version: 66.14
glider: 46
mission: 5
dive: 109
start: 8 14 119 21 10 34
data:
$ID,46
$MISSION,5
$DIVE,109
$N_DIVES,0
$STOP_T,8211919
$D_SURF,3
$D_FLARE,3
$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,3000
$T_MISSION,3300
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,240
$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,-10
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79912.602
$MASS_COMP,10878
$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,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$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,5
$N_GPS,50840
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3820
$C_PITCH,3045
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.73
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2215
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2280
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$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,-11.768235
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,140819,205800,3535.5874,-6118.5630,36,1.1,65,-16.0,1.0,158.8,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-48.8
$GPS2,140819,210958,3535.3767,-6118.1060,9,1.1,50,-16.0,1.6,133.3,7,4.7
$SPEED_LIMITS,0.104,0.205
$TGT_NAME,E
$TGT_LATLONG,3605.700,-6129.770
$TGT_RADIUS,20000.000
$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,320.1,58809,-12.0,-6.000,-16.34,4248
$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
$STATE,5,begin dive
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$GC,1469,-0.78,-170.3,2788,3612,2770,2987,56.7,-0.3,144,1480,0.00,3.33,0.00,0.000,1030,0.000,0.052,2789,2201,2879,2770,2988,0,0,0,0,0,0,27.13,27.12,27.13,8.70,18.61
$GC,1779,-0.78,-170.3,2788,2201,2770,2991,63.2,-3.2,175,1790,0.00,3.58,0.00,0.000,260,0.000,0.070,2781,3613,2880,2770,2990,0,0,0,0,0,0,27.34,26.93,27.36,8.70,18.61
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$GC,3091,-0.78,-170.3,2778,3610,2771,2995,82.0,-2.7,304,3098,0.00,3.33,0.00,0.000,1030,0.000,0.052,2778,2212,2883,2771,2995,0,0,0,0,0,0,27.18,27.15,27.19,8.66,18.69
$GC,3399,-0.78,-170.3,2777,2212,2771,2995,92.8,-2.6,335,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2212,2883,2771,2995,0,0,0,0,0,0,27.38,27.39,27.39,8.65,19.48
$GC,3698,-0.78,-170.3,2778,2212,2771,2995,96.5,-1.3,365,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2212,2883,2771,2995,0,0,0,0,0,0,27.38,27.39,27.39,8.65,19.48
$GC,3999,-0.78,-170.3,2778,2212,2771,2995,103.4,-1.4,395,4008,0.00,3.42,0.00,0.000,516,0.000,0.072,2778,847,2883,2771,2996,0,0,0,0,0,0,27.39,26.95,27.39,8.64,19.32
$GC,4125,-0.78,-170.3,2778,848,2771,2996,106.2,-2.5,407,4132,0.00,3.30,0.00,0.000,1030,0.000,0.052,2767,2227,2883,2771,2996,0,0,0,0,0,0,27.15,27.10,27.16,8.64,19.99
$GC,4433,-0.78,-170.3,2766,2226,2771,2996,112.1,-1.2,438,4442,0.00,3.47,0.00,0.000,260,0.000,0.072,2765,3604,2884,2772,2996,0,0,0,0,0,0,27.39,26.98,27.39,8.62,19.44
