version: 66.12
glider: 35
mission: 22
dive: 126
start: 5 22 114 14 50 40
data:
$ID,35
$MISSION,22
$DIVE,126
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$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,3000
$T_MISSION,3030
$T_ABORT,3060
$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,250
$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,-998693.88
$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,68
$R_STBD_OVSHOOT,52
$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,18.5
$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
$GPS1,220514,143500,3137.805,-6436.568,41,1.6,41,-15.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.9
$GPS2,220514,145012,3137.844,-6436.554,30,1.7,36,-15.3
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,SS06
$TGT_LATLONG,3129.220,-6431.920
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.020,-0.057
$KALMAN_X,-67196.0,0.0,0.0,54161.2,3812.4
$KALMAN_Y,-88447.6,0.0,0.0,22488.0,-6229.6
$MHEAD_RNG_PITCHd_Wd,176.0,17568,-43.2,-6.000,-45.00,359
$D_GRID,5400
$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,-1.66,-14.1,215,1792,738,920,0.0,0.0,0,92,0.00,0.00,-71.85,0.000,16390,0.000,0.000,215,1792,2047,2057,2038,0,0,0,0,0,0,28.83,28.83,25.94
$GC,95,-1.66,-21.5,215,1792,2057,2038,3.0,-3.9,7,111,9.62,2.17,-1.35,0.000,18692,0.263,0.055,2505,3204,2073,2079,2068,0,0,0,0,0,0,25.13,26.19,25.93
$GC,338,-1.42,-21.5,2505,3218,2069,2068,55.9,-24.0,31,345,0.32,2.08,0.00,0.000,3078,0.253,0.050,2590,1760,2068,2069,2068,0,0,0,0,0,0,25.19,26.34,28.83
$GC,646,-1.26,-21.5,2590,1760,2067,2068,117.2,-17.1,62,655,0.20,1.92,0.00,0.000,2564,0.251,0.057,2650,429,2067,2067,2068,0,0,0,0,0,0,25.54,26.24,28.83
$GC,798,-1.10,-21.5,2649,429,2067,2068,143.7,-17.5,77,807,0.25,2.00,0.00,0.000,3078,0.258,0.050,2696,1833,2067,2066,2068,0,0,0,0,0,0,25.31,26.34,28.83
$GC,1109,-1.03,-21.5,2695,1833,2066,2068,189.6,-13.5,95,1115,0.00,2.08,0.00,0.000,516,0.000,0.060,2703,434,2067,2067,2068,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1252,-0.92,-21.5,2703,434,2066,2068,210.6,-15.5,102,1257,0.25,1.95,0.00,0.000,3078,0.246,0.050,2751,1805,2067,2067,2068,0,0,0,0,0,0,25.39,26.35,28.83
$GC,1566,-0.92,-21.5,2751,1805,2066,2068,262.2,-17.2,118,1571,0.00,2.00,0.00,0.000,260,0.000,0.060,2741,3182,2067,2067,2068,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1584,-0.92,-21.5,2741,3182,2066,2068,265.7,-17.4,119,1588,0.00,1.95,0.00,0.000,1030,0.000,0.050,2749,1821,2067,2067,2068,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1890,-0.92,-21.5,2748,1822,2067,2068,320.3,-18.7,133,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1822,2067,2067,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.92,-21.5,2748,1821,2066,2068,377.2,-18.9,143,2196,0.00,2.08,0.00,0.000,516,0.000,0.060,2751,403,2067,2067,2068,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2424,-0.92,-21.5,2750,403,2066,2068,420.5,-20.7,150,2430,0.00,2.00,0.00,0.000,1030,0.000,0.050,2740,1803,2067,2066,2068,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2