version: 66.12
glider: 35
mission: 22
dive: 95
start: 4 21 114 13 49 32
data:
$ID,35
$MISSION,22
$DIVE,95
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,4800
$D_ABORT,5000
$D_NO_BLEED,500
$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,1600
$T_MISSION,1620
$T_ABORT,1650
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-998374.31
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2812
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,3500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,210414,133924,3145.558,-6403.443,39,1.4,39,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.3
$GPS2,210414,134907,3145.599,-6403.381,13,1.6,13,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,BATS240
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.084,-0.054
$KALMAN_X,4226.2,0.0,0.0,34499.9,-2311.2
$KALMAN_Y,-5339.8,0.0,0.0,-46027.3,-5097.6
$MHEAD_RNG_PITCHd_Wd,252.9,14710,-43.6,-10.000,-45.00,463
$D_GRID,4800
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.68,-30.2,235,1784,701,879,0.0,0.0,0,102,0.00,0.00,-80.60,0.000,16390,0.000,0.000,235,1785,2103,2116,2090,0,0,0,0,0,0,28.83,28.83,25.86
$GC,105,-1.68,-61.3,235,1785,2115,2090,2.9,-3.1,8,130,9.70,2.05,-5.35,0.000,18948,0.271,0.060,2512,400,2206,2215,2198,0,0,0,0,0,0,25.02,26.05,25.86
$GC,233,-1.48,-61.3,2512,400,2202,2198,24.0,-20.3,21,243,0.30,2.05,-0.17,0.000,19462,0.263,0.052,2569,1821,2209,2207,2212,0,0,0,0,0,0,25.18,26.23,23.56
$GC,543,-1.36,-61.3,2569,1820,2206,2212,86.3,-21.0,52,552,0.15,2.10,0.00,0.000,2564,0.261,0.057,2617,402,2208,2205,2212,0,0,0,0,0,0,25.72,26.23,28.83
$GC,778,-1.24,-61.3,2617,401,2205,2212,132.4,-21.1,75,785,0.20,2.03,0.00,0.000,3078,0.253,0.052,2651,1810,2208,2204,2213,0,0,0,0,0,0,25.53,26.36,28.83
$GC,1085,-1.24,-61.3,2651,1810,2205,2212,189.3,-17.4,95,1091,0.00,2.10,0.00,0.000,516,0.000,0.060,2661,400,2209,2205,2213,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1185,-1.18,-61.3,2661,400,2205,2212,207.5,-18.7,100,1189,0.00,2.00,0.00,0.000,1030,0.000,0.052,2651,1801,2209,2205,2213,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1506,-1.18,-61.3,2651,1800,2205,2212,260.7,-15.5,116,1512,0.00,2.05,0.00,0.000,516,0.000,0.062,2661,400,2208,2205,2212,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1740,-1.12,-61.3,2661,400,2205,2212,296.8,-16.8,127,1747,0.17,2.00,0.00,0.000,3078,0.253,0.052,2690,1800,2209,2205,2213,0,0,0,0,0,0,25.64,26.38,28.83
$GC,2047,-1.12,-61.3,2690,1800,2205,2213,348.4,-16.4,138,2050,0.00,2.05,0.00,0.000,516,0.000,0.062,2700,411,2208,2205,2212,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2277,-1.12,-61.3,2700,408,2205,2213,386.0,-18.1,145,2281,0.00,1.98,0.00,0.000,1030,0.000,0.050,2690,1801,2209,2205,2213,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2584,-1.12,-61.3,2689,1801,2205,2213,443.7,-17.9,155,2588,0.00,2.05,0.00,0.000,516,0.000,0.060,2696,408,2208,2204,2213,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2815,-1.12,-61.3,2695,409,2205,2213,485.5,-19.8,162,2819,0.00,2.00,0.00,0.000,1030,0.000,0.052,2686,1802,2209,2205,2213,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3121,-1.12,-61.3,2685,1802,2205,2212,547.1,-17.9,172,3125,0.