version: 66.07
glider: 187
mission: 4
dive: 573
start: 7 23 111 14 9 27
data:
$ID,187
$MISSION,4
$DIVE,573
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1585462.1
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.973145
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,230711,135854,4701.399,-12656.016,27,2.0,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-77.1
$GPS2,230711,140828,4701.396,-12656.010,15,2.1,34,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.199,0.020
$KALMAN_X,269344.9,-59.7,-187.8,-404563.2,2691.9
$KALMAN_Y,-441978.0,-1465.6,-446.0,360366.1,-2623.7
$MHEAD_RNG_PITCHd_Wd,240.8,5664,-13.6,-6.111
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.50,-117.3,0.0,0.0,0,84,0.00,0.00,-65.40,0.000,2,0.000,0.000,131,2197,2702,0,0,0,0,0,0
$GC,87,-0.50,-117.3,3.2,-1.9,9,117,10.50,2.38,-10.82,0.000,4,0.223,0.070,2742,3679,3215,0,0,0,0,0,0
$GC,159,-0.44,-117.3,18.6,-17.3,20,167,0.10,2.35,0.00,0.000,6,0.114,0.042,2789,2174,3217,0,0,0,0,0,0
$GC,297,-0.44,-117.3,31.7,-8.7,45,304,0.00,2.35,0.00,0.000,4,0.000,0.049,2789,668,3218,0,0,0,0,0,0
$GC,324,-0.44,-117.3,34.3,-8.8,49,331,0.00,2.38,0.00,0.000,6,0.000,0.047,2786,2177,3219,0,0,0,0,0,0
$GC,459,-0.44,-117.3,45.5,-8.5,74,466,0.00,2.45,0.00,0.000,4,0.000,0.060,2775,3683,3219,0,0,0,0,0,0
$GC,497,-0.44,-117.3,48.9,-9.1,80,504,0.00,2.33,0.00,0.000,6,0.000,0.041,2775,2186,3219,0,0,0,0,0,0
$GC,633,-0.44,-117.3,61.8,-9.3,105,641,0.00,2.35,0.00,0.000,4,0.000,0.048,2774,675,3219,0,0,0,0,0,0
$GC,675,-0.44,-117.3,65.8,-9.7,112,682,0.00,2.38,0.00,0.000,6,0.000,0.048,2773,2186,3220,0,0,0,0,0,0
$GC,811,-0.44,-117.3,78.3,-8.8,137,818,0.00,2.45,0.00,0.000,4,0.000,0.060,2762,3694,3220,0,0,0,0,0,0
$GC,858,-0.44,-117.3,82.0,-7.9,145,865,0.00,2.33,0.00,0.000,6,0.000,0.041,2761,2188,3220,0,0,0,0,0,0
$GC,994,-0.44,-117.3,92.4,-8.2,170,1002,0.00,2.38,0.00,0.000,4,0.000,0.049,2761,676,3221,0,0,0,0,0,0
$GC,1033,-0.44,-117.3,95.5,-8.1,176,1040,0.00,2.38,0.00,0.000,6,0.000,0.048,2753,2190,3221,0,0,0,0,0,0
$GC,1171,-0.44,-117.3,106.0,-7.5,194,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2190,3221,0,0,0,0,0,0
$GC,1362,-0.44,-117.3,120.3,-7.6,212,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2190,3221,0,0,0,0,0,0
$GC,1553,-0.44,-117.3,134.7,-7.2,230,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2190,3221,0,0,0,0,0,0
$GC,1743,-0.44,-117.3,149.1,-7.5,248,1747,0.00,2.35,0.00,0.000,4,0.000,0.050,2753,669,3221,0,0,0,0,0,0
$GC,1766,-0.44,-117.3,151.0,-7.8,250,1771,0.12,2.35,0.00,0.000,6,0.132,0.048,2784,2190,3220,0,0,0,0,0,0
$GC,1969,-0.45,-117.3,163.0,-5.9,268,1973,0.00,2.40,0.00,0.000,4,0.000,0.061,2776,3690,3220,0,0,0,0,0,0
$GC,1991,-0.47,-117.3,164.8,-6.1,269,1998,0.00,2.30,0.00,0.000,6,0.000,0.044,2775,2185,3220,0,0,0,0,0,0
$GC,2191,-0.47,-117.3,176.9,-6.2,288,2195,0.00,2.35,0.00,0.000,4,0.000,0.050,2775,673,3220,0,0,0,0,0,0
