version: 66.12
glider: 37
mission: 17
dive: 93
start: 7 6 117 13 58 16
data:
$ID,37
$MISSION,17
$DIVE,93
$N_DIVES,0
$STOP_T,7061715
$D_SURF,5
$D_FLARE,3
$D_TGT,2160
$D_ABORT,6000
$D_NO_BLEED,50
$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,720
$T_MISSION,750
$T_ABORT,780
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2645
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,1614
$C_ROLL_CLIMB,1625
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3700
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,060717,135344,2602.8748,-7556.8062,2,0.9,15,-8.9,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-48.6
$GPS2,060717,135749,2602.8760,-7556.8374,4,0.8,15,-8.9,2.1,11.3,10,4.9
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,342.1,93616,-20.9,-10.000,-23.52,2226
$D_GRID,2160
$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,int_press,humidity
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.09,-146.0,140,1647,328,519,0.0,0.0,0,180,0.00,0.00,-161.43,0.102,16386,0.000,0.000,140,1647,2737,2669,2805,0,0,0,0,0,0,27.05,28.83,27.06,9.06,12.67
$GC,183,-1.09,-146.0,140,1647,2669,2805,4.2,-5.4,16,203,8.40,2.25,-3.75,0.151,18692,0.263,0.060,2283,3195,2844,2781,2907,0,0,0,0,0,0,25.91,26.41,26.28,9.32,12.86
$GC,620,-1.09,-146.0,2282,3195,2781,2906,71.0,-11.0,59,628,0.00,2.28,0.00,0.000,1030,0.000,0.052,2283,1583,2843,2781,2906,0,0,0,0,0,0,26.72,26.70,26.74,9.31,12.70
$GC,929,-1.09,-146.0,2282,1583,2781,2905,107.5,-12.1,90,932,0.00,2.00,0.00,0.000,516,0.000,0.067,2282,204,2842,2781,2904,0,0,0,0,0,0,27.10,26.62,27.10,9.29,12.94
$GC,1161,-1.09,-146.0,2282,198,2781,2902,136.7,-12.3,113,1165,0.00,1.95,0.00,0.000,1030,0.000,0.052,2272,1627,2841,2781,2902,0,0,0,0,0,0,26.84,26.79,26.86,9.27,12.31
$GC,1482,-1.09,-146.0,2272,1638,2781,2902,175.8,-12.6,135,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1638,2841,2781,2902,0,0,0,0,0,0,27.12,27.14,27.13,9.24,13.77
$GC,1783,-1.09,-146.0,2271,1638,2781,2900,211.7,-12.1,150,1789,0.00,2.12,0.00,0.000,516,0.000,0.065,2274,189,2840,2781,2900,0,0,0,0,0,0,27.13,26.63,27.14,9.22,13.33
$GC,1832,-1.09,-146.0,2274,188,2781,2899,217.1,-13.0,152,1835,0.00,1.98,0.00,0.000,1030,0.000,0.052,2266,1623,2840,2781,2900,0,0,0,0,0,0,26.85,26.80,26.86,9.22,13.96
$GC,2143,-1.09,-146.0,2265,1634,2781,2898,259.9,-13.4,168,2148,0.00,2.10,0.00,0.000,516,0.000,0.065,2266,196,2839,2781,2898,0,0,0,0,0,0,27.13,26.62,27.14,9.20,14.16
$GC,2198,-1.09,-146.0,2265,196,2781,2898,265.9,-13.9,170,2206,0.12,1.98,0.00,0.000,3078,0.199,0.052,2295,1634,2839,2781,2898,0,0,0,0,0,0,26.31,26.79,26.46,9.20,13.89
$GC,2525,-1.09,-146.0,2295,1635,2781,2895,307.4,-12.1,186,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1634,2838,2781,2895,0,0,0,0,0,0,27.13,27.15,27.14,9.18,14.36
