version: 66.12
glider: 37
mission: 22
dive: 121
start: 2 3 116 18 14 25
data:
$ID,37
$MISSION,22
$DIVE,121
$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,68
$R_STBD_OVSHOOT,93
$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
$GPS1,030216,173509,2715.2869,-7702.5449,850,0.9,891,-8.5,0.6,346.1,9,19.4
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-61.7
$GPS2,030216,181358,2715.9407,-7703.0181,301,1.0,341,-8.5,0.7,330.6,8,57.0
$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,172.4,176089,-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,-146.6,177,1956,152,282,0.0,0.0,0,191,0.00,0.00,-173.20,0.139,16386,0.000,0.000,178,1956,2781,2758,2805,0,0,0,0,0,0,27.08,28.83,27.09
$GC,194,-0.54,-146.6,178,1956,2758,2805,3.9,-5.3,17,216,11.68,2.40,-2.22,0.318,18948,0.281,0.057,2973,307,2856,2830,2882,0,0,0,0,0,0,25.55,26.09,25.75
$GC,278,-0.40,-146.6,2973,307,2830,2882,20.6,-12.6,24,289,0.15,2.20,0.00,0.000,3078,0.146,0.047,3018,1880,2855,2830,2881,0,0,0,0,0,0,26.13,26.55,26.19
$GC,590,-0.40,-146.6,3018,1880,2829,2881,45.5,-7.7,53,591,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1880,2855,2830,2881,0,0,0,0,0,0,27.04,27.06,27.05
$GC,888,-0.40,-146.6,3017,1880,2830,2880,68.8,-7.7,73,894,0.00,2.22,0.00,0.000,260,0.000,0.060,3008,3428,2855,2830,2880,0,0,0,0,0,0,27.08,26.62,27.09
$GC,942,-0.40,-146.6,3008,3428,2829,2880,72.7,-8.3,76,952,0.00,2.17,0.00,0.000,1030,0.000,0.047,3008,1852,2854,2829,2879,0,0,0,0,0,0,26.82,26.81,26.83
$GC,1252,-0.40,-146.6,3008,1853,2830,2879,99.7,-8.6,97,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1853,2854,2829,2880,0,0,0,0,0,0,27.09,27.11,27.10
$GC,1552,-0.40,-146.6,3008,1853,2830,2879,122.3,-6.9,117,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1853,2854,2830,2879,0,0,0,0,0,0,27.09,27.11,27.10
$GC,1852,-0.40,-146.6,3008,1852,2830,2878,143.5,-6.7,137,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1853,2854,2830,2878,0,0,0,0,0,0,27.09,27.11,27.10
$GC,2151,-0.40,-146.6,3008,1853,2829,2878,162.0,-6.3,151,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1853,2854,2830,2878,0,0,0,0,0,0,27.10,27.11,27.11
$GC,2451,-0.40,-146.6,3008,1853,2829,2877,180.6,-6.2,161,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1853,2853,2829,2878,0,0,0,0,0,0,27.10,27.12,27.11
$GC,2751,-0.40,-146.6,3007,1852,2830,2877,198.2,-6.2,171,2757,0.00,2.15,0.00,0.000,516,0.000,0.060,3008,346,2853,2830,2877,0,0,0,0,0,0,27.10,26.64,27.11
$GC,2816,-0.40,-146.6,3007,347,2829,2877,202.3,-6.5,173,2820,0.00,2.08,0.00,0.000,1030,0.000,0.047,2999,1895,2853,2829,2877,0,0,0,0,0,0,26.82,26.77,26.84
$GC,3144,-0.40,-146.6,2999,1895,2829,2877,223.9,-6.5,184,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1895,2853,2830,2876,0,0,0,0,0,0,27.10,27.11,27.11
