version: 66.07
glider: 187
mission: 4
dive: 362
start: 5 29 111 10 30 50
data:
$ID,187
$MISSION,4
$DIVE,362
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584243.9
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.973145
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,290511,102106,4732.760,-12554.263,54,0.8,54,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-75.0
$GPS2,290511,102951,4732.743,-12554.364,17,1.0,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.199,0.018
$KALMAN_X,14084.0,-3.3,-212.7,-72627.3,1146.1
$KALMAN_Y,-34673.3,335.2,732.9,8097.5,-4524.8
$MHEAD_RNG_PITCHd_Wd,212.0,102713,-13.6,-6.111
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,1196,-0.33,-117.3,120.3,-5.8,176,1200,0.00,2.28,0.00,0.000,6,0.000,0.043,2797,2198,3222,0,0,0,0,0,0
$GC,1338,-0.34,-117.3,128.5,-5.6,189,1342,0.00,2.33,0.00,0.000,4,0.000,0.050,2796,673,3222,0,0,0,0,0,0
$GC,1381,-0.35,-117.3,131.5,-6.1,192,1389,0.00,2.35,0.00,0.000,6,0.000,0.048,2795,2173,3223,0,0,0,0,0,0
$GC,1517,-0.35,-117.3,138.8,-5.1,205,1521,0.00,2.40,0.00,0.000,4,0.000,0.061,2790,3693,3222,0,0,0,0,0,0
$GC,1539,-0.37,-117.3,140.2,-5.7,206,1548,0.00,2.38,0.00,0.000,6,0.000,0.043,2789,2152,3222,0,0,0,0,0,0
$GC,1675,-0.37,-117.3,147.9,-5.8,219,1678,0.00,2.28,0.00,0.000,4,0.000,0.050,2789,667,3222,0,0,0,0,0,0
$GC,1725,-0.38,-117.3,151.4,-6.2,223,1731,0.00,2.28,0.00,0.000,6,0.000,0.047,2789,2143,3222,0,0,0,0,0,0
$GC,1859,-0.38,-117.3,159.9,-6.1,236,1863,0.00,2.45,0.00,0.000,4,0.000,0.060,2782,3689,3222,0,0,0,0,0,0
$GC,1891,-0.40,-117.3,161.9,-5.4,238,1899,0.00,2.38,0.00,0.000,6,0.000,0.043,2781,2129,3222,0,0,0,0,0,0
$GC,2026,-0.40,-117.3,170.0,-6.2,251,2030,0.00,2.22,0.00,0.000,4,0.000,0.050,2781,670,3222,0,0,0,0,0,0
$GC,2070,-0.40,-117.3,173.4,-6.9,254,2078,0.00,2.25,0.00,0.000,6,0.000,0.048,2779,2135,3222,0,0,0,0,0,0
$GC,2205,-0.40,-117.3,182.2,-7.0,267,2209,0.00,2.45,0.00,0.000,4,0.000,0.061,2770,3690,3222,0,0,0,0,0,0
$GC,2238,-0.40,-117.3,184.7,-7.5,269,2245,0.00,2.38,0.00,0.000,6,0.000,0.041,2770,2135,3222,0,0,0,0,0,0
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$GC,2553,-0.40,-117.3,206.5,-7.1,298,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2131,3221,0,0,0,0,0,0
$GC,2688,-0.40,-117.3,216.7,-7.6,311,2692,0.00,2.22,0.00,0.000,4,0.000,0.050,2762,668,3222,0,0,0,0,0,0
$GC,2705,-0.40,-117.3,218.2,-8.0,312,2709,0.00,2.22,0.00,0.000,6,0.000,0.048,2756,2124,3222,0,0,0,0,0,0
$GC,2847,-0.40,-117.3,229.7,-8.4,325,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2124,3221,0,0,0,0,0,0
$GC,2973,-0.40,-117.3,240.4,-8.4,337,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2124,3221,0,0,0,0,0,0
$GC,3100,-0.40,-117.3,251.0,-7.9,349,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2124,3221,0,0,0,0,0,0
$GC,3228,-0.40,-117.3,260.5,-7.3,361,3232,0.00,2.25,0.00,0.000,4,0.000,0.050,2755,667,3221,0,0,0,0,0,0
$GC,3250,-0.40,-117.3,262.4,-8.0,362,3257,0.00,2.22,0.00,0.000,6,0.000,0.049,2747,2112,3221,0,0,0,0,0,0