$GC,2826,-1.09,-146.0,2294,1635,2781,2894,344.3,-12.6,196,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1635,2837,2780,2894,0,0,0,0,0,0,27.13,27.15,27.14,9.15,14.52
$GC,3125,-1.09,-146.0,2294,1634,2780,2892,382.0,-12.3,206,3132,0.00,2.28,0.00,0.000,260,0.000,0.062,2285,3179,2836,2780,2892,0,0,0,0,0,0,27.13,26.65,27.14,9.15,14.95
$GC,3198,-1.09,-146.0,2285,3179,2779,2892,389.5,-12.4,208,3202,0.00,2.22,0.00,0.000,1030,0.000,0.052,2286,1608,2835,2779,2892,0,0,0,0,0,0,26.81,26.75,26.84,9.14,14.79
$GC,3512,-1.09,-146.0,2285,1608,2778,2890,431.1,-12.8,219,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1608,2834,2778,2890,0,0,0,0,0,0,27.13,27.15,27.15,9.12,15.66
$GC,3810,-1.09,-146.0,2284,1608,2777,2888,469.8,-12.8,229,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1608,2832,2776,2888,0,0,0,0,0,0,27.13,27.15,27.14,9.11,15.54
$GC,4110,-1.09,-146.0,2285,1608,2776,2887,508.6,-12.8,239,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1608,2832,2777,2887,0,0,0,0,0,0,27.13,27.15,27.14,9.09,15.30
$GC,4410,-1.09,-146.0,2285,1608,2775,2885,547.3,-13.2,249,4415,0.00,2.10,0.00,0.000,516,0.000,0.067,2286,197,2830,2775,2885,0,0,0,0,0,0,27.13,26.59,27.14,9.08,15.93
$GC,4485,-1.09,-146.0,2285,198,2775,2884,555.9,-13.2,251,4489,0.00,1.98,0.00,0.000,1030,0.000,0.052,2278,1613,2829,2775,2884,0,0,0,0,0,0,26.83,26.77,26.85,9.07,15.22
$GC,4803,-1.09,-146.0,2277,1612,2774,2882,599.5,-13.1,262,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,1613,2828,2774,2883,0,0,0,0,0,0,27.13,27.14,27.14,9.06,16.13
$GC,5103,-1.09,-146.0,2278,1613,2773,2880,638.7,-13.1,272,5109,0.00,2.33,0.00,0.000,260,0.000,0.062,2266,3164,2827,2773,2881,0,0,0,0,0,0,27.13,26.61,27.14,9.04,15.58
$GC,5150,-1.09,-146.0,2265,3164,2772,2881,642.7,-13.2,273,5155,0.00,2.25,0.00,0.000,1030,0.000,0.055,2266,1612,2827,2773,2881,0,0,0,0,0,0,26.79,26.72,26.82,9.04,15.46
$GC,5462,-1.09,-146.0,2265,1612,2772,2880,686.7,-13.6,284,5468,0.10,2.15,0.00,0.000,2564,0.214,0.067,2299,185,2825,2772,2879,0,0,0,0,0,0,26.48,26.55,26.53,9.01,16.13
$GC,5509,-1.09,-146.0,2298,185,2772,2879,690.8,-13.4,285,5513,0.00,2.03,0.00,0.000,1030,0.000,0.052,2291,1616,2825,2772,2879,0,0,0,0,0,0,26.82,26.76,26.84,9.01,15.70
$GC,5821,-1.16,-146.0,2290,1616,2771,2878,730.3,-12.1,296,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1616,2824,2771,2878,0,0,0,0,0,0,27.13,27.15,27.14,8.98,15.82
$GC,6121,-1.21,-146.0,2290,1616,2769,2878,766.9,-12.4,306,6128,0.08,2.17,0.00,0.000,4612,0.171,0.067,2263,200,2823,2769,2878,0,0,0,0,0,0,26.79,26.53,26.82,8.96,16.33
$GC,6171,-1.21,-146.0,2263,200,2768,2877,771.0,-12.5,307,6175,0.00,2.03,0.00,0.000,1030,0.000,0.052,2255,1618,2823,2769,2877,0,0,0,0,0,0,26.80,26.74,26.82,8.96,15.82