$GC,4686,-0.78,-170.3,2764,3604,2771,2996,119.2,-3.2,463,4697,0.00,3.28,0.00,0.000,1030,0.000,0.052,2765,2215,2883,2771,2996,0,0,0,0,0,0,27.18,27.17,27.18,8.62,19.28
$GC,4998,-0.78,-170.3,2764,2214,2771,2996,126.0,-1.2,494,5008,0.00,3.45,0.00,0.000,516,0.000,0.072,2765,841,2883,2771,2996,0,0,0,0,0,0,27.39,26.96,27.40,8.62,19.91
$GC,5082,-0.72,-170.3,2764,842,2771,2995,127.3,-1.3,502,5093,0.12,3.28,0.00,0.000,3078,0.149,0.052,2808,2222,2883,2771,2996,0,0,0,0,0,0,26.82,27.12,26.88,8.62,19.48
$GC,5392,-0.72,-170.3,2808,2222,2771,2996,133.8,-2.3,533,5403,0.00,3.45,0.00,0.000,260,0.000,0.070,2805,3597,2884,2772,2996,0,0,0,0,0,0,27.39,26.98,27.40,8.61,19.75
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$GC,6975,-0.72,-170.3,2801,2213,2771,2995,192.4,-3.0,634,6981,0.00,3.40,0.00,0.000,516,0.000,0.070,2801,854,2883,2771,2995,0,0,0,0,0,0,27.39,26.98,27.41,8.58,20.78
$GC,7095,-0.72,-170.3,2801,854,2770,2995,196.7,-3.6,640,7101,0.00,3.22,0.00,0.000,1030,0.000,0.055,2794,2209,2882,2770,2995,0,0,0,0,0,0,27.14,27.13,27.15,8.58,20.86
$GC,7416,-0.72,-170.3,2794,2209,2771,2994,209.8,-4.5,656,7422,0.00,3.42,0.00,0.000,516,0.000,0.070,2794,853,2882,2770,2994,0,0,0,0,0,0,27.39,26.98,27.41,8.58,20.54
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$GC,10915,-0.72,-170.3,2792,2215,2765,2987,373.1,-5.1,806,10921,0.00,3.42,0.00,0.000,516,0.000,0.070,2792,851,2876,2765,2987,0,0,0,0,0,0,27.40,26.98,27.42,8.54,21.33
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$GC,11630,-0.72,-170.3,2791,2218,2764,2986,413.9,-5.6,829,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2218,2875,2764,2986,0,0,0,0,0,0,27.40,27.42,27.41,8.53,21.49
$GC,11931,-0.72,-170.3,2791,2218,2763,2986,431.1,-5.7,839,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2217,2875,2764,2986,0,0,0,0,0,0,27.41,27.42,27.41,8.53,21.53
$GC,12230,-0.72,-170.3,2791,2218,2764,2985,448.5,-5.9,849,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2218,2874,2764,2985,0,0,0,0,0,0,27.41,27.42,27.41,8.51,21.49
$GC,12530,-0.72,-170.3,2791,2218,2764,2985,464.9,-5.5,859,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2218,2874,2764,2985,0,0,0,0,0,0,27.41,27.42,27.41,8.52,22.12
$GC,12830,-0.72,-170.3,2791,2218,2763,2985,481.6,-5.4,869,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2218,2874,2763,2985,0,0,0,0,0,0,27.41,27.42,27.41,8.52,21.53
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$GC,64491,-1.24,-170.3,2628,2220,2716,2936,4369.4,-6.8,1842,64492,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2221,2826,2716,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.94,24.71
$GC,64791,-1.24,-170.3,2628,2221,2716,2936,4389.7,-6.9,1847,64792,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2221,2826,2716,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.94,25.66