731,-0.92,-21.5,2740,1803,2066,2068,484.7,-19.9,161,2737,0.00,2.05,0.00,0.000,516,0.000,0.060,2740,414,2067,2066,2068,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2965,-0.92,-21.5,2740,414,2066,2068,530.3,-22.0,168,2971,0.00,1.98,0.00,0.000,1030,0.000,0.050,2730,1803,2067,2066,2068,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3271,-0.92,-21.5,2730,1803,2066,2068,599.2,-20.7,179,3277,0.00,2.05,0.00,0.000,516,0.000,0.060,2730,415,2066,2066,2067,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3505,-0.92,-21.5,2730,416,2066,2068,648.9,-23.2,186,3512,0.15,1.95,0.00,0.000,3078,0.251,0.050,2752,1798,2067,2066,2068,0,0,0,0,0,0,25.70,26.36,28.83
$GC,3812,-0.92,-21.5,2751,1798,2065,2068,721.7,-21.7,197,3817,0.00,2.05,0.00,0.000,260,0.000,0.057,2742,3190,2066,2065,2068,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4046,-0.92,-21.5,2742,3190,2065,2068,770.8,-23.0,204,4053,0.00,2.03,0.00,0.000,1030,0.000,0.050,2742,1804,2066,2065,2067,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4353,-0.97,-21.5,2742,1804,2062,2068,846.4,-22.2,215,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1804,2064,2062,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4654,-1.03,-21.5,2742,1804,2061,2067,916.8,-24.4,225,4658,0.00,2.05,0.00,0.000,516,0.000,0.060,2742,419,2064,2061,2067,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4884,-1.03,-21.5,2742,411,2059,2068,971.4,-25.5,232,4888,0.00,1.98,0.00,0.000,1030,0.000,0.050,2732,1802,2064,2060,2068,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5222,-1.10,-21.5,2732,1802,2058,2067,1063.4,-25.9,239,5228,0.08,2.03,0.00,0.000,4356,0.149,0.055,2693,3187,2062,2058,2067,0,0,0,0,0,0,26.46,26.28,28.83
$GC,5454,-1.16,-21.5,2693,3187,2058,2065,1113.7,-27.5,242,5461,0.00,2.05,0.00,0.000,1030,0.000,0.050,2693,1797,2061,2058,2065,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5762,-1.21,-21.5,2693,1796,2054,2065,1218.7,-29.4,248,5767,0.00,2.05,0.00,0.000,516,0.000,0.060,2693,398,2059,2054,2065,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5995,-1.21,-21.5,2693,398,2051,2066,1276.4,-31.5,251,6002,0.00,2.00,0.00,0.000,1030,0.000,0.050,2683,1795,2058,2051,2066,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6301,-1.27,-21.5,2682,1795,2050,2063,1389.1,-31.2,257,6308,0.08,2.08,0.00,0.000,4612,0.144,0.057,2646,400,2056,2050,2063,0,0,0,0,0,0,26.47,26.23,28.83
$GC,6535,-1.27,-21.5,2646,400,2049,2063,1451.5,-33.9,260,6541,0.00,2.03,0.00,0.000,1030,0.000,0.050,2636,1810,2056,2049,2064,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6841,-1.27,-21.5,2636,1810,2048,2061,1570.8,-32.7,266,6846,0.00,2.12,0.00,0.000,516,0.000,0.057,2636,406,2054,2048,2061,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7074,-1.27,-21.5,2636,405,2043,2061,1632.4,-33.9,269,7081,0.00,2.03,0.00,0.000,1030,0.000,0.050,2625,1812,2052,2044,2061,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7381,-1.27,-21.5,2625,1812,2043,2058,1749.1,-32.0,275,7386,0.00,2.12,0.00,0.000,516,0.000,0.060,2626,407,2050,2043,2058,