$GC,6476,-1.21,-146.0,2255,1617,2765,2877,818.1,-14.4,317,6481,0.00,2.17,0.00,0.000,516,0.000,0.070,2260,200,2821,2766,2876,0,0,0,0,0,0,27.13,26.51,27.14,8.93,16.05
$GC,6531,-1.21,-146.0,2260,200,2766,2875,822.8,-14.4,318,6538,0.00,2.03,0.00,0.000,1030,0.000,0.055,2253,1614,2820,2766,2875,0,0,0,0,0,0,26.79,26.73,26.82,8.93,16.45
$GC,6838,-1.21,-146.0,2252,1615,2764,2873,871.0,-14.9,329,6844,0.00,2.40,0.00,0.000,260,0.000,0.065,2241,3188,2819,2764,2874,0,0,0,0,0,0,27.12,26.55,27.13,8.92,16.13
$GC,6876,-1.21,-146.0,2240,3188,2763,2874,875.8,-15.1,330,6880,0.00,2.33,0.00,0.000,1030,0.000,0.052,2241,1607,2818,2763,2874,0,0,0,0,0,0,26.74,26.67,26.77,8.91,16.45
$GC,7193,-1.21,-146.0,2241,1606,2763,2871,926.4,-15.6,341,7199,0.00,2.17,0.00,0.000,516,0.000,0.070,2245,185,2816,2762,2871,0,0,0,0,0,0,27.12,26.47,27.13,8.88,15.62
$GC,7266,-1.21,-146.0,2244,185,2763,2869,935.9,-16.0,343,7270,0.00,2.08,0.00,0.000,1030,0.000,0.055,2237,1618,2816,2763,2869,0,0,0,0,0,0,26.77,26.71,26.79,8.88,16.21
$GC,7583,-1.21,-146.0,2236,1618,2761,2869,988.6,-16.0,354,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1618,2814,2761,2868,0,0,0,0,0,0,27.12,27.14,27.13,8.86,16.01
$GC,7913,-1.21,-146.0,2236,1618,2759,2866,1040.5,-15.8,361,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1618,2813,2759,2867,0,0,0,0,0,0,27.12,27.14,27.13,8.84,15.97
$GC,8213,-1.21,-146.0,2236,1618,2758,2865,1088.1,-16.0,366,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1618,2811,2758,2864,0,0,0,0,0,0,27.12,27.14,27.13,8.81,16.45
$GC,8513,-1.21,-146.0,2236,1618,2756,2863,1134.6,-15.3,371,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1618,2809,2756,2863,0,0,0,0,0,0,27.12,27.13,27.13,8.80,16.29
$GC,8814,-1.26,-146.0,2236,1618,2754,2860,1179.8,-15.0,376,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1618,2807,2754,2860,0,0,0,0,0,0,27.11,27.13,27.13,8.78,16.33
$GC,9113,-1.32,-146.0,2236,1618,2752,2858,1224.5,-14.9,381,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1618,2805,2752,2858,0,0,0,0,0,0,27.11,27.13,27.13,8.77,17.04
$GC,9413,-1.38,-146.0,2236,1618,2750,2856,1268.7,-14.7,386,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1618,2803,2750,2857,0,0,0,0,0,0,27.10,27.13,27.13,8.76,16.17
$GC,9713,-1.44,-146.0,2235,1618,2750,2855,1311.2,-14.2,391,9715,0.12,0.00,0.00,0.000,4102,0.181,0.000,2191,1619,2802,2750,2855,0,0,0,0,0,0,26.48,26.60,26.55,8.75,16.96
$GC,10014,-1.44,-146.0,2190,1619,2749,2854,1361.0,-16.7,396,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1619,2801,2749,2854,0,0,0,0,0,0,27.11,27.13,27.13,8.74,16.72
$GC,10313,-1.44,-146.0,2190,1619,2749,2852,1409.7,-16.1,401,10319,0.00,2.28,0.00,0.000,516,0.000,0.072,2192,196,2800,2749,2852,0,0,0,0,0,0,27.11,26.27,27.13,8.74,16.68