$GC,3445,-0.40,-146.6,2998,1896,2829,2875,242.7,-6.0,194,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1895,2852,2830,2875,0,0,0,0,0,0,27.10,27.11,27.11
$GC,3746,-0.40,-146.6,2998,1896,2829,2874,260.6,-6.0,204,3752,0.00,2.25,0.00,0.000,516,0.000,0.060,2999,349,2851,2829,2873,0,0,0,0,0,0,27.10,26.63,27.11
$GC,3807,-0.40,-146.6,2998,349,2829,2872,264.9,-6.5,206,3813,0.00,2.05,0.00,0.000,1030,0.000,0.047,2989,1882,2851,2829,2873,0,0,0,0,0,0,26.80,26.78,26.82
$GC,4139,-0.40,-146.6,2989,1882,2829,2873,286.9,-6.6,217,4141,0.10,0.00,0.00,0.000,2054,0.164,0.000,3027,1882,2851,2830,2873,0,0,0,0,0,0,26.67,26.75,26.72
$GC,4453,-0.40,-146.6,3027,1882,2829,2871,304.1,-5.5,227,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1882,2851,2830,2872,0,0,0,0,0,0,27.10,27.12,27.11
$GC,4767,-0.40,-146.6,3027,1882,2829,2870,321.7,-5.6,234,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1882,2849,2829,2870,0,0,0,0,0,0,27.10,27.12,27.11
$GC,5082,-0.40,-146.6,3027,1882,2829,2869,338.7,-5.3,241,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1882,2849,2829,2869,0,0,0,0,0,0,27.10,27.12,27.11
$GC,5398,-0.45,-146.6,3027,1882,2829,2868,355.7,-5.4,248,5403,0.00,2.25,0.00,0.000,516,0.000,0.060,3027,341,2848,2829,2868,0,0,0,0,0,0,27.10,26.64,27.11
$GC,5455,-0.45,-146.6,3027,341,2828,2868,358.3,-5.5,249,5459,0.00,2.10,0.00,0.000,1030,0.000,0.047,3020,1894,2848,2829,2868,0,0,0,0,0,0,26.83,26.77,26.84
$GC,5804,-0.45,-146.6,3020,1895,2829,2867,379.6,-6.1,257,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1895,2848,2829,2867,0,0,0,0,0,0,27.10,27.12,27.11
$GC,6119,-0.45,-146.6,3020,1895,2829,2865,399.0,-6.2,264,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1895,2847,2829,2865,0,0,0,0,0,0,27.10,27.12,27.11
$GC,6434,-0.45,-146.6,3020,1895,2829,2864,418.1,-5.9,271,6440,0.00,2.25,0.00,0.000,516,0.000,0.060,3020,348,2847,2830,2864,0,0,0,0,0,0,27.10,26.63,27.11
$GC,6501,-0.45,-146.6,3020,348,2829,2863,420.9,-6.0,272,6505,0.00,2.10,0.00,0.000,1030,0.000,0.047,3013,1895,2846,2829,2863,0,0,0,0,0,0,26.82,26.77,26.84
$GC,6840,-0.45,-146.6,3013,1895,2829,2863,442.7,-6.1,280,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1894,2845,2829,2862,0,0,0,0,0,0,27.10,27.12,27.11
$GC,7155,-0.45,-146.6,3012,1895,2829,2861,462.4,-6.2,287,7161,0.00,2.22,0.00,0.000,516,0.000,0.060,3013,350,2845,2830,2860,0,0,0,0,0,0,27.10,26.64,27.11
$GC,7246,-0.45,-146.6,3013,350,2829,2860,468.2,-6.3,289,7252,0.00,2.05,0.00,0.000,1030,0.000,0.047,3007,1879,2844,2829,2859,0,0,0,0,0,0,26.79,26.77,26.81
$GC,7561,-0.45,-146.6,3006,1880,2829,2859,487.9,-6.1,296,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1879,2844,2829,2859,0,0,0,0,0,0,27.10,27.12,27.11
