Bermuda Mar14 *
SG035 *
Dive index
* Mission links
version: 66.12
glider: 35
mission: 22
dive: 110
start: 5 5 114 11 50 1
data:
$ID,35
$MISSION,22
$DIVE,110
$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,2000
$T_MISSION,2030
$T_ABORT,2060
$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,-998595.88
$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,63
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2200
$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
$GPS1,050514,113856,3135.013,-6424.843,29,2.7,49,-15.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.0
$GPS2,050514,114933,3134.940,-6424.838,13,2.6,33,-15.4
$SPEED_LIMITS,0.080,0.227
$TGT_NAME,SS06
$TGT_LATLONG,3129.220,-6431.920
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.008,-0.086
$KALMAN_X,-49120.1,0.0,0.0,53978.8,-9891.7
$KALMAN_Y,-50881.4,0.0,0.0,-20360.9,-43.9
$MHEAD_RNG_PITCHd_Wd,200.5,15405,-41.3,-8.000,-42.96,454
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.59,-23.7,249,1790,758,932,0.0,0.0,0,100,0.00,0.00,-80.78,0.000,16386,0.000,0.000,249,1790,2181,2179,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.59,-36.6,249,1791,2178,2183,3.5,-5.1,8,124,9.48,2.12,-5.97,0.000,18692,0.261,0.055,2527,3209,2324,2322,2327,0,0,0,0,0,0,25.05,26.15,25.92
$GC,308,-1.38,-36.6,2527,3209,2313,2316,59.6,-29.0,28,318,0.28,2.08,-0.20,0.000,19462,0.246,0.052,2602,1781,2331,2328,2335,0,0,0,0,0,0,25.38,26.30,23.31
$GC,618,-1.24,-36.6,2602,1781,2326,2335,146.4,-27.5,59,622,0.17,2.00,0.00,0.000,2564,0.251,0.060,2655,446,2330,2326,2335,0,0,0,0,0,0,25.65,26.25,28.83
$GC,773,-1.11,-36.6,2655,417,2325,2335,184.5,-26.9,67,781,0.20,2.00,0.00,0.000,3078,0.256,0.050,2690,1818,2330,2325,2335,0,0,0,0,0,0,25.52,26.36,28.83
$GC,1081,-1.06,-36.6,2689,1818,2325,2335,261.6,-23.4,83,1087,0.00,2.10,0.00,0.000,516,0.000,0.062,2696,415,2330,2325,2335,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1314,-0.98,-36.6,2696,415,2325,2335,313.0,-24.9,93,1321,0.20,1.98,0.00,0.000,3078,0.241,0.052,2732,1801,2330,2325,2335,0,0,0,0,0,0,25.60,26.36,28.83
$GC,1620,-0.98,-36.6,2732,1801,2325,2335,388.9,-22.8,104,1624,0.00,2.08,0.00,0.000,516,0.000,0.062,2733,410,2330,2325,2335,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1851,-0.98,-36.6,2733,410,2324,2335,440.9,-24.8,111,1855,0.00,2.00,0.00,0.000,1030,0.000,0.050,2723,1804,2329,2324,2335,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2158,-0.98,-36.6,2723,1804,2324,2335,521.1,-24.8,121,2161,0.00,2.08,0.00,0.000,516,0.000,0.062,2724,410,2330,2325,2335,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2388,-0.98,-36.6,2723,410,2324,2335,578.0,-27.0,128,2392,0.00,2.00,0.00,0.000,1030,0.000,0.052,2714,1801,2329,2324,2335,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2695,-0.98,-36.6,2713,1801,2323,2335,663.3,-26.0,138,2698,0.00,2.08,0.00,0.000,516,0.000,0.062,2714,405,2329,2324,2335,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2925,-0.98,-36.6,2713,404,2323,2335,723.6,-28.2,145,2930,0.15,2.00,0.00,0.000,3078,0.238,0.050,2737,1800,2329,2323,2335,0,0,0,0,0,0,25.78,26.37,28.83
