version: 66.12
glider: 37
mission: 22
dive: 117
start: 2 1 116 12 40 30
data:
$ID,37
$MISSION,22
$DIVE,117
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$D_NO_BLEED,50
$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,3750
$T_MISSION,4060
$T_ABORT,4120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78758
$MASS_COMP,9226.7002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,624.55353
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,256
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1788
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,1885
$C_ROLL_CLIMB,1663
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,135
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2350
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1069.0311
$PRESSURE_SLOPE,0.00091968128
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,60
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,010216,120432,2702.7893,-7656.7095,201,1.0,241,-8.5,0.6,31.2,8,25.1
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-62.9
$GPS2,010216,124003,2703.0151,-7656.9307,140,1.1,180,-8.5,0.0,0.0,9,11.3
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,RM75_30
$TGT_LATLONG,2630.000,-7530.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.112074,-0.143081
$KALMAN_X,-28376.074219,0.000000,0.000000,24896.144531,4044.476562
$KALMAN_Y,19841.541016,0.000000,0.000000,-25468.328125,9749.666016
$MHEAD_RNG_PITCHd_Wd,166.5,156518,-10.9,-5.333,-15.25,4133
$D_GRID,6000
$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,15,-0.54,-146.6,187,1933,150,282,0.0,0.0,0,191,0.00,0.00,-173.35,0.139,16386,0.000,0.000,188,1934,2760,2744,2777,0,0,0,0,0,0,27.07,28.83,27.09
$GC,194,-0.54,-146.6,188,1934,2744,2777,3.7,-5.3,17,216,11.68,2.35,-2.95,0.276,18948,0.281,0.055,2980,308,2857,2833,2881,0,0,0,0,0,0,25.54,26.09,25.75
$GC,265,-0.31,-146.6,2980,308,2832,2879,18.9,-15.0,23,276,0.22,2.05,0.00,0.000,3078,0.144,0.050,3049,1836,2856,2833,2880,0,0,0,0,0,0,26.06,26.55,26.14
$GC,576,-0.31,-146.6,3049,1836,2832,2878,40.1,-7.5,54,581,0.00,2.28,0.00,0.000,260,0.000,0.062,3039,3423,2855,2832,2878,0,0,0,0,0,0,27.04,26.62,27.05
$GC,656,-0.31,-146.6,3038,3423,2832,2879,45.8,-7.4,59,660,0.00,2.10,0.00,0.000,1030,0.000,0.047,3039,1853,2855,2832,2879,0,0,0,0,0,0,26.82,26.79,26.84
$GC,975,-0.31,-146.6,3039,1853,2832,2878,67.0,-6.9,80,976,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1853,2855,2832,2878,0,0,0,0,0,0,27.08,27.10,27.10
$GC,1274,-0.31,-146.6,3039,1853,2832,2877,86.7,-6.4,100,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1853,2854,2832,2877,0,0,0,0,0,0,27.09,27.11,27.10
$GC,1574,-0.31,-146.6,3038,1853,2832,2877,104.2,-5.8,120,1580,0.00,2.12,0.00,0.000,516,0.000,0.060,3039,349,2854,2832,2877,0,0,0,0,0,0,27.10,26.64,27.11
$GC,1621,-0.31,-146.6,3038,349,2832,2876,107.4,-6.4,123,1626,0.00,2.05,0.00,0.000,1030,0.000,0.047,3029,1889,2854,2832,2876,0,0,0,0,0,0,26.82,26.78,26.84
$GC,1940,-0.31,-146.6,3027,1889,2832,2877,126.6,-5.4,144,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1890,2854,2832,2876,0,0,0,0,0,0,27.10,27.11,27.11
