version: 66.12
glider: 37
mission: 17
dive: 94
start: 7 6 117 22 3 37
data:
$ID,37
$MISSION,17
$DIVE,94
$N_DIVES,0
$STOP_T,7061723
$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,45
$R_STBD_OVSHOOT,67
$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
$GPS1,060717,215903,2605.3110,-7559.1582,2,1.2,42,-8.9,0.5,150.2,7,2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-51.4
$GPS2,060717,220310,2605.5261,-7559.3193,4,1.0,48,-8.9,0.0,0.0,8,9.1
$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,342.4,87533,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.09,-146.0,138,1612,331,532,0.0,0.0,0,180,0.00,0.00,-161.95,0.102,16386,0.000,0.000,138,1612,2691,2626,2757,0,0,0,0,0,0,27.01,28.83,27.02,8.97,13.10
$GC,183,-1.09,-146.0,138,1612,2626,2757,4.4,-5.6,16,204,8.57,2.38,-5.35,0.137,18692,0.266,0.062,2280,3194,2845,2784,2906,0,0,0,0,0,0,25.76,26.38,26.15,9.23,13.02
$GC,599,-1.09,-146.0,2279,3194,2784,2905,71.3,-13.1,57,608,0.00,2.30,0.00,0.000,1030,0.000,0.052,2280,1583,2844,2784,2905,0,0,0,0,0,0,26.66,26.60,26.68,9.24,12.07
$GC,909,-1.09,-146.0,2279,1583,2784,2904,107.5,-12.4,88,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1583,2844,2784,2904,0,0,0,0,0,0,27.04,27.05,27.05,9.22,12.86
$GC,1209,-1.09,-146.0,2279,1583,2784,2903,143.9,-12.6,118,1213,0.00,2.00,0.00,0.000,516,0.000,0.067,2280,210,2843,2784,2903,0,0,0,0,0,0,27.08,26.53,27.08,9.20,12.23
$GC,1314,-1.09,-146.0,2279,203,2783,2902,157.3,-13.6,126,1318,0.00,1.98,0.00,0.000,1030,0.000,0.052,2270,1644,2842,2784,2901,0,0,0,0,0,0,26.79,26.74,26.80,9.19,12.47
$GC,1630,-1.09,-146.0,2269,1644,2784,2902,198.9,-13.3,142,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1644,2843,2784,2902,0,0,0,0,0,0,27.09,27.11,27.10,9.17,13.02
$GC,1931,-1.09,-146.0,2269,1644,2784,2901,238.8,-13.5,157,1937,0.00,2.15,0.00,0.000,516,0.000,0.067,2271,197,2842,2784,2901,0,0,0,0,0,0,27.10,26.56,27.11,9.15,13.14
$GC,1963,-1.09,-146.0,2269,197,2784,2901,241.7,-13.4,158,1972,0.10,1.98,0.00,0.000,3078,0.216,0.050,2291,1628,2843,2785,2901,0,0,0,0,0,0,26.30,26.76,26.43,9.15,12.86
$GC,2271,-1.09,-146.0,2290,1628,2784,2900,282.3,-12.7,174,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1628,2842,2784,2900,0,0,0,0,0,0,27.10,27.12,27.12,9.13,13.81
$GC,2581,-1.09,-146.0,2290,1628,2784,2899,320.2,-12.1,187,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1628,2841,2783,2899,0,0,0,0,0,0,27.10,27.13,27.12,9.11,13.89
$GC,2881,-1.09,-146.0,2290,1628,2784,2898,357.6,-12.5,197,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1628,2841,2784,2898,0,0,0,0,0,0,27.10,27.13,27.12,9.10,14.16
$GC,3181,-1.09,-146.0,2290,1628,2784,2896,396.1,-13.1,207,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1628,2840,2784,2896,0,0,0,0,0,0,27.11,27.13,27.13,9.09,14.08
$GC,3481,-1.09,-146.0,2290,1628,2784,2894,436.2,-13.1,217,3487,0.00,2.15,0.00,0.000,516,0.000,0.067,2292,206,2839,2784,2894,0,0,0,0,0,0,27.10,26.55,27.13,9.07,14.67
