version: 66.14
glider: 40
mission: 18
dive: 20
start: 9 9 118 18 48 22
data:
$ID,40
$MISSION,18
$DIVE,20
$N_DIVES,0
$STOP_T,9201819
$D_SURF,3
$D_FLARE,5
$D_TGT,5400
$D_ABORT,6050
$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,1800
$T_MISSION,1860
$T_ABORT,1920
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,1.023
$MASS,80783.898
$MASS_COMP,11448
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3845
$C_PITCH,2748
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.200001
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,2216
$C_ROLL_CLIMB,2044
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2510
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$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,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.149458
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6299
$GPS1,090918,183536,3138.7524,-6413.7285,36,0.8,39,-14.9,0.3,44.4,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-40.8
$GPS2,090918,184744,3138.8457,-6413.5986,6,0.8,17,-14.9,0.0,20.2,10,5.0
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$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,80.0,6062,-27.8,-10.000,-30.00,1253
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,70,-1.82,-82.2,175,2253,331,384,2.9,0.1,6,222,0.00,0.00,-147.68,0.161,16390,0.000,0.000,175,2253,2793,2746,2841,0,0,0,0,0,0,26.15,25.56,25.39,9.11,18.10
$GC,224,-1.90,-146.6,176,2254,2746,2840,3.9,-1.3,21,255,8.10,2.33,-11.25,0.194,19204,0.278,0.084,2127,3765,3015,2991,3040,0,0,0,0,0,0,25.22,25.46,25.36,9.35,17.59
$GC,280,-1.63,-146.6,2126,3765,2991,3040,9.9,-12.2,26,288,0.32,2.30,0.00,0.000,3078,0.219,0.067,2218,2113,3015,2990,3040,0,0,0,0,0,0,25.30,25.75,25.53,9.37,17.35
$GC,587,-1.63,-146.6,2217,2113,2990,3040,46.0,-3.8,57,597,0.00,2.50,0.00,0.000,260,0.000,0.084,2208,3765,3015,2991,3040,0,0,0,0,0,0,26.36,26.01,26.37,9.38,17.39
$GC,672,-1.56,-146.6,2207,3765,2990,3040,48.2,-3.0,65,680,0.12,2.22,0.00,0.000,3078,0.219,0.067,2242,2115,3015,2991,3040,0,0,0,0,0,0,25.82,26.22,26.00,9.37,17.23
$GC,981,-1.56,-146.6,2242,2114,2990,3040,56.6,-2.9,96,990,0.00,2.20,0.00,0.000,516,0.000,0.077,2243,626,3016,2991,3041,0,0,0,0,0,0,26.57,26.25,26.58,9.36,17.00
$GC,1195,-1.56,-146.6,2242,626,2991,3040,65.5,-5.1,117,1203,0.00,2.28,0.00,0.000,1030,0.000,0.067,2233,2227,3016,2991,3041,0,0,0,0,0,0,26.42,26.37,26.44,9.35,17.31
$GC,1504,-1.56,-146.6,2232,2228,2991,3040,85.6,-6.8,148,1508,0.00,2.25,0.00,0.000,260,0.000,0.087,2222,3752,3015,2990,3041,0,0,0,0,0,0,26.72,26.35,26.73,9.33,16.76
$GC,1916,-1.50,-146.6,2221,3752,2991,3040,128.4,-11.9,189,1926,0.15,2.17,0.00,0.000,3078,0.206,0.067,2265,2123,3015,2991,3040,0,0,0,0,0,0,26.15,26.58,26.34,9.30,17.47
$GC,2225,-1.50,-146.6,2265,2123,2991,3040,165.3,-11.7,214,2230,0.00,2.17,0.00,0.000,516,0.000,0.077,2265,634,3015,2991,3040,0,0,0,0,0,0,26.84,26.50,26.84,9.28,17.82
