version: 66.14
glider: 40
mission: 18
dive: 19
start: 9 9 118 1 52 32
data:
$ID,40
$MISSION,18
$DIVE,19
$N_DIVES,0
$STOP_T,9201819
$D_SURF,3
$D_FLARE,5
$D_TGT,5400
$D_ABORT,6050
$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,1800
$T_MISSION,1860
$T_ABORT,1920
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,1.023
$MASS,80783.898
$MASS_COMP,11448
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3845
$C_PITCH,2748
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.200001
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,2216
$C_ROLL_CLIMB,2044
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2510
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,60
$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,17
$MINV_10V,8
$MAXI_24V,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.149458
$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,1
$ALTIM_PING_DEPTH,2000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6299
$GPS1,090918,014305,3147.1309,-6414.7383,36,0.9,39,-14.9,0.4,349.9,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-52.3
$GPS2,090918,015154,3147.1816,-6414.7134,5,1.2,18,-14.9,0.6,38.7,8,4.9
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$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,185.6,15235,-27.8,-10.000,-30.00,1253
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,71,-1.82,-82.2,172,2256,753,828,3.3,-1.2,6,200,0.00,0.00,-125.93,0.161,16390,0.000,0.000,173,2256,2793,2746,2840,0,0,0,0,0,0,26.13,25.56,25.37,9.12,18.45
$GC,203,-1.90,-146.6,172,2256,2746,2840,4.3,-0.6,19,232,8.07,2.30,-10.60,0.196,18692,0.278,0.084,2122,3751,3015,2989,3041,0,0,0,0,0,0,25.16,25.45,25.34,9.32,18.02
$GC,766,-1.75,-146.6,2121,3751,2989,3041,52.9,-3.0,75,775,0.20,2.17,0.00,0.000,3078,0.209,0.067,2178,2129,3015,2989,3041,0,0,0,0,0,0,25.70,26.26,25.84,9.34,17.55
$GC,1075,-1.69,-146.6,2178,2129,2990,3041,66.8,-5.6,106,1084,0.00,2.17,0.00,0.000,516,0.000,0.077,2178,654,3015,2990,3041,0,0,0,0,0,0,26.61,26.26,26.62,9.32,17.19
$GC,1327,-1.59,-146.6,2178,654,2990,3041,84.2,-8.5,131,1333,0.22,2.22,0.00,0.000,3078,0.211,0.067,2234,2219,3015,2990,3041,0,0,0,0,0,0,25.89,26.39,26.12,9.30,16.76
$GC,1640,-1.59,-146.6,2232,2219,2991,3041,114.1,-10.8,162,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2219,3016,2991,3041,0,0,0,0,0,0,26.74,26.76,26.76,9.28,17.04
$GC,1942,-1.59,-146.6,2233,2219,2991,3041,150.3,-11.3,192,1946,0.00,2.28,0.00,0.000,260,0.000,0.087,2224,3755,3016,2991,3041,0,0,0,0,0,0,26.79,26.39,26.81,9.27,17.51
$GC,2072,-1.54,-146.6,2224,3755,2990,3041,167.2,-13.8,198,2077,0.10,2.15,0.00,0.000,3078,0.216,0.067,2253,2153,3015,2990,3041,0,0,0,0,0,0,26.21,26.58,26.35,9.26,17.35
$GC,2386,-1.54,-146.6,2252,2153,2991,3041,210.4,-13.9,214,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2152,3016,2991,3041,0,0,0,0,0,0,26.85,26.86,26.86,9.25,17.94
$GC,2684,-1.54,-146.6,2252,2152,2991,3041,252.6,-14.2,229,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2152,3016,2991,3041,0,0,0,0,0,0,26.88,26.89,26.89,9.25,18.30
$GC,2984,-1.54,-146.6,2252,2152,2991,3040,297.3,-15.1,244,2990,0.00,2.40,0.00,0.000,260,0.000,0.084,2243,3766,3015,2990,3041,0,0,0,0,0,0,26.91,26.48,26.92,9.24,18.57