$GC,3233,-1.03,-36.6,2736,1800,2323,2335,804.1,-24.4,155,3236,0.00,2.05,0.00,0.000,260,0.000,0.060,2726,3187,2329,2323,2335,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3454,-1.11,-36.6,2726,3187,2323,2333,858.2,-25.6,162,3458,0.00,2.00,0.00,0.000,1030,0.000,0.052,2727,1803,2328,2323,2334,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3771,-1.17,-36.6,2726,1803,2322,2334,946.0,-27.4,173,3775,0.12,2.05,0.00,0.000,4612,0.127,0.060,2671,426,2328,2322,2334,0,0,0,0,0,0,26.37,26.27,28.83
$GC,4001,-1.17,-36.6,2671,411,2320,2334,1002.9,-31.7,179,4005,0.00,1.98,0.00,0.000,1030,0.000,0.052,2661,1799,2327,2320,2334,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4308,-1.17,-36.6,2660,1799,2319,2334,1113.3,-30.9,184,4314,0.00,2.10,0.00,0.000,516,0.000,0.060,2660,396,2326,2318,2334,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4541,-1.17,-36.6,2660,396,2316,2334,1172.5,-32.5,187,4547,0.00,2.00,0.00,0.000,1030,0.000,0.050,2650,1801,2324,2315,2334,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4848,-1.17,-36.6,2650,1801,2314,2333,1289.0,-32.3,193,4854,0.00,2.08,0.00,0.000,516,0.000,0.060,2650,403,2323,2314,2333,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5081,-1.17,-36.6,2650,403,2310,2333,1350.6,-33.8,196,5088,0.15,2.03,0.00,0.000,3078,0.241,0.050,2674,1800,2321,2310,2333,0,0,0,0,0,0,25.77,26.36,28.83
$GC,5389,-1.23,-36.6,2673,1800,2310,2330,1464.7,-31.1,202,5394,0.00,2.05,0.00,0.000,516,0.000,0.060,2676,410,2320,2310,2330,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5621,-1.23,-36.6,2676,410,2307,2330,1524.0,-32.5,205,5627,0.00,2.03,0.00,0.000,1030,0.000,0.050,2666,1802,2318,2307,2330,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5929,-1.29,-36.6,2665,1803,2306,2327,1638.0,-31.2,211,5934,0.00,2.08,0.00,0.000,516,0.000,0.060,2666,403,2316,2306,2327,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6162,-1.34,-36.6,2666,403,2303,2328,1697.7,-32.8,214,6169,0.08,2.05,0.00,0.000,5126,0.144,0.050,2624,1809,2315,2303,2328,0,0,0,0,0,0,26.25,26.35,28.83
$GC,6468,-1.34,-36.6,2624,1809,2303,2325,1815.7,-32.8,220,6473,0.00,2.10,0.00,0.000,516,0.000,0.060,2624,406,2314,2303,2325,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6701,-1.34,-36.6,2624,406,2300,2325,1876.9,-33.7,223,6708,0.00,2.05,0.00,0.000,1030,0.000,0.052,2614,1806,2312,2300,2325,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7008,-1.34,-36.6,2614,1806,2300,2323,1992.8,-31.8,229,7013,0.00,2.10,0.00,0.000,516,0.000,0.060,2614,406,2311,2299,2323,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7241,-1.34,-36.6,2614,406,2297,2323,2052.9,-32.9,232,7248,0.00,2.05,0.00,0.000,1030,0.000,0.050,2604,1804,2310,2297,2323,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