$GC,7876,-0.45,-146.6,3007,1880,2829,2858,507.0,-5.9,303,7882,0.00,2.20,0.00,0.000,516,0.000,0.060,3007,350,2843,2829,2858,0,0,0,0,0,0,27.10,26.63,27.11
$GC,7921,-0.45,-146.6,3007,351,2829,2857,509.6,-5.9,304,7927,0.00,2.10,0.00,0.000,1030,0.000,0.047,3000,1897,2843,2829,2857,0,0,0,0,0,0,26.82,26.77,26.84
$GC,8237,-0.45,-146.6,2999,1897,2829,2857,526.7,-5.3,311,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1897,2843,2829,2857,0,0,0,0,0,0,27.10,27.12,27.11
$GC,8551,-0.45,-146.6,3000,1897,2829,2856,543.3,-5.3,318,8555,0.00,2.30,0.00,0.000,516,0.000,0.060,3000,340,2842,2829,2856,0,0,0,0,0,0,27.10,26.63,27.11
$GC,8617,-0.45,-146.6,3000,339,2829,2856,546.0,-5.4,319,8621,0.00,2.12,0.00,0.000,1030,0.000,0.047,2994,1895,2842,2829,2856,0,0,0,0,0,0,26.81,26.77,26.83
$GC,8956,-0.45,-146.6,2994,1895,2829,2856,567.6,-6.1,327,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1895,2841,2829,2854,0,0,0,0,0,0,27.10,27.12,27.11
$GC,9271,-0.45,-146.6,2994,1895,2827,2856,589.1,-7.0,334,9277,0.00,2.28,0.00,0.000,516,0.000,0.060,2994,348,2841,2828,2855,0,0,0,0,0,0,27.10,26.62,27.11
$GC,9348,-0.45,-146.6,2994,348,2827,2853,592.3,-7.1,335,9352,0.00,2.10,0.00,0.000,1030,0.000,0.047,2986,1885,2841,2827,2855,0,0,0,0,0,0,26.81,26.77,26.83
$GC,9677,-0.45,-146.6,2986,1886,2827,2854,619.5,-7.4,343,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1886,2840,2827,2854,0,0,0,0,0,0,27.09,27.12,27.11
$GC,9992,-0.45,-146.6,2986,1885,2827,2853,642.2,-7.1,350,9994,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1886,2839,2827,2852,0,0,0,0,0,0,27.10,27.11,27.11
$GC,10307,-0.45,-146.6,2986,1886,2827,2851,662.6,-6.4,357,10313,0.00,2.28,0.00,0.000,516,0.000,0.060,2986,340,2838,2826,2851,0,0,0,0,0,0,27.10,26.61,27.11
$GC,10360,-0.45,-146.6,2986,340,2827,2850,665.8,-6.5,358,10364,0.00,2.12,0.00,0.000,1030,0.000,0.047,2978,1895,2838,2827,2850,0,0,0,0,0,0,26.80,26.76,26.82
$GC,10709,-0.45,-146.6,2979,1895,2824,2850,689.8,-6.7,366,10714,0.00,2.25,0.00,0.000,516,0.000,0.060,2979,349,2837,2824,2850,0,0,0,0,0,0,27.09,26.60,27.11
$GC,10745,-0.45,-146.6,2979,349,2824,2850,689.8,-6.7,366,10754,0.00,2.15,0.00,0.000,1030,0.000,0.047,2972,1881,2837,2824,2850,0,0,0,0,0,0,26.77,26.77,26.79
$GC,11069,-0.45,-146.6,2971,1881,2822,2850,716.1,-7.5,374,11071,0.10,0.00,0.00,0.000,2054,0.159,0.000,3011,1881,2836,2823,2850,0,0,0,0,0,0,26.68,26.76,26.72
$GC,11385,-0.51,-146.6,3010,1881,2821,2850,734.8,-6.0,381,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1881,2835,2821,2850,0,0,0,0,0,0,27.09,27.11,27.11
$GC,11699,-0.58,-146.6,3010,1881,2820,2849,754.0,-6.2,388,11704,0.00,2.30,0.00,0.000,4612,0.000,0.060,3011,342,2834,2820,2849,0,0,0,0,0,0,27.10,26.59,27.11