$GC,2315,-1.50,-146.6,2265,634,2991,3040,175.7,-12.7,218,2319,0.00,2.25,0.00,0.000,1030,0.000,0.067,2256,2208,3015,2991,3040,0,0,0,0,0,0,26.60,26.57,26.61,9.28,17.43
$GC,2627,-1.50,-146.6,2255,2208,2990,3039,216.4,-13.5,234,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2208,3015,2991,3039,0,0,0,0,0,0,26.87,26.89,26.89,9.27,17.98
$GC,2927,-1.50,-146.6,2255,2208,2991,3038,259.9,-15.0,249,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2208,3014,2991,3038,0,0,0,0,0,0,26.90,26.91,26.91,9.26,18.69
$GC,3238,-1.50,-146.6,2255,2208,2991,3036,307.5,-15.3,264,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2208,3014,2991,3037,0,0,0,0,0,0,26.93,26.94,26.94,9.26,19.01
$GC,3537,-1.50,-146.6,2255,2208,2991,3035,353.8,-15.5,274,3543,0.00,2.30,0.00,0.000,260,0.000,0.087,2244,3767,3013,2991,3035,0,0,0,0,0,0,26.95,26.55,26.96,9.25,18.89
$GC,3620,-1.50,-146.6,2243,3768,2991,3035,363.7,-16.1,276,3628,0.00,2.20,0.00,0.000,1030,0.000,0.065,2244,2150,3012,2990,3035,0,0,0,0,0,0,26.76,26.72,26.77,9.24,18.77
$GC,3927,-1.50,-146.6,2243,2150,2990,3033,419.6,-17.3,287,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2149,3011,2990,3033,0,0,0,0,0,0,26.97,26.98,26.98,9.24,19.87
$GC,4227,-1.50,-146.6,2243,2149,2991,3031,471.4,-17.3,297,4233,0.00,2.40,0.00,0.000,260,0.000,0.084,2231,3769,3011,2991,3031,0,0,0,0,0,0,26.98,26.58,26.99,9.23,19.64
$GC,4295,-1.50,-146.6,2231,3769,2991,3031,482.7,-18.0,299,4300,0.10,2.17,0.00,0.000,3078,0.214,0.065,2260,2145,3011,2991,3031,0,0,0,0,0,0,26.39,26.74,26.53,9.22,19.52
$GC,4618,-1.50,-146.6,2260,2145,2991,3030,539.7,-17.5,310,4624,0.00,2.40,0.00,0.000,260,0.000,0.084,2250,3767,3010,2991,3030,0,0,0,0,0,0,26.99,26.58,27.00,9.22,19.52
$GC,4685,-1.50,-146.6,2250,3767,2990,3030,550.9,-18.1,312,4690,0.00,2.20,0.00,0.000,1030,0.000,0.065,2250,2150,3010,2990,3030,0,0,0,0,0,0,26.79,26.76,26.81,9.21,19.64
$GC,5008,-1.50,-146.6,2249,2150,2988,3029,613.0,-18.7,323,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2150,3009,2988,3030,0,0,0,0,0,0,27.00,27.01,27.01,9.19,19.87
$GC,5308,-1.50,-146.6,2249,2150,2987,3029,668.3,-18.1,333,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2150,3008,2987,3029,0,0,0,0,0,0,27.01,27.03,27.02,9.17,19.91
$GC,5608,-1.50,-146.6,2249,2150,2987,3027,725.9,-19.2,343,5614,0.00,2.40,0.00,0.000,260,0.000,0.084,2237,3771,3007,2987,3027,0,0,0,0,0,0,27.01,26.61,27.03,9.15,21.05
$GC,5716,-1.50,-146.6,2237,3771,2987,3026,744.7,-20.8,346,5720,0.00,2.20,0.00,0.000,1030,0.000,0.065,2237,2155,3007,2987,3027,0,0,0,0,0,0,26.82,26.78,26.83,9.14,20.19
$GC,6028,-1.50,-146.6,2237,2154,2987,3024,814.5,-21.3,357,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2154,3005,2986,3025,0,0,0,0,0,0,27.02,27.04,27.03,9.13,20.15
$GC,6328,-1.50,-146.6,2237,2154,2985,3023,879.6,-21.7,367,6334,0.00,2.38,0.00,0.000,260,0.000,0.084,2225,3757,3004,2985,3023,0,0,0,0,0,0,27.03,26.60,27.03,9.10,20.23
