version: 66.11
glider: 194
mission: 7
dive: 277
start: 1 21 114 23 43 31
data:
$ID,194
$MISSION,7
$DIVE,277
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,550
$T_MISSION,660
$T_ABORT,1440
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,58592
$MASS_COMP,3867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6940.5571
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,2842
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2233
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-53.385216
$PRESSURE_SLOPE,0.0001158091
$AD7714Ch0Gain,128
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,700
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.223
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$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,0.0044109076
$SEABIRD_T_H,0.00064730842
$SEABIRD_T_I,2.664891e-05
$SEABIRD_T_J,3.309405e-06
$SEABIRD_C_G,-9.5383005
$SEABIRD_C_H,1.0995622
$SEABIRD_C_I,-0.0013844616
$SEABIRD_C_J,0.00017264462
$GPS1,210114,233123,4838.698,-12627.375,40,1.0,41,17.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-66.3
$GPS2,210114,234303,4838.716,-12627.470,5,0.9,5,17.2
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4854.000,-12642.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,0.174
$KALMAN_X,-85012.8,0.0,0.0,-4542.1,-1057.7
$KALMAN_Y,91262.2,0.0,0.0,67317.2,2397.7
$MHEAD_RNG_PITCHd_Wd,306.7,33379,-9.9,-6.000,-15.57,3651
$D_GRID,990
$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,265,-0.31,-146.6,2681,833,3068,2932,26.1,-13.7,24,274,0.17,2.15,0.00,0.000,3078,0.105,0.034,2735,2207,3000,3069,2932,0,0,0,0,0,0,25.77,26.14,28.83
$GC,575,-0.25,-146.6,2735,2207,3069,2932,53.4,-7.0,55,583,0.00,2.20,0.00,0.000,260,0.000,0.044,2727,3627,3000,3069,2932,0,0,0,0,0,0,28.83,26.10,28.83
$GC,738,-0.19,-146.6,2726,3627,3069,2932,65.8,-7.5,71,747,0.12,2.05,0.00,0.000,3078,0.092,0.027,2775,2224,3000,3069,2932,0,0,0,0,0,0,26.06,26.39,28.83
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$GC,1199,-0.19,-146.6,2774,836,3069,2932,91.2,-6.4,107,1207,0.00,2.12,0.00,0.000,1030,0.000,0.034,2774,2236,3000,3069,2932,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1508,-0.19,-146.6,2774,2236,3069,2932,110.5,-5.3,123,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2236,3000,3069,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1807,-0.19,-146.6,2774,2236,3069,2932,126.0,-5.3,138,1813,0.00,2.17,0.00,0.000,260,0.000,0.044,2774,3638,3000,3069,2932,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1847,-0.19,-146.6,2774,3638,3069,2932,128.0,-5.4,140,1853,0.00,2.08,0.00,0.000,1030,0.000,0.027,2774,2225,3000,3069,2932,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2167,-0.19,-146.6,2774,2225,3069,2931,143.3,-4.4,156,2173,0.00,2.12,0.00,0.000,516,0.000,0.037,2774,835,3000,3069,2932,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2268,-0.19,-146.6,2774,835,3070,2931,148.1,-4.8,161,2274,0.00,2.12,0.00,0.000,1030,0.000,0.033,2774,2233,3000,3069,2932,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