$GC,10356,-1.44,-146.0,2192,196,2749,2851,1409.7,-16.1,401,10360,0.00,2.12,0.00,0.000,1030,0.000,0.057,2184,1613,2800,2749,2851,0,0,0,0,0,0,26.66,26.58,26.68,8.73,16.29
$GC,10673,-1.44,-146.0,2183,1613,2748,2849,1468.3,-16.1,407,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1613,2798,2748,2849,0,0,0,0,0,0,27.10,27.13,27.13,8.72,16.80
$GC,10973,-1.44,-146.0,2183,1613,2748,2846,1516.2,-16.0,412,10974,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1613,2796,2747,2846,0,0,0,0,0,0,27.10,27.13,27.12,8.71,16.21
$GC,11274,-1.44,-146.0,2184,1613,2747,2846,1563.8,-15.9,417,11280,0.00,2.45,0.00,0.000,260,0.000,0.070,2172,3181,2796,2747,2846,0,0,0,0,0,0,27.10,26.29,27.13,8.71,16.29
$GC,11306,-1.44,-146.0,2172,3182,2746,2846,1563.8,-15.9,417,11311,0.00,2.38,0.00,0.000,1030,0.000,0.055,2173,1620,2796,2746,2846,0,0,0,0,0,0,26.58,26.49,26.61,8.70,16.41
$GC,11633,-1.44,-146.0,2172,1620,2745,2845,1622.7,-16.4,423,11639,0.00,2.25,0.00,0.000,516,0.000,0.074,2172,187,2795,2745,2845,0,0,0,0,0,0,27.10,26.18,27.12,8.70,16.64
$GC,11681,-1.44,-146.0,2172,187,2746,2844,1622.7,-16.4,423,11686,0.00,2.15,0.00,0.000,1030,0.000,0.057,2162,1623,2795,2746,2844,0,0,0,0,0,0,26.60,26.52,26.63,8.70,16.37
$GC,11993,-1.44,-146.0,2162,1623,2745,2843,1683.6,-16.8,429,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1623,2794,2745,2843,0,0,0,0,0,0,27.10,27.13,27.12,8.70,16.33
$GC,12293,-1.44,-146.0,2161,1623,2744,2842,1733.1,-16.6,434,12294,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1623,2793,2744,2842,0,0,0,0,0,0,27.10,27.13,27.12,8.69,16.49
$GC,12594,-1.44,-146.0,2162,1623,2742,2842,1781.4,-16.1,439,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1623,2792,2743,2842,0,0,0,0,0,0,27.10,27.12,27.11,8.68,16.60
$GC,12893,-1.44,-146.0,2161,1623,2742,2841,1829.5,-15.9,444,12899,0.00,2.47,0.00,0.000,260,0.000,0.067,2150,3194,2791,2742,2840,0,0,0,0,0,0,27.10,26.19,27.12,8.68,16.49
$GC,12928,-1.44,-146.0,2150,3195,2741,2841,1829.5,-15.9,444,12935,0.10,2.42,0.00,0.000,3078,0.271,0.055,2175,1605,2791,2741,2841,0,0,0,0,0,0,25.76,26.41,25.91,8.68,16.41
$GC,13253,-1.50,-146.0,2174,1605,2741,2839,1883.7,-14.8,450,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1605,2790,2741,2840,0,0,0,0,0,0,27.10,27.12,27.12,8.68,16.21
$GC,13553,-1.56,-146.0,2174,1605,2741,2838,1928.3,-14.8,455,13555,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1605,2789,2740,2839,0,0,0,0,0,0,27.10,27.12,27.11,8.68,16.33
$GC,13854,-1.62,-146.0,2174,1605,2740,2837,1972.4,-14.7,460,13860,0.10,2.22,0.00,0.000,4612,0.221,0.074,2148,188,2789,2740,2838,0,0,0,0,0,0,26.36,26.03,26.38,8.67,16.41