00,2.08,0.00,0.000,516,0.000,0.062,2689,409,2209,2205,2213,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3352,-1.12,-61.3,2689,408,2205,2213,590.0,-20.8,179,3356,0.00,1.98,0.00,0.000,1030,0.000,0.052,2679,1803,2209,2205,2213,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3658,-1.12,-61.3,2679,1802,2205,2213,652.9,-19.0,189,3662,0.00,2.08,0.00,0.000,516,0.000,0.060,2679,413,2209,2205,2213,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3889,-1.12,-61.3,2679,403,2205,2213,696.7,-21.0,196,3893,0.00,1.98,0.00,0.000,1030,0.000,0.050,2669,1797,2209,2205,2213,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4195,-1.12,-61.3,2668,1797,2204,2213,763.7,-21.1,206,4199,0.00,2.08,0.00,0.000,260,0.000,0.060,2658,3193,2208,2204,2213,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4425,-1.12,-61.3,2657,3193,2204,2213,811.3,-22.3,213,4429,0.00,2.03,0.00,0.000,1030,0.000,0.052,2662,1797,2208,2204,2213,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4733,-1.12,-61.3,2662,1797,2203,2213,888.6,-23.9,223,4736,0.00,2.08,0.00,0.000,516,0.000,0.062,2662,402,2208,2203,2213,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4963,-1.12,-61.3,2662,396,2201,2213,943.2,-25.9,230,4968,0.17,2.03,0.00,0.000,3078,0.238,0.052,2692,1803,2207,2201,2213,0,0,0,0,0,0,25.72,26.39,28.83
$GC,5270,-1.22,-61.3,2692,1803,2200,2213,1019.2,-23.6,239,5276,0.00,2.08,0.00,0.000,516,0.000,0.060,2693,407,2206,2200,2213,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5503,-1.29,-61.3,2692,407,2198,2213,1066.3,-25.6,242,5511,0.10,2.03,0.00,0.000,5126,0.127,0.050,2644,1810,2205,2198,2213,0,0,0,0,0,0,26.27,26.39,28.83
$GC,5811,-1.35,-61.3,2643,1809,2196,2213,1162.8,-26.9,248,5815,0.00,2.10,0.00,0.000,516,0.000,0.062,2645,404,2204,2196,2213,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6040,-1.35,-61.3,2645,405,2193,2213,1215.3,-28.4,251,6044,0.00,2.03,0.00,0.000,1030,0.000,0.052,2636,1797,2202,2192,2212,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6348,-1.42,-61.3,2635,1797,2192,2212,1314.2,-27.6,256,6354,0.10,2.08,0.00,0.000,4612,0.134,0.060,2605,404,2202,2192,2212,0,0,0,0,0,0,26.44,26.28,28.83
$GC,6580,-1.42,-61.3,2605,404,2189,2212,1369.5,-30.2,259,6587,0.00,2.03,0.00,0.000,1030,0.000,0.052,2595,1799,2200,2189,2211,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6888,-1.42,-61.3,2595,1799,2188,2209,1477.1,-29.6,265,6891,0.00,2.10,0.00,0.000,516,0.000,0.060,2595,406,2198,2188,2209,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7118,-1.42,-61.3,2595,404,2186,2209,1534.2,-31.1,268,7122,0.00,2.03,0.00,0.000,1030,0.000,0.050,2585,1806,2197,2186,2209,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7424,-1.42,-61.3,2585,1806,2186,2207,1640.8,-29.6,273,7428,0.00,2.10,0.00,0.000,516,0.000,0.060,2585,408,2196,2186,2207,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7654,-1.42,-61.3,2584,408,2183,2207,1698.4,-31.3,276,7658,0.00,2.05,0.00,0.000,1030,0.000,0.050,2575,1806,2195,2183,2207,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7961,-1.48,-61.3,2574,1806,2182,2204,1805.4,-29.7,281,7965,0.00,2.12,0.00,0.000,516,0.000,0.060,2574,409,2193,2182,2204,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