version: 66.07
glider: 187
mission: 4
dive: 505
start: 7 4 111 20 0 0
data:
$ID,187
$MISSION,4
$DIVE,505
$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,-1585366.2
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,040711,194330,4723.495,-12610.353,41,1.7,41,18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-77.8
$GPS2,040711,195902,4723.506,-12610.227,11,1.7,11,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.093,0.177
$KALMAN_X,177722.9,699.3,407.2,-257349.8,1991.8
$KALMAN_Y,-296531.4,-727.5,14.6,254644.0,-2245.4
$MHEAD_RNG_PITCHd_Wd,22.0,111023,-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
$GC,17,-0.50,-117.3,0.0,0.0,0,82,0.00,0.00,-62.08,0.000,2,0.000,0.000,118,2161,2962,0,0,0,0,0,0
$GC,85,-0.50,-117.3,3.9,-2.9,8,111,10.55,2.42,-4.72,0.000,4,0.223,0.060,2749,656,3219,0,0,0,0,0,0
$GC,229,-0.47,-117.3,33.4,-11.7,29,238,0.00,2.42,0.00,0.000,6,0.000,0.048,2740,2180,3222,0,0,0,0,0,0
$GC,388,-0.44,-117.3,51.5,-11.1,54,398,0.12,2.45,0.00,0.000,4,0.148,0.059,2766,3687,3223,0,0,0,0,0,0
$GC,429,-0.42,-117.3,55.6,-10.6,59,438,0.00,2.40,0.00,0.000,6,0.000,0.042,2766,2168,3223,0,0,0,0,0,0
$GC,589,-0.41,-117.3,70.6,-9.3,84,598,0.00,2.38,0.00,0.000,4,0.000,0.050,2765,667,3224,0,0,0,0,0,0
$GC,621,-0.40,-117.3,73.5,-8.9,88,630,0.08,2.40,0.00,0.000,6,0.116,0.047,2785,2185,3224,0,0,0,0,0,0
$GC,784,-0.41,-117.3,84.8,-6.8,113,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2185,3225,0,0,0,0,0,0
$GC,943,-0.43,-117.3,96.0,-7.2,138,952,0.00,2.42,0.00,0.000,4,0.000,0.060,2782,3683,3225,0,0,0,0,0,0
$GC,994,-0.45,-117.3,99.7,-7.4,145,1002,0.00,2.50,0.00,0.000,6,0.000,0.042,2781,2085,3225,0,0,0,0,0,0
$GC,1131,-0.47,-117.3,110.7,-7.7,158,1134,0.00,2.20,0.00,0.000,4,0.000,0.050,2781,669,3225,0,0,0,0,0,0
$GC,1257,-0.47,-117.3,121.0,-7.6,168,1261,0.00,2.03,0.00,0.000,6,0.000,0.046,2779,1998,3225,0,0,0,0,0,0
$GC,1460,-0.48,-117.3,133.8,-6.0,186,1463,0.00,2.08,0.00,0.000,4,0.000,0.050,2778,667,3224,0,0,0,0,0,0
$GC,1524,-0.48,-117.3,138.1,-6.4,191,1535,0.00,2.33,0.00,0.000,6,0.000,0.047,2772,2153,3224,0,0,0,0,0,0
$GC,1728,-0.50,-117.3,150.3,-6.6,210,1732,0.00,2.33,0.00,0.000,4,0.000,0.050,2772,664,3224,0,0,0,0,0,0
$GC,1794,-0.50,-117.3,155.3,-7.9,215,1798,0.00,2.53,0.00,0.000,6,0.000,0.048,2767,2299,3224,0,0,0,0,0,0
$GC,1997,-0.52,-117.3,168.7,-6.7,233,2002,0.00,2.55,0.00,0.000,4,0.000,0.049,2766,660,3224,0,0,0,0,0,0
$GC,2028,-0.52,-117.3,171.2,-7.1,235,2033,0.00,2.38,0.00,0.000,6,0.000,0.048,2761,2184,3224,0,0,0,0,0,0
$GC,2231,-0.53,-117.3,185.3,-6.9,253,2235,0.00,2.42,0.00,0.000,4,0.000,0.060,2753,3694,3223,0,0,0,0,0,0
$GC,2322,-0.53,-117.3,191.5,-6.8,260,2326,0.00,2.17,0.00,0.000,6,0.000,0.043,2752,2295,3222,0,0,0,0,0,0
$GC,2526,-0.54,-117.3,203.2,-5.5,278,2530,0.00,2.25,0.00,0.000,4,0.000,0.061,2749,3690,3222,0,0,0,0,0,0
