
$GC,81317,-0.70,146.6,2739,2205,1652,1619,4321.6,4.9,1031,81319,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2205,1635,1652,1619,0,0,0,0,0,0,27.03,27.05,27.05
$GC,81677,-0.70,146.6,2739,2205,1652,1619,4304.3,4.8,1034,81683,0.00,2.10,0.00,0.000,516,0.000,0.065,2739,834,1635,1652,1619,0,0,0,0,0,0,27.04,26.60,27.06
$GC,81723,-0.70,146.6,2739,833,1653,1619,4304.3,4.8,1034,81728,0.00,2.08,0.00,0.000,1030,0.000,0.062,2739,2209,1635,1652,1619,0,0,0,0,0,0,26.69,26.66,26.71
$GC,82037,-0.70,146.6,2739,2209,1652,1619,4286.7,4.9,1037,82039,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2209,1635,1652,1619,0,0,0,0,0,0,27.05,27.08,27.07
$GC,82397,-0.70,146.6,2739,2209,1652,1619,4269.3,4.8,1040,82398,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2209,1635,1652,1619,0,0,0,0,0,0,27.06,27.08,27.08
$GC,82757,-0.70,146.6,2739,2209,1652,1619,4252.2,4.8,1043,82758,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2209,1635,1652,1619,0,0,0,0,0,0,27.07,27.09,27.09
$GC,83118,-0.70,146.6,2739,2209,1652,1619,4234.5,4.9,1046,83123,0.00,2.10,0.00,0.000,516,0.000,0.065,2739,835,1635,1652,1619,0,0,0,0,0,0,27.08,26.59,27.09
$GC,83163,-0.70,146.6,2739,834,1652,1619,4234.5,4.9,1046,83167,0.00,2.05,0.00,0.000,1030,0.000,0.062,2739,2195,1636,1652,1620,0,0,0,0,0,0,26.69,26.65,26.71
$GC,83477,-0.70,146.6,2739,2194,1652,1619,4217.4,4.8,1049,83479,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2194,1635,1652,1619,0,0,0,0,0,0,27.08,27.10,27.09
$GC,83837,-0.70,146.6,2739,2194,1652,1619,4201.2,4.6,1052,83838,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2194,1635,1651,1619,0,0,0,0,0,0,27.08,27.10,27.10
$GC,84198,-0.70,146.6,2739,2194,1652,1619,4185.4,4.4,1055,84199,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2194,1635,1652,1619,0,0,0,0,0,0,27.08,27.11,27.10
$GC,84558,-0.65,146.6,2739,2194,1651,1619,4170.7,4.2,1058,84559,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2194,1635,1652,1619,0,0,0,0,0,0,27.08,27.11,27.10
$GC,84918,-0.60,146.6,2739,2194,1651,1619,4156.8,3.9,1061,84919,0.00,0.00,0.00,0.000,2054,0.000,0.000,2739,2194,1635,1652,1619,0,0,0,0,0,0,27.10,27.11,27.11
$GC,85278,-0.52,146.6,2738,2194,1651,1619,4140.3,4.4,1064,85284,0.08,2.15,0.00,0.000,2308,0.154,0.077,2798,3596,1635,1651,1619,0,0,0,0,0,0,26.80,26.39,26.80
$GC,85421,-0.47,146.6,2798,3596,1651,1619,4133.3,4.9,1065,85425,0.00,2.00,0.00,0.000,1030,0.000,0.057,2804,2206,1635,1651,1619,0,0,0,0,0,0,26.73,26.66,26.75
$GC,85760,-0.47,146.6,2803,2203,1651,1619,4115.7,5.1,1068,85764,0.00,2.12,0.00,0.000,516,0.000,0.067,2803,820,1635,1651,1619,0,0,0,0,0,0,27.09,26.53,27.11
$GC,85829,-0.47,146.6,2803,820,1651,1619,4115.7,5.1,1068,85833,0.00,2.08,0.00,0.000,1030,0.000,0.062,2804,2195,1635,1652,1619,0,0,0,0,0,0,26.64,26.61,26.66
$GC,86243,-0.47,146.6,2803,2194,1651,1619,4093.4,4.6,1072,86244,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2195,1635,1651,1619,0,0,0,0,0,0,27.10,27.12,27.11
$GC,86603,-0.47,146.6,2803,2194,1650,1619,4076.4,4.7,1075,86604,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2195,1634,1650,1619,0,0,0,0,0,0,27.09,27.12,27.11
$GC,86963,-0.47,146.6,2803,2194,1651,1619,4059.0,4.9,1078,86969,0.00,2.10,0.00,0.000,516,0.000,0.067,2803,825,1635,1651,1619,0,0,0,0,0,0,27.09,26.52,27.11
