version: 66.11
glider: 189
mission: 30
dive: 51
start: 1 28 114 17 38 42
data:
$ID,189
$MISSION,30
$DIVE,51
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,660
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,57433
$MASS_COMP,4067.7
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-58186.992
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,2486
$PITCH_DBAND,0
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$PITCH_GAIN,27
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,7.9000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-81.04335
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0043091727
$SEABIRD_T_H,0.00062247959
$SEABIRD_T_I,2.1807595e-05
$SEABIRD_T_J,2.0889163e-06
$SEABIRD_C_G,-10.02883
$SEABIRD_C_H,1.1489301
$SEABIRD_C_I,-0.0012180988
$SEABIRD_C_J,0.00017992272
$GPS1,280114,172958,4854.987,-12652.999,39,0.8,39,17.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.1
$GPS2,280114,173811,4855.034,-12653.046,18,0.9,19,17.7
$SPEED_LIMITS,0.060,0.214
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4912.000,-12712.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.152,0.151
$KALMAN_X,-12485.2,0.0,0.0,-60330.7,-1249.9
$KALMAN_Y,32257.9,0.0,0.0,65120.5,3435.0
$MHEAD_RNG_PITCHd_Wd,297.1,38902,-9.9,-6.000,-15.65,3631
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,360,-0.24,-146.6,2355,3501,3605,3457,29.7,-11.1,34,370,0.17,2.25,0.00,0.000,3078,0.122,0.028,2415,2040,3530,3605,3456,0,0,0,0,0,0,26.01,26.10,28.83
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$GC,719,-0.24,-146.6,2414,645,3606,3454,57.8,-7.2,70,729,0.00,2.28,0.00,0.000,5126,0.000,0.031,2410,2111,3530,3606,3454,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1032,-0.24,-146.6,2410,2111,3607,3454,76.2,-5.6,101,1039,0.00,2.15,0.00,0.000,4356,0.000,0.042,2401,3499,3530,3606,3454,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1090,-0.24,-146.6,2400,3499,3607,3454,80.2,-6.8,107,1096,0.00,2.22,0.00,0.000,3078,0.000,0.028,2400,2045,3530,3607,3454,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1410,-0.24,-146.6,2400,2045,3607,3454,100.6,-6.2,123,1415,0.00,2.22,0.00,0.000,2564,0.000,0.041,2400,624,3530,3607,3454,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,1800,-0.24,-146.6,2414,2100,3607,3454,120.8,-4.1,142,1806,0.00,2.30,0.00,0.000,4612,0.000,0.041,2415,628,3530,3607,3454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1862,-0.24,-146.6,2415,628,3607,3454,123.9,-4.9,145,1866,0.00,2.20,0.00,0.000,5126,0.000,0.031,2414,2101,3530,3607,3454,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2170,-0.24,-146.6,2414,2100,3606,3455,138.6,-5.2,160,2171,0.00,0.00,0.00,0.000,4102,0.000,0.000,2414,2100,3530,3607,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.24,-146.6,2414,2100,3607,3454,153.9,-5.2,174,2473,0.00,0.00,0.00,0.000,4102,0.000,0.000,2414,2100,3530,3607,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2770,-0.24,-146.6,2414,2100,3606,3454,169.2,-5.0,184,2775,0.00,2.28,0.00,0.000,4612,0.000,0.041,2414,653,3530,3607,3454,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2848,-0.24,-146.6,2414,653,3607,3454,172.3,-4.9,186,2852,0.00,2.22,0.00,0.000,5126,0.000,0.031,2412,2100,3530,3607,3454,