version: 66.07
glider: 187
mission: 4
dive: 384
start: 6 5 111 17 24 41
data:
$ID,187
$MISSION,4
$DIVE,384
$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,-1584282.4
$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,42
$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
$GPS1,050611,171454,4704.822,-12650.586,25,1.7,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-71.2
$GPS2,050611,172343,4704.738,-12650.599,14,1.8,25,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.034,0.197
$KALMAN_X,57051.4,494.6,82.2,-186400.0,4942.4
$KALMAN_Y,-97991.9,434.1,-663.8,20850.8,-3701.1
$MHEAD_RNG_PITCHd_Wd,21.6,171969,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.50,-117.3,0.0,0.0,0,90,0.00,0.00,-71.68,0.000,2,0.000,0.000,130,2186,2908,0,0,0,0,0,0
$GC,93,-0.50,-117.3,3.6,-3.0,11,117,10.35,2.45,-6.43,0.000,4,0.230,0.061,2736,658,3216,0,0,0,0,0,0
$GC,179,-0.45,-117.3,22.6,-15.4,25,188,0.05,2.40,0.00,0.000,6,0.137,0.049,2758,2164,3219,0,0,0,0,0,0
$GC,319,-0.42,-117.3,40.1,-11.7,50,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2164,3220,0,0,0,0,0,0
$GC,455,-0.40,-117.3,56.3,-11.5,75,463,0.00,2.50,0.00,0.000,4,0.000,0.059,2748,3713,3220,0,0,0,0,0,0
$GC,482,-0.38,-117.3,59.4,-11.1,79,490,0.12,2.45,0.00,0.000,6,0.133,0.044,2784,2158,3220,0,0,0,0,0,0
$GC,621,-0.38,-117.3,72.2,-9.6,104,628,0.00,2.35,0.00,0.000,4,0.000,0.051,2784,660,3221,0,0,0,0,0,0
$GC,695,-0.38,-117.3,79.1,-9.0,117,703,0.00,2.35,0.00,0.000,6,0.000,0.048,2781,2155,3221,0,0,0,0,0,0
$GC,832,-0.38,-117.3,90.1,-7.8,142,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2156,3221,0,0,0,0,0,0
$GC,971,-0.38,-117.3,101.0,-7.8,167,975,0.00,2.45,0.00,0.000,4,0.000,0.060,2770,3693,3221,0,0,0,0,0,0
$GC,1034,-0.38,-117.3,105.7,-7.1,172,1038,0.00,2.38,0.00,0.000,6,0.000,0.044,2770,2141,3221,0,0,0,0,0,0
$GC,1234,-0.38,-117.3,119.4,-6.5,190,1238,0.00,2.25,0.00,0.000,4,0.000,0.051,2769,668,3221,0,0,0,0,0,0
$GC,1308,-0.38,-117.3,124.8,-7.1,196,1313,0.00,2.28,0.00,0.000,6,0.000,0.047,2762,2155,3222,0,0,0,0,0,0
$GC,1508,-0.38,-117.3,139.8,-7.8,214,1512,0.00,2.33,0.00,0.000,4,0.000,0.050,2761,657,3221,0,0,0,0,0,0
$GC,1532,-0.38,-117.3,141.9,-7.9,216,1536,0.00,2.28,0.00,0.000,6,0.000,0.049,2754,2132,3221,0,0,0,0,0,0
$GC,1731,-0.38,-117.3,158.6,-8.3,234,1735,0.00,2.47,0.00,0.000,4,0.000,0.061,2742,3692,3221,0,0,0,0,0,0
$GC,1770,-0.38,-117.3,162.0,-8.1,237,1775,0.12,2.42,0.00,0.000,6,0.132,0.044,2780,2121,3221,0,0,0,0,0,0
$GC,1969,-0.38,-117.3,175.4,-6.5,255,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2116,3221,0,0,0,0,0,0
$GC,2159,-0.38,-117.3,187.8,-6.4,273,2163,0.00,2.25,0.00,0.000,4,0.000,0.052,2780,657,3221,0,0,0,0,0,0
$GC,2193,-0.38,-117.3,190.1,-6.7,275,2200,0.00,2.28,0.00,0.000,6,0.000,0.049,2778,2132,3221,0,0,0,0,0,0