$GC,3076,-1.54,-146.6,2242,3766,2990,3041,312.5,-17.1,248,3081,0.00,2.17,0.00,0.000,1030,0.000,0.065,2242,2180,3015,2990,3041,0,0,0,0,0,0,26.69,26.67,26.71,9.24,18.85
$GC,3404,-1.54,-146.6,2242,2180,2990,3040,367.3,-16.6,259,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2180,3015,2990,3040,0,0,0,0,0,0,26.94,26.95,26.94,9.23,19.12
$GC,3704,-1.54,-146.6,2242,2180,2991,3039,419.0,-17.1,269,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2180,3014,2990,3039,0,0,0,0,0,0,26.96,26.96,26.96,9.22,19.20
$GC,4005,-1.54,-146.6,2242,2180,2990,3037,470.8,-17.1,279,4010,0.00,2.35,0.00,0.000,260,0.000,0.084,2230,3765,3014,2991,3037,0,0,0,0,0,0,26.96,26.53,26.98,9.22,20.07
$GC,4082,-1.54,-146.6,2230,3765,2990,3037,481.9,-17.9,281,4086,0.00,2.10,0.00,0.000,1030,0.000,0.065,2231,2223,3014,2990,3038,0,0,0,0,0,0,26.77,26.74,26.78,9.21,19.44
$GC,4395,-1.54,-146.6,2229,2205,2991,3036,541.5,-18.1,292,4401,0.00,2.30,0.00,0.000,260,0.000,0.084,2219,3757,3013,2991,3036,0,0,0,0,0,0,26.98,26.55,26.99,9.19,19.48
$GC,4477,-1.54,-146.6,2217,3757,2991,3036,553.0,-18.6,294,4485,0.12,2.10,0.00,0.000,3078,0.206,0.065,2255,2184,3013,2991,3036,0,0,0,0,0,0,26.31,26.74,26.47,9.19,19.56
$GC,4785,-1.54,-146.6,2254,2183,2990,3035,613.9,-18.9,305,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2183,3012,2990,3034,0,0,0,0,0,0,26.99,27.01,27.01,9.17,19.60
$GC,5084,-1.54,-146.6,2255,2183,2990,3032,673.0,-19.8,315,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2183,3011,2991,3032,0,0,0,0,0,0,27.00,27.02,27.01,9.16,19.83
$GC,5385,-1.54,-146.6,2255,2183,2991,3030,733.8,-20.2,325,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2183,3010,2991,3030,0,0,0,0,0,0,27.01,27.03,27.02,9.14,20.34
$GC,5684,-1.54,-146.6,2254,2183,2987,3030,796.5,-21.1,335,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2183,3008,2987,3030,0,0,0,0,0,0,27.01,27.03,27.03,9.12,20.70
$GC,5985,-1.54,-146.6,2254,2183,2987,3029,861.8,-21.9,345,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2183,3008,2987,3029,0,0,0,0,0,0,27.02,27.04,27.03,9.10,20.93
$GC,6284,-1.54,-146.6,2254,2183,2986,3028,927.1,-21.8,355,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2183,3007,2986,3028,0,0,0,0,0,0,27.03,27.04,27.04,9.08,20.86
$GC,6585,-1.54,-146.6,2254,2183,2984,3026,994.3,-22.6,365,6591,0.00,2.35,0.00,0.000,260,0.000,0.084,2245,3761,3005,2984,3026,0,0,0,0,0,0,27.03,26.56,27.04,9.04,20.62
$GC,6663,-1.54,-146.6,2245,3760,2983,3026,1008.7,-23.4,367,6667,0.00,2.08,0.00,0.000,1030,0.000,0.065,2245,2244,3004,2983,3025,0,0,0,0,0,0,26.82,26.79,26.83,9.04,20.50
$GC,7005,-1.54,-146.6,2245,2235,2987,3018,1094.2,-23.8,373,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2235,3002,2987,3018,0,0,0,0,0,0,27.03,27.05,27.05,9.02,21.56
$GC,7305,-1.54,-146.6,2245,2235,2981,3020,1167.6,-24.5,378,7311,0.00,2.28,0.00,0.000,260,0.000,0.084,2234,3755,3000,2981,3020,0,0,0,0,0,0,27.03,26.55,27.05,9.00,20.86
$GC,7347,-1.54,-146.6,2232,3755,2981,3020,1167.6,-24.5,378,7352,0.00,2.12,0.00,0.000,1030,0.000,0.065,2234,2201,3000,2980,3020,0,0,0,0,0,0,26.82,26.77,26.82,8.99,20.74
$GC,7665,-1.54,-146.6,2233,2201,2978,3019,1259.4,-25.5,384,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2201,2998,2978,3019,0,0,0,0,0,0,27.03,27.05,27.05,8.98,22.08