$GC,6389,-1.50,-146.6,2225,3758,2984,3022,893.6,-22.6,369,6395,0.12,2.17,0.00,0.000,3078,0.206,0.065,2262,2152,3003,2984,3022,0,0,0,0,0,0,26.36,26.79,26.53,9.09,20.93
$GC,6718,-1.50,-146.6,2261,2151,2983,3021,966.6,-22.3,380,6724,0.00,2.40,0.00,0.000,260,0.000,0.084,2252,3766,3001,2982,3020,0,0,0,0,0,0,27.03,26.60,27.04,9.07,20.42
$GC,6786,-1.50,-146.6,2252,3766,2983,3020,980.8,-22.9,382,6790,0.00,2.17,0.00,0.000,1030,0.000,0.065,2252,2171,3001,2982,3021,0,0,0,0,0,0,26.82,26.79,26.84,9.06,20.70
$GC,7109,-1.50,-146.6,2251,2170,2981,3018,1055.8,-22.7,389,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2170,2999,2980,3019,0,0,0,0,0,0,27.03,27.05,27.05,9.04,20.62
$GC,7409,-1.50,-146.6,2251,2170,2979,3017,1126.9,-23.8,394,7415,0.00,2.38,0.00,0.000,260,0.000,0.084,2240,3763,2997,2978,3017,0,0,0,0,0,0,27.03,26.59,27.05,9.01,20.90
$GC,7451,-1.50,-146.6,2239,3763,2978,3017,1126.9,-23.8,394,7455,0.00,2.12,0.00,0.000,1030,0.000,0.065,2240,2214,2997,2978,3016,0,0,0,0,0,0,26.82,26.79,26.84,9.01,21.41
$GC,7768,-1.50,-146.6,2239,2213,2975,3014,1216.8,-25.0,400,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2214,2994,2975,3013,0,0,0,0,0,0,27.03,27.05,27.05,8.99,22.12
$GC,8070,-1.50,-146.6,2239,2213,2973,3012,1291.6,-24.9,405,8074,0.00,2.30,0.00,0.000,260,0.000,0.084,2228,3755,2992,2973,3012,0,0,0,0,0,0,27.04,26.58,27.05,8.99,21.64
$GC,8139,-1.50,-146.6,2228,3755,2972,3012,1307.9,-25.1,406,8144,0.12,2.12,0.00,0.000,3078,0.211,0.065,2264,2196,2992,2972,3012,0,0,0,0,0,0,26.33,26.79,26.50,8.98,22.00
$GC,8492,-1.50,-146.6,2263,2194,2972,3009,1391.7,-23.0,412,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2195,2990,2972,3009,0,0,0,0,0,0,27.04,27.05,27.05,8.95,21.92
$GC,8793,-1.55,-146.6,2263,2194,2971,3007,1459.9,-22.8,417,8799,0.00,2.33,0.00,0.000,260,0.000,0.084,2254,3755,2989,2971,3007,0,0,0,0,0,0,27.04,26.57,27.05,8.95,22.67
$GC,8859,-1.55,-146.6,2254,3756,2971,3008,1474.4,-23.0,418,8864,0.00,2.10,0.00,0.000,1030,0.000,0.065,2254,2224,2989,2971,3007,0,0,0,0,0,0,26.82,26.77,26.84,8.96,22.79
$GC,9211,-1.55,-146.6,2254,2225,2969,3006,1558.2,-23.4,424,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2225,2988,2970,3006,0,0,0,0,0,0,27.04,27.06,27.05,8.94,22.23
$GC,9513,-1.55,-146.6,2254,2225,2968,3003,1628.3,-23.3,429,9517,0.00,2.30,0.00,0.000,260,0.000,0.084,2242,3758,2986,2968,3004,0,0,0,0,0,0,27.04,26.55,27.06,8.93,22.27
$GC,9552,-1.55,-146.6,2242,3758,2967,3004,1628.3,-23.3,429,9557,0.00,2.12,0.00,0.000,1030,0.000,0.065,2242,2219,2985,2968,3003,0,0,0,0,0,0,26.82,26.77,26.83,8.93,22.23
$GC,9875,-1.55,-146.6,2242,2218,2966,3001,1715.2,-23.9,435,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2218,2983,2966,3001,0,0,0,0,0,0,27.05,27.06,27.05,8.92,23.18