$GC,65091,-1.24,-170.3,2628,2220,2716,2937,4409.9,-6.8,1852,65098,0.00,3.62,0.00,0.000,516,0.000,0.067,2628,841,2826,2716,2936,0,0,0,0,0,0,27.39,26.41,27.40,7.94,25.07
$GC,65174,-1.24,-170.3,2628,841,2716,2936,4414.4,-6.9,1853,65181,0.10,3.45,0.00,0.000,3078,0.181,0.052,2645,2219,2826,2716,2936,0,0,0,0,0,0,26.44,26.80,26.52,7.95,24.99
$GC,65508,-1.24,-170.3,2644,2219,2715,2936,4438.3,-6.6,1859,65509,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2219,2826,2716,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.95,24.83
$GC,65808,-1.24,-170.3,2644,2219,2715,2936,4458.2,-6.7,1864,65809,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2219,2826,2716,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.95,24.87
$GC,66108,-1.24,-170.3,2644,2219,2716,2936,4478.1,-6.6,1869,66115,0.00,3.60,0.00,0.000,516,0.000,0.070,2645,845,2826,2716,2936,0,0,0,0,0,0,27.39,26.39,27.41,7.94,25.50
$GC,66170,-1.24,-170.3,2644,845,2716,2936,4482.7,-6.8,1870,66176,0.00,3.42,0.00,0.000,1030,0.000,0.055,2644,2216,2826,2716,2936,0,0,0,0,0,0,26.82,26.79,26.84,7.95,24.75
$GC,66528,-1.24,-170.3,2643,2216,2716,2936,4505.8,-6.4,1876,66529,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2216,2825,2715,2936,0,0,0,0,0,0,27.39,27.41,27.39,7.95,24.83
$GC,66828,-1.24,-170.3,2643,2216,2715,2936,4525.0,-6.5,1881,66829,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2216,2826,2716,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.94,24.87
$GC,67128,-1.24,-170.3,2643,2216,2716,2936,4544.1,-6.3,1886,67135,0.00,3.60,0.00,0.000,516,0.000,0.070,2644,844,2826,2716,2937,0,0,0,0,0,0,27.39,26.39,27.40,7.94,24.83
$GC,67190,-1.24,-170.3,2643,844,2716,2936,4548.3,-6.6,1887,67196,0.00,3.45,0.00,0.000,1030,0.000,0.052,2644,2218,2826,2716,2936,0,0,0,0,0,0,26.86,26.79,26.89,7.95,25.19
$GC,67544,-1.24,-170.3,2643,2218,2716,2936,4571.3,-6.5,1893,67545,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2218,2826,2716,2936,0,0,0,0,0,0,27.39,27.40,27.40,7.95,24.68
$GC,67843,-1.24,-170.3,2643,2218,2715,2936,4590.2,-6.3,1898,67844,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2218,2826,2716,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.95,24.91
$GC,68143,-1.24,-170.3,2643,2218,2715,2936,4608.9,-6.2,1903,68144,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2218,2826,2716,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.95,25.03
$GC,68443,-1.24,-170.3,2643,2218,2716,2936,4626.9,-6.0,1908,68450,0.00,3.60,0.00,0.000,516,0.000,0.067,2644,847,2825,2715,2936,0,0,0,0,0,0,27.39,26.39,27.40,7.95,24.87
$GC,68511,-1.24,-170.3,2643,847,2715,2936,4630.9,-6.2,1909,68516,0.00,3.45,0.00,0.000,1030,0.000,0.052,2644,2218,2825,2715,2936,0,0,0,0,0,0,26.86,26.79,26.89,7.94,24.75
$GC,68858,-1.24,-170.3,2643,2218,2714,2936,4652.5,-6.1,1915,68859,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2218,2825,2715,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.95,24.75