$GC,2571,-0.54,-117.3,205.7,-5.7,281,2575,0.00,2.38,0.00,0.000,6,0.000,0.044,2749,2147,3222,0,0,0,0,0,0
$GC,2771,-0.54,-117.3,217.6,-6.0,299,2775,0.00,2.53,0.00,0.000,4,0.000,0.060,2739,3694,3221,0,0,0,0,0,0
$GC,2839,-0.54,-117.3,222.1,-6.6,304,2844,0.00,2.62,0.00,0.000,6,0.000,0.044,2739,2002,3221,0,0,0,0,0,0
$GC,3039,-0.54,-117.3,237.0,-7.5,322,3044,0.00,2.75,0.00,0.000,4,0.000,0.060,2730,3693,3221,0,0,0,0,0,0
$GC,3107,-0.54,-117.3,242.7,-8.0,327,3117,0.00,2.55,0.00,0.000,6,0.000,0.044,2730,2073,3220,0,0,0,0,0,0
$GC,3309,-0.53,-117.3,258.0,-7.8,346,3313,0.00,2.20,0.00,0.000,4,0.000,0.051,2729,665,3220,0,0,0,0,0,0
$GC,3353,-0.53,-117.3,261.6,-8.1,349,3357,0.00,2.17,0.00,0.000,6,0.000,0.049,2722,2077,3220,0,0,0,0,0,0
$GC,3555,-0.51,-117.3,276.8,-7.4,367,3560,0.10,2.62,0.00,0.000,4,0.155,0.061,2741,3693,3220,0,0,0,0,0,0
$GC,3600,-0.51,-117.3,280.3,-6.6,370,3609,0.00,2.53,0.00,0.000,6,0.000,0.045,2740,2094,3220,0,0,0,0,0,0
$GC,3802,-0.51,-117.3,293.2,-6.7,389,3806,0.00,2.22,0.00,0.000,4,0.000,0.053,2740,671,3219,0,0,0,0,0,0
$GC,3836,-0.51,-117.3,295.8,-7.5,391,3846,0.00,2.22,0.00,0.000,6,0.000,0.050,2733,2083,3219,0,0,0,0,0,0
$GC,4038,-0.50,-117.3,309.8,-6.9,410,4042,0.00,2.60,0.00,0.000,4,0.000,0.063,2721,3689,3219,0,0,0,0,0,0
$GC,4071,-0.50,-117.3,312.7,-7.6,412,4081,0.10,2.53,0.00,0.000,6,0.104,0.045,2757,2084,3219,0,0,0,0,0,0
$GC,4276,-0.52,-117.3,323.6,-5.5,431,4279,0.00,2.20,0.00,0.000,4,0.000,0.053,2757,670,3218,0,0,0,0,0,0
$GC,4307,-0.53,-117.3,325.8,-5.9,433,4315,0.00,2.08,0.00,0.000,6,0.000,0.050,2755,1989,3217,0,0,0,0,0,0
$GC,4510,-0.55,-117.3,337.3,-6.1,452,4514,0.00,2.75,0.00,0.000,4,0.000,0.062,2747,3689,3218,0,0,0,0,0,0
$GC,4599,-0.55,-117.3,343.2,-6.6,459,4603,0.00,2.45,0.00,0.000,6,0.000,0.044,2747,2103,3217,0,0,0,0,0,0
$GC,4801,-0.56,-117.3,356.8,-6.9,477,4805,0.00,2.58,0.00,0.000,4,0.000,0.063,2738,3689,3217,0,0,0,0,0,0
$GC,4846,-0.56,-117.3,360.5,-7.7,480,4854,0.00,2.75,0.00,0.000,6,0.000,0.046,2737,1952,3217,0,0,0,0,0,0
$GC,5048,-0.56,-117.3,375.0,-7.3,499,5051,0.00,2.03,0.00,0.000,4,0.000,0.054,2737,661,3216,0,0,0,0,0,0
$GC,5204,-0.56,-117.3,387.0,-8.1,512,5208,0.00,1.90,0.00,0.000,6,0.000,0.050,2732,1868,3216,0,0,0,0,0,0
$GC,5410,-0.56,-117.3,401.9,-6.9,531,5413,0.00,1.88,0.00,0.000,4,0.000,0.054,2732,670,3216,0,0,0,0,0,0
$GC,5472,-0.55,-117.3,406.5,-7.9,536,5476,0.00,2.03,0.00,0.000,6,0.000,0.050,2723,1976,3215,0,0,0,0,0,0
$GC,5681,-0.55,-117.3,421.9,-7.7,555,5685,0.00,2.08,0.00,0.000,4,0.000,0.054,2723,660,3215,0,0,0,0,0,0
$GC,5788,-0.53,-117.3,430.8,-7.9,563,5798,0.08,2.25,0.00,0.000,6,0.119,0.050,2742,2082,3214,0,0,0,0,0,0
$GC,5990,-0.55,-117.3,444.8,-6.6,582,5994,0.00,2.22,0.00,0.000,4,0.000,0.054,2743,663,3214,0,0,0,0,0,0