$GC,3384,-0.40,-117.3,272.2,-7.2,375,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2112,3221,0,0,0,0,0,0
$GC,3512,-0.40,-117.3,281.5,-7.4,387,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2112,3220,0,0,0,0,0,0
$GC,3640,-0.40,-117.3,290.8,-7.9,399,3644,0.00,2.53,0.00,0.000,4,0.000,0.060,2735,3693,3220,0,0,0,0,0,0
$GC,3668,-0.40,-117.3,293.0,-7.8,401,3673,0.15,2.45,0.00,0.000,6,0.131,0.044,2781,2102,3220,0,0,0,0,0,0
$GC,3803,-0.41,-117.3,300.4,-5.2,413,3807,0.00,2.20,0.00,0.000,4,0.000,0.051,2781,669,3220,0,0,0,0,0,0
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$GC,4266,-0.43,-117.3,324.5,-5.6,454,4270,0.00,2.47,0.00,0.000,6,0.000,0.044,2772,2081,3220,0,0,0,0,0,0
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$GC,5916,-0.42,-117.3,441.5,-7.3,602,5920,0.00,2.55,0.00,0.000,4,0.000,0.064,2739,3691,3217,0,0,0,0,0,0
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$GC,6473,-0.42,-117.3,469.1,-4.7,653,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2101,3216,0,0,0,0,0,0
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$GC,6726,-0.42,-117.3,481.4,-5.1,677,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2100,3217,0,0,0,0,0,0
$GC,6855,-0.42,-117.3,488.1,-5.7,689,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2100,3216,0,0,0,0,0,0
$GC,6981,-0.42,-117.3,495.5,-5.9,701,6985,0.00,2.25,0.00,0.000,4,0.000,0.054,2767,660,3216,0,0,0,0,0,0
$GC,7020,-0.42,-117.3,498.0,-6.7,704,7024,0.00,2.22,0.00,0.000,6,0.000,0.051,2764,2106,3216,0,0,0,0,0,0
$GC,7155,-0.42,-117.3,506.9,-6.9,716,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2105,3215,0,0,0,0,0,0
$GC,7282,-0.42,-117.3,515.6,-6.7,728,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2106,3216,0,0,0,0,0,0
$GC,7409,-0.42,-117.3,524.4,-7.1,740,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2106,3215,0,0,0,0,0,0
$GC,7537,-0.42,-117.3,533.4,-6.8,752,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2106,3215,0,0,0,0,0,0
$GC,7665,-0.42,-117.3,542.0,-6.6,764,7669,0.00,2.53,0.00,0.000,4,0.000,0.066,2753,3692,3215,0,0,0,0,0,0
$GC,7695,-0.42,-117.3,544.0,-6.4,766,7699,0.00,2.45,0.00,0.000,6,0.000,0.046,2752,2099,3215,0,0,0,0,0,0
$GC,7830,-0.42,-117.3,553.2,-6.7,778,7834,0.00,2.22,0.00,0.000,4,0.000,0.054,2752,669,3215,0,0,0,0,0,0
$GC,7876,-0.42,-117.3,556.5,-7.3,782,7880,0.00,2.22,0.00,0.000,6,0.000,0.053,2745,2106,3215,0,0,0,0,0,0
$GC,8010,-0.42,-117.3,565.7,-6.7,794,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2106,3214,0,0,0,0,0,0
$GC,8138,-0.42,-117.3,574.1,-6.6,806,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2106,3214,0,0,0,0,0,0
$GC,8266,-0.42,-117.3,582.5,-6.9,818,8270,0.00,2.55,0.00,0.000,4,0.000,0.065,2733,3691,3214,0,0,0,0,0,0
$GC,8305,-0.42,-117.3,585.2,-7.0,821,8310,0.12,2.45,0.00,0.000,6,0.138,0.047,2770,2102,3214,0,0,0,0,0,0
$GC,8443,-0.43,-117.3,592.5,-5.2,833,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2099,3214,0,0,0,0,0,0