$GC,2240,-0.31,-146.6,3028,1890,2832,2876,143.7,-6.3,164,2246,0.00,2.20,0.00,0.000,260,0.000,0.062,3018,3433,2854,2832,2877,0,0,0,0,0,0,27.10,26.65,27.11
$GC,2303,-0.31,-146.6,3018,3432,2832,2877,147.9,-6.0,168,2310,0.10,2.05,0.00,0.000,3078,0.134,0.045,3057,1868,2854,2832,2877,0,0,0,0,0,0,26.51,26.84,26.55
$GC,2620,-0.37,-146.6,3057,1868,2832,2876,163.6,-5.0,180,2625,0.00,2.22,0.00,0.000,260,0.000,0.060,3046,3423,2854,2832,2877,0,0,0,0,0,0,27.10,26.65,27.12
$GC,2689,-0.43,-146.6,3048,3423,2832,2877,166.9,-5.1,182,2693,0.00,2.05,0.00,0.000,5126,0.000,0.045,3048,1876,2854,2832,2877,0,0,0,0,0,0,26.88,26.83,26.89
$GC,3008,-0.49,-146.6,3048,1876,2832,2876,184.9,-6.1,193,3012,0.00,2.17,0.00,0.000,4612,0.000,0.060,3048,355,2854,2832,2876,0,0,0,0,0,0,27.11,26.65,27.12
$GC,3148,-0.49,-146.6,3048,355,2832,2874,192.1,-5.7,197,3152,0.00,2.08,0.00,0.000,5126,0.000,0.047,3043,1898,2853,2832,2874,0,0,0,0,0,0,26.84,26.79,26.86
$GC,3461,-0.49,-146.6,3042,1900,2832,2874,207.6,-4.6,208,3468,0.00,2.20,0.00,0.000,4612,0.000,0.060,3042,367,2853,2832,2874,0,0,0,0,0,0,27.11,26.66,27.12
$GC,3531,-0.49,-146.6,3042,367,2833,2873,211.0,-5.0,210,3535,0.00,2.03,0.00,0.000,5126,0.000,0.047,3035,1890,2852,2832,2873,0,0,0,0,0,0,26.84,26.79,26.86
$GC,3850,-0.49,-146.6,3035,1889,2832,2873,227.2,-4.7,221,3851,0.00,0.00,0.00,0.000,4102,0.000,0.000,3036,1889,2853,2832,2874,0,0,0,0,0,0,27.11,27.12,27.12
$GC,4150,-0.49,-146.6,3035,1889,2832,2873,241.8,-4.8,231,4154,0.00,2.20,0.00,0.000,4612,0.000,0.060,3035,357,2852,2832,2873,0,0,0,0,0,0,27.12,26.65,27.12
$GC,4245,-0.49,-146.6,3035,357,2832,2873,247.3,-5.4,234,4251,0.00,2.03,0.00,0.000,5126,0.000,0.047,3028,1889,2852,2832,2872,0,0,0,0,0,0,26.82,26.80,26.84
$GC,4575,-0.49,-146.6,3028,1890,2832,2872,266.1,-6.0,245,4576,0.00,0.00,0.00,0.000,4102,0.000,0.000,3028,1890,2852,2832,2872,0,0,0,0,0,0,27.11,27.13,27.12
$GC,4877,-0.49,-146.6,3027,1889,2832,2871,282.6,-5.3,255,4881,0.00,2.20,0.00,0.000,4612,0.000,0.060,3028,360,2851,2832,2871,0,0,0,0,0,0,27.12,26.65,27.13
$GC,4953,-0.49,-146.6,3027,359,2832,2870,286.7,-5.7,257,4958,0.00,2.08,0.00,0.000,1030,0.000,0.047,3019,1907,2850,2832,2869,0,0,0,0,0,0,26.84,26.79,26.86
$GC,5272,-0.49,-146.6,3019,1907,2832,2870,306.4,-6.1,267,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1907,2850,2832,2869,0,0,0,0,0,0,27.10,27.13,27.11
$GC,5587,-0.49,-146.6,3019,1907,2832,2869,325.8,-6.2,274,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1907,2850,2832,2869,0,0,0,0,0,0,27.10,27.12,27.12
$GC,5903,-0.49,-146.6,3019,1907,2831,2868,344.5,-5.8,281,5908,0.00,2.22,0.00,0.000,516,0.000,0.060,3019,365,2850,2832,2868,0,0,0,0,0,0,27.10,26.66,27.12
$GC,5955,-0.49,-146.6,3019,364,2832,2868,347.6,-5.9,282,5959,0.00,2.08,0.00,0.000,1030,0.000,0.047,3011,1908,2850,2832,2868,0,0,0,0,0,0,26.84,26.79,26.85
$GC,6264,-0.49,-146.6,3011,1909,2832,2867,367.1,-6.3,289,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1909,2849,2831,2867,0,0,0,0,0,0,27.10,27.12,27.12
$GC,6579,-0.49,-146.6,3011,1908,2833,2866,385.5,-6.0,296,6583,0.00,2.22,0.00,0.000,516,0.000,0.060,3012,366,2848,2832,2865,0,0,0,0,0,0,27.10,26.65,27.12
$GC,6629,-0.49,-146.6,3011,366,2832,2865,388.5,-5.9,297,6634,0.00,2.08,0.00,0.000,1030,0.000,0.047,3004,1878,2848,2832,2865,0,0,0,0,0,0,26.82,26.79,26.82
