version: 66.07
glider: 187
mission: 4
dive: 371
start: 6 1 111 10 6 10
data:
$ID,187
$MISSION,4
$DIVE,371
$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,-1584258.2
$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,39
$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
$GPS1,010611,095307,4715.922,-12627.333,26,1.7,26,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-77.1
$GPS2,010611,100514,4715.905,-12627.229,14,1.8,14,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.198,0.031
$KALMAN_X,26108.0,47.0,-295.4,-125516.7,2220.1
$KALMAN_Y,-69323.7,211.0,-449.3,12883.8,-4030.3
$MHEAD_RNG_PITCHd_Wd,220.0,50803,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,1098,-0.30,-117.3,104.3,-5.9,177,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2213,3222,0,0,0,0,0,0
$GC,1225,-0.30,-117.3,112.1,-6.3,189,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2213,3222,0,0,0,0,0,0
$GC,1354,-0.31,-117.3,120.1,-6.3,201,1358,0.00,2.38,0.00,0.000,4,0.000,0.049,2799,664,3222,0,0,0,0,0,0
$GC,1376,-0.32,-117.3,121.7,-6.9,202,1383,0.00,2.40,0.00,0.000,6,0.000,0.047,2799,2218,3222,0,0,0,0,0,0
$GC,1511,-0.33,-117.3,130.3,-6.7,215,1515,0.00,2.35,0.00,0.000,4,0.000,0.061,2799,3696,3222,0,0,0,0,0,0
$GC,1534,-0.35,-117.3,131.7,-6.0,216,1542,0.00,2.33,0.00,0.000,6,0.000,0.043,2798,2198,3221,0,0,0,0,0,0
$GC,1670,-0.37,-117.3,140.3,-6.2,229,1674,0.00,2.38,0.00,0.000,4,0.000,0.049,2797,660,3222,0,0,0,0,0,0
$GC,1712,-0.39,-117.3,142.8,-6.1,232,1716,0.00,2.35,0.00,0.000,6,0.000,0.048,2797,2190,3222,0,0,0,0,0,0
$GC,1853,-0.40,-117.3,151.1,-5.8,245,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2190,3221,0,0,0,0,0,0
$GC,1980,-0.41,-117.3,158.0,-5.5,257,1984,0.00,2.38,0.00,0.000,4,0.000,0.050,2797,671,3221,0,0,0,0,0,0
$GC,2004,-0.43,-117.3,159.4,-6.0,258,2012,0.00,2.35,0.00,0.000,6,0.000,0.048,2797,2176,3221,0,0,0,0,0,0
$GC,2140,-0.44,-117.3,166.1,-4.6,271,2142,0.10,0.00,0.00,0.000,6,0.099,0.000,2741,2177,3221,0,0,0,0,0,0
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$GC,2710,-0.40,-117.3,209.2,-6.4,324,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2190,3221,0,0,0,0,0,0
$GC,2837,-0.40,-117.3,217.1,-6.4,336,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2190,3220,0,0,0,0,0,0
$GC,2966,-0.40,-117.3,224.8,-6.0,348,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2190,3220,0,0,0,0,0,0
$GC,3092,-0.40,-117.3,232.1,-5.8,360,3096,0.00,2.33,0.00,0.000,4,0.000,0.050,2778,673,3220,0,0,0,0,0,0
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$GC,3260,-0.40,-117.3,242.2,-6.0,375,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2169,3220,0,0,0,0,0,0
$GC,3386,-0.40,-117.3,250.3,-6.3,387,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2169,3220,0,0,0,0,0,0