$GC,8578,-0.44,-117.3,600.2,-6.0,846,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2099,3214,0,0,0,0,0,0
$GC,8884,-0.45,-117.3,617.0,-5.5,856,8888,0.00,2.22,0.00,0.000,4,0.000,0.055,2770,664,3213,0,0,0,0,0,0
$GC,8914,-0.46,-117.3,618.7,-6.4,857,8918,0.00,2.25,0.00,0.000,6,0.000,0.053,2769,2117,3214,0,0,0,0,0,0
$GC,9249,-0.47,-117.3,637.9,-5.7,868,9254,0.00,2.53,0.00,0.000,4,0.000,0.065,2760,3690,3213,0,0,0,0,0,0
$GC,9283,-0.49,-117.3,640.1,-5.9,869,9287,0.00,2.42,0.00,0.000,6,0.000,0.047,2759,2103,3213,0,0,0,0,0,0
$GC,9614,-0.49,-117.3,657.3,-5.0,880,9618,0.00,2.20,0.00,0.000,4,0.000,0.055,2759,666,3213,0,0,0,0,0,0
$GC,9664,-0.49,-117.3,660.3,-5.5,881,9668,0.00,2.22,0.00,0.000,6,0.000,0.052,2753,2102,3213,0,0,0,0,0,0
$GC,9978,-0.49,-117.3,676.5,-5.3,891,9982,0.00,2.55,0.00,0.000,4,0.000,0.067,2742,3685,3212,0,0,0,0,0,0
$GC,9994,-0.49,-117.3,677.5,-5.2,891,9999,0.00,2.45,0.00,0.000,6,0.000,0.048,2741,2104,3212,0,0,0,0,0,0
$GC,10309,-0.49,-117.3,695.9,-6.1,901,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2101,3212,0,0,0,0,0,0
$GC,10614,-0.49,-117.3,714.4,-5.7,911,10619,0.00,2.58,0.00,0.000,4,0.000,0.066,2731,3690,3212,0,0,0,0,0,0
$GC,10646,-0.49,-117.3,716.0,-5.4,912,10651,0.00,2.45,0.00,0.000,6,0.000,0.047,2731,2102,3212,0,0,0,0,0,0
$GC,10982,-0.49,-117.3,738.1,-6.9,923,10983,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2098,3211,0,0,0,0,0,0
$GC,11288,-0.49,-117.3,760.3,-7.6,933,11292,0.00,2.25,0.00,0.000,4,0.000,0.055,2731,661,3211,0,0,0,0,0,0
$GC,11333,-0.49,-117.3,764.3,-8.2,934,11337,0.00,2.20,0.00,0.000,6,0.000,0.053,2723,2094,3210,0,0,0,0,0,0
$GC,11663,-0.48,-117.3,790.8,-7.9,945,11667,0.00,2.58,0.00,0.000,4,0.000,0.065,2712,3693,3210,0,0,0,0,0,0
$GC,11697,-0.47,-117.3,793.6,-8.2,946,11702,0.15,2.47,0.00,0.000,6,0.132,0.048,2756,2100,3210,0,0,0,0,0,0
$GC,12027,-0.47,-117.3,812.9,-5.7,957,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2096,3210,0,0,0,0,0,0
$GC,12333,-0.47,-117.3,832.6,-6.8,967,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2096,3209,0,0,0,0,0,0
$GC,12640,-0.47,-117.3,853.3,-6.5,977,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2096,3209,0,0,0,0,0,0
$GC,12946,-0.47,-117.3,870.2,-5.1,987,12947,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2096,3209,0,0,0,0,0,0
$GC,13251,-0.47,-117.3,884.6,-4.9,997,13255,0.00,2.22,0.00,0.000,4,0.000,0.057,2757,664,3209,0,0,0,0,0,0
$GC,13268,-0.47,-117.3,885.5,-5.0,997,13272,0.00,2.25,0.00,0.000,6,0.000,0.054,2753,2111,3209,0,0,0,0,0,0
$GC,13587,-0.47,-117.3,901.5,-5.0,1008,13588,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2111,3209,0,0,0,0,0,0
$GC,13892,-0.47,-117.3,916.8,-5.0,1018,13896,0.00,2.28,0.00,0.000,4,0.000,0.057,2753,665,3208,0,0,0,0,0,0
$GC,13914,-0.47,-117.3,918.1,-6.0,1018,13918,0.00,2.25,0.00,0.000,6,0.000,0.054,2746,2110,3208,0,0,0,0,0,0
$GC,14229,-0.47,-117.3,933.8,-4.9,1028,14233,0.00,2.53,0.00,0.000,4,0.000,0.067,2735,3685,3209,0,0,0,0,0,0