$GC,2236,-0.49,-117.3,180.2,-7.1,291,2244,0.00,2.33,0.00,0.000,6,0.000,0.050,2773,2173,3220,0,0,0,0,0,0
$GC,2436,-0.50,-117.3,192.3,-6.1,310,2441,0.00,2.45,0.00,0.000,4,0.000,0.062,2770,3696,3220,0,0,0,0,0,0
$GC,2470,-0.52,-117.3,194.3,-6.4,312,2475,0.00,2.35,0.00,0.000,6,0.000,0.043,2769,2161,3220,0,0,0,0,0,0
$GC,2669,-0.52,-117.3,206.1,-5.8,330,2673,0.00,2.30,0.00,0.000,4,0.000,0.049,2769,664,3219,0,0,0,0,0,0
$GC,2716,-0.53,-117.3,209.2,-5.9,333,2724,0.00,2.35,0.00,0.000,6,0.000,0.048,2769,2165,3219,0,0,0,0,0,0
$GC,2915,-0.53,-117.3,221.3,-6.2,352,2919,0.00,2.45,0.00,0.000,4,0.000,0.061,2759,3692,3218,0,0,0,0,0,0
$GC,2949,-0.55,-117.3,223.7,-6.4,354,2957,0.00,2.38,0.00,0.000,6,0.000,0.043,2758,2158,3218,0,0,0,0,0,0
$GC,3151,-0.55,-117.3,237.3,-6.7,373,3155,0.00,2.33,0.00,0.000,4,0.000,0.050,2758,665,3218,0,0,0,0,0,0
$GC,3184,-0.55,-117.3,240.3,-7.9,375,3194,0.00,2.33,0.00,0.000,6,0.000,0.049,2755,2151,3218,0,0,0,0,0,0
$GC,3386,-0.55,-117.3,254.4,-7.3,394,3390,0.00,2.42,0.00,0.000,4,0.000,0.062,2744,3690,3217,0,0,0,0,0,0
$GC,3419,-0.55,-117.3,257.4,-7.2,396,3428,0.00,2.38,0.00,0.000,6,0.000,0.044,2744,2152,3217,0,0,0,0,0,0
$GC,3620,-0.55,-117.3,272.3,-7.8,415,3624,0.00,2.28,0.00,0.000,4,0.000,0.050,2743,659,3217,0,0,0,0,0,0
$GC,3664,-0.55,-117.3,275.6,-7.3,418,3668,0.00,2.33,0.00,0.000,6,0.000,0.048,2737,2161,3217,0,0,0,0,0,0
$GC,3865,-0.55,-117.3,291.0,-7.8,436,3869,0.00,2.42,0.00,0.000,4,0.000,0.061,2726,3689,3217,0,0,0,0,0,0
$GC,3896,-0.55,-117.3,293.4,-7.6,438,3900,0.00,2.38,0.00,0.000,6,0.000,0.044,2725,2143,3216,0,0,0,0,0,0
$GC,4098,-0.53,-117.3,309.1,-8.2,456,4103,0.00,2.30,0.00,0.000,4,0.000,0.051,2725,664,3215,0,0,0,0,0,0
$GC,4140,-0.53,-117.3,312.8,-7.9,459,4145,0.00,2.30,0.00,0.000,6,0.000,0.049,2723,2148,3216,0,0,0,0,0,0
$GC,4341,-0.52,-117.3,329.2,-8.6,477,4345,0.00,2.45,0.00,0.000,4,0.000,0.062,2711,3689,3215,0,0,0,0,0,0
$GC,4370,-0.52,-117.3,331.9,-9.0,479,4375,0.12,2.40,0.00,0.000,6,0.126,0.044,2748,2134,3215,0,0,0,0,0,0
$GC,4571,-0.52,-117.3,346.1,-7.3,497,4575,0.00,2.28,0.00,0.000,4,0.000,0.052,2748,655,3214,0,0,0,0,0,0
$GC,4613,-0.52,-117.3,349.4,-7.8,500,4617,0.00,2.30,0.00,0.000,6,0.000,0.051,2746,2132,3215,0,0,0,0,0,0
$GC,4811,-0.52,-117.3,364.1,-7.2,518,4815,0.00,2.47,0.00,0.000,4,0.000,0.062,2743,3693,3214,0,0,0,0,0,0
$GC,4856,-0.53,-117.3,367.5,-7.1,521,4862,0.00,2.40,0.00,0.000,6,0.000,0.045,2742,2130,3214,0,0,0,0,0,0
$GC,5057,-0.53,-117.3,381.9,-7.7,540,5061,0.00,2.22,0.00,0.000,4,0.000,0.051,2742,670,3214,0,0,0,0,0,0
$GC,5101,-0.53,-117.3,385.8,-7.9,543,5109,0.00,2.28,0.00,0.000,6,0.000,0.050,2736,2136,3213,0,0,0,0,0,0
$GC,5301,-0.53,-117.3,400.9,-8.0,562,5305,0.00,2.47,0.00,0.000,4,0.000,0.063,2724,3687,3213,0,0,0,0,0,0
$GC,5330,-0.53,-117.3,403.2,-7.4,564,5334,0.00,2.42,0.00,0.000,6,0.000,0.044,2724,2113,3213,0,0,0,0,0,0
$GC,5528,-0.53,-117.3,419.0,-7.8,582,5532,0.00,2.22,0.00,0.000,4,0.000,0.052,2723,671,3212,0,0,0,0,0,0