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3150,-0.24,-146.6,2412,2100,3606,3454,186.4,-4.0,196,3151,0.00,0.00,0.00,0.000,4102,0.000,0.000,2412,2100,3530,3607,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3450,-0.24,-146.6,2412,2100,3607,3454,198.9,-4.5,206,3455,0.00,2.28,0.00,0.000,4612,0.000,0.041,2412,653,3530,3607,3454,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3518,-0.24,-146.6,2412,654,3607,3454,202.0,-4.9,208,3522,0.00,2.22,0.00,0.000,5126,0.000,0.031,2412,2103,3530,3607,3453,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3830,-0.24,-146.6,2412,2103,3607,3454,217.6,-4.8,219,3831,0.00,0.00,0.00,0.000,4102,0.000,0.000,2412,2103,3530,3607,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4131,-0.24,-146.6,2412,2103,3607,3454,229.9,-3.8,229,4135,0.00,2.28,0.00,0.000,4612,0.000,0.041,2412,651,3530,3607,3454,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4190,-0.24,-146.6,2412,651,3607,3454,232.4,-4.1,231,4195,0.00,2.22,0.00,0.000,5126,0.000,0.031,2412,2101,3530,3606,3454,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4520,-0.29,-146.6,2412,2101,3607,3453,244.6,-3.8,242,4522,0.08,0.00,0.00,0.000,4102,0.110,0.000,2362,2101,3530,3606,3454,0,0,0,0,0,0,26.51,28.83,28.83
$GC,4820,-0.29,-146.6,2362,2101,3607,3453,261.5,-5.8,252,4826,0.10,2.25,0.00,0.000,2564,0.130,0.041,2400,652,3530,3607,3453,0,0,0,0,0,0,26.44,26.48,28.83
$GC,4868,-0.29,-146.6,2399,651,3607,3453,263.0,-5.6,253,4872,0.00,2.22,0.00,0.000,5126,0.000,0.031,2399,2101,3530,3607,3453,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5170,-0.29,-146.6,2399,2101,3607,3453,276.3,-4.0,263,5175,0.00,2.30,0.00,0.000,4612,0.000,0.042,2399,631,3530,3607,3454,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5219,-0.29,-146.6,2398,631,3607,3453,277.7,-4.2,264,5229,0.00,2.28,0.00,0.000,5126,0.000,0.031,2398,2111,3530,3607,3453,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5530,-0.29,-146.6,2398,2112,3607,3453,290.4,-3.7,275,5531,0.00,0.00,0.00,0.000,4102,0.000,0.000,2399,2111,3529,3607,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,-0.29,-146.6,2398,2111,3607,3453,302.8,-4.3,284,5836,0.00,2.30,0.00,0.000,4612,0.000,0.041,2399,644,3529,3607,3452,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5898,-0.29,-146.6,2398,644,3607,3453,305.5,-4.4,285,5902,0.00,2.25,0.00,0.000,5126,0.000,0.031,2398,2109,3529,3606,3453,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6240,-0.35,-146.6,2398,2108,3607,3452,320.2,-4.3,291,6246,0.08,2.25,0.00,0.000,4612,0.109,0.041,2348,654,3529,3606,3452,0,0,0,0,0,0,26.53,26.50,28.83
$GC,6300,-0.35,-146.6,2348,654,3607,3452,324.4,-4.9,292,6306,0.10,2.22,0.00,0.000,3078,0.142,0.031,2378,2101,3529,3607,3452,0,0,0,0,0,0,26.43,26.52,28.83
$GC,6660,-0.35,-146.6,2377,2101,3607,3451,343.4,-5.1,298,6665,0.00,2.28,0.00,0.000,4612,0.000,0.041,2378,647,3529,3607,3451,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6708,-0.35,-146.6,2378,646,3607,3452,343.4,-5.1,298,6712,0.00,2.25,0.00,0.000,5126,0.000,0.031,2376,2110,3529,3607,3452,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7010,-0.35,-146.6,2376,2110,3607,3451,359.5,-4.4,303,7011,0.00,0.00,0.00,0.000,4102,0.000,0.000,2376,2110,3529,3607,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