$GC,2391,-0.38,-117.3,202.8,-6.5,294,2396,0.00,2.50,0.00,0.000,4,0.000,0.063,2772,3690,3221,0,0,0,0,0,0
$GC,2448,-0.39,-117.3,206.8,-7.1,298,2455,0.00,2.38,0.00,0.000,6,0.000,0.044,2772,2125,3221,0,0,0,0,0,0
$GC,2647,-0.39,-117.3,220.2,-6.6,317,2651,0.00,2.25,0.00,0.000,4,0.000,0.052,2772,666,3221,0,0,0,0,0,0
$GC,2676,-0.39,-117.3,222.4,-7.2,319,2680,0.00,2.25,0.00,0.000,6,0.000,0.049,2769,2140,3221,0,0,0,0,0,0
$GC,2875,-0.39,-117.3,235.7,-6.5,337,2879,0.00,2.45,0.00,0.000,4,0.000,0.061,2766,3690,3221,0,0,0,0,0,0
$GC,2920,-0.40,-117.3,238.7,-6.3,340,2927,0.00,2.38,0.00,0.000,6,0.000,0.044,2765,2125,3221,0,0,0,0,0,0
$GC,3120,-0.40,-117.3,251.7,-6.9,359,3124,0.00,2.25,0.00,0.000,4,0.000,0.052,2765,664,3220,0,0,0,0,0,0
$GC,3161,-0.40,-117.3,254.6,-7.0,362,3165,0.00,2.28,0.00,0.000,6,0.000,0.049,2762,2140,3220,0,0,0,0,0,0
$GC,3360,-0.40,-117.3,269.2,-7.4,380,3365,0.00,2.45,0.00,0.000,4,0.000,0.062,2751,3689,3220,0,0,0,0,0,0
$GC,3400,-0.40,-117.3,272.4,-7.6,383,3405,0.00,2.38,0.00,0.000,6,0.000,0.045,2750,2131,3220,0,0,0,0,0,0
$GC,3601,-0.40,-117.3,288.3,-8.3,401,3605,0.00,2.22,0.00,0.000,4,0.000,0.053,2750,668,3220,0,0,0,0,0,0
$GC,3655,-0.40,-117.3,293.5,-8.7,405,3665,0.08,2.28,0.00,0.000,6,0.120,0.050,2771,2128,3219,0,0,0,0,0,0
$GC,3855,-0.40,-117.3,307.2,-6.7,424,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3219,0,0,0,0,0,0
$GC,4045,-0.40,-117.3,320.1,-6.7,442,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3219,0,0,0,0,0,0
$GC,4235,-0.40,-117.3,332.5,-6.5,460,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3219,0,0,0,0,0,0
$GC,4428,-0.40,-117.3,344.3,-6.1,478,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3219,0,0,0,0,0,0
$GC,4626,-0.40,-117.3,356.5,-6.4,497,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3218,0,0,0,0,0,0
$GC,4819,-0.40,-117.3,367.9,-5.8,515,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3218,0,0,0,0,0,0
$GC,5009,-0.40,-117.3,378.7,-5.5,533,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2128,3218,0,0,0,0,0,0
$GC,5199,-0.40,-117.3,389.5,-5.7,551,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3218,0,0,0,0,0,0
$GC,5393,-0.40,-117.3,400.4,-6.1,569,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3217,0,0,0,0,0,0
$GC,5591,-0.40,-117.3,412.1,-6.4,588,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3217,0,0,0,0,0,0
$GC,5782,-0.40,-117.3,423.7,-6.1,606,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2129,3217,0,0,0,0,0,0
$GC,5974,-0.40,-117.3,435.4,-6.3,624,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3217,0,0,0,0,0,0
$GC,6165,-0.41,-117.3,447.2,-6.3,642,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3216,0,0,0,0,0,0