$GC,6063,-0.55,-117.3,450.2,-7.3,588,6067,0.00,2.45,0.00,0.000,6,0.000,0.051,2735,2223,3214,0,0,0,0,0,0
$GC,6266,-0.55,-117.3,464.1,-6.7,606,6270,0.00,2.45,0.00,0.000,4,0.000,0.053,2735,671,3214,0,0,0,0,0,0
$GC,6395,-0.55,-117.3,473.7,-7.0,616,6404,0.00,2.30,0.00,0.000,6,0.000,0.051,2726,2123,3213,0,0,0,0,0,0
$GC,6597,-0.54,-117.3,487.2,-6.9,635,6602,0.00,2.55,0.00,0.000,4,0.000,0.063,2715,3695,3213,0,0,0,0,0,0
$GC,6631,-0.54,-117.3,489.9,-7.1,637,6641,0.08,2.50,0.00,0.000,6,0.106,0.047,2743,2122,3213,0,0,0,0,0,0
$GC,6837,-0.54,-117.3,500.7,-5.2,656,6841,0.00,2.30,0.00,0.000,4,0.000,0.054,2743,664,3212,0,0,0,0,0,0
$GC,6883,-0.54,-117.3,503.7,-5.9,659,6893,0.00,2.33,0.00,0.000,6,0.000,0.052,2737,2125,3212,0,0,0,0,0,0
$GC,7083,-0.54,-117.3,513.8,-5.2,678,7087,0.00,2.55,0.00,0.000,4,0.000,0.065,2725,3693,3212,0,0,0,0,0,0
$GC,7119,-0.54,-117.3,516.0,-6.2,680,7128,0.00,2.50,0.00,0.000,6,0.000,0.047,2725,2122,3212,0,0,0,0,0,0
$GC,7320,-0.54,-117.3,527.0,-5.8,699,7324,0.00,2.30,0.00,0.000,4,0.000,0.054,2724,665,3212,0,0,0,0,0,0
$GC,7366,-0.54,-117.3,529.9,-6.2,702,7375,0.00,2.30,0.00,0.000,6,0.000,0.054,2723,2109,3212,0,0,0,0,0,0
$GC,7568,-0.54,-117.3,541.1,-5.9,721,7572,0.00,2.58,0.00,0.000,4,0.000,0.063,2713,3693,3211,0,0,0,0,0,0
$GC,7601,-0.54,-117.3,543.5,-6.2,723,7611,0.08,2.53,0.00,0.000,6,0.104,0.048,2741,2109,3211,0,0,0,0,0,0
$GC,7804,-0.54,-117.3,553.6,-5.2,742,7808,0.00,2.28,0.00,0.000,4,0.000,0.056,2741,672,3211,0,0,0,0,0,0
$GC,7828,-0.54,-117.3,555.4,-5.9,743,7838,0.00,2.30,0.00,0.000,6,0.000,0.053,2735,2116,3210,0,0,0,0,0,0
$GC,8028,-0.54,-117.3,567.2,-6.0,762,8032,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,3697,3210,0,0,0,0,0,0
$GC,8063,-0.54,-117.3,569.7,-6.8,764,8071,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,2115,3210,0,0,0,0,0,0
$GC,8263,-0.54,-117.3,582.9,-7.0,783,8267,0.00,2.30,0.00,0.000,4,0.000,0.056,2722,669,3210,0,0,0,0,0,0
$GC,8297,-0.54,-117.3,585.7,-7.6,785,8306,0.08,2.30,0.00,0.000,6,0.116,0.054,2743,2114,3210,0,0,0,0,0,0
$GC,8498,-0.54,-117.3,597.8,-6.2,804,8503,0.00,2.58,0.00,0.000,4,0.000,0.065,2734,3694,3210,0,0,0,0,0,0
$GC,8520,-0.54,-117.3,599.5,-5.9,805,8529,0.00,2.53,0.00,0.000,6,0.000,0.049,2734,2117,3210,0,0,0,0,0,0
$GC,8725,-0.54,-117.3,612.5,-6.4,813,8729,0.00,2.28,0.00,0.000,4,0.000,0.055,2733,667,3210,0,0,0,0,0,0
$GC,8774,-0.54,-117.3,616.3,-7.1,814,8778,0.00,2.25,0.00,0.000,6,0.000,0.054,2733,2110,3209,0,0,0,0,0,0
$GC,9096,-0.54,-117.3,635.9,-5.9,825,9100,0.00,2.58,0.00,0.000,4,0.000,0.065,2724,3690,3209,0,0,0,0,0,0
$GC,9135,-0.54,-117.3,638.4,-6.4,826,9139,0.00,2.50,0.00,0.000,6,0.000,0.048,2724,2111,3209,0,0,0,0,0,0
$GC,9461,-0.54,-117.3,657.9,-6.1,837,9465,0.00,2.28,0.00,0.000,4,0.000,0.056,2724,663,3208,0,0,0,0,0,0