7310,-0.35,-146.6,2376,2110,3607,3451,373.4,-4.7,308,7315,0.00,2.30,0.00,0.000,4612,0.000,0.041,2376,646,3529,3607,3451,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7398,-0.35,-146.6,2376,646,3606,3451,376.4,-4.7,309,7402,0.00,2.25,0.00,0.000,3078,0.000,0.032,2375,2108,3529,3607,3451,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7720,-0.35,-146.6,2374,2108,3607,3450,388.7,-3.2,315,7725,0.00,2.30,0.00,0.000,2564,0.000,0.041,2375,650,3528,3607,3450,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7768,-0.35,-146.6,2374,649,3607,3450,388.7,-3.2,315,7772,0.00,2.22,0.00,0.000,5126,0.000,0.031,2374,2100,3528,3607,3450,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8070,-0.35,-146.6,2374,2099,3607,3450,398.8,-2.8,320,8075,0.00,2.28,0.00,0.000,2564,0.000,0.042,2374,648,3528,3607,3449,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8130,-0.35,-146.6,2374,648,3607,3449,400.8,-3.0,321,8135,0.00,2.20,0.00,0.000,5126,0.000,0.031,2374,2095,3527,3606,3449,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8490,-0.35,-146.6,2374,2094,3607,3449,413.0,-3.6,327,8491,0.00,0.00,0.00,0.000,2054,0.000,0.000,2375,2094,3527,3607,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8790,-0.35,-146.6,2374,2094,3607,3448,425.9,-4.6,332,8796,0.00,2.28,0.00,0.000,2564,0.000,0.043,2375,644,3527,3607,3448,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8850,-0.35,-146.6,2374,644,3607,3448,429.0,-5.0,333,8855,0.00,2.25,0.00,0.000,5126,0.000,0.032,2374,2103,3527,3607,3448,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9210,-0.35,-146.6,2374,2103,3607,3448,447.9,-5.3,339,9216,0.00,2.30,0.00,0.000,2564,0.000,0.042,2375,642,3527,3607,3448,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9270,-0.35,-146.6,2374,642,3607,3447,451.4,-5.3,340,9275,0.00,2.25,0.00,0.000,3078,0.000,0.031,2374,2104,3527,3607,3447,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9630,-0.40,-146.6,2374,2104,3607,3447,471.9,-5.7,346,9632,0.05,0.00,0.00,0.000,4102,0.148,0.000,2337,2104,3526,3606,3447,0,0,0,0,0,0,26.56,28.83,28.83
$GC,9930,-0.40,-146.6,2337,2104,3606,3447,489.9,-6.0,351,9936,0.08,2.25,0.00,0.000,2564,0.145,0.042,2365,655,3526,3606,3447,0,0,0,0,0,0,26.50,26.52,28.83
$GC,10008,-0.40,-146.6,2364,655,3606,3447,493.4,-5.9,352,10012,0.00,2.22,0.00,0.000,5126,0.000,0.031,2364,2101,3527,3607,3447,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10341,-0.40,-146.6,2364,2101,3607,3447,510.2,-4.7,358,10345,0.00,2.28,0.00,0.000,4612,0.000,0.044,2364,652,3526,3606,3447,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10388,-0.40,-146.6,2364,652,3606,3446,510.2,-4.7,358,10392,0.00,2.22,0.00,0.000,5126,0.000,0.031,2364,2100,3526,3606,3446,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10690,-0.40,-146.6,2364,2100,3606,3446,527.1,-4.8,363,10691,0.00,0.00,0.00,0.000,4102,0.000,0.000,2364,2100,3526,3606,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10991,-0.40,-146.6,2364,2100,3606,3446,541.7,-4.8,368,10992,0.00,0.00,0.00,0.000,4102,0.000,0.000,2364,2100,3526,3606,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11290,-0.45,-146.6,2364,2100,3605,3445,556.1,-4.7,373,11296,0.08,2.28,0.00,0.000,4612,0.115,0.043,2317,644,3525,3605,3445,0,0,0,0,0,0,26.55,26.52,28.83