$GC,14257,-0.47,-117.3,935.4,-5.4,1029,14262,0.00,2.42,0.00,0.000,6,0.000,0.047,2734,2101,3208,0,0,0,0,0,0
$GC,14594,-0.47,-117.3,951.5,-5.0,1040,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2099,3208,0,0,0,0,0,0
$GC,14899,-0.47,-117.3,968.9,-5.8,1050,14903,0.00,2.22,0.00,0.000,4,0.000,0.056,2734,668,3208,0,0,0,0,0,0
$GC,14929,-0.47,-117.3,970.7,-5.5,1051,14933,0.00,2.22,0.00,0.000,6,0.000,0.054,2729,2099,3207,0,0,0,0,0,0
$STATE,15232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15232,begin apogee
$GC,15239,-0.22,0.0,990.0,6.3,1061,15343,0.32,0.00,101.12,1.247,6,0.116,0.000,2835,2099,2735,0,0,0,0,0,0
$STATE,15343,end apogee,CONTROL_FINISHED_OK
$STATE,15343,begin climb
$GC,15346,0.50,117.3,992.1,0.0,1064,15468,0.65,2.72,109.47,1.215,4,0.077,0.056,3071,561,2255,0,0,0,0,0,0
$GC,15484,0.47,117.3,984.3,8.5,1068,15489,0.00,2.50,0.00,0.000,6,0.000,0.050,3071,2053,2253,0,0,0,0,0,0
$GC,15809,0.43,117.3,951.5,10.2,1079,15813,0.00,2.53,0.00,0.000,4,0.000,0.063,3071,3583,2244,0,0,0,0,0,0
$GC,15865,0.39,117.3,945.1,10.9,1080,15873,0.17,2.45,0.00,0.000,6,0.163,0.048,3036,2067,2243,0,0,0,0,0,0
$GC,16179,0.37,117.3,918.5,8.6,1091,16183,0.00,2.45,0.00,0.000,4,0.000,0.058,3046,540,2242,0,0,0,0,0,0
$GC,16201,0.36,117.3,916.4,8.6,1091,16207,0.00,2.42,0.00,0.000,6,0.000,0.051,3046,2067,2242,0,0,0,0,0,0
$GC,16515,0.34,117.3,887.6,9.3,1102,16517,0.12,0.00,0.00,0.000,6,0.164,0.000,3012,2068,2241,0,0,0,0,0,0
$GC,16820,0.34,117.3,864.6,7.4,1112,16821,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2068,2240,0,0,0,0,0,0
$GC,17126,0.34,117.3,841.8,7.4,1122,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2068,2239,0,0,0,0,0,0
$GC,17433,0.34,117.3,821.2,6.5,1132,17437,0.00,2.40,0.00,0.000,4,0.000,0.063,3012,3574,2239,0,0,0,0,0,0
$GC,17467,0.34,117.3,818.7,8.0,1133,17472,0.00,2.40,0.00,0.000,6,0.000,0.047,3013,2040,2238,0,0,0,0,0,0
$GC,17803,0.34,117.3,795.0,6.9,1144,17804,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2038,2238,0,0,0,0,0,0
$GC,18110,0.34,119.3,775.0,6.0,1154,18114,0.00,2.47,0.00,0.000,4,0.000,0.063,3013,3578,2238,0,0,0,0,0,0
$GC,18143,0.34,119.3,772.7,7.5,1155,18147,0.00,2.38,0.00,0.000,6,0.000,0.047,3022,2055,2237,0,0,0,0,0,0
$GC,18473,0.34,123.7,752.9,6.0,1166,18478,0.00,2.35,0.00,0.000,4,0.000,0.057,3032,548,2237,0,0,0,0,0,0
$GC,18513,0.35,134.9,750.5,5.7,1167,18535,0.00,2.35,13.60,1.017,6,0.000,0.052,3032,2069,2183,0,0,0,0,0,0
$GC,18841,0.35,134.9,727.1,7.3,1178,18845,0.00,2.42,0.00,0.000,4,0.000,0.063,3032,3576,2180,0,0,0,0,0,0
$GC,18898,0.33,134.9,722.3,8.9,1179,18902,0.00,2.35,0.00,0.000,6,0.000,0.047,3041,2076,2179,0,0,0,0,0,0
$GC,19212,0.32,134.9,697.6,7.8,1189,19213,0.12,0.00,0.00,0.000,6,0.155,0.000,3006,2074,2179,0,0,0,0,0,0
$GC,19519,0.32,134.9,679.3,6.3,1199,19523,0.00,2.38,0.00,0.000,4,0.000,0.057,3013,548,2179,0,0,0,0,0,0
$GC,19570,0.33,134.9,675.8,6.4,1200,19574,0.00,2.38,0.00,0.000,6,0.000,0.052,3013,2084,2179,0,0,0,0,0,0