$GC,69159,-1.24,-170.3,2643,2218,2715,2936,4669.8,-5.7,1920,69160,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2218,2826,2716,2936,0,0,0,0,0,0,27.39,27.40,27.40,7.95,24.60
$GC,69458,-1.24,-170.3,2643,2218,2715,2936,4687.2,-5.8,1925,69465,0.00,3.62,0.00,0.000,516,0.000,0.070,2643,838,2825,2715,2936,0,0,0,0,0,0,27.39,26.37,27.40,7.95,24.48
$GC,69536,-1.24,-170.3,2643,838,2715,2936,4690.9,-5.9,1926,69542,0.00,3.45,0.00,0.000,1030,0.000,0.052,2643,2214,2825,2715,2936,0,0,0,0,0,0,26.86,26.79,26.89,7.95,25.50
$GC,69874,-1.24,-170.3,2643,2214,2715,2936,4711.3,-5.5,1932,69875,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2214,2825,2715,2936,0,0,0,0,0,0,27.39,27.40,27.40,7.95,24.95
$GC,70174,-1.24,-170.3,2643,2214,2716,2936,4728.0,-5.5,1937,70175,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2214,2826,2717,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.95,25.11
$GC,70474,-1.24,-170.3,2643,2214,2715,2936,4744.1,-5.2,1942,70475,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2214,2825,2715,2936,0,0,0,0,0,0,27.39,27.41,27.40,7.95,24.83
$GC,70775,-1.24,-170.3,2643,2214,2715,2936,4760.3,-5.3,1947,70781,0.00,3.60,0.00,0.000,516,0.000,0.070,2644,840,2826,2716,2936,0,0,0,0,0,0,27.31,26.37,27.32,7.95,25.11
$GC,70847,-1.24,-170.3,2643,840,2715,2936,4763.7,-5.5,1948,70852,0.00,3.45,0.00,0.000,1030,0.000,0.052,2643,2215,2825,2715,2936,0,0,0,0,0,0,26.86,26.79,26.89,7.95,25.31
$STATE,71191,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,71192,begin apogee
$GC,71195,-0.68,0.0,2643,2215,2715,2935,4782.5,-5.2,1954,71382,0.55,0.00,183.68,3.950,10246,0.132,0.000,2822,2215,2279,2164,2395,0,0,0,0,0,0,25.98,22.58,20.33,7.95,25.11
$STATE,71383,end apogee,CONTROL_FINISHED_OK
$STATE,71383,begin climb
$GC,71385,0.86,170.3,2822,2215,2162,2394,4785.4,0.0,1957,71583,1.62,0.00,193.80,3.856,10246,0.114,0.000,3309,2215,1691,1580,1803,0,0,0,0,0,0,23.23,22.62,20.56,7.94,24.99
$GC,71850,0.74,170.3,3309,2215,1579,1802,4739.6,11.5,1965,71851,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2215,1690,1579,1801,0,0,0,0,0,0,26.06,26.08,26.07,7.89,24.16
$GC,72150,0.62,170.3,3310,2215,1579,1802,4705.5,11.3,1970,72157,0.17,3.75,0.00,0.000,4612,0.159,0.072,3265,802,1690,1579,1802,0,0,0,0,0,0,26.36,26.47,26.44,7.88,24.08
$GC,72193,0.51,170.3,3265,802,1579,1802,4705.5,11.3,1970,72201,0.17,3.47,0.00,0.000,5126,0.149,0.052,3211,2168,1690,1579,1802,0,0,0,0,0,0,26.40,26.62,26.54,7.88,23.81
$GC,72510,0.51,170.3,3210,2168,1579,1802,4675.0,8.0,1976,72516,0.00,3.67,0.00,0.000,260,0.000,0.070,3210,3571,1690,1579,1802,0,0,0,0,0,0,27.10,26.74,27.11,7.88,24.28
$GC,72570,0.51,170.3,3210,3571,1578,1802,4669.8,8.1,1977,72576,0.00,3.45,0.00,0.000,1030,0.000,0.052,3222,2185,1690,1579,1802,0,0,0,0,0,0,26.89,26.86,26.90,7.88,24.40
$GC,72929,0.51,170.3,3221,2185,1578,1802,4640.2,8.2,1983,72930,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2185,1690,1579,1802,0,0,0,0,0,0,27.21,27.23,27.22,7.87,24.75