$GC,11734,-0.66,-146.6,3010,342,2820,2848,754.0,-6.2,388,11739,0.08,2.12,0.00,0.000,5126,0.134,0.047,2958,1905,2834,2820,2848,0,0,0,0,0,0,26.63,26.75,26.69
$GC,12058,-0.74,-146.6,2957,1906,2820,2846,785.6,-9.2,395,12065,0.00,2.25,0.00,0.000,4356,0.000,0.060,2950,3428,2832,2818,2847,0,0,0,0,0,0,27.10,26.60,27.11
$GC,12121,-0.80,-146.6,2951,3429,2818,2846,790.2,-9.4,396,12126,0.00,2.12,0.00,0.000,5126,0.000,0.045,2951,1877,2832,2818,2846,0,0,0,0,0,0,26.85,26.82,26.86
$GC,12465,-0.80,-146.6,2951,1878,2817,2846,824.4,-9.4,404,12466,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,1877,2831,2817,2846,0,0,0,0,0,0,27.10,27.12,27.11
$GC,12780,-0.80,-146.6,2951,1877,2817,2845,853.2,-9.0,411,12781,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,1877,2831,2817,2845,0,0,0,0,0,0,27.10,27.11,27.11
$GC,13095,-0.80,-146.6,2951,1877,2817,2843,880.9,-8.6,418,13096,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,1878,2830,2817,2843,0,0,0,0,0,0,27.10,27.11,27.10
$GC,13410,-0.80,-146.6,2951,1878,2817,2841,906.9,-8.2,425,13411,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,1877,2829,2817,2841,0,0,0,0,0,0,27.10,27.11,27.11
$GC,13725,-0.80,-146.6,2951,1877,2817,2839,931.4,-7.8,432,13726,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,1877,2827,2816,2839,0,0,0,0,0,0,27.10,27.11,27.11
$GC,14040,-0.80,-146.6,2951,1877,2815,2839,955.4,-7.5,439,14041,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,1877,2826,2814,2839,0,0,0,0,0,0,27.10,27.11,27.11
$GC,14355,-0.80,-146.6,2951,1877,2812,2839,979.5,-7.7,446,14356,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,1877,2825,2812,2839,0,0,0,0,0,0,27.10,27.11,27.10
$GC,14745,-0.80,-146.6,2951,1877,2811,2837,1009.2,-7.4,453,14751,0.00,2.25,0.00,0.000,4612,0.000,0.060,2951,364,2824,2812,2837,0,0,0,0,0,0,27.10,26.53,27.10
$GC,14811,-0.80,-146.6,2951,364,2811,2837,1009.2,-7.4,453,14815,0.00,2.15,0.00,0.000,5126,0.000,0.047,2944,1866,2824,2812,2837,0,0,0,0,0,0,26.72,26.70,26.74
$GC,15225,-0.80,-146.6,2944,1866,2811,2834,1048.2,-8.1,457,15226,0.00,0.00,0.00,0.000,4102,0.000,0.000,2945,1866,2823,2811,2835,0,0,0,0,0,0,27.10,27.11,27.10
$GC,15585,-0.80,-146.6,2944,1866,2810,2833,1077.5,-8.1,460,15586,0.00,0.00,0.00,0.000,4102,0.000,0.000,2943,1866,2821,2810,2833,0,0,0,0,0,0,27.10,27.10,27.10
$GC,15946,-0.80,-146.6,2944,1866,2808,2833,1107.5,-8.3,463,15952,0.00,2.33,0.00,0.000,4356,0.000,0.060,2933,3434,2820,2808,2833,0,0,0,0,0,0,27.10,26.51,27.10
$GC,16001,-0.80,-146.6,2932,3434,2807,2833,1107.5,-8.3,463,16006,0.00,2.12,0.00,0.000,5126,0.000,0.045,2933,1887,2820,2807,2834,0,0,0,0,0,0,26.81,26.76,26.82
$GC,16426,-0.80,-146.6,2933,1886,2807,2830,1149.3,-8.7,467,16431,0.00,2.25,0.00,0.000,4612,0.000,0.060,2933,361,2818,2807,2830,0,0,0,0,0,0,27.10,26.48,27.10