$GC,3534,-1.09,-146.0,2292,206,2784,2894,440.5,-13.2,218,3541,0.00,1.98,0.00,0.000,1030,0.000,0.052,2285,1614,2839,2784,2894,0,0,0,0,0,0,26.81,26.76,26.83,9.07,14.63
$GC,3841,-1.09,-146.0,2284,1614,2784,2893,484.2,-13.0,229,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1614,2838,2783,2893,0,0,0,0,0,0,27.11,27.13,27.13,9.06,14.99
$GC,4141,-1.09,-146.0,2284,1614,2783,2892,522.9,-12.7,239,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1614,2838,2784,2892,0,0,0,0,0,0,27.11,27.13,27.13,9.05,15.03
$GC,4441,-1.09,-146.0,2284,1614,2782,2891,561.8,-13.2,249,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1614,2836,2782,2891,0,0,0,0,0,0,27.11,27.13,27.13,9.03,14.79
$GC,4741,-1.09,-146.0,2284,1614,2781,2890,602.1,-13.5,259,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1614,2835,2782,2889,0,0,0,0,0,0,27.10,27.13,27.13,9.01,14.40
$GC,5041,-1.09,-146.0,2284,1614,2780,2888,642.4,-13.5,269,5047,0.00,2.15,0.00,0.000,516,0.000,0.067,2285,207,2834,2780,2888,0,0,0,0,0,0,27.11,26.53,27.13,8.99,14.99
$GC,5108,-1.09,-146.0,2284,207,2780,2887,651.1,-14.0,271,5112,0.00,2.00,0.00,0.000,1030,0.000,0.052,2275,1613,2833,2780,2887,0,0,0,0,0,0,26.79,26.74,26.82,8.99,15.11
$GC,5431,-1.09,-146.0,2274,1613,2779,2886,698.0,-14.4,282,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,1613,2832,2778,2886,0,0,0,0,0,0,27.11,27.13,27.12,8.97,15.22
$GC,5731,-1.09,-146.0,2274,1613,2777,2884,742.6,-14.7,292,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,1613,2831,2778,2884,0,0,0,0,0,0,27.10,27.13,27.13,8.94,15.66
$GC,6031,-1.09,-146.0,2274,1613,2777,2882,786.6,-14.8,302,6037,0.00,2.38,0.00,0.000,260,0.000,0.062,2263,3177,2829,2776,2882,0,0,0,0,0,0,27.11,26.55,27.13,8.92,15.93
$GC,6073,-1.09,-146.0,2262,3176,2775,2882,790.8,-14.6,303,6079,0.10,2.28,0.00,0.000,3078,0.214,0.052,2292,1619,2828,2775,2882,0,0,0,0,0,0,26.24,26.67,26.38,8.92,15.78
$GC,6386,-1.16,-146.0,2290,1620,2774,2881,835.1,-13.6,314,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1620,2827,2774,2881,0,0,0,0,0,0,27.10,27.13,27.12,8.90,15.85
$GC,6687,-1.24,-146.0,2290,1620,2774,2879,874.2,-13.3,324,6688,0.10,0.00,0.00,0.000,4102,0.161,0.000,2252,1620,2826,2773,2879,0,0,0,0,0,0,26.69,26.76,26.73,8.88,15.74
$GC,6986,-1.24,-146.0,2252,1620,2773,2878,919.3,-15.3,334,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1620,2825,2772,2878,0,0,0,0,0,0,27.10,27.13,27.12,8.86,15.89
$GC,7286,-1.24,-146.0,2251,1620,2771,2877,965.9,-15.8,344,7291,0.00,2.17,0.00,0.000,516,0.000,0.070,2257,207,2824,2771,2877,0,0,0,0,0,0,27.10,26.44,27.12,8.84,15.54
$GC,7361,-1.24,-146.0,2256,207,2771,2876,976.2,-16.3,346,7365,0.00,2.05,0.00,0.000,1030,0.000,0.055,2249,1604,2823,2771,2876,0,0,0,0,0,0,26.74,26.67,26.77,8.83,16.56
$GC,7704,-1.24,-146.0,2249,1604,2768,2875,1033.8,-16.2,355,7710,0.00,2.45,0.00,0.000,260,0.000,0.065,2237,3184,2821,2768,2875,0,0,0,0,0,0,27.10,26.47,27.12,8.81,15.82
