version: 66.07
glider: 187
mission: 4
dive: 475
start: 6 24 111 15 21 30
data:
$ID,187
$MISSION,4
$DIVE,475
$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,325
$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,-1585322.4
$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,2920
$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,33
$R_STBD_OVSHOOT,33
$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,12
$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
$GPS1,240611,150700,4720.826,-12614.586,43,1.5,48,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-76.7
$GPS2,240611,152031,4720.794,-12614.663,16,1.1,21,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.200,0.005
$KALMAN_X,116069.4,68.8,-132.8,-200024.8,4963.2
$KALMAN_Y,-211938.6,-617.8,-3.8,164948.8,-1209.4
$MHEAD_RNG_PITCHd_Wd,220.8,69009,-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
$GC,17,-0.50,-117.3,0.0,0.0,0,79,0.00,0.00,-59.22,0.000,2,0.000,0.000,120,2185,2831,0,0,0,0,0,0
$GC,82,-0.50,-117.3,3.3,-2.3,9,112,10.50,2.47,-8.07,0.000,4,0.223,0.070,2746,3685,3216,0,0,0,0,0,0
$GC,159,-0.45,-117.3,20.7,-17.6,21,166,0.00,2.40,0.00,0.000,6,0.000,0.041,2746,2170,3219,0,0,0,0,0,0
$GC,296,-0.42,-117.3,37.2,-11.6,46,305,0.12,2.40,0.00,0.000,4,0.150,0.049,2781,668,3219,0,0,0,0,0,0
$GC,364,-0.42,-117.3,43.6,-8.5,57,371,0.00,2.35,0.00,0.000,6,0.000,0.047,2774,2152,3220,0,0,0,0,0,0
$GC,500,-0.41,-117.3,55.8,-9.4,82,508,0.00,2.53,0.00,0.000,4,0.000,0.060,2763,3689,3220,0,0,0,0,0,0
$GC,538,-0.41,-117.3,59.6,-9.6,88,546,0.00,2.40,0.00,0.000,6,0.000,0.041,2763,2158,3221,0,0,0,0,0,0
$GC,677,-0.39,-117.3,72.3,-9.2,113,686,0.10,2.35,0.00,0.000,4,0.154,0.048,2791,675,3221,0,0,0,0,0,0
$GC,721,-0.39,-117.3,75.8,-7.7,120,729,0.00,2.38,0.00,0.000,6,0.000,0.048,2791,2175,3221,0,0,0,0,0,0
$GC,860,-0.39,-117.3,84.1,-5.8,145,868,0.00,2.47,0.00,0.000,4,0.000,0.060,2781,3687,3222,0,0,0,0,0,0
$GC,913,-0.39,-117.3,87.6,-6.4,154,920,0.00,2.38,0.00,0.000,6,0.000,0.040,2781,2163,3221,0,0,0,0,0,0
$GC,1049,-0.39,-117.3,97.2,-7.1,179,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2163,3221,0,0,0,0,0,0
$GC,1185,-0.39,-117.3,106.6,-6.4,195,1189,0.00,2.33,0.00,0.000,4,0.000,0.047,2781,670,3221,0,0,0,0,0,0
$GC,1220,-0.39,-117.3,109.0,-6.8,198,1224,0.00,2.33,0.00,0.000,6,0.000,0.047,2778,2164,3221,0,0,0,0,0,0
$GC,1420,-0.39,-117.3,122.1,-6.4,216,1424,0.00,2.45,0.00,0.000,4,0.000,0.060,2770,3689,3221,0,0,0,0,0,0
$GC,1461,-0.39,-117.3,124.8,-6.1,219,1465,0.00,2.35,0.00,0.000,6,0.000,0.041,2770,2162,3221,0,0,0,0,0,0
$GC,1662,-0.39,-117.3,138.6,-7.2,237,1666,0.00,2.30,0.00,0.000,4,0.000,0.047,2770,673,3221,0,0,0,0,0,0
$GC,1706,-0.39,-117.3,142.1,-7.9,240,1715,0.00,2.35,0.00,0.000,6,0.000,0.049,2766,2160,3221,0,0,0,0,0,0
$GC,1904,-0.39,-117.3,155.7,-6.8,259,1909,0.00,2.33,0.00,0.000,4,0.000,0.050,2765,668,3221,0,0,0,0,0,0
$GC,1923,-0.39,-117.3,157.1,-7.1,260,1927,0.00,2.33,0.00,0.000,6,0.000,0.048,2764,2162,3221,0,0,0,0,0,0