$GC,9499,-0.54,-117.3,660.7,-6.7,838,9503,0.00,2.25,0.00,0.000,6,0.000,0.053,2716,2106,3208,0,0,0,0,0,0
$GC,9833,-0.52,-117.3,681.9,-6.6,849,9835,0.12,0.00,0.00,0.000,6,0.144,0.000,2753,2106,3208,0,0,0,0,0,0
$GC,10138,-0.52,-117.3,698.8,-5.4,859,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2107,3208,0,0,0,0,0,0
$GC,10446,-0.52,-117.3,715.8,-5.7,869,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,3208,0,0,0,0,0,0
$GC,10752,-0.52,-117.3,732.9,-5.4,879,10756,0.00,2.60,0.00,0.000,4,0.000,0.067,2744,3692,3207,0,0,0,0,0,0
$GC,10783,-0.53,-117.3,735.1,-7.2,880,10788,0.00,2.50,0.00,0.000,6,0.000,0.050,2744,2103,3207,0,0,0,0,0,0
$GC,11121,-0.53,-117.3,754.0,-5.4,891,11125,0.00,2.28,0.00,0.000,4,0.000,0.057,2743,669,3207,0,0,0,0,0,0
$GC,11162,-0.53,-117.3,756.6,-6.2,892,11166,0.00,2.25,0.00,0.000,6,0.000,0.054,2737,2103,3206,0,0,0,0,0,0
$GC,11488,-0.53,-117.3,774.3,-5.4,903,11493,0.00,2.60,0.00,0.000,4,0.000,0.067,2725,3691,3205,0,0,0,0,0,0
$GC,11528,-0.53,-117.3,776.9,-5.9,904,11532,0.00,2.53,0.00,0.000,6,0.000,0.049,2725,2100,3205,0,0,0,0,0,0
$GC,11856,-0.53,-117.3,796.2,-5.9,915,11860,0.00,2.25,0.00,0.000,4,0.000,0.057,2725,669,3205,0,0,0,0,0,0
$GC,11889,-0.53,-117.3,798.8,-6.1,916,11893,0.00,2.25,0.00,0.000,6,0.000,0.054,2723,2102,3205,0,0,0,0,0,0
$GC,12227,-0.53,-117.3,818.2,-5.7,927,12231,0.00,2.62,0.00,0.000,4,0.000,0.067,2711,3691,3205,0,0,0,0,0,0
$GC,12279,-0.53,-117.3,821.6,-6.0,928,12284,0.12,2.50,0.00,0.000,6,0.129,0.050,2748,2107,3205,0,0,0,0,0,0
$GC,12594,-0.54,-117.3,838.2,-5.4,938,12599,0.00,2.30,0.00,0.000,4,0.000,0.057,2748,663,3205,0,0,0,0,0,0
$GC,12629,-0.54,-117.3,840.6,-6.3,939,12633,0.00,2.28,0.00,0.000,6,0.000,0.054,2746,2110,3205,0,0,0,0,0,0
$GC,12961,-0.54,-117.3,859.1,-5.7,950,12965,0.00,2.60,0.00,0.000,4,0.000,0.067,2735,3696,3205,0,0,0,0,0,0
$GC,13005,-0.56,-117.3,862.3,-7.5,951,13009,0.00,2.50,0.00,0.000,6,0.000,0.050,2734,2107,3204,0,0,0,0,0,0
$GC,13326,-0.56,-117.3,882.6,-6.4,962,13330,0.00,2.28,0.00,0.000,4,0.000,0.057,2734,666,3205,0,0,0,0,0,0
$GC,13359,-0.56,-117.3,885.3,-7.2,963,13362,0.00,2.28,0.00,0.000,6,0.000,0.054,2732,2111,3204,0,0,0,0,0,0
$GC,13697,-0.56,-117.3,906.0,-6.0,974,13701,0.00,2.60,0.00,0.000,4,0.000,0.066,2723,3694,3204,0,0,0,0,0,0
$GC,13755,-0.56,-117.3,909.8,-6.7,975,13764,0.00,2.55,0.00,0.000,6,0.000,0.050,2723,2109,3204,0,0,0,0,0,0
$GC,14070,-0.56,-117.3,929.7,-6.6,986,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2109,3204,0,0,0,0,0,0
$GC,14377,-0.56,-117.3,948.4,-5.9,996,14381,0.00,2.30,0.00,0.000,4,0.000,0.058,2722,669,3204,0,0,0,0,0,0
$GC,14411,-0.56,-117.3,951.0,-6.5,997,14415,0.00,2.28,0.00,0.000,6,0.000,0.055,2722,2113,3204,0,0,0,0,0,0
$GC,14743,-0.56,-117.3,970.3,-5.8,1008,14748,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,3689,3204,0,0,0,0,0,0