$GC,19883,0.33,134.9,654.0,7.0,1210,19887,0.00,2.38,0.00,0.000,4,0.000,0.064,3013,3577,2179,0,0,0,0,0,0
$GC,19909,0.33,134.9,651.6,9.1,1210,19917,0.00,2.33,0.00,0.000,6,0.000,0.047,3013,2083,2179,0,0,0,0,0,0
$GC,20224,0.33,134.9,629.1,7.0,1221,20228,0.00,2.40,0.00,0.000,4,0.000,0.057,3014,537,2179,0,0,0,0,0,0
$GC,20274,0.33,134.9,625.7,7.0,1222,20278,0.00,2.40,0.00,0.000,6,0.000,0.052,3014,2077,2179,0,0,0,0,0,0
$GC,20592,0.33,134.9,605.5,6.4,1233,20596,0.00,2.38,0.00,0.000,4,0.000,0.064,3014,3580,2179,0,0,0,0,0,0
$GC,20625,0.33,134.9,603.0,7.4,1234,20629,0.00,2.33,0.00,0.000,6,0.000,0.048,3015,2076,2178,0,0,0,0,0,0
$GC,20956,0.33,134.9,581.7,6.7,1262,20960,0.00,2.40,0.00,0.000,4,0.000,0.059,3023,544,2178,0,0,0,0,0,0
$GC,20989,0.33,134.9,579.3,7.0,1264,20996,0.00,2.38,0.00,0.000,6,0.000,0.052,3023,2086,2178,0,0,0,0,0,0
$GC,21123,0.33,134.9,569.6,7.7,1277,21127,0.00,2.35,0.00,0.000,4,0.000,0.063,3024,3577,2178,0,0,0,0,0,0
$GC,21145,0.33,134.9,567.5,8.4,1278,21154,0.00,2.38,0.00,0.000,6,0.000,0.047,3031,2062,2178,0,0,0,0,0,0
$GC,21282,0.33,134.9,556.7,7.4,1291,21286,0.00,2.35,0.00,0.000,4,0.000,0.056,3041,551,2178,0,0,0,0,0,0
$GC,21310,0.33,134.9,554.2,8.4,1293,21315,0.00,2.33,0.00,0.000,6,0.000,0.051,3041,2067,2178,0,0,0,0,0,0
$GC,21445,0.32,134.9,543.5,8.1,1305,21450,0.12,2.40,0.00,0.000,4,0.155,0.062,3005,3581,2178,0,0,0,0,0,0
$GC,21500,0.32,134.9,539.2,7.8,1309,21507,0.00,2.33,0.00,0.000,6,0.000,0.048,3012,2089,2178,0,0,0,0,0,0
$GC,21634,0.32,134.9,530.7,6.3,1322,21638,0.00,2.40,0.00,0.000,4,0.000,0.058,3013,540,2178,0,0,0,0,0,0
$GC,21674,0.33,134.9,528.2,6.1,1325,21678,0.00,2.40,0.00,0.000,6,0.000,0.052,3013,2089,2178,0,0,0,0,0,0
$GC,21815,0.33,134.9,519.6,6.4,1338,21819,0.00,2.38,0.00,0.000,4,0.000,0.064,3013,3580,2178,0,0,0,0,0,0
$GC,21855,0.33,134.9,516.7,8.3,1341,21859,0.00,2.33,0.00,0.000,6,0.000,0.048,3014,2085,2178,0,0,0,0,0,0
$GC,21991,0.33,139.0,508.2,6.0,1353,22004,0.00,2.45,4.10,0.615,4,0.000,0.059,3014,547,2168,0,0,0,0,0,0
$GC,22040,0.35,155.3,505.3,5.5,1357,22064,0.00,2.38,16.05,0.894,6,0.000,0.052,3014,2087,2101,0,0,0,0,0,0
$GC,22192,0.36,155.9,496.2,6.1,1371,22196,0.00,2.38,0.00,0.000,4,0.000,0.063,3014,3572,2099,0,0,0,0,0,0
$GC,22240,0.36,155.9,492.7,7.2,1375,22245,0.00,2.33,0.00,0.000,6,0.000,0.046,3014,2083,2097,0,0,0,0,0,0
$GC,22376,0.36,155.9,484.1,6.3,1387,22380,0.00,2.40,0.00,0.000,4,0.000,0.056,3014,548,2097,0,0,0,0,0,0
$GC,22423,0.37,157.9,481.1,6.0,1391,22428,0.00,2.40,0.00,0.000,6,0.000,0.051,3014,2097,2097,0,0,0,0,0,0
$GC,22558,0.37,157.9,472.8,6.6,1403,22562,0.00,2.38,0.00,0.000,4,0.000,0.063,3014,3581,2097,0,0,0,0,0,0
$GC,22588,0.37,157.9,470.6,7.2,1405,22592,0.00,2.35,0.00,0.000,6,0.000,0.047,3014,2079,2096,0,0,0,0,0,0
$GC,22724,0.37,157.9,462.1,6.2,1417,22728,0.00,2.40,0.00,0.000,4,0.000,0.058,3014,548,2096,0,0,0,0,0,0
$GC,22770,0.40,173.3,459.3,5.6,1421,22795,0.00,2.35,16.40,0.871,6,0.000,0.051,3014,2071,2027,0,0,0,0,0,0