2598,-0.19,-146.6,2774,2233,3069,2932,164.7,-5.3,173,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2234,3000,3069,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,-0.19,-146.6,2774,2233,3069,2932,181.0,-5.5,183,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2233,3000,3069,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3198,-0.19,-146.6,2774,2233,3069,2932,196.8,-5.0,193,3202,0.00,2.15,0.00,0.000,516,0.000,0.037,2774,849,3000,3069,2931,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3262,-0.19,-146.6,2774,845,3069,2931,200.4,-5.3,195,3266,0.00,2.12,0.00,0.000,1030,0.000,0.033,2774,2244,3000,3069,2931,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3585,-0.24,-146.6,2774,2244,3068,2931,216.8,-4.6,206,3590,0.00,2.17,0.00,0.000,260,0.000,0.044,2771,3642,3000,3069,2931,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3623,-0.30,-146.6,2772,3642,3069,2931,218.2,-4.6,207,3627,0.00,2.08,0.00,0.000,1030,0.000,0.027,2772,2230,2999,3068,2931,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3940,-0.35,-146.6,2771,2230,3069,2932,232.5,-4.6,218,3946,0.12,2.12,0.00,0.000,4612,0.078,0.035,2661,842,3000,3069,2931,0,0,0,0,0,0,26.70,26.29,28.83
$GC,3987,-0.35,-146.6,2661,842,3069,2930,234.7,-5.3,219,3992,0.25,2.12,0.00,0.000,3078,0.110,0.034,2730,2241,2999,3069,2930,0,0,0,0,0,0,25.94,26.32,28.83
$GC,4295,-0.35,-146.6,2729,2241,3069,2931,256.0,-6.0,229,4298,0.00,2.17,0.00,0.000,260,0.000,0.044,2722,3628,2999,3069,2930,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4378,-0.35,-146.6,2722,3630,3069,2930,259.8,-6.0,231,4386,0.00,2.08,0.00,0.000,1030,0.000,0.027,2722,2228,2999,3069,2930,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4685,-0.35,-146.6,2721,2227,3069,2930,280.8,-6.5,242,4689,0.00,2.12,0.00,0.000,516,0.000,0.037,2722,837,2999,3069,2930,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4764,-0.35,-146.6,2721,837,3069,2930,284.6,-6.7,244,4772,0.00,2.17,0.00,0.000,1030,0.000,0.034,2718,2228,2999,3069,2930,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5102,-0.35,-146.6,2718,2228,3069,2930,308.6,-6.7,254,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2228,2999,3069,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5402,-0.35,-146.6,2718,2228,3070,2930,326.4,-5.8,259,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2228,2999,3069,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5701,-0.35,-146.6,2718,2228,3069,2929,345.3,-6.4,264,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2228,2999,3069,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6002,-0.35,-146.6,2718,2228,3069,2929,363.2,-6.0,269,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2228,2998,3068,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6302,-0.35,-146.6,2718,2228,3068,2928,381.1,-5.9,274,6308,0.00,2.15,0.00,0.000,516,0.000,0.037,2718,835,2998,3069,2928,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6365,-0.35,-146.6,1792,835,3039,2924,385.3,-6.2,275,6370,0.00,2.15,0.00,0.000