8190,-1.48,-61.3,2574,400,2181,2204,1861.5,-30.7,284,8194,0.00,2.03,0.00,0.000,1030,0.000,0.050,2565,1800,2192,2180,2204,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8498,-1.53,-61.3,2564,1800,2181,2203,1965.4,-28.9,289,8501,0.00,2.10,0.00,0.000,516,0.000,0.060,2565,405,2192,2181,2203,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8727,-1.53,-61.3,2564,402,2177,2203,2020.5,-29.9,292,8730,0.00,2.03,0.00,0.000,1030,0.000,0.052,2554,1800,2190,2177,2203,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9034,-1.59,-61.3,2554,1800,2177,2202,2122.5,-28.3,297,9038,0.00,2.10,0.00,0.000,516,0.000,0.062,2554,408,2190,2177,2203,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9263,-1.59,-61.3,2554,406,2175,2202,2176.4,-29.5,300,9267,0.00,2.03,0.00,0.000,1030,0.000,0.052,2545,1801,2189,2176,2202,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9571,-1.65,-61.3,2544,1802,2175,2200,2277.0,-27.9,305,9575,0.00,2.10,0.00,0.000,516,0.000,0.060,2545,409,2188,2176,2200,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9800,-1.65,-61.3,2544,409,2174,2201,2330.0,-29.0,308,9804,0.00,2.03,0.00,0.000,1030,0.000,0.052,2534,1797,2187,2174,2201,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10108,-1.72,-61.3,2534,1797,2173,2199,2429.6,-27.7,313,10112,0.05,2.10,0.00,0.000,4612,0.191,0.060,2509,421,2186,2173,2199,0,0,0,0,0,0,26.51,26.23,28.83
$GC,10339,-1.72,-61.3,2509,408,2171,2199,2483.8,-29.2,316,10343,0.00,2.03,0.00,0.000,1030,0.000,0.050,2499,1802,2185,2171,2199,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10646,-1.72,-61.3,2499,1802,2172,2198,2585.0,-28.0,321,10650,0.00,2.10,0.00,0.000,516,0.000,0.062,2499,409,2184,2171,2198,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10875,-1.72,-61.3,2499,408,2169,2198,2637.1,-28.6,324,10879,0.00,2.03,0.00,0.000,1030,0.000,0.052,2489,1800,2183,2169,2198,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11182,-1.72,-61.3,2489,1800,2169,2198,2733.2,-26.7,329,11186,0.00,2.10,0.00,0.000,516,0.000,0.062,2490,405,2183,2169,2198,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11412,-1.72,-61.3,2489,405,2168,2198,2783.2,-27.2,332,11416,0.00,2.05,0.00,0.000,1030,0.000,0.052,2479,1808,2183,2168,2198,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11720,-1.77,-61.3,2479,1808,2168,2197,2875.0,-25.4,337,11724,0.00,2.12,0.00,0.000,516,0.000,0.062,2479,409,2182,2168,2197,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11949,-1.77,-61.3,2479,408,2167,2197,2922.1,-25.7,340,11953,0.00,2.05,0.00,0.000,1030,0.000,0.052,2469,1798,2182,2167,2197,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12257,-1.77,-61.3,2469,1798,2167,2196,3008.2,-23.9,345,12260,0.00,2.10,0.00,0.000,516,0.000,0.060,2469,417,2181,2167,2196,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12486,-1.77,-61.3,2469,410,2167,2196,3053.0,-24.5,348,12490,0.00,2.05,0.00,0.000,1030,0.000,0.052,2459,1813,2181,2167,2196,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12793,-1.77,-61.3,2459,1813,2167,2195,3135.5,-22.8,353,12797,0.00,2.15,0.00,0.000,516,0.000,0.062,2459,407,2181,2167,2195,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13023,-1.77,-61.3,2459,407,2166,2195,3178.2,-23.5,356,13027,0.15,2.05,0.00,0.000,3078,0.236,0.050,2482,1811,2181,2166,2196,0,0,0,0,0,0,25.67,26.31,28.83