$GC,7965,-1.54,-146.6,2233,2201,2976,3017,1335.4,-25.3,389,7971,0.00,2.33,0.00,0.000,260,0.000,0.084,2222,3754,2996,2976,3017,0,0,0,0,0,0,27.03,26.54,27.05,8.97,21.76
$GC,8007,-1.54,-146.6,2221,3753,2976,3017,1335.4,-25.3,389,8013,0.10,2.12,0.00,0.000,3078,0.216,0.065,2250,2196,2996,2975,3017,0,0,0,0,0,0,26.36,26.77,26.49,8.97,21.80
$GC,8325,-1.54,-146.6,2250,2194,2975,3014,1421.1,-23.5,395,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2195,2994,2974,3014,0,0,0,0,0,0,27.04,27.05,27.05,8.95,21.64
$GC,8625,-1.54,-146.6,2250,2194,2973,3013,1491.1,-23.5,400,8631,0.00,2.35,0.00,0.000,260,0.000,0.084,2240,3759,2993,2973,3013,0,0,0,0,0,0,27.04,26.51,27.05,8.94,21.80
$GC,8673,-1.54,-146.6,2240,3759,2972,3013,1491.1,-23.5,400,8677,0.00,2.12,0.00,0.000,1030,0.000,0.065,2240,2228,2992,2972,3013,0,0,0,0,0,0,26.80,26.75,26.82,8.94,22.55
$GC,8985,-1.54,-146.6,2240,2215,2972,3010,1576.9,-23.6,406,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2215,2991,2972,3010,0,0,0,0,0,0,27.04,27.05,27.05,8.93,22.51
$GC,9287,-1.54,-146.6,2240,2215,2972,3009,1648.1,-23.7,411,9292,0.00,2.30,0.00,0.000,260,0.000,0.084,2229,3752,2990,2972,3009,0,0,0,0,0,0,27.04,26.51,27.05,8.93,22.43
$GC,9353,-1.54,-146.6,2228,3752,2972,3009,1663.0,-23.9,412,9357,0.00,2.15,0.00,0.000,1030,0.000,0.065,2229,2201,2990,2972,3009,0,0,0,0,0,0,26.79,26.74,26.81,8.93,22.63
$GC,9705,-1.54,-146.6,2228,2200,2970,3007,1751.2,-24.3,418,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2200,2988,2969,3007,0,0,0,0,0,0,27.04,27.06,27.05,8.92,23.02
$GC,10006,-1.54,-146.6,2228,2200,2968,3007,1823.4,-24.1,423,10013,0.00,2.33,0.00,0.000,260,0.000,0.084,2218,3756,2987,2968,3007,0,0,0,0,0,0,27.05,26.48,27.05,8.91,22.39
$GC,10058,-1.54,-146.6,2216,3756,2968,3007,1823.4,-24.1,423,10066,0.12,2.15,0.00,0.000,3078,0.206,0.065,2253,2196,2987,2968,3007,0,0,0,0,0,0,26.25,26.74,26.40,8.91,21.92
$GC,10366,-1.60,-146.6,2253,2195,2967,3005,1906.1,-22.5,429,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2195,2985,2966,3005,0,0,0,0,0,0,27.04,27.06,27.05,8.90,22.67
$GC,10668,-1.67,-146.6,2253,2195,2965,3004,1974.3,-22.7,434,10674,0.08,2.33,0.00,0.000,4356,0.151,0.082,2196,3745,2984,2965,3004,0,0,0,0,0,0,26.79,26.46,26.81,8.90,22.19
$GC,10709,-1.74,-146.6,2196,3745,2965,3004,1974.3,-22.7,434,10713,0.00,2.12,0.00,0.000,1030,0.000,0.065,2197,2220,2984,2964,3004,0,0,0,0,0,0,26.77,26.74,26.79,8.90,22.23
$GC,11036,-1.74,-146.6,2196,2210,2964,3003,2065.3,-25.3,440,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2210,2983,2963,3003,0,0,0,0,0,0,27.00,27.02,27.01,8.89,22.86
$GC,11326,-1.74,-146.6,2196,2210,2963,3002,2139.7,-24.7,445,11333,0.00,2.33,0.00,0.000,260,0.000,0.084,2185,3748,2983,2963,3003,0,0,0,0,0,0,27.03,26.41,27.03,8.89,22.27
$GC,11398,-1.74,-146.6,2184,3748,2963,3002,2155.1,-25.0,446,11404,0.00,2.17,0.00,0.000,1030,0.000,0.065,2185,2210,2982,2962,3002,0,0,0,0,0,0,26.72,26.70,26.73,8.89,22.59
$GC,11765,-1.74,-146.6,2185,2210,2962,3001,2248.2,-25.0,452,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2210,2981,2962,3001,0,0,0,0,0,0,26.98,26.99,26.98,8.89,22.08
$GC,12066,-1.74,-146.6,2185,2210,2960,3000,2321.7,-24.5,457,12072,0.00,2.30,0.00,0.000,260,0.000,0.084,2174,3743,2979,2960,2999,0,0,0,0,0,0,26.98,26.36,26.99,8.88,22.08