$GC,5563,-0.53,-117.3,421.7,-7.7,584,5569,0.00,2.25,0.00,0.000,6,0.000,0.051,2719,2116,3212,0,0,0,0,0,0
$GC,5761,-0.52,-117.3,436.3,-7.5,603,5766,0.12,2.53,0.00,0.000,4,0.140,0.065,2747,3686,3211,0,0,0,0,0,0
$GC,5796,-0.53,-117.3,438.4,-6.0,605,5805,0.00,2.42,0.00,0.000,6,0.000,0.045,2747,2116,3212,0,0,0,0,0,0
$GC,5996,-0.53,-117.3,449.3,-5.3,624,6000,0.00,2.22,0.00,0.000,4,0.000,0.053,2747,667,3211,0,0,0,0,0,0
$GC,6036,-0.53,-117.3,451.6,-5.8,627,6040,0.00,2.25,0.00,0.000,6,0.000,0.052,2740,2109,3211,0,0,0,0,0,0
$GC,6238,-0.53,-117.3,462.5,-5.7,645,6242,0.00,2.53,0.00,0.000,4,0.000,0.063,2729,3686,3210,0,0,0,0,0,0
$GC,6260,-0.53,-117.3,464.3,-6.1,646,6269,0.00,2.45,0.00,0.000,6,0.000,0.046,2729,2117,3211,0,0,0,0,0,0
$GC,6462,-0.53,-117.3,476.6,-6.5,665,6466,0.00,2.25,0.00,0.000,4,0.000,0.053,2728,671,3210,0,0,0,0,0,0
$GC,6513,-0.53,-117.3,480.2,-7.1,669,6517,0.00,2.22,0.00,0.000,6,0.000,0.052,2728,2094,3210,0,0,0,0,0,0
$GC,6714,-0.53,-117.3,494.2,-7.4,687,6718,0.00,2.58,0.00,0.000,4,0.000,0.063,2717,3687,3209,0,0,0,0,0,0
$GC,6739,-0.53,-117.3,496.2,-7.8,688,6748,0.08,2.50,0.00,0.000,6,0.099,0.046,2746,2090,3210,0,0,0,0,0,0
$GC,6939,-0.53,-117.3,509.0,-6.6,707,6943,0.00,2.22,0.00,0.000,4,0.000,0.054,2746,669,3209,0,0,0,0,0,0
$GC,6978,-0.53,-117.3,512.3,-7.4,710,6987,0.00,2.22,0.00,0.000,6,0.000,0.052,2741,2082,3209,0,0,0,0,0,0
$GC,7179,-0.53,-117.3,525.9,-7.2,729,7183,0.00,2.60,0.00,0.000,4,0.000,0.064,2732,3690,3208,0,0,0,0,0,0
$GC,7208,-0.53,-117.3,528.3,-7.8,731,7212,0.00,2.47,0.00,0.000,6,0.000,0.046,2732,2084,3208,0,0,0,0,0,0
$GC,7408,-0.53,-117.3,543.2,-7.5,749,7412,0.00,2.22,0.00,0.000,4,0.000,0.054,2732,666,3208,0,0,0,0,0,0
$GC,7451,-0.53,-117.3,546.9,-7.2,752,7458,0.00,2.20,0.00,0.000,6,0.000,0.052,2731,2074,3208,0,0,0,0,0,0
$GC,7651,-0.53,-117.3,560.6,-6.8,771,7655,0.00,2.60,0.00,0.000,4,0.000,0.065,2721,3687,3207,0,0,0,0,0,0
$GC,7681,-0.53,-117.3,562.7,-7.8,773,7686,0.00,2.50,0.00,0.000,6,0.000,0.046,2720,2077,3208,0,0,0,0,0,0
$GC,7880,-0.53,-117.3,575.9,-6.2,791,7884,0.00,2.20,0.00,0.000,4,0.000,0.054,2720,666,3207,0,0,0,0,0,0
$GC,7926,-0.53,-117.3,578.9,-6.9,795,7930,0.00,2.17,0.00,0.000,6,0.000,0.053,2718,2067,3207,0,0,0,0,0,0
$GC,8126,-0.53,-117.3,591.2,-6.3,813,8131,0.00,2.60,0.00,0.000,4,0.000,0.063,2708,3686,3207,0,0,0,0,0,0
$GC,8148,-0.53,-117.3,592.8,-6.3,814,8156,0.15,2.53,0.00,0.000,6,0.124,0.047,2752,2056,3207,0,0,0,0,0,0
$GC,8348,-0.53,-117.3,601.5,-4.3,831,8352,0.00,2.15,0.00,0.000,4,0.000,0.054,2752,671,3207,0,0,0,0,0,0
$GC,8370,-0.53,-117.3,602.9,-5.1,831,8377,0.00,2.17,0.00,0.000,6,0.000,0.053,2750,2066,3206,0,0,0,0,0,0
$GC,8684,-0.53,-117.3,618.9,-5.4,842,8688,0.00,2.62,0.00,0.000,4,0.000,0.064,2740,3694,3206,0,0,0,0,0,0
$GC,8714,-0.54,-117.3,620.6,-5.4,843,8719,0.00,2.53,0.00,0.000,6,0.000,0.047,2739,2071,3206,0,0,0,0,0,0
