version: 66.07
glider: 187
mission: 4
dive: 489
start: 6 29 111 9 57 34
data:
$ID,187
$MISSION,4
$DIVE,489
$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,555.60449
$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,-1585346.2
$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,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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,290611,094036,4703.370,-12652.511,40,1.1,45,18.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.4
$GPS2,290611,095638,4703.365,-12652.451,15,1.5,15,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.200,0.009
$KALMAN_X,151550.2,-71.2,-126.8,-282390.2,3241.7
$KALMAN_Y,-258527.4,854.8,549.7,177232.3,-6837.7
$MHEAD_RNG_PITCHd_Wd,224.9,11391,-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,-117.3,0.0,0.0,0,81,0.00,0.00,-62.42,0.000,2,0.000,0.000,131,2189,2904,0,0,0,0,0,0
$GC,84,-0.50,-117.3,3.3,-2.4,8,109,10.45,2.45,-6.30,0.000,4,0.224,0.067,2740,3691,3216,0,0,0,0,0,0
$GC,185,-0.47,-117.3,24.8,-13.0,23,195,0.00,2.42,0.00,0.000,6,0.000,0.041,2739,2159,3219,0,0,0,0,0,0
$GC,347,-0.44,-117.3,42.4,-11.1,48,357,0.12,2.38,0.00,0.000,4,0.151,0.048,2774,675,3220,0,0,0,0,0,0
$GC,373,-0.41,-117.3,45.4,-10.9,51,383,0.00,2.40,0.00,0.000,6,0.000,0.048,2772,2187,3220,0,0,0,0,0,0
$GC,533,-0.40,-117.3,59.8,-9.1,76,541,0.00,2.47,0.00,0.000,4,0.000,0.060,2762,3693,3221,0,0,0,0,0,0
$GC,563,-0.40,-117.3,62.7,-9.1,80,572,0.00,2.35,0.00,0.000,6,0.000,0.041,2761,2197,3221,0,0,0,0,0,0
$GC,718,-0.38,-117.3,76.3,-8.9,105,727,0.12,2.42,0.00,0.000,4,0.138,0.050,2799,678,3221,0,0,0,0,0,0
$GC,749,-0.38,-117.3,78.9,-8.1,109,758,0.00,2.40,0.00,0.000,6,0.000,0.047,2794,2203,3221,0,0,0,0,0,0
$GC,910,-0.38,-117.3,90.0,-7.4,134,918,0.00,2.40,0.00,0.000,4,0.000,0.060,2784,3682,3222,0,0,0,0,0,0
$GC,946,-0.38,-117.3,93.1,-7.9,139,956,0.00,2.35,0.00,0.000,6,0.000,0.041,2783,2182,3222,0,0,0,0,0,0
$GC,1096,-0.40,-117.3,105.2,-7.5,159,1100,0.00,2.40,0.00,0.000,4,0.000,0.058,2782,3691,3222,0,0,0,0,0,0
$GC,1200,-0.42,-117.3,113.3,-6.7,167,1210,0.00,2.55,0.00,0.000,6,0.000,0.041,2782,2054,3222,0,0,0,0,0,0
$GC,1402,-0.44,-117.3,125.9,-5.9,186,1406,0.00,2.60,0.00,0.000,4,0.000,0.059,2781,3691,3222,0,0,0,0,0,0
$GC,1470,-0.46,-117.3,130.2,-6.1,191,1475,0.00,2.67,0.00,0.000,6,0.000,0.041,2781,1947,3222,0,0,0,0,0,0
$GC,1672,-0.48,-117.3,143.6,-6.7,209,1677,0.00,2.80,0.00,0.000,4,0.000,0.059,2781,3694,3222,0,0,0,0,0,0
$GC,1753,-0.50,-117.3,149.3,-6.5,215,1763,0.00,2.88,0.00,0.000,6,0.000,0.041,2781,1857,3221,0,0,0,0,0,0
$GC,1955,-0.52,-117.3,162.9,-6.9,234,1960,0.00,2.95,0.00,0.000,4,0.000,0.060,2781,3697,3222,0,0,0,0,0,0
$GC,1989,-0.55,-117.3,165.9,-7.7,236,1998,0.08,2.70,0.00,0.000,6,0.052,0.042,2721,1976,3221,0,0,0,0,0,0
