version: 66.12
glider: 38
mission: 4
dive: 123
start: 11 4 115 1 19 12
data:
$ID,38
$MISSION,4
$DIVE,123
$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,98
$R_STBD_OVSHOOT,67
$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
$GPS1,041115,010935,2656.6548,-7602.5596,36,0.9,38,-9.0,0.0,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.4
$GPS2,041115,011845,2656.6765,-7602.5576,4,0.9,14,-9.0,0.8,0.0,9,9.4
$SPEED_LIMITS,0.147,0.208
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$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,261.5,85284,-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
$GC,15,-0.53,-146.6,165,2199,815,776,0.0,0.0,0,151,0.00,0.00,-133.80,0.151,16386,0.000,0.000,165,2199,2547,2495,2600,0,0,0,0,0,0,26.80,28.83,26.82
$GC,153,-0.53,-146.6,165,2199,2496,2620,4.3,-6.0,13,176,10.93,1.98,-3.10,0.288,18948,0.288,0.067,2803,795,2646,2590,2702,0,0,0,0,0,0,25.72,26.16,25.94
$GC,499,-0.36,-146.6,2802,794,2594,2697,49.6,-11.1,41,508,0.17,1.98,0.00,0.000,3078,0.179,0.065,2853,2200,2645,2593,2697,0,0,0,0,0,0,26.17,26.66,26.27
$GC,807,-0.36,-146.6,2852,2201,2593,2697,74.0,-5.8,62,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2200,2645,2593,2697,0,0,0,0,0,0,27.10,27.11,27.10
$GC,1109,-0.36,-146.6,2852,2201,2591,2697,91.2,-5.9,82,1115,0.00,1.95,0.00,0.000,516,0.000,0.070,2853,811,2645,2593,2697,0,0,0,0,0,0,27.13,26.75,27.15
$GC,1229,-0.36,-146.6,2853,810,2594,2697,97.9,-6.2,89,1238,0.00,1.95,0.00,0.000,1030,0.000,0.062,2843,2214,2645,2594,2697,0,0,0,0,0,0,26.84,26.82,26.86
$GC,1539,-0.36,-146.6,2842,2214,2594,2697,116.9,-5.7,110,1545,0.00,1.95,0.00,0.000,516,0.000,0.067,2843,821,2645,2594,2697,0,0,0,0,0,0,27.16,26.78,27.17
$GC,1611,-0.31,-146.6,2843,821,2594,2697,120.8,-6.0,114,1620,0.10,1.92,0.00,0.000,3078,0.161,0.062,2870,2209,2645,2593,2697,0,0,0,0,0,0,26.50,26.84,26.57
$GC,1920,-0.31,-146.6,2870,2209,2594,2697,134.9,-4.1,135,1925,0.00,1.95,0.00,0.000,516,0.000,0.067,2871,813,2645,2594,2697,0,0,0,0,0,0,27.17,26.79,27.18
$GC,2000,-0.31,-146.6,2870,813,2594,2697,138.5,-4.7,140,2005,0.00,1.88,0.00,0.000,1030,0.000,0.062,2861,2203,2645,2594,2697,0,0,0,0,0,0,26.90,26.84,26.92
$GC,2314,-0.31,-146.6,2861,2203,2594,2696,153.2,-4.7,159,2319,0.00,1.98,0.00,0.000,260,0.000,0.079,2854,3590,2645,2594,2697,0,0,0,0,0,0,27.17,26.71,27.19
$GC,2398,-0.31,-146.6,2854,3590,2594,2696,156.3,-4.9,161,2407,0.00,1.88,0.00,0.000,1030,0.000,0.057,2853,2166,2644,2593,2696,0,0,0,0,0,0,26.96,26.92,26.95
$GC,2707,-0.31,-146.6,2853,2166,2593,2696,172.6,-4.9,172,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2166,2645,2594,2696,0,0,0,0,0,0,27.17,27.20,27.20
$GC,3007,-0.31,-146.6,2853,2166,2594,2696,188.8,-5.2,182,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2167,2645,2594,2696,0,0,0,0,0,0,27.17,27.20,27.19