$GC,9052,-0.54,-117.3,640.8,-6.0,854,9056,0.00,2.20,0.00,0.000,4,0.000,0.055,2739,662,3206,0,0,0,0,0,0
$GC,9097,-0.54,-117.3,644.1,-7.2,855,9101,0.00,2.20,0.00,0.000,6,0.000,0.053,2733,2068,3205,0,0,0,0,0,0
$GC,9423,-0.54,-117.3,665.1,-6.6,866,9427,0.00,2.58,0.00,0.000,4,0.000,0.063,2721,3687,3205,0,0,0,0,0,0
$GC,9466,-0.54,-117.3,668.6,-7.2,867,9471,0.00,2.50,0.00,0.000,6,0.000,0.047,2721,2074,3204,0,0,0,0,0,0
$GC,9785,-0.54,-117.3,690.6,-7.0,878,9789,0.00,2.17,0.00,0.000,4,0.000,0.054,2720,672,3204,0,0,0,0,0,0
$GC,9825,-0.54,-117.3,693.6,-7.2,879,9829,0.00,2.20,0.00,0.000,6,0.000,0.053,2717,2071,3204,0,0,0,0,0,0
$GC,10151,-0.54,-117.3,716.0,-7.0,890,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2071,3204,0,0,0,0,0,0
$GC,10458,-0.54,-117.3,736.7,-6.7,900,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2071,3203,0,0,0,0,0,0
$GC,10764,-0.54,-117.3,757.0,-6.6,910,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2071,3203,0,0,0,0,0,0
$GC,11069,-0.54,-117.3,777.4,-6.6,920,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2071,3203,0,0,0,0,0,0
$GC,11377,-0.54,-117.3,798.4,-7.0,930,11381,0.00,2.60,0.00,0.000,4,0.000,0.065,2705,3693,3202,0,0,0,0,0,0
$GC,11409,-0.54,-117.3,800.6,-7.0,931,11414,0.12,2.53,0.00,0.000,6,0.129,0.048,2743,2066,3203,0,0,0,0,0,0
$GC,11747,-0.54,-117.3,819.1,-5.1,942,11751,0.00,2.17,0.00,0.000,4,0.000,0.056,2743,672,3202,0,0,0,0,0,0
$GC,11769,-0.54,-117.3,820.5,-5.0,942,11776,0.00,2.22,0.00,0.000,6,0.000,0.056,2740,2081,3202,0,0,0,0,0,0
$GC,12083,-0.54,-117.3,836.0,-4.8,953,12088,0.00,2.60,0.00,0.000,4,0.000,0.067,2731,3691,3202,0,0,0,0,0,0
$GC,12112,-0.54,-117.3,837.4,-5.1,954,12117,0.00,2.55,0.00,0.000,6,0.000,0.049,2730,2062,3202,0,0,0,0,0,0
$GC,12448,-0.54,-117.3,854.3,-4.8,965,12452,0.00,2.15,0.00,0.000,4,0.000,0.056,2730,673,3202,0,0,0,0,0,0
$GC,12471,-0.54,-117.3,855.7,-6.4,965,12477,0.00,2.20,0.00,0.000,6,0.000,0.055,2729,2064,3202,0,0,0,0,0,0
$GC,12785,-0.54,-117.3,871.0,-5.0,976,12789,0.00,2.62,0.00,0.000,4,0.000,0.067,2727,3692,3202,0,0,0,0,0,0
$GC,12818,-0.54,-117.3,873.1,-5.8,977,12822,0.00,2.55,0.00,0.000,6,0.000,0.048,2726,2063,3202,0,0,0,0,0,0
$GC,13152,-0.54,-117.3,889.4,-5.1,988,13156,0.00,2.17,0.00,0.000,4,0.000,0.055,2726,664,3201,0,0,0,0,0,0
$GC,13190,-0.54,-117.3,892.1,-5.6,989,13194,0.00,2.20,0.00,0.000,6,0.000,0.052,2723,2068,3201,0,0,0,0,0,0
$GC,13529,-0.54,-117.3,910.6,-5.6,1000,13533,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,3689,3201,0,0,0,0,0,0
$GC,13574,-0.54,-117.3,913.7,-6.1,1001,13579,0.00,2.53,0.00,0.000,6,0.000,0.048,2714,2075,3200,0,0,0,0,0,0
$GC,13895,-0.54,-117.3,932.9,-6.1,1012,13899,0.00,2.20,0.00,0.000,4,0.000,0.055,2714,670,3200,0,0,0,0,0,0
$GC,13929,-0.54,-117.3,935.5,-6.8,1013,13933,0.12,2.17,0.00,0.000,6,0.139,0.053,2744,2065,3200,0,0,0,0,0,0
$GC,14263,-0.56,-117.3,950.9,-4.5,1024,14267,0.00,2.62,0.00,0.000,4,0.000,0.066,2735,3685,3200,0,0,0,0,0,0