$GC,2193,-0.53,-117.3,185.1,-10.4,255,2198,0.00,2.72,0.00,0.000,4,0.000,0.057,2708,3693,3221,0,0,0,0,0,0
$GC,2346,-0.51,-117.3,201.4,-10.1,267,2356,0.12,2.67,0.00,0.000,6,0.103,0.041,2752,1982,3221,0,0,0,0,0,0
$GC,2546,-0.51,-117.3,216.7,-7.2,286,2550,0.00,2.78,0.00,0.000,4,0.000,0.058,2742,3693,3220,0,0,0,0,0,0
$GC,2567,-0.51,-117.3,218.6,-7.4,287,2577,0.00,2.65,0.00,0.000,6,0.000,0.043,2741,2006,3220,0,0,0,0,0,0
$GC,2770,-0.51,-117.3,233.4,-7.5,306,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2006,3220,0,0,0,0,0,0
$GC,2970,-0.51,-117.3,247.3,-6.6,325,2974,0.00,2.72,0.00,0.000,4,0.000,0.060,2734,3694,3220,0,0,0,0,0,0
$GC,3003,-0.51,-117.3,249.9,-7.1,327,3013,0.00,2.65,0.00,0.000,6,0.000,0.044,2733,2008,3219,0,0,0,0,0,0
$GC,3204,-0.50,-117.3,264.1,-7.6,346,3209,0.00,2.75,0.00,0.000,4,0.000,0.060,2722,3695,3219,0,0,0,0,0,0
$GC,3236,-0.49,-117.3,266.6,-8.1,348,3241,0.15,2.60,0.00,0.000,6,0.124,0.043,2767,2031,3219,0,0,0,0,0,0
$GC,3439,-0.49,-117.3,279.6,-6.2,366,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2026,3219,0,0,0,0,0,0
$GC,3640,-0.49,-117.3,291.4,-5.6,385,3644,0.00,2.72,0.00,0.000,4,0.000,0.060,2760,3696,3218,0,0,0,0,0,0
$GC,3661,-0.49,-117.3,292.8,-5.5,386,3670,0.00,2.60,0.00,0.000,6,0.000,0.044,2759,2046,3217,0,0,0,0,0,0
$GC,3865,-0.49,-117.3,303.5,-5.5,405,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2046,3218,0,0,0,0,0,0
$GC,4065,-0.49,-117.3,314.2,-5.2,424,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2046,3217,0,0,0,0,0,0
$GC,4267,-0.49,-117.3,324.8,-5.4,443,4271,0.00,2.12,0.00,0.000,4,0.000,0.051,2759,669,3217,0,0,0,0,0,0
$GC,4300,-0.49,-117.3,326.9,-5.7,445,4304,0.00,2.15,0.00,0.000,6,0.000,0.050,2759,2053,3217,0,0,0,0,0,0
$GC,4502,-0.49,-117.3,338.5,-5.9,463,4506,0.00,2.65,0.00,0.000,4,0.000,0.063,2759,3694,3216,0,0,0,0,0,0
$GC,4560,-0.50,-117.3,342.2,-5.8,467,4570,0.00,2.58,0.00,0.000,6,0.000,0.045,2759,2056,3216,0,0,0,0,0,0
$GC,4762,-0.52,-117.3,354.0,-5.7,486,4767,0.00,2.62,0.00,0.000,4,0.000,0.063,2758,3689,3216,0,0,0,0,0,0
$GC,4879,-0.54,-117.3,360.9,-6.1,495,4884,0.00,2.70,0.00,0.000,6,0.000,0.044,2758,1943,3215,0,0,0,0,0,0
$GC,5082,-0.55,-117.3,372.4,-5.5,513,5086,0.00,2.85,0.00,0.000,4,0.000,0.061,2758,3694,3215,0,0,0,0,0,0
$GC,5185,-0.56,-117.3,378.6,-6.5,521,5189,0.00,2.55,0.00,0.000,6,0.000,0.044,2759,2046,3214,0,0,0,0,0,0
$GC,5387,-0.58,-117.3,390.8,-6.0,539,5392,0.00,2.70,0.00,0.000,4,0.000,0.062,2759,3694,3214,0,0,0,0,0,0
$GC,5468,-0.60,-117.3,395.9,-6.2,545,5472,0.00,2.70,0.00,0.000,6,0.000,0.044,2759,1954,3214,0,0,0,0,0,0
$GC,5668,-0.62,-117.3,408.3,-6.3,563,5673,0.12,2.80,0.00,0.000,4,0.083,0.060,2689,3690,3214,0,0,0,0,0,0
$GC,5763,-0.60,-117.3,416.2,-8.5,570,5772,0.10,2.88,0.00,0.000,6,0.116,0.044,2723,1871,3213,0,0,0,0,0,0