$GC,6944,-0.49,-146.6,3003,1878,2832,2864,407.1,-5.8,304,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1878,2848,2832,2864,0,0,0,0,0,0,27.10,27.13,27.12
$GC,7258,-0.49,-146.6,3004,1878,2832,2863,424.6,-5.6,311,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1878,2847,2832,2863,0,0,0,0,0,0,27.10,27.13,27.12
$GC,7573,-0.49,-146.6,3003,1878,2832,2862,444.2,-6.3,318,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1878,2847,2832,2862,0,0,0,0,0,0,27.10,27.12,27.12
$GC,7889,-0.49,-146.6,3004,1878,2832,2861,464.5,-6.7,325,7895,0.00,2.20,0.00,0.000,516,0.000,0.060,3004,361,2845,2832,2859,0,0,0,0,0,0,27.10,26.65,27.12
$GC,7956,-0.49,-146.6,3004,362,2832,2859,467.4,-6.5,326,7960,0.00,2.08,0.00,0.000,1030,0.000,0.047,2997,1898,2845,2832,2859,0,0,0,0,0,0,26.84,26.78,26.85
$GC,8295,-0.49,-146.6,2997,1899,2832,2858,488.9,-5.5,334,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1899,2845,2832,2859,0,0,0,0,0,0,27.10,27.12,27.12
$GC,8610,-0.49,-146.6,2997,1899,2832,2858,505.3,-5.1,341,8616,0.00,2.22,0.00,0.000,516,0.000,0.060,2997,366,2845,2832,2858,0,0,0,0,0,0,27.10,26.65,27.12
$GC,8662,-0.49,-146.6,2997,365,2832,2857,508.0,-5.2,342,8667,0.00,2.05,0.00,0.000,1030,0.000,0.047,2989,1889,2844,2832,2857,0,0,0,0,0,0,26.83,26.78,26.84
$GC,8972,-0.49,-146.6,2989,1889,2832,2857,524.8,-5.3,349,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1889,2844,2832,2857,0,0,0,0,0,0,27.10,27.13,27.12
$GC,9286,-0.49,-146.6,2989,1889,2832,2856,543.9,-6.0,356,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1889,2844,2832,2856,0,0,0,0,0,0,27.10,27.13,27.12
$GC,9601,-0.49,-146.6,2988,1889,2832,2855,564.0,-6.6,363,9607,0.00,2.20,0.00,0.000,516,0.000,0.060,2989,369,2843,2832,2855,0,0,0,0,0,0,27.10,26.65,27.12
$GC,9673,-0.49,-146.6,2989,369,2832,2854,567.5,-6.8,364,9677,0.00,2.08,0.00,0.000,1030,0.000,0.047,2981,1898,2843,2832,2854,0,0,0,0,0,0,26.83,26.77,26.84
$GC,10007,-0.49,-146.6,2981,1899,2832,2854,596.0,-8.0,372,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1899,2843,2832,2854,0,0,0,0,0,0,27.10,27.13,27.12
$GC,10322,-0.49,-146.6,2981,1900,2832,2853,621.9,-8.0,379,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1899,2842,2832,2852,0,0,0,0,0,0,27.10,27.12,27.12
$GC,10637,-0.49,-146.6,2981,1899,2832,2852,646.1,-7.5,386,10643,0.00,2.22,0.00,0.000,516,0.000,0.060,2981,372,2841,2832,2851,0,0,0,0,0,0,27.10,26.63,27.12
$GC,10710,-0.49,-146.6,2981,372,2832,2850,649.6,-7.5,387,10714,0.00,2.05,0.00,0.000,1030,0.000,0.047,2974,1887,2841,2832,2850,0,0,0,0,0,0,26.82,26.77,26.84
$GC,11038,-0.49,-146.6,2974,1887,2830,2850,675.0,-7.0,395,11040,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1887,2840,2831,2850,0,0,0,0,0,0,27.10,27.12,27.12
$GC,11354,-0.49,-146.6,2973,1887,2829,2850,697.9,-7.3,402,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1887,2839,2829,2850,0,0,0,0,0,0,27.10,27.12,27.12
$GC,11668,-0.49,-146.6,2974,1888,2828,2850,720.8,-7.1,409,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1887,2839,2828,2850,0,0,0,0,0,0,27.10,27.12,27.11