$GC,12137,-1.74,-146.6,2173,3744,2960,3000,2338.9,-24.6,458,12142,0.00,2.17,0.00,0.000,1030,0.000,0.065,2174,2206,2980,2960,3000,0,0,0,0,0,0,26.70,26.67,26.71,8.89,22.27
$GC,12494,-1.74,-146.6,2173,2206,2959,2998,2427.2,-24.4,464,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2206,2978,2959,2998,0,0,0,0,0,0,26.96,26.98,26.97,8.88,22.35
$GC,12794,-1.74,-146.6,2173,2206,2958,2997,2500.2,-24.3,469,12801,0.00,2.33,0.00,0.000,260,0.000,0.084,2162,3749,2977,2958,2997,0,0,0,0,0,0,26.96,26.34,26.97,8.88,22.55
$GC,12856,-1.74,-146.6,2161,3749,2958,2997,2517.5,-24.6,470,12861,0.00,2.15,0.00,0.000,1030,0.000,0.065,2162,2214,2977,2958,2997,0,0,0,0,0,0,26.68,26.63,26.70,8.87,21.84
$GC,13222,-1.74,-146.6,2162,2214,2958,2996,2605.8,-24.4,476,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2214,2977,2958,2996,0,0,0,0,0,0,26.95,26.97,26.96,8.87,21.84
$GC,13513,-1.74,-146.6,2161,2214,2958,2995,2677.5,-23.8,481,13519,0.00,2.35,0.00,0.000,260,0.000,0.087,2151,3758,2976,2958,2995,0,0,0,0,0,0,26.98,26.30,27.00,8.87,21.88
$GC,13583,-1.74,-146.6,2150,3758,2958,2994,2692.4,-23.9,482,13590,0.10,2.17,0.00,0.000,3078,0.214,0.065,2179,2208,2976,2958,2995,0,0,0,0,0,0,26.08,26.61,26.15,8.87,22.31
$GC,13942,-1.74,-146.6,2178,2208,2958,2993,2773.9,-21.9,488,13943,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2208,2975,2958,2993,0,0,0,0,0,0,26.98,26.99,26.98,8.87,21.96
$GC,14242,-1.74,-146.6,2178,2208,2957,2992,2838.8,-21.6,493,14249,0.00,2.38,0.00,0.000,260,0.000,0.087,2169,3761,2975,2958,2992,0,0,0,0,0,0,26.98,26.27,26.99,8.86,21.84
$GC,14295,-1.74,-146.6,2168,3761,2958,2992,2838.8,-21.6,493,14312,0.00,2.17,0.00,0.000,1030,0.000,0.065,2169,2221,2974,2957,2992,0,0,0,0,0,0,26.65,26.60,26.67,8.86,21.84
$GC,14602,-1.74,-146.6,2169,2220,2957,2991,2918.1,-22.0,499,14607,0.00,2.35,0.00,0.000,260,0.000,0.087,2158,3755,2974,2957,2991,0,0,0,0,0,0,26.97,26.25,26.98,8.86,21.76
$GC,14642,-1.74,-146.6,2157,3755,2956,2991,2918.1,-22.0,499,14647,0.10,2.17,0.00,0.000,3078,0.223,0.065,2184,2209,2974,2957,2991,0,0,0,0,0,0,26.10,26.58,26.22,8.86,21.68
$GC,14966,-1.80,-146.6,2183,2209,2955,2991,2995.7,-21.1,505,14967,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2209,2973,2955,2991,0,0,0,0,0,0,26.96,26.98,26.98,8.86,21.76
$GC,15265,-1.86,-146.6,2183,2210,2955,2990,3058.2,-20.8,510,15271,0.00,2.38,0.00,0.000,260,0.000,0.087,2175,3756,2972,2955,2990,0,0,0,0,0,0,26.97,26.22,26.98,8.86,21.92
$GC,15340,-1.92,-146.6,2174,3756,2954,2990,3071.3,-21.0,511,15344,0.08,2.17,0.00,0.000,5126,0.151,0.065,2127,2215,2972,2954,2990,0,0,0,0,0,0,26.43,26.57,26.50,8.86,22.12
$GC,15696,-1.92,-146.6,2127,2215,2952,2991,3158.7,-23.5,517,15698,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2215,2972,2953,2991,0,0,0,0,0,0,26.96,26.98,26.98,8.85,22.00
$GC,16009,-1.92,-146.6,2127,2215,2953,2990,3228.9,-23.5,522,16010,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2215,2971,2953,2990,0,0,0,0,0,0,26.94,26.96,26.95,8.85,21.76
$GC,16297,-1.92,-146.6,2127,2215,2952,2989,3298.3,-23.1,527,16303,0.00,2.35,0.00,0.000,260,0.000,0.087,2116,3748,2970,2952,2989,0,0,0,0,0,0,26.96,26.19,26.98,8.85,22.59
$GC,16349,-1.92,-146.6,2115,3748,2952,2989,3298.3,-23.1,527,16371,0.00,2.17,0.00,0.000,1030,0.000,0.065,2116,2214,2970,2952,2989,0,0,0,0,0,0,26.61,26.55,26.63,8.85,21.80