$GC,87014,-0.47,146.6,2803,824,1651,1619,4059.0,4.9,1078,87019,0.00,2.10,0.00,0.000,1030,0.000,0.060,2804,2208,1635,1651,1619,0,0,0,0,0,0,26.63,26.60,26.65
$GC,87323,-0.47,146.6,2803,2208,1651,1619,4042.1,4.7,1081,87324,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2208,1635,1651,1619,0,0,0,0,0,0,27.10,27.12,27.11
$GC,87683,-0.47,146.6,2803,2208,1651,1619,4024.9,4.8,1084,87688,0.00,2.10,0.00,0.000,516,0.000,0.067,2803,824,1635,1651,1619,0,0,0,0,0,0,27.10,26.51,27.11
$GC,87729,-0.47,146.6,2803,824,1651,1619,4024.9,4.8,1084,87734,0.00,2.10,0.00,0.000,1030,0.000,0.062,2803,2210,1635,1651,1619,0,0,0,0,0,0,26.61,26.58,26.65
$GC,88043,-0.47,146.6,2803,2209,1651,1619,4007.5,4.8,1087,88044,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2209,1635,1651,1619,0,0,0,0,0,0,27.10,27.13,27.12
$GC,88403,-0.47,146.6,2803,2209,1651,1619,3990.0,4.9,1090,88404,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2209,1634,1650,1619,0,0,0,0,0,0,27.10,27.13,27.12
$GC,88763,-0.47,146.6,2803,2209,1651,1619,3972.5,4.9,1093,88768,0.00,2.12,0.00,0.000,516,0.000,0.065,2803,824,1635,1651,1619,0,0,0,0,0,0,27.10,26.48,27.12
$GC,88824,-0.47,146.6,2803,824,1651,1619,3972.5,4.9,1093,88828,0.00,2.10,0.00,0.000,1030,0.000,0.060,2804,2204,1635,1651,1619,0,0,0,0,0,0,26.60,26.58,26.63
$GC,89243,-0.47,146.6,2803,2204,1651,1619,3949.8,4.7,1097,89245,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,1634,1650,1619,0,0,0,0,0,0,27.10,27.13,27.11
$GC,89603,-0.47,146.6,2803,2203,1651,1619,3932.4,4.8,1100,89604,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2204,1635,1651,1619,0,0,0,0,0,0,27.10,27.13,27.12
$GC,89963,-0.47,146.6,2803,2204,1651,1619,3916.4,4.6,1103,89969,0.00,2.10,0.00,0.000,516,0.000,0.067,2803,833,1635,1651,1619,0,0,0,0,0,0,27.10,26.47,27.12
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$GC,155175,0.49,398.4,3111,2207,789,750,381.4,6.4,1780,155179,0.00,1.95,0.00,0.000,516,0.000,0.065,3112,820,770,790,751,0,0,0,0,0,0,27.15,26.62,27.16
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$STATE,160664,end climb,SURFACE_DEPTH_REACHED
$STATE,160664,begin surface coast
$FINISH,1.5,1.023636
$STATE,160697,end surface coast,CONTROL_FINISHED_OK
$STATE,160697,begin surface
$SM_CCo,160771,0.00,0.000,0,0,770,397.97
$SM_GC,1.10,7.85,0.00,0.00,0.089,0.000,0.000,169,2198,770,-8.69,-0.06,397.97,0,0,0,0,0,0,26.50,27.19,26.60
$IRIDIUM_FIX,2813.85,-7336.35,150808,120228
$TT8_MAMPS,0.026215,0.026215
$HUMID,73.03
$INTERNAL_PRESSURE,9.47546
$TCM_TEMP,24.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4601.5,49.7
$24V_AH,21.07,38.085
$10V_AH,10.30,26.548
$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,24.925,789.974,537.925,0.000,116.325,177.417,132.199,423.668,16.000,0.000,18.697,8393.415,137612.500,1133.199,14170.654,569.192,0.000,6463.419,0.000,13109.705,0.000,115.409,0.000
$DEVICE_MAMPS,292.994,89.388,3769.194,0.000,325.273,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1401.130,6686.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329768
$DATA_FILE_SIZE,126741,2044
$CAP_FILE_SIZE,885747,0
$CFSIZE,1024409600,997277696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,120097.11,0x235780,1,24
$CURRENT,0.148,195.41,1
$GPS,211015,192959,2803.382,-7358.757,39,1.2,48,-10.3,1.0,179.0,7,9.4