version: 66.11
glider: 195
mission: 8
dive: 140
start: 11 26 113 18 4 29
data:
$ID,195
$MISSION,8
$DIVE,140
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,10
$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,59371
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5526.9897
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2207
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2618
$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,0
$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,-50.110214
$PRESSURE_SLOPE,0.0001168043
$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,600
$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,-0.77999997
$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,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,261113,175652,4745.227,-12525.525,37,1.0,38,16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-45.6
$GPS2,261113,180402,4745.282,-12525.479,4,1.0,5,16.8
$SPEED_LIMITS,0.072,0.211
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4727.000,-12524.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.001,-0.211
$KALMAN_X,-75109.7,0.0,0.0,43656.0,301.7
$KALMAN_Y,13891.4,0.0,0.0,42230.5,723.3
$MHEAD_RNG_PITCHd_Wd,162.9,33909,-10.0,-6.000,-15.88,3567
$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
$GC,15,-0.45,-146.5,169,2206,1162,834,0.0,0.0,0,100,0.00,0.00,-82.20,0.000,16386,0.000,0.000,168,2207,3053,3077,3030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.45,-146.6,168,2207,3079,3030,3.5,-4.5,8,121,8.38,2.30,-4.18,0.000,18692,0.207,0.058,2386,3617,3218,3254,3183,0,0,0,0,0,0,25.53,25.94,26.32
$GC,155,-0.05,-146.6,2386,3618,3256,3183,10.7,-12.3,13,164,0.40,2.12,0.00,0.000,3078,0.099,0.027,2520,2198,3219,3256,3183,0,0,0,0,0,0,25.79,26.05,28.83
$GC,464,-0.13,-146.6,2520,2199,3257,3183,25.2,-5.1,44,474,0.00,2.22,0.00,0.000,260,0.000,0.045,2513,3609,3220,3257,3183,0,0,0,0,0,0,28.83,26.06,28.83
$GC,518,-0.20,-146.6,2513,3609,3257,3183,28.4,-6.0,49,527,0.08,2.12,0.00,0.000,5126,0.045,0.026,2434,2211,3219,3257,3182,0,0,0,0,0,0,26.14,26.21,28.83
$GC,826,-0.20,-146.6,2433,2210,3257,3183,48.6,-5.6,80,836,0.12,2.12,0.00,0.000,2564,0.123,0.034,2478,814,3220,3258,3183,0,0,0,0,0,0,26.19,26.18,28.83
$GC,950,-0.20,-146.6,2478,814,3258,3183,54.7,-4.6,92,960,0.00,2.12,0.00,0.000,1030,0.000,0.033,2475,2213,3221,3259,3183,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1260,-0.20,-146.6,2474,2213,3260,3183,68.5,-4.3,123,1269,0.00,2.15,0.00,0.000,260,0.000,0.044,2466,3606,3221,3260,3182,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1364,-0.20,-146.6,2466,3606,3260,3182,72.8,-3.9,133,1372,0.00,2.12,0.00,0.000,1030,0.000,0.026,2466,2203,3221,3260,3182,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1673,-0.20,-146.6,2466,2203,3260,3183,85.0,-3.9,158,1678,0.00,2.10,0.00,0.000,516,0.000,0.036,2466,815,3221,3260,3183,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1802,-0.20,-146.6,2466,815,3260,3183,90.8,-5.1,164,1806,0.00,2.10,0.00,0.000,1030,0.000,0.033,2462,2208,3221,3261,3182,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2110,-0.20,-146.6