version: 66.12
glider: 35
mission: 22
dive: 74
start: 4 6 114 12 7 18
data:
$ID,35
$MISSION,22
$DIVE,74
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,3600
$D_ABORT,5000
$D_NO_BLEED,500
$D_BOOST,0
$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,1200
$T_MISSION,1260
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-997875.31
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-1038.2812
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,060414,115935,3212.272,-6435.139,24,1.2,24,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.5
$GPS2,060414,120654,3212.291,-6435.145,11,1.4,16,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.101,-0.001
$KALMAN_X,19088.0,0.0,0.0,-29914.9,609.4
$KALMAN_Y,2271.9,0.0,0.0,-4133.2,-4132.3
$MHEAD_RNG_PITCHd_Wd,105.8,9113,-43.3,-10.000,-44.68,469
$D_GRID,3600
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.67,-30.6,248,1784,866,1104,0.0,0.0,0,91,0.00,0.00,-71.32,0.000,16390,0.000,0.000,249,1785,2103,2129,2078,0,0,0,0,0,0,28.83,28.83,25.70
$GC,94,-1.67,-63.8,248,1785,2127,2078,2.3,-2.8,7,120,9.45,2.25,-6.18,0.000,18692,0.263,0.057,2498,3213,2217,2240,2194,0,0,0,0,0,0,25.06,25.85,25.70
$GC,346,-1.51,-63.8,2498,3213,2232,2194,33.0,-14.5,32,353,0.25,2.10,0.00,0.000,3078,0.248,0.052,2564,1777,2212,2231,2194,0,0,0,0,0,0,25.24,26.10,28.83
$GC,653,-1.43,-63.8,2564,1777,2231,2194,73.1,-11.6,63,662,0.00,2.17,0.00,0.000,260,0.000,0.060,2554,3212,2212,2231,2194,0,0,0,0,0,0,28.83,26.14,28.83
$GC,888,-1.33,-63.8,2553,3212,2231,2193,99.0,-11.4,86,895,0.25,2.05,0.00,0.000,3078,0.238,0.052,2622,1798,2213,2231,2195,0,0,0,0,0,0,25.40,26.27,28.83
$GC,1194,-1.33,-63.8,2621,1799,2230,2196,130.0,-10.1,117,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1798,2213,2231,2196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1495,-1.33,-67.3,2621,1798,2231,2197,160.2,-9.2,142,1501,0.00,2.03,-0.12,0.000,16900,0.000,0.060,2625,421,2240,2257,2223,0,0,0,0,0,0,28.83,26.22,22.80
$GC,1604,-1.26,-67.3,2625,421,2254,2224,171.8,-11.9,147,1608,0.00,2.03,0.00,0.000,1030,0.000,0.052,2614,1828,2239,2255,2224,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1915,-1.26,-67.3,2614,1828,2254,2224,205.0,-10.2,163,1921,0.00,2.08,0.00,0.000,516,0.000,0.060,2615,427,2239,2255,2224,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2149,-1.20,-67.3,2615,427,2254,2226,227.4,-10.6,174,2156,0.22,1.98,0.00,0.000,3078,0.238,0.052,2657,1805,2240,2255,2226,0,0,0,0,0,0,25.50,26.36,28.83
$GC,2455,-1.20,-67.3,2657,1805,2254,2225,260.3,-10.5,190,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1805,2240,2254,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,-1.20,-67.3,2657,1805,2254,2226,295.6,-11.6,205,2760,0.00,2.05,0.00,0.000,516,0.000,0.060,2661,417,2240,2254,2227,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2989,-1.20,-67.3,2661,417,2254,2228,323.1,-13.5,213,2995,0.00,1.98,0.00,0.000,1030,0.000,0.052,2651,1804,2240,2254,2227,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3296,-1.20,-67.3,2651,1804,2254,2227,367.2,-13.9,224,3301,0.00,2.03,0.00,0.000,516,0.000,0.060,2651,427,2240,2254,2227,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3529,-1.20,-67.3,2651,427,2253,2228,398.5,-14.6,231,3536,0.00,1.98,0.00,0.000,1030,0.000,0.052,2642,1804,2241,2254,2228,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3837,-1.20,-67.3,2641,1804,2254,2228,445.6,-13.8,242,3842,0.00,2.03,0.00,0.000,516,0.000,0.060,2641,427,2241,2254,2228,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4069,-1.20,-67.3,2641,427,2253,2228,475.5,-14.2,249,4077,0.15,1.95,0.00,0.000,3078,0.251,0.052,2663,1798,2241,2254,2228,0,0,0,0,0,0,25.70,26.37,28.83