$GC,2123,-0.39,-117.3,170.0,-6.5,278,2128,0.00,2.47,0.00,0.000,4,0.000,0.060,2753,3691,3221,0,0,0,0,0,0
$GC,2153,-0.39,-117.3,172.2,-7.1,280,2158,0.12,2.38,0.00,0.000,6,0.122,0.042,2791,2157,3221,0,0,0,0,0,0
$GC,2356,-0.41,-117.3,182.2,-4.8,298,2360,0.00,2.33,0.00,0.000,4,0.000,0.050,2792,659,3221,0,0,0,0,0,0
$GC,2397,-0.43,-117.3,184.4,-5.3,301,2402,0.00,2.33,0.00,0.000,6,0.000,0.048,2792,2155,3221,0,0,0,0,0,0
$GC,2600,-0.46,-117.3,194.5,-5.1,319,2604,0.00,2.33,0.00,0.000,4,0.000,0.048,2791,666,3220,0,0,0,0,0,0
$GC,2697,-0.48,-117.3,200.2,-5.7,327,2705,0.00,2.12,0.00,0.000,6,0.000,0.047,2791,2024,3220,0,0,0,0,0,0
$GC,2898,-0.51,-117.3,210.5,-5.4,346,2903,0.10,2.12,0.00,0.000,4,0.100,0.050,2729,665,3220,0,0,0,0,0,0
$GC,2927,-0.51,-117.3,212.5,-6.7,348,2932,0.12,2.35,0.00,0.000,6,0.144,0.048,2756,2174,3220,0,0,0,0,0,0
$GC,3128,-0.51,-117.3,226.1,-7.0,366,3133,0.00,2.42,0.00,0.000,4,0.000,0.062,2747,3694,3219,0,0,0,0,0,0
$GC,3171,-0.51,-117.3,229.2,-7.4,369,3175,0.00,2.38,0.00,0.000,6,0.000,0.042,2746,2156,3219,0,0,0,0,0,0
$GC,3370,-0.51,-117.3,244.6,-7.7,387,3374,0.00,2.33,0.00,0.000,4,0.000,0.050,2746,661,3219,0,0,0,0,0,0
$GC,3403,-0.51,-117.3,247.5,-8.0,389,3410,0.00,2.38,0.00,0.000,6,0.000,0.049,2740,2167,3219,0,0,0,0,0,0
$GC,3606,-0.51,-117.3,262.6,-7.3,408,3610,0.00,2.47,0.00,0.000,4,0.000,0.061,2729,3693,3218,0,0,0,0,0,0
$GC,3627,-0.51,-117.3,264.3,-7.7,409,3631,0.00,2.38,0.00,0.000,6,0.000,0.043,2728,2160,3218,0,0,0,0,0,0
$GC,3828,-0.50,-117.3,279.6,-7.5,427,3833,0.10,2.33,0.00,0.000,4,0.151,0.050,2757,664,3218,0,0,0,0,0,0
$GC,3859,-0.50,-117.3,282.1,-6.8,429,3867,0.00,2.35,0.00,0.000,6,0.000,0.049,2753,2156,3218,0,0,0,0,0,0
$GC,4058,-0.50,-117.3,294.2,-6.3,448,4063,0.00,2.50,0.00,0.000,4,0.000,0.063,2742,3693,3218,0,0,0,0,0,0
$GC,4089,-0.50,-117.3,296.0,-6.3,450,4094,0.00,2.38,0.00,0.000,6,0.000,0.043,2741,2144,3218,0,0,0,0,0,0
$GC,4288,-0.50,-117.3,308.9,-6.4,468,4292,0.00,2.30,0.00,0.000,4,0.000,0.050,2741,664,3217,0,0,0,0,0,0
$GC,4318,-0.50,-117.3,311.1,-7.3,470,4322,0.00,2.35,0.00,0.000,6,0.000,0.050,2741,2164,3217,0,0,0,0,0,0
$GC,4518,-0.50,-117.3,324.3,-6.7,488,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2164,3217,0,0,0,0,0,0
$GC,4717,-0.50,-117.3,338.7,-7.1,507,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2164,3216,0,0,0,0,0,0
$GC,4910,-0.50,-117.3,352.3,-7.2,525,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2164,3216,0,0,0,0,0,0
$GC,5109,-0.50,-117.3,366.6,-7.1,544,5113,0.00,2.35,0.00,0.000,4,0.000,0.051,2741,668,3216,0,0,0,0,0,0
$GC,5130,-0.50,-117.3,368.5,-7.8,545,5138,0.00,2.35,0.00,0.000,6,0.000,0.050,2734,2153,3216,0,0,0,0,0,0
$GC,5331,-0.50,-117.3,383.2,-7.6,564,5335,0.00,2.50,0.00,0.000,4,0.000,0.063,2723,3692,3215,0,0,0,0,0,0
$GC,5355,-0.50,-117.3,385.2,-7.9,566,5360,0.12,2.38,0.00,0.000,6,0.129,0.044,2760,2163,3215,0,0,0,0,0,0
$GC,5556,-0.50,-117.3,398.1,-6.6,584,5561,0.00,2.33,0.00,0.000,4,0.000,0.051,2760,657,3215,0,0,0,0,0,0