$GC,3513,-0.40,-117.3,258.6,-6.6,399,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2168,3220,0,0,0,0,0,0
$GC,3642,-0.40,-117.3,267.5,-6.7,411,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2168,3220,0,0,0,0,0,0
$GC,3769,-0.40,-117.3,276.3,-6.8,423,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2169,3219,0,0,0,0,0,0
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$GC,7092,-0.41,-117.3,477.3,-5.3,732,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2154,3214,0,0,0,0,0,0
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$GC,7513,-0.44,-117.3,499.3,-5.2,770,7517,0.00,2.47,0.00,0.000,4,0.000,0.066,2771,3690,3214,0,0,0,0,0,0
$GC,7543,-0.46,-117.3,501.1,-5.4,772,7547,0.00,2.38,0.00,0.000,6,0.000,0.047,2771,2152,3214,0,0,0,0,0,0
$GC,7680,-0.47,-117.3,508.1,-5.2,784,7684,0.00,2.28,0.00,0.000,4,0.000,0.053,2771,666,3214,0,0,0,0,0,0
$GC,7721,-0.48,-117.3,510.5,-5.8,787,7725,0.00,2.28,0.00,0.000,6,0.000,0.050,2769,2142,3214,0,0,0,0,0,0
$GC,7861,-0.48,-117.3,518.0,-5.2,800,7865,0.00,2.50,0.00,0.000,4,0.000,0.064,2768,3694,3213,0,0,0,0,0,0
$GC,7895,-0.50,-117.3,519.7,-5.0,802,7901,0.00,2.42,0.00,0.000,6,0.000,0.047,2767,2125,3213,0,0,0,0,0,0
$GC,8030,-0.51,-117.3,526.6,-5.2,815,8034,0.00,2.25,0.00,0.000,4,0.000,0.054,2767,659,3213,0,0,0,0,0,0
$GC,8070,-0.51,-117.3,528.8,-5.4,818,8074,0.00,2.28,0.00,0.000,6,0.000,0.052,2763,2136,3213,0,0,0,0,0,0
$GC,8211,-0.51,-117.3,536.2,-5.5,831,8215,0.00,2.47,0.00,0.000,4,0.000,0.064,2757,3689,3213,0,0,0,0,0,0
$GC,8245,-0.52,-117.3,538.2,-5.7,833,8253,0.00,2.40,0.00,0.000,6,0.000,0.047,2757,2134,3212,0,0,0,0,0,0
$GC,8381,-0.52,-117.3,545.3,-5.3,846,8385,0.00,2.28,0.00,0.000,4,0.000,0.053,2757,659,3213,0,0,0,0,0,0
$GC,8427,-0.52,-117.3,548.1,-6.6,850,8431,0.00,2.28,0.00,0.000,6,0.000,0.053,2751,2126,3212,0,0,0,0,0,0
$GC,8563,-0.52,-117.3,556.0,-6.0,862,8567,0.00,2.50,0.00,0.000,4,0.000,0.066,2740,3689,3212,0,0,0,0,0,0
$GC,8589,-0.52,-117.3,557.8,-6.4,864,8598,0.00,2.42,0.00,0.000,6,0.000,0.047,2740,2130,3212,0,0,0,0,0,0
$GC,8727,-0.52,-117.3,566.3,-6.5,877,8731,0.00,2.25,0.00,0.000,4,0.000,0.054,2740,664,3212,0,0,0,0,0,0
$GC,8748,-0.52,-117.3,568.3,-7.5,878,8755,0.00,2.25,0.00,0.000,6,0.000,0.051,2732,2122,3212,0,0,0,0,0,0
$GC,8883,-0.52,-117.3,577.4,-7.1,891,8887,0.00,2.53,0.00,0.000,4,0.000,0.064,2721,3690,3212,0,0,0,0,0,0
$GC,8912,-0.52,-117.3,579.4,-7.5,893,8916,0.00,2.42,0.00,0.000,6,0.000,0.047,2721,2124,3212,0,0,0,0,0,0
$GC,9047,-0.51,-117.3,589.6,-8.1,905,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2121,3212,0,0,0,0,0,0
$GC,9174,-0.49,-117.3,599.1,-7.5,917,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2121,3211,0,0,0,0,0,0