$GC,11983,-0.49,-146.6,2974,1887,2827,2849,742.6,-6.8,416,11989,0.00,2.20,0.00,0.000,516,0.000,0.062,2974,370,2838,2827,2849,0,0,0,0,0,0,27.10,26.62,27.11
$GC,12028,-0.49,-146.6,2974,370,2827,2849,745.6,-6.8,417,12033,0.00,2.08,0.00,0.000,1030,0.000,0.047,2968,1894,2838,2828,2848,0,0,0,0,0,0,26.82,26.77,26.83
$GC,12347,-0.49,-146.6,2968,1895,2827,2847,767.9,-6.9,424,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1895,2837,2827,2847,0,0,0,0,0,0,27.10,27.12,27.11
$GC,12662,-0.49,-146.6,2967,1894,2827,2845,791.0,-7.4,431,12667,0.00,2.22,0.00,0.000,516,0.000,0.060,2968,375,2836,2827,2845,0,0,0,0,0,0,27.10,26.61,27.10
$GC,12709,-0.49,-146.6,2968,375,2827,2844,794.7,-7.7,432,12714,0.00,2.12,0.00,0.000,1030,0.000,0.047,2961,1889,2835,2827,2844,0,0,0,0,0,0,26.77,26.76,26.79
$GC,13023,-0.49,-146.6,2961,1889,2825,2844,820.7,-8.3,439,13025,0.10,0.00,0.00,0.000,2054,0.161,0.000,2999,1890,2834,2824,2844,0,0,0,0,0,0,26.65,26.75,26.71
$GC,13339,-0.54,-146.6,3000,1889,2823,2844,843.3,-7.3,446,13345,0.00,2.22,0.00,0.000,516,0.000,0.060,3000,364,2833,2823,2844,0,0,0,0,0,0,27.09,26.60,27.11
$GC,13384,-0.59,-146.6,3000,364,2823,2843,846.9,-7.5,447,13389,0.00,2.08,0.00,0.000,5126,0.000,0.047,2996,1891,2833,2823,2843,0,0,0,0,0,0,26.77,26.75,26.79
$GC,13699,-0.59,-146.6,2995,1891,2823,2842,871.1,-7.6,454,13700,0.00,0.00,0.00,0.000,4102,0.000,0.000,2995,1891,2832,2823,2841,0,0,0,0,0,0,27.11,27.12,27.12
$GC,14013,-0.59,-146.6,2995,1891,2822,2839,893.6,-7.1,461,14015,0.00,0.00,0.00,0.000,4102,0.000,0.000,2996,1891,2830,2822,2839,0,0,0,0,0,0,27.10,27.12,27.11
$GC,14329,-0.65,-146.6,2994,1890,2820,2839,916.1,-7.2,468,14335,0.00,2.28,0.00,0.000,4612,0.000,0.060,2996,347,2829,2820,2839,0,0,0,0,0,0,27.10,26.57,27.11
$GC,14392,-0.70,-146.6,2995,346,2820,2838,919.9,-7.5,469,14397,0.05,2.12,0.00,0.000,5126,0.174,0.047,2942,1892,2829,2820,2838,0,0,0,0,0,0,26.61,26.73,26.67
$GC,14736,-0.70,-146.6,2942,1892,2818,2838,953.2,-9.4,477,14737,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1892,2828,2818,2838,0,0,0,0,0,0,27.09,27.12,27.10
$GC,15051,-0.70,-146.6,2942,1892,2817,2837,983.0,-9.5,484,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1892,2827,2817,2837,0,0,0,0,0,0,27.09,27.11,27.10
$GC,15351,-0.70,-146.6,2942,1892,2817,2835,1011.5,-9.6,489,15355,0.00,2.25,0.00,0.000,516,0.000,0.060,2942,371,2826,2817,2835,0,0,0,0,0,0,27.09,26.55,27.10
$GC,15425,-0.70,-146.6,2942,371,2817,2833,1011.5,-9.6,489,15429,0.00,2.10,0.00,0.000,1030,0.000,0.047,2933,1883,2825,2817,2834,0,0,0,0,0,0,26.76,26.70,26.78
$GC,15834,-0.70,-146.6,2933,1883,2815,2833,1057.5,-9.5,493,15835,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1883,2824,2815,2833,0,0,0,0,0,0,27.09,27.11,27.10
$GC,16194,-0.70,-146.6,2932,1883,2813,2832,1088.8,-8.7,496,16195,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1883,2823,2814,2832,0,0,0,0,0,0,27.08,27.11,27.10
$GC,16555,-0.70,-146.6,2932,1883,2813,2829,1119.2,-8.4,499,16556,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1883,2821,2813,2829,0,0,0,0,0,0,27.08,27.11,27.10
$GC,16914,-0.70,-146.6,2932,1883,2813,2827,1150.0,-8.7,502,16918,0.00,2.25,0.00,0.000,516,0.000,0.060,2933,371,2819,2812,2827,0,0,0,0,0,0,27.08,26.50,27.10