$GC,16669,-1.92,-146.6,2115,2214,2950,2989,3381.8,-23.0,533,16670,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2214,2969,2950,2989,0,0,0,0,0,0,26.94,26.95,26.94,8.84,21.56
$GC,16969,-1.92,-146.6,2115,2215,2950,2989,3450.0,-22.7,538,16976,0.00,2.33,0.00,0.000,260,0.000,0.087,2105,3742,2969,2949,2989,0,0,0,0,0,0,26.93,26.16,26.94,8.85,22.35
$GC,17041,-1.92,-146.6,2104,3742,2949,2989,3466.9,-22.8,539,17047,0.00,2.17,0.00,0.000,1030,0.000,0.065,2104,2207,2969,2949,2989,0,0,0,0,0,0,26.59,26.54,26.60,8.85,21.68
$GC,17412,-1.92,-146.6,2104,2207,2949,2988,3552.1,-22.8,545,17414,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2207,2968,2949,2988,0,0,0,0,0,0,26.93,26.95,26.94,8.84,22.31
$GC,17700,-1.92,-146.6,2104,2207,2948,2987,3619.4,-22.4,550,17701,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2207,2968,2949,2987,0,0,0,0,0,0,26.96,26.97,26.96,8.84,22.00
$GC,18012,-1.92,-146.6,2104,2207,2949,2986,3686.5,-22.4,555,18018,0.00,2.35,0.00,0.000,260,0.000,0.084,2093,3752,2967,2949,2986,0,0,0,0,0,0,26.92,26.14,26.94,8.84,22.47
$GC,18084,-1.92,-146.6,2092,3752,2948,2986,3702.7,-22.6,556,18090,0.08,2.20,0.00,0.000,3078,0.189,0.065,2125,2205,2967,2948,2986,0,0,0,0,0,0,25.94,26.53,26.06,8.84,21.41
$GC,18455,-1.92,-146.6,2124,2205,2948,2985,3781.9,-21.0,562,18456,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2205,2966,2948,2985,0,0,0,0,0,0,26.92,26.94,26.93,8.84,21.56
$GC,18755,-1.92,-146.6,2124,2205,2948,2985,3843.6,-20.5,567,18759,0.00,2.38,0.00,0.000,260,0.000,0.084,2115,3751,2966,2948,2985,0,0,0,0,0,0,26.92,26.10,26.94,8.84,22.39
$GC,18819,-1.92,-146.6,2115,3750,2948,2985,3859.4,-20.6,568,18824,0.00,2.15,0.00,0.000,1030,0.000,0.062,2116,2228,2966,2948,2985,0,0,0,0,0,0,26.57,26.51,26.59,8.84,21.45
$GC,19177,-1.92,-146.6,2115,2228,2947,2985,3934.2,-20.6,574,19179,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2228,2966,2947,2985,0,0,0,0,0,0,26.94,26.96,26.96,8.84,21.53
$GC,19476,-1.92,-146.6,2115,2228,2947,2984,3995.1,-20.2,579,19478,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2228,2966,2947,2985,0,0,0,0,0,0,26.95,26.96,26.96,8.84,21.76
$GC,19777,-1.98,-146.6,2115,2228,2948,2984,4054.9,-19.9,584,19784,0.00,2.35,0.00,0.000,260,0.000,0.087,2105,3753,2965,2947,2984,0,0,0,0,0,0,26.95,26.08,26.96,8.84,21.53
$GC,19830,-2.03,-146.6,2104,3754,2947,2984,4054.9,-19.9,584,19850,0.00,2.17,0.00,0.000,1030,0.000,0.065,2105,2216,2966,2947,2985,0,0,0,0,0,0,26.55,26.51,26.58,8.84,21.76
$GC,20149,-2.03,-146.6,2104,2216,2946,2984,4127.5,-20.0,590,20150,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2217,2965,2946,2984,0,0,0,0,0,0,26.91,26.94,26.93,8.84,21.41
$GC,20450,-2.03,-146.6,2104,2216,2946,2984,4186.5,-19.6,595,20451,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2216,2965,2946,2984,0,0,0,0,0,0,26.93,26.94,26.94,8.84,21.56
$GC,20750,-2.08,-146.6,2104,2216,2946,2984,4244.4,-19.3,600,20756,0.00,2.33,0.00,0.000,260,0.000,0.084,2094,3742,2965,2947,2984,0,0,0,0,0,0,26.91,26.05,26.94,8.84,22.08
$GC,20811,-2.08,-146.6,2093,3742,2946,2983,4258.9,-19.5,601,20815,0.00,2.17,0.00,0.000,1030,0.000,0.062,2094,2211,2965,2946,2984,0,0,0,0,0,0,26.54,26.49,26.57,8.84,21.96