$GC,6357,-0.42,-117.3,459.3,-6.4,660,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2128,3216,0,0,0,0,0,0
$GC,6547,-0.43,-117.3,472.0,-6.8,678,6551,0.00,2.28,0.00,0.000,4,0.000,0.055,2772,666,3216,0,0,0,0,0,0
$GC,6585,-0.44,-117.3,475.0,-7.0,681,6593,0.00,2.30,0.00,0.000,6,0.000,0.051,2772,2134,3215,0,0,0,0,0,0
$GC,6785,-0.46,-117.3,487.9,-6.4,700,6790,0.00,2.50,0.00,0.000,4,0.000,0.065,2769,3698,3215,0,0,0,0,0,0
$GC,6826,-0.48,-117.3,490.6,-6.7,703,6830,0.00,2.40,0.00,0.000,6,0.000,0.048,2769,2133,3215,0,0,0,0,0,0
$GC,7027,-0.48,-117.3,502.4,-5.9,721,7031,0.00,2.25,0.00,0.000,4,0.000,0.055,2769,664,3214,0,0,0,0,0,0
$GC,7090,-0.49,-117.3,506.6,-7.0,726,7094,0.00,2.25,0.00,0.000,6,0.000,0.052,2769,2132,3214,0,0,0,0,0,0
$GC,7291,-0.50,-117.3,517.7,-5.8,744,7295,0.00,2.50,0.00,0.000,4,0.000,0.066,2769,3691,3214,0,0,0,0,0,0
$GC,7331,-0.52,-117.3,520.0,-6.2,747,7335,0.00,2.40,0.00,0.000,6,0.000,0.048,2768,2126,3214,0,0,0,0,0,0
$GC,7529,-0.53,-117.3,530.8,-5.3,765,7534,0.10,2.28,0.00,0.000,4,0.103,0.055,2712,658,3214,0,0,0,0,0,0
$GC,7568,-0.51,-117.3,533.9,-8.6,768,7577,0.10,2.30,0.00,0.000,6,0.119,0.052,2738,2126,3214,0,0,0,0,0,0
$GC,7767,-0.51,-117.3,547.9,-6.9,787,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2125,3214,0,0,0,0,0,0
$GC,7959,-0.51,-117.3,560.8,-6.6,805,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2126,3213,0,0,0,0,0,0
$GC,8149,-0.51,-117.3,572.9,-6.3,823,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2126,3213,0,0,0,0,0,0
$GC,8341,-0.51,-117.3,585.2,-6.5,841,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2126,3213,0,0,0,0,0,0
$GC,8532,-0.51,-117.3,597.9,-6.6,859,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2126,3213,0,0,0,0,0,0
$GC,8715,-0.51,-117.3,610.8,-7.0,867,8719,0.00,2.25,0.00,0.000,4,0.000,0.056,2739,667,3212,0,0,0,0,0,0
$GC,8747,-0.51,-117.3,613.4,-8.4,868,8751,0.00,2.25,0.00,0.000,6,0.000,0.053,2732,2137,3212,0,0,0,0,0,0
$GC,9084,-0.51,-117.3,637.0,-6.8,879,9088,0.00,2.50,0.00,0.000,4,0.000,0.065,2720,3691,3212,0,0,0,0,0,0
$GC,9116,-0.51,-117.3,639.5,-7.8,880,9120,0.00,2.40,0.00,0.000,6,0.000,0.049,2719,2126,3212,0,0,0,0,0,0
$GC,9447,-0.50,-117.3,661.6,-6.6,891,9451,0.00,2.25,0.00,0.000,4,0.000,0.057,2719,664,3212,0,0,0,0,0,0
$GC,9503,-0.48,-117.3,665.6,-7.0,892,9508,0.12,2.28,0.00,0.000,6,0.146,0.052,2747,2129,3211,0,0,0,0,0,0
$GC,9817,-0.48,-117.3,680.9,-4.9,902,9822,0.00,2.50,0.00,0.000,4,0.000,0.067,2738,3691,3211,0,0,0,0,0,0
$GC,9856,-0.48,-117.3,683.2,-5.4,903,9860,0.00,2.42,0.00,0.000,6,0.000,0.049,2737,2117,3211,0,0,0,0,0,0
$GC,10182,-0.48,-117.3,701.1,-5.7,914,10186,0.00,2.25,0.00,0.000,4,0.000,0.057,2737,656,3211,0,0,0,0,0,0