7548,-1.34,-36.6,2604,1804,2297,2321,2167.6,-31.5,238,7553,0.00,2.10,0.00,0.000,516,0.000,0.060,2604,406,2309,2297,2322,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7781,-1.34,-36.6,2604,405,2294,2321,2225.9,-32.2,241,7787,0.00,2.05,0.00,0.000,1030,0.000,0.050,2594,1800,2307,2294,2321,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8089,-1.40,-36.6,2594,1800,2294,2319,2336.0,-30.0,247,8094,0.00,2.08,0.00,0.000,516,0.000,0.060,2594,409,2306,2294,2319,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8321,-1.40,-36.6,2594,408,2292,2320,2392.3,-30.9,250,8327,0.00,2.05,0.00,0.000,1030,0.000,0.050,2584,1806,2305,2292,2319,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8628,-1.46,-36.6,2584,1806,2292,2318,2497.4,-28.9,256,8634,0.00,2.12,0.00,0.000,516,0.000,0.060,2584,409,2305,2292,2318,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8861,-1.46,-36.6,2584,408,2291,2318,2551.8,-29.9,259,8867,0.00,2.03,0.00,0.000,1030,0.000,0.050,2574,1804,2304,2291,2318,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9168,-1.52,-36.6,2574,1804,2290,2317,2653.6,-27.9,265,9174,0.00,2.12,0.00,0.000,516,0.000,0.060,2574,407,2304,2291,2317,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9401,-1.57,-36.6,2574,406,2289,2317,2705.6,-28.6,268,9407,0.00,2.03,0.00,0.000,1030,0.000,0.050,2564,1800,2302,2288,2316,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9708,-1.64,-36.6,2564,1800,2289,2315,2805.1,-27.3,274,9714,0.08,2.08,0.00,0.000,4612,0.144,0.057,2527,411,2302,2289,2316,0,0,0,0,0,0,26.48,26.20,28.83
$GC,9941,-1.64,-36.6,2527,411,2286,2316,2860.0,-29.8,277,9947,0.00,2.03,0.00,0.000,1030,0.000,0.050,2516,1806,2301,2286,2316,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10248,-1.64,-36.6,2516,1807,2286,2315,2964.6,-28.6,283,10254,0.00,2.10,0.00,0.000,516,0.000,0.060,2516,411,2300,2286,2315,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10481,-1.64,-36.6,2516,411,2285,2316,3018.9,-29.8,286,10487,0.00,2.03,0.00,0.000,1030,0.000,0.050,2506,1801,2300,2285,2315,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10788,-1.64,-36.6,2506,1801,2285,2314,3121.1,-28.0,292,10794,0.00,2.10,0.00,0.000,516,0.000,0.060,2506,409,2299,2285,2314,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11021,-1.64,-36.6,2506,409,2284,2314,3174.0,-29.1,295,11028,0.00,2.03,0.00,0.000,1030,0.000,0.050,2496,1801,2299,2284,2314,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11328,-1.64,-36.6,2495,1801,2283,2313,3273.1,-27.1,301,11334,0.00,2.12,0.00,0.000,516,0.000,0.060,2496,408,2298,2283,2313,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11561,-1.64,-36.6,2495,408,2282,2313,3323.6,-27.8,304,11568,0.15,2.05,0.00,0.000,3078,0.219,0.050,2521,1801,2297,2282,2313,0,0,0,0,0,0,25.72,26.30,28.83