$GC,7756,-1.24,-146.0,2236,3184,2766,2875,1033.8,-16.2,355,7764,0.00,2.35,0.00,0.000,1030,0.000,0.055,2237,1622,2821,2767,2875,0,0,0,0,0,0,26.70,26.61,26.72,8.81,15.26
$GC,8063,-1.24,-146.0,2236,1621,2766,2873,1091.3,-15.8,361,8069,0.00,2.20,0.00,0.000,516,0.000,0.072,2240,198,2818,2765,2872,0,0,0,0,0,0,27.10,26.39,27.12,8.79,15.58
$GC,8123,-1.24,-146.0,2240,198,2765,2871,1101.2,-15.9,362,8129,0.00,2.10,0.00,0.000,1030,0.000,0.057,2232,1613,2818,2765,2871,0,0,0,0,0,0,26.72,26.65,26.74,8.78,16.68
$GC,8483,-1.24,-146.0,2232,1614,2763,2869,1158.4,-15.7,368,8490,0.00,2.47,0.00,0.000,260,0.000,0.067,2220,3195,2816,2763,2869,0,0,0,0,0,0,27.10,26.44,27.12,8.77,16.13
$GC,8516,-1.24,-146.0,2219,3195,2763,2869,1158.4,-15.7,368,8520,0.00,2.40,0.00,0.000,1030,0.000,0.055,2221,1606,2816,2763,2869,0,0,0,0,0,0,26.67,26.58,26.70,8.76,16.21
$GC,8838,-1.24,-146.0,2221,1605,2762,2868,1215.1,-15.9,374,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1605,2815,2762,2868,0,0,0,0,0,0,27.10,27.12,27.12,8.75,16.41
$GC,9138,-1.24,-146.0,2221,1605,2760,2867,1265.7,-16.5,379,9143,0.00,2.20,0.00,0.000,516,0.000,0.074,2226,192,2814,2761,2867,0,0,0,0,0,0,27.10,26.32,27.11,8.75,16.29
$GC,9188,-1.24,-146.0,2226,192,2760,2866,1265.7,-16.5,379,9192,0.00,2.12,0.00,0.000,1030,0.000,0.057,2218,1615,2813,2761,2866,0,0,0,0,0,0,26.67,26.60,26.70,8.74,15.97
$GC,9501,-1.24,-146.0,2218,1615,2759,2864,1326.6,-16.7,385,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1616,2812,2760,2864,0,0,0,0,0,0,27.10,27.12,27.11,8.72,16.80
$GC,9800,-1.24,-146.0,2217,1616,2758,2863,1376.0,-16.5,390,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1616,2810,2758,2863,0,0,0,0,0,0,27.10,27.12,27.11,8.72,17.12
$GC,10100,-1.24,-146.0,2217,1616,2757,2861,1423.4,-15.8,395,10107,0.00,2.50,0.00,0.000,260,0.000,0.067,2206,3197,2809,2757,2861,0,0,0,0,0,0,27.10,26.34,27.11,8.71,16.21
$GC,10133,-1.24,-146.0,2205,3198,2756,2861,1423.4,-15.8,395,10138,0.15,2.42,0.00,0.000,3078,0.241,0.055,2245,1607,2808,2756,2861,0,0,0,0,0,0,25.71,26.51,25.92,8.71,16.37
$GC,10456,-1.32,-146.0,2244,1607,2755,2859,1473.3,-13.7,401,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1606,2807,2755,2859,0,0,0,0,0,0,27.10,27.11,27.11,8.70,16.13
$GC,10756,-1.42,-146.0,2244,1606,2754,2858,1515.1,-14.0,406,10758,0.12,0.00,0.00,0.000,4102,0.201,0.000,2205,1608,2806,2754,2858,0,0,0,0,0,0,26.36,26.50,26.44,8.70,16.88
$GC,11056,-1.42,-146.0,2204,1608,2753,2857,1563.0,-16.1,411,11060,0.00,2.20,0.00,0.000,516,0.000,0.077,2207,198,2805,2753,2857,0,0,0,0,0,0,27.10,26.21,27.11,8.69,16.64
$GC,11096,-1.42,-146.0,2207,198,2752,2856,1563.0,-16.1,411,11100,0.00,2.12,0.00,0.000,1030,0.000,0.057,2199,1613,2804,2752,2856,0,0,0,0,0,0,26.62,26.53,26.65,8.69,16.56
$GC,11413,-1.42,-146.0,2199,1614,2751,2856,1618.1,-15.2,417,11419,0.00,2.47,0.00,0.000,260,0.000,0.067,2187,3189,2803,2751,2856,0,0,0,0,0,0,27.10,26.27,27.10,8.68,16.09
$GC,11446,-1.42,-146.0,2186,3189,2750,2856,1618.1,-15.2,417,11450,0.00,2.42,0.00,0.000,1030,0.000,0.057,2187,1609,2803,2750,2856,0,0,0,0,0,0,26.54,26.44,26.58,8.69,15.93