,2461,2208,3260,3183,105.2,-4.9,179,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2207,3221,3260,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2409,-0.26,-146.6,2461,2208,3260,3182,118.9,-4.8,194,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2207,3221,3260,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2710,-0.33,-146.6,2461,2208,3260,3183,132.3,-4.1,209,2715,0.00,2.10,0.00,0.000,516,0.000,0.037,2461,813,3221,3260,3182,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2777,-0.39,-146.6,2461,814,3260,3182,134.9,-4.4,212,2782,0.12,2.10,0.00,0.000,5126,0.074,0.033,2378,2209,3221,3260,3182,0,0,0,0,0,0,26.43,26.44,28.83
$GC,3084,-0.39,-146.6,2377,2209,3260,3182,154.2,-6.0,226,3090,0.12,2.12,0.00,0.000,2564,0.127,0.034,2422,809,3221,3260,3183,0,0,0,0,0,0,26.44,26.39,28.83
$GC,3174,-0.39,-146.6,2422,809,3260,3182,159.4,-5.7,229,3180,0.00,2.12,0.00,0.000,1030,0.000,0.033,2419,2213,3220,3259,3182,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3503,-0.39,-146.6,2419,2213,3260,3182,177.2,-5.2,240,3509,0.00,2.17,0.00,0.000,260,0.000,0.045,2416,3618,3220,3260,3181,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3678,-0.39,-146.6,2416,3618,3260,3181,185.1,-5.3,245,3685,0.00,2.10,0.00,0.000,1030,0.000,0.026,2416,2190,3220,3260,3181,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3985,-0.44,-146.6,2416,2190,3260,3181,204.1,-6.1,256,3990,0.00,2.08,0.00,0.000,516,0.000,0.037,2416,813,3220,3259,3181,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4153,-0.44,-146.6,2416,813,3259,3180,213.0,-5.9,261,4157,0.00,2.10,0.00,0.000,1030,0.000,0.033,2410,2207,3220,3260,3181,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4466,-0.49,-146.6,2410,2207,3260,3180,232.0,-5.6,272,4472,0.00,2.17,0.00,0.000,260,0.000,0.045,2409,3613,3220,3260,3180,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4544,-0.49,-146.6,2408,3613,3260,3179,235.2,-5.3,274,4548,0.00,2.08,0.00,0.000,1030,0.000,0.026,2409,2196,3220,3260,3180,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4851,-0.55,-146.6,2408,2195,3259,3180,252.5,-5.5,284,4858,0.12,2.20,0.00,0.000,4356,0.075,0.043,2310,3610,3220,3260,3180,0,0,0,0,0,0,26.67,26.39,28.83
$GC,5010,-0.43,-146.6,2309,3611,3260,3179,261.5,-6.0,289,5015,0.30,2.05,0.00,0.000,3078,0.108,0.027,2404,2204,3219,3259,3179,0,0,0,0,0,0,26.20,26.55,28.83
$GC,5327,-0.43,-146.6,2404,2205,3260,3179,276.2,-4.2,300,5332,0.00,2.20,0.00,0.000,260,0.000,0.045,2404,3619,3219,3260,3179,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5496,-0.43,-146.6,2404,3619,3260,3179,282.5,-4.1,305,5500,0.00,2.08,0.00,0.000,1030,0.000,0.027,2404,2207,3219,3260,3179,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5803,-0.48,-146.6,2404,2207,3259,3179,296.1,-4.2,315,5808,0.00,2.17,0.00,0.000,260,0.000,0.046,2404,3610,3219,3259,3179,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5991,-0.48,-146.6,2404,3610,3260,3179,303.5,-4.1,320,5994,0.00,2.08,0.00,0.000,1030,0.000,0.027,2404,2197,3219,3260,3179,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6343,-0.55,-146.6,2404,2197,3259,3179,321.2,-5.3,326,6350,0.12,2.20,0.00,0.000,4356,0.076,0.044,2309,3611,3219,3259,3179,0,0,0,0,0,0,26.69,26.40,28.83