$GC,14782,-0.56,-117.3,973.0,-5.9,1009,14787,0.00,2.50,0.00,0.000,6,0.000,0.050,2720,2111,3203,0,0,0,0,0,0
$GC,15111,-0.56,-117.3,989.7,-4.9,1020,15115,0.00,2.33,0.00,0.000,4,0.000,0.058,2720,663,3203,0,0,0,0,0,0
$STATE,15119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15119,begin apogee
$GC,15127,-0.22,0.0,990.4,4.8,1020,15237,0.38,0.00,102.15,1.235,6,0.109,0.000,2845,2058,2734,0,0,0,0,0,0
$STATE,15238,end apogee,CONTROL_FINISHED_OK
$STATE,15238,begin climb
$GC,15242,0.50,117.3,991.6,0.0,1024,15362,0.70,2.78,111.88,1.203,4,0.066,0.061,3088,3581,2255,0,0,0,0,0,0
$GC,15380,0.45,117.3,981.4,10.8,1028,15386,0.12,2.60,0.00,0.000,6,0.171,0.047,3072,2069,2252,0,0,0,0,0,0
$GC,15703,0.42,117.3,946.8,11.0,1039,15707,0.00,2.50,0.00,0.000,4,0.000,0.058,3081,538,2246,0,0,0,0,0,0
$GC,15736,0.40,117.3,942.5,11.3,1040,15741,0.12,2.45,0.00,0.000,6,0.157,0.052,3050,2064,2245,0,0,0,0,0,0
$GC,16069,0.38,117.3,912.2,8.9,1051,16073,0.00,2.45,0.00,0.000,4,0.000,0.063,3049,3577,2242,0,0,0,0,0,0
$GC,16103,0.35,117.3,908.7,9.5,1052,16108,0.00,2.47,0.00,0.000,6,0.000,0.049,3058,2042,2242,0,0,0,0,0,0
$GC,16435,0.33,117.3,880.5,8.1,1063,16437,0.12,0.00,0.00,0.000,6,0.158,0.000,3024,2041,2242,0,0,0,0,0,0
$GC,16743,0.34,130.7,862.2,5.6,1073,16755,0.00,0.00,10.40,1.024,6,0.000,0.000,3024,2040,2201,0,0,0,0,0,0
$GC,17047,0.34,130.7,843.4,6.2,1083,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2039,2200,0,0,0,0,0,0
$GC,17353,0.34,130.7,823.4,6.7,1093,17358,0.00,2.50,0.00,0.000,4,0.000,0.064,3024,3577,2199,0,0,0,0,0,0
$GC,17385,0.34,130.7,821.2,7.0,1094,17389,0.00,2.42,0.00,0.000,6,0.000,0.050,3030,2055,2198,0,0,0,0,0,0
$GC,17723,0.34,130.7,797.8,7.0,1105,17724,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2053,2198,0,0,0,0,0,0
$GC,18028,0.34,130.7,775.6,7.5,1115,18029,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2053,2198,0,0,0,0,0,0
$GC,18334,0.34,130.7,752.1,7.6,1125,18335,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2053,2198,0,0,0,0,0,0
$GC,18641,0.34,130.7,728.8,7.6,1135,18646,0.00,2.50,0.00,0.000,4,0.000,0.063,3030,3581,2197,0,0,0,0,0,0
$GC,18663,0.34,130.7,726.7,7.5,1135,18673,0.00,2.47,0.00,0.000,6,0.000,0.050,3040,2054,2197,0,0,0,0,0,0
$GC,18979,0.34,130.7,700.4,8.4,1146,18983,0.00,2.40,0.00,0.000,4,0.000,0.060,3049,545,2196,0,0,0,0,0,0
$GC,19013,0.34,130.7,697.2,8.1,1147,19017,0.00,2.38,0.00,0.000,6,0.000,0.052,3049,2066,2196,0,0,0,0,0,0
$GC,19346,0.33,130.7,667.9,8.9,1158,19350,0.00,2.45,0.00,0.000,4,0.000,0.063,3049,3576,2196,0,0,0,0,0,0
$GC,19377,0.31,130.7,665.1,9.2,1159,19382,0.15,2.40,0.00,0.000,6,0.147,0.049,3018,2054,2196,0,0,0,0,0,0
$GC,19716,0.31,133.6,643.2,6.0,1170,19720,0.00,2.40,0.00,0.000,4,0.000,0.059,3023,545,2196,0,0,0,0,0,0