$GC,21181,-2.08,-146.6,2093,2211,2946,2983,4328.9,-19.4,607,21182,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2211,2964,2946,2982,0,0,0,0,0,0,26.91,26.94,26.93,8.85,21.37
$GC,21480,-2.08,-146.6,2093,2211,2945,2982,4386.3,-19.0,612,21485,0.00,2.38,0.00,0.000,260,0.000,0.087,2082,3755,2963,2945,2982,0,0,0,0,0,0,26.91,26.02,26.93,8.84,21.21
$GC,21535,-2.08,-146.6,2081,3755,2945,2982,4386.3,-19.0,612,21556,0.00,2.20,0.00,0.000,1030,0.000,0.065,2082,2212,2964,2945,2983,0,0,0,0,0,0,26.53,26.48,26.55,8.84,21.45
$GC,21844,-2.08,-146.6,2081,2211,2945,2983,4458.7,-19.0,618,21846,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2212,2964,2945,2983,0,0,0,0,0,0,26.95,26.96,26.96,8.84,21.49
$STATE,21961,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,21961,begin apogee
$GC,21965,-0.31,0.0,2082,2003,2945,2982,4481.3,-18.9,620,22113,1.88,0.00,142.43,3.571,10246,0.186,0.000,2641,2002,2510,2499,2521,0,0,0,0,0,0,25.08,22.80,21.08,8.84,21.45
$STATE,22114,end apogee,CONTROL_FINISHED_OK
$STATE,22114,begin climb
$GC,22115,1.90,146.6,2640,2002,2499,2521,4486.2,0.0,622,22286,2.12,2.80,159.60,3.533,11012,0.112,0.094,3340,3582,2004,1998,2011,0,0,0,0,0,0,23.49,22.86,21.16,8.81,21.56
$GC,22408,1.82,213.2,3339,3582,1998,2011,4474.3,4.6,627,22486,0.00,2.30,71.88,3.464,9222,0.000,0.065,3351,2078,1775,1770,1780,0,0,0,0,0,0,25.04,24.99,21.21,8.77,20.86
$GC,22804,1.59,213.2,3351,2078,1770,1781,4391.9,21.4,634,22811,0.32,2.53,0.00,0.000,4612,0.258,0.079,3279,472,1775,1770,1780,0,0,0,0,0,0,25.18,25.44,25.34,8.74,21.33
$GC,23142,1.40,213.2,3278,472,1770,1780,4332.9,19.5,639,23147,0.30,2.33,0.00,0.000,5126,0.243,0.067,3201,2026,1774,1770,1779,0,0,0,0,0,0,25.55,25.95,25.81,8.74,20.19
$GC,23460,1.29,213.2,3200,2025,1770,1779,4273.4,16.1,645,23467,0.10,2.42,0.00,0.000,4612,0.263,0.079,3182,469,1774,1770,1779,0,0,0,0,0,0,25.81,26.02,25.94,8.73,21.05
$GC,23588,1.19,213.2,3181,469,1770,1779,4254.4,15.8,647,23593,0.17,2.35,0.00,0.000,5126,0.236,0.065,3136,2053,1774,1770,1779,0,0,0,0,0,0,25.75,26.17,26.00,8.73,21.29
$GC,23940,1.19,213.2,3135,2053,1770,1778,4204.1,13.8,653,23947,0.00,2.45,0.00,0.000,516,0.000,0.082,3146,470,1774,1770,1778,0,0,0,0,0,0,26.55,26.19,26.56,8.73,20.78
$GC,24079,1.14,213.2,3145,470,1770,1778,4187.0,13.9,655,24084,0.10,2.33,0.00,0.000,5126,0.246,0.065,3120,2049,1774,1769,1779,0,0,0,0,0,0,25.93,26.29,26.13,8.73,20.93
$GC,24416,1.14,213.2,3119,2049,1769,1778,4139.3,13.2,661,24423,0.00,2.42,0.00,0.000,516,0.000,0.079,3130,475,1774,1770,1778,0,0,0,0,0,0,26.64,26.26,26.65,8.72,21.25
$GC,24554,1.14,213.2,3129,475,1770,1778,4123.3,13.3,663,24559,0.00,2.30,0.00,0.000,1030,0.000,0.065,3130,2043,1774,1770,1778,0,0,0,0,0,0,26.43,26.36,26.45,8.72,21.84
$GC,24896,1.14,213.2,3129,2044,1769,1778,4075.9,13.2,669,24901,0.00,2.40,0.00,0.000,516,0.000,0.079,3141,481,1773,1769,1778,0,0,0,0,0,0,26.70,26.31,26.71,8.72,22.04
$GC,25021,1.14,213.2,3141,482,1770,1778,4060.0,13.1,671,25025,0.00,2.30,0.00,0.000,1030,0.000,0.065,3141,2052,1774,1770,1778,0,0,0,0,0,0,26.48,26.41,26.49,8.72,21.56
$GC,25373,1.14,213.2,3140,2052,1770,1778,4013.6,12.9,677,25378,0.00,2.42,0.00,0.000,516,0.000,0.079,3153,471,1774,1770,1778,0,0,0,0,0,0,26.74,26.34,26.76,8.72,21.64