$GC,10176,-1.55,-146.6,2242,2218,2965,3000,1785.8,-23.6,440,10182,0.00,2.30,0.00,0.000,260,0.000,0.084,2231,3758,2982,2965,3000,0,0,0,0,0,0,27.05,26.55,27.05,8.91,22.35
$GC,10228,-1.55,-146.6,2230,3758,2964,3000,1785.8,-23.6,440,10235,0.00,2.15,0.00,0.000,1030,0.000,0.065,2231,2209,2982,2966,2999,0,0,0,0,0,0,26.80,26.76,26.82,8.92,22.39
$GC,10535,-1.55,-146.6,2230,2209,2964,2998,1872.7,-24.0,446,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2209,2981,2965,2997,0,0,0,0,0,0,27.04,27.06,27.05,8.91,23.02
$GC,10836,-1.55,-146.6,2230,2209,2962,2998,1944.0,-23.8,451,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2209,2980,2963,2998,0,0,0,0,0,0,27.05,27.06,27.06,8.90,22.82
$GC,11135,-1.55,-146.6,2230,2209,2962,2996,2014.5,-23.4,456,11141,0.00,2.33,0.00,0.000,260,0.000,0.084,2219,3756,2979,2962,2996,0,0,0,0,0,0,27.04,26.51,27.05,8.90,22.71
$GC,11182,-1.55,-146.6,2219,3756,2961,2996,2014.5,-23.4,456,11187,0.00,2.15,0.00,0.000,1030,0.000,0.065,2220,2212,2978,2961,2996,0,0,0,0,0,0,26.79,26.74,26.81,8.90,22.27
$GC,11495,-1.55,-146.6,2219,2211,2959,2997,2099.3,-23.4,462,11496,0.10,0.00,0.00,0.000,2054,0.209,0.000,2248,2210,2977,2959,2996,0,0,0,0,0,0,26.51,26.63,26.59,8.90,22.82
$GC,11805,-1.62,-146.6,2248,2210,2959,2995,2165.4,-22.0,467,11806,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2210,2976,2958,2995,0,0,0,0,0,0,27.00,27.02,27.01,8.89,22.71
$GC,12104,-1.69,-146.6,2248,2210,2958,2993,2230.4,-21.7,472,12110,0.08,2.35,0.00,0.000,4356,0.154,0.082,2190,3766,2975,2958,2993,0,0,0,0,0,0,26.74,26.45,26.77,8.88,22.16
$GC,12160,-1.77,-146.6,2189,3766,2958,2993,2230.4,-21.7,472,12178,0.00,2.17,0.00,0.000,1030,0.000,0.065,2190,2205,2975,2958,2993,0,0,0,0,0,0,26.75,26.70,26.77,8.88,22.51
$GC,12467,-1.77,-146.6,2190,2204,2957,2991,2319.5,-23.9,478,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2204,2974,2958,2991,0,0,0,0,0,0,27.01,27.03,27.02,8.88,22.67
$GC,12777,-1.77,-146.6,2190,2204,2957,2990,2389.8,-23.4,483,12782,0.00,2.33,0.00,0.000,260,0.000,0.084,2179,3750,2973,2957,2990,0,0,0,0,0,0,26.98,26.43,26.99,8.87,23.10
$GC,12822,-1.77,-146.6,2178,3750,2957,2990,2389.8,-23.4,483,12827,0.00,2.15,0.00,0.000,1030,0.000,0.065,2179,2213,2973,2957,2990,0,0,0,0,0,0,26.72,26.67,26.74,8.88,22.23
$GC,13135,-1.77,-146.6,2179,2212,2956,2990,2477.4,-23.6,489,13136,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2213,2972,2956,2989,0,0,0,0,0,0,27.00,27.01,27.01,8.87,22.71
$GC,13444,-1.77,-146.6,2178,2213,2955,2988,2547.0,-23.2,494,13449,0.00,2.35,0.00,0.000,260,0.000,0.084,2167,3761,2972,2955,2989,0,0,0,0,0,0,26.96,26.39,26.98,8.87,22.35
$GC,13518,-1.77,-146.6,2166,3761,2954,2989,2564.2,-23.4,495,13523,0.00,2.20,0.00,0.000,1030,0.000,0.065,2167,2214,2971,2954,2989,0,0,0,0,0,0,26.72,26.65,26.74,8.88,22.04
$GC,13886,-1.77,-146.6,2166,2213,2952,2988,2650.3,-23.2,501,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2214,2970,2953,2988,0,0,0,0,0,0,26.96,26.98,26.97,8.87,22.12