$GC,5587,-0.50,-117.3,400.5,-7.0,586,5592,0.00,2.35,0.00,0.000,6,0.000,0.052,2757,2155,3215,0,0,0,0,0,0
$GC,5788,-0.50,-117.3,413.0,-5.9,604,5793,0.00,2.50,0.00,0.000,4,0.000,0.064,2747,3697,3215,0,0,0,0,0,0
$GC,5819,-0.50,-117.3,414.9,-6.7,606,5824,0.00,2.40,0.00,0.000,6,0.000,0.045,2746,2144,3215,0,0,0,0,0,0
$GC,6018,-0.50,-117.3,427.9,-6.6,624,6022,0.00,2.30,0.00,0.000,4,0.000,0.054,2746,663,3214,0,0,0,0,0,0
$GC,6053,-0.50,-117.3,430.4,-7.3,627,6057,0.00,2.35,0.00,0.000,6,0.000,0.051,2742,2160,3215,0,0,0,0,0,0
$GC,6255,-0.50,-117.3,443.8,-6.4,645,6259,0.00,2.50,0.00,0.000,4,0.000,0.064,2731,3690,3214,0,0,0,0,0,0
$GC,6284,-0.50,-117.3,446.4,-8.0,647,6288,0.00,2.40,0.00,0.000,6,0.000,0.044,2730,2147,3214,0,0,0,0,0,0
$GC,6483,-0.50,-117.3,461.5,-8.0,665,6487,0.00,2.30,0.00,0.000,4,0.000,0.052,2730,662,3213,0,0,0,0,0,0
$GC,6525,-0.50,-117.3,465.0,-8.6,668,6530,0.12,2.33,0.00,0.000,6,0.141,0.051,2759,2143,3213,0,0,0,0,0,0
$GC,6724,-0.50,-117.3,478.4,-6.5,686,6729,0.00,2.50,0.00,0.000,4,0.000,0.064,2752,3690,3213,0,0,0,0,0,0
$GC,6746,-0.50,-117.3,480.1,-6.8,687,6753,0.00,2.45,0.00,0.000,6,0.000,0.047,2751,2138,3213,0,0,0,0,0,0
$GC,6947,-0.50,-117.3,493.6,-6.8,706,6951,0.00,2.28,0.00,0.000,4,0.000,0.054,2750,668,3213,0,0,0,0,0,0
$GC,6979,-0.50,-117.3,496.2,-7.3,708,6987,0.00,2.33,0.00,0.000,6,0.000,0.052,2746,2133,3212,0,0,0,0,0,0
$GC,7179,-0.50,-117.3,509.5,-6.9,727,7184,0.00,2.53,0.00,0.000,4,0.000,0.065,2735,3690,3212,0,0,0,0,0,0
$GC,7210,-0.50,-117.3,511.6,-7.1,729,7214,0.00,2.42,0.00,0.000,6,0.000,0.046,2735,2138,3212,0,0,0,0,0,0
$GC,7409,-0.50,-117.3,525.5,-7.1,747,7413,0.00,2.33,0.00,0.000,4,0.000,0.054,2734,656,3211,0,0,0,0,0,0
$GC,7450,-0.50,-117.3,528.5,-7.3,750,7454,0.00,2.33,0.00,0.000,6,0.000,0.054,2730,2143,3211,0,0,0,0,0,0
$GC,7655,-0.50,-117.3,543.8,-7.4,769,7659,0.00,2.53,0.00,0.000,4,0.000,0.065,2719,3690,3211,0,0,0,0,0,0
$GC,7684,-0.50,-117.3,546.2,-7.8,771,7689,0.12,2.42,0.00,0.000,6,0.126,0.046,2756,2136,3211,0,0,0,0,0,0
$GC,7887,-0.50,-117.3,557.8,-5.5,789,7891,0.00,2.30,0.00,0.000,4,0.000,0.054,2756,653,3211,0,0,0,0,0,0
$GC,7919,-0.50,-117.3,560.0,-6.2,791,7926,0.00,2.33,0.00,0.000,6,0.000,0.054,2755,2118,3211,0,0,0,0,0,0
$GC,8119,-0.50,-117.3,570.9,-5.4,810,8124,0.00,2.60,0.00,0.000,4,0.000,0.066,2743,3697,3210,0,0,0,0,0,0
$GC,8141,-0.50,-117.3,572.4,-6.1,811,8148,0.00,2.50,0.00,0.000,6,0.000,0.047,2744,2117,3210,0,0,0,0,0,0
$GC,8341,-0.50,-117.3,584.1,-5.9,830,8345,0.00,2.28,0.00,0.000,4,0.000,0.054,2743,657,3210,0,0,0,0,0,0
$GC,8374,-0.50,-117.3,586.3,-6.7,832,8382,0.00,2.35,0.00,0.000,6,0.000,0.054,2736,2128,3210,0,0,0,0,0,0
$GC,8573,-0.50,-117.3,598.5,-6.4,851,8577,0.00,2.55,0.00,0.000,4,0.000,0.066,2726,3690,3210,0,0,0,0,0,0
$GC,8605,-0.50,-117.3,600.8,-6.9,853,8610,0.12,2.45,0.00,0.000,6,0.128,0.044,2763,2121,3210,0,0,0,0,0,0
$GC,8937,-0.51,-117.3,616.6,-4.9,864,8942,0.00,2.25,0.00,0.000,4,0.000,0.054,2763,665,3210,0,0,0,0,0,0