,1030,0.000,0.034,2716,2247,2998,3069,2928,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6717,-0.35,-146.6,2716,2247,3069,2927,408.9,-6.6,281,6723,0.00,2.17,0.00,0.000,516,0.000,0.037,2716,838,2997,3068,2927,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6765,-0.35,-146.6,2716,838,3069,2927,408.9,-6.6,281,6769,0.00,2.15,0.00,0.000,1030,0.000,0.034,2716,2245,2998,3069,2927,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7077,-0.35,-146.6,2716,2245,3069,2926,427.3,-4.8,287,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2245,2998,3069,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7377,-0.35,-146.6,2716,2245,3069,2926,442.0,-4.9,292,7383,0.00,2.17,0.00,0.000,516,0.000,0.037,2716,838,2997,3068,2926,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7445,-0.35,-146.6,2716,838,3068,2926,445.6,-5.3,293,7449,0.00,2.12,0.00,0.000,1030,0.000,0.034,2716,2232,2997,3069,2925,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7792,-0.35,-146.6,2716,2232,3069,2925,468.3,-6.6,299,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2232,2997,3069,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8092,-0.35,-146.6,2716,2232,3068,2925,488.2,-6.7,304,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2232,2997,3070,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,-0.35,-146.6,2716,2232,3069,2924,508.5,-6.9,309,8396,0.00,2.15,0.00,0.000,516,0.000,0.038,2716,844,2996,3069,2924,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8431,-0.35,-146.6,2716,844,3068,2924,508.5,-6.9,309,8434,0.00,2.12,0.00,0.000,1030,0.000,0.034,2716,2232,2995,3068,2923,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8748,-0.35,-146.6,2716,2232,3069,2923,533.4,-6.9,315,8752,0.00,2.20,0.00,0.000,260,0.000,0.046,2716,3635,2995,3068,2923,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8797,-0.35,-146.6,2716,3635,3069,2923,533.4,-6.9,315,8804,0.00,2.10,0.00,0.000,1030,0.000,0.028,2716,2225,2995,3068,2923,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9105,-0.35,-146.6,2716,2225,3069,2923,553.0,-5.2,321,9110,0.00,2.12,0.00,0.000,516,0.000,0.038,2716,831,2995,3068,2922,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9179,-0.35,-146.6,2716,831,3068,2922,556.1,-4.9,322,9183,0.00,2.15,0.00,0.000,1030,0.000,0.034,2716,2241,2995,3068,2922,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9520,-0.35,-146.6,2716,2241,3069,2922,571.6,-4.3,328,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2242,2995,3068,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9820,-0.35,-146.6,2716,2241,3069,2921,585.5,-4.7,333,9826,0.00,2.17,0.00,0.000,516,0.000,0.038,2716,837,2994,3068,2921,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9858,-0.35,-146.6,2716,837,3068,2921,585.5,-4.7,333,9862,0.00,2.15,0.00,0.000,1030,0.000,0.034,2716,2242,2994,3068,2921,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10175,-0.35,-146.6,2716,2242,3068,2921,600.7,-4.1,339,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2242,2995,3069,