$GC,11773,-1.42,-146.0,2186,1608,2750,2855,1674.1,-15.5,423,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1608,2802,2750,2855,0,0,0,0,0,0,27.09,27.11,27.11,8.68,16.05
$GC,12073,-1.42,-146.0,2186,1608,2750,2854,1720.7,-15.5,428,12079,0.00,2.22,0.00,0.000,516,0.000,0.077,2186,192,2802,2750,2854,0,0,0,0,0,0,27.09,26.15,27.10,8.67,16.68
$GC,12111,-1.42,-146.0,2186,192,2750,2853,1720.7,-15.5,428,12115,0.00,2.15,0.00,0.000,1030,0.000,0.057,2177,1622,2801,2750,2853,0,0,0,0,0,0,26.58,26.50,26.61,8.67,15.93
$GC,12433,-1.42,-146.0,2176,1623,2750,2852,1777.4,-15.6,434,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1622,2801,2750,2852,0,0,0,0,0,0,27.09,27.10,27.10,8.67,16.84
$GC,12733,-1.42,-146.0,2176,1623,2749,2851,1822.3,-14.8,439,12739,0.00,2.47,0.00,0.000,260,0.000,0.070,2165,3198,2800,2750,2851,0,0,0,0,0,0,27.09,26.20,27.10,8.66,16.56
$GC,12766,-1.42,-146.0,2164,3198,2749,2851,1822.3,-14.8,439,12770,0.00,2.45,0.00,0.000,1030,0.000,0.055,2165,1600,2799,2749,2850,0,0,0,0,0,0,26.51,26.41,26.54,8.67,16.84
$GC,13093,-1.42,-146.0,2165,1600,2749,2849,1878.0,-15.6,445,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,1600,2799,2750,2849,0,0,0,0,0,0,27.09,27.11,27.10,8.66,16.29
$GC,13393,-1.42,-146.0,2165,1600,2749,2848,1924.7,-15.5,450,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,1600,2798,2749,2848,0,0,0,0,0,0,27.09,27.11,27.10,8.66,16.72
$GC,13693,-1.42,-146.0,2165,1600,2749,2846,1970.2,-15.1,455,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,1600,2797,2749,2846,0,0,0,0,0,0,27.08,27.11,27.10,8.66,16.56
$GC,13994,-1.47,-146.0,2165,1600,2749,2846,2014.2,-14.6,460,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,1600,2797,2749,2846,0,0,0,0,0,0,27.09,27.10,27.10,8.65,15.93
$GC,14293,-1.52,-146.0,2165,1600,2749,2846,2057.2,-14.3,465,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,1600,2797,2749,2846,0,0,0,0,0,0,27.09,27.10,27.10,8.65,16.13
$GC,14593,-1.58,-146.0,2165,1600,2749,2845,2099.3,-14.0,470,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,1599,2797,2749,2845,0,0,0,0,0,0,27.08,27.10,27.10,8.65,16.60
$GC,14893,-1.65,-146.0,2165,1600,2748,2845,2140.5,-13.7,475,14895,0.10,0.00,0.00,0.000,4102,0.233,0.000,2135,1602,2797,2749,2845,0,0,0,0,0,0,26.37,26.46,26.41,8.65,16.60
$STATE,15071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15071,begin apogee
$GC,15076,-0.25,0.0,2134,1601,2749,2845,2167.6,-14.8,478,15195,1.60,0.00,114.03,2.245,10246,0.223,0.000,2556,1600,2340,2289,2392,0,0,0,0,0,0,24.37,24.09,22.86,8.65,15.89
$STATE,15196,end apogee,CONTROL_FINISHED_OK
$STATE,15196,begin climb
$GC,15198,1.09,146.0,2555,1600,2289,2392,2173.7,0.0,480,15337,1.40,2.50,129.90,2.202,11012,0.164,0.089,2999,194,1837,1768,1907,0,0,0,0,0,0,24.29,23.69,22.49,8.61,15.78
$GC,15423,1.09,146.0,2999,194,1768,1906,2189.8,-9.1,483,15430,0.00,2.30,0.00,0.000,1030,0.000,0.062,2999,1631,1837,1768,1906,0,0,0,0,0,0,25.32,25.26,25.34,8.56,15.26