$GC,10254,-0.48,-117.3,706.0,-6.7,916,10258,0.00,2.28,0.00,0.000,6,0.000,0.054,2731,2123,3210,0,0,0,0,0,0
$GC,10585,-0.48,-117.3,726.1,-6.2,927,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2124,3211,0,0,0,0,0,0
$GC,10890,-0.48,-117.3,744.2,-6.1,937,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2123,3210,0,0,0,0,0,0
$GC,11197,-0.48,-117.3,761.5,-5.7,947,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2123,3210,0,0,0,0,0,0
$GC,11504,-0.48,-117.3,779.0,-5.8,957,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2124,3210,0,0,0,0,0,0
$GC,11809,-0.48,-117.3,797.4,-6.0,967,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2124,3209,0,0,0,0,0,0
$GC,12115,-0.48,-117.3,815.9,-6.1,977,12119,0.00,2.28,0.00,0.000,4,0.000,0.057,2730,663,3209,0,0,0,0,0,0
$GC,12154,-0.48,-117.3,818.6,-5.7,978,12158,0.00,2.28,0.00,0.000,6,0.000,0.054,2723,2130,3208,0,0,0,0,0,0
$GC,12491,-0.48,-117.3,840.2,-6.3,989,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2131,3208,0,0,0,0,0,0
$GC,12796,-0.48,-117.3,860.3,-6.6,999,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2131,3208,0,0,0,0,0,0
$GC,13102,-0.48,-117.3,880.5,-6.6,1009,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2131,3208,0,0,0,0,0,0
$GC,13409,-0.48,-117.3,900.4,-6.4,1019,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2130,3208,0,0,0,0,0,0
$GC,13714,-0.48,-117.3,920.4,-6.6,1029,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2130,3208,0,0,0,0,0,0
$GC,14021,-0.48,-117.3,939.9,-6.2,1039,14025,0.00,2.30,0.00,0.000,4,0.000,0.058,2722,661,3207,0,0,0,0,0,0
$GC,14057,-0.47,-117.3,942.2,-6.4,1040,14062,0.12,2.25,0.00,0.000,6,0.148,0.054,2751,2117,3207,0,0,0,0,0,0
$GC,14392,-0.47,-117.3,957.6,-4.2,1051,14397,0.00,2.53,0.00,0.000,4,0.000,0.067,2746,3689,3207,0,0,0,0,0,0
$GC,14426,-0.49,-117.3,959.1,-4.8,1052,14430,0.00,2.42,0.00,0.000,6,0.000,0.050,2745,2119,3206,0,0,0,0,0,0
$GC,14757,-0.49,-117.3,973.0,-4.1,1063,14761,0.00,2.28,0.00,0.000,4,0.000,0.059,2746,662,3206,0,0,0,0,0,0
$GC,14795,-0.49,-117.3,974.9,-5.1,1064,14799,0.00,2.28,0.00,0.000,6,0.000,0.056,2739,2124,3206,0,0,0,0,0,0
$GC,15131,-0.49,-117.3,989.8,-4.5,1075,15136,0.00,2.53,0.00,0.000,4,0.000,0.068,2728,3691,3206,0,0,0,0,0,0
$STATE,15140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15140,begin apogee
$GC,15148,-0.22,0.0,990.3,4.3,1075,15256,0.30,0.00,101.12,1.242,6,0.116,0.000,2830,2052,2733,0,0,0,0,0,0
$STATE,15256,end apogee,CONTROL_FINISHED_OK
$STATE,15257,begin climb
$GC,15259,0.50,117.3,992.0,0.0,1079,15378,0.70,0.00,110.32,1.214,6,0.078,0.000,3064,2052,2254,0,0,0,0,0,0
$GC,15687,0.47,117.3,951.9,10.7,1093,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2052,2243,0,0,0,0,0,0
$GC,15989,0.44,117.3,920.7,10.1,1103,15993,0.00,2.47,0.00,0.000,4,0.000,0.063,3064,3571,2242,0,0,0,0,0,0