$GC,13892,-1.69,-146.0,2147,188,2740,2837,1972.4,-14.7,460,13896,0.08,2.15,0.00,0.000,5126,0.226,0.057,2117,1619,2788,2740,2837,0,0,0,0,0,0,26.09,26.44,26.18,8.67,15.85
$GC,14210,-1.69,-146.0,2116,1619,2740,2837,2033.4,-17.2,466,14215,0.00,2.47,0.00,0.000,260,0.000,0.070,2105,3196,2788,2739,2837,0,0,0,0,0,0,27.10,26.11,27.11,8.66,15.97
$GC,14252,-1.69,-146.0,2103,3196,2739,2837,2033.4,-17.2,466,14256,0.00,2.42,0.00,0.000,1030,0.000,0.057,2105,1611,2788,2739,2837,0,0,0,0,0,0,26.44,26.35,26.48,8.67,16.49
$GC,14565,-1.69,-146.0,2104,1611,2738,2837,2095.1,-17.4,472,14568,0.00,2.22,0.00,0.000,516,0.000,0.079,2105,192,2787,2738,2836,0,0,0,0,0,0,27.09,25.99,27.10,8.67,16.25
$GC,14604,-1.69,-146.0,2104,192,2739,2836,2095.1,-17.4,472,14608,0.00,2.15,0.00,0.000,1030,0.000,0.060,2097,1619,2787,2738,2836,0,0,0,0,0,0,26.49,26.40,26.52,8.66,15.89
$GC,14922,-1.69,-146.0,2096,1619,2738,2836,2158.5,-17.6,478,14923,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1619,2788,2740,2836,0,0,0,0,0,0,27.09,27.11,27.10,8.66,15.93
$STATE,14979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14979,begin apogee
$GC,14984,-0.25,0.0,2096,1619,2738,2836,2168.8,-17.5,479,15102,1.80,0.00,111.22,2.252,10246,0.228,0.000,2560,1619,2340,2288,2392,0,0,0,0,0,0,24.23,24.30,23.06,8.66,15.74
$STATE,15103,end apogee,CONTROL_FINISHED_OK
$STATE,15103,begin climb
$GC,15105,1.09,146.0,2560,1619,2287,2392,2175.5,0.0,481,15244,1.35,2.58,128.82,2.207,11012,0.161,0.087,2998,194,1837,1768,1906,0,0,0,0,0,0,24.51,23.78,22.60,8.62,15.50
$GC,15282,1.09,146.0,2997,194,1768,1906,2191.7,-9.1,484,15288,0.00,2.33,0.00,0.000,1030,0.000,0.060,2998,1636,1837,1768,1906,0,0,0,0,0,0,24.96,24.90,24.98,8.58,15.89
$GC,15643,0.97,556.7,2997,1635,1767,1906,2223.1,-9.0,490,16028,0.15,2.78,374.10,2.222,12548,0.335,0.082,2968,3200,422,313,532,0,0,0,0,0,0,25.62,23.52,22.66,8.58,15.82
$GC,16214,0.82,556.7,2967,3200,307,532,2131.9,27.6,499,16219,0.28,2.50,0.00,0.000,5126,0.286,0.062,2916,1626,419,307,532,0,0,0,0,0,0,25.55,25.91,25.84,8.44,14.87
$GC,16542,0.77,556.7,2915,1626,307,532,2044.8,23.2,505,16543,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1626,419,307,532,0,0,0,0,0,0,26.74,26.75,26.75,8.43,14.52
$GC,16842,0.77,556.7,2916,1626,307,532,1977.0,22.4,510,16843,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1627,419,306,532,0,0,0,0,0,0,26.87,26.89,26.89,8.43,15.70
$GC,17142,0.77,556.7,2916,1626,307,532,1910.9,22.0,515,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1626,419,307,532,0,0,0,0,0,0,26.94,26.96,26.96,8.43,15.15
$GC,17442,0.77,556.7,2915,1626,307,532,1846.0,21.6,520,17443,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1626,419,307,532,0,0,0,0,0,0,26.98,27.00,27.00,8.41,15.78