$GC,13330,-1.85,-61.3,2482,1811,2166,2195,3253.0,-20.5,361,13333,0.00,2.15,0.00,0.000,516,0.000,0.062,2482,411,2180,2166,2195,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13559,-1.91,-61.3,2482,406,2165,2195,3292.1,-21.3,364,13564,0.08,2.05,0.00,0.000,5126,0.142,0.052,2442,1808,2180,2165,2195,0,0,0,0,0,0,26.20,26.29,28.83
$GC,13866,-1.97,-61.3,2442,1808,2165,2194,3369.0,-21.7,369,13870,0.00,2.15,0.00,0.000,516,0.000,0.062,2443,407,2179,2165,2194,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14096,-1.97,-61.3,2442,403,2164,2195,3410.7,-22.6,372,14100,0.00,2.08,0.00,0.000,1030,0.000,0.052,2433,1805,2179,2164,2194,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14404,-2.02,-61.3,2432,1805,2164,2194,3486.4,-21.1,377,14407,0.00,2.15,0.00,0.000,516,0.000,0.060,2433,406,2179,2165,2194,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14637,-2.02,-61.3,2432,400,2163,2194,3527.4,-22.0,380,14641,0.00,2.08,0.00,0.000,1030,0.000,0.052,2422,1805,2178,2163,2194,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14951,-2.02,-61.3,2422,1805,2163,2194,3602.8,-20.6,386,14956,0.00,2.12,0.00,0.000,516,0.000,0.062,2422,406,2178,2162,2194,0,0,0,0,0,0,28.83,26.14,28.83
$GC,15183,-2.02,-61.3,2422,406,2161,2194,3642.6,-21.3,389,15187,0.00,2.08,0.00,0.000,1030,0.000,0.052,2412,1805,2177,2161,2194,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15490,-2.02,-61.3,2411,1805,2161,2194,3713.0,-19.5,394,15495,0.00,2.12,0.00,0.000,260,0.000,0.060,2401,3193,2178,2162,2194,0,0,0,0,0,0,28.83,26.16,28.83
$GC,15723,-2.02,-61.3,2400,3193,2162,2193,3749.0,-19.4,397,15727,0.00,2.08,0.00,0.000,1030,0.000,0.052,2408,1801,2177,2162,2193,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16032,-2.07,-61.3,2407,1801,2162,2193,3815.2,-18.5,402,16039,0.00,2.17,0.00,0.000,260,0.000,0.060,2397,3194,2177,2162,2193,0,0,0,0,0,0,28.83,26.15,28.83
$GC,16126,-2.07,-61.3,2397,3194,2162,2193,3827.6,-18.5,403,16130,0.00,2.08,0.00,0.000,1030,0.000,0.052,2401,1800,2177,2162,2193,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16457,-2.07,-61.3,2401,1800,2162,2193,3891.3,-17.6,409,16462,0.00,2.10,0.00,0.000,516,0.000,0.062,2401,405,2177,2162,2192,0,0,0,0,0,0,28.83,26.10,28.83
$GC,16690,-2.07,-61.3,2401,404,2161,2193,3925.3,-18.0,412,16694,0.00,2.08,0.00,0.000,1030,0.000,0.052,2391,1802,2177,2161,2193,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16998,-2.07,-61.3,2391,1802,2161,2193,3985.6,-16.6,417,17003,0.00,2.15,0.00,0.000,516,0.000,0.062,2391,403,2177,2161,2193,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17131,-2.07,-61.3,2391,403,2160,2193,4006.9,-16.7,419,17134,0.00,2.08,0.00,0.000,1030,0.000,0.052,2381,1800,2176,2160,2193,0,0,0,0,0,0,28.83,26.25,28.83
$GC,17479,-2.07,-61.3,2380,1800,2160,2193,4064.2,-16.0,425,17485,0.00,2.12,0.00,0.000,516,0.000,0.062,2380,396,2176,2160,2193,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17618,-2.07,-61.3,2381,396,2160,2193,4084.2,-16.2,427,17622,0.00,2.08,0.00,0.000,1030,0.000,0.052,2371,1805,2176,2160,2193,0,0,0,0,0,0,28.83,26.25,28.83