$GC,8976,-0.52,-117.3,618.9,-5.7,865,8980,0.00,2.30,0.00,0.000,6,0.000,0.052,2760,2127,3209,0,0,0,0,0,0
$GC,9303,-0.52,-117.3,635.4,-5.3,876,9307,0.00,2.58,0.00,0.000,4,0.000,0.067,2759,3692,3209,0,0,0,0,0,0
$GC,9341,-0.55,-117.3,637.7,-5.6,877,9346,0.00,2.45,0.00,0.000,6,0.000,0.045,2759,2120,3209,0,0,0,0,0,0
$GC,9667,-0.56,-117.3,656.2,-5.8,888,9671,0.00,2.30,0.00,0.000,4,0.000,0.054,2758,660,3209,0,0,0,0,0,0
$GC,9705,-0.57,-117.3,658.4,-6.3,889,9709,0.00,2.30,0.00,0.000,6,0.000,0.053,2755,2132,3208,0,0,0,0,0,0
$GC,10047,-0.57,-117.3,677.8,-5.4,900,10051,0.00,2.55,0.00,0.000,4,0.000,0.066,2746,3688,3208,0,0,0,0,0,0
$GC,10079,-0.58,-117.3,679.4,-5.4,901,10083,0.00,2.45,0.00,0.000,6,0.000,0.046,2745,2118,3208,0,0,0,0,0,0
$GC,10416,-0.58,-117.3,697.7,-5.3,912,10420,0.00,2.30,0.00,0.000,4,0.000,0.054,2745,664,3208,0,0,0,0,0,0
$GC,10453,-0.58,-117.3,700.0,-6.2,913,10457,0.00,2.30,0.00,0.000,6,0.000,0.054,2743,2124,3207,0,0,0,0,0,0
$GC,10786,-0.58,-117.3,716.9,-5.1,924,10790,0.00,2.55,0.00,0.000,4,0.000,0.067,2742,3687,3207,0,0,0,0,0,0
$GC,10824,-0.59,-117.3,719.1,-5.5,925,10828,0.00,2.47,0.00,0.000,6,0.000,0.046,2741,2104,3207,0,0,0,0,0,0
$GC,11149,-0.59,-117.3,737.0,-5.8,936,11153,0.00,2.30,0.00,0.000,4,0.000,0.054,2741,656,3207,0,0,0,0,0,0
$GC,11195,-0.59,-117.3,739.9,-6.8,937,11199,0.00,2.33,0.00,0.000,6,0.000,0.054,2734,2127,3206,0,0,0,0,0,0
$GC,11520,-0.59,-117.3,759.6,-6.1,948,11524,0.00,2.58,0.00,0.000,4,0.000,0.067,2729,3689,3206,0,0,0,0,0,0
$GC,11557,-0.59,-117.3,762.1,-6.3,949,11561,0.00,2.47,0.00,0.000,6,0.000,0.046,2729,2107,3206,0,0,0,0,0,0
$GC,11884,-0.59,-117.3,782.6,-6.4,960,11888,0.00,2.25,0.00,0.000,4,0.000,0.054,2728,658,3205,0,0,0,0,0,0
$GC,11914,-0.59,-117.3,784.8,-7.0,961,11918,0.00,2.30,0.00,0.000,6,0.000,0.054,2728,2115,3205,0,0,0,0,0,0
$GC,12251,-0.59,-117.3,806.9,-6.5,972,12255,0.00,2.55,0.00,0.000,4,0.000,0.066,2720,3686,3205,0,0,0,0,0,0
$GC,12283,-0.59,-117.3,809.4,-6.9,973,12287,0.00,2.45,0.00,0.000,6,0.000,0.046,2720,2110,3205,0,0,0,0,0,0
$GC,12619,-0.59,-117.3,832.1,-6.6,984,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2106,3205,0,0,0,0,0,0
$GC,12926,-0.59,-117.3,852.1,-6.5,994,12930,0.00,2.25,0.00,0.000,4,0.000,0.054,2719,666,3205,0,0,0,0,0,0
$GC,12947,-0.59,-117.3,854.0,-7.7,994,12951,0.00,2.30,0.00,0.000,6,0.000,0.053,2717,2123,3205,0,0,0,0,0,0
$GC,13267,-0.59,-117.3,875.5,-6.7,1005,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2123,3205,0,0,0,0,0,0
$GC,13573,-0.59,-117.3,896.0,-6.8,1015,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2123,3204,0,0,0,0,0,0
$GC,13881,-0.59,-117.3,916.7,-6.8,1025,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2123,3204,0,0,0,0,0,0
$GC,14186,-0.59,-117.3,936.8,-6.4,1035,14190,0.00,2.58,0.00,0.000,4,0.000,0.067,2706,3693,3204,0,0,0,0,0,0
$GC,14218,-0.59,-117.3,939.3,-7.6,1036,14222,0.00,2.50,0.00,0.000,6,0.000,0.047,2705,2109,3204,0,0,0,0,0,0