$GC,15731,0.97,552.6,2999,1631,1768,1906,2221.2,-8.8,489,16114,0.15,2.80,371.90,2.222,12548,0.288,0.082,2964,3206,436,327,546,0,0,0,0,0,0,25.74,23.69,22.55,8.55,15.89
$GC,16215,0.82,552.6,2964,3205,322,546,2144.9,26.1,497,16221,0.28,2.58,0.00,0.000,5126,0.281,0.062,2914,1636,434,322,546,0,0,0,0,0,0,25.03,25.34,25.29,8.43,14.79
$GC,16570,0.76,552.6,2914,1636,322,546,2060.2,23.4,503,16571,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1636,434,322,546,0,0,0,0,0,0,26.65,26.67,26.67,8.43,15.07
$GC,16869,0.70,552.6,2914,1636,322,546,1992.2,22.5,508,16871,0.15,0.00,0.00,0.000,4102,0.283,0.000,2879,1637,434,322,546,0,0,0,0,0,0,26.03,26.44,26.33,8.42,15.03
$GC,17168,0.70,552.6,2878,1637,322,546,1932.2,19.8,513,17169,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1637,434,322,546,0,0,0,0,0,0,26.91,26.93,26.92,8.41,15.30
$GC,17468,0.70,552.6,2878,1637,322,546,1874.9,19.0,518,17472,0.00,2.30,0.00,0.000,516,0.000,0.079,2888,168,434,322,546,0,0,0,0,0,0,26.96,26.51,26.97,8.41,16.05
$GC,17503,0.70,552.6,2888,168,323,545,1874.9,19.0,518,17507,0.00,2.20,0.00,0.000,1030,0.000,0.065,2889,1627,434,323,546,0,0,0,0,0,0,26.70,26.61,26.72,8.41,15.66
$GC,17830,0.70,552.6,2888,1628,323,546,1806.6,18.8,524,17836,0.00,2.47,0.00,0.000,260,0.000,0.072,2889,3205,434,323,546,0,0,0,0,0,0,26.99,26.54,27.01,8.41,15.15
$GC,17863,0.70,552.6,2888,3206,322,546,1806.6,18.8,524,17868,0.00,2.47,0.00,0.000,1030,0.000,0.065,2900,1609,434,322,546,0,0,0,0,0,0,26.67,26.55,26.70,8.41,15.70
$GC,18190,0.70,552.6,2899,1609,322,546,1738.5,18.8,530,18191,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.01,27.03,27.03,8.40,15.78
$GC,18490,0.70,552.6,2899,1609,322,547,1683.2,18.4,535,18491,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.02,27.04,27.03,8.41,15.46
$GC,18790,0.70,552.6,2899,1608,322,546,1628.0,18.4,540,18791,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.03,27.05,27.05,8.40,16.09
$GC,19090,0.70,552.6,2899,1609,322,546,1573.2,18.3,545,19092,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.04,27.06,27.05,8.39,15.82
$GC,19390,0.70,552.6,2899,1609,322,546,1519.4,17.9,550,19391,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1609,434,323,546,0,0,0,0,0,0,27.05,27.06,27.07,8.40,15.62
$GC,19690,0.70,552.6,2899,1609,322,546,1466.3,17.6,555,19691,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.05,27.08,27.06,8.39,15.58
$GC,19990,0.70,552.6,2899,1609,322,546,1414.6,17.2,560,19991,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.05,27.08,27.07,8.38,15.58
$GC,20290,0.70,552.6,2899,1609,322,546,1363.8,16.9,565,20292,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.05,27.08,27.08,8.38,15.34
$GC,20590,0.70,552.6,2899,1609,322,546,1313.7,16.7,570,20591,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.06,27.08,27.08,8.39,16.41
$GC,20890,0.70,552.6,2899,1609,322,546,1265.0,16.2,575,20891,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1609,434,322,546,0,0,0,0,0,0,27.06,27.08,27.08,8.38,15.74