$GC,16023,0.40,117.3,916.9,11.9,1104,16028,0.15,2.42,0.00,0.000,6,0.162,0.049,3036,2056,2241,0,0,0,0,0,0
$GC,16353,0.39,117.3,889.7,7.8,1115,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2056,2240,0,0,0,0,0,0
$GC,16659,0.37,117.3,865.9,7.8,1125,16661,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2056,2239,0,0,0,0,0,0
$GC,16967,0.36,117.3,842.3,7.7,1135,16971,0.00,2.38,0.00,0.000,4,0.000,0.060,3044,547,2238,0,0,0,0,0,0
$GC,16989,0.35,117.3,840.3,8.1,1135,16993,0.00,2.38,0.00,0.000,6,0.000,0.053,3044,2072,2238,0,0,0,0,0,0
$GC,17304,0.33,117.3,814.5,8.3,1145,17309,0.12,2.38,0.00,0.000,4,0.158,0.063,3010,3575,2238,0,0,0,0,0,0
$GC,17335,0.32,117.3,812.0,8.0,1146,17339,0.00,2.38,0.00,0.000,6,0.000,0.050,3014,2056,2237,0,0,0,0,0,0
$GC,17676,0.32,117.3,789.3,6.7,1157,17680,0.00,2.35,0.00,0.000,4,0.000,0.060,3016,546,2237,0,0,0,0,0,0
$GC,17697,0.33,141.2,788.0,5.3,1157,17722,0.00,2.35,18.83,1.067,6,0.000,0.053,3016,2067,2159,0,0,0,0,0,0
$GC,18044,0.33,141.2,764.5,6.9,1169,18048,0.00,2.45,0.00,0.000,4,0.000,0.063,3016,3583,2156,0,0,0,0,0,0
$GC,18076,0.33,141.2,761.9,7.9,1170,18081,0.00,2.40,0.00,0.000,6,0.000,0.049,3024,2064,2155,0,0,0,0,0,0
$GC,18407,0.33,141.2,738.8,6.9,1181,18411,0.00,2.38,0.00,0.000,4,0.000,0.059,3033,545,2154,0,0,0,0,0,0
$GC,18457,0.33,141.2,735.3,6.9,1182,18461,0.00,2.35,0.00,0.000,6,0.000,0.051,3033,2064,2154,0,0,0,0,0,0
$GC,18770,0.33,141.2,713.4,7.0,1192,18774,0.00,2.45,0.00,0.000,4,0.000,0.063,3033,3578,2154,0,0,0,0,0,0
$GC,18806,0.32,141.2,710.6,8.9,1193,18811,0.12,2.40,0.00,0.000,6,0.156,0.050,3007,2053,2153,0,0,0,0,0,0
$GC,19141,0.33,155.8,691.8,5.6,1204,19161,0.00,2.42,13.55,0.988,4,0.000,0.060,3013,548,2099,0,0,0,0,0,0
$GC,19185,0.35,169.8,689.2,5.6,1205,19208,0.00,2.38,14.05,0.979,6,0.000,0.052,3013,2070,2040,0,0,0,0,0,0
$GC,19513,0.35,169.8,667.5,6.8,1216,19517,0.00,2.42,0.00,0.000,4,0.000,0.063,3013,3580,2034,0,0,0,0,0,0
$GC,19534,0.35,169.8,665.8,7.1,1216,19541,0.00,2.42,0.00,0.000,6,0.000,0.050,3014,2053,2033,0,0,0,0,0,0
$GC,19848,0.35,169.8,644.2,7.0,1227,19852,0.00,2.38,0.00,0.000,4,0.000,0.060,3014,543,2033,0,0,0,0,0,0
$GC,19877,0.37,187.0,642.3,5.5,1228,19898,0.00,2.35,15.20,0.968,6,0.000,0.053,3014,2056,1972,0,0,0,0,0,0
$GC,20213,0.38,187.0,619.0,7.1,1239,20217,0.00,2.47,0.00,0.000,4,0.000,0.066,3014,3581,1968,0,0,0,0,0,0
$GC,20246,0.38,187.0,616.0,8.5,1240,20250,0.00,2.40,0.00,0.000,6,0.000,0.050,3014,2053,1967,0,0,0,0,0,0
$GC,20569,0.39,187.0,593.3,7.2,1256,20573,0.00,2.42,0.00,0.000,4,0.000,0.060,3014,538,1967,0,0,0,0,0,0
$GC,20610,0.42,187.0,590.7,6.4,1259,20614,0.00,2.38,0.00,0.000,6,0.000,0.054,3014,2063,1967,0,0,0,0,0,0