$GC,6480,-0.55,-146.6,2309,3611,3259,3179,329.3,-6.1,328,6485,0.15,2.10,0.00,0.000,3078,0.099,0.027,2363,2208,3219,3260,3179,0,0,0,0,0,0,26.27,26.55,28.83
$GC,6822,-0.55,-146.6,2363,2208,3260,3179,354.0,-7.0,334,6826,0.00,2.20,0.00,0.000,260,0.000,0.046,2358,3621,3219,3260,3179,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7012,-0.55,-146.6,2358,3620,3260,3178,366.6,-7.1,337,7016,0.00,2.12,0.00,0.000,1030,0.000,0.027,2358,2209,3218,3259,3178,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7359,-0.55,-146.6,2358,2209,3259,3178,392.1,-6.9,343,7363,0.00,2.17,0.00,0.000,260,0.000,0.045,2349,3612,3218,3259,3178,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7476,-0.55,-146.6,2348,3612,3259,3178,399.3,-6.4,345,7481,0.00,2.08,0.00,0.000,1030,0.000,0.027,2349,2203,3219,3260,3178,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7835,-0.55,-146.6,2348,2203,3259,3178,417.4,-4.8,351,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2203,3218,3259,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,-0.55,-146.6,2348,2203,3259,3177,431.4,-4.7,356,8141,0.00,2.20,0.00,0.000,260,0.000,0.046,2341,3616,3217,3258,3177,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8338,-0.55,-146.6,2341,3616,3259,3177,440.6,-5.0,359,8342,0.00,2.08,0.00,0.000,1030,0.000,0.027,2341,2209,3218,3259,3177,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8670,-0.55,-146.6,2341,2209,3259,3177,461.2,-5.9,365,8676,0.00,2.20,0.00,0.000,260,0.000,0.046,2332,3621,3217,3259,3176,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8773,-0.55,-146.6,2331,3621,3259,3176,464.8,-5.9,366,8778,0.12,2.10,0.00,0.000,3078,0.125,0.028,2368,2199,3217,3259,3176,0,0,0,0,0,0,26.34,26.56,28.83
$GC,9085,-0.55,-146.6,2368,2199,3259,3176,485.4,-5.8,372,9089,0.00,2.08,0.00,0.000,516,0.000,0.037,2368,820,3217,3259,3176,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9129,-0.55,-146.6,2368,820,3259,3176,485.4,-5.8,372,9133,0.00,2.10,0.00,0.000,1030,0.000,0.034,2366,2212,3218,3260,3176,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9437,-0.55,-146.6,2365,2212,3259,3176,506.0,-6.0,377,9443,0.00,2.15,0.00,0.000,260,0.000,0.046,2362,3610,3217,3259,3175,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9594,-0.55,-146.6,2362,3610,3259,3174,512.3,-5.5,379,9598,0.00,2.08,0.00,0.000,1030,0.000,0.028,2362,2203,3216,3259,3174,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9917,-0.55,-146.6,2362,2203,3259,3174,530.0,-4.9,385,9923,0.00,2.20,0.00,0.000,260,0.000,0.047,2360,3616,3216,3259,3173,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10096,-0.55,-146.6,2360,3616,3259,3173,538.6,-4.7,388,10100,0.00,2.10,0.00,0.000,1030,0.000,0.028,2360,2198,3216,3259,3173,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10457,-0.55,-146.6,2360,2199,3259,3173,556.8,-5.0,394,10463,0.00,2.22,0.00,0.000,260,0.000,0.046,2358,3622,3216,3259,3173,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10510,-0.55,-146.6,2358,3622,3259,3172,556.8,-5.0,394,10517,0.00,2.10,0.00,0.000,1030,0.000,0.028