$GC,19766,0.32,143.9,640.0,5.7,1171,19784,0.00,2.35,12.88,0.943,6,0.000,0.052,3023,2051,2147,0,0,0,0,0,0
$GC,20126,0.33,147.3,618.5,6.0,1183,20135,0.00,2.45,4.35,0.669,4,0.000,0.063,3023,3580,2133,0,0,0,0,0,0
$GC,20164,0.33,147.3,615.5,7.1,1184,20169,0.00,2.42,0.00,0.000,6,0.000,0.050,3025,2045,2133,0,0,0,0,0,0
$GC,20490,0.33,147.3,595.6,6.2,1198,20494,0.00,2.40,0.00,0.000,4,0.000,0.059,3030,538,2132,0,0,0,0,0,0
$GC,20533,0.34,147.3,593.0,6.4,1201,20537,0.00,2.38,0.00,0.000,6,0.000,0.052,3030,2042,2132,0,0,0,0,0,0
$GC,20735,0.34,147.3,580.2,6.5,1219,20739,0.00,2.50,0.00,0.000,4,0.000,0.063,3030,3580,2132,0,0,0,0,0,0
$GC,20779,0.34,147.3,576.9,7.8,1222,20783,0.00,2.42,0.00,0.000,6,0.000,0.049,3038,2051,2131,0,0,0,0,0,0
$GC,20980,0.34,147.3,562.9,7.0,1240,20984,0.00,2.40,0.00,0.000,4,0.000,0.060,3042,537,2131,0,0,0,0,0,0
$GC,21036,0.34,147.7,559.1,6.1,1244,21040,0.00,2.38,0.00,0.000,6,0.000,0.052,3042,2044,2131,0,0,0,0,0,0
$GC,21236,0.34,147.7,544.5,7.5,1262,21241,0.00,2.47,0.00,0.000,4,0.000,0.063,3042,3581,2131,0,0,0,0,0,0
$GC,21258,0.34,147.7,542.5,7.2,1263,21268,0.00,2.50,0.00,0.000,6,0.000,0.049,3042,2034,2131,0,0,0,0,0,0
$GC,21461,0.34,147.7,528.1,7.1,1282,21465,0.00,2.38,0.00,0.000,4,0.000,0.059,3042,537,2131,0,0,0,0,0,0
$GC,21492,0.34,147.7,525.9,6.2,1284,21497,0.00,2.35,0.00,0.000,6,0.000,0.053,3042,2041,2131,0,0,0,0,0,0
$GC,21693,0.34,153.2,512.8,5.9,1302,21707,0.00,2.45,6.80,0.779,4,0.000,0.062,3042,3576,2110,0,0,0,0,0,0
$GC,21735,0.34,153.2,509.9,7.1,1305,21740,0.00,2.42,0.00,0.000,6,0.000,0.049,3046,2035,2110,0,0,0,0,0,0
$GC,21937,0.34,153.2,496.5,6.3,1323,21941,0.00,2.35,0.00,0.000,4,0.000,0.059,3055,546,2110,0,0,0,0,0,0
$GC,21993,0.34,153.2,492.5,7.1,1327,21997,0.00,2.33,0.00,0.000,6,0.000,0.051,3056,2038,2109,0,0,0,0,0,0
$GC,22193,0.34,153.2,477.2,7.8,1345,22197,0.00,2.47,0.00,0.000,4,0.000,0.063,3056,3576,2109,0,0,0,0,0,0
$GC,22226,0.32,153.2,473.9,9.0,1347,22236,0.12,2.47,0.00,0.000,6,0.118,0.049,3024,2037,2108,0,0,0,0,0,0
$GC,22428,0.32,153.2,460.9,6.4,1366,22432,0.00,2.35,0.00,0.000,4,0.000,0.059,3024,546,2108,0,0,0,0,0,0
$GC,22462,0.34,153.2,458.3,6.7,1368,22470,0.00,2.35,0.00,0.000,6,0.000,0.051,3024,2024,2108,0,0,0,0,0,0
$GC,22663,0.34,153.2,446.2,6.3,1387,22667,0.00,2.50,0.00,0.000,4,0.000,0.061,3024,3581,2108,0,0,0,0,0,0
$GC,22685,0.34,153.2,444.3,7.2,1388,22694,0.00,2.50,0.00,0.000,6,0.000,0.049,3024,2027,2108,0,0,0,0,0,0
$GC,22887,0.34,154.4,432.4,6.1,1407,22891,0.00,2.35,0.00,0.000,4,0.000,0.059,3024,542,2108,0,0,0,0,0,0
$GC,22922,0.36,154.4,430.1,6.2,1409,22931,0.00,2.35,0.00,0.000,6,0.000,0.052,3025,2021,2108,0,0,0,0,0,0
$GC,23125,0.38,189.5,419.7,4.9,1428,23165,0.00,2.53,32.67,0.864,4,0.000,0.062,3024,3577,1960,0,0,0,0,0,0