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7614,-1.27,-21.5,2625,406,2041,2058,1808.9,-33.0,278,7621,0.00,2.03,0.00,0.000,1030,0.000,0.050,2615,1806,2049,2041,2058,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7921,-1.27,-21.5,2615,1807,2041,2057,1921.8,-31.0,284,7926,0.00,2.10,0.00,0.000,516,0.000,0.057,2615,407,2049,2041,2057,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8154,-1.27,-21.5,2614,407,2039,2057,1980.1,-32.1,287,8162,0.15,2.03,0.00,0.000,3078,0.233,0.050,2639,1806,2048,2039,2057,0,0,0,0,0,0,25.72,26.33,28.83
$GC,8461,-1.34,-21.5,2639,1806,2039,2055,2085.2,-28.4,293,8467,0.00,2.10,0.00,0.000,516,0.000,0.057,2639,408,2046,2039,2054,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8695,-1.40,-21.5,2639,408,2036,2055,2139.0,-29.6,296,8701,0.00,2.03,0.00,0.000,1030,0.000,0.050,2630,1803,2045,2036,2055,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9001,-1.47,-21.5,2629,1803,2037,2053,2240.2,-27.8,302,9008,0.12,2.10,0.00,0.000,4612,0.124,0.057,2580,402,2044,2036,2053,0,0,0,0,0,0,26.36,26.20,28.83
$GC,9234,-1.47,-21.5,2579,402,2034,2053,2295.8,-30.2,305,9241,0.00,2.03,0.00,0.000,1030,0.000,0.050,2571,1805,2043,2034,2053,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9542,-1.47,-21.5,2570,1805,2034,2052,2402.2,-29.1,311,9547,0.00,2.10,0.00,0.000,516,0.000,0.060,2570,408,2043,2034,2052,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9774,-1.47,-21.5,2570,408,2032,2052,2456.7,-30.0,314,9781,0.00,2.05,0.00,0.000,1030,0.000,0.050,2560,1808,2042,2033,2052,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10082,-1.47,-21.5,2560,1808,2032,2051,2559.3,-28.1,320,10087,0.00,2.12,0.00,0.000,516,0.000,0.057,2560,399,2041,2032,2051,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10314,-1.47,-21.5,2560,399,2031,2051,2612.0,-29.1,323,10321,0.00,2.05,0.00,0.000,1030,0.000,0.050,2550,1799,2041,2031,2051,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10622,-1.47,-21.5,2549,1799,2030,2050,2710.8,-27.2,329,10627,0.00,2.12,0.00,0.000,516,0.000,0.057,2551,407,2040,2031,2050,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10854,-1.47,-21.5,2550,407,2029,2050,2761.6,-28.0,332,10862,0.15,2.05,0.00,0.000,3078,0.238,0.050,2574,1803,2039,2029,2050,0,0,0,0,0,0,25.65,26.30,28.83
$GC,11162,-1.54,-21.5,2573,1804,2029,2049,2853.9,-25.1,338,11167,0.00,2.10,0.00,0.000,516,0.000,0.060,2574,410,2039,2029,2049,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11395,-1.59,-21.5,2574,410,2028,2049,2900.5,-25.7,341,11402,0.00,2.03,0.00,0.000,1030,0.000,0.050,2565,1805,2038,2028,2049,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11701,-1.66,-21.5,2564,1805,2028,2048,2987.8,-23.8,347,11708,0.10,2.12,0.00,0.000,4612,0.124,0.057,2526,408,2038,2028,2049,0,0,0,0,0,0,26.43,26.15,28.83