$GC,4377,-1.27,-67.3,2663,1798,2255,2228,522.7,-14.5,260,4383,0.00,2.08,0.00,0.000,516,0.000,0.062,2672,417,2241,2254,2228,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4610,-1.27,-67.3,2672,417,2254,2229,556.4,-16.4,267,4616,0.00,1.98,0.00,0.000,1030,0.000,0.052,2663,1806,2241,2254,2229,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4918,-1.34,-67.3,2662,1806,2254,2228,611.5,-17.3,278,4924,0.10,2.08,0.00,0.000,4612,0.134,0.060,2628,415,2241,2254,2229,0,0,0,0,0,0,26.45,26.25,28.83
$GC,5150,-1.34,-67.3,2627,415,2254,2229,650.6,-18.9,285,5157,0.00,1.98,0.00,0.000,1030,0.000,0.050,2617,1804,2241,2254,2228,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5457,-1.34,-67.3,2617,1804,2254,2228,711.1,-16.9,296,5462,0.00,2.05,0.00,0.000,516,0.000,0.060,2625,421,2241,2254,2229,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5690,-1.34,-67.3,2625,421,2254,2228,750.9,-19.6,303,5697,0.00,1.98,0.00,0.000,1030,0.000,0.052,2615,1804,2241,2254,2228,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5997,-1.39,-67.3,2615,1804,2254,2228,819.1,-20.0,314,6003,0.00,2.05,0.00,0.000,516,0.000,0.062,2624,427,2241,2254,2228,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6230,-1.39,-67.3,2623,427,2253,2228,864.4,-21.8,321,6236,0.00,2.00,0.00,0.000,1030,0.000,0.052,2613,1805,2240,2253,2228,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6537,-1.45,-67.3,2613,1805,2252,2228,935.1,-21.4,332,6543,0.00,2.05,0.00,0.000,516,0.000,0.060,2614,429,2240,2252,2228,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6771,-1.45,-67.3,2614,428,2250,2228,984.6,-24.7,339,6777,0.00,1.98,0.00,0.000,1030,0.000,0.050,2604,1807,2239,2251,2228,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7078,-1.51,-67.3,2604,1807,2249,2228,1063.2,-23.9,346,7084,0.08,2.05,0.00,0.000,4612,0.159,0.060,2580,426,2238,2248,2228,0,0,0,0,0,0,26.49,26.25,28.83
$GC,7311,-1.51,-67.3,2580,426,2246,2228,1111.0,-26.0,349,7317,0.00,1.98,0.00,0.000,1030,0.000,0.052,2570,1799,2237,2247,2228,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7618,-1.51,-67.3,2570,1800,2244,2229,1205.4,-26.2,355,7623,0.00,2.05,0.00,0.000,516,0.000,0.062,2570,425,2236,2244,2228,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7851,-1.51,-67.3,2571,425,2241,2228,1257.5,-28.7,358,7857,0.00,2.03,0.00,0.000,1030,0.000,0.052,2561,1808,2235,2242,2228,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8158,-1.56,-67.3,2561,1808,2239,2228,1358.6,-27.6,364,8164,0.00,2.08,0.00,0.000,516,0.000,0.060,2561,424,2233,2239,2228,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8391,-1.56,-67.3,2561,424,2237,2228,1411.7,-29.1,367,8397,0.00,2.03,0.00,0.000,1030,0.000,0.052,2550,1802,2232,2237,2228,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8698,-1.61,-67.3,2550,1802,2235,2228,1