$GC,22924,0.42,180.4,450.2,5.9,1435,22937,0.00,2.50,7.12,0.755,4,0.000,0.063,3014,3581,1999,0,0,0,0,0,0
$GC,22962,0.43,180.4,447.4,7.2,1438,22967,0.00,2.38,0.00,0.000,6,0.000,0.047,3014,2062,1998,0,0,0,0,0,0
$GC,23098,0.44,180.4,439.4,6.4,1450,23102,0.10,2.40,0.00,0.000,4,0.106,0.056,3069,544,1997,0,0,0,0,0,0
$GC,23147,0.44,180.4,435.5,8.9,1454,23155,0.00,2.38,0.00,0.000,6,0.000,0.050,3069,2057,1997,0,0,0,0,0,0
$GC,23282,0.43,180.4,423.3,9.3,1467,23286,0.00,2.42,0.00,0.000,4,0.000,0.062,3069,3578,1996,0,0,0,0,0,0
$GC,23317,0.41,180.4,419.5,10.8,1470,23322,0.12,2.40,0.00,0.000,6,0.155,0.047,3037,2055,1995,0,0,0,0,0,0
$GC,23453,0.41,180.4,409.1,7.3,1482,23457,0.00,2.40,0.00,0.000,4,0.000,0.057,3042,535,1996,0,0,0,0,0,0
$GC,23492,0.41,180.4,406.1,6.9,1485,23496,0.00,2.38,0.00,0.000,6,0.000,0.050,3041,2061,1996,0,0,0,0,0,0
$GC,23634,0.41,180.4,395.6,7.6,1498,23638,0.00,2.40,0.00,0.000,4,0.000,0.063,3042,3571,1995,0,0,0,0,0,0
$GC,23655,0.41,180.4,393.5,8.3,1499,23662,0.00,2.40,0.00,0.000,6,0.000,0.047,3042,2044,1995,0,0,0,0,0,0
$GC,23789,0.41,180.4,382.9,7.9,1512,23793,0.00,2.35,0.00,0.000,4,0.000,0.057,3042,545,1995,0,0,0,0,0,0
$GC,23822,0.41,180.4,380.2,7.6,1514,23830,0.00,2.33,0.00,0.000,6,0.000,0.049,3042,2040,1995,0,0,0,0,0,0
$GC,23958,0.41,180.4,369.3,8.1,1527,23962,0.00,2.42,0.00,0.000,4,0.000,0.061,3042,3573,1995,0,0,0,0,0,0
$GC,23986,0.41,180.4,366.6,9.4,1529,23993,0.00,2.40,0.00,0.000,6,0.000,0.046,3042,2035,1994,0,0,0,0,0,0
$GC,24122,0.41,180.4,355.5,7.8,1542,24126,0.00,2.30,0.00,0.000,4,0.000,0.056,3042,548,1994,0,0,0,0,0,0
$GC,24142,0.41,180.4,353.7,7.1,1543,24149,0.00,2.33,0.00,0.000,6,0.000,0.050,3042,2043,1994,0,0,0,0,0,0
$GC,24277,0.41,180.4,342.7,8.0,1556,24281,0.00,2.45,0.00,0.000,4,0.000,0.061,3042,3581,1995,0,0,0,0,0,0
$GC,24306,0.41,180.4,340.2,9.3,1558,24310,0.00,2.42,0.00,0.000,6,0.000,0.047,3044,2033,1994,0,0,0,0,0,0
$GC,24442,0.41,180.4,329.2,7.7,1570,24446,0.00,2.33,0.00,0.000,4,0.000,0.057,3045,541,1994,0,0,0,0,0,0
$GC,24469,0.41,180.4,327.0,6.7,1572,24477,0.00,2.35,0.00,0.000,6,0.000,0.051,3045,2035,1994,0,0,0,0,0,0
$GC,24605,0.41,180.4,317.5,6.2,1585,24609,0.00,2.45,0.00,0.000,4,0.000,0.061,3045,3576,1994,0,0,0,0,0,0
$GC,24646,0.41,180.4,314.3,7.3,1588,24650,0.00,2.40,0.00,0.000,6,0.000,0.045,3053,2032,1993,0,0,0,0,0,0
$GC,24781,0.41,180.4,304.2,7.1,1600,24785,0.00,2.30,0.00,0.000,4,0.000,0.056,3061,548,1994,0,0,0,0,0,0
$GC,24832,0.41,180.4,300.0,9.0,1604,24839,0.00,2.28,0.00,0.000,6,0.000,0.050,3061,2028,1994,0,0,0,0,0,0
$GC,24966,0.41,180.4,289.0,8.2,1617,24970,0.00,2.47,0.00,0.000,4,0.000,0.062,3062,3577,1994,0,0,0,0,0,0
$GC,25013,0.39,180.4,284.5,12.3,1621,25018,0.12,2.40,0.00,0.000,6,0.153,0.047,3034,2036,1993,0,0,0,0,0,0
$GC,25149,0.39,180.4,274.4,7.1,1633,25153,0.00,2.33,0.00,0.000,4,0.000,0.057,3039,538,1994,0,0,0,0,0,0
$GC,25187,0.41,180.4,271.3,7.0,1636,25194,0.00,2.33,0.00,0.000,6,0.000,0.050,3039,2039,1994,0,0,0,0,0,0