$GC,17964,-2.07,-61.3,2370,1805,2160,2193,4140.1,-15.3,433,17965,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1805,2176,2160,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18263,-2.07,-61.3,2370,1805,2160,2193,4184.4,-14.7,438,18264,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1805,2176,2160,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18561,-2.07,-61.3,2370,1805,2160,2193,4226.2,-13.9,443,18562,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1805,2176,2160,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18862,-2.07,-61.3,2370,1805,2159,2192,4266.3,-13.3,448,18863,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1805,2176,2160,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19162,-2.07,-61.3,2370,1805,2160,2192,4304.9,-12.7,453,19163,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1805,2176,2160,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19461,-2.07,-61.3,2370,1805,2160,2192,4341.8,-12.3,458,19466,0.00,2.10,0.00,0.000,260,0.000,0.060,2360,3188,2176,2160,2192,0,0,0,0,0,0,28.83,26.11,28.83
$GC,19523,-2.07,-61.3,2360,3188,2160,2192,4349.6,-12.4,459,19527,0.00,2.10,0.00,0.000,1030,0.000,0.052,2360,1790,2176,2160,2192,0,0,0,0,0,0,28.83,26.20,28.83
$GC,19882,-2.07,-61.3,2359,1790,2160,2192,4391.1,-11.4,465,19884,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1790,2176,2160,2192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20182,-2.07,-61.3,2360,1790,2160,2192,4423.6,-10.8,470,20187,0.00,2.17,0.00,0.000,260,0.000,0.060,2350,3190,2175,2160,2191,0,0,0,0,0,0,28.83,26.10,28.83
$GC,20278,-2.07,-61.3,2349,3190,2160,2191,4430.1,-10.7,471,20283,0.15,2.10,0.00,0.000,3078,0.219,0.052,2383,1791,2175,2160,2191,0,0,0,0,0,0,25.58,26.20,28.83
$GC,20599,-2.14,-63.5,2382,1791,2159,2191,4465.1,-9.5,477,20605,0.00,2.15,0.00,0.000,260,0.000,0.060,2373,3189,2175,2160,2191,0,0,0,0,0,0,28.83,26.09,28.83
$GC,20677,-2.20,-66.1,2373,3189,2160,2190,4471.1,-9.4,478,20681,0.00,2.10,0.00,0.000,1030,0.000,0.052,2373,1798,2175,2160,2190,0,0,0,0,0,0,28.83,26.20,28.83
$GC,21017,-2.26,-70.1,2373,1798,2160,2190,4504.0,-9.1,484,21023,0.12,2.15,0.00,0.000,4356,0.124,0.060,2312,3196,2175,2160,2190,0,0,0,0,0,0,26.34,26.08,28.83
$GC,21116,-2.26,-73.5,2312,3196,2160,2190,4510.1,-9.2,485,21120,0.00,2.10,0.00,0.000,1030,0.000,0.052,2319,1800,2175,2160,2190,0,0,0,0,0,0,28.83,26.19,28.83
$GC,21436,-2.26,-77.7,2318,1800,2160,2190,4543.2,-9.1,491,21441,0.00,2.12,0.00,0.000,260,0.000,0.060,2309,3189,2175,2160,2190,0,0,0,0,0,0,28.83,26.08,28.83
$GC,21517,-2.26,-81.6,2309,3189,2160,2190,4549.1,-9.1,492,21521,0.00,2.10,0.00,0.000,1030,0.000,0.052,2309,1798,2175,2160,2190,0,0,0,0,0,0,28.83,26.18,28.83
$GC,21852,-2.26,-87.5,2308,1799,2160,2190,4580.3,-8.7,498,21857,0.00,2.17,0.00,0.000,260,0.000,0.060,2297,3196,2175,2160,2190,0,0,0,0,0,0,28.83,26.08,28.83
$GC,21964,-2.26,-93.9,2298,3196,2160,2190,4585.6,-8.6,499,21974,0.00,2.12,0.00,0.000,1030,0.000,0.052,2301,1788,2175,2160,2190,0,0,0,0,0,0,28.83,26.19,28.83
$GC,22270,-2.26,-102.7,2302,1788,2160,2190,4615.0,-8.1,505,22271,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,1788,2175,2160,2190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22570,-2.26,-113.5,2301,1788,2160,2190,4637.8,-7.6,510,22576,0.00,2.15,0.00,0.000,260,0.000,0.060,2292,3188,2175,2160,2190,0,0,0,0,0,0,28.83,26.08,28.83