$GC,5966,-0.58,-117.3,431.2,-7.8,589,5971,0.00,2.95,0.00,0.000,4,0.000,0.060,2712,3690,3213,0,0,0,0,0,0
$GC,5998,-0.57,-117.3,434.0,-8.3,591,6003,0.00,2.83,0.00,0.000,6,0.000,0.045,2711,1893,3213,0,0,0,0,0,0
$GC,6199,-0.55,-117.3,449.9,-7.9,609,6204,0.00,2.92,0.00,0.000,4,0.000,0.061,2699,3690,3213,0,0,0,0,0,0
$GC,6231,-0.54,-117.3,452.6,-8.5,611,6236,0.15,2.80,0.00,0.000,6,0.131,0.045,2744,1913,3212,0,0,0,0,0,0
$GC,6432,-0.54,-117.3,466.2,-6.8,629,6437,0.00,2.90,0.00,0.000,4,0.000,0.062,2734,3693,3212,0,0,0,0,0,0
$GC,6463,-0.54,-117.3,468.4,-6.9,631,6468,0.00,2.78,0.00,0.000,6,0.000,0.047,2733,1934,3212,0,0,0,0,0,0
$GC,6664,-0.54,-117.3,482.8,-7.0,649,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1929,3212,0,0,0,0,0,0
$GC,6865,-0.54,-117.3,497.7,-7.1,668,6870,0.00,2.88,0.00,0.000,4,0.000,0.063,2721,3688,3211,0,0,0,0,0,0
$GC,6911,-0.54,-117.3,501.3,-7.7,671,6921,0.00,2.78,0.00,0.000,6,0.000,0.046,2720,1941,3211,0,0,0,0,0,0
$GC,7112,-0.52,-117.3,515.7,-7.5,690,7121,0.10,0.00,0.00,0.000,6,0.154,0.000,2749,1939,3211,0,0,0,0,0,0
$GC,7312,-0.52,-117.3,528.1,-5.9,709,7317,0.00,2.88,0.00,0.000,4,0.000,0.063,2740,3689,3210,0,0,0,0,0,0
$GC,7368,-0.52,-117.3,531.3,-6.1,713,7373,0.00,2.70,0.00,0.000,6,0.000,0.046,2739,1961,3210,0,0,0,0,0,0
$GC,7570,-0.52,-117.3,543.9,-6.5,731,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1957,3210,0,0,0,0,0,0
$GC,7770,-0.52,-117.3,556.8,-6.4,750,7775,0.00,2.85,0.00,0.000,4,0.000,0.063,2728,3693,3210,0,0,0,0,0,0
$GC,7805,-0.52,-117.3,559.4,-6.9,752,7813,0.00,2.72,0.00,0.000,6,0.000,0.047,2727,1983,3210,0,0,0,0,0,0
$GC,8005,-0.52,-117.3,573.4,-7.4,771,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1981,3210,0,0,0,0,0,0
$GC,8197,-0.52,-117.3,587.1,-7.0,789,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1981,3209,0,0,0,0,0,0
$GC,8399,-0.52,-117.3,600.6,-7.1,808,8404,0.00,2.80,0.00,0.000,4,0.000,0.063,2716,3691,3209,0,0,0,0,0,0
$GC,8431,-0.52,-117.3,602.9,-7.0,809,8436,0.12,2.67,0.00,0.000,6,0.131,0.047,2752,1991,3209,0,0,0,0,0,0
$GC,8770,-0.52,-117.3,619.6,-4.9,820,8774,0.00,2.05,0.00,0.000,4,0.000,0.055,2752,673,3208,0,0,0,0,0,0
$GC,8792,-0.52,-117.3,621.1,-5.6,820,8796,0.00,2.05,0.00,0.000,6,0.000,0.053,2749,1980,3208,0,0,0,0,0,0
$GC,9113,-0.52,-117.3,638.2,-5.4,831,9118,0.00,2.80,0.00,0.000,4,0.000,0.065,2737,3689,3207,0,0,0,0,0,0
$GC,9188,-0.52,-117.3,642.7,-5.7,833,9192,0.00,2.65,0.00,0.000,6,0.000,0.047,2736,2006,3207,0,0,0,0,0,0
$GC,9514,-0.52,-117.3,662.3,-6.2,844,9518,0.00,2.12,0.00,0.000,4,0.000,0.055,2735,670,3206,0,0,0,0,0,0
$GC,9529,-0.52,-117.3,663.5,-6.2,844,9533,0.00,2.10,0.00,0.000,6,0.000,0.053,2732,1996,3206,0,0,0,0,0,0
$GC,9852,-0.52,-117.3,683.7,-6.4,855,9856,0.00,2.75,0.00,0.000,4,0.000,0.064,2719,3689,3206,0,0,0,0,0,0