$GC,11936,-1.66,-21.5,2526,408,2027,2048,3035.4,-25.6,350,11943,0.00,2.03,0.00,0.000,1030,0.000,0.050,2516,1802,2038,2027,2049,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12243,-1.66,-21.5,2516,1802,2027,2048,3122.3,-23.7,356,12248,0.00,2.12,0.00,0.000,516,0.000,0.060,2516,400,2037,2027,2048,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12476,-1.66,-21.5,2516,400,2026,2048,3166.7,-24.4,359,12482,0.00,2.05,0.00,0.000,1030,0.000,0.050,2506,1808,2037,2026,2048,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12783,-1.66,-21.5,2506,1809,2026,2047,3250.9,-23.2,365,12788,0.00,2.15,0.00,0.000,516,0.000,0.057,2506,402,2037,2026,2048,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13016,-1.66,-21.5,2506,401,2025,2048,3294.2,-23.9,368,13022,0.00,2.05,0.00,0.000,1030,0.000,0.050,2496,1809,2036,2025,2047,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13323,-1.66,-21.5,2496,1810,2025,2047,3375.1,-22.0,374,13328,0.00,2.15,0.00,0.000,516,0.000,0.057,2497,404,2036,2025,2047,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13545,-1.66,-21.5,2497,404,2024,2047,3417.8,-23.4,377,13549,0.00,2.05,0.00,0.000,1030,0.000,0.050,2487,1805,2035,2024,2047,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13863,-1.66,-21.5,2487,1805,2024,2047,3496.6,-21.4,383,13868,0.00,2.12,0.00,0.000,516,0.000,0.060,2487,404,2035,2024,2047,0,0,0,0,0,0,28.83,26.11,28.83
$GC,14063,-1.66,-21.5,2487,404,2023,2047,3537.8,-22.3,386,14068,0.17,2.05,0.00,0.000,3078,0.223,0.050,2518,1805,2035,2023,2047,0,0,0,0,0,0,25.51,26.27,28.83
$GC,14402,-1.74,-21.5,2517,1805,2024,2046,3609.2,-19.8,392,14406,0.00,2.15,0.00,0.000,516,0.000,0.060,2518,400,2034,2023,2046,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14588,-1.79,-21.5,2518,400,2023,2046,3647.8,-20.6,395,14593,0.00,2.03,0.00,0.000,1030,0.000,0.050,2508,1800,2034,2023,2046,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14947,-1.86,-21.5,2508,1799,2022,2045,3718.1,-19.4,401,14953,0.12,2.08,0.00,0.000,4612,0.119,0.057,2455,409,2034,2023,2046,0,0,0,0,0,0,26.33,26.09,28.83
$GC,15166,-1.86,-21.5,2455,408,2021,2046,3758.1,-21.0,404,15170,0.00,2.03,0.00,0.000,1030,0.000,0.047,2446,1803,2033,2021,2046,0,0,0,0,0,0,28.83,26.26,28.83
$GC,15492,-1.86,-21.5,2445,1804,2021,2046,3831.4,-20.4,410,15497,0.00,2.12,0.00,0.000,516,0.000,0.057,2446,403,2033,2021,2045,0,0,0,0,0,0,28.83,26.08,28.83
$GC,15652,-1.86,-21.5,2445,403,2021,2046,3858.2,-20.5,412,15657,0.00,2.05,0.00,0.000,1030,0.000,0.047,2435,1809,2033,2021,2046,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15979,-1.86,-21.5,2435,1810,2021,2045,3928.1,-19.0,418,15984,0.00,2.12,0.00,0.000,516,0.000,0.060,2435,408,2033,2021,2045,0,0,0,0,0,0,28.83,26.08,28.83
$GC,16095,-1.86,-21.5,2434,408,2021,2045,3940.8,-19.0,419,16105,0.00,2.03,0.00,0.000,1030,0.000,0.047,2425,1801,2033,2021,2046,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16403,-1.86,-21.5,2424,1801,2021,2045,4007.3,-18.1,425,16408,0.00,2.12,0.00,0.000,516,0.000,0.060,2425,402,2033,2021,2045,0,0,0,0,0,0,28.83,26.07,28.83
$GC,16587,-1.86,-21.5,2424,402,2020,2045,4041.6,-18.5,428,16592,0.17,2.05,0.00,0.000,3078,0.233,0.047,2460,1808,2032,2020,2045,0,0,0,0,0,0,25.32,26.24,28.83
$GC,16953,-1.91,-21.5,2460,1808,2020,2045,4098.6,-15.3,434,16959,0.00,2.12,0.00,0.000,516,0.000,0.060,2466,411,2032,2020,2045,0,0,0,0,0,0,28.83,26.06,28.83