,2358,2198,3215,3259,3172,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10817,-0.55,-146.6,2358,2199,3259,3172,576.7,-5.7,400,10823,0.00,2.22,0.00,0.000,260,0.000,0.046,2352,3622,3215,3259,3172,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10947,-0.55,-146.6,2352,3622,3259,3171,584.1,-6.0,402,10953,0.00,2.10,0.00,0.000,1030,0.000,0.028,2352,2197,3214,3258,3171,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11297,-0.55,-146.6,2352,2198,3259,3171,608.1,-6.8,408,11301,0.00,2.22,0.00,0.000,260,0.000,0.047,2352,3620,3215,3259,3171,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11363,-0.55,-146.6,2351,3621,3259,3171,611.8,-6.8,409,11367,0.00,2.12,0.00,0.000,1030,0.000,0.028,2352,2210,3214,3259,3170,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11718,-0.55,-146.6,2351,2210,3259,3171,632.7,-5.6,415,11724,0.00,2.17,0.00,0.000,260,0.000,0.047,2352,3610,3214,3259,3170,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11769,-0.55,-146.6,2351,3610,3259,3170,632.7,-5.6,415,11776,0.00,2.10,0.00,0.000,1030,0.000,0.028,2352,2191,3214,3259,3170,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12077,-0.60,-146.6,2351,2191,3259,3170,651.1,-5.2,421,12083,0.00,2.20,0.00,0.000,260,0.000,0.047,2351,3610,3214,3259,3170,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12136,-0.65,-146.6,2351,3610,3258,3170,654.3,-5.2,422,12142,0.00,2.08,0.00,0.000,1030,0.000,0.028,2351,2206,3214,3258,3170,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12496,-0.71,-146.6,2351,2206,3259,3170,676.8,-6.4,428,12503,0.12,2.20,0.00,0.000,4356,0.078,0.044,2249,3613,3213,3258,3169,0,0,0,0,0,0,26.69,26.35,28.83
$GC,12579,-0.71,-146.6,2249,3613,3258,3169,681.1,-6.6,429,12584,0.15,2.12,0.00,0.000,3078,0.097,0.028,2320,2205,3213,3258,3169,0,0,0,0,0,0,26.19,26.54,28.83
$GC,12916,-0.71,-146.6,2320,2205,3258,3169,703.9,-6.3,435,12920,0.00,2.20,0.00,0.000,260,0.000,0.047,2316,3613,3213,3258,3169,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13080,-0.71,-146.6,2316,3613,3258,3168,710.8,-6.1,437,13084,0.00,2.12,0.00,0.000,1030,0.000,0.028,2316,2212,3213,3258,3168,0,0,0,0,0,0,28.83,26.54,28.83
$GC,13393,-0.71,-146.6,2316,2211,3258,3168,731.5,-5.8,443,13399,0.00,2.17,0.00,0.000,260,0.000,0.047,2310,3608,3213,3258,3168,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13452,-0.71,-146.6,2309,3609,3258,3167,734.9,-5.8,444,13456,0.00,2.10,0.00,0.000,1030,0.000,0.028,2310,2194,3213,3258,3168,0,0,0,0,0,0,28.83,26.53,28.83
$GC,13809,-0.71,-146.6,2310,2194,3258,3167,754.3,-5.3,450,13815,0.00,2.22,0.00,0.000,260,0.000,0.047,2310,3613,3212,3258,3167,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13911,-0.71,-146.6,2310,3613,3258,3167,757.1,-5.1,451,13915,0.00,2.10,0.00,0.000,1030,0.000,0.028,2310,2199,3212,3258,3166,0,0,0,0,0,0,28.83,26.52,28.83
$GC,14224,-0.71,-146.6,2309,2199,3258,3167,773.5,-4.7,457,14230,0.00,2.22,0.00,0.000,260,0.000,0.047,2310,3618,3211,3256,3166,0,0,0,0,0,0,28.83,26.33,28.83
$GC,14366,-0.71,-146.6,2310,3618,3258,3166,779.0,-4.6,459,14370,0.00,2.10,0.00,0.000,1030,0.000,0.028,2310,2202,3212,3258,3166,0,0,0,0,0,0,28.83,26.52,28.83