$GC,25548,1.14,213.2,3152,472,1769,1777,3997.6,13.0,679,25556,0.10,2.33,0.00,0.000,5126,0.231,0.065,3119,2048,1773,1769,1777,0,0,0,0,0,0,25.95,26.44,26.19,8.72,21.84
$GC,25856,1.14,213.2,3119,2048,1770,1777,3953.3,11.9,685,25862,0.00,2.42,0.00,0.000,516,0.000,0.079,3129,469,1773,1770,1777,0,0,0,0,0,0,26.78,26.35,26.79,8.72,21.45
$GC,25998,1.14,213.2,3128,470,1770,1777,3938.9,11.8,687,26003,0.00,2.30,0.00,0.000,1030,0.000,0.065,3129,2038,1773,1770,1777,0,0,0,0,0,0,26.53,26.46,26.55,8.72,21.92
$GC,26335,1.14,213.2,3128,2038,1770,1777,3897.6,11.3,693,26341,0.00,2.40,0.00,0.000,516,0.000,0.079,3141,477,1772,1769,1776,0,0,0,0,0,0,26.80,26.37,26.82,8.72,22.00
$GC,26464,1.14,213.2,3140,477,1770,1776,3883.5,11.5,695,26468,0.00,2.30,0.00,0.000,1030,0.000,0.065,3140,2048,1773,1770,1776,0,0,0,0,0,0,26.55,26.48,26.57,8.72,21.29
$GC,26816,1.14,213.2,3140,2048,1770,1776,3841.7,11.6,701,26823,0.00,2.42,0.00,0.000,516,0.000,0.082,3152,470,1772,1769,1776,0,0,0,0,0,0,26.83,26.38,26.84,8.72,21.92
$GC,26988,1.14,213.2,3152,471,1769,1775,3827.1,11.8,703,26997,0.10,2.35,0.00,0.000,5126,0.231,0.065,3118,2059,1772,1770,1775,0,0,0,0,0,0,25.95,26.48,26.19,8.71,22.04
$GC,27295,1.14,213.2,3117,2060,1770,1775,3787.1,10.6,709,27300,0.00,2.42,0.00,0.000,516,0.000,0.082,3128,482,1773,1770,1776,0,0,0,0,0,0,26.84,26.37,26.86,8.71,21.60
$GC,27418,1.14,213.2,3127,482,1770,1775,3774.8,10.1,711,27423,0.00,2.30,0.00,0.000,1030,0.000,0.065,3128,2048,1772,1770,1775,0,0,0,0,0,0,26.57,26.49,26.59,8.71,21.80
$GC,27780,1.14,213.2,3127,2047,1769,1775,3736.8,10.3,717,27786,0.00,2.42,0.00,0.000,516,0.000,0.082,3139,470,1772,1770,1775,0,0,0,0,0,0,26.86,26.38,26.87,8.71,21.37
$GC,27938,1.14,213.9,3138,470,1770,1774,3724.9,9.9,719,27943,0.00,2.33,0.00,0.000,1030,0.000,0.065,3139,2051,1772,1770,1775,0,0,0,0,0,0,26.58,26.50,26.60,8.71,21.96
$GC,28256,1.14,213.9,3138,2051,1770,1775,3688.6,10.2,725,28262,0.00,2.42,0.00,0.000,516,0.000,0.082,3151,474,1772,1770,1775,0,0,0,0,0,0,26.88,26.38,26.89,8.71,21.41
$GC,28454,1.14,213.9,3150,474,1769,1774,3669.6,10.4,728,28459,0.12,2.30,0.00,0.000,5126,0.238,0.065,3119,2046,1772,1770,1774,0,0,0,0,0,0,25.99,26.51,26.20,8.71,21.68
$GC,28792,1.15,220.8,3118,2046,1770,1774,3635.2,9.4,734,28804,0.00,2.45,7.47,2.438,8708,0.000,0.087,3129,472,1749,1746,1752,0,0,0,0,0,0,26.89,25.38,23.95,8.71,22.00
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$GC,46888,1.51,323.5,3243,2055,1391,1406,1740.9,10.8,1035,46895,0.00,2.45,0.00,0.000,516,0.000,0.082,3257,472,1398,1391,1406,0,0,0,0,0,0,26.78,26.32,26.79,8.65,20.82
$GC,47001,1.51,323.5,3256,472,1391,1406,1734.3,10.8,1036,47009,0.00,2.33,0.00,0.000,1030,0.000,0.067,3256,2048,1398,1391,1406,0,0,0,0,0,0,26.51,26.43,26.53,8.65,21.17
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$GC,47728,1.51,323.5,3235,2053,1391,1406,1648.3,10.9,1049,47733,0.00,2.42,0.00,0.000,516,0.000,0.082,3245,480,1399,1392,1406,0,0,0,0,0,0,26.82,26.36,26.83,8.65,20.93
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$GC,50553,1.51,323.5,3268,473,1391,1406,1336.7,10.7,1096,50561,0.12,2.33,0.00,0.000,5126,0.233,0.067,3235,2054,1399,1392,1407,0,0,0,0,0,0,26.03,26.51,26.23,8.65,20.66
$GC,50913,1.51,323.5,3234,2055,1391,1407,1298.2,10.6,1102,50917,0.00,2.38,0.00,0.000,260,0.000,0.087,3235,3616,1399,1391,1407,0,0,0,0,0,0,26.91,26.37,26.92,8.66,20.90