$GC,14285,-0.57,-117.3,952.2,-4.7,1024,14293,0.00,2.55,0.00,0.000,6,0.000,0.049,2735,2073,3200,0,0,0,0,0,0
$GC,14601,-0.57,-117.3,967.0,-4.8,1035,14605,0.00,2.20,0.00,0.000,4,0.000,0.056,2734,673,3200,0,0,0,0,0,0
$GC,14639,-0.57,-117.3,969.2,-5.2,1036,14643,0.00,2.20,0.00,0.000,6,0.000,0.055,2732,2060,3200,0,0,0,0,0,0
$GC,14963,-0.57,-117.3,984.2,-4.6,1047,14968,0.00,2.62,0.00,0.000,4,0.000,0.068,2732,3682,3200,0,0,0,0,0,0
$GC,15009,-0.58,-117.3,986.6,-4.9,1048,15014,0.00,2.53,0.00,0.000,6,0.000,0.049,2732,2074,3200,0,0,0,0,0,0
$STATE,15081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15081,begin apogee
$GC,15086,-0.22,0.0,990.3,5.0,1051,15192,0.35,0.00,102.80,1.234,6,0.102,0.000,2848,2071,2736,0,0,0,0,0,0
$STATE,15193,end apogee,CONTROL_FINISHED_OK
$STATE,15193,begin climb
$GC,15196,0.50,117.3,992.1,0.0,1054,15319,0.65,2.65,112.75,1.200,4,0.065,0.058,3079,3573,2255,0,0,0,0,0,0
$GC,15370,0.45,117.3,979.8,11.6,1059,15375,0.00,2.50,0.00,0.000,6,0.000,0.046,3091,2073,2249,0,0,0,0,0,0
$GC,15698,0.42,117.3,944.6,10.8,1070,15700,0.12,0.00,0.00,0.000,6,0.171,0.000,3059,2072,2244,0,0,0,0,0,0
$GC,16003,0.40,117.3,916.3,9.1,1080,16008,0.00,2.45,0.00,0.000,4,0.000,0.063,3059,3582,2242,0,0,0,0,0,0
$GC,16043,0.37,117.3,912.0,9.6,1081,16047,0.00,2.40,0.00,0.000,6,0.000,0.048,3068,2062,2241,0,0,0,0,0,0
$GC,16371,0.34,117.3,882.3,9.1,1092,16373,0.15,0.00,0.00,0.000,6,0.153,0.000,3026,2061,2241,0,0,0,0,0,0
$GC,16675,0.34,117.3,861.3,6.6,1102,16679,0.00,2.42,0.00,0.000,4,0.000,0.064,3026,3572,2240,0,0,0,0,0,0
$GC,16707,0.34,117.3,859.1,6.7,1103,16711,0.00,2.35,0.00,0.000,6,0.000,0.049,3033,2058,2239,0,0,0,0,0,0
$GC,17050,0.34,117.3,835.4,6.8,1114,17054,0.00,2.45,0.00,0.000,4,0.000,0.063,3033,3579,2239,0,0,0,0,0,0
$GC,17071,0.33,117.3,833.5,7.3,1114,17080,0.00,2.38,0.00,0.000,6,0.000,0.049,3042,2079,2238,0,0,0,0,0,0
$GC,17388,0.32,117.3,811.2,7.1,1125,17390,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2078,2238,0,0,0,0,0,0
$GC,17691,0.30,117.3,788.4,7.5,1135,17695,0.00,2.42,0.00,0.000,4,0.000,0.063,3043,3580,2238,0,0,0,0,0,0
$GC,17724,0.28,117.3,785.5,9.2,1136,17729,0.15,2.35,0.00,0.000,6,0.151,0.048,3010,2079,2237,0,0,0,0,0,0
$GC,18057,0.29,123.4,765.7,5.9,1147,18058,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2077,2237,0,0,0,0,0,0
$GC,18361,0.29,128.1,747.8,5.9,1157,18371,0.00,0.00,7.70,0.916,6,0.000,0.000,3010,2076,2212,0,0,0,0,0,0
$GC,18669,0.30,139.2,730.4,5.7,1167,18682,0.00,0.00,11.82,0.982,6,0.000,0.000,3010,2076,2167,0,0,0,0,0,0
$GC,18976,0.32,160.0,713.7,5.4,1177,19000,0.00,0.00,20.17,1.021,6,0.000,0.000,3010,2075,2082,0,0,0,0,0,0
$GC,19318,0.35,179.1,695.2,5.4,1188,19338,0.00,0.00,17.88,0.998,6,0.000,0.000,3010,2075,2004,0,0,0,0,0,0
$GC,19624,0.37,182.2,677.2,6.0,1198,19625,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2075,1999,0,0,0,0,0,0