$GC,3307,-0.31,-146.6,2853,2166,2594,2694,204.3,-5.2,192,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2166,2644,2594,2695,0,0,0,0,0,0,27.17,27.20,27.19
$GC,3607,-0.31,-146.6,2853,2166,2593,2694,219.3,-5.2,202,3611,0.00,2.03,0.00,0.000,260,0.000,0.077,2843,3589,2643,2593,2693,0,0,0,0,0,0,27.17,26.71,27.19
$GC,3684,-0.31,-146.6,2843,3588,2594,2693,222.7,-5.2,204,3688,0.00,1.83,0.00,0.000,1030,0.000,0.060,2844,2202,2643,2594,2693,0,0,0,0,0,0,26.94,26.92,26.94
$GC,4003,-0.31,-146.6,2844,2202,2594,2692,241.5,-5.7,215,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2202,2643,2594,2692,0,0,0,0,0,0,27.17,27.20,27.19
$GC,4303,-0.31,-146.6,2844,2202,2594,2691,257.2,-5.1,225,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2202,2642,2594,2690,0,0,0,0,0,0,27.17,27.19,27.19
$GC,4603,-0.31,-146.6,2843,2202,2593,2688,273.5,-5.5,235,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2202,2641,2594,2689,0,0,0,0,0,0,27.17,27.19,27.18
$GC,4903,-0.31,-146.6,2844,2202,2594,2688,289.7,-5.3,245,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2202,2641,2594,2688,0,0,0,0,0,0,27.17,27.18,27.18
$GC,5203,-0.31,-146.6,2844,2202,2594,2686,306.6,-5.6,254,5209,0.00,1.98,0.00,0.000,260,0.000,0.079,2841,3592,2639,2593,2686,0,0,0,0,0,0,27.17,26.70,27.18
$GC,5270,-0.31,-146.6,2841,3592,2594,2686,309.2,-5.6,255,5274,0.00,1.85,0.00,0.000,1030,0.000,0.060,2841,2177,2640,2594,2686,0,0,0,0,0,0,26.94,26.91,26.96
$GC,5609,-0.31,-146.6,2841,2176,2594,2684,329.2,-5.5,263,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2176,2639,2594,2684,0,0,0,0,0,0,27.16,27.18,27.18
$GC,5924,-0.31,-146.6,2841,2176,2594,2683,346.1,-5.2,270,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2176,2638,2594,2683,0,0,0,0,0,0,27.16,27.18,27.17
$GC,6239,-0.31,-146.6,2841,2176,2594,2682,362.1,-5.1,277,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2176,2637,2594,2681,0,0,0,0,0,0,27.16,27.17,27.18
$GC,6554,-0.31,-146.6,2841,2176,2594,2681,378.6,-5.3,284,6560,0.00,2.00,0.00,0.000,260,0.000,0.077,2833,3584,2637,2594,2681,0,0,0,0,0,0,27.15,26.69,27.17
$GC,6606,-0.31,-146.6,2833,3585,2594,2681,381.1,-5.3,285,6612,0.10,1.85,0.00,0.000,3078,0.149,0.057,2873,2181,2637,2594,2681,0,0,0,0,0,0,26.60,26.89,26.65
$GC,6916,-0.38,-146.6,2873,2181,2594,2679,395.9,-4.6,292,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2182,2636,2594,2679,0,0,0,0,0,0,27.16,27.17,27.17
$GC,7231,-0.46,-146.6,2873,2181,2594,2678,409.8,-4.3,299,7236,0.05,2.00,0.00,0.000,4356,0.191,0.074,2828,3582,2636,2594,2678,0,0,0,0,0,0,26.94,26.68,26.95
$GC,7293,-0.52,-146.6,2828,3582,2594,2678,412.6,-4.5,300,7297,0.00,1.83,0.00,0.000,1030,0.000,0.060,2827,2191,2636,2594,2678,0,0,0,0,0,0,26.93,26.89,26.94
$GC,7642,-0.52,-146.6,2827,2191,2594,2677,431.7,-5.3,308,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2191,2635,2594,2676,0,0,0,0,0,0,27.15,27.17,27.17