$GC,14185,-1.77,-146.6,2166,2214,2953,2987,2721.0,-23.6,506,14187,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2213,2970,2953,2987,0,0,0,0,0,0,26.96,26.97,26.97,8.87,22.75
$GC,14485,-1.77,-146.6,2166,2214,2952,2986,2790.8,-23.2,511,14492,0.00,2.33,0.00,0.000,260,0.000,0.084,2156,3753,2968,2951,2986,0,0,0,0,0,0,26.96,26.35,26.96,8.87,22.23
$GC,14537,-1.77,-146.6,2155,3753,2952,2986,2790.8,-23.2,511,14554,0.00,2.17,0.00,0.000,1030,0.000,0.065,2156,2207,2968,2951,2986,0,0,0,0,0,0,26.68,26.63,26.70,8.86,22.39
$GC,14844,-1.77,-146.6,2155,2207,2951,2985,2877.0,-23.1,517,14845,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2207,2967,2950,2985,0,0,0,0,0,0,26.98,26.99,26.98,8.86,22.08
$GC,15156,-1.77,-146.6,2155,2207,2949,2985,2946.0,-23.0,522,15162,0.00,2.35,0.00,0.000,260,0.000,0.087,2144,3757,2966,2949,2984,0,0,0,0,0,0,26.95,26.32,26.96,8.86,22.82
$GC,15228,-1.77,-146.6,2144,3758,2949,2985,2962.6,-23.1,523,15234,0.08,2.20,0.00,0.000,3078,0.191,0.065,2175,2210,2967,2949,2985,0,0,0,0,0,0,26.08,26.60,26.23,8.86,21.76
$GC,15599,-1.82,-146.6,2174,2210,2949,2984,3042.4,-21.2,529,15600,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2210,2966,2949,2984,0,0,0,0,0,0,26.95,26.96,26.96,8.86,21.76
$GC,15899,-1.87,-146.6,2174,2210,2948,2983,3106.1,-21.3,534,15900,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2210,2965,2948,2983,0,0,0,0,0,0,26.95,26.97,26.96,8.85,21.88
$GC,16199,-1.93,-146.6,2174,2210,2948,2983,3170.7,-21.5,539,16204,0.10,2.38,0.00,0.000,4356,0.139,0.084,2113,3759,2965,2948,2983,0,0,0,0,0,0,26.65,26.29,26.67,8.85,21.84
$GC,16255,-1.99,-146.6,2112,3759,2948,2983,3170.7,-21.5,539,16275,0.00,2.17,0.00,0.000,1030,0.000,0.065,2113,2223,2965,2948,2983,0,0,0,0,0,0,26.65,26.60,26.67,8.84,22.00
$GC,16575,-1.99,-146.6,2112,2223,2947,2983,3260.8,-24.1,545,16576,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2223,2965,2947,2983,0,0,0,0,0,0,26.94,26.96,26.96,8.85,22.08
$GC,16874,-1.99,-146.6,2112,2223,2947,2982,3332.1,-23.7,550,16876,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2223,2964,2947,2982,0,0,0,0,0,0,26.94,26.96,26.95,8.84,21.84
$GC,17174,-1.99,-146.6,2112,2223,2947,2980,3401.5,-23.0,555,17181,0.00,2.33,0.00,0.000,260,0.000,0.087,2101,3751,2964,2947,2981,0,0,0,0,0,0,26.94,26.25,26.95,8.85,21.80
$GC,17215,-1.99,-146.6,2101,3751,2946,2980,3401.5,-23.0,555,17220,0.00,2.20,0.00,0.000,1030,0.000,0.065,2102,2203,2963,2946,2981,0,0,0,0,0,0,26.63,26.57,26.65,8.85,21.96
$GC,17545,-1.99,-146.6,2101,2202,2946,2981,3488.0,-23.1,561,17546,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2202,2963,2946,2981,0,0,0,0,0,0,26.94,26.95,26.94,8.84,21.64
$GC,17833,-1.99,-146.6,2101,2202,2945,2979,3556.7,-22.8,566,17834,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2202,2962,2945,2980,0,0,0,0,0,0,26.96,26.98,26.97,8.84,22.04