$GC,21190,0.70,552.6,2899,1609,322,546,1216.9,16.1,580,21191,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.06,27.08,27.08,8.38,15.70
$GC,21491,0.75,552.6,2899,1609,322,546,1170.3,15.4,585,21492,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.06,27.09,27.08,8.39,15.46
$GC,21790,0.81,552.6,2899,1609,322,546,1125.5,14.9,590,21792,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.07,27.08,27.08,8.39,15.22
$GC,22090,0.87,552.6,2899,1609,322,546,1081.0,14.9,595,22092,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1609,434,322,546,0,0,0,0,0,0,27.07,27.09,27.08,8.39,15.66
$GC,22390,0.94,552.6,2899,1609,322,546,1035.7,15.2,600,22392,0.10,0.00,0.00,0.000,2054,0.231,0.000,2930,1609,434,322,546,0,0,0,0,0,0,26.39,26.54,26.48,8.39,15.19
$GC,22691,0.94,552.6,2929,1609,322,546,986.7,16.3,606,22697,0.00,2.22,0.00,0.000,516,0.000,0.077,2941,178,434,322,546,0,0,0,0,0,0,27.07,26.29,27.08,8.40,15.46
$GC,22733,0.94,552.6,2940,178,324,546,981.9,16.3,607,22737,0.00,2.17,0.00,0.000,1030,0.000,0.065,2940,1627,435,324,546,0,0,0,0,0,0,26.63,26.54,26.67,8.40,16.09
$GC,23050,0.94,552.6,2940,1627,324,546,929.9,15.4,618,23054,0.00,2.47,0.00,0.000,260,0.000,0.072,2940,3204,435,324,546,0,0,0,0,0,0,27.06,26.34,27.08,8.40,15.19
$GC,23082,0.94,552.6,2940,3204,323,546,924.6,15.5,619,23088,0.00,2.45,0.00,0.000,1030,0.000,0.062,2951,1624,434,323,546,0,0,0,0,0,0,26.52,26.39,26.56,8.41,15.93
$GC,23412,0.94,552.6,2950,1625,323,546,869.9,16.2,630,23413,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1624,435,324,546,0,0,0,0,0,0,27.06,27.08,27.08,8.42,15.62
$GC,23712,0.94,552.6,2950,1624,323,546,820.2,16.6,640,23717,0.00,2.28,0.00,0.000,516,0.000,0.077,2962,175,434,323,546,0,0,0,0,0,0,27.06,26.25,27.08,8.43,15.42
$GC,23752,0.94,552.6,2961,175,324,546,814.6,16.9,641,23757,0.00,2.20,0.00,0.000,1030,0.000,0.065,2962,1638,435,324,546,0,0,0,0,0,0,26.61,26.52,26.65,8.42,15.46
$GC,24074,0.94,552.6,2961,1638,324,546,757.3,17.3,652,24080,0.00,2.45,0.00,0.000,260,0.000,0.070,2962,3201,435,324,546,0,0,0,0,0,0,27.07,26.32,27.08,8.45,15.78
$GC,24127,0.94,552.6,2961,3202,323,546,752.0,17.6,653,24134,0.00,2.45,0.00,0.000,1030,0.000,0.062,2973,1619,435,324,546,0,0,0,0,0,0,26.49,26.36,26.53,8.45,15.66
$GC,24434,0.94,552.6,2973,1619,323,546,691.5,18.2,664,24435,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1619,435,324,546,0,0,0,0,0,0,27.07,27.08,27.08,8.47,16.21
$GC,24734,0.94,552.6,2973,1619,324,546,635.4,18.7,674,24735,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1619,435,324,546,0,0,0,0,0,0,27.07,27.09,27.08,8.49,15.66
$GC,25034,0.94,552.6,2973,1619,324,546,576.9,19.6,684,25035,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1619,434,324,545,0,0,0,0,0,0,27.07,27.09,27.08,8.51,15.62
$GC,25334,0.94,552.6,2972,1619,325,546,517.3,19.5,694,25340,0.00,2.22,0.00,0.000,516,0.000,0.074,2984,183,436,326,546,0,0,0,0,0,0,27.07,26.26,27.08,8.53,15.54