$GC,17096,-1.91,-21.5,2466,411,2020,2045,4117.6,-15.3,436,17100,0.00,2.03,0.00,0.000,1030,0.000,0.047,2456,1804,2032,2020,2045,0,0,0,0,0,0,28.83,26.25,28.83
$GC,17432,-1.96,-21.5,2456,1804,2020,2045,4170.8,-14.8,442,17437,0.08,2.10,0.00,0.000,4612,0.144,0.057,2429,402,2032,2020,2045,0,0,0,0,0,0,26.43,26.05,28.83
$GC,17505,-1.96,-21.5,2429,401,2020,2045,4180.9,-15.1,443,17509,0.00,2.05,0.00,0.000,1030,0.000,0.047,2419,1806,2032,2020,2045,0,0,0,0,0,0,28.83,26.23,28.83
$GC,17850,-1.96,-21.5,2419,1806,2020,2045,4234.5,-14.9,449,17851,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1806,2032,2020,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18148,-1.96,-21.5,2419,1806,2020,2044,4278.0,-14.4,454,18153,0.00,2.10,0.00,0.000,516,0.000,0.057,2419,404,2032,2020,2045,0,0,0,0,0,0,28.83,26.04,28.83
$GC,18217,-1.96,-21.5,2419,404,2019,2045,4286.8,-14.4,455,18221,0.00,2.05,0.00,0.000,1030,0.000,0.047,2409,1811,2032,2019,2045,0,0,0,0,0,0,28.83,26.22,28.83
$GC,18566,-1.96,-21.5,2409,1811,2019,2044,4335.9,-13.7,461,18567,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1811,2031,2019,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18865,-1.96,-21.5,2409,1810,2019,2044,4375.6,-13.1,466,18867,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1810,2031,2019,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19165,-1.96,-21.5,2409,1811,2019,2044,4413.2,-12.5,471,19166,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1811,2031,2019,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19464,-1.96,-21.5,2409,1811,2019,2044,4449.3,-12.0,476,19465,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1811,2031,2019,2044,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,19642,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,19642,begin apogee
$GC,19649,-0.19,0.0,2405,2297,2020,2043,4470.4,-11.7,479,19666,2.10,0.00,10.70,3.352,10246,0.206,0.000,2981,2297,2000,1986,2014,0,0,0,0,0,0,24.37,28.83,21.62
$STATE,19667,end apogee,CONTROL_FINISHED_OK
$STATE,19667,begin climb
$GC,19669,1.66,21.5,2981,2297,1986,2014,4470.4,0.0,479,19698,1.58,2.30,21.58,3.732,10500,0.055,0.074,3630,3688,1927,1905,1949,0,0,0,0,0,0,25.77,24.65,21.63
$GC,19925,1.66,21.5,3629,3688,1905,1949,4464.6,1.4,482,19930,0.25,2.10,0.00,0.000,5126,0.268,0.047,3585,2286,1927,1905,1949,0,0,0,0,0,0,25.18,26.19,28.83
$GC,20239,1.59,52.2,3585,2283,1905,1949,4472.7,-2.8,488,20271,0.00,0.00,30.15,3.829,8198,0.000,0.000,3585,2282,1823,1792,1855,0,0,0,0,0,0,28.83,28.83,21.78
$GC,20540,1.51,52.2,3585,2282,1792,1854,4449.4,10.0,493,20546,0.17,2.05,0.00,0.000,4612,0.258,0.055,3551,905,1823,1792,1854,0,0,0,0,0,0,25.62,26.19,28.83
$GC,20643,1.44,52.2,3551,905,1791,1854,4443.1,10.9,494,20648,0.15,2.08,0.00,0.000,5126,0.256,0.052,3515,2299,1822,1791,1854,0,0,0,0,0,0,25.67,26.26,28.83
$GC,20956,1.44,52.2,3515,2299,1791,1854,4407.3,9.7,500,20957,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2298,1822,1791,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21255,1.44,52.2,3515,2298,1791,1854,4380.4,8.8,505,21261,0.00,2.10,0.00,0.000,516,0.000,0.055,3526,901,1822,1791,1854,0,0,0,0,0,0,28.83,26.22,28.83