$GC,17742,0.77,556.7,2915,1626,307,532,1783.7,20.7,525,17743,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1626,419,307,532,0,0,0,0,0,0,27.01,27.03,27.02,8.41,15.70
$GC,18042,0.77,556.7,2916,1626,307,532,1722.4,20.5,530,18043,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1626,419,307,532,0,0,0,0,0,0,27.02,27.05,27.04,8.41,15.62
$GC,18342,0.77,556.7,2916,1626,307,532,1661.6,20.3,535,18346,0.00,2.45,0.00,0.000,260,0.000,0.072,2915,3201,419,307,532,0,0,0,0,0,0,27.03,26.53,27.05,8.41,16.37
$GC,18376,0.77,556.7,2914,3201,307,532,1661.6,20.3,535,18382,0.12,2.45,0.00,0.000,5126,0.283,0.062,2897,1614,419,307,532,0,0,0,0,0,0,25.96,26.57,26.26,8.40,16.25
$GC,18699,0.77,556.7,2896,1614,307,532,1592.9,18.9,541,18700,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1614,419,307,532,0,0,0,0,0,0,27.04,27.05,27.05,8.41,15.93
$GC,19000,0.77,556.7,2896,1614,307,532,1536.6,18.7,546,19001,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1614,420,307,533,0,0,0,0,0,0,27.05,27.07,27.07,8.40,15.46
$GC,19299,0.77,556.7,2896,1614,307,532,1481.8,18.3,551,19300,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1614,419,307,532,0,0,0,0,0,0,27.05,27.08,27.07,8.40,15.85
$GC,19599,0.77,556.7,2896,1614,307,532,1427.9,17.9,556,19600,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1613,419,307,532,0,0,0,0,0,0,27.06,27.08,27.07,8.40,15.54
$GC,19899,0.77,556.7,2896,1614,307,532,1375.7,17.4,561,19900,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1614,419,307,532,0,0,0,0,0,0,27.06,27.08,27.08,8.39,15.74
$GC,20200,0.77,556.7,2896,1613,307,532,1325.7,16.6,566,20201,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1613,419,307,532,0,0,0,0,0,0,27.06,27.08,27.08,8.40,15.42
$GC,20499,0.77,556.7,2896,1613,307,532,1276.3,16.5,571,20505,0.00,2.47,0.00,0.000,260,0.000,0.072,2897,3214,419,307,532,0,0,0,0,0,0,27.07,26.44,27.08,8.39,15.34
$GC,20537,0.77,556.7,2896,3214,307,532,1276.3,16.5,571,20541,0.00,2.47,0.00,0.000,1030,0.000,0.060,2907,1612,419,307,532,0,0,0,0,0,0,26.61,26.48,26.65,8.39,15.74
$GC,20854,0.77,556.7,2905,1612,308,532,1217.3,16.5,577,20855,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1613,419,307,532,0,0,0,0,0,0,27.07,27.08,27.08,8.39,16.01
$GC,21154,0.77,556.7,2906,1613,307,532,1168.4,16.4,582,21155,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1612,419,307,532,0,0,0,0,0,0,27.07,27.09,27.08,8.41,15.15
$GC,21454,0.77,556.7,2906,1613,307,532,1119.9,16.2,587,21459,0.00,2.47,0.00,0.000,260,0.000,0.070,2907,3204,420,307,533,0,0,0,0,0,0,27.07,26.39,27.08,8.39,15.19
$GC,21494,0.77,556.7,2906,3204,307,532,1119.9,16.2,587,21499,0.00,2.45,0.00,0.000,1030,0.000,0.060,2918,1616,419,307,532,0,0,0,0,0,0,26.58,26.45,26.61,8.39,16.09