$GC,22705,-2.26,-125.1,2291,3188,2160,2190,4646.7,-7.4,512,22709,0.00,2.10,0.00,0.000,1030,0.000,0.052,2295,1798,2174,2160,2189,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,22747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,22748,begin apogee
$GC,22754,-0.19,0.0,2292,2306,2159,2190,4650.6,-7.3,513,22813,2.55,0.00,51.30,3.993,10246,0.214,0.000,2980,2306,2000,1973,2027,0,0,0,0,0,0,24.40,28.83,20.54
$STATE,22814,end apogee,CONTROL_FINISHED_OK
$STATE,22814,begin climb
$GC,22816,1.68,125.1,2980,2306,1974,2027,4650.5,0.0,514,22958,1.73,0.00,137.20,3.953,10502,0.067,0.000,3598,2306,1576,1521,1632,0,0,0,0,0,0,23.75,28.83,19.74
$GC,23229,1.55,125.1,3597,2306,1521,1631,4530.7,33.8,521,23234,0.20,2.17,0.00,0.000,4356,0.253,0.062,3548,3686,1576,1521,1631,0,0,0,0,0,0,25.13,25.58,28.83
$GC,23348,1.42,125.1,3548,3686,1521,1631,4490.4,33.4,523,23354,0.17,2.10,0.00,0.000,5126,0.256,0.052,3514,2304,1576,1521,1631,0,0,0,0,0,0,25.39,25.98,28.83
$GC,23708,1.42,125.1,3513,2304,1521,1631,4381.8,29.8,529,23713,0.00,2.20,0.00,0.000,260,0.000,0.065,3504,3694,1576,1521,1631,0,0,0,0,0,0,28.83,26.16,28.83
$GC,23805,1.37,125.1,3504,3694,1521,1631,4363.6,29.8,530,23810,0.00,2.12,0.00,0.000,1030,0.000,0.050,3515,2286,1576,1521,1631,0,0,0,0,0,0,28.83,26.27,28.83
$GC,24123,1.37,125.1,3514,2286,1521,1631,4261.0,28.5,536,24126,0.00,2.20,0.00,0.000,260,0.000,0.067,3515,3675,1576,1522,1631,0,0,0,0,0,0,28.83,26.22,28.83
$GC,24228,1.37,125.1,3514,3693,1521,1630,4242.9,28.6,537,24233,0.17,2.10,0.00,0.000,5126,0.261,0.050,3488,2295,1575,1521,1630,0,0,0,0,0,0,25.65,26.32,28.83
$GC,24541,1.37,125.1,3487,2294,1521,1630,4146.4,26.5,543,24544,0.00,2.20,0.00,0.000,260,0.000,0.065,3479,3676,1575,1521,1630,0,0,0,0,0,0,28.83,26.23,28.83
$GC,24625,1.37,125.1,3478,3698,1521,1630,4129.8,26.5,544,24629,0.00,2.12,0.00,0.000,1030,0.000,0.050,3489,2292,1575,1521,1630,0,0,0,0,0,0,28.83,26.32,28.83
$GC,24957,1.37,125.1,3489,2292,1521,1630,4038.8,25.1,550,24962,0.00,2.20,0.00,0.000,260,0.000,0.065,3489,3693,1575,1521,1630,0,0,0,0,0,0,28.83,26.22,28.83
$GC,25055,1.37,125.1,3489,3693,1521,1630,4023.1,25.3,551,25059,0.00,2.10,0.00,0.000,1030,0.000,0.050,3500,2295,1575,1521,1630,0,0,0,0,0,0,28.83,26.34,28.83
$GC,25372,1.37,125.1,3499,2296,1521,1630,3935.7,24.3,557,25377,0.00,2.20,0.00,0.000,260,0.000,0.065,3497,3697,1575,1521,1630,0,0,0,0,0,0,28.83,26.21,28.83
$GC,25481,1.37,125.1,3497,3697,1521,1629,3920.7,24.4,558,25485,0.00,2.10,0.00,0.000,1030,0.000,0.052,3508,2298,1575,1521,1630,0,0,0,0,0,0,28.83,26.33,28.83
$GC,25787,1.37,125.1,3507,2298,1521,1630,3835.8,23.5,563,25793,0.00,2.22,0.00,0.000,260,0.000,0.065,3507,3701,1575,1521,1630,0,0,0,0,0,0,28.83,26.20,28.83
$GC,25909,1.37,125.1,3506,3701,1521,1629,3806.5,23.8,565,25914,0.00,2.08,0.00,0.000,1030,0.000,0.052,3517,2304,1575,1521,1629,0,0,0,0,0,0,28.83,26.32,28.83
$GC,26267,1.37,125.1,3517,2304,1521,1629,3726.1,22.1,571,26273,0.00,2.20,0.00,0.000,260,0.000,0.065,3517,3692,1575,1521,1629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,26340,1.37,125.1,3517,3693,1521,1629,3712.0,22.2,572,26345,0.17,2.10,0.00,0.000,5126,0.253,0.050,3489,2295,1575,1521,1629,0,0,0,0,0,0,25.59,26.32,28.83