$GC,9919,-0.52,-117.3,688.9,-7.7,857,9924,0.12,2.62,0.00,0.000,6,0.128,0.047,2755,2020,3206,0,0,0,0,0,0
$GC,10252,-0.52,-117.3,707.3,-5.6,868,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2015,3206,0,0,0,0,0,0
$GC,10558,-0.52,-117.3,724.5,-5.6,878,10563,0.00,2.72,0.00,0.000,4,0.000,0.067,2746,3687,3205,0,0,0,0,0,0
$GC,10603,-0.54,-117.3,727.5,-6.1,879,10607,0.00,2.62,0.00,0.000,6,0.000,0.048,2745,2026,3205,0,0,0,0,0,0
$GC,10925,-0.54,-117.3,746.7,-5.9,890,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2024,3205,0,0,0,0,0,0
$GC,11230,-0.54,-117.3,763.8,-5.5,900,11235,0.00,2.70,0.00,0.000,4,0.000,0.064,2735,3687,3204,0,0,0,0,0,0
$GC,11269,-0.54,-117.3,766.2,-5.6,901,11273,0.00,2.62,0.00,0.000,6,0.000,0.048,2734,2032,3204,0,0,0,0,0,0
$GC,11597,-0.54,-117.3,783.9,-5.3,912,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2030,3204,0,0,0,0,0,0
$GC,11901,-0.54,-117.3,800.3,-5.4,922,11905,0.00,2.70,0.00,0.000,4,0.000,0.065,2723,3689,3204,0,0,0,0,0,0
$GC,11932,-0.54,-117.3,802.1,-5.5,923,11936,0.00,2.60,0.00,0.000,6,0.000,0.048,2723,2044,3204,0,0,0,0,0,0
$GC,12271,-0.54,-117.3,821.5,-5.8,934,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2042,3204,0,0,0,0,0,0
$GC,12576,-0.54,-117.3,838.8,-5.6,944,12581,0.00,2.70,0.00,0.000,4,0.000,0.065,2713,3689,3203,0,0,0,0,0,0
$GC,12607,-0.54,-117.3,840.6,-6.5,945,12612,0.12,2.60,0.00,0.000,6,0.127,0.049,2749,2051,3203,0,0,0,0,0,0
$GC,12946,-0.54,-117.3,856.5,-4.5,956,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2045,3203,0,0,0,0,0,0
$GC,13251,-0.54,-117.3,870.8,-4.7,966,13255,0.00,2.70,0.00,0.000,4,0.000,0.066,2742,3690,3203,0,0,0,0,0,0
$GC,13284,-0.55,-117.3,872.6,-5.8,967,13289,0.00,2.58,0.00,0.000,6,0.000,0.048,2742,2056,3203,0,0,0,0,0,0
$GC,13617,-0.55,-117.3,889.0,-5.0,978,13621,0.00,2.17,0.00,0.000,4,0.000,0.057,2742,671,3203,0,0,0,0,0,0
$GC,13645,-0.55,-117.3,890.8,-5.7,978,13653,0.00,2.20,0.00,0.000,6,0.000,0.054,2735,2049,3203,0,0,0,0,0,0
$GC,13962,-0.55,-117.3,907.3,-5.3,989,13966,0.00,2.65,0.00,0.000,4,0.000,0.066,2723,3688,3202,0,0,0,0,0,0
$GC,14017,-0.55,-117.3,910.9,-6.5,990,14026,0.00,2.58,0.00,0.000,6,0.000,0.048,2722,2072,3202,0,0,0,0,0,0
$GC,14332,-0.55,-117.3,929.6,-6.2,1001,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2071,3202,0,0,0,0,0,0
$GC,14639,-0.55,-117.3,948.6,-6.2,1011,14641,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2071,3202,0,0,0,0,0,0
$GC,14945,-0.55,-117.3,966.7,-5.9,1021,14949,0.00,2.65,0.00,0.000,4,0.000,0.065,2712,3687,3202,0,0,0,0,0,0
$GC,14976,-0.55,-117.3,968.7,-5.8,1022,14981,0.10,2.55,0.00,0.000,6,0.138,0.048,2740,2078,3202,0,0,0,0,0,0
$GC,15315,-0.55,-117.3,985.2,-4.9,1033,15319,0.00,2.22,0.00,0.000,4,0.000,0.056,2740,671,3202,0,0,0,0,0,0