$GC,20810,0.43,187.0,577.0,7.1,1277,20814,0.00,2.42,0.00,0.000,4,0.000,0.064,3014,3574,1967,0,0,0,0,0,0
$GC,20840,0.43,187.0,574.5,8.0,1279,20844,0.00,2.38,0.00,0.000,6,0.000,0.048,3014,2042,1966,0,0,0,0,0,0
$GC,21040,0.44,187.0,560.5,6.8,1297,21044,0.00,2.35,0.00,0.000,4,0.000,0.058,3014,545,1966,0,0,0,0,0,0
$GC,21070,0.47,198.1,558.4,5.7,1299,21087,0.12,2.35,10.50,0.888,6,0.091,0.051,3076,2053,1927,0,0,0,0,0,0
$GC,21285,0.45,198.1,535.9,10.5,1319,21289,0.00,2.42,0.00,0.000,4,0.000,0.063,3076,3577,1924,0,0,0,0,0,0
$GC,21307,0.43,198.1,533.3,11.7,1320,21315,0.10,2.42,0.00,0.000,6,0.109,0.049,3039,2058,1923,0,0,0,0,0,0
$GC,21509,0.43,198.1,516.6,8.0,1339,21513,0.00,2.38,0.00,0.000,4,0.000,0.059,3042,538,1923,0,0,0,0,0,0
$GC,21538,0.43,198.1,514.0,8.3,1341,21542,0.00,2.35,0.00,0.000,6,0.000,0.053,3042,2052,1923,0,0,0,0,0,0
$GC,21735,0.43,198.1,498.3,8.1,1359,21740,0.00,2.45,0.00,0.000,4,0.000,0.063,3042,3574,1923,0,0,0,0,0,0
$GC,21758,0.43,198.1,496.2,8.1,1360,21765,0.00,2.40,0.00,0.000,6,0.000,0.050,3042,2034,1922,0,0,0,0,0,0
$GC,21956,0.43,198.1,480.5,7.9,1379,21960,0.00,2.35,0.00,0.000,4,0.000,0.060,3042,537,1923,0,0,0,0,0,0
$GC,21991,0.43,198.1,477.8,6.9,1382,21995,0.00,2.33,0.00,0.000,6,0.000,0.052,3042,2045,1922,0,0,0,0,0,0
$GC,22190,0.43,198.1,462.1,8.2,1400,22194,0.00,2.42,0.00,0.000,4,0.000,0.061,3042,3580,1922,0,0,0,0,0,0
$GC,22220,0.43,198.1,459.4,9.5,1402,22224,0.00,2.40,0.00,0.000,6,0.000,0.050,3042,2036,1922,0,0,0,0,0,0
$GC,22420,0.43,198.1,443.2,8.0,1420,22424,0.00,2.35,0.00,0.000,4,0.000,0.059,3042,539,1922,0,0,0,0,0,0
$GC,22451,0.43,198.1,440.4,8.0,1422,22459,0.00,2.35,0.00,0.000,6,0.000,0.052,3042,2032,1922,0,0,0,0,0,0
$GC,22651,0.43,198.1,425.1,7.1,1441,22655,0.00,2.45,0.00,0.000,4,0.000,0.062,3042,3583,1922,0,0,0,0,0,0
$GC,22693,0.43,198.1,421.6,9.1,1444,22697,0.00,2.42,0.00,0.000,6,0.000,0.049,3042,2033,1922,0,0,0,0,0,0
$GC,22892,0.43,198.1,405.9,8.3,1462,22896,0.00,2.33,0.00,0.000,4,0.000,0.060,3042,544,1922,0,0,0,0,0,0
$GC,22928,0.44,198.1,403.2,7.3,1465,22932,0.00,2.30,0.00,0.000,6,0.000,0.050,3042,2045,1922,0,0,0,0,0,0
$GC,23128,0.44,198.1,388.1,7.5,1483,23132,0.00,2.45,0.00,0.000,4,0.000,0.063,3042,3581,1922,0,0,0,0,0,0
$GC,23149,0.44,198.1,386.1,7.4,1484,23156,0.00,2.40,0.00,0.000,6,0.000,0.049,3042,2031,1921,0,0,0,0,0,0
$GC,23348,0.44,198.1,371.6,7.1,1503,23352,0.00,2.33,0.00,0.000,4,0.000,0.060,3042,534,1921,0,0,0,0,0,0
$GC,23375,0.44,198.1,369.5,7.5,1505,23383,0.00,2.33,0.00,0.000,6,0.000,0.051,3042,2045,1922,0,0,0,0,0,0
$GC,23573,0.44,198.1,355.3,6.9,1524,23578,0.00,2.42,0.00,0.000,4,0.000,0.063,3042,3582,1922,0,0,0,0,0,0
$GC,23607,0.44,198.1,352.5,7.9,1526,23614,0.00,2.40,0.00,0.000,6,0.000,0.049,3042,2041,1921,0,0,0,0,0,0