$GC,21817,0.77,556.7,2918,1616,306,532,1059.3,16.6,593,21823,0.00,2.25,0.00,0.000,516,0.000,0.079,2930,179,419,307,532,0,0,0,0,0,0,27.07,26.31,27.08,8.40,15.70
$GC,21859,0.77,556.7,2929,180,310,532,1059.3,16.6,593,21864,0.12,2.17,0.00,0.000,5126,0.266,0.065,2898,1632,420,309,532,0,0,0,0,0,0,25.81,26.55,26.03,8.40,15.74
$GC,22173,0.84,556.7,2898,1632,309,532,1005.8,14.7,599,22178,0.00,2.45,0.00,0.000,260,0.000,0.072,2899,3197,420,309,532,0,0,0,0,0,0,27.07,26.36,27.08,8.40,15.66
$GC,22240,0.91,556.7,2897,3198,308,532,996.7,14.7,600,22244,0.00,2.42,0.00,0.000,1030,0.000,0.062,2908,1624,420,308,532,0,0,0,0,0,0,26.55,26.43,26.59,8.40,15.42
$GC,22557,0.98,556.7,2908,1625,308,532,947.7,14.8,611,22562,0.10,2.28,0.00,0.000,2564,0.228,0.077,2954,175,420,309,532,0,0,0,0,0,0,26.34,26.27,26.38,8.40,15.85
$GC,22613,1.03,556.7,2953,175,311,532,942.1,15.0,612,22620,0.00,2.17,0.00,0.000,1030,0.000,0.065,2954,1626,421,311,532,0,0,0,0,0,0,26.61,26.51,26.64,8.41,15.50
$GC,22920,1.03,556.7,2953,1626,310,532,886.2,16.8,623,22926,0.00,2.45,0.00,0.000,260,0.000,0.072,2954,3203,421,310,532,0,0,0,0,0,0,27.07,26.31,27.08,8.41,16.09
$GC,22988,1.03,556.7,2953,3203,309,532,875.3,17.4,625,22993,0.00,2.45,0.00,0.000,1030,0.000,0.060,2965,1614,420,309,532,0,0,0,0,0,0,26.52,26.40,26.56,8.42,15.78
$GC,23310,1.03,556.7,2965,1615,310,532,817.6,17.8,636,23311,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1615,421,310,532,0,0,0,0,0,0,27.07,27.09,27.08,8.43,15.58
$GC,23610,1.03,556.7,2965,1615,309,532,763.2,17.9,646,23615,0.00,2.45,0.00,0.000,260,0.000,0.070,2965,3194,421,310,532,0,0,0,0,0,0,27.07,26.30,27.08,8.44,16.45
$GC,23650,1.03,556.7,2965,3194,309,532,757.3,18.0,647,23655,0.00,2.42,0.00,0.000,1030,0.000,0.060,2977,1620,421,310,532,0,0,0,0,0,0,26.52,26.39,26.55,8.45,15.11
$GC,23972,1.03,556.7,2976,1620,310,532,695.6,18.6,658,23973,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1620,420,309,532,0,0,0,0,0,0,27.07,27.09,27.08,8.47,15.66
$GC,24273,1.03,556.7,2976,1620,309,532,637.1,19.5,668,24274,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1620,420,309,532,0,0,0,0,0,0,27.07,27.09,27.08,8.50,16.45
$GC,24573,1.03,556.7,2976,1621,310,532,579.2,19.1,678,24578,0.00,2.22,0.00,0.000,516,0.000,0.074,2988,187,421,311,532,0,0,0,0,0,0,27.08,26.23,27.08,8.51,16.45
$GC,24610,1.03,556.7,2987,187,312,532,573.3,19.1,679,24615,0.00,2.15,0.00,0.000,1030,0.000,0.062,2988,1639,422,313,532,0,0,0,0,0,0,26.60,26.52,26.64,8.52,15.34
$GC,24927,1.03,556.7,2987,1638,312,532,506.2,21.1,690,24934,0.00,2.40,0.00,0.000,260,0.000,0.067,2988,3193,422,312,532,0,0,0,0,0,0,27.07,26.30,27.08,8.54,16.09
$GC,24992,1.03,556.7,2987,3193,312,532,493.0,21.6,692,24996,0.00,2.40,0.00,0.000,1030,0.000,0.057,2999,1622,422,312,533,0,0,0,0,0,0,26.49,26.37,26.53,8.55,16.01