$GC,73229,0.51,170.3,3222,2184,1579,1802,4615.9,8.1,1988,73230,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2185,1690,1579,1802,0,0,0,0,0,0,27.25,27.27,27.27,7.87,24.60
$GC,73529,0.51,170.3,3221,2185,1579,1802,4591.7,8.1,1993,73536,0.00,3.60,0.00,0.000,260,0.000,0.070,3222,3567,1690,1579,1802,0,0,0,0,0,0,27.28,26.88,27.29,7.86,24.28
$GC,73577,0.51,170.3,3222,3567,1578,1802,4591.7,8.1,1993,73583,0.00,3.47,0.00,0.000,1030,0.000,0.050,3238,2168,1690,1578,1802,0,0,0,0,0,0,27.05,27.01,27.07,7.87,24.91
$GC,73884,0.51,170.3,3237,2168,1579,1802,4561.5,8.3,1998,73885,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2168,1690,1579,1802,0,0,0,0,0,0,27.30,27.32,27.32,7.86,24.28
$GC,74185,0.51,170.3,3237,2168,1578,1802,4537.0,8.2,2003,74186,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2168,1690,1578,1802,0,0,0,0,0,0,27.32,27.34,27.33,7.86,24.87
$GC,74484,0.51,170.3,3237,2168,1578,1802,4512.5,8.1,2008,74491,0.00,3.65,0.00,0.000,260,0.000,0.070,3238,3568,1690,1578,1802,0,0,0,0,0,0,27.33,26.91,27.34,7.86,24.64
$GC,74547,0.45,170.3,3237,3569,1578,1802,4507.0,8.3,2009,74553,0.20,3.45,0.00,0.000,5126,0.154,0.052,3190,2168,1690,1578,1802,0,0,0,0,0,0,26.70,27.05,26.85,7.85,24.40
$GC,74900,0.45,170.3,3189,2167,1577,1802,4482.5,6.7,2015,74902,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2167,1690,1578,1802,0,0,0,0,0,0,27.34,27.36,27.35,7.85,24.68
$GC,75200,0.45,170.3,3189,2168,1577,1802,4461.8,6.9,2020,75202,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2168,1689,1577,1802,0,0,0,0,0,0,27.34,27.36,27.36,7.85,24.75
$GC,75500,0.45,170.3,3189,2168,1577,1802,4441.2,6.9,2025,75507,0.00,3.62,0.00,0.000,260,0.000,0.070,3189,3565,1689,1577,1802,0,0,0,0,0,0,27.35,26.91,27.36,7.85,24.24
$GC,75549,0.45,170.3,3189,3565,1577,1802,4441.2,6.9,2025,75554,0.00,3.47,0.00,0.000,1030,0.000,0.050,3198,2167,1689,1577,1801,0,0,0,0,0,0,27.11,27.06,27.13,7.85,24.24
$GC,75855,0.45,170.3,3198,2166,1577,1802,4417.1,6.6,2030,75857,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2166,1689,1577,1802,0,0,0,0,0,0,27.36,27.37,27.37,7.85,24.24
$GC,76156,0.45,170.3,3198,2166,1576,1802,4396.8,6.7,2035,76162,0.00,3.62,0.00,0.000,260,0.000,0.070,3198,3564,1689,1577,1802,0,0,0,0,0,0,27.36,26.90,27.37,7.85,24.60
$GC,76204,0.45,170.3,3197,3564,1576,1802,4396.8,6.7,2035,76209,0.00,3.47,0.00,0.000,1030,0.000,0.050,3212,2166,1689,1576,1802,0,0,0,0,0,0,27.11,27.06,27.13,7.84,24.60
$GC,76511,0.45,170.3,3211,2166,1576,1802,4371.9,7.0,2040,76512,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2166,1689,1576,1802,0,0,0,0,0,0,27.36,27.38,27.38,7.84,24.44
$GC,76810,0.45,170.3,3211,2166,1576,1802,4351.2,6.9,2045,76817,0.00,3.62,0.00,0.000,260,0.000,0.070,3212,3567,1689,1576,1802,0,0,0,0,0,0,27.36,26.90,27.38,7.84,24.52
$GC,76855,0.45,170.3,3211,3567,1576,1802,4351.2,6.9,2045,76864,0.12,3.47,0.00,0.000,5126,0.166,0.052,3186,2166,1689,1576,1802,0,0,0,0,0,0,26.74,27.06,26.87,7.85,24.71