$GC,21338,1.44,52.2,3526,901,1791,1854,4375.3,8.6,506,21342,0.00,2.08,0.00,0.000,1030,0.000,0.052,3518,2309,1822,1791,1854,0,0,0,0,0,0,28.83,26.25,28.83
$GC,21671,1.44,52.2,3518,2309,1791,1854,4347.0,7.7,512,21672,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2309,1822,1791,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21970,1.44,52.2,3518,2309,1791,1853,4325.5,6.9,517,21974,0.00,2.12,0.00,0.000,516,0.000,0.055,3528,903,1822,1791,1854,0,0,0,0,0,0,28.83,26.20,28.83
$GC,22085,1.44,52.2,3528,903,1791,1854,4321.7,6.8,518,22091,0.00,2.10,0.00,0.000,1030,0.000,0.052,3518,2311,1822,1792,1853,0,0,0,0,0,0,28.83,26.24,28.83
$GC,22392,1.44,52.2,3518,2311,1791,1853,4298.7,6.3,524,22393,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2311,1822,1791,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22692,1.44,53.3,3518,2311,1791,1853,4281.8,5.7,529,22697,0.00,2.12,0.00,0.000,516,0.000,0.055,3528,912,1822,1791,1853,0,0,0,0,0,0,28.83,26.18,28.83
$GC,22813,1.44,55.5,3528,912,1791,1853,4275.3,5.4,531,22824,0.00,2.03,4.82,2.404,9222,0.000,0.052,3519,2301,1811,1782,1841,0,0,0,0,0,0,28.83,26.23,23.06
$GC,23174,1.44,55.8,3518,2302,1782,1841,4254.3,5.9,537,23179,0.00,2.10,0.00,0.000,516,0.000,0.055,3529,912,1811,1781,1841,0,0,0,0,0,0,28.83,26.19,28.83
$GC,23275,1.44,56.4,3529,912,1782,1841,4250.8,5.8,538,23279,0.00,2.05,0.00,0.000,1030,0.000,0.050,3520,2303,1811,1781,1841,0,0,0,0,0,0,28.83,26.23,28.83
$GC,23588,1.44,59.4,3519,2303,1782,1841,4232.0,5.1,544,23595,0.00,0.00,5.38,2.545,8198,0.000,0.000,3520,2303,1798,1768,1829,0,0,0,0,0,0,28.83,28.83,23.08
$GC,23887,1.44,59.4,3520,2303,1768,1829,4214.6,6.0,549,23892,0.00,2.12,0.00,0.000,516,0.000,0.055,3530,905,1798,1768,1829,0,0,0,0,0,0,28.83,26.19,28.83
$GC,24012,1.44,59.8,3530,905,1768,1829,4207.6,5.9,551,24017,0.00,2.08,0.00,0.000,1030,0.000,0.052,3530,2298,1798,1767,1829,0,0,0,0,0,0,28.83,26.23,28.83
$GC,24367,1.44,63.0,3530,2298,1768,1829,4188.6,5.1,557,24374,0.00,0.00,5.18,2.481,8198,0.000,0.000,3530,2298,1786,1756,1817,0,0,0,0,0,0,28.83,28.83,23.10
$GC,24667,1.44,63.4,3530,2298,1756,1817,4171.3,5.9,562,24672,0.00,2.10,0.00,0.000,516,0.000,0.055,3540,905,1786,1756,1817,0,0,0,0,0,0,28.83,26.19,28.83
$GC,24766,1.44,63.6,3540,905,1756,1817,4167.6,5.9,563,24770,0.00,2.08,0.00,0.000,1030,0.000,0.052,3534,2309,1786,1756,1817,0,0,0,0,0,0,28.83,26.22,28.83
$GC,25083,1.44,66.0,3533,2309,1756,1816,4148.3,5.3,569,25094,0.00,2.20,4.70,2.324,8708,0.000,0.060,3544,904,1776,1746,1807,0,0,0,0,0,0,28.83,26.06,23.11
$GC,25192,1.44,68.5,3544,904,1745,1808,4145.1,5.3,570,25204,0.15,2.08,4.25,2.148,13318,0.251,0.052,3511,2306,1767,1737,1797,0,0,0,0,0,0,25.59,26.21,22.96
$GC,25502,1.44,68.5,3511,2306,1737,1798,4122.2,6.5,576,25503,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2306,1767,1737,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25802,1.44,69.2,3511,2306,1737,1798,4104.6,5.8,581,25808,0.00,2.12,0.00,0.000,516,0.000,0.055,3522,908,1767,1737,1797,0,0,0,0,0,0,28.83,26.19,28.83