$GC,15336,-0.55,-117.3,986.7,-5.7,1033,15345,0.00,2.22,0.00,0.000,6,0.000,0.054,2740,2062,3201,0,0,0,0,0,0
$STATE,15404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15405,begin apogee
$GC,15410,-0.22,0.0,990.0,5.1,1036,15515,0.32,0.00,101.93,1.235,6,0.104,0.000,2850,2062,2735,0,0,0,0,0,0
$STATE,15516,end apogee,CONTROL_FINISHED_OK
$STATE,15516,begin climb
$GC,15520,0.50,117.3,991.9,0.0,1039,15641,0.65,2.67,111.50,1.204,4,0.067,0.056,3092,564,2255,0,0,0,0,0,0
$GC,15664,0.46,117.3,983.4,9.1,1043,15669,0.00,2.55,0.00,0.000,6,0.000,0.050,3092,2054,2252,0,0,0,0,0,0
$GC,15992,0.42,117.3,948.9,10.8,1054,15997,0.12,2.53,0.00,0.000,4,0.170,0.062,3060,3579,2244,0,0,0,0,0,0
$GC,16031,0.39,117.3,944.1,10.0,1055,16035,0.00,2.45,0.00,0.000,6,0.000,0.047,3070,2078,2243,0,0,0,0,0,0
$GC,16358,0.36,117.3,913.2,9.5,1066,16363,0.12,2.47,0.00,0.000,4,0.158,0.057,3046,547,2242,0,0,0,0,0,0
$GC,16380,0.33,117.3,910.8,8.3,1066,16389,0.00,2.45,0.00,0.000,6,0.000,0.052,3046,2062,2242,0,0,0,0,0,0
$GC,16695,0.32,117.3,884.0,8.8,1077,16700,0.00,2.50,0.00,0.000,4,0.000,0.063,3046,3581,2241,0,0,0,0,0,0
$GC,16730,0.29,117.3,880.1,9.8,1078,16735,0.15,2.45,0.00,0.000,6,0.158,0.048,3017,2055,2240,0,0,0,0,0,0
$GC,17062,0.29,117.3,853.9,7.9,1089,17066,0.00,2.40,0.00,0.000,4,0.000,0.057,3026,546,2240,0,0,0,0,0,0
$GC,17100,0.29,117.3,850.7,8.3,1090,17104,0.00,2.42,0.00,0.000,6,0.000,0.053,3025,2072,2239,0,0,0,0,0,0
$GC,17428,0.29,117.3,823.6,8.3,1101,17432,0.00,2.42,0.00,0.000,4,0.000,0.064,3026,3574,2238,0,0,0,0,0,0
$GC,17478,0.27,117.3,818.6,10.2,1102,17482,0.00,2.40,0.00,0.000,6,0.000,0.048,3034,2059,2238,0,0,0,0,0,0
$GC,17795,0.26,117.3,792.7,8.0,1112,17799,0.00,2.40,0.00,0.000,4,0.000,0.057,3046,542,2238,0,0,0,0,0,0
$GC,17833,0.26,117.3,789.3,7.3,1113,17838,0.15,2.42,0.00,0.000,6,0.136,0.052,3003,2074,2238,0,0,0,0,0,0
$GC,18160,0.27,136.8,771.0,5.4,1124,18181,0.00,2.42,15.32,1.036,4,0.000,0.063,3003,3578,2177,0,0,0,0,0,0
$GC,18215,0.27,136.8,767.6,7.5,1125,18224,0.00,2.42,0.00,0.000,6,0.000,0.049,3008,2079,2175,0,0,0,0,0,0
$GC,18531,0.29,165.8,751.2,5.1,1136,18566,0.00,2.50,27.12,1.057,4,0.000,0.057,3010,540,2057,0,0,0,0,0,0
$GC,18595,0.34,208.5,747.8,4.6,1137,18641,0.00,2.50,38.50,1.055,6,0.000,0.053,3010,2077,1885,0,0,0,0,0,0
$GC,18980,0.36,210.8,725.7,6.0,1150,18982,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2077,1876,0,0,0,0,0,0
$GC,19288,0.37,210.8,705.8,6.6,1160,19289,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2077,1874,0,0,0,0,0,0
$GC,19592,0.39,210.8,686.0,6.5,1170,19597,0.10,2.47,0.00,0.000,4,0.103,0.058,3069,537,1872,0,0,0,0,0,0
$GC,19614,0.39,210.8,684.2,6.2,1170,19623,0.00,2.45,0.00,0.000,6,0.000,0.054,3069,2066,1873,0,0,0,0,0,0
$GC,19931,0.37,210.8,651.9,10.5,1181,19932,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2066,1872,0,0,0,0,0,0