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$GC,54461,1.58,334.9,3239,478,1372,1385,917.9,9.5,1174,54474,0.00,2.30,7.15,1.085,9222,0.000,0.067,3241,2051,1355,1349,1362,0,0,0,0,0,0,26.48,26.40,24.88,8.69,20.42
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$GC,56656,1.63,334.9,3276,473,1349,1367,619.6,17.1,1248,56660,0.00,2.33,0.00,0.000,1030,0.000,0.070,3276,2052,1358,1349,1367,0,0,0,0,0,0,26.52,26.44,26.55,8.77,20.97
$GC,56983,1.63,334.9,3276,2051,1349,1369,559.0,18.7,1259,56987,0.00,2.42,0.00,0.000,516,0.000,0.082,3288,465,1359,1349,1369,0,0,0,0,0,0,26.84,26.36,26.85,8.80,20.82
$GC,57053,1.63,334.9,3288,465,1350,1370,547.8,18.6,1261,57057,0.00,2.33,0.00,0.000,1030,0.000,0.067,3288,2046,1359,1349,1369,0,0,0,0,0,0,26.54,26.46,26.57,8.81,20.66
$GC,57375,1.63,334.9,3288,2048,1349,1370,483.6,19.3,1272,57379,0.00,2.40,0.00,0.000,516,0.000,0.082,3300,473,1360,1350,1370,0,0,0,0,0,0,26.86,26.39,26.87,8.82,21.05
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$GC,57792,1.63,334.9,3300,2046,1350,1372,396.0,22.1,1286,57798,0.00,2.40,0.00,0.000,516,0.000,0.082,3312,467,1361,1351,1371,0,0,0,0,0,0,26.88,26.41,26.89,8.86,21.41
$GC,57854,1.63,334.9,3311,467,1351,1371,383.0,21.9,1288,57859,0.12,2.33,0.00,0.000,5126,0.223,0.067,3278,2048,1361,1351,1371,0,0,0,0,0,0,26.00,26.50,26.10,8.87,20.93
$GC,58182,1.63,334.9,3277,2049,1352,1373,310.4,21.8,1299,58188,0.00,2.38,0.00,0.000,516,0.000,0.079,3288,475,1362,1353,1372,0,0,0,0,0,0,26.89,26.43,26.90,8.89,21.09
$GC,58291,1.63,334.9,3288,475,1353,1373,286.1,24.0,1303,58295,0.00,2.28,0.00,0.000,1030,0.000,0.067,3289,2046,1363,1353,1373,0,0,0,0,0,0,26.60,26.53,26.63,8.90,20.90
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$GC,58958,1.63,334.9,3299,2057,1351,1370,114.8,24.4,1342,58959,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2057,1360,1351,1370,0,0,0,0,0,0,26.89,26.91,26.91,8.94,20.30
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$STATE,59527,end climb,SURFACE_DEPTH_REACHED
$STATE,59527,begin surface coast
$FINISH,3.2,1.023570
$STATE,59608,end surface coast,CONTROL_FINISHED_OK
$STATE,59608,begin surface
$SM_CCo,59611,214.45,0.606,0,0,349,627.46
$SM_GC,3.78,8.18,0.22,0.00,0.077,0.097,0.000,180,2251,352,-7.87,-1.27,626.88,0,0,0,0,0,0,25.63,25.63,25.67
$IRIDIUM_FIX,3156.22,-6420.62,080918,072951
$TT8_MAMPS,0.021721,0.247919
$HUMID,20.07
$INTERNAL_PRESSURE,8.98859
$TCM_TEMP,24.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,14.0
$ALTIM_BOTTOM_PING,4424.5,61.1
$24V_AH,21.08,15.655
$10V_AH,10.24,8.252
$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,24.800,456.000,511.000,214.450,136.525,24.940,14.835,338.321,182.250,0.000,19.469,5921.713,45946.109,1148.272,7277.528,307.051,0.000,4254.392,0.000,5511.562,0.000,1907.647,0.000
$DEVICE_MAMPS,278.096,96.837,3570.554,605.852,196.157,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.325,1864.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342432
$DATA_FILE_SIZE,100647,1407
$CAP_FILE_SIZE,529305,0
$CFSIZE,2047311872,2034794496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,85.69,1
$GPS,090918,183536,3138.752,-6413.729,36,0.8,39,-14.9,0.3,44.4,10,4.9