$GC,25321,0.41,180.4,261.7,7.6,1649,25326,0.00,2.42,0.00,0.000,4,0.000,0.062,3039,3576,1994,0,0,0,0,0,0
$GC,25353,0.41,180.4,259.4,7.6,1651,25357,0.00,2.40,0.00,0.000,6,0.000,0.045,3042,2027,1993,0,0,0,0,0,0
$GC,25489,0.41,180.4,249.5,7.4,1663,25493,0.00,2.28,0.00,0.000,4,0.000,0.055,3041,546,1994,0,0,0,0,0,0
$GC,25530,0.42,185.0,246.6,5.9,1666,25543,0.00,2.28,4.78,0.584,6,0.000,0.050,3042,2028,1980,0,0,0,0,0,0
$GC,25671,0.42,185.0,237.5,6.5,1679,25675,0.00,2.42,0.00,0.000,4,0.000,0.061,3041,3571,1980,0,0,0,0,0,0
$GC,25710,0.42,185.0,234.3,8.6,1682,25714,0.00,2.40,0.00,0.000,6,0.000,0.045,3042,2017,1979,0,0,0,0,0,0
$GC,25851,0.42,185.0,224.6,7.0,1695,25855,0.00,2.28,0.00,0.000,4,0.000,0.054,3042,546,1979,0,0,0,0,0,0
$GC,25879,0.44,185.0,222.5,6.1,1697,25883,0.00,2.28,0.00,0.000,6,0.000,0.049,3042,2033,1979,0,0,0,0,0,0
$GC,26014,0.44,185.0,213.7,6.2,1709,26018,0.00,2.42,0.00,0.000,4,0.000,0.060,3042,3578,1979,0,0,0,0,0,0
$GC,26058,0.44,185.0,210.4,7.9,1712,26065,0.00,2.38,0.00,0.000,6,0.000,0.044,3041,2039,1979,0,0,0,0,0,0
$GC,26193,0.44,197.1,201.7,5.7,1725,26209,0.00,2.35,11.95,0.698,4,0.000,0.054,3042,542,1930,0,0,0,0,0,0
$GC,26238,0.46,201.0,198.9,6.0,1728,26249,0.00,2.35,5.20,0.572,6,0.000,0.050,3042,2039,1914,0,0,0,0,0,0
$GC,26387,0.46,201.0,189.6,6.5,1742,26391,0.00,2.47,0.00,0.000,4,0.000,0.061,3042,3573,1912,0,0,0,0,0,0
$GC,26429,0.46,201.0,186.0,9.0,1745,26436,0.00,2.38,0.00,0.000,6,0.000,0.044,3042,2042,1911,0,0,0,0,0,0
$GC,26565,0.46,201.0,177.5,6.7,1758,26569,0.00,2.33,0.00,0.000,4,0.000,0.054,3042,544,1911,0,0,0,0,0,0
$GC,26613,0.48,201.0,174.4,7.2,1762,26617,0.00,2.30,0.00,0.000,6,0.000,0.048,3042,2043,1911,0,0,0,0,0,0
$GC,26749,0.50,201.0,164.7,7.3,1774,26753,0.00,2.45,0.00,0.000,4,0.000,0.060,3042,3576,1911,0,0,0,0,0,0
$GC,26776,0.50,201.0,162.1,9.1,1776,26784,0.00,2.45,0.00,0.000,6,0.000,0.045,3042,2017,1910,0,0,0,0,0,0
$GC,26912,0.51,201.0,151.3,7.5,1789,26916,0.00,2.30,0.00,0.000,4,0.000,0.055,3042,540,1910,0,0,0,0,0,0
$GC,26944,0.53,201.0,149.3,6.5,1791,26948,0.00,2.28,0.00,0.000,6,0.000,0.049,3041,2025,1910,0,0,0,0,0,0
$GC,27081,0.56,237.5,141.3,4.8,1803,27118,0.12,2.53,31.08,0.692,4,0.089,0.060,3106,3564,1765,0,0,0,0,0,0
$GC,27142,0.54,237.5,136.1,7.8,1808,27149,0.15,2.45,0.00,0.000,6,0.146,0.045,3074,2011,1763,0,0,0,0,0,0
$GC,27279,0.54,237.5,124.8,8.0,1821,27283,0.00,2.30,0.00,0.000,4,0.000,0.055,3082,538,1761,0,0,0,0,0,0
$GC,27308,0.54,237.5,122.2,6.4,1823,27312,0.00,2.30,0.00,0.000,6,0.000,0.049,3082,2024,1760,0,0,0,0,0,0
$GC,27443,0.54,237.5,110.8,9.2,1835,27447,0.00,2.50,0.00,0.000,4,0.000,0.060,3082,3583,1760,0,0,0,0,0,0
$GC,27473,0.54,237.5,107.9,10.3,1837,27477,0.00,2.47,0.00,0.000,6,0.000,0.046,3082,2008,1759,0,0,0,0,0,0
$GC,27608,0.54,237.5,96.0,7.8,1853,27615,0.00,2.33,0.00,0.000,4,0.000,0.056,3082,545,1758,0,0,0,0,0,0
$GC,27655,0.55,237.5,92.8,6.7,1861,27663,0.00,2.30,0.00,0.000,6,0.000,0.047,3082,2010,1758,0,0,0,0,0,0
$GC,27732,0.56,253.3,88.3,5.6,1874,27754,0.00,2.55,13.38,0.630,4,0.000,0.060,3082,3570,1701,0,0,0,0,0,0