$GC,7956,-0.52,-146.6,2827,2191,2594,2675,448.4,-5.4,315,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2191,2634,2594,2675,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8271,-0.52,-146.6,2828,2191,2594,2674,466.6,-5.8,322,8275,0.00,2.03,0.00,0.000,260,0.000,0.079,2821,3593,2634,2594,2674,0,0,0,0,0,0,27.15,26.67,27.17
$GC,8346,-0.52,-146.6,2821,3595,2594,2674,469.5,-6.0,323,8350,0.00,1.88,0.00,0.000,1030,0.000,0.057,2821,2196,2634,2594,2674,0,0,0,0,0,0,26.90,26.89,26.91
$GC,8680,-0.52,-146.6,2821,2194,2594,2673,491.3,-6.1,331,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2194,2633,2594,2673,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8995,-0.52,-146.6,2821,2194,2594,2671,510.6,-6.1,338,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2194,2632,2594,2671,0,0,0,0,0,0,27.15,27.17,27.16
$GC,9310,-0.52,-146.6,2821,2194,2594,2670,529.7,-6.2,345,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2194,2631,2593,2670,0,0,0,0,0,0,27.14,27.17,27.16
$GC,9625,-0.52,-146.6,2820,2194,2594,2670,548.6,-6.0,352,9631,0.00,2.00,0.00,0.000,260,0.000,0.077,2814,3579,2632,2594,2670,0,0,0,0,0,0,27.14,26.65,27.16
$GC,9697,-0.52,-146.6,2814,3579,2594,2670,551.3,-5.9,353,9702,0.00,1.85,0.00,0.000,1030,0.000,0.060,2814,2192,2632,2594,2670,0,0,0,0,0,0,26.89,26.88,26.89
$GC,10031,-0.52,-146.6,2814,2192,2594,2669,573.0,-6.1,361,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2192,2631,2593,2670,0,0,0,0,0,0,27.14,27.16,27.16
$GC,10347,-0.52,-146.6,2814,2192,2594,2668,592.3,-6.3,368,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2192,2631,2594,2668,0,0,0,0,0,0,27.14,27.16,27.16
$GC,10661,-0.52,-146.6,2814,2192,2594,2667,612.6,-6.6,375,10666,0.00,2.03,0.00,0.000,260,0.000,0.079,2806,3590,2630,2594,2667,0,0,0,0,0,0,27.14,26.65,27.15
$GC,10728,-0.52,-146.6,2806,3591,2594,2667,616.0,-6.7,376,10731,0.00,1.85,0.00,0.000,1030,0.000,0.060,2806,2231,2630,2594,2667,0,0,0,0,0,0,26.91,26.86,26.92
$GC,11073,-0.52,-146.6,2806,2195,2594,2666,641.0,-6.8,384,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2195,2630,2594,2666,0,0,0,0,0,0,27.14,27.16,27.16
$GC,11386,-0.52,-146.6,2806,2195,2594,2665,661.8,-6.6,391,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2195,2629,2594,2665,0,0,0,0,0,0,27.13,27.16,27.15
$GC,11701,-0.52,-146.6,2806,2195,2594,2663,680.6,-5.8,398,11707,0.00,2.00,0.00,0.000,260,0.000,0.079,2803,3580,2628,2594,2663,0,0,0,0,0,0,27.14,26.63,27.15
$GC,11746,-0.52,-146.6,2803,3580,2594,2663,683.2,-5.8,399,11750,0.00,1.88,0.00,0.000,1030,0.000,0.060,2804,2164,2628,2593,2663,0,0,0,0,0,0,26.90,26.86,26.91
$GC,12064,-0.52,-146.6,2803,2163,2594,2662,703.1,-6.4,406,12065,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2163,2628,2594,2662,0,0,0,0,0,0,27.14,27.16,27.15