514.0,-28.3,373,8704,0.00,2.08,0.00,0.000,516,0.000,0.062,2550,421,2231,2234,2228,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8931,-1.61,-67.3,2550,421,2231,2228,1567.0,-29.1,376,8937,0.00,2.03,0.00,0.000,1030,0.000,0.052,2541,1800,2230,2232,2228,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9239,-1.67,-67.3,2540,1800,2231,2228,1667.3,-27.3,382,9244,0.00,2.05,0.00,0.000,516,0.000,0.062,2541,430,2229,2230,2228,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9471,-1.67,-67.3,2540,429,2228,2228,1719.0,-28.3,385,9477,0.00,2.03,0.00,0.000,1030,0.000,0.052,2531,1811,2227,2227,2228,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9779,-1.73,-67.3,2530,1811,2227,2226,1817.2,-26.9,391,9785,0.08,2.08,0.00,0.000,4612,0.151,0.060,2502,426,2226,2227,2226,0,0,0,0,0,0,26.50,26.19,28.83
$GC,10011,-1.73,-67.3,2503,426,2225,2226,1870.2,-28.8,394,10017,0.00,2.00,0.00,0.000,1030,0.000,0.052,2492,1801,2225,2225,2226,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10318,-1.73,-67.3,2492,1801,2224,2224,1972.2,-28.0,400,10324,0.00,2.08,0.00,0.000,516,0.000,0.062,2493,426,2224,2224,2224,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10553,-1.73,-67.3,2492,425,2222,2224,2025.1,-29.2,403,10561,0.00,2.03,0.00,0.000,1030,0.000,0.052,2483,1802,2223,2222,2224,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10862,-1.73,-67.3,2482,1802,2222,2223,2127.7,-28.0,409,10868,0.00,2.10,0.00,0.000,516,0.000,0.062,2483,425,2222,2222,2223,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11098,-1.73,-67.3,2483,425,2221,2223,2182.8,-29.1,412,11102,0.00,2.00,0.00,0.000,1030,0.000,0.052,2473,1799,2221,2220,2223,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11406,-1.73,-67.3,2473,1799,2220,2222,2282.7,-27.8,417,11411,0.00,2.10,0.00,0.000,516,0.000,0.062,2473,425,2221,2221,2221,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11638,-1.73,-67.3,2473,425,2219,2222,2335.4,-28.3,420,11642,0.15,2.00,0.00,0.000,3078,0.236,0.052,2497,1800,2221,2220,2222,0,0,0,0,0,0,25.65,26.29,28.83
$GC,11947,-1.81,-67.3,2496,1800,2220,2221,2424.6,-24.2,425,11952,0.00,2.08,0.00,0.000,516,0.000,0.062,2497,431,2220,2220,2221,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12105,-1.87,-67.3,2497,430,2218,2221,2456.8,-24.7,427,12110,0.08,2.03,0.00,0.000,5126,0.146,0.052,2456,1804,2219,2218,2221,0,0,0,0,0,0,26.18,26.28,28.83
$GC,12431,-1.87,-67.3,2456,1805,2218,2220,2545.3,-24.6,433,12436,0.00,2.08,0.00,0.000,516,0.000,0.062,2456,430,2218,2217,2220,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12568,-1.87,-67.3,2456,429,2216,2220,2577.3,-24.5,435,12572,0.00,2.03,0.00,0.000,1030,0.000,0.052,2446,1802,2218,2216,2220,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12916,-1.87,-67.3,2446,1802,2216,2219,2662.8,-23.9,441,12922,0.00,2.05,0.00,0.000,516,0.000,0.062,2446,436,2217,2216,2219,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13147,-1.87,-67.3,2446,436,2215,2220,2708.8,-24.9,444,13153,0.00,2.03,0.00,0.000,1030,0.000,0.052,2436,1811,2217,2215,2219,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,13272,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13272,begin apogee