$GC,27778,0.57,264.2,85.6,5.7,1881,27793,0.00,2.53,10.50,0.604,6,0.000,0.044,3083,1960,1657,0,0,0,0,0,0
$GC,27861,0.58,266.1,80.8,6.0,1895,27868,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1960,1653,0,0,0,0,0,0
$GC,27935,0.60,270.1,76.1,6.0,1908,27943,0.00,0.00,5.93,0.533,6,0.000,0.000,3083,1960,1633,0,0,0,0,0,0
$GC,28009,0.62,270.1,71.3,6.8,1921,28016,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1960,1631,0,0,0,0,0,0
$GC,28081,0.64,270.1,66.3,6.7,1934,28089,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1960,1631,0,0,0,0,0,0
$GC,28156,0.66,270.1,60.8,7.1,1947,28163,0.10,0.00,0.00,0.000,6,0.102,0.000,3139,1958,1631,0,0,0,0,0,0
$GC,28230,0.65,270.1,54.3,9.3,1960,28237,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1958,1630,0,0,0,0,0,0
$GC,28304,0.63,270.1,47.6,8.6,1973,28311,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1958,1630,0,0,0,0,0,0
$GC,28376,0.62,270.1,41.7,8.0,1986,28384,0.12,0.00,0.00,0.000,6,0.140,0.000,3102,1958,1629,0,0,0,0,0,0
$GC,28453,0.62,270.1,36.7,6.2,1999,28460,0.00,2.58,0.00,0.000,4,0.000,0.058,3102,3581,1629,0,0,0,0,0,0
$GC,28480,0.62,270.1,34.7,6.6,2003,28488,0.00,2.47,0.00,0.000,6,0.000,0.044,3110,1985,1629,0,0,0,0,0,0
$GC,28552,0.62,270.1,29.4,7.6,2016,28560,0.00,2.28,0.00,0.000,4,0.000,0.056,3112,549,1629,0,0,0,0,0,0
$GC,28596,0.63,270.1,26.0,8.0,2023,28604,0.00,2.22,0.00,0.000,6,0.000,0.047,3111,1976,1629,0,0,0,0,0,0
$GC,28669,0.65,270.1,20.5,7.1,2036,28676,0.00,2.53,0.00,0.000,4,0.000,0.059,3111,3574,1629,0,0,0,0,0,0
$GC,28732,0.65,270.1,15.4,8.1,2047,28740,0.00,2.42,0.00,0.000,6,0.000,0.043,3111,2027,1628,0,0,0,0,0,0
$GC,28809,0.66,270.1,9.9,6.8,2060,28816,0.00,2.33,0.00,0.000,4,0.000,0.053,3112,546,1627,0,0,0,0,0,0
$GC,28851,0.68,276.4,7.4,5.9,2067,28866,0.00,2.33,5.80,0.503,6,0.000,0.047,3111,2037,1608,0,0,0,0,0,0
$STATE,28899,end climb,SURFACE_DEPTH_REACHED
$STATE,28899,begin surface coast
$FINISH,0.8,1.011921
$STATE,28965,end surface coast,CONTROL_FINISHED_OK
$STATE,28965,begin surface
$SM_CCo,28983,49.70,0.516,1,0,1205,375.06
$SM_GC,1.78,0.00,0.00,49.70,0.000,0.000,0.516,135,2187,1205,-8.65,0.34,375.06
$IRIDIUM_FIX,4716.56,-12554.14,290511,020218
$TT8_MAMPS,0.027713
$HUMID,35.82
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,23.1,35.798
$10V_AH,10.2,28.139
$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,21.675,465.650,356.475,49.700,0.000,25.241,39.531,271.401,0.250,0.000,18.225,5621.704,17517.562,890.059,4688.042,810.458,33.363,3073.806,0.000,4360.597,0.000,0.536,0.000
$DEVICE_MAMPS,234.090,76.500,1246.950,515.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1442.717,1725.009,1738.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297468
$DATA_FILE_SIZE,116836,2087
$CAP_FILE_SIZE,371555,0
$CFSIZE,260165632,192561152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019,343.8,1
$GPS,290511,183624,4730.937,-12558.216,57,1.4,57,18.7