$GC,23805,0.44,198.1,338.6,7.3,1545,23809,0.00,2.33,0.00,0.000,4,0.000,0.058,3042,548,1922,0,0,0,0,0,0
$GC,23833,0.44,198.1,336.8,6.3,1547,23837,0.00,2.30,0.00,0.000,6,0.000,0.050,3042,2048,1922,0,0,0,0,0,0
$GC,24034,0.44,198.1,322.9,6.7,1565,24038,0.00,2.42,0.00,0.000,4,0.000,0.061,3042,3577,1922,0,0,0,0,0,0
$GC,24063,0.44,198.1,320.5,7.6,1567,24068,0.00,2.38,0.00,0.000,6,0.000,0.048,3042,2035,1921,0,0,0,0,0,0
$GC,24263,0.44,198.1,305.6,7.5,1585,24268,0.00,2.30,0.00,0.000,4,0.000,0.058,3042,544,1922,0,0,0,0,0,0
$GC,24293,0.45,198.1,303.4,6.2,1587,24297,0.00,2.30,0.00,0.000,6,0.000,0.050,3042,2047,1921,0,0,0,0,0,0
$GC,24492,0.45,198.1,288.2,7.7,1605,24497,0.00,2.40,0.00,0.000,4,0.000,0.060,3042,3578,1921,0,0,0,0,0,0
$GC,24526,0.45,198.1,285.1,8.9,1607,24532,0.00,2.35,0.00,0.000,6,0.000,0.048,3042,2049,1921,0,0,0,0,0,0
$GC,24724,0.45,198.1,269.5,7.8,1626,24728,0.00,2.35,0.00,0.000,4,0.000,0.058,3050,547,1922,0,0,0,0,0,0
$GC,24757,0.45,198.1,266.9,6.4,1629,24762,0.00,2.30,0.00,0.000,6,0.000,0.050,3051,2050,1922,0,0,0,0,0,0
$GC,24956,0.45,198.1,251.5,7.5,1647,24960,0.00,2.42,0.00,0.000,4,0.000,0.061,3051,3571,1922,0,0,0,0,0,0
$GC,24991,0.45,198.1,248.5,7.9,1650,24995,0.00,2.35,0.00,0.000,6,0.000,0.047,3056,2040,1921,0,0,0,0,0,0
$GC,25190,0.45,198.1,232.1,8.0,1668,25194,0.00,2.30,0.00,0.000,4,0.000,0.057,3063,546,1922,0,0,0,0,0,0
$GC,25236,0.45,198.1,228.4,8.9,1672,25240,0.00,2.28,0.00,0.000,6,0.000,0.050,3063,2036,1922,0,0,0,0,0,0
$GC,25436,0.45,198.1,212.6,7.6,1690,25440,0.00,2.45,0.00,0.000,4,0.000,0.062,3063,3580,1922,0,0,0,0,0,0
$GC,25466,0.45,198.1,209.8,9.4,1692,25471,0.00,2.38,0.00,0.000,6,0.000,0.048,3073,2035,1921,0,0,0,0,0,0
$GC,25665,0.45,198.1,193.9,7.6,1710,25669,0.00,2.30,0.00,0.000,4,0.000,0.057,3082,546,1922,0,0,0,0,0,0
$GC,25699,0.45,198.1,191.1,7.3,1713,25704,0.12,2.28,0.00,0.000,6,0.142,0.050,3046,2035,1922,0,0,0,0,0,0
$GC,25902,0.45,198.1,177.8,6.9,1731,25906,0.00,2.42,0.00,0.000,4,0.000,0.061,3046,3580,1922,0,0,0,0,0,0
$GC,25942,0.45,198.1,174.4,7.3,1734,25946,0.00,2.40,0.00,0.000,6,0.000,0.047,3051,2034,1921,0,0,0,0,0,0
$GC,26141,0.45,198.1,160.2,6.5,1752,26145,0.00,2.30,0.00,0.000,4,0.000,0.057,3056,546,1922,0,0,0,0,0,0
$GC,26179,0.47,211.3,157.6,5.6,1755,26198,0.00,2.33,12.25,0.672,6,0.000,0.050,3056,2038,1873,0,0,0,0,0,0
$GC,26391,0.47,211.3,141.9,7.4,1775,26396,0.00,2.45,0.00,0.000,4,0.000,0.060,3056,3575,1870,0,0,0,0,0,0
$GC,26421,0.47,211.3,139.3,8.3,1777,26425,0.00,2.40,0.00,0.000,6,0.000,0.047,3065,2020,1870,0,0,0,0,0,0
$GC,26620,0.47,211.3,124.9,6.8,1795,26624,0.00,2.28,0.00,0.000,4,0.000,0.057,3075,542,1870,0,0,0,0,0,0
$GC,26673,0.47,211.3,121.0,7.0,1799,26677,0.00,2.28,0.00,0.000,6,0.000,0.050,3075,2028,1870,0,0,0,0,0,0