$GC,11378,-0.45,-146.6,2317,643,3606,3444,560.4,-5.2,374,11382,0.10,2.25,0.00,0.000,3078,0.140,0.032,2349,2102,3525,3605,3445,0,0,0,0,0,0,26.46,26.54,28.83
$GC,11704,-0.45,-146.6,2349,2102,3605,3445,580.8,-5.5,380,11705,0.00,0.00,0.00,0.000,4102,0.000,0.000,2349,2102,3525,3605,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12001,-0.45,-146.6,2349,2102,3605,3445,596.2,-5.0,385,12006,0.00,2.28,0.00,0.000,4612,0.000,0.043,2350,654,3524,3605,3444,0,0,0,0,0,0,28.83,26.52,28.83
$GC,12079,-0.45,-146.6,2349,654,3605,3444,599.1,-4.9,386,12083,0.00,2.22,0.00,0.000,5126,0.000,0.031,2350,2099,3524,3605,3444,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12411,-0.45,-146.6,2349,2099,3605,3444,613.5,-4.1,392,12417,0.00,2.28,0.00,0.000,4612,0.000,0.044,2350,651,3524,3605,3444,0,0,0,0,0,0,28.83,26.52,28.83
$GC,12449,-0.45,-146.6,2349,651,3605,3444,613.5,-4.1,392,12453,0.00,2.25,0.00,0.000,5126,0.000,0.032,2350,2101,3524,3605,3444,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12761,-0.45,-146.6,2349,2100,3605,3444,626.9,-3.7,398,12767,0.00,2.28,0.00,0.000,4612,0.000,0.044,2349,650,3524,3605,3444,0,0,0,0,0,0,28.83,26.52,28.83
$GC,12809,-0.45,-146.6,2349,650,3604,3444,626.9,-3.7,398,12813,0.00,2.22,0.00,0.000,5126,0.000,0.032,2349,2099,3524,3605,3444,0,0,0,0,0,0,28.83,26.54,28.83
$GC,13113,-0.45,-146.6,2349,2099,3605,3443,640.4,-3.8,403,13118,0.00,2.15,0.00,0.000,4356,0.000,0.044,2342,3498,3524,3605,3443,0,0,0,0,0,0,28.83,26.52,28.83
$GC,13149,-0.45,-146.6,2341,3498,3605,3443,640.4,-3.8,403,13153,0.00,2.20,0.00,0.000,5126,0.000,0.028,2342,2046,3524,3605,3444,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13451,-0.45,-146.6,2341,2046,3604,3443,655.3,-4.4,408,13457,0.00,2.17,0.00,0.000,4612,0.000,0.043,2342,653,3524,3605,3443,0,0,0,0,0,0,28.83,26.52,28.83
$GC,13539,-0.45,-146.6,2342,652,3605,3443,658.3,-4.5,409,13543,0.00,2.22,0.00,0.000,3078,0.000,0.031,2340,2101,3524,3605,3443,0,0,0,0,0,0,28.83,26.54,28.83
$GC,13861,-0.45,-146.6,2340,2101,3605,3443,677.7,-5.8,415,13862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2340,2101,3524,3605,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14161,-0.45,-146.6,2340,2101,3605,3443,693.1,-5.1,420,14167,0.00,2.28,0.00,0.000,2564,0.000,0.043,2340,652,3523,3604,3442,0,0,0,0,0,0,28.83,26.52,28.83
$GC,14259,-0.45,-146.6,2340,652,3605,3442,696.1,-5.0,421,14263,0.00,2.22,0.00,0.000,3078,0.000,0.031,2338,2099,3523,3604,3442,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14572,-0.45,-146.6,2338,2099,3604,3442,710.2,-3.9,427,14573,0.00,0.00,0.00,0.000,2054,0.000,0.000,2338,2099,3523,3604,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14871,-0.45,-146.6,2338,2099,3604,3442,724.4,-4.8,432,14877,0.00,2.28,0.00,0.000,2564,0.000,0.044,2338,657,3523,3604,3442,0,0,0,0,0,0,28.83,26.52,28.83
$GC,14931,-0.45,-146.6,2338,657,3604,3442,728.0,-5.2,433,14937,0.00,2.20,0.00,0.000,3078,0.000,0.032,2338,2098,3523,3604,3442,0,0,0,0,0,0,28.83,26.55,28.83
$GC,15291,-0.45,-146.6,2338,2098,3604,3442,746.8,-5.0,439,15292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2338,2098,3523,3604,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15591,-0.50,-146.6,2338,2098,3603,3442,759.9,-4.2,444,15593,0.05,0.00,0.00,0.000,4102,0.149,0.000,2299,2098,3522,3603,3442,0,0,0,0,0,0,26.57,28.83,28.83