$GC,12379,-0.52,-146.6,2803,2163,2594,2661,723.9,-6.8,413,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2163,2627,2594,2660,0,0,0,0,0,0,27.14,27.16,27.16
$GC,12695,-0.52,-146.6,2803,2163,2594,2658,744.6,-6.4,420,12700,0.00,2.08,0.00,0.000,260,0.000,0.077,2801,3580,2626,2594,2658,0,0,0,0,0,0,27.14,26.62,27.16
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$GC,70060,-1.69,-146.6,2431,3593,2573,2600,4405.2,-5.1,948,70064,0.00,2.03,0.00,0.000,1030,0.000,0.057,2431,2203,2586,2573,2600,0,0,0,0,0,0,26.31,26.29,26.32
$GC,70400,-1.69,-146.6,2430,2201,2573,2600,4424.8,-5.4,951,70401,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2202,2586,2573,2600,0,0,0,0,0,0,27.03,27.05,27.04
$GC,70760,-1.69,-146.6,2430,2201,2573,2600,4444.1,-5.4,954,70765,0.00,2.20,0.00,0.000,260,0.000,0.082,2422,3588,2586,2573,2600,0,0,0,0,0,0,27.02,25.39,27.04
$GC,70840,-1.69,-146.6,2422,3588,2573,2601,4444.1,-5.4,954,70844,0.00,2.03,0.00,0.000,1030,0.000,0.057,2423,2199,2586,2573,2600,0,0,0,0,0,0,26.32,26.29,26.33
$GC,71242,-1.63,-146.6,2422,2198,2573,2600,4470.6,-5.6,958,71243,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2198,2586,2573,2599,0,0,0,0,0,0,27.04,27.07,27.06
$GC,71599,-1.58,-146.6,2422,2198,2573,2600,4489.1,-5.2,961,71601,0.12,0.00,0.00,0.000,2054,0.164,0.000,2466,2197,2586,2573,2600,0,0,0,0,0,0,26.47,26.51,26.48
$GC,71960,-1.58,-146.6,2466,2197,2573,2600,4503.2,-4.1,964,71967,0.00,2.20,0.00,0.000,260,0.000,0.082,2461,3584,2586,2573,2600,0,0,0,0,0,0,27.02,25.36,27.04
$GC,72051,-1.58,-146.6,2460,3584,2573,2600,4503.2,-4.1,964,72056,0.00,2.03,0.00,0.000,1030,0.000,0.057,2461,2197,2586,2573,2600,0,0,0,0,0,0,26.30,26.29,26.32
$GC,72441,-1.58,-146.6,2460,2197,2573,2600,4522.2,-3.9,968,72443,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2197,2587,2574,2600,0,0,0,0,0,0,27.02,27.04,27.03
$GC,72801,-1.58,-146.6,2460,2197,2573,2600,4536.6,-4.0,971,72802,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2197,2586,2573,2600,0,0,0,0,0,0,27.08,27.10,27.09
$GC,73163,-1.58,-146.6,2460,2197,2573,2600,4551.1,-4.0,974,73167,0.00,2.22,0.00,0.000,260,0.000,0.082,2456,3591,2586,2573,2600,0,0,0,0,0,0,27.04,25.37,27.05
$GC,73252,-1.58,-146.6,2455,3592,2573,2600,4551.1,-4.0,974,73257,0.00,2.05,0.00,0.000,1030,0.000,0.057,2456,2188,2586,2573,2600,0,0,0,0,0,0,26.32,26.29,26.33
$GC,73647,-1.58,-146.6,2455,2187,2573,2600,4571.0,-4.1,978,73648,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2187,2586,2572,2600,0,0,0,0,0,0,27.01,27.04,27.03
$GC,74006,-1.58,-146.6,2456,2187,2572,2600,4585.7,-4.1,981,74012,0.00,2.25,0.00,0.000,260,0.000,0.079,2447,3610,2586,2573,2600,0,0,0,0,0,0,27.07,25.38,27.09
$GC,74082,-1.58,-146.6,2447,3610,2573,2600,4585.7,-4.1,981,74086,0.00,2.05,0.00,0.000,1030,0.000,0.057,2447,2202,2586,2573,2600,0,0,0,0,0,0,26.31,26.29,26.32
$GC,74487,-1.58,-146.6,2447,2200,2573,2600,4606.9,-4.4,985,74488,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2200,2586,2573,2600,0,0,0,0,0,0,27.07,27.10,27.09