$GC,11869,-1.72,-36.6,2520,1801,2282,2313,3413.2,-24.2,310,11874,0.00,2.08,0.00,0.000,516,0.000,0.060,2521,412,2297,2282,2313,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12052,-1.79,-36.6,2521,412,2282,2313,3459.6,-25.4,313,12056,0.05,2.03,0.00,0.000,5126,0.181,0.050,2489,1802,2297,2282,2313,0,0,0,0,0,0,26.20,26.29,28.83
$GC,12408,-1.85,-36.6,2488,1802,2282,2312,3546.6,-24.3,319,12413,0.00,2.10,0.00,0.000,516,0.000,0.060,2489,411,2297,2282,2312,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12549,-1.85,-36.6,2488,411,2281,2312,3579.5,-25.2,321,12553,0.00,2.03,0.00,0.000,1030,0.000,0.050,2478,1800,2296,2281,2312,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12889,-1.91,-36.6,2478,1800,2281,2311,3664.1,-23.6,327,12896,0.10,2.12,0.00,0.000,4612,0.122,0.057,2434,391,2296,2281,2311,0,0,0,0,0,0,26.44,26.16,28.83
$GC,13091,-1.91,-36.6,2434,391,2280,2311,3714.9,-26.1,330,13095,0.00,2.05,0.00,0.000,1030,0.000,0.050,2423,1800,2296,2280,2312,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13437,-1.91,-36.6,2423,1800,2280,2311,3803.8,-24.8,336,13441,0.00,2.10,0.00,0.000,516,0.000,0.060,2423,403,2295,2280,2311,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13649,-1.91,-36.6,2423,403,2280,2311,3852.4,-25.5,339,13653,0.00,2.05,0.00,0.000,1030,0.000,0.050,2412,1806,2295,2280,2311,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13979,-1.91,-36.6,2412,1807,2280,2310,3940.1,-24.4,345,13984,0.00,2.12,0.00,0.000,516,0.000,0.060,2412,404,2295,2280,2311,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14157,-1.91,-36.6,2412,404,2279,2311,3971.9,-24.7,347,14165,0.15,2.05,0.00,0.000,3078,0.228,0.050,2436,1806,2294,2279,2310,0,0,0,0,0,0,25.63,26.27,28.83
$GC,14467,-1.91,-36.6,2436,1806,2279,2310,4053.4,-21.9,353,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1806,2294,2279,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14765,-1.96,-36.6,2435,1806,2279,2310,4117.6,-21.3,358,14772,0.00,2.12,0.00,0.000,516,0.000,0.060,2436,406,2294,2279,2310,0,0,0,0,0,0,28.83,26.12,28.83
$GC,14908,-1.96,-36.6,2435,406,2277,2310,4146.3,-21.9,360,14912,0.00,2.05,0.00,0.000,1030,0.000,0.050,2427,1810,2294,2278,2310,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15248,-1.96,-36.6,2426,1809,2278,2310,4220.9,-20.8,366,15255,0.00,2.12,0.00,0.000,516,0.000,0.060,2427,411,2294,2278,2310,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15315,-1.96,-36.6,2426,411,2277,2310,4235.2,-20.9,367,15319,0.00,2.08,0.00,0.000,1030,0.000,0.050,2416,1796,2293,2277,2310,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15674,-1.96,-36.6,2416,1796,2277,2310,4308.3,-20.0,373,15679,0.00,2.10,0.00,0.000,516,0.000,0.060,2416,413,2293,2277,2310,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15739,-1.96,-36.6,2416,413,2277,2310,4321.5,-20.2,374,15744,0.00,2.05,0.00,0.000,1030,0.000,0.050,2406,1816,2293,2277,2310,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16102,-1.96,-36.6,2406,1817,2277,2310,4392.5,-19.2,380,16107,0.00,2.15,0.00,0.000,516,0.000,0.060,2406,412,2293,2277,2310,0,0,0,0,0,0,28.83,26.10,28.83