$GC,14706,-0.71,-146.6,2309,2201,3257,3166,797.5,-4.3,465,14711,0.00,2.08,0.00,0.000,516,0.000,0.038,2310,827,3212,3258,3166,0,0,0,0,0,0,28.83,26.38,28.83
$GC,14751,-0.71,-146.6,2310,826,3258,3166,797.5,-4.3,465,14755,0.00,2.10,0.00,0.000,1030,0.000,0.035,2310,2208,3212,3258,3166,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15061,-0.71,-146.6,2309,2208,3258,3165,812.6,-4.6,470,15066,0.00,2.17,0.00,0.000,260,0.000,0.047,2310,3613,3211,3258,3165,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15284,-0.71,-146.6,2309,3613,3258,3165,822.0,-5.2,473,15288,0.00,2.08,0.00,0.000,1030,0.000,0.028,2310,2208,3211,3258,3165,0,0,0,0,0,0,28.83,26.52,28.83
$GC,15597,-0.71,-146.6,2309,2208,3258,3165,841.2,-5.2,479,15603,0.00,2.17,0.00,0.000,260,0.000,0.047,2310,3609,3211,3258,3165,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15656,-0.71,-146.6,2309,3609,3257,3165,844.3,-5.0,480,15660,0.00,2.10,0.00,0.000,1030,0.000,0.028,2309,2206,3211,3258,3164,0,0,0,0,0,0,28.83,26.52,28.83
$GC,16020,-0.71,-146.6,2309,2205,3258,3165,863.0,-5.3,486,16025,0.00,2.20,0.00,0.000,260,0.000,0.048,2310,3615,3211,3258,3164,0,0,0,0,0,0,28.83,26.32,28.83
$GC,16156,-0.71,-146.6,2310,3615,3258,3164,869.5,-5.5,488,16160,0.00,2.10,0.00,0.000,1030,0.000,0.029,2309,2199,3211,3258,3164,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16492,-0.71,-146.6,2309,2199,3258,3164,887.5,-5.0,494,16498,0.00,2.22,0.00,0.000,260,0.000,0.047,2309,3615,3211,3258,3164,0,0,0,0,0,0,28.83,26.30,28.83
$GC,16664,-0.71,-146.6,2309,3615,3258,3164,893.9,-5.1,496,16668,0.00,2.10,0.00,0.000,1030,0.000,0.029,2309,2204,3211,3258,3164,0,0,0,0,0,0,28.83,26.50,28.83
$GC,16971,-0.71,-146.6,2309,2203,3257,3164,912.0,-5.2,501,16975,0.00,2.22,0.00,0.000,260,0.000,0.047,2309,3615,3211,3258,3164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,17060,-0.71,-146.6,2309,3615,3257,3164,915.4,-5.3,502,17064,0.00,2.10,0.00,0.000,1030,0.000,0.029,2309,2201,3210,3257,3163,0,0,0,0,0,0,28.83,26.50,28.83
$GC,17387,-0.71,-146.6,2309,2202,3258,3163,933.5,-5.0,508,17388,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2202,3210,3257,3164,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,17686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,17687,begin apogee
$GC,17691,-0.23,0.0,2309,2020,3258,3163,948.0,-4.9,513,17814,0.45,0.00,117.43,1.204,10246,0.080,0.000,2473,2020,2618,2710,2526,0,0,0,0,0,0,26.23,28.83,23.83
$STATE,17816,end apogee,CONTROL_FINISHED_OK
$STATE,17816,begin climb
$GC,17817,0.45,146.6,2473,2020,2710,2526,949.8,0.0,515,17951,0.57,2.50,123.32,1.171,10500,0.041,0.044,2699,3429,2019,2162,1876,0,0,0,0,0,0,24.87,24.05,23.21
$GC,18040,0.45,146.6,2699,3429,2162,1871,941.2,6.5,518,18048,0.00,2.28,0.00,0.000,1030,0.000,0.030,2709,2046,2016,2162,1870,0,0,0,0,0,0,28.83,24.79,28.83
$GC,18348,0.31,146.6,2708,2047,2162,1864,908.8,8.9,524,18355,0.17,2.30,0.00,0.000,4612,0.125,0.041,2660,622,2013,2162,1864,0,0,0,0,0,0,25.34,25.42,28.83
$GC,18471,0.21,146.6,2659,622,2161,1863,900.5,8.0,526,18476,0.17,2.22,0.00,0.000,5126,0.109,0.033,2606,2028,2011,2160,1863,0,0,0,0,0,0,25.49,25.65,28.83