$GC,14550,-0.58,-117.3,962.6,-7.2,1047,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2106,3204,0,0,0,0,0,0
$GC,14855,-0.58,-117.3,983.4,-6.8,1057,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2106,3204,0,0,0,0,0,0
$STATE,14976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14976,begin apogee
$GC,14983,-0.22,0.0,991.7,6.8,1061,15088,0.45,0.00,102.07,1.239,6,0.109,0.000,2852,2056,2735,0,0,0,0,0,0
$STATE,15089,end apogee,CONTROL_FINISHED_OK
$STATE,15089,begin climb
$GC,15093,0.50,117.3,993.7,0.0,1064,15208,0.65,0.00,112.00,1.206,6,0.069,0.000,3082,2056,2256,0,0,0,0,0,0
$GC,15494,0.46,117.3,955.8,11.3,1077,15499,0.00,2.53,0.00,0.000,4,0.000,0.061,3082,3572,2245,0,0,0,0,0,0
$GC,15534,0.42,117.3,950.5,12.2,1078,15539,0.15,2.45,0.00,0.000,6,0.164,0.045,3055,2071,2244,0,0,0,0,0,0
$GC,15860,0.39,117.3,918.4,9.8,1089,15861,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2071,2242,0,0,0,0,0,0
$GC,16167,0.37,117.3,888.5,10.0,1099,16171,0.00,2.42,0.00,0.000,4,0.000,0.056,3064,545,2241,0,0,0,0,0,0
$GC,16197,0.35,117.3,885.5,9.6,1100,16202,0.12,2.42,0.00,0.000,6,0.150,0.051,3032,2067,2241,0,0,0,0,0,0
$GC,16533,0.35,117.3,857.8,8.1,1111,16537,0.00,2.45,0.00,0.000,4,0.000,0.063,3031,3580,2239,0,0,0,0,0,0
$GC,16583,0.34,117.3,853.0,9.1,1112,16587,0.00,2.40,0.00,0.000,6,0.000,0.045,3039,2063,2239,0,0,0,0,0,0
$GC,16903,0.32,117.3,825.8,8.6,1123,16907,0.00,2.40,0.00,0.000,4,0.000,0.055,3050,541,2238,0,0,0,0,0,0
$GC,16938,0.31,117.3,822.7,9.3,1124,16943,0.00,2.42,0.00,0.000,6,0.000,0.051,3050,2069,2238,0,0,0,0,0,0
$GC,17276,0.29,117.3,793.5,8.6,1135,17281,0.12,2.45,0.00,0.000,4,0.156,0.063,3015,3581,2238,0,0,0,0,0,0
$GC,17319,0.29,117.3,789.6,9.1,1136,17324,0.00,2.40,0.00,0.000,6,0.000,0.047,3023,2068,2237,0,0,0,0,0,0
$GC,17640,0.29,117.3,767.3,7.0,1147,17644,0.00,2.42,0.00,0.000,4,0.000,0.056,3033,549,2237,0,0,0,0,0,0
$GC,17669,0.29,117.3,765.3,6.6,1148,17673,0.00,2.42,0.00,0.000,6,0.000,0.051,3033,2083,2237,0,0,0,0,0,0
$GC,18006,0.29,117.3,741.0,7.1,1159,18010,0.00,2.42,0.00,0.000,4,0.000,0.064,3033,3584,2237,0,0,0,0,0,0
$GC,18050,0.28,117.3,737.2,7.2,1160,18055,0.12,2.40,0.00,0.000,6,0.154,0.047,3008,2068,2236,0,0,0,0,0,0
$GC,18370,0.30,148.6,720.3,5.0,1171,18403,0.00,2.42,25.45,1.043,4,0.000,0.054,3014,545,2128,0,0,0,0,0,0
$GC,18442,0.32,163.0,716.3,5.6,1173,18461,0.00,2.45,14.30,0.985,6,0.000,0.050,3013,2082,2069,0,0,0,0,0,0
$GC,18782,0.32,163.0,695.1,6.4,1184,18786,0.00,2.45,0.00,0.000,4,0.000,0.064,3013,3582,2063,0,0,0,0,0,0
$GC,18813,0.32,163.0,692.5,6.9,1185,18818,0.00,2.42,0.00,0.000,6,0.000,0.047,3013,2056,2062,0,0,0,0,0,0
$GC,19151,0.32,163.0,670.3,6.8,1196,19155,0.00,2.40,0.00,0.000,4,0.000,0.058,3014,544,2062,0,0,0,0,0,0
$GC,19190,0.34,163.0,667.4,6.8,1197,19194,0.00,2.42,0.00,0.000,6,0.000,0.051,3014,2072,2062,0,0,0,0,0,0
$GC,19514,0.34,163.0,645.7,6.8,1208,19518,0.00,2.42,0.00,0.000,4,0.000,0.063,3014,3574,2061,0,0,0,0,0,0
$GC,19548,0.34,163.0,643.1,7.1,1209,19552,0.00,2.40,0.00,0.000,6,0.000,0.047,3014,2060,2061,0,0,0,0,0,0