$GC,18145,-1.99,-146.6,2101,2202,2945,2980,3624.8,-22.8,571,18151,0.00,2.35,0.00,0.000,260,0.000,0.087,2090,3748,2962,2945,2980,0,0,0,0,0,0,26.94,26.22,26.94,8.84,21.53
$GC,18196,-1.99,-146.6,2090,3749,2945,2980,3624.8,-22.8,571,18217,0.00,2.17,0.00,0.000,1030,0.000,0.062,2090,2213,2962,2945,2980,0,0,0,0,0,0,26.62,26.56,26.64,8.85,22.08
$GC,18515,-1.99,-146.6,2089,2213,2944,2980,3709.4,-22.6,577,18516,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2213,2962,2944,2980,0,0,0,0,0,0,26.93,26.94,26.94,8.84,21.64
$GC,18803,-1.99,-146.6,2089,2213,2944,2979,3776.6,-22.4,582,18804,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2213,2962,2945,2979,0,0,0,0,0,0,26.96,26.98,26.97,8.84,21.56
$GC,19116,-1.99,-146.6,2089,2213,2944,2979,3843.6,-22.3,587,19117,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2213,2961,2944,2979,0,0,0,0,0,0,26.93,26.95,26.94,8.84,22.16
$GC,19416,-1.99,-146.6,2090,2213,2943,2978,3909.5,-21.9,592,19422,0.00,2.35,0.00,0.000,260,0.000,0.084,2079,3752,2961,2943,2979,0,0,0,0,0,0,26.93,26.19,26.94,8.84,21.88
$GC,19488,-1.99,-146.6,2078,3753,2943,2978,3925.6,-22.1,593,19494,0.10,2.20,0.00,0.000,3078,0.231,0.065,2104,2214,2960,2943,2978,0,0,0,0,0,0,26.06,26.54,26.16,8.84,21.41
$GC,19858,-1.99,-146.6,2104,2214,2942,2978,4003.1,-20.6,599,19860,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2214,2960,2943,2978,0,0,0,0,0,0,26.92,26.94,26.94,8.84,21.76
$GC,20159,-1.99,-146.6,2104,2214,2942,2977,4063.0,-19.9,604,20160,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2214,2960,2942,2978,0,0,0,0,0,0,26.92,26.94,26.94,8.84,21.80
$GC,20459,-1.99,-146.6,2104,2213,2942,2977,4121.7,-19.6,609,20465,0.00,2.33,0.00,0.000,260,0.000,0.084,2095,3745,2959,2942,2977,0,0,0,0,0,0,26.93,26.15,26.94,8.85,21.72
$GC,20510,-1.99,-146.6,2095,3745,2942,2977,4121.7,-19.6,609,20518,0.00,2.17,0.00,0.000,1030,0.000,0.065,2095,2213,2959,2942,2977,0,0,0,0,0,0,26.59,26.53,26.61,8.84,21.60
$GC,20817,-1.99,-146.6,2094,2214,2941,2977,4195.6,-19.7,615,20818,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2213,2959,2941,2977,0,0,0,0,0,0,26.95,26.96,26.96,8.84,22.27
$GC,21117,-1.99,-146.6,2095,2214,2941,2976,4254.2,-19.5,620,21118,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2214,2959,2941,2977,0,0,0,0,0,0,26.95,26.96,26.96,8.84,22.00
$GC,21417,-1.99,-146.6,2095,2214,2941,2976,4311.8,-19.2,625,21418,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2213,2958,2941,2976,0,0,0,0,0,0,26.95,26.97,26.96,8.84,22.27
$GC,21730,-1.99,-146.6,2095,2214,2941,2976,4368.9,-18.9,630,21736,0.00,2.35,0.00,0.000,260,0.000,0.087,2084,3750,2958,2941,2976,0,0,0,0,0,0,26.93,26.13,26.94,8.84,21.96
$GC,21802,-1.99,-146.6,2084,3751,2941,2976,4382.9,-19.1,631,21807,0.00,2.17,0.00,0.000,1030,0.000,0.065,2084,2217,2958,2941,2976,0,0,0,0,0,0,26.55,26.52,26.57,8.84,21.68