$GC,9319,-0.48,-117.3,609.6,-7.3,923,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2121,3211,0,0,0,0,0,0
$GC,9624,-0.47,-117.3,633.0,-7.7,933,9626,0.12,0.00,0.00,0.000,6,0.148,0.000,2757,2121,3211,0,0,0,0,0,0
$GC,9930,-0.47,-117.3,650.0,-5.3,943,9934,0.00,2.25,0.00,0.000,4,0.000,0.054,2758,662,3211,0,0,0,0,0,0
$GC,9967,-0.47,-117.3,652.1,-6.1,944,9971,0.00,2.30,0.00,0.000,6,0.000,0.053,2757,2141,3210,0,0,0,0,0,0
$GC,10302,-0.47,-117.3,669.5,-5.1,955,10307,0.00,2.50,0.00,0.000,4,0.000,0.066,2757,3693,3210,0,0,0,0,0,0
$GC,10332,-0.48,-117.3,671.0,-4.9,956,10336,0.00,2.40,0.00,0.000,6,0.000,0.047,2756,2138,3210,0,0,0,0,0,0
$GC,10669,-0.48,-117.3,689.1,-5.4,967,10673,0.00,2.30,0.00,0.000,4,0.000,0.055,2756,667,3210,0,0,0,0,0,0
$GC,10713,-0.48,-117.3,692.0,-6.7,968,10718,0.00,2.30,0.00,0.000,6,0.000,0.053,2750,2133,3209,0,0,0,0,0,0
$GC,11045,-0.48,-117.3,711.7,-5.9,979,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2133,3209,0,0,0,0,0,0
$GC,11350,-0.48,-117.3,729.6,-5.6,989,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2133,3209,0,0,0,0,0,0
$GC,11656,-0.48,-117.3,745.7,-5.1,999,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2133,3209,0,0,0,0,0,0
$GC,11964,-0.48,-117.3,760.6,-4.9,1009,11968,0.00,2.30,0.00,0.000,4,0.000,0.055,2750,666,3209,0,0,0,0,0,0
$GC,11991,-0.48,-117.3,762.2,-5.4,1009,11999,0.00,2.30,0.00,0.000,6,0.000,0.053,2745,2144,3208,0,0,0,0,0,0
$GC,12305,-0.48,-117.3,778.2,-5.2,1020,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2145,3209,0,0,0,0,0,0
$GC,12612,-0.48,-117.3,794.2,-5.2,1030,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2144,3209,0,0,0,0,0,0
$GC,12917,-0.48,-117.3,810.3,-5.2,1040,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2144,3208,0,0,0,0,0,0
$GC,13224,-0.48,-117.3,827.3,-5.8,1050,13228,0.00,2.30,0.00,0.000,4,0.000,0.057,2745,666,3208,0,0,0,0,0,0
$GC,13258,-0.48,-117.3,829.6,-6.7,1051,13262,0.00,2.30,0.00,0.000,6,0.000,0.054,2737,2139,3207,0,0,0,0,0,0
$GC,13595,-0.48,-117.3,851.2,-6.4,1062,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2140,3207,0,0,0,0,0,0
$GC,13900,-0.48,-117.3,870.8,-6.2,1072,13904,0.00,2.28,0.00,0.000,4,0.000,0.056,2737,669,3207,0,0,0,0,0,0
$GC,13943,-0.48,-117.3,874.1,-6.4,1073,13947,0.00,2.28,0.00,0.000,6,0.000,0.054,2732,2132,3207,0,0,0,0,0,0
$GC,14262,-0.48,-117.3,893.6,-6.0,1084,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2132,3207,0,0,0,0,0,0
$GC,14569,-0.48,-117.3,911.3,-5.7,1094,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2132,3207,0,0,0,0,0,0
$GC,14876,-0.48,-117.3,928.6,-5.6,1104,14877,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2132,3206,0,0,0,0,0,0