$GC,25364,0.94,552.6,2984,182,327,547,511.5,19.6,695,25369,0.12,2.15,0.00,0.000,5126,0.251,0.062,2954,1639,436,327,546,0,0,0,0,0,0,25.81,26.53,26.00,8.53,15.78
$GC,25697,0.94,552.6,2953,1639,326,546,449.5,19.0,706,25701,0.00,2.40,0.00,0.000,260,0.000,0.067,2954,3196,436,327,546,0,0,0,0,0,0,27.07,26.34,27.08,8.57,15.89
$GC,25731,0.94,552.6,2953,3195,327,546,442.9,19.5,707,25736,0.00,2.40,0.00,0.000,1030,0.000,0.060,2964,1614,437,327,547,0,0,0,0,0,0,26.51,26.39,26.55,8.58,16.21
$GC,26059,0.94,552.6,2964,1614,328,546,374.9,20.6,718,26060,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1614,437,328,546,0,0,0,0,0,0,27.07,27.09,27.08,8.61,16.01
$GC,26359,0.94,552.6,2964,1615,329,546,313.3,20.5,728,26360,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1614,437,329,546,0,0,0,0,0,0,27.07,27.09,27.08,8.64,15.97
$GC,26669,0.94,552.6,2964,1615,330,546,250.4,20.7,742,26670,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1614,438,330,546,0,0,0,0,0,0,27.07,27.09,27.08,8.66,16.17
$GC,26969,0.94,552.6,2964,1615,331,546,189.7,19.8,757,26970,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1614,438,331,546,0,0,0,0,0,0,27.08,27.09,27.09,8.68,15.42
$GC,27270,0.94,552.6,2964,1615,332,546,131.7,19.4,776,27271,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1615,439,332,546,0,0,0,0,0,0,27.08,27.09,27.09,8.70,15.70
$GC,27570,1.00,552.6,2964,1614,333,546,76.1,17.4,806,27571,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1615,439,333,546,0,0,0,0,0,0,27.08,27.10,27.09,8.73,16.01
$GC,27870,1.14,552.6,2964,1615,335,546,30.9,12.2,836,27876,0.08,2.15,0.00,0.000,2564,0.164,0.067,3012,177,441,336,546,0,0,0,0,0,0,26.76,26.35,26.78,8.78,15.74
$GC,27926,1.22,552.6,3011,177,338,546,23.3,15.3,841,27933,0.00,2.10,0.00,0.000,1030,0.000,0.057,3012,1654,442,338,546,0,0,0,0,0,0,26.69,26.62,26.71,8.78,15.82
$STATE,28041,end climb,SURFACE_DEPTH_REACHED
$STATE,28041,begin surface coast
$FINISH,-0.5,1.023502
$STATE,28075,end surface coast,CONTROL_FINISHED_OK
$STATE,28075,begin surface
$SM_CCo,28151,0.00,0.000,0,0,442,551.35
$SM_GC,0.39,7.50,0.00,0.00,0.084,0.000,0.000,135,1654,442,-7.77,1.16,551.35,0,0,0,0,0,0,26.21,27.10,26.33
$IRIDIUM_FIX,2553.37,-7558.99,060717,214427
$TT8_MAMPS,0.02247,0.171521
$HUMID,15.54
$INTERNAL_PRESSURE,8.76865
$TCM_TEMP,27.70
$XPDR_PINGS,8
$ALTIM_TOP_PING,18.7,999.0
$24V_AH,22.49,49.344
$10V_AH,10.47,19.365
$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,20.625,123.425,615.825,0.000,167.300,0.000,0.000,0.000,2.250,0.000,49.833,2724.426,22659.500,748.881,1968.961,158.683,0.000,1892.102,0.000,1893.944,0.000,2.681,0.000
$DEVICE_MAMPS,288.028,89.388,2244.632,0.000,136.565,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.063,1131.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284744
$DATA_FILE_SIZE,62511,856
$CAP_FILE_SIZE,181643,0
$CFSIZE,2047311872,2022375424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,165.80,1
$GPS,070717,055404,2607.831,-7601.474,39,0.8,41,-8.9,0.8,86.1,10,5.0