$GC,15891,-0.50,-146.6,2299,2098,3603,3441,775.1,-5.1,449,15898,0.08,2.28,0.00,0.000,2564,0.144,0.044,2327,644,3522,3603,3441,0,0,0,0,0,0,26.51,26.53,28.83
$GC,15951,-0.50,-146.6,2327,644,3603,3441,778.0,-5.0,450,15956,0.00,2.22,0.00,0.000,5126,0.000,0.032,2326,2102,3522,3603,3441,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16311,-0.50,-146.6,2325,2101,3603,3441,793.0,-4.3,456,16317,0.00,2.30,0.00,0.000,4612,0.000,0.044,2325,651,3522,3603,3441,0,0,0,0,0,0,28.83,26.52,28.83
$GC,16359,-0.50,-146.6,2325,651,3603,3441,793.0,-4.3,456,16363,0.00,2.25,0.00,0.000,3078,0.000,0.033,2323,2111,3522,3603,3441,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16661,-0.50,-146.6,2323,2110,3602,3441,809.3,-4.6,461,16662,0.00,0.00,0.00,0.000,2054,0.000,0.000,2323,2110,3521,3602,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16961,-0.50,-146.6,2323,2110,3603,3441,823.7,-4.8,466,16967,0.00,2.33,0.00,0.000,2564,0.000,0.044,2323,638,3521,3602,3441,0,0,0,0,0,0,28.83,26.52,28.83
$GC,17039,-0.50,-146.6,2322,638,3602,3441,827.0,-4.9,467,17043,0.00,2.25,0.00,0.000,3078,0.000,0.033,2318,2098,3521,3602,3441,0,0,0,0,0,0,28.83,26.55,28.83
$GC,17372,-0.50,-146.6,2318,2098,3602,3441,844.4,-4.8,473,17373,0.00,0.00,0.00,0.000,2054,0.000,0.000,2318,2098,3521,3602,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17671,-0.50,-146.6,2318,2098,3602,3441,858.9,-4.9,478,17677,0.00,2.28,0.00,0.000,2564,0.000,0.044,2318,657,3521,3602,3440,0,0,0,0,0,0,28.83,26.52,28.83
$GC,17719,-0.50,-146.6,2318,656,3602,3441,858.9,-4.9,478,17723,0.00,2.22,0.00,0.000,3078,0.000,0.032,2313,2101,3521,3602,3440,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,18021,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,18021,begin apogee
$GC,18027,-0.19,0.0,2313,1916,3602,3440,877.5,-5.3,483,18148,0.30,0.08,117.28,1.565,10246,0.103,0.099,2428,1976,2930,3009,2852,0,0,0,0,0,0,26.47,24.32,23.44
$STATE,18149,end apogee,CONTROL_FINISHED_OK
$STATE,18149,begin climb
$GC,18152,0.37,146.6,2428,1975,3009,2854,880.9,0.0,485,18283,0.52,2.58,125.18,1.547,10756,0.071,0.046,2628,527,2332,2422,2242,0,0,0,0,0,0,24.49,23.93,22.99
$GC,18319,0.37,146.6,2627,527,2419,2242,875.6,5.2,488,18324,0.08,2.42,0.00,0.000,5126,0.161,0.029,2606,1980,2330,2419,2242,0,0,0,0,0,0,24.37,24.48,28.83
$GC,18662,0.24,146.6,2605,1981,2414,2242,846.5,8.2,494,18664,0.12,0.00,0.00,0.000,4102,0.152,0.000,2566,1981,2328,2414,2242,0,0,0,0,0,0,25.28,28.83,28.83
$GC,18964,0.19,146.6,2566,1981,2413,2242,827.4,6.2,499,18969,0.08,2.33,0.00,0.000,4612,0.170,0.047,2550,521,2327,2413,2242,0,0,0,0,0,0,25.60,25.64,28.83
$GC,19040,0.19,146.6,2550,520,2412,2242,824.3,6.3,500,19044,0.00,2.33,0.00,0.000,5126,0.000,0.031,2550,1985,2326,2412,2241,0,0,0,0,0,0,28.83,25.74,28.83
$GC,19364,0.19,168.4,2550,1986,2412,2241,804.8,5.4,506,19389,0.00,2.42,18.50,1.446,12804,0.000,0.047,2561,528,2244,2334,2154,0,0,0,0,0,0,28.83,25.32,24.39
$GC,19450,0.19,191.1,2561,529,2333,2154,801.5,5.4,507,19477,0.05,2.33,20.73,1.441,13318,0.171,0.031,2544,1978,2151,2251,2052,0,0,0,0,0,0,25.41,25.50,23.98
$GC,19772,0.19,219.2,2544,1978,2247,2052,783.0,5.2,512,19802,0.00,2.47,24.73,1.445,10756,0.000,0.046,2553,526,2036,2141,1932,0,0,0,0,0,0,28.83,24.92,24.01