$GC,15181,-0.48,-117.3,945.7,-5.5,1114,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2132,3206,0,0,0,0,0,0
$GC,15487,-0.48,-117.3,963.2,-5.8,1124,15488,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2132,3206,0,0,0,0,0,0
$GC,15795,-0.48,-117.3,981.3,-5.8,1134,15796,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2132,3206,0,0,0,0,0,0
$STATE,15945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15945,begin apogee
$GC,15951,-0.22,0.0,990.2,5.8,1139,16055,0.32,0.00,100.90,1.247,6,0.115,0.000,2839,2058,2735,0,0,0,0,0,0
$STATE,16056,end apogee,CONTROL_FINISHED_OK
$STATE,16056,begin climb
$GC,16059,0.50,117.3,992.2,0.0,1142,16176,0.68,2.70,110.20,1.214,4,0.076,0.060,3065,3566,2255,0,0,0,0,0,0
$GC,16196,0.46,117.3,983.8,9.8,1147,16200,0.00,2.55,0.00,0.000,6,0.000,0.045,3077,2067,2252,0,0,0,0,0,0
$GC,16526,0.42,117.3,947.0,11.2,1158,16531,0.12,2.47,0.00,0.000,4,0.168,0.056,3055,546,2244,0,0,0,0,0,0
$GC,16583,0.41,117.3,941.3,10.1,1159,16590,0.00,2.42,0.00,0.000,6,0.000,0.051,3055,2053,2244,0,0,0,0,0,0
$GC,16897,0.38,117.3,911.8,9.4,1170,16901,0.00,2.50,0.00,0.000,4,0.000,0.063,3055,3582,2242,0,0,0,0,0,0
$GC,16919,0.35,117.3,909.3,10.2,1170,16924,0.17,2.45,0.00,0.000,6,0.157,0.049,3019,2054,2241,0,0,0,0,0,0
$GC,17233,0.35,117.3,885.4,7.4,1180,17237,0.00,2.40,0.00,0.000,4,0.000,0.060,3027,545,2240,0,0,0,0,0,0
$GC,17271,0.35,117.3,882.4,8.1,1181,17275,0.00,2.38,0.00,0.000,6,0.000,0.052,3027,2054,2240,0,0,0,0,0,0
$GC,17606,0.34,117.3,856.3,8.0,1192,17611,0.00,2.42,0.00,0.000,4,0.000,0.064,3027,3573,2239,0,0,0,0,0,0
$GC,17638,0.32,117.3,853.7,9.4,1193,17642,0.00,2.42,0.00,0.000,6,0.000,0.048,3038,2038,2239,0,0,0,0,0,0
$GC,17973,0.31,117.3,824.1,8.9,1204,17978,0.12,2.35,0.00,0.000,4,0.157,0.059,3011,538,2238,0,0,0,0,0,0
$GC,18038,0.31,117.3,819.2,7.9,1206,18042,0.00,2.35,0.00,0.000,6,0.000,0.054,3011,2042,2238,0,0,0,0,0,0
$GC,18378,0.31,117.3,794.5,7.2,1217,18383,0.00,2.45,0.00,0.000,4,0.000,0.063,3011,3584,2238,0,0,0,0,0,0
$GC,18450,0.29,117.3,788.1,9.5,1219,18455,0.00,2.42,0.00,0.000,6,0.000,0.048,3013,2039,2237,0,0,0,0,0,0
$GC,18776,0.29,117.3,764.4,7.3,1230,18780,0.00,2.35,0.00,0.000,4,0.000,0.058,3014,539,2237,0,0,0,0,0,0
$GC,18808,0.29,117.3,761.9,6.7,1231,18812,0.00,2.38,0.00,0.000,6,0.000,0.053,3014,2058,2237,0,0,0,0,0,0
$GC,19140,0.29,117.3,737.6,7.5,1242,19144,0.00,2.40,0.00,0.000,4,0.000,0.064,3013,3574,2236,0,0,0,0,0,0
$GC,19178,0.29,117.3,734.1,9.1,1243,19182,0.00,2.38,0.00,0.000,6,0.000,0.048,3014,2047,2236,0,0,0,0,0,0
$GC,19502,0.29,117.3,710.4,7.2,1254,19506,0.00,2.35,0.00,0.000,4,0.000,0.057,3024,541,2236,0,0,0,0,0,0
$GC,19536,0.29,117.3,708.0,7.4,1255,19540,0.00,2.35,0.00,0.000,6,0.000,0.051,3024,2053,2236,0,0,0,0,0,0