$GC,26683,1.37,125.1,3489,2295,1521,1629,3639.0,20.1,578,26687,0.00,2.20,0.00,0.000,260,0.000,0.067,3489,3675,1575,1521,1629,0,0,0,0,0,0,28.83,26.17,28.83
$GC,26804,1.37,125.1,3489,3692,1521,1629,3613.6,20.2,580,26810,0.00,2.10,0.00,0.000,1030,0.000,0.050,3500,2296,1575,1521,1629,0,0,0,0,0,0,28.83,26.32,28.83
$GC,27165,1.37,125.1,3499,2295,1521,1629,3543.8,19.2,586,27168,0.00,2.20,0.00,0.000,260,0.000,0.065,3497,3685,1575,1521,1629,0,0,0,0,0,0,28.83,26.17,28.83
$GC,27239,1.37,125.1,3497,3693,1521,1629,3531.7,19.2,587,27243,0.00,2.08,0.00,0.000,1030,0.000,0.052,3507,2298,1575,1521,1629,0,0,0,0,0,0,28.83,26.31,28.83
$GC,27581,1.37,125.1,3507,2298,1521,1629,3466.5,18.2,593,27587,0.00,2.20,0.00,0.000,260,0.000,0.065,3507,3697,1575,1521,1629,0,0,0,0,0,0,28.83,26.16,28.83
$GC,27659,1.37,125.1,3507,3697,1521,1629,3455.2,18.3,594,27663,0.00,2.08,0.00,0.000,1030,0.000,0.050,3518,2303,1575,1521,1629,0,0,0,0,0,0,28.83,26.30,28.83
$GC,27996,1.37,125.1,3517,2303,1521,1629,3392.3,17.6,600,27997,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2303,1575,1521,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28296,1.37,125.1,3517,2303,1521,1629,3341.4,17.0,605,28302,0.00,2.20,0.00,0.000,260,0.000,0.065,3517,3691,1575,1521,1629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,28435,1.37,125.1,3517,3691,1521,1629,3320.1,17.2,607,28440,0.17,2.10,0.00,0.000,5126,0.246,0.050,3489,2298,1575,1521,1629,0,0,0,0,0,0,25.54,26.30,28.83
$GC,28773,1.45,125.1,3488,2298,1521,1629,3264.9,15.1,613,28778,0.00,2.20,0.00,0.000,260,0.000,0.067,3484,3694,1575,1521,1629,0,0,0,0,0,0,28.83,26.13,28.83
$GC,28865,1.52,125.1,3483,3694,1521,1629,3255.4,15.1,614,28870,0.10,2.10,0.00,0.000,3078,0.144,0.050,3527,2296,1574,1521,1628,0,0,0,0,0,0,26.14,26.29,28.83
$GC,29188,1.52,125.1,3527,2296,1521,1629,3200.5,15.3,620,29189,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2296,1575,1521,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29488,1.52,125.1,3527,2296,1521,1629,3157.6,14.4,625,29489,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2296,1574,1521,1628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29788,1.52,125.1,3527,2296,1521,1629,3117.1,13.5,630,29789,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2295,1575,1521,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30088,1.57,125.1,3527,2296,1521,1629,3078.8,12.7,635,30094,0.00,2.20,0.00,0.000,260,0.000,0.065,3521,3693,1575,1522,1629,0,0,0,0,0,0,28.83,26.11,28.83
$GC,30290,1.57,125.1,3521,3693,1521,1628,3054.7,13.1,638,30295,0.00,2.10,0.00,0.000,1030,0.000,0.050,3531,2305,1575,1521,1629,0,0,0,0,0,0,28.83,26.27,28.83
$GC,30623,1.62,125.1,3531,2305,1521,1629,3013.2,11.4,644,30629,0.08,2.20,0.00,0.000,2308,0.166,0.062,3548,3695,1575,1521,1629,0,0,0,0,0,0,26.43,26.10,28.83
$GC,30683,1.62,125.1,3548,3695,1521,1629,3006.7,11.2,645,30689,0.00,2.10,0.00,0.000,1030,0.000,0.050,3558,2297,1575,1521,1629,0,0,0,0,0,0,28.83,26.27,28.83