$GC,20236,0.36,210.8,619.2,10.7,1191,20241,0.12,2.45,0.00,0.000,4,0.148,0.059,3042,544,1872,0,0,0,0,0,0
$GC,20271,0.36,210.8,615.7,8.9,1192,20275,0.00,2.38,0.00,0.000,6,0.000,0.052,3042,2066,1872,0,0,0,0,0,0
$GC,20602,0.36,210.8,588.7,8.2,1210,20606,0.00,2.45,0.00,0.000,4,0.000,0.063,3042,3577,1872,0,0,0,0,0,0
$GC,20634,0.36,210.8,585.8,8.8,1212,20638,0.00,2.42,0.00,0.000,6,0.000,0.049,3051,2054,1871,0,0,0,0,0,0
$GC,20835,0.36,210.8,568.9,8.4,1230,20839,0.00,2.38,0.00,0.000,4,0.000,0.058,3061,545,1871,0,0,0,0,0,0
$GC,20888,0.36,210.8,564.5,7.8,1234,20896,0.00,2.40,0.00,0.000,6,0.000,0.052,3061,2052,1871,0,0,0,0,0,0
$GC,21089,0.36,210.8,547.6,9.0,1253,21094,0.00,2.47,0.00,0.000,4,0.000,0.063,3061,3577,1871,0,0,0,0,0,0
$GC,21122,0.34,210.8,544.4,9.9,1255,21127,0.15,2.42,0.00,0.000,6,0.140,0.049,3028,2052,1870,0,0,0,0,0,0
$GC,21325,0.36,210.8,530.6,6.8,1273,21329,0.00,2.40,0.00,0.000,4,0.000,0.058,3036,544,1870,0,0,0,0,0,0
$GC,21370,0.38,210.8,527.8,6.7,1276,21374,0.00,2.35,0.00,0.000,6,0.000,0.052,3036,2050,1870,0,0,0,0,0,0
$GC,21571,0.38,210.8,514.5,6.4,1294,21576,0.00,2.47,0.00,0.000,4,0.000,0.063,3036,3574,1870,0,0,0,0,0,0
$GC,21605,0.38,210.8,511.6,8.0,1296,21614,0.00,2.45,0.00,0.000,6,0.000,0.048,3041,2045,1870,0,0,0,0,0,0
$GC,21809,0.38,210.8,498.0,6.8,1315,21813,0.00,2.38,0.00,0.000,4,0.000,0.057,3042,537,1870,0,0,0,0,0,0
$GC,21853,0.39,210.8,494.8,7.4,1318,21857,0.00,2.35,0.00,0.000,6,0.000,0.051,3042,2043,1870,0,0,0,0,0,0
$GC,22060,0.39,210.8,480.1,7.6,1337,22064,0.00,2.45,0.00,0.000,4,0.000,0.063,3042,3572,1870,0,0,0,0,0,0
$GC,22103,0.39,210.8,476.4,8.4,1340,22107,0.00,2.45,0.00,0.000,6,0.000,0.047,3041,2024,1870,0,0,0,0,0,0
$GC,22303,0.39,210.8,460.7,7.9,1358,22307,0.00,2.33,0.00,0.000,4,0.000,0.057,3042,545,1870,0,0,0,0,0,0
$GC,22348,0.41,210.8,457.5,7.8,1361,22352,0.00,2.33,0.00,0.000,6,0.000,0.050,3042,2043,1870,0,0,0,0,0,0
$GC,22548,0.41,210.8,442.3,7.6,1379,22552,0.00,2.47,0.00,0.000,4,0.000,0.063,3042,3572,1870,0,0,0,0,0,0
$GC,22591,0.41,210.8,438.7,9.0,1382,22595,0.00,2.42,0.00,0.000,6,0.000,0.048,3042,2025,1870,0,0,0,0,0,0
$GC,22793,0.41,210.8,423.6,7.7,1400,22796,0.00,2.33,0.00,0.000,4,0.000,0.058,3042,547,1869,0,0,0,0,0,0
$GC,22832,0.43,210.8,420.4,6.8,1403,22842,0.00,2.35,0.00,0.000,6,0.000,0.050,3042,2030,1870,0,0,0,0,0,0
$GC,23035,0.43,210.8,406.5,6.9,1422,23039,0.00,2.53,0.00,0.000,4,0.000,0.063,3042,3575,1869,0,0,0,0,0,0
$GC,23078,0.43,210.8,403.1,7.3,1425,23082,0.00,2.42,0.00,0.000,6,0.000,0.048,3042,2032,1869,0,0,0,0,0,0
$GC,23281,0.43,211.1,389.9,6.1,1443,23285,0.00,2.38,0.00,0.000,4,0.000,0.057,3042,536,1869,0,0,0,0,0,0
$GC,23327,0.45,211.1,386.8,6.3,1446,23336,0.00,2.38,0.00,0.000,6,0.000,0.052,3042,2031,1869,0,0,0,0,0,0