$GC,19873,0.29,117.3,684.4,6.9,1266,19878,0.00,2.42,0.00,0.000,4,0.000,0.063,3024,3583,2236,0,0,0,0,0,0
$GC,19940,0.28,117.3,679.0,8.4,1268,19945,0.12,2.40,0.00,0.000,6,0.154,0.049,2994,2043,2236,0,0,0,0,0,0
$GC,20272,0.31,145.4,661.6,5.1,1279,20300,0.00,0.00,22.30,1.010,6,0.000,0.000,2994,2040,2142,0,0,0,0,0,0
$GC,20607,0.34,162.3,643.2,5.5,1290,20625,0.00,0.00,16.08,0.972,6,0.000,0.000,2994,2039,2073,0,0,0,0,0,0
$GC,20914,0.37,183.9,626.5,5.4,1300,20939,0.00,2.42,19.48,0.969,4,0.000,0.059,2994,549,1985,0,0,0,0,0,0
$GC,20956,0.42,233.6,624.1,4.4,1300,21007,0.15,2.40,44.58,0.985,6,0.078,0.051,3062,2053,1782,0,0,0,0,0,0
$GC,21315,0.42,233.6,588.5,10.3,1318,21316,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2053,1772,0,0,0,0,0,0
$GC,21442,0.42,233.6,575.6,9.7,1330,21446,0.00,2.42,0.00,0.000,4,0.000,0.059,3073,548,1771,0,0,0,0,0,0
$GC,21470,0.42,233.6,572.5,10.5,1332,21475,0.12,2.38,0.00,0.000,6,0.142,0.051,3038,2049,1771,0,0,0,0,0,0
$GC,21606,0.42,233.6,561.0,8.3,1344,21610,0.00,2.47,0.00,0.000,4,0.000,0.063,3037,3575,1770,0,0,0,0,0,0
$GC,21627,0.42,233.6,558.9,7.7,1345,21635,0.00,2.45,0.00,0.000,6,0.000,0.049,3041,2037,1769,0,0,0,0,0,0
$GC,21762,0.42,233.6,547.1,8.8,1358,21766,0.00,2.35,0.00,0.000,4,0.000,0.059,3041,544,1769,0,0,0,0,0,0
$GC,21803,0.44,233.6,543.9,8.1,1361,21807,0.00,2.33,0.00,0.000,6,0.000,0.051,3042,2030,1768,0,0,0,0,0,0
$GC,21943,0.44,233.6,531.9,8.8,1374,21947,0.00,2.47,0.00,0.000,4,0.000,0.063,3041,3581,1768,0,0,0,0,0,0
$GC,21971,0.44,233.6,529.0,9.2,1376,21976,0.00,2.47,0.00,0.000,6,0.000,0.048,3041,2013,1767,0,0,0,0,0,0
$GC,22107,0.44,233.6,517.0,8.5,1388,22111,0.00,2.30,0.00,0.000,4,0.000,0.057,3042,541,1767,0,0,0,0,0,0
$GC,22147,0.45,233.6,513.6,8.1,1391,22151,0.00,2.30,0.00,0.000,6,0.000,0.051,3041,2020,1766,0,0,0,0,0,0
$GC,22288,0.45,233.6,501.8,8.3,1404,22293,0.00,2.47,0.00,0.000,4,0.000,0.062,3041,3577,1767,0,0,0,0,0,0
$GC,22320,0.45,233.6,498.6,9.8,1406,22327,0.00,2.47,0.00,0.000,6,0.000,0.048,3041,2007,1766,0,0,0,0,0,0
$GC,22454,0.45,233.6,487.5,8.3,1419,22458,0.00,2.30,0.00,0.000,4,0.000,0.058,3041,536,1766,0,0,0,0,0,0
$GC,22491,0.47,233.6,485.0,7.5,1422,22495,0.00,2.28,0.00,0.000,6,0.000,0.051,3041,2008,1766,0,0,0,0,0,0
$GC,22626,0.47,233.6,474.2,8.1,1434,22630,0.00,2.50,0.00,0.000,4,0.000,0.063,3041,3580,1766,0,0,0,0,0,0
$GC,22658,0.47,233.6,471.1,9.3,1436,22665,0.00,2.47,0.00,0.000,6,0.000,0.048,3041,2004,1765,0,0,0,0,0,0
$GC,22794,0.47,233.6,459.7,8.8,1449,22798,0.00,2.30,0.00,0.000,4,0.000,0.058,3042,538,1765,0,0,0,0,0,0
$GC,22832,0.49,233.6,456.5,7.2,1452,22839,0.00,2.30,0.00,0.000,6,0.000,0.052,3042,1996,1765,0,0,0,0,0,0
$GC,22967,0.49,233.6,445.3,8.8,1465,22971,0.00,2.53,0.00,0.000,4,0.000,0.063,3042,3578,1765,0,0,0,0,0,0