$GC,74849,-1.58,-146.6,2446,2200,2573,2599,4622.6,-4.4,988,74850,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2200,2586,2573,2600,0,0,0,0,0,0,27.03,27.06,27.05
$GC,75206,-1.58,-146.6,2447,2200,2573,2600,4637.9,-4.3,991,75207,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2200,2586,2573,2600,0,0,0,0,0,0,27.08,27.10,27.09
$GC,75567,-1.58,-146.6,2446,2200,2573,2600,4653.1,-4.2,994,75572,0.00,2.20,0.00,0.000,260,0.000,0.079,2438,3587,2586,2573,2600,0,0,0,0,0,0,27.02,25.37,27.04
$GC,75647,-1.58,-146.6,2437,3586,2573,2600,4653.1,-4.2,994,75651,0.00,2.03,0.00,0.000,1030,0.000,0.057,2438,2199,2586,2573,2600,0,0,0,0,0,0,26.30,26.29,26.32
$GC,76048,-1.58,-146.6,2437,2198,2573,2600,4674.3,-4.4,998,76049,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2198,2586,2573,2600,0,0,0,0,0,0,27.03,27.05,27.04
$GC,76409,-1.58,-146.6,2437,2198,2573,2600,4690.3,-4.4,1001,76410,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2198,2586,2573,2600,0,0,0,0,0,0,27.03,27.06,27.05
$GC,76766,-1.58,-146.6,2438,2198,2573,2600,4705.6,-4.3,1004,76767,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2198,2586,2572,2600,0,0,0,0,0,0,27.08,27.10,27.09
$GC,77127,-1.58,-146.6,2437,2198,2573,2600,4720.4,-4.2,1007,77133,0.00,2.22,0.00,0.000,260,0.000,0.079,2429,3590,2586,2573,2600,0,0,0,0,0,0,27.02,25.36,27.03
$GC,77207,-1.58,-146.6,2429,3591,2573,2601,4720.4,-4.2,1007,77212,0.10,2.05,0.00,0.000,3078,0.144,0.060,2467,2197,2586,2573,2600,0,0,0,0,0,0,25.89,26.27,25.96
$GC,77607,-1.58,-146.6,2466,2197,2572,2600,4737.3,-3.5,1011,77608,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2197,2586,2573,2600,0,0,0,0,0,0,27.08,27.10,27.09
$GC,77967,-1.58,-146.6,2466,2198,2573,2600,4748.5,-3.2,1014,77971,0.00,2.30,0.00,0.000,260,0.000,0.079,2459,3591,2586,2573,2600,0,0,0,0,0,0,27.08,25.34,27.09
$GC,78021,-1.58,-146.6,2459,3591,2573,2600,4748.5,-3.2,1014,78025,0.00,2.05,0.00,0.000,1030,0.000,0.057,2459,2202,2586,2573,2600,0,0,0,0,0,0,26.32,26.26,26.34
$GC,78332,-1.58,-146.6,2459,2189,2573,2600,4759.7,-3.1,1017,78333,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2189,2586,2573,2600,0,0,0,0,0,0,27.07,27.10,27.09
$GC,78692,-1.58,-146.6,2459,2189,2573,2600,4771.0,-3.1,1020,78693,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2189,2586,2573,2600,0,0,0,0,0,0,27.03,27.06,27.05
$GC,79052,-1.58,-146.6,2459,2189,2573,2600,4782.4,-3.2,1023,79053,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2189,2586,2573,2599,0,0,0,0,0,0,27.02,27.05,27.04
$GC,79411,-1.58,-146.6,2459,2189,2573,2599,4793.8,-3.2,1026,79418,0.00,2.33,0.00,0.000,260,0.000,0.082,2457,3589,2586,2573,2600,0,0,0,0,0,0,27.03,25.33,27.04
$GC,79473,-1.58,-146.6,2457,3589,2573,2600,4793.8,-3.2,1026,79478,0.00,2.05,0.00,0.000,1030,0.000,0.057,2457,2185,2586,2573,2600,0,0,0,0,0,0,26.32,26.26,26.34