$GC,18823,0.21,160.1,2606,2027,2160,1862,881.4,5.6,532,18841,0.00,2.30,11.23,1.033,8452,0.000,0.044,2606,3425,1964,2113,1815,0,0,0,0,0,0,28.83,25.73,24.74
$GC,18886,0.21,172.9,1728,3424,2083,1811,877.8,5.6,533,18903,0.00,2.20,12.12,1.037,9222,0.000,0.030,2606,2024,1912,2062,1763,0,0,0,0,0,0,28.83,25.83,24.63
$GC,19240,0.21,187.1,2605,2024,2062,1758,857.6,5.6,539,19255,0.00,0.00,13.12,1.029,8198,0.000,0.000,2606,2024,1855,2006,1704,0,0,0,0,0,0,28.83,28.83,24.72
$GC,19540,0.21,197.6,2606,2024,2006,1701,840.2,5.7,544,19557,0.00,2.35,10.02,0.997,8452,0.000,0.044,2606,3437,1811,1961,1662,0,0,0,0,0,0,28.83,25.76,24.78
$GC,19588,0.21,208.1,2606,3437,1961,1661,840.2,5.7,544,19604,0.00,2.17,10.62,1.008,9222,0.000,0.030,2606,2023,1768,1919,1617,0,0,0,0,0,0,28.83,25.84,24.68
$GC,19962,0.21,229.3,2606,2023,1918,1613,817.6,5.4,551,19986,0.00,2.22,18.55,1.058,8708,0.000,0.041,2606,635,1682,1833,1531,0,0,0,0,0,0,28.83,25.59,24.68
$GC,20031,0.21,263.5,2606,635,1833,1528,815.3,5.0,552,20066,0.00,2.20,30.10,1.094,9222,0.000,0.032,2606,2038,1542,1693,1392,0,0,0,0,0,0,28.83,25.72,24.31
$GC,20374,0.26,318.3,2605,2038,1692,1382,799.9,4.4,558,20427,0.00,2.30,47.20,1.102,8452,0.000,0.043,2606,3424,1318,1474,1163,0,0,0,0,0,0,28.83,24.98,24.13
$GC,20448,0.31,373.0,2605,3425,1474,1161,799.9,4.4,558,20502,0.12,2.20,47.97,1.086,11270,0.072,0.029,2690,2029,1096,1252,940,0,0,0,0,0,0,25.22,25.22,23.89
$GC,20849,0.31,373.0,2690,2029,1251,926,760.9,8.9,565,20854,0.12,2.22,0.00,0.000,4612,0.121,0.041,2646,635,1088,1251,926,0,0,0,0,0,0,25.66,25.67,28.83
$GC,20899,0.31,373.0,2646,635,1250,924,760.9,8.9,565,20906,0.00,2.22,0.00,0.000,1030,0.000,0.032,2646,2025,1087,1251,924,0,0,0,0,0,0,28.83,25.77,28.83
$GC,21206,0.31,373.0,2645,2025,1251,922,735.0,7.2,571,21210,0.00,2.25,0.00,0.000,260,0.000,0.044,2646,3435,1086,1250,922,0,0,0,0,0,0,28.83,25.94,28.83
$GC,21240,0.31,373.0,2646,3435,1251,922,735.0,7.2,571,21244,0.00,2.20,0.00,0.000,1030,0.000,0.030,2646,2025,1086,1250,922,0,0,0,0,0,0,28.83,26.02,28.83
$GC,21563,0.31,373.0,2646,2025,1250,920,709.8,6.9,577,21568,0.00,2.20,0.00,0.000,516,0.000,0.044,2646,630,1085,1250,920,0,0,0,0,0,0,28.83,26.08,28.83
$GC,21615,0.31,373.0,2646,630,1250,920,709.8,6.9,577,21622,0.00,2.20,0.00,0.000,1030,0.000,0.032,2646,2032,1085,1250,920,0,0,0,0,0,0,28.83,26.16,28.83
$GC,21922,0.31,373.0,2646,2032,1251,920,685.5,6.8,583,21926,0.00,2.20,0.00,0.000,260,0.000,0.044,2646,3428,1085,1251,920,0,0,0,0,0,0,28.83,26.17,28.83
$GC,21946,0.31,373.0,2645,3428,1251,920,685.5,6.8,583,21950,0.00,2.17,0.00,0.000,1030,0.000,0.030,2646,2022,1085,1251,920,0,0,0,0,0,0,28.83,26.25,28.83
$GC,22278,0.31,373.0,2646,2021,1251,920,660.8,6.9,589,22282,0.00,2.17,0.00,0.000,516,0.000,0.044,2646,634,1085,1251,920,0,0,0,0,0,0,28.83,26.22,28.83
$GC,22337,0.31,373.0,1696,634,1240,918,656.9,6.9,590,22341,0.00,2.12,0.00,0.000,1030,0.000,0.032,2646,2035,1085,1251,919,0,0,0,0,0,0,28.83,26.29,28.83
$GC,22689,0.36,375.1,2646,2034,1250,919,634.9,5.9,596,22690,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2034,1084,1250,919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22990,0.42,405.4,2646,2034,1250,919,619.1,5.1,601,23022,0.10,2.25,26.15,0.991,10756,0.095,0.044,2724,632,965,1129,801,0,0,0,0,0,0,26.48,25.85,25.03