$GC,19878,0.34,163.0,621.4,6.4,1220,19882,0.00,2.40,0.00,0.000,4,0.000,0.057,3014,541,2061,0,0,0,0,0,0
$GC,19916,0.36,163.0,618.8,6.5,1221,19920,0.00,2.42,0.00,0.000,6,0.000,0.052,3014,2074,2061,0,0,0,0,0,0
$GC,20242,0.37,163.0,598.7,6.3,1232,20246,0.00,2.45,0.00,0.000,4,0.000,0.063,3014,3577,2061,0,0,0,0,0,0
$GC,20275,0.37,163.0,595.9,7.5,1234,20283,0.00,2.42,0.00,0.000,6,0.000,0.047,3014,2061,2060,0,0,0,0,0,0
$GC,20476,0.38,163.0,583.1,6.1,1253,20480,0.00,2.40,0.00,0.000,4,0.000,0.057,3014,538,2060,0,0,0,0,0,0
$GC,20509,0.40,163.0,580.8,7.0,1255,20517,0.10,2.42,0.00,0.000,6,0.099,0.053,3068,2059,2060,0,0,0,0,0,0
$GC,20710,0.39,163.0,563.0,9.5,1274,20714,0.00,2.45,0.00,0.000,4,0.000,0.064,3068,3578,2060,0,0,0,0,0,0
$GC,20741,0.36,163.0,559.7,9.6,1276,20746,0.15,2.40,0.00,0.000,6,0.144,0.046,3036,2055,2060,0,0,0,0,0,0
$GC,20943,0.36,163.0,544.4,7.3,1294,20947,0.00,2.38,0.00,0.000,4,0.000,0.056,3042,544,2060,0,0,0,0,0,0
$GC,20985,0.36,163.0,541.4,6.9,1297,20989,0.00,2.38,0.00,0.000,6,0.000,0.051,3042,2067,2059,0,0,0,0,0,0
$GC,21184,0.36,163.0,526.6,7.0,1315,21188,0.00,2.42,0.00,0.000,4,0.000,0.063,3042,3573,2060,0,0,0,0,0,0
$GC,21226,0.36,163.0,523.0,8.1,1318,21233,0.00,2.40,0.00,0.000,6,0.000,0.046,3044,2063,2059,0,0,0,0,0,0
$GC,21428,0.36,163.0,508.5,7.4,1337,21432,0.00,2.40,0.00,0.000,4,0.000,0.054,3053,544,2059,0,0,0,0,0,0
$GC,21459,0.36,163.0,506.1,6.9,1339,21463,0.00,2.40,0.00,0.000,6,0.000,0.050,3053,2074,2059,0,0,0,0,0,0
$GC,21659,0.36,163.0,491.0,8.2,1357,21663,0.00,2.40,0.00,0.000,4,0.000,0.061,3053,3576,2059,0,0,0,0,0,0
$GC,21691,0.35,163.0,487.9,8.1,1359,21699,0.00,2.40,0.00,0.000,6,0.000,0.046,3063,2064,2059,0,0,0,0,0,0
$GC,21891,0.34,163.0,471.3,8.7,1378,21896,0.12,2.40,0.00,0.000,4,0.148,0.054,3036,544,2059,0,0,0,0,0,0
$GC,21924,0.34,163.0,468.8,6.1,1380,21933,0.00,2.40,0.00,0.000,6,0.000,0.050,3036,2062,2059,0,0,0,0,0,0
$GC,22122,0.34,163.0,455.4,7.2,1399,22127,0.00,2.45,0.00,0.000,4,0.000,0.063,3035,3578,2059,0,0,0,0,0,0
$GC,22156,0.34,163.0,452.7,8.6,1401,22163,0.00,2.40,0.00,0.000,6,0.000,0.046,3042,2069,2059,0,0,0,0,0,0
$GC,22354,0.34,163.0,438.5,7.5,1420,22359,0.00,2.40,0.00,0.000,4,0.000,0.055,3042,548,2059,0,0,0,0,0,0
$GC,22387,0.34,163.0,436.3,6.3,1422,22395,0.00,2.40,0.00,0.000,6,0.000,0.050,3042,2066,2059,0,0,0,0,0,0
$GC,22588,0.34,163.0,422.8,7.0,1441,22592,0.00,2.45,0.00,0.000,4,0.000,0.063,3042,3579,2059,0,0,0,0,0,0
$GC,22628,0.34,163.0,419.3,8.3,1444,22632,0.00,2.38,0.00,0.000,6,0.000,0.045,3042,2065,2059,0,0,0,0,0,0
$GC,22828,0.34,163.0,405.5,6.7,1462,22833,0.00,2.38,0.00,0.000,4,0.000,0.055,3045,548,2059,0,0,0,0,0,0
$GC,22872,0.34,163.0,402.4,6.5,1465,22879,0.00,2.40,0.00,0.000,6,0.000,0.050,3045,2064,2059,0,0,0,0,0,0
$GC,23071,0.34,163.0,389.5,6.6,1484,23075,0.00,2.42,0.00,0.000,4,0.000,0.062,3045,3581,2059,0,0,0,0,0,0
$GC,23115,0.34,163.0,386.1,7.7,1487,23122,0.00,2.38,0.00,0.000,6,0.000,0.045,3051,2081,2059,0,0,0,0,0,0