$GC,16963,-0.70,-146.6,2933,371,2812,2827,1150.0,-8.7,502,16967,0.00,2.10,0.00,0.000,1030,0.000,0.047,2923,1881,2819,2812,2827,0,0,0,0,0,0,26.73,26.67,26.75
$GC,17279,-0.70,-146.6,2922,1881,2810,2827,1180.6,-8.4,505,17280,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1881,2819,2811,2827,0,0,0,0,0,0,27.08,27.10,27.10
$GC,17638,-0.70,-146.6,2922,1881,2809,2827,1210.1,-8.3,508,17639,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1881,2818,2809,2827,0,0,0,0,0,0,27.08,27.10,27.10
$GC,17997,-0.70,-146.6,2923,1881,2809,2824,1240.2,-8.2,511,18001,0.00,2.28,0.00,0.000,516,0.000,0.062,2923,373,2817,2809,2825,0,0,0,0,0,0,27.08,26.46,27.10
$GC,18042,-0.70,-146.6,2922,372,2809,2824,1240.2,-8.2,511,18046,0.00,2.12,0.00,0.000,1030,0.000,0.047,2913,1884,2816,2809,2824,0,0,0,0,0,0,26.70,26.65,26.72
$GC,18357,-0.70,-146.6,2913,1884,2808,2822,1270.5,-8.6,514,18359,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1884,2815,2809,2822,0,0,0,0,0,0,27.08,27.10,27.10
$GC,18715,-0.70,-146.6,2913,1884,2807,2822,1299.5,-8.1,517,18716,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1884,2815,2808,2822,0,0,0,0,0,0,27.08,27.10,27.10
$GC,19075,-0.70,-146.6,2913,1884,2805,2821,1328.2,-8.0,520,19081,0.00,2.25,0.00,0.000,516,0.000,0.062,2913,374,2813,2805,2821,0,0,0,0,0,0,27.08,26.44,27.10
$GC,19116,-0.70,-146.6,2913,374,2805,2821,1328.2,-8.0,520,19121,0.00,2.12,0.00,0.000,1030,0.000,0.047,2905,1880,2813,2805,2821,0,0,0,0,0,0,26.67,26.61,26.70
$GC,19437,-0.70,-146.6,2905,1880,2805,2820,1357.8,-8.2,523,19443,0.00,2.33,0.00,0.000,260,0.000,0.062,2893,3448,2812,2805,2820,0,0,0,0,0,0,27.08,26.42,27.09
$GC,19473,-0.70,-146.6,2892,3448,2804,2821,1357.8,-8.2,523,19478,0.10,2.15,0.00,0.000,3078,0.151,0.045,2930,1885,2812,2804,2821,0,0,0,0,0,0,26.40,26.72,26.47
$GC,19792,-0.70,-146.6,2930,1885,2803,2820,1383.9,-7.5,526,19798,0.00,2.25,0.00,0.000,516,0.000,0.062,2930,356,2812,2804,2820,0,0,0,0,0,0,27.08,26.39,27.10
$GC,19853,-0.70,-146.6,2930,356,2803,2819,1383.9,-7.5,526,19857,0.00,2.17,0.00,0.000,1030,0.000,0.047,2923,1896,2812,2804,2820,0,0,0,0,0,0,26.66,26.60,26.68
$GC,20273,-0.70,-146.6,2923,1897,2803,2819,1419.0,-7.3,530,20278,0.00,2.30,0.00,0.000,516,0.000,0.062,2923,367,2811,2804,2818,0,0,0,0,0,0,27.08,26.38,27.09
$GC,20318,-0.70,-146.6,2922,367,2803,2818,1419.0,-7.3,530,20322,0.00,2.15,0.00,0.000,1030,0.000,0.047,2913,1888,2811,2804,2818,0,0,0,0,0,0,26.65,26.59,26.67
$GC,20633,-0.70,-146.6,2913,1888,2803,2817,1447.6,-7.7,533,20639,0.00,2.30,0.00,0.000,516,0.000,0.062,2913,360,2810,2804,2817,0,0,0,0,0,0,27.08,26.37,27.09
$GC,20684,-0.70,-146.6,2913,360,2803,2816,1447.6,-7.7,533,20688,0.00,2.17,0.00,0.000,1030,0.000,0.047,2905,1892,2810,2804,2816,0,0,0,0,0,0,26.64,26.58,26.67
$GC,20993,-0.70,-146.6,2905,1892,2803,2815,1480.1,-9.0,536,20994,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1892,2809,2803,2815,0,0,0,0,0,0,27.07,27.10,27.09
$GC,21353,-0.70,-146.6,2905,1892,2802,2815,1495.7,-5.6,539,21358,0.00,2.30,0.00,0.000,516,0.000,0.062,2905,364,2808,2802,2815,0,0,0,0,0,0,27.07,26.32,27.09
$GC,21651,-0.59,-146.6,2905,364,2802,2815,1495.5,-1.0,541,21656,0.20,2.17,0.00,0.000,3078,0.159,0.050,2962,1888,2808,2802,2815,0,0,0,0,0,0,25.93,26.53,26.06