$GC,13278,-0.19,0.0,2432,2306,2215,2219,2752.6,-24.5,447,13338,1.98,0.00,54.65,2.791,10246,0.201,0.000,2988,2307,2000,1977,2024,0,0,0,0,0,0,24.83,28.83,22.15
$STATE,13339,end apogee,CONTROL_FINISHED_OK
$STATE,13339,begin climb
$GC,13341,1.67,67.3,2988,2307,1977,2024,2757.2,0.0,448,13412,1.67,2.47,62.20,2.734,10500,0.079,0.077,3590,3682,1772,1729,1816,0,0,0,0,0,0,24.54,23.28,21.13
$GC,13640,1.60,94.2,3590,3682,1731,1812,2745.5,4.1,453,13673,0.17,2.10,25.05,2.662,13318,0.243,0.050,3563,2313,1680,1633,1727,0,0,0,0,0,0,25.08,25.58,22.45
$GC,13992,1.60,94.2,3562,2313,1633,1726,2705.5,12.7,459,13998,0.00,2.10,0.00,0.000,516,0.000,0.060,3573,913,1679,1633,1726,0,0,0,0,0,0,28.83,25.94,28.83
$GC,14051,1.60,94.2,3573,912,1633,1726,2697.6,12.9,460,14055,0.00,2.10,0.00,0.000,1030,0.000,0.057,3573,2300,1679,1633,1726,0,0,0,0,0,0,28.83,26.00,28.83
$GC,14412,1.60,94.2,3573,2300,1633,1726,2652.8,11.9,466,14418,0.00,2.20,0.00,0.000,260,0.000,0.065,3573,3712,1679,1633,1725,0,0,0,0,0,0,28.83,26.12,28.83
$GC,14450,1.60,94.2,3573,3712,1633,1725,2652.8,11.9,466,14454,0.00,2.12,0.00,0.000,1030,0.000,0.052,3584,2296,1679,1633,1725,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14767,1.60,94.2,3584,2296,1632,1725,2614.3,10.6,472,14773,0.00,2.08,0.00,0.000,516,0.000,0.060,3594,902,1679,1633,1725,0,0,0,0,0,0,28.83,26.21,28.83
$GC,14911,1.60,94.2,3594,902,1632,1725,2602.2,10.2,474,14916,0.15,2.10,0.00,0.000,5126,0.243,0.055,3560,2303,1678,1632,1725,0,0,0,0,0,0,25.72,26.25,28.83
$GC,15244,1.60,95.7,3559,2303,1632,1725,2567.0,9.7,480,15245,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2303,1678,1631,1725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15544,1.60,101.0,3560,2303,1632,1725,2540.8,8.8,485,15556,0.00,2.17,7.15,2.066,8452,0.000,0.072,3560,3697,1657,1613,1702,0,0,0,0,0,0,28.83,26.02,23.49
$GC,15622,1.60,106.9,3560,3698,1613,1701,2535.3,8.7,486,15635,0.00,2.10,6.53,2.004,9222,0.000,0.050,3571,2298,1638,1594,1683,0,0,0,0,0,0,28.83,26.13,23.41
$GC,15964,1.60,106.9,3570,2298,1594,1683,2498.7,10.2,492,15969,0.00,2.10,0.00,0.000,516,0.000,0.060,3581,905,1638,1594,1683,0,0,0,0,0,0,28.83,26.11,28.83
$GC,16046,1.60,106.9,3580,905,1593,1683,2492.8,10.0,493,16051,0.00,2.08,0.00,0.000,1030,0.000,0.055,3580,2298,1638,1593,1683,0,0,0,0,0,0,28.83,26.16,28.83
$GC,16379,1.60,112.6,3580,2299,1593,1683,2461.0,8.8,499,16391,0.00,2.20,7.05,2.041,8452,0.000,0.072,3580,3702,1618,1574,1663,0,0,0,0,0,0,28.83,25.98,23.53
$GC,16434,1.60,117.8,3580,3702,1573,1662,2455.8,8.9,500,16446,0.00,2.12,6.53,1.979,9222,0.000,0.050,3590,2293,1599,1554,1645,0,0,0,0,0,0,28.83,26.08,23.42
$GC,16794,1.60,117.8,3590,2293,1554,1645,2416.1,11.3,506,16800,0.00,2.22,0.00,0.000,260,0.000,0.065,3590,3708,1599,1554,1645,0,0,0,0,0,0,28.83,26.07,28.83
$GC,16997,1.60,117.8,3590,3708,1554,1644,2394.1,12.0,509,17002,0.17,2.12,0.00,0.000,5126,0.238,0.052,3560,2294,1599,1554,1644,0,0,0,0,0,0,25.63,26.23,28.83
$GC,17330,1.60,117.8,3560,2293,1554,1645,2355.6,10.6,515,17335,0.00,2.08,0.00,0.000,516,0.000,0.060,3571,903,1599,1554,1644,0,0,0,0,0,0,28.83,26.21,28.83
$GC,17497,1.60,117.8,3570,904,1553,1645,2343.0,10.4,517,17501,0.00,2.10,0.00,0.000,1030,0.000,0.057,3571,2299,1599,1554,1644,0,0,0,0,0,0,28.83,26.25,28.83