$GC,31043,1.62,125.1,3558,2298,1522,1629,2967.3,10.9,651,31044,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2297,1575,1522,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31343,1.62,125.1,3559,2297,1522,1629,2935.7,10.6,656,31344,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2297,1575,1521,1629,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,50272,2.15,211.0,3713,3709,1215,1353,1032.1,11.3,971,50276,0.00,2.12,0.00,0.000,1030,0.000,0.050,3723,2287,1284,1215,1353,0,0,0,0,0,0,28.83,26.21,28.83
$GC,50595,2.20,211.0,3723,2287,1215,1353,994.2,11.5,977,50600,0.00,2.25,0.00,0.000,260,0.000,0.065,3723,3705,1284,1215,1354,0,0,0,0,0,0,28.83,26.10,28.83
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$GC,51367,2.20,211.0,3733,3698,1215,1353,905.3,10.9,1002,51374,0.00,2.12,0.00,0.000,1030,0.000,0.052,3744,2295,1284,1215,1353,0,0,0,0,0,0,28.83,26.27,28.83
$GC,51675,2.20,211.0,3744,2295,1215,1353,871.4,10.1,1013,51680,0.00,2.22,0.00,0.000,260,0.000,0.067,3744,3698,1284,1215,1353,0,0,0,0,0,0,28.83,26.09,28.83
$GC,51907,2.20,211.0,3744,3698,1215,1353,846.9,11.6,1020,51914,0.00,2.12,0.00,0.000,1030,0.000,0.052,3750,2298,1284,1215,1353,0,0,0,0,0,0,28.83,26.25,28.83
$GC,52215,2.20,211.0,3750,2297,1215,1353,805.5,12.3,1031,52219,0.00,2.22,0.00,0.000,260,0.000,0.067,3750,3686,1284,1215,1353,0,0,0,0,0,0,28.83,26.07,28.83
$GC,52445,2.20,211.0,3750,3699,1215,1353,776.5,13.7,1038,52449,0.00,2.12,0.00,0.000,1030,0.000,0.052,3757,2297,1284,1216,1353,0,0,0,0,0,0,28.83,26.25,28.83
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$GC,53138,2.20,211.0,3761,2308,1216,1354,676.7,14.4,1061,53141,0.00,2.17,0.00,0.000,260,0.000,0.070,3762,3698,1285,1216,1354,0,0,0,0,0,0,28.83,26.06,28.83
$GC,53302,2.20,211.0,3761,3707,1217,1354,652.4,16.4,1066,53306,0.00,2.15,0.00,0.000,1030,0.000,0.052,3762,2291,1285,1217,1354,0,0,0,0,0,0,28.83,26.24,28.83
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$GC,54005,2.20,211.0,3761,2297,1218,1354,521.5,18.4,1090,54010,0.00,2.20,0.00,0.000,260,0.000,0.067,3762,3698,1286,1218,1355,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,56041,end climb,SURFACE_DEPTH_REACHED
$STATE,56041,begin surface coast
$FINISH,0.9,1.025604
$STATE,56052,end surface coast,CONTROL_FINISHED_OK
$STATE,56052,begin surface
$SM_CCo,56074,69.60,0.993,0,0,983,300.22
$SM_GC,0.83,9.10,2.88,69.60,0.060,0.050,0.993,236,1787,983,-8.70,1.81,300.22,0,0,0,0,0,0,26.25,26.26,23.96
$IRIDIUM_FIX,3140.47,-6352.18,200414,161617
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.93
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,21.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4650.6,26.7
$24V_AH,19.7,61.399
$10V_AH,10.1,15.194
$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,26.875,425.925,305.600,69.600,0.000,29.773,23.069,359.510,29.500,0.000,16.540,4402.193,44103.711,640.611,6897.556,631.872,0.385,3941.069,0.000,6207.259,0.000,217.495,0.000
$DEVICE_MAMPS,270.647,72.007,3992.664,993.200,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,841.679,1590.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330304
$DATA_FILE_SIZE,76997,1204
$CAP_FILE_SIZE,473104,0
$CFSIZE,260165632,230117376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220414,052636,3141.056,-6405.688,37,1.8,38,-15.5