$GC,22160,-1.99,-146.6,2083,2217,2940,2976,4453.5,-18.9,637,22161,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2217,2957,2940,2975,0,0,0,0,0,0,26.95,26.96,26.96,8.84,21.45
$GC,22460,-1.99,-146.6,2083,2217,2939,2976,4509.7,-18.7,642,22461,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2217,2957,2939,2976,0,0,0,0,0,0,26.96,26.97,26.97,8.85,21.88
$STATE,22638,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,22639,begin apogee
$GC,22643,-0.31,0.0,2084,2009,2938,2976,4543.3,-18.6,645,22789,1.88,0.00,141.07,3.613,10246,0.184,0.000,2647,2008,2509,2498,2521,0,0,0,0,0,0,25.24,22.80,21.05,8.85,22.16
$STATE,22790,end apogee,CONTROL_FINISHED_OK
$STATE,22790,begin climb
$GC,22791,1.90,146.6,2647,2008,2498,2521,4548.1,0.0,647,22963,2.08,2.65,159.77,3.583,10756,0.087,0.094,3385,525,2004,1998,2011,0,0,0,0,0,0,23.54,22.85,21.13,8.81,21.68
$GC,23693,1.74,267.8,3384,525,1998,2011,4554.7,0.1,662,23830,0.30,2.25,128.93,3.553,13318,0.256,0.065,3310,2035,1587,1573,1602,0,0,0,0,0,0,25.54,26.02,21.16,8.77,20.82
$GC,24148,1.53,267.8,3310,2035,1573,1601,4487.8,25.4,670,24155,0.22,2.38,0.00,0.000,4612,0.263,0.077,3260,520,1587,1573,1601,0,0,0,0,0,0,25.24,25.49,25.39,8.73,21.21
$GC,24582,1.36,267.8,3259,520,1573,1601,4386.5,23.9,677,24587,0.28,2.28,0.00,0.000,5126,0.238,0.067,3188,2036,1587,1573,1601,0,0,0,0,0,0,25.67,26.03,25.91,8.73,20.62
$GC,24930,1.27,267.8,3187,2036,1573,1600,4312.6,20.1,683,24937,0.10,2.38,0.00,0.000,4612,0.263,0.079,3169,508,1587,1573,1601,0,0,0,0,0,0,25.90,26.10,26.01,8.72,20.78
$GC,25073,1.18,267.8,3168,508,1573,1600,4289.2,19.7,685,25078,0.15,2.30,0.00,0.000,5126,0.233,0.067,3129,2053,1587,1574,1600,0,0,0,0,0,0,25.88,26.23,26.10,8.72,21.64
$GC,25405,1.18,267.8,3129,2053,1573,1600,4226.3,17.4,691,25411,0.00,2.38,0.00,0.000,516,0.000,0.082,3139,517,1586,1573,1599,0,0,0,0,0,0,26.59,26.25,26.60,8.72,21.25
$GC,25503,1.18,267.8,3137,517,1574,1599,4215.9,17.3,692,25507,0.00,2.28,0.00,0.000,1030,0.000,0.067,3139,2051,1586,1573,1599,0,0,0,0,0,0,26.39,26.32,26.41,8.72,21.29
$GC,25825,1.18,267.8,3138,2051,1573,1599,4153.2,17.2,698,25832,0.00,2.38,0.00,0.000,516,0.000,0.079,3151,510,1586,1573,1599,0,0,0,0,0,0,26.66,26.30,26.67,8.72,21.29
$GC,25928,1.18,267.8,3150,510,1573,1598,4143.0,17.1,699,25933,0.00,2.28,0.00,0.000,1030,0.000,0.065,3151,2056,1585,1573,1598,0,0,0,0,0,0,26.45,26.39,26.47,8.72,21.72
$GC,26245,1.18,267.8,3150,2056,1573,1598,4080.8,17.1,705,26250,0.00,2.38,0.00,0.000,516,0.000,0.079,3162,510,1585,1573,1598,0,0,0,0,0,0,26.71,26.34,26.72,8.72,21.80
$GC,26359,1.18,267.8,3162,510,1573,1598,4070.0,17.2,706,26368,0.12,2.28,0.00,0.000,5126,0.238,0.065,3130,2056,1585,1573,1598,0,0,0,0,0,0,26.03,26.42,26.26,8.71,21.92
$GC,26668,1.18,267.8,3129,2056,1573,1597,4011.3,15.9,712,26674,0.00,2.38,0.00,0.000,516,0.000,0.079,3140,510,1585,1573,1597,0,0,0,0,0,0,26.75,26.37,26.76,8.72,22.12