$GC,79892,-1.58,-146.6,2456,2184,2573,2600,4809.3,-3.2,1030,79893,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2184,2586,2573,2600,0,0,0,0,0,0,27.07,27.10,27.09
$GC,80255,-1.58,-146.6,2456,2183,2573,2600,4820.3,-3.1,1033,80256,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2183,2586,2573,2600,0,0,0,0,0,0,27.05,27.07,27.06
$GC,80613,-1.58,-146.6,2456,2184,2573,2600,4832.0,-3.2,1036,80618,0.00,2.30,0.00,0.000,260,0.000,0.082,2449,3585,2586,2573,2600,0,0,0,0,0,0,27.02,25.33,27.04
$GC,80703,-1.58,-146.6,2449,3585,2573,2600,4832.0,-3.2,1036,80707,0.00,2.00,0.00,0.000,1030,0.000,0.057,2449,2210,2586,2572,2600,0,0,0,0,0,0,26.32,26.27,26.34
$GC,81096,-1.58,-146.6,2448,2197,2573,2600,4848.4,-3.4,1040,81097,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2198,2586,2573,2600,0,0,0,0,0,0,27.08,27.10,27.09
$GC,81459,-1.58,-146.6,2449,2197,2573,2600,4860.8,-3.4,1043,81460,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2197,2586,2573,2600,0,0,0,0,0,0,27.01,27.03,27.03
$GC,81817,-1.58,-146.6,2448,2197,2572,2600,4873.0,-3.4,1046,81822,0.00,2.30,0.00,0.000,260,0.000,0.082,2443,3586,2586,2573,2600,0,0,0,0,0,0,27.08,25.34,27.09
$GC,81887,-1.58,-146.6,2443,3586,2573,2601,4873.0,-3.4,1046,81892,0.00,2.08,0.00,0.000,1030,0.000,0.057,2443,2160,2586,2573,2600,0,0,0,0,0,0,26.32,26.26,26.34
$GC,82296,-1.58,-146.6,2442,2159,2572,2600,4889.1,-3.3,1050,82297,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2159,2586,2573,2600,0,0,0,0,0,0,27.07,27.10,27.09
$GC,82656,-1.58,-146.6,2443,2159,2573,2600,4901.1,-3.3,1053,82657,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2159,2586,2573,2600,0,0,0,0,0,0,27.08,27.10,27.10
$GC,83017,-1.58,-146.6,2442,2159,2572,2600,4912.9,-3.3,1056,83022,0.00,2.35,0.00,0.000,260,0.000,0.079,2434,3590,2586,2573,2600,0,0,0,0,0,0,27.08,25.32,27.10
$GC,83118,-1.58,-146.6,2434,3590,2573,2600,4912.9,-3.3,1056,83122,0.00,2.03,0.00,0.000,1030,0.000,0.057,2435,2214,2587,2574,2600,0,0,0,0,0,0,26.32,26.27,26.34
$GC,83497,-1.58,-146.6,2434,2204,2572,2600,4929.2,-3.4,1060,83498,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2204,2586,2572,2600,0,0,0,0,0,0,27.08,27.10,27.09
$STATE,83855,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,83855,begin apogee
$GC,83859,-0.25,0.0,2434,2205,2573,2600,4941.4,-3.4,1063,84007,1.30,0.00,143.75,3.975,10246,0.112,0.000,2893,2204,2140,2145,2136,0,0,0,0,0,0,24.86,22.65,20.73
$STATE,84008,end apogee,CONTROL_FINISHED_OK
$STATE,84008,begin climb
$GC,84009,0.53,146.6,2892,2205,2145,2135,4940.2,0.0,1064,84179,0.73,0.00,166.73,3.941,10246,0.089,0.000,3160,2205,1634,1649,1620,0,0,0,0,0,0,23.27,22.67,20.89
$GC,84457,0.53,146.6,3160,2204,1649,1620,4837.8,25.2,1068,84462,0.00,2.15,0.00,0.000,516,0.000,0.065,3170,828,1634,1649,1620,0,0,0,0,0,0,25.86,25.60,25.88