$GC,23184,0.39,192.4,416.1,6.0,1432,23194,0.00,2.53,3.60,0.513,6,0.000,0.049,3024,2025,1950,0,0,0,0,0,0
$GC,23388,0.42,216.9,405.2,5.3,1451,23416,0.00,2.45,22.60,0.835,4,0.000,0.059,3024,546,1850,0,0,0,0,0,0
$GC,23459,0.46,219.1,400.7,6.0,1456,23468,0.10,2.38,0.00,0.000,6,0.050,0.050,3087,2017,1846,0,0,0,0,0,0
$GC,23662,0.44,219.1,382.9,9.9,1475,23671,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2017,1844,0,0,0,0,0,0
$GC,23863,0.43,219.1,364.5,9.1,1494,23867,0.00,2.35,0.00,0.000,4,0.000,0.058,3094,546,1843,0,0,0,0,0,0
$GC,23896,0.43,219.1,361.2,7.6,1496,23905,0.10,2.35,0.00,0.000,6,0.109,0.051,3058,2016,1842,0,0,0,0,0,0
$GC,24096,0.43,219.1,346.9,6.8,1515,24101,0.00,2.53,0.00,0.000,4,0.000,0.062,3058,3578,1842,0,0,0,0,0,0
$GC,24120,0.43,219.1,344.9,7.5,1516,24129,0.00,2.53,0.00,0.000,6,0.000,0.049,3065,2014,1841,0,0,0,0,0,0
$GC,24322,0.43,219.1,329.1,8.1,1535,24326,0.00,2.35,0.00,0.000,4,0.000,0.058,3075,538,1841,0,0,0,0,0,0
$GC,24367,0.43,219.1,325.1,7.0,1538,24376,0.00,2.35,0.00,0.000,6,0.000,0.051,3075,2010,1841,0,0,0,0,0,0
$GC,24569,0.43,219.1,307.9,8.5,1557,24573,0.00,2.53,0.00,0.000,4,0.000,0.063,3074,3576,1841,0,0,0,0,0,0
$GC,24589,0.43,219.1,305.9,8.8,1558,24594,0.00,2.50,0.00,0.000,6,0.000,0.048,3083,1996,1839,0,0,0,0,0,0
$GC,24793,0.43,219.1,286.5,9.7,1576,24797,0.00,2.33,0.00,0.000,4,0.000,0.057,3093,541,1840,0,0,0,0,0,0
$GC,24837,0.43,219.1,281.5,8.4,1579,24848,0.08,2.30,0.00,0.000,6,0.112,0.050,3065,1991,1840,0,0,0,0,0,0
$GC,25038,0.43,219.1,265.3,8.1,1598,25042,0.00,2.58,0.00,0.000,4,0.000,0.060,3065,3582,1839,0,0,0,0,0,0
$GC,25058,0.43,219.1,263.7,7.6,1599,25063,0.00,2.53,0.00,0.000,6,0.000,0.048,3067,1983,1840,0,0,0,0,0,0
$GC,25259,0.43,219.1,247.3,8.1,1617,25263,0.00,2.28,0.00,0.000,4,0.000,0.058,3069,545,1839,0,0,0,0,0,0
$GC,25305,0.44,219.1,243.8,7.0,1620,25313,0.00,2.28,0.00,0.000,6,0.000,0.050,3069,1979,1839,0,0,0,0,0,0
$GC,25508,0.44,219.1,229.5,7.1,1639,25517,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1980,1839,0,0,0,0,0,0
$GC,25708,0.44,219.1,214.4,7.4,1658,25709,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1980,1839,0,0,0,0,0,0
$GC,25900,0.44,219.1,200.3,7.3,1676,25908,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1980,1839,0,0,0,0,0,0
$GC,26100,0.44,219.1,185.1,7.3,1695,26104,0.00,2.28,0.00,0.000,4,0.000,0.057,3078,542,1839,0,0,0,0,0,0
$GC,26134,0.44,219.1,182.5,6.5,1697,26143,0.00,2.28,0.00,0.000,6,0.000,0.050,3079,1978,1839,0,0,0,0,0,0
$GC,26338,0.44,219.1,167.9,7.0,1716,26342,0.00,2.60,0.00,0.000,4,0.000,0.060,3079,3577,1839,0,0,0,0,0,0
$GC,26358,0.44,219.1,166.2,6.8,1717,26362,0.00,2.53,0.00,0.000,6,0.000,0.047,3089,1968,1839,0,0,0,0,0,0
$GC,26559,0.44,219.1,149.3,8.3,1735,26564,0.00,2.25,0.00,0.000,4,0.000,0.057,3099,534,1839,0,0,0,0,0,0