$GC,19850,0.19,243.1,2554,526,2140,1932,780.0,5.3,513,19882,0.00,2.35,22.27,1.426,13318,0.000,0.030,2553,1974,1939,2046,1832,0,0,0,0,0,0,28.83,25.20,23.75
$GC,20182,0.19,243.1,2552,1974,2036,1832,756.1,6.8,519,20188,0.00,2.38,0.00,0.000,4612,0.000,0.045,2562,531,1934,2036,1832,0,0,0,0,0,0,28.83,25.54,28.83
$GC,20242,0.19,243.1,2563,531,2034,1832,751.8,7.0,520,20248,0.05,2.30,0.00,0.000,5126,0.166,0.031,2544,1974,1932,2033,1832,0,0,0,0,0,0,25.56,25.64,28.83
$GC,20602,0.19,257.2,2545,1974,2032,1832,731.2,5.6,526,20620,0.00,2.35,12.18,1.361,10756,0.000,0.047,2553,523,1881,1980,1783,0,0,0,0,0,0,28.83,25.50,24.57
$GC,20700,0.19,268.9,2553,523,1980,1783,728.2,5.7,527,20718,0.00,2.33,11.65,1.350,13318,0.000,0.030,2554,1984,1833,1935,1732,0,0,0,0,0,0,28.83,25.65,24.37
$GC,21072,0.19,268.9,2553,1984,1933,1731,702.3,6.1,534,21078,0.00,2.40,0.00,0.000,4612,0.000,0.046,2563,524,1832,1933,1731,0,0,0,0,0,0,28.83,25.76,28.83
$GC,21180,0.19,268.9,2563,524,1932,1732,698.6,6.1,535,21185,0.05,2.30,0.00,0.000,5126,0.164,0.030,2544,1984,1831,1932,1731,0,0,0,0,0,0,25.78,25.86,28.83
$GC,21482,0.19,288.4,2544,1985,1932,1731,678.7,5.5,540,21505,0.00,2.42,17.55,1.375,10756,0.000,0.047,2552,531,1753,1861,1646,0,0,0,0,0,0,28.83,25.46,24.55
$GC,21571,0.24,311.8,2552,531,1860,1646,676.1,5.3,541,21599,0.00,2.30,21.75,1.380,11270,0.000,0.030,2552,1974,1658,1773,1543,0,0,0,0,0,0,28.83,25.61,24.11
$GC,21953,0.30,311.8,2551,1974,1769,1542,650.8,6.2,548,21960,0.08,2.35,0.00,0.000,2564,0.110,0.045,2608,531,1655,1769,1542,0,0,0,0,0,0,25.75,25.70,28.83
$GC,22073,0.30,311.8,2608,532,1768,1542,640.3,7.5,550,22079,0.10,2.30,0.00,0.000,5126,0.130,0.031,2574,1984,1655,1768,1542,0,0,0,0,0,0,25.74,25.82,28.83
$GC,22433,0.30,311.8,2573,1983,1767,1542,613.9,7.3,556,22439,0.00,2.38,0.00,0.000,2564,0.000,0.047,2582,523,1654,1767,1542,0,0,0,0,0,0,28.83,25.96,28.83
$GC,22520,0.30,311.8,2582,523,1767,1542,609.6,7.2,557,22525,0.00,2.28,0.00,0.000,5126,0.000,0.031,2582,1976,1654,1767,1542,0,0,0,0,0,0,28.83,26.03,28.83
$GC,22843,0.30,311.8,2582,1977,1766,1542,586.4,6.5,563,22848,0.00,2.35,0.00,0.000,4612,0.000,0.046,2592,526,1654,1767,1542,0,0,0,0,0,0,28.83,26.08,28.83
$GC,22911,0.30,311.8,2592,525,1766,1542,582.0,6.7,564,22915,0.00,2.28,0.00,0.000,5126,0.000,0.031,2592,1983,1653,1765,1541,0,0,0,0,0,0,28.83,26.13,28.83
$GC,23253,0.30,311.8,2591,1984,1765,1541,556.4,7.4,570,23258,0.00,2.35,0.00,0.000,4612,0.000,0.047,2602,529,1653,1766,1541,0,0,0,0,0,0,28.83,26.16,28.83
$GC,23330,0.30,311.8,2602,529,1766,1542,551.6,7.6,571,23335,0.08,2.25,0.00,0.000,5126,0.140,0.031,2574,1975,1653,1765,1541,0,0,0,0,0,0,26.13,26.21,28.83
$GC,23664,0.30,311.8,2574,1976,1765,1541,527.6,6.7,577,23669,0.00,2.30,0.00,0.000,2564,0.000,0.046,2582,534,1653,1766,1541,0,0,0,0,0,0,28.83,26.22,28.83
$GC,23741,0.30,311.8,2582,534,1765,1541,523.4,6.8,578,23745,0.00,2.25,0.00,0.000,5126,0.000,0.031,2583,1983,1653,1765,1541,0,0,0,0,0,0,28.83,26.27,28.83
$GC,24073,0.30,311.8,2582,1983,1765,1541,500.6,6.3,584,24079,0.00,2.35,0.00,0.000,4612,0.000,0.046,2592,521,1653,1765,1541,0,0,0,0,0,0,28.83,26.26,28.83
$GC,24161,0.30,311.8,2592,522,1765,1541,496.8,6.2,585,24165,0.00,2.25,0.00,0.000,5126,0.000,0.030,2592,1976,1653,1765,1541,0,0,0,0,0,0,28.83,26.31,28.83