$GC,23000,0.49,233.6,442.1,11.0,1467,23008,0.00,2.47,0.00,0.000,6,0.000,0.048,3042,1998,1765,0,0,0,0,0,0
$GC,23135,0.49,233.6,430.1,8.7,1480,23140,0.00,2.25,0.00,0.000,4,0.000,0.057,3042,545,1765,0,0,0,0,0,0
$GC,23180,0.51,233.6,426.2,7.7,1483,23186,0.00,2.22,0.00,0.000,6,0.000,0.050,3041,1995,1765,0,0,0,0,0,0
$GC,23315,0.51,233.6,415.1,8.7,1496,23319,0.00,2.50,0.00,0.000,4,0.000,0.062,3042,3578,1765,0,0,0,0,0,0
$GC,23354,0.51,233.6,411.4,9.3,1499,23359,0.00,2.50,0.00,0.000,6,0.000,0.048,3042,1984,1765,0,0,0,0,0,0
$GC,23488,0.51,233.6,399.9,8.6,1511,23493,0.00,2.25,0.00,0.000,4,0.000,0.058,3042,537,1765,0,0,0,0,0,0
$GC,23534,0.53,233.6,396.2,7.9,1514,23541,0.10,2.25,0.00,0.000,6,0.101,0.051,3097,2001,1765,0,0,0,0,0,0
$GC,23669,0.51,233.6,380.4,12.9,1527,23673,0.00,2.50,0.00,0.000,4,0.000,0.062,3097,3578,1765,0,0,0,0,0,0
$GC,23715,0.48,233.6,374.1,12.6,1530,23723,0.17,2.50,0.00,0.000,6,0.143,0.048,3057,1981,1765,0,0,0,0,0,0
$GC,23850,0.48,233.6,360.4,9.4,1543,23854,0.00,2.25,0.00,0.000,4,0.000,0.057,3061,539,1765,0,0,0,0,0,0
$GC,23874,0.48,233.6,358.0,8.7,1545,23878,0.00,2.25,0.00,0.000,6,0.000,0.051,3061,1993,1765,0,0,0,0,0,0
$GC,24009,0.48,233.6,345.2,10.2,1557,24013,0.00,2.50,0.00,0.000,4,0.000,0.063,3061,3576,1765,0,0,0,0,0,0
$GC,24042,0.48,233.6,341.5,9.1,1559,24049,0.00,2.47,0.00,0.000,6,0.000,0.047,3069,1989,1764,0,0,0,0,0,0
$GC,24176,0.48,233.6,327.5,10.1,1572,24180,0.00,2.25,0.00,0.000,4,0.000,0.057,3080,541,1765,0,0,0,0,0,0
$GC,24209,0.48,233.6,324.1,9.8,1574,24216,0.00,2.25,0.00,0.000,6,0.000,0.050,3080,1999,1765,0,0,0,0,0,0
$GC,24344,0.47,233.6,309.1,11.0,1587,24348,0.00,2.50,0.00,0.000,4,0.000,0.062,3080,3579,1764,0,0,0,0,0,0
$GC,24376,0.45,233.6,305.1,13.5,1589,24384,0.12,2.47,0.00,0.000,6,0.151,0.047,3053,1990,1765,0,0,0,0,0,0
$GC,24512,0.45,233.6,292.1,9.6,1602,24516,0.00,2.22,0.00,0.000,4,0.000,0.057,3055,543,1765,0,0,0,0,0,0
$GC,24545,0.47,233.6,288.9,7.7,1604,24551,0.00,2.22,0.00,0.000,6,0.000,0.050,3055,1988,1765,0,0,0,0,0,0
$GC,24680,0.47,233.6,276.8,8.7,1617,24684,0.00,2.53,0.00,0.000,4,0.000,0.062,3055,3581,1765,0,0,0,0,0,0
$GC,24710,0.47,233.6,273.9,11.8,1619,24714,0.00,2.47,0.00,0.000,6,0.000,0.048,3058,1986,1764,0,0,0,0,0,0
$GC,24844,0.47,233.6,261.9,8.2,1631,24848,0.00,2.22,0.00,0.000,4,0.000,0.059,3068,542,1765,0,0,0,0,0,0
$GC,24884,0.47,233.6,258.6,9.1,1634,24888,0.00,2.22,0.00,0.000,6,0.000,0.051,3068,1997,1764,0,0,0,0,0,0
$GC,25020,0.47,233.6,247.2,8.1,1646,25024,0.00,2.47,0.00,0.000,4,0.000,0.063,3068,3571,1764,0,0,0,0,0,0
$GC,25059,0.47,233.6,243.4,8.1,1649,25063,0.00,2.45,0.00,0.000,6,0.000,0.047,3074,1987,1764,0,0,0,0,0,0