$STATE,21834,end dive,NO_VERTICAL_VELOCITY
$STATE,21834,begin apogee
$GC,21838,-0.23,0.0,2961,1704,2802,2815,1495.6,0.0,543,21956,0.35,0.00,111.50,1.713,10246,0.154,0.000,3079,1704,2350,2332,2369,0,0,0,0,0,0,25.75,24.04,22.54
$STATE,21957,end apogee,CONTROL_FINISHED_OK
$STATE,21957,begin climb
$GC,21958,0.54,146.6,3079,1704,2332,2369,1496.4,0.0,544,22093,0.60,2.55,125.75,1.676,10500,0.169,0.070,3262,3227,1845,1812,1878,0,0,0,0,0,0,24.39,23.60,22.16
$GC,22386,0.54,146.6,3261,3226,1811,1878,1495.3,0.3,547,22391,0.17,2.28,0.00,0.000,3078,0.124,0.047,3330,1655,1844,1811,1877,0,0,0,0,0,0,26.22,26.44,26.33
$GC,22796,0.90,361.6,3330,1656,1811,1878,1495.3,0.0,551,22984,0.25,2.60,179.82,1.688,10500,0.114,0.065,3441,3227,1104,1048,1160,0,0,0,0,0,0,26.46,23.25,22.30
$GC,23177,0.90,361.6,3441,3227,1046,1160,1469.0,5.2,554,23182,0.00,2.28,0.00,0.000,1030,0.000,0.045,3452,1657,1103,1046,1160,0,0,0,0,0,0,26.29,26.25,26.31
$GC,23518,0.66,361.6,3452,1658,1046,1159,1416.9,14.3,557,23524,0.28,2.03,0.00,0.000,4612,0.176,0.060,3368,264,1102,1046,1159,0,0,0,0,0,0,26.08,26.30,26.20
$GC,23784,0.47,361.6,3367,264,1046,1159,1391.9,12.4,559,23789,0.20,2.00,0.00,0.000,5126,0.154,0.045,3300,1678,1103,1047,1159,0,0,0,0,0,0,26.23,26.64,26.39
$GC,24119,0.41,361.6,3300,1678,1046,1159,1364.7,8.1,562,24120,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1678,1103,1047,1159,0,0,0,0,0,0,27.01,27.03,27.02
$GC,24478,0.41,361.6,3300,1678,1046,1159,1341.8,6.6,565,24479,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1678,1102,1046,1159,0,0,0,0,0,0,27.03,27.05,27.05
$GC,24838,0.41,361.6,3300,1678,1046,1159,1319.1,6.3,568,24842,0.00,2.30,0.00,0.000,260,0.000,0.057,3300,3233,1102,1046,1159,0,0,0,0,0,0,27.03,26.58,27.05
$GC,24892,0.41,361.6,3300,3233,1046,1159,1319.1,6.3,568,24896,0.00,2.25,0.00,0.000,1030,0.000,0.047,3311,1653,1102,1046,1159,0,0,0,0,0,0,26.74,26.69,26.77
$GC,25201,0.41,361.6,3310,1653,1046,1159,1293.1,7.0,571,25202,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1653,1102,1046,1159,0,0,0,0,0,0,27.04,27.06,27.05
$GC,25561,0.41,361.6,3310,1653,1046,1159,1267.6,7.1,574,25563,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1653,1102,1046,1159,0,0,0,0,0,0,27.04,27.07,27.06
$GC,25921,0.41,361.6,3310,1653,1046,1159,1243.9,6.8,577,25922,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1653,1102,1046,1159,0,0,0,0,0,0,27.05,27.07,27.06
$GC,26281,0.41,361.6,3311,1653,1046,1160,1221.4,6.1,580,26282,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1653,1102,1046,1159,0,0,0,0,0,0,27.05,27.07,27.07
$GC,26642,0.41,361.6,3311,1653,1046,1159,1199.1,6.4,583,26644,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1653,1103,1046,1160,0,0,0,0,0,0,27.05,27.07,27.07
$GC,27001,0.41,361.6,3311,1653,1046,1159,1175.2,6.6,586,27007,0.00,2.00,0.00,0.000,516,0.000,0.062,3321,273,1102,1046,1159,0,0,0,0,0,0,27.05,26.46,27.07
$GC,27107,0.41,361.6,3321,273,1046,1159,1175.2,6.6,586,27112,0.12,1.95,0.00,0.000,5126,0.154,0.045,3276,1671,1102,1046,1159,0,0,0,0,0,0,26.29,26.63,26.39