$GC,23527,0.45,211.1,374.4,6.3,1465,23532,0.00,2.53,0.00,0.000,4,0.000,0.063,3042,3575,1870,0,0,0,0,0,0
$GC,23562,0.45,211.1,371.7,7.9,1467,23571,0.00,2.47,0.00,0.000,6,0.000,0.048,3042,2028,1869,0,0,0,0,0,0
$GC,23761,0.45,211.1,358.7,7.1,1486,23765,0.00,2.35,0.00,0.000,4,0.000,0.057,3042,535,1869,0,0,0,0,0,0
$GC,23806,0.47,211.1,356.0,6.6,1489,23810,0.00,2.35,0.00,0.000,6,0.000,0.051,3042,2033,1869,0,0,0,0,0,0
$GC,24007,0.47,211.1,342.8,6.5,1507,24011,0.00,2.53,0.00,0.000,4,0.000,0.063,3042,3579,1869,0,0,0,0,0,0
$GC,24050,0.47,211.1,339.2,7.4,1510,24054,0.00,2.45,0.00,0.000,6,0.000,0.047,3042,2030,1869,0,0,0,0,0,0
$GC,24253,0.47,211.1,323.9,7.9,1528,24257,0.00,2.35,0.00,0.000,4,0.000,0.057,3042,537,1869,0,0,0,0,0,0
$GC,24287,0.49,211.1,320.8,8.4,1530,24296,0.08,2.38,0.00,0.000,6,0.055,0.051,3095,2033,1870,0,0,0,0,0,0
$GC,24491,0.47,211.1,300.0,11.1,1549,24496,0.00,2.50,0.00,0.000,4,0.000,0.063,3095,3573,1869,0,0,0,0,0,0
$GC,24538,0.45,211.1,294.7,13.6,1552,24543,0.15,2.42,0.00,0.000,6,0.146,0.047,3063,2039,1869,0,0,0,0,0,0
$GC,24740,0.45,211.1,278.4,6.8,1570,24744,0.00,2.35,0.00,0.000,4,0.000,0.056,3072,544,1869,0,0,0,0,0,0
$GC,24784,0.45,211.1,275.2,6.2,1573,24788,0.00,2.35,0.00,0.000,6,0.000,0.050,3072,2060,1869,0,0,0,0,0,0
$GC,24984,0.45,211.1,260.7,7.3,1591,24989,0.00,2.47,0.00,0.000,4,0.000,0.062,3072,3580,1869,0,0,0,0,0,0
$GC,25016,0.45,211.1,257.9,8.6,1593,25021,0.00,2.42,0.00,0.000,6,0.000,0.047,3081,2044,1869,0,0,0,0,0,0
$GC,25220,0.44,211.1,240.8,8.4,1611,25224,0.00,2.35,0.00,0.000,4,0.000,0.056,3092,547,1869,0,0,0,0,0,0
$GC,25266,0.44,211.1,236.2,9.7,1614,25276,0.08,2.38,0.00,0.000,6,0.112,0.050,3064,2049,1869,0,0,0,0,0,0
$GC,25469,0.44,211.1,221.4,6.9,1633,25474,0.00,2.47,0.00,0.000,4,0.000,0.061,3065,3580,1870,0,0,0,0,0,0
$GC,25501,0.44,211.1,218.6,8.4,1635,25505,0.00,2.42,0.00,0.000,6,0.000,0.047,3072,2045,1869,0,0,0,0,0,0
$GC,25704,0.44,211.1,203.4,7.9,1653,25708,0.00,2.35,0.00,0.000,4,0.000,0.056,3082,546,1869,0,0,0,0,0,0
$GC,25759,0.44,211.1,198.7,7.9,1657,25763,0.00,2.33,0.00,0.000,6,0.000,0.049,3083,2039,1870,0,0,0,0,0,0
$GC,25959,0.44,211.1,182.1,8.9,1675,25963,0.00,2.45,0.00,0.000,4,0.000,0.061,3083,3573,1870,0,0,0,0,0,0
$GC,25992,0.43,211.1,179.1,8.5,1677,25997,0.12,2.42,0.00,0.000,6,0.151,0.045,3057,2034,1869,0,0,0,0,0,0
$GC,26195,0.43,211.1,165.1,6.3,1695,26199,0.00,2.35,0.00,0.000,4,0.000,0.056,3065,546,1869,0,0,0,0,0,0
$GC,26220,0.44,211.1,163.1,6.2,1696,26228,0.00,2.35,0.00,0.000,6,0.000,0.049,3065,2039,1870,0,0,0,0,0,0
$GC,26420,0.46,211.1,149.7,7.1,1715,26425,0.00,2.50,0.00,0.000,4,0.000,0.061,3066,3573,1870,0,0,0,0,0,0
$GC,26522,0.46,211.1,142.1,7.1,1723,26526,0.00,2.30,0.00,0.000,6,0.000,0.044,3076,2104,1869,0,0,0,0,0,0
$GC,26725,0.47,227.5,130.2,5.5,1741,26752,0.00,2.50,15.05,0.658,4,0.000,0.054,3083,548,1806,0,0,0,0,0,0