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10475,-0.41,-146.6,2716,2242,3068,2920,613.3,-4.2,344,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2242,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10775,-0.46,-146.6,2716,2242,3068,2920,628.1,-5.0,349,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2242,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11075,-0.51,-146.6,2716,2242,3068,2920,642.2,-4.7,354,11077,0.12,0.00,0.00,0.000,4102,0.077,0.000,2618,2242,2993,3068,2919,0,0,0,0,0,0,26.70,28.83,28.83
$GC,11375,-0.44,-146.6,2618,2241,3068,2919,666.2,-8.3,359,11377,0.25,0.00,0.00,0.000,2054,0.106,0.000,2699,2242,2993,3068,2919,0,0,0,0,0,0,26.21,28.83,28.83
$GC,11675,-0.44,-146.6,2699,2242,3068,2919,681.1,-4.8,364,11681,0.00,2.17,0.00,0.000,516,0.000,0.039,2700,842,2993,3068,2918,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11743,-0.44,-146.6,2699,842,3068,2919,683.6,-4.4,365,11747,0.00,2.15,0.00,0.000,1030,0.000,0.034,2700,2231,2993,3068,2919,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12096,-0.44,-146.6,2699,2231,3068,2918,702.3,-5.4,371,12097,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2231,2993,3068,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12396,-0.44,-146.6,2699,2231,3068,2917,719.5,-5.8,376,12402,0.00,2.15,0.00,0.000,516,0.000,0.039,2700,839,2992,3068,2917,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12457,-0.44,-146.6,2699,839,3069,2918,723.1,-5.8,377,12462,0.00,2.12,0.00,0.000,1030,0.000,0.035,2699,2233,2993,3068,2918,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12817,-0.49,-146.6,2699,2233,3068,2917,741.5,-4.8,383,12823,0.00,2.17,0.00,0.000,260,0.000,0.046,2700,3628,2993,3068,2918,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12903,-0.55,-146.6,2699,3628,3068,2918,744.5,-4.7,384,12908,0.12,2.08,0.00,0.000,5126,0.074,0.029,2607,2234,2993,3068,2918,0,0,0,0,0,0,26.32,26.39,28.83
$GC,13232,-0.48,-146.6,2607,2233,3068,2918,774.0,-8.7,390,13239,0.22,2.15,0.00,0.000,2564,0.112,0.037,2686,847,2992,3068,2917,0,0,0,0,0,0,26.17,26.19,28.83
$GC,13294,-0.43,-146.6,2685,847,3068,2918,778.2,-8.3,391,13299,0.00,2.15,0.00,0.000,1030,0.000,0.035,2686,2246,2992,3068,2917,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13649,-0.43,-146.6,2685,2246,3068,2918,800.2,-6.1,397,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2246,2992,3068,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13946,-0.43,-146.6,2685,2246,3068,2917,818.7,-6.2,402,13952,0.00,2.20,0.00,0.000,516,0.000,0.039,2686,835,2992,3068,2917,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13989,-0.43,-146.6,2685,835,3068,2917,818.7,-6.2,402,13993,0.00,2.15,0.00,0.000,1030,0.000,0.035,2685,2233,2992,3068,2917,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14308,-0.43,-146.6,2685,2233,3068,2917,842.0,-6.6,408,14314,0.00,2.20,0.00,0.000,260,0.000,0.046,2681,3638,2992,3068,2917,0,0,0,0,0,0,28.83,26.02,28.83