$GC,77171,0.45,170.3,3185,2166,1576,1802,4328.5,6.0,2051,77172,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2166,1689,1576,1802,0,0,0,0,0,0,27.37,27.39,27.38,7.84,24.56
$GC,77471,0.45,170.3,3186,2166,1576,1802,4310.4,6.0,2056,77472,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2166,1689,1576,1802,0,0,0,0,0,0,27.37,27.39,27.39,7.84,24.20
$GC,77771,0.45,170.3,3185,2166,1576,1801,4291.7,6.3,2061,77772,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2166,1689,1576,1802,0,0,0,0,0,0,27.37,27.39,27.39,7.84,24.24
$GC,78071,0.45,170.3,3185,2166,1576,1802,4273.5,6.1,2066,78072,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2166,1689,1576,1802,0,0,0,0,0,0,27.38,27.39,27.39,7.84,24.60
$GC,78371,0.45,170.3,3185,2167,1575,1802,4255.2,6.1,2071,78372,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2166,1689,1576,1802,0,0,0,0,0,0,27.38,27.39,27.39,7.84,25.19
$GC,78671,0.45,170.3,3185,2166,1575,1802,4236.8,6.1,2076,78678,0.00,3.65,0.00,0.000,260,0.000,0.067,3185,3569,1689,1577,1802,0,0,0,0,0,0,27.38,26.88,27.39,7.84,24.71
$GC,78731,0.45,170.3,3185,3568,1576,1802,4232.5,6.3,2077,78738,0.00,3.47,0.00,0.000,1030,0.000,0.052,3195,2168,1689,1576,1802,0,0,0,0,0,0,27.11,27.06,27.13,7.84,24.71
$GC,79091,0.45,170.3,3195,2168,1576,1802,4209.1,6.5,2083,79092,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2168,1688,1575,1802,0,0,0,0,0,0,27.38,27.39,27.39,7.84,24.48
$GC,79391,0.45,170.3,3194,2168,1576,1802,4189.5,6.6,2088,79398,0.00,3.65,0.00,0.000,260,0.000,0.070,3195,3570,1689,1576,1802,0,0,0,0,0,0,27.38,26.87,27.39,7.85,24.32
$GC,79438,0.45,170.3,3195,3570,1576,1802,4189.5,6.6,2088,79444,0.00,3.45,0.00,0.000,1030,0.000,0.050,3205,2177,1689,1576,1802,0,0,0,0,0,0,27.11,27.05,27.13,7.84,24.95
$GC,79751,0.45,170.3,3204,2172,1576,1802,4163.9,7.0,2094,79752,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2172,1689,1576,1802,0,0,0,0,0,0,27.38,27.40,27.39,7.84,24.87
$GC,80051,0.45,170.3,3204,2172,1576,1802,4143.3,6.9,2099,80052,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2172,1689,1576,1802,0,0,0,0,0,0,27.38,27.40,27.39,7.84,24.52
$GC,80351,0.45,170.3,3204,2172,1575,1802,4122.1,7.1,2104,80352,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2172,1688,1575,1802,0,0,0,0,0,0,27.38,27.40,27.39,7.83,24.56
$GC,80651,0.45,170.3,3204,2172,1576,1801,4101.5,6.8,2109,80652,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2172,1689,1576,1802,0,0,0,0,0,0,27.39,27.40,27.39,7.83,24.40
$GC,80951,0.45,170.3,3204,2172,1576,1802,4080.8,6.9,2114,80959,0.00,3.65,0.00,0.000,260,0.000,0.070,3205,3571,1689,1576,1802,0,0,0,0,0,0,27.39,26.85,27.40,7.83,24.60
$GC,80999,0.45,170.3,3204,3571,1576,1802,4080.8,6.9,2114,81005,0.00,3.47,0.00,0.000,1030,0.000,0.050,3218,2164,1689,1576,1802,0,0,0,0,0,0,27.10,27.05,27.12,7.83,24.24
$GC,81306,0.45,170.3,3217,2164,1576,1802,4054.6,7.4,2119,81307,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2165,1689,1576,1802,0,0,0,0,0,0,27.39,27.40,27.39,7.83,24.52