$GC,17805,1.60,119.8,3570,2299,1554,1644,2308.3,9.6,522,17809,0.00,2.12,0.00,0.000,516,0.000,0.060,3581,901,1599,1554,1645,0,0,0,0,0,0,28.83,26.23,28.83
$GC,17909,1.60,122.7,3580,898,1553,1644,2302.8,9.4,523,17919,0.00,2.10,5.60,1.788,9222,0.000,0.057,3580,2301,1584,1539,1629,0,0,0,0,0,0,28.83,26.27,23.61
$GC,18222,1.60,123.4,3579,2301,1540,1629,2268.1,9.8,528,18223,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2301,1584,1539,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18521,1.60,125.3,3579,2301,1539,1629,2239.1,9.6,533,18530,0.00,2.10,3.97,1.410,8708,0.000,0.060,3590,906,1575,1531,1620,0,0,0,0,0,0,28.83,26.17,23.65
$GC,18581,1.60,126.7,3589,905,1530,1620,2233.5,9.7,534,18584,0.00,2.08,0.00,0.000,1030,0.000,0.057,3589,2299,1575,1530,1620,0,0,0,0,0,0,28.83,26.18,28.83
$GC,18938,1.60,127.5,3589,2300,1530,1620,2197.7,9.8,540,18947,0.00,2.25,3.75,1.326,8452,0.000,0.067,3589,3709,1568,1524,1612,0,0,0,0,0,0,28.83,26.15,23.68
$GC,19004,1.60,128.0,3589,3709,1524,1611,2191.6,9.9,541,19010,0.17,2.12,0.00,0.000,5126,0.236,0.050,3560,2293,1567,1524,1611,0,0,0,0,0,0,25.64,26.22,28.83
$GC,19355,1.65,131.0,3560,2293,1523,1611,2157.4,9.3,547,19366,0.00,2.15,4.65,1.559,8708,0.000,0.060,3570,904,1556,1512,1600,0,0,0,0,0,0,28.83,26.13,23.66
$GC,19398,1.70,134.1,3570,903,1512,1600,2157.4,9.3,547,19407,0.00,2.12,4.70,1.572,9222,0.000,0.055,3570,2307,1545,1499,1591,0,0,0,0,0,0,28.83,26.14,23.60
$GC,19709,1.70,134.1,3570,2308,1500,1591,2119.4,11.0,552,19711,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2308,1545,1500,1591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20009,1.75,134.1,3570,2307,1500,1591,2086.8,10.9,557,20016,0.08,2.12,0.00,0.000,2564,0.164,0.057,3607,905,1545,1499,1591,0,0,0,0,0,0,26.35,26.18,28.83
$GC,20107,1.75,134.1,3606,905,1499,1591,2080.4,10.8,558,20111,0.00,2.08,0.00,0.000,1030,0.000,0.057,3603,2302,1545,1499,1591,0,0,0,0,0,0,28.83,26.22,28.83
$GC,20424,1.75,134.1,3603,2302,1499,1591,2042.7,10.5,564,20430,0.00,2.10,0.00,0.000,516,0.000,0.060,3613,907,1545,1499,1591,0,0,0,0,0,0,28.83,26.21,28.83
$GC,20558,1.75,134.1,3613,906,1499,1591,2030.1,10.4,566,20562,0.00,2.10,0.00,0.000,1030,0.000,0.055,3614,2307,1545,1499,1591,0,0,0,0,0,0,28.83,26.25,28.83
$GC,20900,1.75,136.4,3613,2307,1499,1591,1995.6,9.5,572,20906,0.00,2.17,0.00,0.000,260,0.000,0.065,3613,3698,1544,1499,1590,0,0,0,0,0,0,28.83,26.17,28.83
$GC,21014,1.75,137.8,3613,3698,1499,1590,1989.2,9.7,573,21024,0.00,2.10,4.82,1.525,9222,0.000,0.050,3624,2292,1532,1485,1580,0,0,0,0,0,0,28.83,26.32,23.72
$GC,21383,1.75,139.1,3624,2292,1486,1580,1948.0,9.7,580,21384,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2292,1532,1486,1579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21682,1.75,144.9,3624,2292,1486,1579,1921.5,8.7,585,21691,0.00,0.00,7.62,1.840,8198,0.000,0.000,3624,2292,1509,1462,1557,0,0,0,0,0,0,28.83,28.83,23.67
$GC,21981,1.75,144.9,3623,2292,1461,1557,1891.7,10.3,590,21982,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2292,1509,1461,1557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22282,1.75,144.9,3623,2292,1462,1557,1859.9,10.6,595,22283,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2292,1509,1461,1557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22581,1.75,144.9,3624,2292,1462,1557,1828.1,10.6,600,22582,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2292,1509,1461,1557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22881,1.75,144.9,3624,2292,1461,1557,1798.1,10.1,605,22885,0.00,2.08,0.00,0.000,516,0.000,0.060,3635,904,1509,1461,1557,0,0,0,0,0,0,28.83,26.20,28.83