$GC,19928,0.38,182.2,657.8,6.4,1208,19930,0.10,0.00,0.00,0.000,6,0.101,0.000,3060,2074,1998,0,0,0,0,0,0
$GC,20237,0.38,182.2,629.2,9.5,1218,20238,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2074,1997,0,0,0,0,0,0
$GC,20544,0.38,182.2,601.3,8.8,1228,20548,0.00,2.42,0.00,0.000,4,0.000,0.063,3060,3578,1997,0,0,0,0,0,0
$GC,20565,0.37,182.2,599.0,8.9,1228,20575,0.08,2.38,0.00,0.000,6,0.120,0.049,3044,2079,1996,0,0,0,0,0,0
$GC,20894,0.37,182.2,574.9,7.1,1259,20898,0.00,2.40,0.00,0.000,4,0.000,0.058,3052,538,1996,0,0,0,0,0,0
$GC,20917,0.37,182.2,573.0,6.8,1260,20924,0.00,2.42,0.00,0.000,6,0.000,0.053,3052,2086,1996,0,0,0,0,0,0
$GC,21115,0.37,182.2,558.8,7.0,1279,21120,0.00,2.42,0.00,0.000,4,0.000,0.064,3051,3582,1996,0,0,0,0,0,0
$GC,21157,0.37,182.2,555.3,8.2,1282,21161,0.00,2.33,0.00,0.000,6,0.000,0.048,3061,2080,1995,0,0,0,0,0,0
$GC,21357,0.37,182.2,539.6,7.9,1300,21362,0.00,2.42,0.00,0.000,4,0.000,0.058,3073,536,1995,0,0,0,0,0,0
$GC,21398,0.37,182.2,536.2,7.4,1303,21403,0.12,2.45,0.00,0.000,6,0.140,0.053,3037,2096,1995,0,0,0,0,0,0
$GC,21601,0.37,182.2,523.5,6.3,1321,21605,0.00,2.35,0.00,0.000,4,0.000,0.064,3037,3574,1995,0,0,0,0,0,0
$GC,21645,0.37,182.2,519.9,7.7,1324,21652,0.00,2.33,0.00,0.000,6,0.000,0.048,3042,2081,1995,0,0,0,0,0,0
$GC,21845,0.37,182.2,507.0,6.4,1343,21849,0.00,2.40,0.00,0.000,4,0.000,0.058,3041,538,1995,0,0,0,0,0,0
$GC,21877,0.38,182.2,504.7,6.6,1345,21884,0.00,2.42,0.00,0.000,6,0.000,0.052,3042,2098,1995,0,0,0,0,0,0
$GC,22079,0.38,182.2,491.5,6.7,1364,22083,0.00,2.35,0.00,0.000,4,0.000,0.065,3041,3573,1995,0,0,0,0,0,0
$GC,22108,0.38,182.2,488.8,7.6,1366,22116,0.00,2.33,0.00,0.000,6,0.000,0.048,3044,2099,1995,0,0,0,0,0,0
$GC,22307,0.38,182.2,474.2,7.6,1385,22311,0.00,2.42,0.00,0.000,4,0.000,0.057,3052,539,1995,0,0,0,0,0,0
$GC,22351,0.38,182.2,470.9,7.6,1388,22360,0.00,2.42,0.00,0.000,6,0.000,0.052,3052,2099,1995,0,0,0,0,0,0
$GC,22550,0.38,182.2,455.5,8.1,1407,22554,0.00,2.40,0.00,0.000,4,0.000,0.065,3052,3577,1995,0,0,0,0,0,0
$GC,22590,0.38,182.2,451.8,9.6,1410,22594,0.00,2.33,0.00,0.000,6,0.000,0.047,3062,2086,1995,0,0,0,0,0,0
$GC,22790,0.38,182.2,434.5,8.8,1428,22794,0.00,2.40,0.00,0.000,4,0.000,0.057,3073,538,1995,0,0,0,0,0,0
$GC,22830,0.38,182.2,430.8,8.6,1431,22834,0.00,2.45,0.00,0.000,6,0.000,0.053,3073,2099,1995,0,0,0,0,0,0
$GC,23028,0.37,182.2,412.8,9.1,1449,23033,0.12,2.38,0.00,0.000,4,0.148,0.063,3036,3581,1995,0,0,0,0,0,0
$GC,23070,0.37,182.2,409.5,7.6,1452,23074,0.00,2.33,0.00,0.000,6,0.000,0.047,3041,2090,1994,0,0,0,0,0,0
$GC,23269,0.37,182.2,395.1,7.1,1470,23273,0.00,2.42,0.00,0.000,4,0.000,0.057,3041,541,1995,0,0,0,0,0,0
$GC,23303,0.39,182.2,392.7,7.4,1472,23310,0.00,2.42,0.00,0.000,6,0.000,0.051,3042,2096,1995,0,0,0,0,0,0
$GC,23502,0.39,182.2,379.4,6.4,1491,23506,0.00,2.38,0.00,0.000,4,0.000,0.063,3041,3581,1995,0,0,0,0,0,0