$GC,81606,0.45,170.3,3218,2164,1576,1802,4032.7,7.3,2124,81607,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2165,1689,1576,1802,0,0,0,0,0,0,27.39,27.40,27.40,7.83,24.60
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$GC,91491,0.45,170.3,3205,2169,1576,1802,3490.6,4.6,2286,91493,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2169,1689,1576,1802,0,0,0,0,0,0,27.39,27.41,27.41,7.81,24.71
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$GC,141492,1.01,253.8,3390,2170,1294,1519,797.8,6.3,3168,141493,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2170,1406,1294,1519,0,0,0,0,0,0,27.38,27.40,27.39,7.95,22.94
$GC,141792,1.01,253.8,3390,2170,1294,1519,777.1,7.2,3178,141793,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2170,1406,1294,1518,0,0,0,0,0,0,27.39,27.40,27.40,7.96,22.94
$GC,142092,1.01,253.8,3390,2170,1294,1519,754.7,7.4,3188,142093,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2170,1406,1294,1519,0,0,0,0,0,0,27.39,27.40,27.40,7.98,23.02
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$GC,142692,1.01,253.8,3390,2170,1295,1519,711.9,7.3,3208,142693,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2170,1407,1295,1519,0,0,0,0,0,0,27.39,27.40,27.40,8.01,23.18
$GC,142992,1.01,253.8,3390,2170,1295,1520,690.7,7.2,3218,142993,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2170,1407,1295,1520,0,0,0,0,0,0,27.39,27.41,27.39,8.03,22.98
$GC,143292,1.01,253.8,3389,2170,1296,1520,669.3,7.1,3228,143299,0.00,3.58,0.00,0.000,260,0.000,0.067,3391,3568,1408,1296,1520,0,0,0,0,0,0,27.39,26.77,27.40,8.05,22.75
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$GC,144074,1.01,253.8,3377,3564,1298,1522,605.3,9.3,3254,144080,0.00,3.40,0.00,0.000,1030,0.000,0.050,3394,2171,1409,1297,1522,0,0,0,0,0,0,27.08,27.03,27.10,8.10,22.47
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$GC,145958,0.96,253.8,3364,2170,1301,1527,438.0,9.6,3317,145964,0.00,0.00,4.05,0.665,8198,0.000,0.000,3365,2170,1406,1293,1519,0,0,0,0,0,0,27.38,25.15,23.53,8.19,21.76
$GC,146258,0.96,253.8,3364,2170,1294,1519,410.7,8.8,3327,146259,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2170,1406,1294,1519,0,0,0,0,0,0,27.35,27.37,27.36,8.21,21.64
$GC,146558,0.96,253.8,3364,2170,1295,1519,383.9,9.1,3337,146559,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2170,1407,1295,1520,0,0,0,0,0,0,27.36,27.38,27.38,8.23,21.49
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$GC,147819,0.91,253.8,3335,2165,1299,1524,262.9,9.3,3385,147820,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2165,1411,1299,1524,0,0,0,0,0,0,27.38,27.39,27.39,8.27,21.17
$GC,148118,0.91,253.8,3335,2165,1300,1525,234.1,9.3,3400,148119,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2165,1413,1301,1525,0,0,0,0,0,0,27.38,27.40,27.39,8.28,21.41