$GC,22965,1.75,144.9,3634,904,1462,1557,1792.1,10.0,606,22969,0.00,2.10,0.00,0.000,1030,0.000,0.055,3631,2304,1509,1461,1557,0,0,0,0,0,0,28.83,26.24,28.83
$GC,23298,1.75,147.4,3631,2305,1461,1557,1758.4,9.5,612,23309,0.00,2.22,4.15,1.294,8452,0.000,0.067,3631,3698,1500,1451,1549,0,0,0,0,0,0,28.83,26.17,23.77
$GC,23392,1.75,149.4,3630,3698,1451,1549,1752.5,9.6,613,23396,0.00,2.10,0.00,0.000,1030,0.000,0.050,3641,2298,1500,1451,1549,0,0,0,0,0,0,28.83,26.25,28.83
$GC,23714,1.75,151.4,3641,2298,1451,1549,1717.7,9.6,619,23721,0.00,0.00,4.97,1.440,8198,0.000,0.000,3641,2298,1487,1438,1537,0,0,0,0,0,0,28.83,28.83,23.77
$GC,24013,1.75,151.4,3641,2298,1437,1536,1687.6,10.2,624,24019,0.00,2.10,0.00,0.000,516,0.000,0.057,3652,907,1486,1437,1536,0,0,0,0,0,0,28.83,26.15,28.83
$GC,24061,1.75,151.4,3652,907,1437,1537,1687.6,10.2,624,24066,0.17,2.10,0.00,0.000,5126,0.236,0.055,3611,2301,1486,1436,1537,0,0,0,0,0,0,25.56,26.18,28.83
$GC,24369,1.75,153.4,3611,2302,1436,1537,1652.9,9.6,629,24370,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2302,1486,1437,1536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24668,1.75,155.7,3611,2302,1437,1536,1624.4,9.5,634,24680,0.00,2.17,5.47,1.477,8708,0.000,0.060,3622,908,1472,1420,1524,0,0,0,0,0,0,28.83,26.15,23.79
$GC,24762,1.75,158.1,3621,908,1419,1524,1618.6,9.5,635,24767,0.00,2.08,0.00,0.000,1030,0.000,0.055,3615,2302,1471,1419,1524,0,0,0,0,0,0,28.83,26.15,28.83
$GC,25085,1.80,158.1,3615,2301,1419,1524,1581.2,10.5,641,25090,0.00,0.00,3.65,1.102,8198,0.000,0.000,3615,2301,1464,1411,1518,0,0,0,0,0,0,28.83,28.83,23.77
$GC,25384,1.85,158.1,3615,2301,1411,1518,1549.0,10.7,646,25390,0.00,2.10,0.00,0.000,516,0.000,0.057,3626,908,1464,1411,1518,0,0,0,0,0,0,28.83,26.15,28.83
$GC,25458,1.90,158.1,3625,908,1410,1518,1542.6,10.7,647,25462,0.05,2.08,0.00,0.000,3078,0.206,0.055,3646,2301,1464,1411,1518,0,0,0,0,0,0,26.11,26.20,28.83
$GC,25800,1.90,158.1,3646,2301,1411,1518,1504.8,10.6,653,25801,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,2301,1464,1411,1518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26100,1.90,158.5,3646,2301,1411,1518,1475.0,9.9,658,26101,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,2301,1464,1411,1518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26401,1.90,160.2,3646,2301,1411,1518,1446.2,9.6,663,26411,0.00,2.25,3.80,1.095,8452,0.000,0.065,3646,3708,1456,1402,1511,0,0,0,0,0,0,28.83,26.19,23.88
$GC,26641,1.90,160.2,3645,3708,1402,1511,1418.4,11.5,667,26646,0.00,2.12,0.00,0.000,1030,0.000,0.050,3656,2289,1457,1403,1511,0,0,0,0,0,0,28.83,26.27,28.83
$GC,27001,1.90,160.2,3656,2288,1403,1512,1377.1,11.6,673,27006,0.00,2.22,0.00,0.000,260,0.000,0.065,3656,3706,1457,1403,1511,0,0,0,0,0,0,28.83,26.12,28.83
$GC,27234,1.90,160.2,3655,3706,1403,1511,1355.0,12.0,676,27241,0.00,2.12,0.00,0.000,1030,0.000,0.052,3667,2292,1456,1402,1511,0,0,0,0,0,0,28.83,26.29,28.83