$GC,23534,0.39,182.2,376.9,7.2,1493,23541,0.00,2.35,0.00,0.000,6,0.000,0.047,3042,2089,1995,0,0,0,0,0,0
$GC,23736,0.39,182.2,363.6,7.1,1512,23740,0.00,2.40,0.00,0.000,4,0.000,0.057,3042,539,1994,0,0,0,0,0,0
$GC,23776,0.40,182.2,360.7,6.3,1515,23781,0.00,2.42,0.00,0.000,6,0.000,0.051,3042,2089,1995,0,0,0,0,0,0
$GC,23978,0.41,185.8,347.8,6.0,1533,23991,0.00,2.38,5.95,0.672,4,0.000,0.062,3041,3584,1976,0,0,0,0,0,0
$GC,24016,0.41,185.8,344.9,7.0,1536,24020,0.00,2.33,0.00,0.000,6,0.000,0.048,3042,2077,1976,0,0,0,0,0,0
$GC,24217,0.41,189.1,332.7,6.0,1554,24229,0.00,2.40,4.65,0.601,4,0.000,0.059,3042,540,1964,0,0,0,0,0,0
$GC,24258,0.44,203.0,330.1,5.6,1557,24277,0.00,2.42,14.05,0.773,6,0.000,0.051,3042,2078,1907,0,0,0,0,0,0
$GC,24473,0.45,207.4,317.5,6.0,1577,24487,0.00,2.45,5.07,0.617,4,0.000,0.064,3042,3579,1888,0,0,0,0,0,0
$GC,24513,0.45,207.4,314.3,7.5,1580,24518,0.00,2.35,0.00,0.000,6,0.000,0.047,3042,2079,1888,0,0,0,0,0,0
$GC,24714,0.46,207.4,300.8,7.0,1598,24718,0.00,2.40,0.00,0.000,4,0.000,0.057,3042,538,1888,0,0,0,0,0,0
$GC,24756,0.49,215.9,298.0,5.8,1601,24772,0.10,2.45,9.15,0.715,6,0.098,0.052,3098,2095,1855,0,0,0,0,0,0
$GC,24974,0.48,215.9,278.3,8.8,1621,24978,0.00,2.38,0.00,0.000,4,0.000,0.063,3098,3574,1852,0,0,0,0,0,0
$GC,25009,0.46,215.9,274.5,8.4,1623,25018,0.10,2.35,0.00,0.000,6,0.122,0.047,3074,2092,1851,0,0,0,0,0,0
$GC,25208,0.46,215.9,258.6,7.9,1642,25212,0.00,2.42,0.00,0.000,4,0.000,0.055,3082,544,1851,0,0,0,0,0,0
$GC,25251,0.46,215.9,255.3,7.9,1645,25255,0.00,2.40,0.00,0.000,6,0.000,0.049,3083,2095,1851,0,0,0,0,0,0
$GC,25457,0.46,215.9,238.2,8.4,1664,25461,0.00,2.40,0.00,0.000,4,0.000,0.061,3083,3581,1850,0,0,0,0,0,0
$GC,25489,0.46,215.9,234.9,9.0,1666,25497,0.00,2.38,0.00,0.000,6,0.000,0.047,3084,2077,1849,0,0,0,0,0,0
$GC,25690,0.46,215.9,219.4,6.8,1685,25694,0.00,2.40,0.00,0.000,4,0.000,0.056,3095,543,1849,0,0,0,0,0,0
$GC,25730,0.46,215.9,216.5,6.1,1688,25735,0.00,2.40,0.00,0.000,6,0.000,0.050,3095,2083,1849,0,0,0,0,0,0
$GC,25931,0.45,215.9,200.7,8.0,1706,25935,0.00,2.40,0.00,0.000,4,0.000,0.062,3095,3584,1849,0,0,0,0,0,0
$GC,25963,0.44,215.9,197.4,8.9,1708,25970,0.15,2.38,0.00,0.000,6,0.148,0.047,3062,2060,1849,0,0,0,0,0,0
$GC,26163,0.44,215.9,182.9,7.3,1727,26167,0.00,2.40,0.00,0.000,4,0.000,0.056,3070,541,1849,0,0,0,0,0,0
$GC,26186,0.45,215.9,181.0,7.6,1728,26193,0.00,2.40,0.00,0.000,6,0.000,0.050,3070,2081,1849,0,0,0,0,0,0
$GC,26386,0.45,215.9,165.9,6.9,1747,26390,0.00,2.42,0.00,0.000,4,0.000,0.062,3070,3583,1849,0,0,0,0,0,0
$GC,26418,0.45,215.9,163.3,7.8,1749,26422,0.00,2.33,0.00,0.000,6,0.000,0.046,3080,2072,1849,0,0,0,0,0,0
$GC,26617,0.45,215.9,148.6,6.9,1767,26621,0.00,2.35,0.00,0.000,4,0.000,0.056,3090,549,1849,0,0,0,0,0,0
$GC,26669,0.45,218.1,144.9,6.0,1771,26673,0.00,2.38,0.00,0.000,6,0.000,0.047,3090,2081,1849,0,0,0,0,0,0
$GC,26869,0.45,218.1,130.8,7.5,1789,26873,0.00,2.38,0.00,0.000,4,0.000,0.061,3090,3572,1849,0,0,0,0,0,0