$GC,148418,0.91,253.8,3335,2165,1300,1525,207.3,8.7,3415,148419,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2165,1413,1301,1525,0,0,0,0,0,0,27.38,27.39,27.39,8.29,20.78
$GC,148719,0.91,253.8,3335,2165,1301,1526,180.4,9.5,3430,148731,0.00,3.62,3.72,0.544,8452,0.000,0.067,3335,3567,1406,1293,1520,0,0,0,0,0,0,27.39,25.72,24.17,8.29,20.74
$GC,148761,0.91,253.8,3334,3567,1293,1520,176.0,10.1,3432,148766,0.00,3.38,0.00,0.000,1030,0.000,0.050,3347,2172,1406,1293,1520,0,0,0,0,0,0,27.09,27.05,27.10,8.29,20.78
$GC,149074,0.91,253.8,3347,2171,1293,1520,144.5,9.9,3450,149075,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2171,1406,1293,1520,0,0,0,0,0,0,27.36,27.38,27.38,8.30,20.66
$GC,149373,0.91,253.8,3347,2172,1294,1520,115.7,9.1,3480,149374,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2172,1407,1295,1520,0,0,0,0,0,0,27.37,27.39,27.39,8.31,20.38
$GC,149673,0.91,253.8,3347,2171,1295,1520,89.2,9.4,3510,149683,0.00,3.53,0.00,0.000,260,0.000,0.067,3348,3560,1407,1295,1520,0,0,0,0,0,0,27.38,26.87,27.39,8.33,21.01
$GC,149698,0.91,253.8,3347,3560,1295,1520,86.7,9.7,3512,149706,0.00,3.38,0.00,0.000,1030,0.000,0.052,3363,2165,1407,1295,1520,0,0,0,0,0,0,27.12,27.08,27.13,8.33,20.93
$GC,150005,0.91,253.8,3362,2164,1295,1520,55.8,9.0,3543,150007,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2164,1408,1296,1520,0,0,0,0,0,0,27.38,27.39,27.39,8.36,20.54
$GC,150307,0.91,253.8,3362,2164,1296,1520,30.2,8.8,3573,150308,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2164,1407,1295,1520,0,0,0,0,0,0,27.38,27.40,27.39,8.38,21.41
$GC,150605,0.91,253.8,3362,2164,1295,1520,5.9,8.8,3603,150607,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2164,1408,1296,1521,0,0,0,0,0,0,27.38,27.39,27.39,8.44,21.25
$STATE,150644,end climb,SURFACE_DEPTH_REACHED
$STATE,150644,begin surface coast
$FINISH,0.8,1.002210
$STATE,150676,end surface coast,CONTROL_FINISHED_OK
$STATE,150677,begin surface
$SM_CCo,150692,100.03,0.837,0,0,937,390.14
$SM_GC,1.47,8.40,0.08,100.03,0.077,0.129,0.837,177,2225,937,-8.87,-1.13,390.14,0,0,0,0,0,0,26.91,27.20,24.79
$IRIDIUM_FIX,3533.83,-6119.36,130819,232747
$TT8_MAMPS,0.02247,0.174517
$HUMID,20.62
$INTERNAL_PRESSURE,8.38004
$TCM_TEMP,22.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4782.5,13.7
$24V_AH,20.33,46.205
$10V_AH,10.30,22.472
$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,23.675,945.650,471.750,100.025,113.475,23.476,20.983,476.242,10.500,0.000,50.760,12281.508,127835.047,1577.001,9223.181,550.205,0.000,6459.508,0.000,8440.317,0.000,84.433,0.000
$DEVICE_MAMPS,243.334,129.116,3950.453,836.771,148.980,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2513.310,4711.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319092
$DATA_FILE_SIZE,249170,3610
$CAP_FILE_SIZE,831201,0
$CFSIZE,2046525440,2018344960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.090,108.72,1
$GPS,160819,150534,3541.654,-6129.108,29,1.0,63,-16.0,1.2,173.3,8,5.0