$GC,25319,1.03,556.7,2998,1623,312,532,418.8,22.1,703,25320,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1623,422,313,532,0,0,0,0,0,0,27.07,27.09,27.09,8.59,15.85
$GC,25619,1.03,556.7,2998,1623,314,532,349.9,23.4,713,25620,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1623,423,314,532,0,0,0,0,0,0,27.08,27.09,27.08,8.61,16.76
$GC,25919,1.03,556.7,2998,1623,315,532,279.4,23.4,724,25920,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1623,423,314,532,0,0,0,0,0,0,27.07,27.09,27.09,8.64,16.25
$GC,26219,1.03,556.7,2998,1623,315,532,210.7,23.0,739,26220,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1623,423,315,532,0,0,0,0,0,0,27.08,27.09,27.09,8.66,16.33
$GC,26519,1.03,556.7,2998,1623,316,532,144.2,21.9,755,26520,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1623,424,316,532,0,0,0,0,0,0,27.08,27.10,27.09,8.69,15.26
$GC,26820,1.03,556.7,2998,1623,317,532,82.2,19.9,785,26829,0.00,2.20,0.00,0.000,516,0.000,0.070,3010,167,425,318,532,0,0,0,0,0,0,27.08,26.31,27.09,8.73,16.17
$GC,26872,1.03,556.7,3009,167,320,532,71.8,19.5,790,26882,0.10,2.12,0.00,0.000,5126,0.209,0.060,2981,1644,426,320,532,0,0,0,0,0,0,26.14,26.58,26.26,8.73,15.58
$GC,27182,1.16,556.7,2981,1644,320,532,23.2,12.5,821,27193,0.05,2.33,0.00,0.000,2308,0.204,0.065,3006,3193,426,321,532,0,0,0,0,0,0,26.82,26.37,26.83,8.78,15.93
$GC,27210,1.28,556.7,3006,3193,320,532,20.0,12.6,823,27219,0.08,2.35,0.00,0.000,3078,0.164,0.057,3057,1612,426,320,532,0,0,0,0,0,0,26.34,26.46,26.43,8.79,15.97
$STATE,27296,end climb,SURFACE_DEPTH_REACHED
$STATE,27296,begin surface coast
$FINISH,0.3,1.023401
$STATE,27317,end surface coast,CONTROL_FINISHED_OK
$STATE,27317,begin surface
$SM_CCo,27393,0.00,0.000,0,0,426,556.00
$SM_GC,0.15,7.60,0.00,0.00,0.084,0.000,0.000,139,1611,426,-7.76,-0.08,556.00,0,0,0,0,0,0,26.15,27.10,26.27
$IRIDIUM_FIX,2553.37,-7556.66,060717,133902
$TT8_MAMPS,0.021721,0.170023
$HUMID,15.50
$INTERNAL_PRESSURE,8.76865
$TCM_TEMP,30.00
$XPDR_PINGS,44
$ALTIM_TOP_PING,20.0,20.0
$24V_AH,22.60,48.936
$10V_AH,10.47,19.286
$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,20.850,150.175,614.150,0.000,165.175,0.000,0.000,0.000,11.250,0.000,16.974,2719.803,21795.055,765.950,2027.658,160.905,0.000,1966.186,0.000,1978.017,0.000,2.657,0.000
$DEVICE_MAMPS,335.205,86.905,2252.081,0.000,151.463,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.669,1102.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284764
$DATA_FILE_SIZE,62669,834
$CAP_FILE_SIZE,198327,0
$CFSIZE,2047311872,2022473728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,21861.83,0x213da2,1,24
$INTR,1,27320.77,0x213daa,7,24
$CURRENT,0.173,166.43,1
$GPS,060717,213605,2605.119,-7559.104,38,0.8,41,-8.9,0.0,0.0,9,4.5