$GC,26779,0.47,227.5,126.5,6.3,1745,26784,0.00,2.45,0.00,0.000,6,0.000,0.048,3083,2127,1805,0,0,0,0,0,0
$GC,26981,0.47,227.5,112.4,6.8,1763,26985,0.00,2.35,0.00,0.000,4,0.000,0.061,3084,3581,1804,0,0,0,0,0,0
$GC,27035,0.47,227.5,107.9,9.2,1767,27040,0.00,2.30,0.00,0.000,6,0.000,0.044,3092,2121,1803,0,0,0,0,0,0
$GC,27254,0.47,227.5,90.7,8.1,1794,27263,0.00,2.53,0.00,0.000,4,0.000,0.054,3094,545,1803,0,0,0,0,0,0
$GC,27309,0.47,227.5,86.4,7.9,1802,27317,0.00,2.50,0.00,0.000,6,0.000,0.047,3093,2128,1804,0,0,0,0,0,0
$GC,27471,0.47,227.5,75.5,6.8,1827,27480,0.00,2.38,0.00,0.000,4,0.000,0.060,3094,3572,1802,0,0,0,0,0,0
$GC,27495,0.47,227.5,73.2,6.9,1830,27504,0.00,2.30,0.00,0.000,6,0.000,0.044,3101,2121,1803,0,0,0,0,0,0
$GC,27656,0.47,227.5,63.2,6.5,1855,27666,0.00,2.50,0.00,0.000,4,0.000,0.054,3111,554,1803,0,0,0,0,0,0
$GC,27731,0.47,227.5,58.3,6.4,1866,27740,0.10,2.40,0.00,0.000,6,0.100,0.048,3074,2077,1803,0,0,0,0,0,0
$GC,27894,0.52,243.9,49.2,5.5,1891,27921,0.00,2.42,14.85,0.604,4,0.000,0.059,3074,3579,1739,0,0,0,0,0,0
$GC,28014,0.55,246.6,42.2,6.0,1908,28022,0.00,2.22,0.00,0.000,6,0.000,0.044,3074,2170,1736,0,0,0,0,0,0
$GC,28176,0.61,293.2,34.1,4.5,1933,28227,0.12,2.33,40.95,0.608,4,0.086,0.060,3143,3574,1536,0,0,0,0,0,0
$GC,28301,0.61,293.2,26.3,6.9,1950,28310,0.10,2.35,0.00,0.000,6,0.114,0.044,3117,2109,1532,0,0,0,0,0,0
$GC,28464,0.66,326.7,18.0,4.9,1975,28500,0.00,2.50,27.30,0.584,4,0.000,0.054,3117,538,1400,0,0,0,0,0,0
$GC,28522,0.70,351.3,14.9,5.3,1982,28549,0.00,2.47,20.95,0.568,6,0.000,0.047,3117,2089,1303,0,0,0,0,0,0
$GC,28701,0.80,396.2,4.7,4.5,2009,28720,0.17,0.00,16.10,0.555,2,0.073,0.000,3192,2089,1224,0,0,0,0,0,0
$STATE,28721,end climb,SURFACE_DEPTH_REACHED
$STATE,28721,begin surface coast
$FINISH,0.8,1.011951
$STATE,28847,end surface coast,CONTROL_FINISHED_OK
$STATE,28847,begin surface
$SM_CCo,28866,94.60,0.524,1,0,469,555.60
$SM_GC,1.75,0.00,0.00,94.60,0.000,0.000,0.524,131,2184,469,-8.72,0.23,555.60
$IRIDIUM_FIX,4644.93,-12647.14,290611,090951
$TT8_MAMPS,0.026964
$HUMID,36.37
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,22.5,52.024
$10V_AH,10.0,50.983
$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,22.975,421.325,429.575,94.600,0.000,129.794,400.615,0.000,0.000,0.000,16.140,5420.631,14299.534,869.254,8586.843,715.205,33.367,3067.294,0.000,4256.412,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,98.685,1235.475,524.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1402.008,7329.158,1721.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,106769,2031
$CAP_FILE_SIZE,324598,0
$CFSIZE,260165632,179175424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,141.9,1
$GPS,290611,180137,4701.301,-12655.182,36,1.5,36,18.6