$GC,24483,0.30,311.8,2591,1977,1765,1541,474.2,6.4,591,24489,0.00,2.33,0.00,0.000,4612,0.000,0.046,2602,528,1653,1765,1541,0,0,0,0,0,0,28.83,26.29,28.83
$GC,24551,0.30,311.8,2601,527,1765,1541,470.1,6.6,592,24556,0.08,2.25,0.00,0.000,5126,0.139,0.030,2573,1983,1653,1765,1541,0,0,0,0,0,0,26.26,26.34,28.83
$GC,24895,0.36,333.3,2573,1983,1765,1541,450.8,5.4,598,24920,0.10,2.40,17.95,1.264,10756,0.099,0.047,2641,523,1571,1689,1453,0,0,0,0,0,0,26.34,25.83,24.97
$GC,25014,0.36,333.3,2640,523,1688,1453,440.2,7.0,600,25020,0.12,2.30,0.00,0.000,5126,0.125,0.031,2596,1983,1570,1687,1453,0,0,0,0,0,0,25.86,25.94,28.83
$GC,25374,0.36,333.3,2596,1983,1686,1453,417.7,6.1,606,25380,0.00,2.38,0.00,0.000,2564,0.000,0.046,2605,519,1570,1687,1453,0,0,0,0,0,0,28.83,26.06,28.83
$GC,25461,0.36,333.3,2605,519,1686,1453,413.8,6.1,607,25465,0.00,2.28,0.00,0.000,5126,0.000,0.031,2605,1977,1569,1686,1453,0,0,0,0,0,0,28.83,26.13,28.83
$GC,25784,0.36,333.3,2605,1977,1686,1453,389.4,6.9,613,25789,0.00,2.35,0.00,0.000,4612,0.000,0.046,2614,526,1569,1686,1453,0,0,0,0,0,0,28.83,26.16,28.83
$GC,25861,0.36,333.3,2615,525,1686,1453,384.8,7.1,614,25866,0.05,2.28,0.00,0.000,5126,0.164,0.031,2594,1986,1569,1685,1453,0,0,0,0,0,0,26.13,26.22,28.83
$GC,26195,0.41,333.3,2594,1986,1686,1453,361.3,6.6,620,26201,0.08,2.33,0.00,0.000,2564,0.112,0.046,2653,526,1569,1686,1452,0,0,0,0,0,0,26.27,26.22,28.83
$GC,26272,0.41,333.3,2653,526,1685,1453,355.5,7.3,621,26277,0.10,2.25,0.00,0.000,5126,0.133,0.031,2617,1974,1569,1685,1454,0,0,0,0,0,0,26.19,26.27,28.83
$GC,26605,0.41,333.3,2616,1974,1685,1453,325.5,8.3,627,26610,0.00,2.33,0.00,0.000,2564,0.000,0.046,2626,529,1569,1685,1453,0,0,0,0,0,0,28.83,26.27,28.83
$GC,26682,0.41,333.3,2626,529,1685,1453,320.3,8.3,628,26686,0.00,2.25,0.00,0.000,5126,0.000,0.031,2626,1981,1569,1685,1453,0,0,0,0,0,0,28.83,26.32,28.83
$GC,26985,0.41,333.3,2625,1981,1685,1453,290.6,9.5,635,26990,0.00,2.35,0.00,0.000,4612,0.000,0.046,2636,517,1569,1685,1453,0,0,0,0,0,0,28.83,26.30,28.83
$GC,27062,0.41,333.3,2636,517,1685,1453,284.9,9.5,637,27067,0.05,2.28,0.00,0.000,5126,0.168,0.031,2616,1986,1569,1685,1453,0,0,0,0,0,0,26.26,26.34,28.83
$GC,27365,0.41,333.3,2616,1986,1685,1453,257.5,8.2,647,27370,0.00,2.33,0.00,0.000,2564,0.000,0.047,2622,530,1569,1685,1453,0,0,0,0,0,0,28.83,26.33,28.83
$GC,27432,0.41,333.3,2622,529,1685,1453,252.7,8.2,649,27436,0.00,2.25,0.00,0.000,5126,0.000,0.031,2623,1982,1568,1685,1452,0,0,0,0,0,0,28.83,26.37,28.83
$GC,27745,0.41,333.3,2622,1982,1685,1453,229.3,7.1,660,27751,0.00,2.35,0.00,0.000,4612,0.000,0.047,2630,519,1569,1685,1453,0,0,0,0,0,0,28.83,26.35,28.83
$GC,27814,0.41,333.3,2630,519,1685,1453,224.8,7.2,662,27818,0.00,2.25,0.00,0.000,5126,0.000,0.031,2630,1973,1569,1685,1453,0,0,0,0,0,0,28.83,26.39,28.83
$GC,28126,0.41,333.3,2630,1973,1685,1453,201.2,7.2,673,28132,0.00,2.30,0.00,0.000,4612,0.000,0.047,2637,527,1569,1685,1453,0,0,0,0,0,0,28.83,26.37,28.83
$GC,28194,0.41,333.3,2636,527,1685,1453,196.9,7.3,675,28198,0.08,2.25,0.00,0.000,5126,0.138,0.031,2607,1986,1569,1685,1453,0,0,0,0,0,0,26.33,26.41,28.83
$GC,28507,0.50,336.1,2606,1986,1685,1453,177.2,5.9,686,28513,0.12,2.30,0.00,0.000,2564,0.088,0.047,2677,533,1569,1685,1453,0,0,0,0,0,0,26.40,26.39,28.83