$GC,26872,0.47,211.3,106.2,6.6,1817,26876,0.00,2.45,0.00,0.000,4,0.000,0.060,3075,3570,1870,0,0,0,0,0,0
$GC,26893,0.47,211.3,104.3,7.6,1818,26901,0.00,2.45,0.00,0.000,6,0.000,0.047,3082,2011,1869,0,0,0,0,0,0
$GC,27094,0.47,211.3,89.9,7.6,1849,27102,0.00,2.30,0.00,0.000,4,0.000,0.057,3082,548,1869,0,0,0,0,0,0
$GC,27110,0.47,211.3,88.7,7.4,1851,27117,0.00,2.30,0.00,0.000,6,0.000,0.050,3082,2024,1869,0,0,0,0,0,0
$GC,27249,0.47,220.3,79.9,5.8,1876,27265,0.00,2.47,8.80,0.603,4,0.000,0.059,3083,3582,1835,0,0,0,0,0,0
$GC,27311,0.47,220.3,75.4,6.9,1886,27319,0.00,2.42,0.00,0.000,6,0.000,0.047,3082,2038,1833,0,0,0,0,0,0
$GC,27451,0.51,260.3,68.3,4.7,1911,27493,0.00,2.40,34.00,0.647,4,0.000,0.057,3082,545,1672,0,0,0,0,0,0
$GC,27533,0.55,295.6,64.0,4.9,1924,27569,0.00,2.35,29.60,0.629,6,0.000,0.047,3082,2038,1527,0,0,0,0,0,0
$GC,27699,0.61,295.6,54.0,6.5,1953,27706,0.00,2.40,0.00,0.000,4,0.000,0.056,3082,546,1521,0,0,0,0,0,0
$GC,27740,0.67,295.6,51.3,6.4,1960,27748,0.08,2.28,0.00,0.000,6,0.068,0.047,3125,1986,1519,0,0,0,0,0,0
$GC,27880,0.70,295.6,41.3,7.3,1985,27888,0.00,2.58,0.00,0.000,4,0.000,0.060,3125,3567,1519,0,0,0,0,0,0
$GC,27913,0.72,295.6,38.4,7.6,1990,27920,0.00,2.33,0.00,0.000,6,0.000,0.046,3125,2101,1519,0,0,0,0,0,0
$GC,28053,0.72,295.6,27.6,7.2,2015,28062,0.00,2.40,0.00,0.000,4,0.000,0.060,3125,3569,1518,0,0,0,0,0,0
$GC,28143,0.72,295.6,19.5,8.5,2031,28152,0.00,2.35,0.00,0.000,6,0.000,0.045,3125,2082,1517,0,0,0,0,0,0
$GC,28284,0.73,295.6,9.9,6.3,2056,28292,0.00,2.42,0.00,0.000,4,0.000,0.056,3125,552,1517,0,0,0,0,0,0
$GC,28358,0.75,295.6,4.6,7.0,2069,28366,0.00,2.35,0.00,0.000,6,0.000,0.047,3125,2057,1516,0,0,0,0,0,0
$STATE,28371,end climb,SURFACE_DEPTH_REACHED
$STATE,28371,begin surface coast
$FINISH,0.9,1.024432
$STATE,28430,end surface coast,CONTROL_FINISHED_OK
$STATE,28430,begin surface
$SM_CCo,28449,38.72,0.490,1,0,1206,375.06
$SM_GC,1.76,0.00,0.00,38.72,0.000,0.000,0.490,128,2192,1206,-8.68,0.45,375.06
$IRIDIUM_FIX,4641.78,-12654.09,050611,090946
$TT8_MAMPS,0.027713
$HUMID,36.76
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,23.0,38.855
$10V_AH,10.1,32.573
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.800,355.450,368.225,38.725,0.000,27.793,35.850,282.529,0.000,0.000,26.243,5450.395,17502.025,745.788,4595.445,699.938,33.352,2734.793,0.000,4259.090,0.000,0.535,0.000
$DEVICE_MAMPS,230.265,78.030,1242.360,490.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1440.182,1734.524,1784.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297472
$DATA_FILE_SIZE,116900,2082
$CAP_FILE_SIZE,308959,0
$CFSIZE,260165632,189636608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,152.6,1
$GPS,060611,012106,4706.681,-12646.884,52,1.1,52,18.6