$GC,84665,-0.00,146.6,3171,828,1649,1620,4806.9,25.4,1069,84670,0.57,2.08,0.00,0.000,5126,0.219,0.062,3005,2201,1634,1649,1620,0,0,0,0,0,0,25.69,26.09,25.94
$GC,85054,-0.39,146.6,3005,2199,1649,1620,4712.9,19.4,1073,85061,0.40,2.10,0.00,0.000,4612,0.196,0.065,2887,819,1634,1649,1620,0,0,0,0,0,0,26.01,26.25,26.16
$GC,85176,-0.72,146.6,2886,819,1648,1620,4698.3,16.8,1074,85182,0.45,2.05,0.00,0.000,5126,0.161,0.062,2738,2208,1634,1649,1620,0,0,0,0,0,0,26.15,26.48,26.26
$GC,85537,-0.83,146.6,2737,2208,1649,1620,4678.1,6.9,1077,85539,0.10,0.00,0.00,0.000,4102,0.161,0.000,2699,2208,1634,1649,1620,0,0,0,0,0,0,26.49,26.60,26.56
$GC,85896,-0.83,146.6,2699,2208,1649,1620,4662.5,4.5,1080,85897,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2208,1634,1649,1620,0,0,0,0,0,0,26.91,26.94,26.94
$GC,86257,-0.78,146.6,2698,2208,1649,1620,4647.3,4.2,1083,86258,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2208,1634,1649,1620,0,0,0,0,0,0,26.96,26.98,26.98
$GC,86617,-0.72,146.6,2699,2208,1649,1620,4632.7,4.1,1086,86618,0.00,0.00,0.00,0.000,2054,0.000,0.000,2699,2208,1634,1648,1620,0,0,0,0,0,0,27.01,27.01,27.01
$GC,86977,-0.67,146.6,2698,2208,1648,1620,4618.0,4.1,1089,86979,0.08,0.00,0.00,0.000,2054,0.142,0.000,2746,2208,1634,1649,1620,0,0,0,0,0,0,26.78,26.82,26.81
$GC,87336,-0.67,146.6,2745,2208,1648,1620,4599.5,4.9,1092,87337,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2208,1634,1648,1620,0,0,0,0,0,0,27.03,27.05,27.04
$GC,87696,-0.67,146.6,2745,2208,1648,1620,4580.7,5.2,1095,87697,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2208,1633,1648,1619,0,0,0,0,0,0,27.03,27.06,27.05
$GC,88056,-0.67,146.6,2745,2207,1648,1620,4562.4,5.1,1098,88057,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2208,1634,1648,1620,0,0,0,0,0,0,27.05,27.07,27.06
$GC,88417,-0.67,146.6,2745,2207,1648,1620,4544.9,4.9,1101,88422,0.00,2.10,0.00,0.000,516,0.000,0.067,2748,816,1634,1649,1620,0,0,0,0,0,0,27.05,26.65,27.08
$GC,88467,-0.67,146.6,2748,816,1649,1620,4544.9,4.9,1101,88472,0.00,2.08,0.00,0.000,1030,0.000,0.062,2749,2204,1634,1649,1620,0,0,0,0,0,0,26.73,26.70,26.75
$GC,88778,-0.67,146.6,2748,2204,1648,1619,4526.9,4.9,1104,88779,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2204,1634,1648,1620,0,0,0,0,0,0,27.06,27.08,27.08
$GC,89136,-0.67,146.6,2748,2204,1648,1620,4508.6,5.1,1107,89137,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2204,1634,1648,1620,0,0,0,0,0,0,27.07,27.09,27.08
$GC,89497,-0.67,146.6,2748,2204,1648,1620,4490.4,5.0,1110,89498,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2204,1634,1648,1620,0,0,0,0,0,0,27.07,27.10,27.09
$GC,89856,-0.67,146.6,2748,2204,1649,1620,4472.3,5.0,1113,89857,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2203,1634,1648,1620,0,0,0,0,0,0,27.07,27.10,27.09