$GC,16178,-1.96,-36.6,2405,412,2276,2310,4404.9,-19.2,381,16182,0.00,2.03,0.00,0.000,1030,0.000,0.050,2395,1802,2293,2276,2310,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16522,-2.12,-52.6,2395,1802,2276,2309,4439.7,-4.4,387,16528,0.00,2.12,0.00,0.000,516,0.000,0.060,2395,412,2293,2276,2310,0,0,0,0,0,0,28.83,26.08,28.83
$GC,16755,-2.34,-87.9,2395,412,2276,2310,4439.8,-0.0,390,16765,0.20,2.05,0.00,0.000,5126,0.089,0.050,2304,1799,2293,2276,2310,0,0,0,0,0,0,26.14,26.25,28.83
$STATE,16818,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,16818,begin apogee
$GC,16824,-0.19,0.0,2300,2302,2276,2309,4439.5,-0.0,392,16857,2.33,0.00,26.77,3.759,10246,0.186,0.000,2980,2302,2200,2181,2220,0,0,0,0,0,0,24.89,28.83,21.87
$STATE,16858,end apogee,CONTROL_FINISHED_OK
$STATE,16858,begin climb
$GC,16861,1.59,87.9,2980,2302,2181,2220,4439.5,0.0,392,16962,1.60,2.60,91.35,3.849,10500,0.077,0.079,3573,3689,1902,1863,1941,0,0,0,0,0,0,24.97,22.48,19.68
$GC,17189,1.43,87.9,3573,3688,1863,1939,4417.8,8.8,398,17194,0.30,2.12,0.00,0.000,5126,0.251,0.050,3513,2296,1901,1863,1939,0,0,0,0,0,0,25.15,25.78,28.83
$GC,17537,1.36,87.9,3513,2295,1863,1940,4383.2,9.5,404,17538,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2295,1901,1863,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17838,1.30,87.9,3513,2295,1862,1939,4357.4,8.5,409,17844,0.17,2.08,0.00,0.000,4612,0.251,0.055,3479,898,1901,1863,1939,0,0,0,0,0,0,25.75,26.27,28.83
$GC,17985,1.24,87.9,3479,897,1863,1940,4348.0,8.1,411,17989,0.00,2.10,0.00,0.000,1030,0.000,0.055,3477,2304,1901,1863,1940,0,0,0,0,0,0,28.83,26.30,28.83
$GC,18313,1.24,91.2,3477,2304,1863,1939,4321.8,7.3,417,18324,0.00,2.22,4.32,2.217,8452,0.000,0.067,3477,3697,1891,1854,1929,0,0,0,0,0,0,28.83,26.10,23.17
$GC,18395,1.24,94.8,3477,3697,1855,1928,4317.4,7.2,418,18406,0.17,2.10,5.53,2.595,13318,0.243,0.050,3448,2292,1878,1841,1916,0,0,0,0,0,0,25.67,26.27,22.94
$GC,18729,1.24,94.8,3448,2292,1841,1916,4288.3,8.2,424,18735,0.00,2.05,0.00,0.000,516,0.000,0.057,3458,907,1877,1840,1915,0,0,0,0,0,0,28.83,26.26,28.83
$GC,18842,1.24,94.8,3458,907,1841,1916,4283.7,8.1,425,18848,0.00,2.08,0.00,0.000,1030,0.000,0.052,3452,2301,1878,1841,1916,0,0,0,0,0,0,28.83,26.29,28.83
$GC,19149,1.24,97.5,3451,2301,1841,1916,4256.5,7.4,431,19158,0.00,2.17,4.28,2.183,8708,0.000,0.060,3462,905,1870,1833,1907,0,0,0,0,0,0,28.83,26.14,23.20
$GC,19255,1.24,100.7,3462,905,1832,1907,4252.5,7.3,432,19266,0.00,2.08,4.78,2.361,9222,0.000,0.052,3462,2305,1858,1822,1895,0,0,0,0,0,0,28.83,26.25,23.00
$GC,19565,1.24,100.7,3462,2305,1822,1895,4222.8,8.4,438,19567,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2305,1858,1822,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19866,1.24,101.0,3461,2305,1822,1895,4199.2,7.9,443,19872,0.00,2.12,0.00,0.000,516,0.000,0.055,3473,903,1858,1821,1895,0,0,0,0,0,0,28.83,26.27,28.83