$GC,27481,0.41,361.6,3276,1671,1046,1159,1147.4,5.8,590,27486,0.00,2.30,0.00,0.000,260,0.000,0.057,3276,3229,1102,1046,1159,0,0,0,0,0,0,27.05,26.48,27.07
$GC,27571,0.41,361.6,3276,3229,1046,1159,1147.4,5.8,590,27575,0.00,2.22,0.00,0.000,1030,0.000,0.047,3286,1665,1102,1046,1159,0,0,0,0,0,0,26.72,26.67,26.74
$GC,27965,0.41,361.6,3286,1665,1046,1159,1119.5,5.7,594,27971,0.00,2.05,0.00,0.000,516,0.000,0.062,3296,260,1102,1046,1159,0,0,0,0,0,0,27.05,26.42,27.07
$GC,28026,0.41,361.6,3296,260,1046,1159,1119.5,5.7,594,28030,0.00,2.00,0.00,0.000,1030,0.000,0.047,3296,1682,1102,1046,1159,0,0,0,0,0,0,26.68,26.62,26.70
$GC,28445,0.41,361.6,3295,1683,1046,1159,1092.8,5.5,598,28450,0.00,2.28,0.00,0.000,260,0.000,0.060,3296,3224,1102,1046,1159,0,0,0,0,0,0,27.05,26.46,27.07
$GC,28506,0.41,361.6,3295,3224,1046,1159,1092.8,5.5,598,28510,0.00,2.25,0.00,0.000,1030,0.000,0.045,3305,1656,1102,1046,1159,0,0,0,0,0,0,26.70,26.64,26.72
$GC,28926,0.41,361.6,3306,1656,1046,1159,1063.7,6.0,602,28931,0.00,2.05,0.00,0.000,516,0.000,0.062,3315,268,1103,1046,1160,0,0,0,0,0,0,27.05,26.41,27.06
$GC,28991,0.41,361.6,3315,268,1046,1159,1063.7,6.0,602,28996,0.10,2.00,0.00,0.000,5126,0.156,0.045,3279,1668,1102,1046,1159,0,0,0,0,0,0,26.34,26.62,26.42
$GC,29405,0.41,361.6,3278,1668,1046,1159,1037.0,5.5,606,29406,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1668,1102,1046,1159,0,0,0,0,0,0,27.05,27.08,27.07
$GC,29765,0.41,361.6,3278,1667,1046,1159,1021.7,4.5,609,29771,0.00,2.28,0.00,0.000,260,0.000,0.057,3279,3228,1103,1047,1159,0,0,0,0,0,0,27.05,26.43,27.07
$GC,29852,0.41,361.6,3278,3228,1046,1159,1021.7,4.5,609,29856,0.00,2.25,0.00,0.000,1030,0.000,0.047,3286,1650,1102,1046,1159,0,0,0,0,0,0,26.67,26.62,26.69
$GC,30242,0.41,361.6,3286,1650,1046,1159,1002.4,4.0,613,30248,0.00,2.05,0.00,0.000,516,0.000,0.062,3295,259,1102,1046,1159,0,0,0,0,0,0,27.05,26.38,27.07
$GC,30332,0.41,361.6,3295,259,1046,1159,1002.4,4.0,613,30337,0.00,2.00,0.00,0.000,1030,0.000,0.047,3295,1665,1102,1046,1159,0,0,0,0,0,0,26.63,26.60,26.65
$GC,30677,0.41,361.6,3295,1664,1046,1159,982.3,5.0,621,30678,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1665,1102,1046,1159,0,0,0,0,0,0,27.05,27.07,27.06
$GC,30991,0.41,361.6,3294,1665,1046,1159,966.1,5.1,628,30993,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1665,1102,1046,1159,0,0,0,0,0,0,27.05,27.08,27.07
$GC,31307,0.41,361.6,3294,1665,1046,1159,951.6,4.6,635,31312,0.00,2.10,0.00,0.000,516,0.000,0.062,3301,260,1102,1046,1159,0,0,0,0,0,0,27.05,26.35,27.07
$GC,31447,0.41,361.6,3301,260,1046,1159,945.0,4.7,638,31451,0.00,1.98,0.00,0.000,1030,0.000,0.045,3301,1680,1102,1046,1159,0,0,0,0,0,0,26.65,26.59,26.67
$GC,31761,0.41,361.6,3301,1680,1046,1159,928.8,5.2,645,31762,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1680,1102,1046,1159,0,0,0,0,0,0,27.05,27.08,27.07
$GC,32076,0.41,361.6,3301,1680,1046,1159,913.9,4.3,652,32077,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1680,1102,1046,1159,0,0,0,0,0,0,27.05,27.07,27.07
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$GC,35951,0.57,361.6,3315,1667,1048,1159,702.5,6.2,738,35955,0.00,2.05,0.00,0.000,516,0.000,0.062,3324,270,1103,1047,1160,0,0,0,0,0,0,27.05,26.32,27.07