$GC,28574,0.50,336.1,2677,532,1685,1453,172.1,7.1,688,28584,0.10,2.22,3.70,0.870,13318,0.130,0.031,2641,1974,1559,1675,1443,0,0,0,0,0,0,26.34,26.43,25.50
$GC,28887,0.50,336.1,2640,1974,1676,1442,148.5,7.0,699,28892,0.00,2.30,0.00,0.000,2564,0.000,0.046,2646,529,1558,1675,1442,0,0,0,0,0,0,28.83,26.35,28.83
$GC,28954,0.50,336.1,2646,528,1674,1443,144.1,7.2,702,28958,0.00,2.25,0.00,0.000,5126,0.000,0.030,2646,1988,1559,1675,1443,0,0,0,0,0,0,28.83,26.39,28.83
$GC,29257,0.50,336.1,2646,1988,1675,1442,121.6,7.0,717,29262,0.00,2.33,0.00,0.000,4612,0.000,0.047,2651,528,1559,1676,1442,0,0,0,0,0,0,28.83,26.37,28.83
$GC,29344,0.50,336.1,2650,529,1676,1443,115.7,7.4,721,29348,0.00,2.22,0.00,0.000,5126,0.000,0.030,2651,1975,1559,1675,1443,0,0,0,0,0,0,28.83,26.41,28.83
$GC,29646,0.50,336.1,2650,1975,1675,1443,94.1,6.7,736,29652,0.00,2.33,0.00,0.000,4612,0.000,0.046,2657,524,1558,1675,1442,0,0,0,0,0,0,28.83,26.39,28.83
$GC,29694,0.50,336.1,2656,524,1675,1443,91.4,6.5,738,29699,0.00,2.25,0.00,0.000,5126,0.000,0.030,2657,1984,1559,1675,1443,0,0,0,0,0,0,28.83,26.43,28.83
$GC,29998,0.50,342.6,2656,1985,1676,1443,71.2,5.8,760,30007,0.00,2.28,2.65,0.360,12804,0.000,0.044,2657,528,1532,1651,1414,0,0,0,0,0,0,28.83,26.38,26.12
$GC,30077,0.56,342.6,2657,529,1651,1414,66.2,6.5,768,30086,0.00,2.22,0.00,0.000,3078,0.000,0.030,2657,1989,1532,1651,1414,0,0,0,0,0,0,28.83,26.43,28.83
$GC,30388,0.63,356.0,2657,1989,1651,1414,46.7,5.6,799,30399,0.10,2.35,5.65,0.300,10756,0.098,0.047,2726,527,1476,1600,1353,0,0,0,0,0,0,26.43,26.36,26.15
$GC,30498,0.63,356.0,2726,527,1599,1354,36.7,9.5,810,30507,0.10,2.20,0.00,0.000,5126,0.100,0.030,2688,1969,1476,1599,1354,0,0,0,0,0,0,26.32,26.40,28.83
$GC,30807,0.63,356.0,2688,1968,1599,1354,14.2,6.5,841,30816,0.00,2.28,0.00,0.000,4612,0.000,0.045,2696,537,1476,1599,1354,0,0,0,0,0,0,28.83,26.39,28.83
$GC,30868,0.63,356.0,2696,537,1598,1354,10.2,7.3,847,30876,0.00,2.20,0.00,0.000,5126,0.000,0.029,2696,1979,1476,1598,1354,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,30966,end climb,SURFACE_DEPTH_REACHED
$STATE,30966,begin surface coast
$FINISH,0.8,1.025060
$STATE,30996,end surface coast,CONTROL_FINISHED_OK
$STATE,30996,begin surface
$SM_CCo,31072,0.00,0.000,0,0,1474,357.40
$SM_GC,1.74,6.78,0.17,0.00,0.073,0.064,0.000,152,2109,1474,-7.25,-0.40,357.40,0,0,0,0,0,0,26.28,26.44,28.83
$IRIDIUM_FIX,4830.54,-12510.23,280114,070729
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.97
$INTERNAL_PRESSURE,8.41442
$TCM_TEMP,17.40
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,800.9,84.2
$24V_AH,23.0,11.159
$10V_AH,10.0,6.582
$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,18.600,288.025,421.750,0.000,0.000,27.183,27.834,304.477,10.500,0.000,20.058,2604.759,25119.805,814.420,2645.707,361.380,0.416,1959.479,0.000,2113.871,0.000,69.052,0.000
$DEVICE_MAMPS,245.565,108.630,1565.190,0.000,0.000,48.200,160.000,223.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.685,547.158,1331.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313100
$DATA_FILE_SIZE,63764,860
$CAP_FILE_SIZE,232877,0
$CFSIZE,260165632,251858944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290114,021734,4859.179,-12657.000,32,0.8,32,17.7