$GC,27540,1.90,160.2,3667,2292,1402,1511,1312.8,11.7,682,27546,0.00,2.22,0.00,0.000,260,0.000,0.065,3667,3698,1457,1403,1511,0,0,0,0,0,0,28.83,26.13,28.83
$GC,27660,1.90,160.2,3667,3698,1403,1511,1297.7,12.2,684,27664,0.00,2.10,0.00,0.000,1030,0.000,0.050,3677,2288,1457,1403,1511,0,0,0,0,0,0,28.83,26.29,28.83
$GC,28022,1.90,160.2,3677,2288,1403,1511,1258.2,10.7,690,28028,0.00,2.08,0.00,0.000,516,0.000,0.060,3688,907,1456,1402,1511,0,0,0,0,0,0,28.83,26.18,28.83
$GC,28220,1.90,160.2,3688,907,1403,1511,1238.7,10.8,693,28224,0.00,2.10,0.00,0.000,1030,0.000,0.055,3685,2313,1456,1402,1511,0,0,0,0,0,0,28.83,26.22,28.83
$GC,28557,1.90,162.8,3685,2313,1403,1511,1204.6,9.4,699,28563,0.00,0.00,4.18,1.097,8710,0.000,0.000,3685,2313,1447,1392,1503,0,0,0,0,0,0,28.83,28.83,23.91
$GC,28917,1.90,168.0,3685,2313,1392,1503,1172.2,8.9,705,28929,0.00,2.20,6.03,1.341,8452,0.000,0.067,3685,3694,1431,1373,1489,0,0,0,0,0,0,28.83,26.10,23.89
$GC,29157,1.90,168.0,3685,3694,1373,1488,1145.6,11.1,709,29164,0.15,2.10,0.00,0.000,5126,0.243,0.052,3663,2295,1430,1373,1488,0,0,0,0,0,0,25.58,26.20,28.83
$GC,29518,1.90,168.0,3663,2295,1373,1488,1107.3,10.8,715,29521,0.00,2.08,0.00,0.000,516,0.000,0.060,3673,905,1431,1373,1489,0,0,0,0,0,0,28.83,26.15,28.83
$GC,29748,1.90,168.2,3673,905,1373,1490,1089.8,9.9,718,29751,0.00,2.10,0.00,0.000,1030,0.000,0.055,3671,2306,1431,1373,1490,0,0,0,0,0,0,28.83,26.20,28.83
$GC,30054,1.90,168.2,3670,2306,1373,1489,1054.5,10.2,723,30058,0.00,2.12,0.00,0.000,516,0.000,0.060,3681,907,1431,1373,1489,0,0,0,0,0,0,28.83,26.16,28.83
$GC,30133,1.90,168.5,3681,906,1373,1490,1048.8,9.9,724,30137,0.00,2.08,0.00,0.000,1030,0.000,0.055,3681,2307,1431,1373,1490,0,0,0,0,0,0,28.83,26.21,28.83
$GC,30471,1.90,169.6,3681,2307,1373,1490,1013.3,9.8,730,30472,0.00,0.00,0.00,0.000,6,0.000,0.000,3681,2307,1431,1373,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30770,1.90,171.9,3681,2307,1373,1491,983.8,9.5,737,30778,0.00,0.00,5.72,1.212,8198,0.000,0.000,3681,2307,1417,1356,1479,0,0,0,0,0,0,28.83,28.83,23.96
$GC,31070,1.90,171.9,3681,2307,1356,1478,951.2,11.9,747,31074,0.00,2.17,0.00,0.000,260,0.000,0.067,3681,3704,1417,1357,1478,0,0,0,0,0,0,28.83,26.08,28.83
$GC,31299,1.90,171.9,3681,3706,1357,1478,926.4,11.2,754,31304,0.15,2.10,0.00,0.000,5126,0.246,0.050,3660,2293,1417,1357,1478,0,0,0,0,0,0,25.58,26.27,28.83
$GC,31607,1.97,175.6,3660,2293,1357,1478,891.5,9.2,764,31614,0.00,0.00,4.88,1.075,8198,0.000,0.000,3660,2293,1405,1342,1469,0,0,0,0,0,0,28.83,28.83,24.01
$GC,31907,2.03,176.1,3660,2293,1341,1469,862.9,9.9,774,31913,0.08,2.08,0.00,0.000,2564,0.166,0.057,3695,903,1405,1341,1469,0,0,0,0,0,0,26.36,26.14,28.83
$GC,31967,2.08,177.7,3695,902,1342,1469,857.1,9.7,776,31975,0.00,2.08,3.72,0.876,9222,0.000,0.055,3695,2303,1398,1334,1462,0,0,0,0,0,0,28.83,26.18,24.01
$GC,32293,2.08,177.7,3695,2303,1333,1462,819.1,12.5,787,32299,0.00,2.17,0.00,0.000,260,0.000,0.065,3695,3696,1398,1334,1462,0,0,0,0,0,0,28.83,26.09,28.83
$GC,32526,2.08,177.7,3695,3697,1334,1462,790.2,14.1,794,32533,0.00,2.10,0.00,0.000,1030,0.000,0.050,3706,2290,1398,1334,1462,0,0,0,0,0,0,28.83,26.27,28.83
$GC,32833,2.08,177.7,3705,2290,1334,1462,742.2,14.0,805,32838,0.00,2.22,0.00,0.000,260,0.000,0.065,3706,3698,1398,1334,1462,0,0,0,0,0,0,28.83,26.10,28.83