$GC,26911,0.45,218.1,127.1,8.1,1792,26916,0.12,2.30,0.00,0.000,6,0.151,0.045,3065,2088,1849,0,0,0,0,0,0
$GC,27113,0.46,218.1,113.0,7.0,1810,27117,0.00,2.40,0.00,0.000,4,0.000,0.054,3073,545,1849,0,0,0,0,0,0
$GC,27169,0.49,232.2,109.0,5.6,1814,27189,0.00,2.38,14.80,0.646,6,0.000,0.048,3073,2089,1787,0,0,0,0,0,0
$GC,27383,0.51,247.3,96.3,5.6,1839,27405,0.00,2.40,14.05,0.630,4,0.000,0.060,3073,3570,1726,0,0,0,0,0,0
$GC,27420,0.53,247.3,93.8,6.4,1844,27427,0.00,2.35,0.00,0.000,6,0.000,0.045,3073,2078,1724,0,0,0,0,0,0
$GC,27562,0.55,250.2,84.7,6.0,1869,27569,0.00,2.42,0.00,0.000,4,0.000,0.055,3073,546,1722,0,0,0,0,0,0
$GC,27605,0.57,250.8,81.9,6.1,1876,27619,0.00,2.40,4.15,0.460,6,0.000,0.049,3073,2068,1712,0,0,0,0,0,0
$GC,27759,0.63,272.5,73.2,5.4,1902,27785,0.15,2.47,19.33,0.628,4,0.080,0.056,3160,538,1624,0,0,0,0,0,0
$GC,27881,0.63,272.5,64.1,7.7,1922,27890,0.12,2.60,0.00,0.000,6,0.138,0.050,3126,2199,1620,0,0,0,0,0,0
$GC,28030,0.63,272.5,54.5,6.6,1947,28040,0.00,2.25,0.00,0.000,4,0.000,0.061,3126,3573,1618,0,0,0,0,0,0
$GC,28054,0.63,272.5,52.3,7.3,1950,28061,0.00,2.22,0.00,0.000,6,0.000,0.045,3133,2161,1618,0,0,0,0,0,0
$GC,28194,0.63,272.5,40.4,8.5,1975,28203,0.00,2.55,0.00,0.000,4,0.000,0.055,3140,550,1618,0,0,0,0,0,0
$GC,28259,0.63,272.5,35.0,7.5,1986,28267,0.00,2.50,0.00,0.000,6,0.000,0.047,3140,2142,1617,0,0,0,0,0,0
$GC,28400,0.63,276.5,26.0,6.0,2011,28409,0.00,0.00,4.12,0.436,6,0.000,0.000,3140,2142,1607,0,0,0,0,0,0
$GC,28554,0.65,281.1,17.2,5.9,2036,28569,0.00,2.55,5.53,0.491,4,0.000,0.055,3146,546,1588,0,0,0,0,0,0
$GC,28594,0.68,304.8,14.8,5.3,2042,28623,0.00,2.47,21.02,0.586,6,0.000,0.049,3145,2122,1491,0,0,0,0,0,0
$GC,28757,0.71,329.3,6.4,5.3,2070,28790,0.00,2.40,20.92,0.575,4,0.000,0.060,3146,3581,1390,0,0,0,0,0,0
$STATE,28796,end climb,SURFACE_DEPTH_REACHED
$STATE,28796,begin surface coast
$FINISH,3.2,1.023477
$STATE,28809,end surface coast,CONTROL_FINISHED_OK
$STATE,28809,begin surface
$SM_CCo,28891,0.00,0.000,0,0,1384,331.40
$SM_GC,1.93,8.12,0.00,0.00,0.048,0.000,0.000,116,2161,1384,-8.60,-0.40,331.40
$IRIDIUM_FIX,4644.93,-12651.56,230711,060602
$TT8_MAMPS,0.026964
$HUMID,39.36
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.60
$XPDR_PINGS,2
$24V_AH,22.2,63.152
$10V_AH,9.8,69.397
$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,22.175,429.050,415.925,0.000,0.000,27.457,32.430,304.302,0.500,0.000,36.175,5493.690,16213.691,802.903,6138.816,777.464,33.373,2912.966,0.000,3931.028,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,69.615,1233.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1432.217,5109.285,915.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297608
$DATA_FILE_SIZE,116813,2077
$CAP_FILE_SIZE,332987,0
$CFSIZE,260165632,168964096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,137.5,1
$GPS,230711,221207,4700.193,-12659.836,33,1.0,33,18.6