$GC,25200,0.47,233.6,231.2,8.5,1662,25204,0.00,2.25,0.00,0.000,4,0.000,0.057,3083,535,1765,0,0,0,0,0,0
$GC,25232,0.47,233.6,228.0,8.8,1664,25239,0.00,2.25,0.00,0.000,6,0.000,0.050,3083,1995,1765,0,0,0,0,0,0
$GC,25367,0.45,233.6,215.8,8.5,1677,25372,0.12,2.47,0.00,0.000,4,0.150,0.060,3046,3574,1764,0,0,0,0,0,0
$GC,25408,0.45,233.6,212.2,7.5,1680,25412,0.00,2.45,0.00,0.000,6,0.000,0.047,3051,1984,1764,0,0,0,0,0,0
$GC,25542,0.45,233.6,201.9,7.4,1692,25546,0.00,2.22,0.00,0.000,4,0.000,0.057,3051,535,1765,0,0,0,0,0,0
$GC,25582,0.47,233.6,199.1,7.1,1695,25587,0.00,2.22,0.00,0.000,6,0.000,0.050,3051,1996,1764,0,0,0,0,0,0
$GC,25718,0.47,233.6,188.1,8.1,1707,25722,0.00,2.47,0.00,0.000,4,0.000,0.061,3051,3571,1765,0,0,0,0,0,0
$GC,25746,0.47,233.6,185.2,8.5,1709,25751,0.00,2.47,0.00,0.000,6,0.000,0.047,3051,1972,1764,0,0,0,0,0,0
$GC,25881,0.47,233.6,173.7,8.1,1721,25885,0.00,2.20,0.00,0.000,4,0.000,0.056,3054,531,1764,0,0,0,0,0,0
$GC,25922,0.49,233.6,170.4,7.9,1724,25926,0.00,2.22,0.00,0.000,6,0.000,0.049,3054,1991,1764,0,0,0,0,0,0
$GC,26061,0.49,233.6,159.3,7.8,1737,26066,0.00,2.47,0.00,0.000,4,0.000,0.060,3054,3572,1764,0,0,0,0,0,0
$GC,26105,0.49,233.6,155.2,8.1,1740,26112,0.00,2.45,0.00,0.000,6,0.000,0.046,3054,2000,1764,0,0,0,0,0,0
$GC,26242,0.49,233.6,145.0,7.4,1753,26246,0.00,2.22,0.00,0.000,4,0.000,0.055,3054,545,1764,0,0,0,0,0,0
$GC,26278,0.51,233.6,142.2,6.4,1756,26282,0.00,2.20,0.00,0.000,6,0.000,0.048,3054,1999,1765,0,0,0,0,0,0
$GC,26415,0.51,233.6,132.2,7.3,1768,26419,0.00,2.47,0.00,0.000,4,0.000,0.059,3054,3584,1764,0,0,0,0,0,0
$GC,26455,0.51,233.6,128.6,8.0,1771,26459,0.00,2.42,0.00,0.000,6,0.000,0.046,3055,2009,1764,0,0,0,0,0,0
$GC,26591,0.52,233.6,118.6,7.2,1783,26595,0.00,2.25,0.00,0.000,4,0.000,0.056,3055,545,1764,0,0,0,0,0,0
$GC,26619,0.54,233.6,116.5,7.0,1785,26628,0.00,2.30,0.00,0.000,6,0.000,0.049,3054,2024,1764,0,0,0,0,0,0
$GC,26756,0.56,233.6,107.1,6.8,1798,26760,0.00,2.45,0.00,0.000,4,0.000,0.060,3054,3576,1764,0,0,0,0,0,0
$GC,26797,0.57,233.6,103.8,7.1,1801,26801,0.00,2.40,0.00,0.000,6,0.000,0.046,3055,2019,1764,0,0,0,0,0,0
$GC,26935,0.59,240.5,95.5,5.9,1820,26951,0.12,2.33,4.15,0.481,4,0.089,0.055,3124,547,1754,0,0,0,0,0,0
$GC,26985,0.59,240.5,91.1,8.2,1828,26993,0.00,2.30,0.00,0.000,6,0.000,0.049,3124,2028,1754,0,0,0,0,0,0
$GC,27060,0.57,240.5,84.8,8.8,1841,27069,0.12,2.45,0.00,0.000,4,0.144,0.059,3088,3575,1754,0,0,0,0,0,0
$GC,27095,0.56,240.5,81.7,8.9,1846,27102,0.00,2.42,0.00,0.000,6,0.000,0.046,3093,2018,1753,0,0,0,0,0,0
$GC,27168,0.56,240.5,76.6,6.2,1859,27175,0.00,2.30,0.00,0.000,4,0.000,0.055,3096,543,1753,0,0,0,0,0,0
$GC,27205,0.56,240.5,74.2,6.5,1865,27213,0.00,2.30,0.00,0.000,6,0.000,0.049,3096,2023,1753,0,0,0,0,0,0