$GC,14349,-0.43,-146.6,2680,3637,3068,2917,842.0,-6.6,408,14353,0.00,2.10,0.00,0.000,1030,0.000,0.030,2681,2236,2992,3068,2917,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14664,-0.43,-146.6,2680,2236,3068,2917,863.2,-5.8,414,14669,0.00,2.15,0.00,0.000,516,0.000,0.039,2681,838,2992,3068,2917,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14701,-0.43,-146.6,2680,838,3068,2916,863.2,-5.8,414,14705,0.00,2.15,0.00,0.000,1030,0.000,0.034,2680,2240,2992,3068,2916,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15019,-0.43,-146.6,2680,2240,3068,2916,881.3,-5.4,420,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2240,2992,3068,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15319,-0.43,-146.6,2680,2240,3068,2916,899.6,-6.1,425,15321,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2240,2992,3068,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15618,-0.43,-146.6,2680,2240,3068,2916,916.1,-5.3,430,15619,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2240,2992,3068,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15918,-0.48,-146.6,2680,2240,3068,2916,932.5,-5.6,435,15919,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2240,2992,3068,2916,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,16156,begin apogee
$GC,16160,-0.24,0.0,2680,1991,3068,2915,944.6,-5.0,439,16286,0.22,0.00,121.07,1.216,10246,0.096,0.000,2762,1991,2400,2463,2337,0,0,0,0,0,0,26.24,28.83,22.65
$STATE,16288,end apogee,CONTROL_FINISHED_OK
$STATE,16288,begin climb
$GC,16289,0.47,146.6,2762,1991,2463,2337,947.8,0.0,441,16425,0.68,0.00,131.85,1.170,10502,0.058,0.000,2999,1991,1801,1861,1741,0,0,0,0,0,0,24.37,28.83,21.92
$GC,16694,0.42,171.9,2999,1991,1853,1735,931.1,5.3,448,16718,0.00,0.00,22.05,1.124,8198,0.000,0.000,2999,1991,1699,1757,1641,0,0,0,0,0,0,28.83,28.83,23.41
$GC,16992,0.42,171.9,2999,1991,1754,1637,911.3,6.6,453,16998,0.00,2.25,0.00,0.000,260,0.000,0.043,2999,3404,1695,1754,1636,0,0,0,0,0,0,28.83,25.94,28.83
$GC,17067,0.42,171.9,2999,3404,1753,1637,907.0,6.6,454,17072,0.12,2.12,0.00,0.000,5126,0.128,0.031,2972,2011,1695,1754,1636,0,0,0,0,0,0,25.92,26.12,28.83
$GC,17409,0.42,196.9,2972,2010,1753,1635,887.7,5.3,460,17433,0.00,0.00,21.98,1.123,8198,0.000,0.000,2972,2010,1596,1657,1536,0,0,0,0,0,0,28.83,28.83,24.10
$GC,17710,0.42,273.9,2972,2010,1655,1532,875.1,3.8,465,17778,0.00,0.00,65.65,1.163,8710,0.000,0.000,2972,2011,1282,1352,1213,0,0,0,0,0,0,28.83,28.83,23.51
$GC,18069,0.42,314.3,2972,2010,1351,1204,859.4,4.9,471,18111,0.00,2.40,34.88,1.133,8708,0.000,0.044,2973,603,1116,1194,1039,0,0,0,0,0,0,28.83,25.32,23.82
$GC,18157,0.42,353.8,2973,603,1193,1034,856.6,4.9,472,18197,0.00,2.22,34.95,1.118,9222,0.000,0.033,2973,2009,956,1044,869,0,0,0,0,0,0,28.83,25.69,23.55
$GC,18545,0.48,353.8,2973,2010,1042,860,831.6,6.2,479,18551,0.00,2.25,0.00,0.000,516,0.000,0.044,2973,608,951,1042,860,0,0,0,0,0,0,28.83,26.05,28.83
$GC,18598,0.55,353.8,2972,608,1041,860,831.6,6.2,479,18605,0.12,2.15,0.00,0.000,3078,0.074,0.033,3069,2001,950,1040,860,0,0,0,0,0,0,26.17,26.17,28.83