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$GC,38428,0.57,361.6,3341,1668,1056,1159,532.9,8.6,793,38434,0.00,2.28,0.00,0.000,260,0.000,0.057,3341,3223,1107,1056,1159,0,0,0,0,0,0,27.05,26.39,27.08
$GC,38486,0.57,361.6,3341,3223,1056,1160,528.8,8.8,794,38490,0.00,2.25,0.00,0.000,1030,0.000,0.045,3349,1666,1108,1056,1160,0,0,0,0,0,0,26.66,26.64,26.67
$GC,38835,0.57,361.6,3349,1666,1058,1160,496.3,8.8,802,38841,0.00,2.05,0.00,0.000,516,0.000,0.062,3358,262,1109,1059,1159,0,0,0,0,0,0,27.05,26.36,27.08
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$GC,39556,0.57,361.6,3358,1667,1061,1160,434.4,8.6,818,39557,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1667,1110,1061,1160,0,0,0,0,0,0,27.05,27.08,27.08
$GC,39871,0.57,361.6,3358,1667,1063,1160,406.3,9.0,825,39872,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1667,1111,1063,1160,0,0,0,0,0,0,27.06,27.08,27.08
$GC,40187,0.57,361.6,3358,1667,1064,1160,378.6,8.6,832,40188,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1666,1112,1064,1160,0,0,0,0,0,0,27.06,27.08,27.08
$GC,40501,0.57,361.6,3358,1667,1065,1160,351.8,8.6,839,40502,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1667,1112,1065,1160,0,0,0,0,0,0,27.06,27.08,27.08
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$GC,41483,0.57,361.6,3364,267,1053,1159,268.5,8.8,864,41487,0.00,1.95,0.00,0.000,1030,0.000,0.045,3365,1674,1106,1053,1159,0,0,0,0,0,0,26.69,26.67,26.72
$GC,41797,0.57,361.6,3364,1674,1054,1159,239.5,8.5,875,41798,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1673,1107,1055,1160,0,0,0,0,0,0,27.07,27.09,27.08
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$GC,44103,0.78,361.6,3418,271,1064,1159,71.5,10.2,982,44118,0.00,1.88,3.72,0.435,9222,0.000,0.045,3418,1680,1104,1050,1159,0,0,0,0,0,0,26.75,26.70,23.96
$GC,44418,0.78,361.6,3418,1680,1051,1159,35.0,12.6,1004,44426,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1680,1105,1051,1159,0,0,0,0,0,0,27.07,27.09,27.08
$STATE,44718,end climb,SURFACE_DEPTH_REACHED
$STATE,44718,begin surface coast
$FINISH,-0.1,1.024728
$STATE,44738,end surface coast,CONTROL_FINISHED_OK
$STATE,44738,begin surface
$SM_CCo,44754,181.15,0.641,0,0,199,624.55
$SM_GC,0.34,8.12,0.20,181.15,0.070,0.077,0.641,188,1938,199,-9.19,-2.66,624.55,0,0,0,0,0,0,26.34,26.83,24.63
$IRIDIUM_FIX,2612.58,-7546.74,041108,121359
$TT8_MAMPS,0.02247,0.02247
$HUMID,64.96
$INTERNAL_PRESSURE,9.19169
$TCM_TEMP,25.00
$XPDR_PINGS,19
$ALTIM_TOP_PING,60.0,0.0
$24V_AH,22.16,54.723
$10V_AH,10.27,41.216
$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,22.950,236.950,425.025,181.150,176.300,661.065,104.479,0.000,5.000,0.000,181.496,3495.929,35984.055,815.324,6321.640,435.874,0.000,2724.147,0.000,5265.797,0.000,3.348,0.000
$DEVICE_MAMPS,280.579,76.973,1713.270,640.614,275.613,14.900,160.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.503,3381.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353388
$DATA_FILE_SIZE,63551,1036
$CAP_FILE_SIZE,293450,0
$CFSIZE,1024409600,940015616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.314,320.20,1
$GPS,020216,011613,2703.733,-7659.663,330,0.9,370,-8.5,0.9,141.1,9,24.9