$GC,19987,1.24,102.7,3473,902,1821,1895,4190.2,7.6,445,19992,0.00,2.08,0.00,0.000,1030,0.000,0.055,3464,2301,1858,1821,1895,0,0,0,0,0,0,28.83,26.30,28.83
$GC,20346,1.24,107.6,3463,2300,1821,1895,4164.9,6.9,451,20359,0.00,2.12,8.30,2.990,8708,0.000,0.065,3474,905,1834,1796,1872,0,0,0,0,0,0,28.83,25.88,22.99
$GC,20456,1.24,112.4,3473,904,1795,1873,4160.9,6.9,452,20468,0.00,2.10,5.75,2.597,9222,0.000,0.052,3466,2301,1819,1781,1857,0,0,0,0,0,0,28.83,26.15,22.89
$GC,20822,1.24,112.4,3466,2301,1782,1857,4123.5,9.1,459,20828,0.00,2.12,0.00,0.000,516,0.000,0.057,3476,904,1819,1781,1857,0,0,0,0,0,0,28.83,26.25,28.83
$GC,20910,1.24,112.4,3476,903,1781,1857,4118.3,8.9,460,20914,0.00,2.08,0.00,0.000,1030,0.000,0.055,3476,2300,1819,1781,1857,0,0,0,0,0,0,28.83,26.29,28.83
$GC,21242,1.24,112.4,3476,2300,1781,1857,4088.2,8.2,466,21245,0.00,2.10,0.00,0.000,516,0.000,0.057,3487,920,1819,1781,1857,0,0,0,0,0,0,28.83,26.27,28.83
$GC,21373,1.24,112.6,3486,904,1780,1857,4078.7,8.0,468,21379,0.15,2.10,0.00,0.000,5126,0.236,0.052,3450,2310,1819,1781,1857,0,0,0,0,0,0,25.74,26.29,28.83
$GC,21723,1.24,116.3,3450,2310,1781,1857,4052.8,7.2,474,21731,0.00,0.00,5.50,2.500,8198,0.000,0.000,3450,2311,1805,1768,1843,0,0,0,0,0,0,28.83,28.83,23.17
$GC,22024,1.24,118.9,3450,2310,1768,1843,4030.8,7.4,479,22032,0.00,2.20,3.95,1.976,8708,0.000,0.057,3460,900,1797,1760,1835,0,0,0,0,0,0,28.83,26.13,23.14
$GC,22080,1.24,121.2,3460,900,1759,1835,4026.3,7.5,480,22089,0.00,2.08,4.47,2.190,9222,0.000,0.052,3460,2299,1788,1751,1826,0,0,0,0,0,0,28.83,26.21,23.03
$GC,22438,1.24,122.0,3460,2299,1751,1827,3998.5,7.8,486,22440,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2299,1789,1751,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22737,1.24,124.4,3460,2299,1751,1827,3975.2,7.5,491,22748,0.00,2.17,4.50,2.188,8708,0.000,0.060,3471,904,1778,1739,1818,0,0,0,0,0,0,28.83,26.13,23.20
$GC,22920,1.24,125.5,3471,904,1739,1818,3961.5,7.7,494,22924,0.00,2.10,0.00,0.000,1030,0.000,0.052,3466,2305,1778,1739,1817,0,0,0,0,0,0,28.83,26.26,28.83
$GC,23272,1.24,127.9,3466,2306,1739,1817,3934.5,7.5,500,23284,0.00,2.20,5.32,2.416,8708,0.000,0.062,3476,901,1766,1728,1805,0,0,0,0,0,0,28.83,26.07,23.17
$GC,23461,1.24,129.6,3476,901,1727,1805,3920.5,7.6,503,23465,0.00,2.10,0.00,0.000,1030,0.000,0.052,3476,2301,1766,1727,1805,0,0,0,0,0,0,28.83,26.24,28.83
$GC,23808,1.24,131.1,3476,2301,1727,1805,3892.8,7.7,509,23815,0.00,0.00,4.72,2.232,8198,0.000,0.000,3476,2301,1755,1716,1794,0,0,0,0,0,0,28.83,28.83,23.19
$GC,24108,1.24,131.1,3476,2301,1716,1794,3868.9,8.1,514,24114,0.00,2.12,0.00,0.000,516,0.000,0.057,3486,903,1754,1715,1794,0,0,0,0,0,0,28.83,26.25,28.83
$GC,24247,1.24,131.1,3486,903,1715,1794,3859.2,8.0,516,24252,0.15,2.10,0.00,0.000,5126,0.231,0.052,3450,2306,1754,1715,1794,0,0,0,0,0,0,25.74,26.28,28.83