$GC,23313,0.34,163.0,372.7,6.4,1506,23317,0.00,2.42,0.00,0.000,4,0.000,0.055,3062,540,2059,0,0,0,0,0,0
$GC,23350,0.34,163.0,370.1,6.3,1509,23359,0.08,2.42,0.00,0.000,6,0.114,0.051,3034,2074,2059,0,0,0,0,0,0
$GC,23554,0.35,176.9,358.9,5.6,1528,23571,0.00,2.40,11.60,0.780,4,0.000,0.063,3034,3576,2014,0,0,0,0,0,0
$GC,23604,0.35,176.9,355.1,6.5,1532,23612,0.00,2.38,0.00,0.000,6,0.000,0.045,3041,2079,2012,0,0,0,0,0,0
$GC,23804,0.35,176.9,342.0,7.3,1551,23809,0.00,2.42,0.00,0.000,4,0.000,0.055,3041,538,2012,0,0,0,0,0,0
$GC,23846,0.36,181.9,339.0,5.9,1554,23859,0.00,2.45,5.85,0.664,6,0.000,0.050,3041,2093,1993,0,0,0,0,0,0
$GC,24053,0.36,181.9,324.5,6.9,1573,24057,0.00,2.40,0.00,0.000,4,0.000,0.063,3041,3585,1991,0,0,0,0,0,0
$GC,24082,0.36,181.9,321.9,9.5,1575,24086,0.00,2.38,0.00,0.000,6,0.000,0.045,3041,2077,1990,0,0,0,0,0,0
$GC,24282,0.36,181.9,306.5,7.5,1593,24286,0.00,2.42,0.00,0.000,4,0.000,0.054,3041,545,1990,0,0,0,0,0,0
$GC,24313,0.38,181.9,304.4,6.3,1595,24317,0.00,2.42,0.00,0.000,6,0.000,0.050,3041,2089,1991,0,0,0,0,0,0
$GC,24512,0.38,181.9,290.2,6.7,1613,24516,0.00,2.40,0.00,0.000,4,0.000,0.062,3041,3579,1990,0,0,0,0,0,0
$GC,24550,0.38,181.9,287.0,7.5,1616,24558,0.00,2.38,0.00,0.000,6,0.000,0.044,3041,2081,1990,0,0,0,0,0,0
$GC,24750,0.38,181.9,273.8,6.4,1635,24755,0.00,2.40,0.00,0.000,4,0.000,0.054,3041,547,1990,0,0,0,0,0,0
$GC,24783,0.40,187.2,271.5,5.9,1637,24794,0.00,2.42,5.88,0.636,6,0.000,0.050,3041,2075,1972,0,0,0,0,0,0
$GC,24997,0.40,187.2,257.8,7.0,1657,25001,0.00,2.42,0.00,0.000,4,0.000,0.062,3041,3576,1971,0,0,0,0,0,0
$GC,25027,0.40,187.2,255.3,7.6,1659,25032,0.00,2.38,0.00,0.000,6,0.000,0.046,3041,2069,1970,0,0,0,0,0,0
$GC,25228,0.40,187.2,242.3,6.4,1677,25233,0.00,2.42,0.00,0.000,4,0.000,0.056,3041,541,1970,0,0,0,0,0,0
$GC,25270,0.41,187.2,239.5,7.4,1680,25274,0.00,2.40,0.00,0.000,6,0.000,0.050,3042,2085,1970,0,0,0,0,0,0
$GC,25469,0.41,187.2,226.1,6.6,1698,25473,0.00,2.42,0.00,0.000,4,0.000,0.062,3042,3572,1970,0,0,0,0,0,0
$GC,25502,0.41,187.2,223.3,8.2,1700,25510,0.00,2.38,0.00,0.000,6,0.000,0.044,3041,2076,1970,0,0,0,0,0,0
$GC,25701,0.41,187.2,208.4,7.7,1719,25705,0.00,2.40,0.00,0.000,4,0.000,0.054,3041,541,1970,0,0,0,0,0,0
$GC,25741,0.43,187.2,205.1,7.8,1722,25746,0.00,2.42,0.00,0.000,6,0.000,0.050,3041,2088,1970,0,0,0,0,0,0
$GC,25942,0.43,187.2,190.2,6.9,1740,25946,0.00,2.40,0.00,0.000,4,0.000,0.061,3041,3574,1970,0,0,0,0,0,0
$GC,25974,0.43,187.2,187.5,8.1,1742,25981,0.00,2.38,0.00,0.000,6,0.000,0.044,3041,2074,1970,0,0,0,0,0,0
$GC,26177,0.45,196.9,175.0,5.8,1761,26194,0.00,2.42,9.77,0.659,4,0.000,0.054,3041,547,1931,0,0,0,0,0,0
$GC,26235,0.48,196.9,171.4,6.9,1766,26240,0.00,2.38,0.00,0.000,6,0.000,0.049,3042,2082,1931,0,0,0,0,0,0
$GC,26438,0.49,197.4,159.5,6.1,1784,26443,0.10,2.42,0.00,0.000,4,0.099,0.062,3097,3581,1930,0,0,0,0,0,0
$GC,26470,0.47,197.4,156.3,12.0,1786,26478,0.10,2.40,0.00,0.000,6,0.122,0.044,3058,2067,1930,0,0,0,0,0,0