$GC,18905,0.47,353.8,3069,2001,1041,859,795.0,11.2,485,18907,0.22,0.00,0.00,0.000,4102,0.102,0.000,2995,2001,950,1041,859,0,0,0,0,0,0,26.20,28.83,28.83
$GC,19204,0.47,353.8,2995,2001,1041,859,772.2,7.6,490,19210,0.00,2.22,0.00,0.000,516,0.000,0.045,2999,607,949,1041,858,0,0,0,0,0,0,28.83,26.25,28.83
$GC,19294,0.47,353.8,2999,607,1040,858,768.5,7.4,491,19298,0.00,2.15,0.00,0.000,1030,0.000,0.034,2999,2008,949,1040,858,0,0,0,0,0,0,28.83,26.36,28.83
$GC,19622,0.47,353.8,2999,2008,1040,858,744.2,7.0,497,19627,0.00,2.22,0.00,0.000,516,0.000,0.045,2999,603,948,1039,858,0,0,0,0,0,0,28.83,26.27,28.83
$GC,19668,0.47,353.8,2999,603,1040,858,744.2,7.0,497,19672,0.00,2.15,0.00,0.000,1030,0.000,0.033,2999,2006,949,1040,858,0,0,0,0,0,0,28.83,26.39,28.83
$GC,19980,0.47,353.8,2998,2006,1039,858,720.9,6.6,503,19984,0.00,2.25,0.00,0.000,516,0.000,0.045,2999,603,949,1040,858,0,0,0,0,0,0,28.83,26.27,28.83
$GC,20029,0.47,353.8,2999,603,1040,857,720.9,6.6,503,20036,0.00,2.15,0.00,0.000,1030,0.000,0.034,2999,2005,948,1039,857,0,0,0,0,0,0,28.83,26.39,28.83
$GC,20336,0.47,353.8,2999,2005,1039,857,696.8,6.8,509,20342,0.00,2.22,0.00,0.000,516,0.000,0.044,3000,608,948,1039,857,0,0,0,0,0,0,28.83,26.26,28.83
$GC,20389,0.47,353.8,2999,608,1039,857,696.8,6.8,509,20396,0.00,2.12,0.00,0.000,1030,0.000,0.033,2999,2004,948,1039,857,0,0,0,0,0,0,28.83,26.39,28.83
$GC,20696,0.47,353.8,2999,2005,1039,857,671.4,6.9,515,20700,0.00,2.22,0.00,0.000,516,0.000,0.044,2999,607,948,1039,857,0,0,0,0,0,0,28.83,26.26,28.83
$GC,20735,0.47,353.8,2999,607,1039,857,671.4,6.9,515,20739,0.00,2.12,0.00,0.000,1030,0.000,0.033,2999,2007,948,1039,857,0,0,0,0,0,0,28.83,26.39,28.83
$GC,21053,0.47,353.8,2999,2007,1039,857,645.4,7.4,521,21058,0.00,2.22,0.00,0.000,516,0.000,0.044,2999,607,948,1039,857,0,0,0,0,0,0,28.83,26.25,28.83
$GC,21095,0.47,353.8,2999,607,1039,857,645.4,7.4,521,21099,0.00,2.12,0.00,0.000,1030,0.000,0.034,2999,1998,948,1039,857,0,0,0,0,0,0,28.83,26.38,28.83
$GC,21412,0.53,353.8,2999,1998,1039,857,619.1,7.1,527,21418,0.00,2.22,0.00,0.000,516,0.000,0.044,2999,603,948,1039,857,0,0,0,0,0,0,28.83,26.24,28.83
$GC,21455,0.59,353.8,2999,603,1039,857,619.1,7.1,527,21459,0.00,2.15,0.00,0.000,1030,0.000,0.033,2999,2004,948,1039,857,0,0,0,0,0,0,28.83,26.38,28.83
$GC,21767,0.65,353.8,2999,2004,1039,857,595.9,6.4,533,21774,0.12,2.22,0.00,0.000,2564,0.081,0.043,3110,605,948,1039,857,0,0,0,0,0,0,26.67,26.22,28.83
$GC,21835,0.65,353.8,3110,605,1039,857,589.6,7.2,534,21840,0.20,2.15,0.00,0.000,5126,0.106,0.033,3046,2008,947,1039,856,0,0,0,0,0,0,26.13,26.36,28.83
$GC,22182,0.65,353.8,3046,2008,1039,857,559.1,8.4,540,22188,0.00,2.25,0.00,0.000,516,0.000,0.044,3053,597,948,1039,857,0,0,0,0,0,0,28.83,26.22,28.83
$GC,22275,0.65,353.8,3053,597,1039,857,554.0,8.5,541,22279,0.00,2.15,0.00,0.000,1030,0.000,0.033,3053,2001,948,1039,857,0,0,0,0,0,0,28.83,26.36,28.83
$GC,22602,0.65,353.8,3053,2001,1039,857,521.5,9.0,547,22608,0.00,2.22,0.00,0.000,516,0.000,0.044,3057,605,948,1039,857,0,0,0,0,0,0,28.83,26.20,28.83
$GC,22675,0.65,353.8,3057,605,1039,857,516.1,9.0,548,22679,0.00,2.12,0.00,0.000,1030,0.000,0.033,3057,2004,948,1039,857,0,0,0,0,0,0,28.83,26.35,28.83