$GC,25924,1.44,70.3,3521,908,1736,1797,4097.6,5.7,583,25928,0.00,2.08,0.00,0.000,1030,0.000,0.052,3520,2310,1767,1736,1798,0,0,0,0,0,0,28.83,26.23,28.83
$GC,26286,1.44,72.8,3519,2310,1737,1798,4078.4,5.3,589,26297,0.00,2.17,5.55,2.535,8708,0.000,0.060,3530,911,1753,1722,1785,0,0,0,0,0,0,28.83,26.01,23.11
$GC,26396,1.44,76.3,3530,911,1721,1785,4075.3,5.0,590,26406,0.00,2.08,5.20,2.443,9222,0.000,0.052,3530,2309,1741,1709,1773,0,0,0,0,0,0,28.83,26.20,22.94
$GC,26705,1.44,76.3,3530,2309,1710,1773,4049.7,7.3,596,26711,0.00,2.12,0.00,0.000,516,0.000,0.055,3541,911,1741,1709,1773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,26835,1.44,76.3,3540,911,1709,1774,4041.2,7.2,598,26839,0.00,2.05,0.00,0.000,1030,0.000,0.050,3533,2301,1741,1709,1773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,27182,1.44,76.3,3533,2301,1709,1773,4018.0,6.3,604,27183,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2301,1741,1709,1773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27483,1.44,76.6,3533,2301,1709,1773,4000.1,5.9,609,27484,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2301,1741,1709,1774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27782,1.44,78.3,3533,2301,1709,1773,3983.3,5.5,614,27787,0.00,2.12,0.00,0.000,516,0.000,0.055,3543,905,1741,1709,1773,0,0,0,0,0,0,28.83,26.16,28.83
$GC,28016,1.44,80.2,3543,906,1709,1774,3973.4,5.5,617,28029,0.15,2.10,5.53,2.483,13318,0.243,0.052,3510,2308,1728,1695,1761,0,0,0,0,0,0,25.52,26.20,23.13
$GC,28383,1.44,80.3,3509,2308,1695,1761,3949.5,6.0,624,28388,0.00,2.12,0.00,0.000,516,0.000,0.055,3520,904,1728,1695,1761,0,0,0,0,0,0,28.83,26.17,28.83
$GC,28481,1.44,80.7,3520,904,1695,1762,3946.1,5.9,625,28484,0.00,2.10,0.00,0.000,1030,0.000,0.052,3520,2305,1728,1695,1762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,28797,1.44,84.5,3520,2305,1695,1762,3927.9,4.9,631,28809,0.00,2.22,5.75,2.518,8452,0.000,0.067,3520,3697,1713,1679,1747,0,0,0,0,0,0,28.83,25.98,23.13
$GC,28886,1.44,88.0,3520,3697,1680,1746,3924.5,5.0,632,28895,0.00,2.10,4.72,2.242,9222,0.000,0.047,3531,2298,1702,1667,1737,0,0,0,0,0,0,28.83,26.21,22.93
$GC,29213,1.44,88.0,3530,2298,1667,1737,3900.6,6.8,638,29214,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2298,1702,1667,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29513,1.44,88.0,3530,2298,1667,1737,3881.7,6.3,643,29517,0.00,2.08,0.00,0.000,516,0.000,0.057,3541,909,1702,1667,1737,0,0,0,0,0,0,28.83,26.19,28.83
$GC,29724,1.44,88.1,3541,908,1666,1737,3871.1,6.0,646,29728,0.00,2.08,0.00,0.000,1030,0.000,0.052,3535,2310,1701,1666,1737,0,0,0,0,0,0,28.83,26.22,28.83
$GC,30051,1.44,91.1,3535,2310,1666,1737,3852.4,5.2,652,30062,0.00,2.22,4.75,2.232,8452,0.000,0.065,3533,3698,1691,1657,1726,0,0,0,0,0,0,28.83,26.03,23.18
$GC,30150,1.44,93.8,3533,3698,1657,1725,3849.0,5.2,653,30160,0.15,2.10,4.18,2.019,13318,0.253,0.047,3511,2298,1682,1646,1719,0,0,0,0,0,0,25.58,26.24,22.96