$GC,27281,0.56,240.5,69.4,6.4,1878,27288,0.00,2.45,0.00,0.000,4,0.000,0.060,3096,3575,1753,0,0,0,0,0,0
$GC,27323,0.56,240.5,65.9,7.9,1885,27331,0.00,2.40,0.00,0.000,6,0.000,0.045,3097,2033,1753,0,0,0,0,0,0
$GC,27398,0.56,240.5,60.7,7.1,1898,27405,0.00,2.33,0.00,0.000,4,0.000,0.056,3097,545,1753,0,0,0,0,0,0
$GC,27429,0.56,240.5,58.7,6.3,1903,27436,0.00,2.30,0.00,0.000,6,0.000,0.049,3098,2027,1753,0,0,0,0,0,0
$GC,27503,0.56,240.5,53.8,6.4,1916,27510,0.00,2.45,0.00,0.000,4,0.000,0.060,3097,3586,1753,0,0,0,0,0,0
$GC,27530,0.56,240.5,52.0,6.9,1920,27538,0.00,2.45,0.00,0.000,6,0.000,0.045,3105,2011,1753,0,0,0,0,0,0
$GC,27605,0.56,240.5,46.8,6.7,1933,27613,0.00,2.28,0.00,0.000,4,0.000,0.055,3110,549,1753,0,0,0,0,0,0
$GC,27647,0.56,240.5,44.0,6.6,1940,27655,0.00,2.28,0.00,0.000,6,0.000,0.047,3110,2021,1754,0,0,0,0,0,0
$GC,27722,0.56,240.5,39.3,6.5,1953,27730,0.00,2.50,0.00,0.000,4,0.000,0.060,3110,3572,1753,0,0,0,0,0,0
$GC,27754,0.56,240.5,37.0,6.7,1958,27762,0.08,2.42,0.00,0.000,6,0.121,0.045,3082,2012,1753,0,0,0,0,0,0
$GC,27828,0.60,272.4,32.9,5.0,1971,27864,0.00,2.33,27.48,0.617,4,0.000,0.055,3082,545,1623,0,0,0,0,0,0
$GC,27901,0.65,312.0,29.4,4.7,1982,27939,0.00,2.30,32.72,0.610,6,0.000,0.047,3082,2017,1462,0,0,0,0,0,0
$GC,28007,0.72,312.0,23.4,6.2,1999,28016,0.15,2.55,0.00,0.000,4,0.082,0.060,3141,3567,1456,0,0,0,0,0,0
$GC,28062,0.74,312.0,19.1,7.8,2008,28069,0.00,2.40,0.00,0.000,6,0.000,0.044,3148,2055,1456,0,0,0,0,0,0
$GC,28135,0.74,312.0,12.3,9.0,2021,28143,0.00,2.40,0.00,0.000,4,0.000,0.055,3152,546,1454,0,0,0,0,0,0
$GC,28199,0.74,312.0,7.9,6.7,2032,28207,0.00,2.38,0.00,0.000,6,0.000,0.047,3152,2052,1453,0,0,0,0,0,0
$STATE,28250,end climb,SURFACE_DEPTH_REACHED
$STATE,28250,begin surface coast
$FINISH,0.8,1.024195
$STATE,28311,end surface coast,CONTROL_FINISHED_OK
$STATE,28312,begin surface
$SM_CCo,28330,32.58,0.466,1,0,1206,375.06
$SM_GC,1.55,0.00,0.00,32.58,0.000,0.000,0.466,119,2199,1206,-8.71,0.68,375.06
$IRIDIUM_FIX,4700.70,-12633.81,010611,090905
$TT8_MAMPS,0.027713
$HUMID,36.37
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.1,37.077
$10V_AH,10.1,29.939
$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,21.875,418.050,377.875,32.575,0.000,56.067,121.782,299.784,0.000,0.000,15.363,5495.642,17209.320,886.771,4656.986,805.452,33.365,2958.674,0.000,4209.379,0.000,0.536,0.000
$DEVICE_MAMPS,231.795,104.040,1246.950,465.885,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1417.920,1706.999,1749.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297508
$DATA_FILE_SIZE,116714,2052
$CAP_FILE_SIZE,356903,0
$CFSIZE,260165632,191283200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.046,128.6,1
$GPS,010611,180024,4713.563,-12630.454,28,0.9,45,18.6