$GC,26592,0.44,219.1,146.3,9.2,1737,26596,0.12,2.22,0.00,0.000,6,0.132,0.050,3062,1976,1838,0,0,0,0,0,0
$GC,26795,0.46,219.1,131.3,7.8,1755,26800,0.00,2.58,0.00,0.000,4,0.000,0.060,3061,3584,1839,0,0,0,0,0,0
$GC,26830,0.46,219.1,127.8,8.0,1757,26839,0.00,2.58,0.00,0.000,6,0.000,0.047,3067,1972,1839,0,0,0,0,0,0
$GC,27033,0.47,229.7,114.3,5.7,1776,27050,0.00,2.30,10.68,0.627,4,0.000,0.057,3067,545,1798,0,0,0,0,0,0
$GC,27086,0.51,263.1,111.5,4.9,1780,27126,0.00,2.20,28.88,0.659,6,0.000,0.048,3067,1976,1660,0,0,0,0,0,0
$GC,27320,0.56,263.1,98.1,6.2,1803,27329,0.10,2.33,0.00,0.000,4,0.102,0.057,3124,546,1654,0,0,0,0,0,0
$GC,27401,0.56,263.1,92.3,7.8,1815,27411,0.00,2.45,0.00,0.000,6,0.000,0.050,3124,2082,1653,0,0,0,0,0,0
$GC,27562,0.56,263.1,79.1,8.2,1840,27571,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2082,1653,0,0,0,0,0,0
$GC,27722,0.56,263.1,66.2,7.6,1865,27731,0.00,2.50,0.00,0.000,4,0.000,0.057,3133,546,1652,0,0,0,0,0,0
$GC,27765,0.56,263.1,62.8,7.5,1871,27775,0.08,2.45,0.00,0.000,6,0.112,0.050,3105,2088,1652,0,0,0,0,0,0
$GC,27927,0.57,263.1,51.7,7.0,1896,27935,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2088,1652,0,0,0,0,0,0
$GC,28085,0.59,263.1,40.8,6.6,1921,28093,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2086,1651,0,0,0,0,0,0
$GC,28243,0.60,263.1,30.9,6.2,1946,28252,0.00,2.47,0.00,0.000,4,0.000,0.056,3110,549,1651,0,0,0,0,0,0
$GC,28281,0.62,264.8,28.6,6.1,1951,28290,0.00,2.40,0.00,0.000,6,0.000,0.048,3110,2068,1651,0,0,0,0,0,0
$GC,28444,0.66,284.0,19.0,5.4,1976,28469,0.00,2.42,17.00,0.584,4,0.000,0.054,3110,534,1575,0,0,0,0,0,0
$GC,28524,0.75,347.2,15.4,3.9,1987,28584,0.10,2.35,52.03,0.591,6,0.048,0.048,3179,2024,1318,0,0,0,0,0,0
$STATE,28708,end climb,SURFACE_DEPTH_REACHED
$STATE,28708,begin surface coast
$FINISH,1.1,1.012114
$STATE,28784,end surface coast,CONTROL_FINISHED_OK
$STATE,28784,begin surface
$SM_CCo,28863,0.00,0.000,0,0,1306,350.53
$SM_GC,1.97,7.97,0.00,0.00,0.031,0.000,0.000,119,2189,1306,-8.62,0.37,350.53
$IRIDIUM_FIX,4738.89,-12602.11,040711,191940
$TT8_MAMPS,0.026215
$HUMID,38.85
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,22.5,54.277
$10V_AH,9.9,55.286
$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,21.875,413.375,415.900,0.000,0.000,74.871,159.603,386.675,0.000,0.000,11.967,5382.472,14187.820,777.389,8651.213,761.703,33.377,2963.530,0.000,4238.181,0.000,0.537,0.000
$DEVICE_MAMPS,223.380,71.145,1234.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1398.058,7338.362,1670.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297616
$DATA_FILE_SIZE,106817,2026
$CAP_FILE_SIZE,326094,0
$CFSIZE,260165632,177164288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,313.5,1
$GPS,050711,040207,4725.800,-12607.628,27,1.6,27,18.7