$GC,90216,-0.67,146.6,2748,2204,1648,1620,4454.4,5.0,1116,90222,0.00,2.10,0.00,0.000,516,0.000,0.067,2749,827,1634,1648,1620,0,0,0,0,0,0,27.08,26.64,27.09
$GC,90263,-0.67,146.6,2749,827,1648,1620,4454.4,5.0,1116,90267,0.00,2.05,0.00,0.000,1030,0.000,0.062,2748,2209,1633,1648,1619,0,0,0,0,0,0,26.75,26.67,26.77
$GC,90577,-0.67,146.6,2749,2210,1648,1620,4436.4,5.0,1119,90578,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2210,1634,1648,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,90936,-0.67,146.6,2748,2210,1648,1620,4418.9,4.9,1122,90937,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2210,1634,1648,1620,0,0,0,0,0,0,27.08,27.10,27.10
$GC,91296,-0.67,146.6,2748,2210,1648,1620,4401.3,4.9,1125,91297,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2210,1633,1648,1619,0,0,0,0,0,0,27.08,27.10,27.10
$GC,91656,-0.67,146.6,2749,2210,1648,1620,4384.3,4.7,1128,91661,0.00,2.10,0.00,0.000,516,0.000,0.067,2749,820,1633,1647,1619,0,0,0,0,0,0,27.08,26.60,27.10
$GC,91702,-0.67,146.6,2749,820,1648,1620,4384.3,4.7,1128,91707,0.00,2.08,0.00,0.000,1030,0.000,0.062,2749,2198,1634,1648,1620,0,0,0,0,0,0,26.70,26.66,26.71
$GC,92016,-0.67,146.6,2748,2198,1647,1620,4367.3,4.7,1131,92017,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2197,1634,1648,1620,0,0,0,0,0,0,27.08,27.10,27.10
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$GC,148682,0.30,403.0,3054,2201,770,731,1416.5,6.2,1603,148683,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2200,750,770,731,0,0,0,0,0,0,27.10,27.12,27.11
$GC,149042,0.30,403.0,3054,2200,770,731,1393.7,6.3,1606,149048,0.00,2.08,0.00,0.000,516,0.000,0.065,3055,826,750,770,731,0,0,0,0,0,0,27.10,26.41,27.12
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$STATE,170444,end climb,SURFACE_DEPTH_REACHED
$STATE,170444,begin surface coast
$FINISH,0.8,1.023761
$STATE,170475,end surface coast,CONTROL_FINISHED_OK
$STATE,170475,begin surface
$SM_CCo,170550,0.00,0.000,0,0,756,402.04
$SM_GC,1.17,7.80,0.00,0.00,0.084,0.000,0.000,161,2212,756,-8.70,0.34,402.04,0,0,0,0,0,0,26.60,27.18,26.67
$IRIDIUM_FIX,2703.24,-7540.19,280808,143551
$TT8_MAMPS,0.026215,0.026215
$HUMID,74.76
$INTERNAL_PRESSURE,9.45592
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,4860.8,106.7
$24V_AH,20.73,42.071
$10V_AH,10.23,29.635
$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
$DEVICE_SECS,25.475,791.424,559.300,0.000,136.900,26.118,14.311,317.073,22.000,0.000,16.615,8779.827,146064.156,1201.362,14383.741,585.594,0.000,6716.443,0.000,13689.169,0.000,162.051,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1462.653,6974.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329888
$DATA_FILE_SIZE,130147,2132
$CAP_FILE_SIZE,919120,0
$CFSIZE,1024409600,994869248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,207.01,1
$GPS,061115,004301,2645.624,-7629.020,38,1.1,41,-8.7,0.0,0.0,8,9.4