$GC,26750,1.18,267.8,3139,510,1573,1597,4001.5,15.9,713,26754,0.00,2.28,0.00,0.000,1030,0.000,0.065,3139,2056,1585,1573,1597,0,0,0,0,0,0,26.53,26.45,26.53,8.71,21.33
$GC,27087,1.18,267.8,3139,2056,1573,1597,3944.1,15.9,719,27093,0.00,2.38,0.00,0.000,516,0.000,0.079,3151,510,1585,1573,1597,0,0,0,0,0,0,26.78,26.39,26.79,8.71,21.76
$GC,27201,1.18,267.8,3150,510,1573,1597,3934.2,16.0,720,27209,0.00,2.28,0.00,0.000,1030,0.000,0.065,3151,2054,1585,1573,1597,0,0,0,0,0,0,26.54,26.47,26.56,8.70,21.60
$GC,27507,1.18,267.8,3150,2054,1573,1597,3877.4,15.7,726,27514,0.00,2.38,0.00,0.000,516,0.000,0.082,3163,507,1584,1573,1596,0,0,0,0,0,0,26.80,26.41,26.82,8.71,21.60
$GC,27590,1.18,267.8,3162,507,1573,1596,3868.0,15.6,727,27595,0.12,2.28,0.00,0.000,5126,0.236,0.067,3130,2054,1584,1573,1596,0,0,0,0,0,0,26.07,26.48,26.29,8.70,21.37
$GC,27927,1.18,267.8,3130,2054,1573,1596,3814.4,14.6,733,27932,0.00,2.38,0.00,0.000,516,0.000,0.082,3139,507,1584,1573,1596,0,0,0,0,0,0,26.82,26.41,26.84,8.70,21.84
$GC,28022,1.18,267.8,3139,507,1573,1596,3804.8,14.8,734,28026,0.00,2.28,0.00,0.000,1030,0.000,0.067,3140,2054,1584,1573,1596,0,0,0,0,0,0,26.58,26.50,26.60,8.70,21.29
$GC,28350,1.18,267.8,3139,2054,1573,1596,3751.4,14.7,740,28356,0.00,2.38,0.00,0.000,516,0.000,0.082,3151,510,1584,1573,1596,0,0,0,0,0,0,26.84,26.41,26.86,8.70,22.00
$GC,28443,1.18,267.8,3151,510,1573,1596,3742.7,14.7,741,28448,0.00,2.28,0.00,0.000,1030,0.000,0.065,3151,2053,1584,1573,1596,0,0,0,0,0,0,26.58,26.51,26.60,8.70,22.27
$GC,28770,1.18,267.8,3151,2053,1573,1596,3690.0,14.4,747,28776,0.00,2.38,0.00,0.000,516,0.000,0.082,3162,509,1584,1573,1595,0,0,0,0,0,0,26.85,26.42,26.87,8.69,21.09
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$STATE,59137,end climb,SURFACE_DEPTH_REACHED
$STATE,59137,begin surface coast
$FINISH,2.6,1.008651
$STATE,59159,end surface coast,CONTROL_FINISHED_OK
$STATE,59159,begin surface
$SM_CCo,59177,117.50,0.613,0,0,787,500.22
$SM_GC,4.02,7.88,2.60,117.50,0.077,0.065,0.613,178,2231,787,-7.89,-1.47,500.22,0,0,0,0,0,0,26.62,26.59,24.39
$IRIDIUM_FIX,3135.93,-6412.50,090918,183743
$TT8_MAMPS,0.02247,0.253162
$HUMID,20.03
$INTERNAL_PRESSURE,8.97882
$TCM_TEMP,25.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,14.4
$ALTIM_BOTTOM_PING,4464.9,87.8
$24V_AH,21.05,16.209
$10V_AH,10.21,8.476
$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,24.225,425.075,510.425,117.500,158.925,47.713,48.268,408.429,185.750,0.000,18.368,5755.340,45742.926,1063.609,7135.153,295.441,0.000,4017.979,0.000,5214.749,0.000,1952.104,0.000
$DEVICE_MAMPS,278.096,94.354,3612.765,613.301,193.674,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.804,1866.448,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342412
$DATA_FILE_SIZE,100455,1409
$CAP_FILE_SIZE,510703,0
$CFSIZE,2047311872,2034597888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,41.19,1
$GPS,100918,111759,3141.342,-6403.008,39,1.0,41,-14.9,0.4,78.3,9,4.9