$GC,24585,1.24,135.1,3450,2306,1715,1794,3833.5,7.1,522,24596,0.00,2.17,5.25,2.369,8708,0.000,0.060,3460,905,1742,1703,1781,0,0,0,0,0,0,28.83,26.08,23.21
$GC,24662,1.24,138.8,3459,906,1702,1781,3829.1,7.2,523,24672,0.00,2.10,5.40,2.399,9222,0.000,0.052,3460,2301,1729,1689,1769,0,0,0,0,0,0,28.83,26.19,22.99
$GC,25000,1.24,138.8,3460,2301,1689,1769,3800.0,8.3,529,25006,0.00,2.12,0.00,0.000,516,0.000,0.055,3470,904,1729,1689,1769,0,0,0,0,0,0,28.83,26.23,28.83
$GC,25078,1.24,138.8,3470,904,1689,1769,3795.0,8.2,530,25082,0.00,2.10,0.00,0.000,1030,0.000,0.052,3466,2307,1729,1689,1769,0,0,0,0,0,0,28.83,26.27,28.83
$GC,25415,1.24,141.7,3466,2307,1689,1769,3768.4,7.3,536,25424,0.00,2.20,4.28,2.036,8708,0.000,0.060,3476,900,1720,1680,1761,0,0,0,0,0,0,28.83,26.13,23.25
$GC,25465,1.24,144.6,3476,900,1679,1761,3768.4,7.3,536,25475,0.00,2.10,4.78,2.197,9222,0.000,0.052,3476,2300,1709,1669,1750,0,0,0,0,0,0,28.83,26.20,23.06
$GC,25832,1.24,144.6,3476,2300,1669,1750,3735.4,8.2,543,25833,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2300,1710,1669,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26133,1.24,144.6,3476,2300,1669,1750,3711.4,8.0,548,26139,0.00,2.10,0.00,0.000,516,0.000,0.057,3487,908,1709,1668,1751,0,0,0,0,0,0,28.83,26.25,28.83
$GC,26221,1.24,145.0,3486,907,1668,1750,3706.8,7.9,549,26225,0.15,2.10,0.00,0.000,5126,0.228,0.052,3450,2312,1709,1668,1750,0,0,0,0,0,0,25.75,26.28,28.83
$GC,26548,1.24,151.3,3449,2312,1668,1751,3682.6,6.6,555,26561,0.00,2.15,7.68,2.711,8708,0.000,0.065,3460,908,1686,1644,1729,0,0,0,0,0,0,28.83,25.94,23.13
$GC,26751,1.24,154.8,3460,908,1645,1729,3669.4,7.2,558,26761,0.00,2.08,4.95,2.222,9222,0.000,0.052,3460,2303,1675,1634,1716,0,0,0,0,0,0,28.83,26.21,23.09
$GC,27078,1.24,154.8,3459,2303,1635,1716,3638.3,8.9,564,27080,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2303,1675,1634,1716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27378,1.24,154.8,3459,2303,1634,1716,3613.0,8.5,569,27379,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2303,1675,1634,1716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27679,1.29,154.9,3459,2303,1634,1716,3589.1,8.0,574,27685,0.00,2.17,0.00,0.000,260,0.000,0.065,3460,3696,1675,1634,1716,0,0,0,0,0,0,28.83,26.19,28.83
$GC,27757,1.29,155.0,3459,3696,1634,1715,3584.3,8.0,575,27762,0.00,2.10,0.00,0.000,1030,0.000,0.050,3470,2292,1675,1634,1716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,28094,1.29,157.2,3469,2292,1634,1715,3556.7,7.5,581,28100,0.00,2.08,0.00,0.000,516,0.000,0.057,3481,911,1675,1634,1716,0,0,0,0,0,0,28.83,26.23,28.83
$GC,28229,1.29,160.5,3480,911,1634,1715,3548.1,7.3,583,28241,0.00,2.08,7.07,2.577,9222,0.000,0.052,3480,2311,1655,1616,1695,0,0,0,0,0,0,28.83,26.26,23.18
$GC,28574,1.29,160.5,3479,2311,1615,1696,3518.9,8.2,589,28577,0.00,2.15,0.00,0.000,516,0.000,0.057,3490,924,1655,1615,1696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,28648,1.29,160.5,3490,902,1614,1696,3513.7,8.2,590,28652,0.00,2.10,0.00,0.000,1030,0.000,0.052,3490,2303,1655,1614,1696,0,0,0,0,0,0,28.83,26.26,28.83