$GC,23022,0.65,353.8,3057,2004,1039,857,485.0,8.6,554,23028,0.00,2.22,0.00,0.000,516,0.000,0.044,3058,608,948,1039,857,0,0,0,0,0,0,28.83,26.20,28.83
$GC,23082,0.65,353.8,3057,608,1039,857,480.2,8.5,555,23086,0.00,2.12,0.00,0.000,1030,0.000,0.033,3057,2000,948,1039,857,0,0,0,0,0,0,28.83,26.34,28.83
$GC,23439,0.65,353.8,3057,2000,1039,857,450.7,8.5,561,23444,0.00,2.22,0.00,0.000,516,0.000,0.045,3058,600,948,1039,857,0,0,0,0,0,0,28.83,26.17,28.83
$GC,23511,0.65,353.8,3057,600,1039,857,445.8,8.4,562,23515,0.00,2.12,0.00,0.000,1030,0.000,0.033,3057,2002,948,1039,857,0,0,0,0,0,0,28.83,26.34,28.83
$GC,23858,0.65,353.8,3057,2002,1039,857,417.7,8.0,568,23862,0.00,2.22,0.00,0.000,516,0.000,0.044,3058,608,948,1039,857,0,0,0,0,0,0,28.83,26.17,28.83
$GC,23927,0.65,353.8,3057,608,1039,857,413.1,8.1,569,23931,0.00,2.12,0.00,0.000,1030,0.000,0.033,3058,2007,948,1039,857,0,0,0,0,0,0,28.83,26.34,28.83
$GC,24274,0.65,353.8,3057,2007,1039,857,386.8,7.4,575,24278,0.00,2.22,0.00,0.000,516,0.000,0.044,3058,608,948,1039,857,0,0,0,0,0,0,28.83,26.17,28.83
$GC,24354,0.65,353.8,3057,608,1039,857,383.0,7.1,576,24358,0.00,2.12,0.00,0.000,1030,0.000,0.033,3057,2005,948,1039,857,0,0,0,0,0,0,28.83,26.32,28.83
$GC,24685,0.65,353.8,3057,2005,1039,857,358.3,6.9,582,24689,0.00,2.22,0.00,0.000,516,0.000,0.044,3058,608,948,1039,857,0,0,0,0,0,0,28.83,26.16,28.83
$GC,24759,0.65,353.8,3057,608,1039,857,354.5,6.8,583,24763,0.00,2.12,0.00,0.000,1030,0.000,0.033,3058,2006,948,1039,857,0,0,0,0,0,0,28.83,26.32,28.83
$GC,25102,0.65,353.8,3057,2006,1038,857,331.8,6.2,589,25107,0.00,2.22,0.00,0.000,516,0.000,0.044,3057,608,948,1039,857,0,0,0,0,0,0,28.83,26.17,28.83
$GC,25180,0.65,354.2,3057,608,1039,857,328.6,6.0,590,25184,0.00,2.12,0.00,0.000,1030,0.000,0.033,3058,1998,947,1038,857,0,0,0,0,0,0,28.83,26.32,28.83
$GC,25517,0.65,355.8,3057,1998,1038,857,307.5,6.0,596,25523,0.00,2.20,0.00,0.000,516,0.000,0.044,3058,605,948,1039,857,0,0,0,0,0,0,28.83,26.15,28.83
$GC,25584,0.65,355.8,3057,605,1039,857,304.0,6.0,597,25588,0.00,2.12,0.00,0.000,1030,0.000,0.033,3057,2000,948,1039,857,0,0,0,0,0,0,28.83,26.32,28.83
$GC,25907,0.65,355.8,3057,2000,1039,857,282.8,6.3,606,25911,0.00,2.22,0.00,0.000,516,0.000,0.044,3057,598,948,1039,857,0,0,0,0,0,0,28.83,26.14,28.83
$GC,25956,0.65,355.8,3057,598,1039,856,281.3,6.3,607,25963,0.00,2.15,0.00,0.000,1030,0.000,0.032,3058,2014,948,1039,857,0,0,0,0,0,0,28.83,26.32,28.83
$GC,26263,0.65,373.3,3058,2014,1039,857,262.2,5.5,618,26285,0.00,2.30,16.20,0.724,8708,0.000,0.044,3057,612,876,967,786,0,0,0,0,0,0,28.83,26.07,24.28
$GC,26354,0.65,383.4,3057,611,968,785,257.0,5.7,621,26370,0.00,2.15,9.90,0.691,9222,0.000,0.032,3057,2008,836,928,745,0,0,0,0,0,0,28.83,26.18,24.30
$GC,26684,0.70,394.0,3058,2008,928,741,238.1,5.7,632,26700,0.00,2.30,10.25,0.662,8708,0.000,0.044,3058,605,792,886,699,0,0,0,0,0,0,28.83,26.09,24.47
$GC,26756,0.77,406.0,3057,605,886,697,234.6,5.7,634,26774,0.00,2.12,11.25,0.694,9222,0.000,0.031,3057,2001,744,839,649,0,0,0,0,0,0,28.83,26.17,24.39