$GC,23063,0.42,424.2,2724,632,1127,797,614.8,5.5,602,23088,0.15,2.15,17.05,0.942,13318,0.113,0.032,2678,2024,886,1050,723,0,0,0,0,0,0,25.84,25.94,24.79
$GC,23404,0.42,424.2,2678,2024,1050,715,588.4,7.3,608,23406,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2024,882,1050,715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23704,0.42,424.2,2677,2024,1050,714,563.9,8.1,613,23705,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2024,882,1050,714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24004,0.42,424.2,2678,2024,1050,713,541.3,7.5,618,24005,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2024,881,1050,713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24304,0.42,424.2,2678,2024,1050,713,518.5,7.7,623,24308,0.00,2.17,0.00,0.000,516,0.000,0.044,2678,633,881,1050,713,0,0,0,0,0,0,28.83,26.19,28.83
$GC,24338,0.42,424.2,2678,633,1050,713,518.5,7.7,623,24342,0.00,2.17,0.00,0.000,1030,0.000,0.032,2678,2027,881,1050,713,0,0,0,0,0,0,28.83,26.27,28.83
$GC,24661,0.47,424.2,2677,2027,1050,712,492.0,7.3,629,24662,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2027,881,1050,712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24961,0.52,424.2,2678,2027,1050,713,470.3,7.2,634,24963,0.10,0.00,0.00,0.000,2054,0.096,0.000,2756,2027,881,1050,712,0,0,0,0,0,0,26.46,28.83,28.83
$GC,25261,0.45,424.2,2755,2027,1050,712,433.9,12.4,639,25267,0.17,2.17,0.00,0.000,4612,0.110,0.041,2700,632,881,1050,712,0,0,0,0,0,0,26.28,26.29,28.83
$GC,25314,0.38,424.2,2700,632,1050,712,433.9,12.4,639,25321,0.12,2.12,0.00,0.000,5126,0.113,0.032,2658,2030,881,1050,712,0,0,0,0,0,0,26.26,26.39,28.83
$GC,25621,0.47,432.1,2658,2030,1050,712,410.6,5.8,645,25630,0.12,0.00,6.80,0.722,10246,0.080,0.000,2745,2030,855,1023,687,0,0,0,0,0,0,26.51,28.83,25.33
$GC,25920,0.47,432.1,2745,2030,1023,687,381.6,10.0,650,25925,0.15,2.17,0.00,0.000,4612,0.109,0.041,2691,635,854,1022,687,0,0,0,0,0,0,26.28,26.28,28.83
$GC,25970,0.47,432.1,2690,635,1023,687,381.6,10.0,650,25977,0.00,2.15,0.00,0.000,1030,0.000,0.031,2691,2025,854,1022,686,0,0,0,0,0,0,28.83,26.37,28.83
$GC,26277,0.53,432.1,2691,2025,1023,686,355.9,6.9,656,26279,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2025,854,1023,686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26577,0.59,432.1,2691,2026,1023,686,335.0,7.0,661,26584,0.12,2.17,0.00,0.000,2564,0.078,0.041,2788,626,854,1023,686,0,0,0,0,0,0,26.51,26.32,28.83
$GC,26605,0.65,432.1,2788,626,1023,686,335.0,7.0,661,26610,0.12,2.12,0.00,0.000,5126,0.129,0.031,2752,2028,854,1023,686,0,0,0,0,0,0,26.23,26.41,28.83
$GC,26932,0.65,432.1,2752,2028,1023,686,297.2,10.5,667,26933,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2028,854,1023,686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27233,0.65,432.1,2751,2027,1023,686,266.8,10.2,677,27239,0.00,2.15,0.00,0.000,516,0.000,0.043,2758,635,854,1023,686,0,0,0,0,0,0,28.83,26.35,28.83