$GC,30468,1.44,93.8,3511,2298,1646,1719,3827.1,6.3,659,30469,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2297,1682,1646,1719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30769,1.44,94.0,3511,2298,1646,1719,3808.9,6.0,664,30774,0.00,2.08,0.00,0.000,516,0.000,0.055,3522,915,1682,1646,1719,0,0,0,0,0,0,28.83,26.18,28.83
$GC,30856,1.44,94.5,3521,915,1645,1719,3805.7,5.8,665,30860,0.00,2.05,0.00,0.000,1030,0.000,0.052,3520,2300,1682,1645,1720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,31184,1.44,96.8,3520,2300,1645,1719,3786.2,5.4,671,31195,0.00,2.17,4.50,2.123,8708,0.000,0.060,3531,904,1672,1635,1709,0,0,0,0,0,0,28.83,26.08,23.21
$GC,31307,1.44,99.2,3530,903,1635,1710,3779.4,5.3,673,31316,0.00,2.08,4.20,2.001,9222,0.000,0.052,3531,2300,1663,1626,1701,0,0,0,0,0,0,28.83,26.20,22.99
$GC,31664,1.44,99.2,3530,2300,1627,1701,3755.9,6.5,679,31665,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2300,1663,1626,1701,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,81465,4.16,254.5,3783,900,1057,1224,656.5,13.7,1561,81469,0.00,2.10,0.00,0.000,3078,0.000,0.055,3783,2307,1140,1057,1224,0,0,0,0,0,0,28.83,26.05,28.83
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$GC,82249,4.16,254.5,3783,2299,1059,1224,524.7,17.7,1587,82252,0.00,2.20,0.00,0.000,2308,0.000,0.067,3783,3695,1141,1058,1224,0,0,0,0,0,0,28.83,25.87,28.83
$GC,82324,4.16,254.5,3783,3701,1060,1224,513.4,18.2,1589,82328,0.00,2.10,0.00,0.000,3078,0.000,0.050,3784,2296,1142,1060,1224,0,0,0,0,0,0,28.83,26.14,28.83
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$GC,84039,4.16,254.5,3790,2306,1055,1220,110.4,22.0,1668,84047,0.00,2.15,0.00,0.000,2308,0.000,0.070,3790,3690,1137,1055,1220,0,0,0,0,0,0,28.83,25.91,28.83
$GC,84274,4.16,254.5,3791,3690,1056,1220,54.7,22.9,1691,84281,0.00,2.10,0.00,0.000,3078,0.000,0.052,3791,2295,1138,1056,1220,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,84510,end climb,SURFACE_DEPTH_REACHED
$STATE,84510,begin surface coast
$FINISH,1.3,1.025340
$STATE,84520,end surface coast,CONTROL_FINISHED_OK
$STATE,84520,begin surface
$SM_CCo,84600,0.00,0.000,0,0,1138,254.76
$SM_GC,1.75,9.40,0.70,0.00,0.070,0.060,0.000,249,1793,1138,-8.71,1.55,254.76,0,0,0,0,0,0,25.82,26.22,28.83
$IRIDIUM_FIX,3125.29,-6427.20,210514,090914
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.35
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,21.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4420.6,75.5
$24V_AH,21.6,78.881
$10V_AH,10.0,22.019
$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,28.575,592.125,355.650,0.000,0.000,84.138,86.691,446.103,24.000,0.000,38.674,6339.495,67136.117,746.003,10195.503,1013.470,0.385,5612.125,0.000,9234.521,0.000,176.722,0.000
$DEVICE_MAMPS,273.130,74.490,3828.786,0.000,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1202.412,2266.646,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330436
$DATA_FILE_SIZE,110178,1716
$CAP_FILE_SIZE,693768,0
$CFSIZE,260165632,223350784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230514,142229,3138.198,-6437.059,61,1.3,66,-15.3