$GC,26671,0.47,197.4,141.0,7.4,1805,26675,0.00,2.38,0.00,0.000,4,0.000,0.054,3066,548,1930,0,0,0,0,0,0
$GC,26739,0.48,197.4,135.5,7.5,1811,26743,0.00,2.38,0.00,0.000,6,0.000,0.048,3066,2070,1930,0,0,0,0,0,0
$GC,26939,0.49,200.0,121.3,6.0,1829,26952,0.00,2.42,4.18,0.474,4,0.000,0.061,3066,3568,1919,0,0,0,0,0,0
$GC,26981,0.49,200.0,118.4,6.5,1832,26990,0.00,2.38,0.00,0.000,6,0.000,0.044,3076,2063,1918,0,0,0,0,0,0
$GC,27181,0.50,219.1,107.3,5.4,1851,27207,0.00,2.38,18.00,0.654,4,0.000,0.052,3083,544,1839,0,0,0,0,0,0
$GC,27234,0.51,225.1,104.1,5.9,1855,27247,0.00,2.38,6.25,0.552,6,0.000,0.048,3083,2078,1817,0,0,0,0,0,0
$GC,27438,0.51,225.1,90.4,6.5,1887,27445,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2078,1814,0,0,0,0,0,0
$GC,27577,0.53,236.9,82.0,5.7,1912,27592,0.00,0.00,11.07,0.610,6,0.000,0.000,3082,2078,1768,0,0,0,0,0,0
$GC,27721,0.56,251.4,73.9,5.6,1938,27743,0.00,0.00,13.38,0.612,6,0.000,0.000,3082,2078,1709,0,0,0,0,0,0
$GC,27876,0.58,264.8,65.2,5.6,1965,27890,0.00,0.00,12.07,0.598,6,0.000,0.000,3082,2078,1655,0,0,0,0,0,0
$GC,28025,0.61,273.7,56.7,5.8,1991,28041,0.10,0.00,8.65,0.566,6,0.098,0.000,3138,2078,1618,0,0,0,0,0,0
$GC,28171,0.61,273.7,44.3,8.8,2017,28178,0.00,2.45,0.00,0.000,4,0.000,0.053,3148,552,1616,0,0,0,0,0,0
$GC,28208,0.61,273.7,40.8,9.0,2023,28216,0.08,2.40,0.00,0.000,6,0.111,0.048,3111,2063,1615,0,0,0,0,0,0
$GC,28350,0.62,273.7,30.5,6.9,2048,28358,0.00,2.45,0.00,0.000,4,0.000,0.060,3111,3566,1614,0,0,0,0,0,0
$GC,28376,0.62,273.7,28.3,7.2,2052,28385,0.00,2.40,0.00,0.000,6,0.000,0.044,3112,2055,1614,0,0,0,0,0,0
$GC,28517,0.65,289.5,19.5,5.6,2077,28539,0.00,2.45,14.18,0.583,4,0.000,0.058,3111,3577,1552,0,0,0,0,0,0
$GC,28591,0.67,289.5,14.6,6.8,2089,28598,0.00,2.30,0.00,0.000,6,0.000,0.043,3112,2125,1550,0,0,0,0,0,0
$GC,28732,0.71,323.3,7.3,4.9,2114,28769,0.10,2.50,28.30,0.585,4,0.099,0.050,3180,540,1415,0,0,0,0,0,0
$STATE,28781,end climb,SURFACE_DEPTH_REACHED
$STATE,28781,begin surface coast
$FINISH,2.7,1.023936
$STATE,28796,end surface coast,CONTROL_FINISHED_OK
$STATE,28796,begin surface
$SM_CCo,28876,0.00,0.000,0,0,1407,325.76
$SM_GC,2.16,8.12,0.00,0.00,0.041,0.000,0.000,118,2182,1407,-8.61,0.20,325.76
$IRIDIUM_FIX,4700.70,-12614.72,240611,151558
$TT8_MAMPS,0.026215
$HUMID,38.18
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,22.6,49.977
$10V_AH,10.0,47.543
$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,22.350,446.400,403.000,0.000,0.000,54.054,70.807,409.859,0.000,0.000,21.918,5643.295,16121.621,798.815,6257.438,828.755,33.373,2960.417,0.000,4454.421,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,155.295,1239.300,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1465.989,5016.555,1852.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297568
$DATA_FILE_SIZE,120288,2123
$CAP_FILE_SIZE,345344,0
$CFSIZE,260165632,181149696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060, 96.4,1
$GPS,240611,232406,4718.989,-12617.216,39,1.2,44,18.6