$GC,27270,0.65,432.1,2757,635,1023,686,263.7,10.2,678,27274,0.00,2.10,0.00,0.000,1030,0.000,0.031,2758,2026,854,1023,686,0,0,0,0,0,0,28.83,26.44,28.83
$GC,27593,0.65,432.1,2757,2026,1023,686,229.4,10.4,689,27594,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2026,854,1023,686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27892,0.65,432.1,2758,2026,1023,686,197.7,10.5,699,27896,0.00,2.15,0.00,0.000,516,0.000,0.043,2758,635,854,1023,686,0,0,0,0,0,0,28.83,26.37,28.83
$GC,27931,0.65,432.1,2758,635,1024,686,195.2,10.2,700,27935,0.00,2.15,0.00,0.000,1030,0.000,0.031,2758,2024,854,1023,686,0,0,0,0,0,0,28.83,26.46,28.83
$GC,28248,0.65,432.1,2758,2024,1023,686,163.1,9.7,711,28249,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2024,854,1023,686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28558,0.65,432.1,2758,2024,1023,686,135.1,8.7,724,28562,0.00,2.15,0.00,0.000,516,0.000,0.042,2758,634,854,1023,686,0,0,0,0,0,0,28.83,26.38,28.83
$GC,28582,0.65,432.1,2758,634,1022,686,133.7,8.6,725,28586,0.00,2.15,0.00,0.000,1030,0.000,0.031,2758,2026,854,1023,686,0,0,0,0,0,0,28.83,26.48,28.83
$GC,28895,0.65,432.1,2758,2026,1023,686,104.4,9.5,741,28896,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2026,854,1023,686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29194,0.65,432.1,2758,2026,1023,686,81.1,6.8,756,29198,0.00,2.15,0.00,0.000,516,0.000,0.042,2758,634,854,1023,686,0,0,0,0,0,0,28.83,26.39,28.83
$GC,29233,0.65,432.1,2758,634,1023,686,78.6,6.9,758,29241,0.00,2.15,0.00,0.000,1030,0.000,0.031,2758,2027,854,1023,686,0,0,0,0,0,0,28.83,26.50,28.83
$GC,29541,0.70,432.1,2758,2027,1022,686,55.4,7.5,789,29550,0.00,2.15,0.00,0.000,516,0.000,0.041,2758,626,854,1023,686,0,0,0,0,0,0,28.83,26.39,28.83
$GC,29583,0.76,432.1,2758,626,1023,686,52.5,6.7,793,29592,0.00,2.10,0.00,0.000,1030,0.000,0.031,2758,2030,854,1023,686,0,0,0,0,0,0,28.83,26.50,28.83
$GC,29892,0.84,432.1,2758,2030,1023,686,32.1,6.2,824,29894,0.17,0.00,0.00,0.000,2054,0.063,0.000,2874,2030,854,1023,686,0,0,0,0,0,0,26.63,28.83,28.83
$STATE,30121,end climb,SURFACE_DEPTH_REACHED
$STATE,30122,begin surface coast
$FINISH,0.4,1.011054
$STATE,30131,end surface coast,CONTROL_FINISHED_OK
$STATE,30132,begin surface
$SM_CCo,30205,0.00,0.000,0,0,853,432.95
$SM_GC,1.31,6.88,0.25,0.00,0.027,0.054,0.000,180,2217,853,-7.27,-1.19,432.95,0,0,0,0,0,0,26.55,26.58,28.83
$IRIDIUM_FIX,4729.30,-12524.44,261113,101017
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,8.81998
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,890.7,65.2
$24V_AH,23.2,18.813
$10V_AH,10.2,13.875
$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,20.175,251.125,491.700,0.000,0.000,0.000,0.000,351.500,8.000,0.000,5.889,2737.557,23369.799,624.424,3717.651,184.145,0.387,2732.423,0.000,3271.869,0.000,61.208,0.000
$DEVICE_MAMPS,206.550,58.140,1204.110,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.897,1123.353,553.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313760
$DATA_FILE_SIZE,60481,848
$CAP_FILE_SIZE,259948,0
$CFSIZE,2097872896,2077753344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5331.54,0x212c64,0,24
$GPS,271113,022904,4742.369,-12525.226,36,1.0,36,16.8