$GC,27074,0.84,406.0,3057,2001,838,644,213.2,6.8,645,27080,0.12,2.20,0.00,0.000,2564,0.080,0.041,3165,603,741,839,644,0,0,0,0,0,0,26.48,26.08,28.83
$GC,27146,0.84,406.0,3164,604,838,644,206.3,9.1,647,27151,0.17,2.15,0.00,0.000,5126,0.110,0.032,3112,2003,741,838,644,0,0,0,0,0,0,26.01,26.23,28.83
$GC,27458,0.84,406.0,3111,2002,838,643,171.1,10.5,658,27464,0.00,2.22,0.00,0.000,516,0.000,0.043,3118,603,740,838,643,0,0,0,0,0,0,28.83,26.15,28.83
$GC,27541,0.84,406.0,3118,603,838,643,165.1,10.3,660,27549,0.00,2.17,0.00,0.000,1030,0.000,0.031,3118,2007,740,838,642,0,0,0,0,0,0,28.83,26.31,28.83
$GC,27848,0.84,406.0,3118,2007,838,642,131.1,9.8,674,27854,0.00,2.22,0.00,0.000,516,0.000,0.043,3128,597,740,838,642,0,0,0,0,0,0,28.83,26.19,28.83
$GC,27949,0.84,406.0,3128,597,839,642,121.4,9.6,679,27955,0.00,2.12,0.00,0.000,1030,0.000,0.031,3128,2006,740,838,642,0,0,0,0,0,0,28.83,26.34,28.83
$GC,28269,0.84,406.0,3128,2006,838,642,89.5,10.0,695,28275,0.00,2.20,0.00,0.000,516,0.000,0.043,3136,606,740,838,642,0,0,0,0,0,0,28.83,26.20,28.83
$GC,28311,0.84,406.0,3137,607,838,642,85.8,9.7,697,28315,0.00,2.15,0.00,0.000,1030,0.000,0.031,3137,1998,740,838,642,0,0,0,0,0,0,28.83,26.37,28.83
$GC,28618,0.84,406.0,3137,1998,838,642,58.6,8.3,724,28622,0.00,2.20,0.00,0.000,516,0.000,0.043,3142,602,740,838,642,0,0,0,0,0,0,28.83,26.20,28.83
$GC,28665,0.84,406.0,3142,601,838,642,54.6,8.4,728,28670,0.12,2.12,0.00,0.000,5126,0.110,0.031,3103,2008,740,838,642,0,0,0,0,0,0,26.22,26.36,28.83
$GC,28971,0.91,407.4,3103,2007,838,642,36.0,6.0,758,28980,0.00,2.20,0.00,0.000,516,0.000,0.042,3109,606,740,838,642,0,0,0,0,0,0,28.83,26.20,28.83
$GC,29024,1.00,421.8,3108,606,838,642,33.2,5.6,763,29045,0.12,2.10,13.70,0.597,11270,0.036,0.031,3221,1998,680,781,579,0,0,0,0,0,0,26.32,26.35,24.68
$STATE,29302,end climb,SURFACE_DEPTH_REACHED
$STATE,29302,begin surface coast
$FINISH,1.5,1.011775
$STATE,29325,end surface coast,CONTROL_FINISHED_OK
$STATE,29325,begin surface
$SM_CCo,29401,0.00,0.000,0,0,677,422.65
$SM_GC,2.52,7.82,0.35,0.00,0.023,0.048,0.000,142,2257,677,-8.24,-1.10,422.65,0,0,0,0,0,0,26.48,26.44,28.83
$IRIDIUM_FIX,4820.79,-12629.41,210114,232314
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.07
$INTERNAL_PRESSURE,8.85025
$TCM_TEMP,13.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,922.5,30.8
$24V_AH,21.9,43.638
$10V_AH,10.0,29.830
$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,21.125,230.525,493.725,0.000,0.000,0.000,0.000,540.975,6.250,0.000,6.324,2480.664,23542.584,626.220,3215.670,224.000,0.388,2628.877,0.000,2620.162,0.000,45.516,0.000
$DEVICE_MAMPS,195.075,50.490,1216.350,0.000,0.000,0.000,0.000,83.385,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.310,1051.150,489.355,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300464
$DATA_FILE_SIZE,57100,793
$CAP_FILE_SIZE,231749,0
$CFSIZE,2097872896,2058420224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220114,075434,4842.489,-12631.249,26,0.9,27,17.2