$GC,33066,2.08,177.7,3706,3698,1334,1462,708.2,16.3,812,33073,0.00,2.10,0.00,0.000,1030,0.000,0.050,3716,2289,1398,1334,1462,0,0,0,0,0,0,28.83,26.29,28.83
$GC,33373,2.08,177.7,3716,2289,1334,1462,650.7,17.4,823,33378,0.00,2.22,0.00,0.000,260,0.000,0.065,3711,3702,1397,1333,1462,0,0,0,0,0,0,28.83,26.11,28.83
$GC,33523,2.08,177.7,3711,3703,1334,1462,623.2,18.5,828,33528,0.00,2.08,0.00,0.000,1030,0.000,0.050,3722,2302,1398,1334,1462,0,0,0,0,0,0,28.83,26.29,28.83
$GC,33853,2.08,177.7,3721,2302,1334,1462,563.1,19.5,839,33858,0.00,2.17,0.00,0.000,260,0.000,0.065,3721,3697,1398,1334,1463,0,0,0,0,0,0,28.83,26.11,28.83
$GC,34021,2.03,177.7,3722,3697,1336,1463,530.9,21.9,844,34025,0.00,2.08,0.00,0.000,1030,0.000,0.052,3732,2304,1399,1336,1463,0,0,0,0,0,0,28.83,26.29,28.83
$GC,34328,2.03,177.7,3732,2304,1336,1464,455.1,24.3,854,34331,0.00,2.20,0.00,0.000,260,0.000,0.067,3733,3692,1400,1336,1464,0,0,0,0,0,0,28.83,26.10,28.83
$GC,34469,1.98,177.7,3732,3704,1337,1464,422.8,26.8,858,34478,0.25,2.10,0.00,0.000,5126,0.236,0.050,3685,2297,1400,1337,1464,0,0,0,0,0,0,25.24,26.28,28.83
$GC,34779,1.98,177.7,3685,2297,1337,1465,338.4,25.9,869,34784,0.00,2.17,0.00,0.000,260,0.000,0.065,3685,3697,1401,1337,1465,0,0,0,0,0,0,28.83,26.11,28.83
$GC,34852,1.98,177.7,3684,3697,1339,1465,322.6,26.5,871,34856,0.00,2.08,0.00,0.000,1030,0.000,0.050,3695,2295,1402,1339,1465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,35169,1.98,177.7,3694,2295,1339,1466,232.8,28.0,886,35175,0.00,2.17,0.00,0.000,260,0.000,0.065,3695,3697,1402,1339,1466,0,0,0,0,0,0,28.83,26.11,28.83
$GC,35402,1.98,177.7,3694,3698,1340,1466,169.9,27.5,897,35408,0.00,2.08,0.00,0.000,1030,0.000,0.050,3705,2295,1403,1341,1466,0,0,0,0,0,0,28.83,26.31,28.83
$GC,35710,1.98,177.7,3705,2294,1341,1468,82.3,26.6,925,35718,0.00,2.17,0.00,0.000,260,0.000,0.065,3705,3694,1404,1341,1468,0,0,0,0,0,0,28.83,26.11,28.83
$GC,35945,1.98,177.7,3705,3694,1342,1468,17.7,28.7,948,35954,0.00,2.08,3.88,0.588,9222,0.000,0.050,3716,2289,1397,1335,1460,0,0,0,0,0,0,28.83,26.31,24.17
$STATE,35990,end climb,SURFACE_DEPTH_REACHED
$STATE,35990,begin surface coast
$FINISH,-0.1,1.025625
$STATE,36001,end surface coast,CONTROL_FINISHED_OK
$STATE,36001,begin surface
$SM_CCo,36019,93.90,0.973,0,0,983,300.22
$SM_GC,0.91,8.95,0.68,93.90,0.057,0.055,0.973,245,1783,983,-8.72,1.75,300.22,0,0,0,0,0,0,25.99,26.34,23.84
$IRIDIUM_FIX,3158.24,-6443.46,060414,010120
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.32
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,21.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,2662.8,112.7
$24V_AH,21.1,52.988
$10V_AH,10.2,11.706
$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,25.000,261.225,254.725,93.900,0.000,29.856,38.270,229.914,16.500,0.000,18.671,3217.052,27558.709,558.547,4804.552,388.559,0.383,2845.152,0.000,4326.545,0.000,126.708,0.000
$DEVICE_MAMPS,263.198,76.973,2790.892,973.336,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.821,1260.041,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,60215,954
$CAP_FILE_SIZE,313753,0
$CFSIZE,260165632,233611264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060414,221036,3213.711,-6432.304,43,1.4,43,-15.5