$GC,28991,1.29,160.7,3490,2304,1614,1695,3484.9,8.0,596,28992,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2304,1655,1614,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29290,1.29,161.6,3490,2304,1614,1696,3461.7,7.8,601,29296,0.00,2.12,0.00,0.000,516,0.000,0.057,3500,905,1655,1614,1696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,29389,1.29,163.1,3500,906,1615,1696,3457.1,7.7,602,29398,0.15,2.10,3.88,1.753,13318,0.228,0.052,3463,2307,1647,1608,1687,0,0,0,0,0,0,25.70,26.26,23.30
$GC,29706,1.36,166.5,3462,2307,1608,1687,3431.1,7.2,608,29717,0.00,2.20,4.75,2.076,8708,0.000,0.060,3473,901,1636,1596,1676,0,0,0,0,0,0,28.83,26.09,23.24
$GC,29895,1.42,168.4,3473,901,1596,1677,3417.3,7.6,611,29900,0.05,2.08,0.00,0.000,3078,0.196,0.052,3491,2301,1636,1596,1676,0,0,0,0,0,0,26.13,26.22,28.83
$GC,30242,1.42,170.4,3491,2301,1596,1677,3390.0,7.5,617,30254,0.00,2.15,5.90,2.324,8708,0.000,0.062,3502,915,1621,1580,1663,0,0,0,0,0,0,28.83,26.06,23.24
$GC,30357,1.42,172.2,3501,915,1580,1663,3385.3,7.6,618,30363,0.00,2.08,0.00,0.000,1030,0.000,0.052,3497,2300,1621,1580,1663,0,0,0,0,0,0,28.83,26.18,28.83
$GC,30662,1.42,172.3,3497,2300,1580,1663,3356.1,8.0,624,30668,0.00,2.10,0.00,0.000,516,0.000,0.057,3507,909,1621,1580,1663,0,0,0,0,0,0,28.83,26.22,28.83
$GC,30815,1.42,172.3,3507,910,1580,1663,3346.3,8.0,626,30819,0.00,2.08,0.00,0.000,1030,0.000,0.052,3506,2300,1621,1580,1663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,31137,1.42,173.6,3506,2300,1580,1663,3318.5,7.7,632,31148,0.00,2.17,4.55,1.972,8708,0.000,0.060,3516,906,1611,1570,1652,0,0,0,0,0,0,28.83,26.12,23.32
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$STATE,65835,end climb,SURFACE_DEPTH_REACHED
$STATE,65835,begin surface coast
$FINISH,-0.1,1.012908
$STATE,65847,end surface coast,CONTROL_FINISHED_OK
$STATE,65847,begin surface
$SM_CCo,65868,11.62,0.899,0,0,1182,300.22
$SM_GC,3.31,9.15,2.88,11.62,0.060,0.047,0.899,230,1804,1182,-8.76,1.64,300.22,0,0,0,0,0,0,25.99,26.23,24.08
$IRIDIUM_FIX,3130.35,-6406.85,040514,121227
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.25
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,21.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4440.2,17.1
$24V_AH,19.7,69.565
$10V_AH,10.1,18.109
$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,27.975,514.726,396.075,11.625,0.000,25.358,18.566,388.042,24.750,0.000,35.999,5056.261,51847.969,720.834,8084.762,747.882,0.384,4658.127,0.000,7340.807,0.000,186.286,0.000
$DEVICE_MAMPS,260.715,79.456,3848.650,898.846,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.850,1790.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,86977,1356
$CAP_FILE_SIZE,562702,0
$CFSIZE,260165632,227237888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060514,060923,3131.252,-6425.889,39,1.1,39,-15.4