$GC,16502,-0.80,-146.6,2932,361,2807,2830,1149.3,-8.7,467,16506,0.00,2.12,0.00,0.000,1030,0.000,0.047,2925,1883,2818,2807,2830,0,0,0,0,0,0,26.72,26.65,26.73
$GC,16900,-0.80,-146.6,2924,1883,2807,2828,1190.0,-8.5,471,16907,0.00,2.30,0.00,0.000,260,0.000,0.062,2914,3438,2817,2806,2829,0,0,0,0,0,0,27.08,26.46,27.10
$GC,16937,-0.80,-146.6,2914,3438,2804,2828,1190.0,-8.5,471,16941,0.00,2.15,0.00,0.000,1030,0.000,0.045,2914,1884,2817,2805,2829,0,0,0,0,0,0,26.79,26.74,26.80
$GC,17261,-0.80,-146.6,2913,1880,2804,2828,1223.2,-9.1,474,17266,0.00,2.28,0.00,0.000,516,0.000,0.062,2914,354,2816,2804,2828,0,0,0,0,0,0,27.08,26.46,27.10
$GC,17322,-0.80,-146.6,2913,354,2804,2826,1223.2,-9.1,474,17326,0.00,2.17,0.00,0.000,1030,0.000,0.047,2905,1886,2815,2804,2827,0,0,0,0,0,0,26.70,26.63,26.72
$GC,17741,-0.80,-146.6,2905,1886,2804,2826,1267.8,-9.3,478,17742,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1886,2815,2804,2826,0,0,0,0,0,0,27.08,27.10,27.09
$GC,18101,-0.80,-146.6,2905,1886,2804,2824,1301.8,-9.4,481,18102,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1886,2814,2804,2824,0,0,0,0,0,0,27.08,27.10,27.09
$GC,18461,-0.80,-146.6,2905,1887,2802,2824,1327.6,-8.0,484,18466,0.00,2.33,0.00,0.000,260,0.000,0.060,2906,3445,2813,2802,2824,0,0,0,0,0,0,27.07,26.45,27.09
$GC,18760,-0.89,-146.6,2905,3445,2800,2824,1327.8,-2.9,486,18764,0.00,2.17,0.00,0.000,5126,0.000,0.047,2905,1903,2812,2801,2824,0,0,0,0,0,0,26.72,26.65,26.73
$STATE,18937,end dive,NO_VERTICAL_VELOCITY
$STATE,18937,begin apogee
$GC,18941,-0.23,0.0,2905,1684,2799,2824,1327.6,0.0,488,19058,0.47,0.00,109.80,1.599,10246,0.097,0.000,3092,1683,2350,2325,2375,0,0,0,0,0,0,26.26,23.93,22.95
$STATE,19059,end apogee,CONTROL_FINISHED_OK
$STATE,19059,begin climb
$GC,19061,0.54,146.6,3091,1683,2324,2375,1328.6,0.0,489,19191,0.47,2.35,121.60,1.564,10756,0.104,0.072,3277,271,1844,1809,1880,0,0,0,0,0,0,24.96,23.80,22.41
$GC,19484,0.54,146.6,3277,270,1808,1879,1327.7,0.5,492,19489,0.12,2.00,0.00,0.000,3078,0.129,0.045,3332,1651,1844,1809,1880,0,0,0,0,0,0,26.32,26.46,26.41
$GC,19898,0.82,358.8,3332,1651,1809,1879,1327.3,0.1,496,20081,0.08,2.33,171.88,1.579,10756,0.151,0.070,3398,273,1114,1055,1173,0,0,0,0,0,0,26.67,23.89,22.58
$GC,20204,0.96,543.8,3398,273,1055,1173,1323.0,0.8,498,20383,0.00,2.00,170.25,1.549,11270,0.000,0.045,3398,1663,477,413,541,0,0,0,0,0,0,26.14,26.06,22.57
$GC,20742,0.84,543.8,3398,1663,413,540,1246.0,14.0,503,20743,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1663,477,413,541,0,0,0,0,0,0,26.81,26.83,26.83
$GC,21101,0.73,543.8,3398,1663,413,540,1194.8,14.1,506,21103,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1663,477,413,541,0,0,0,0,0,0,26.96,26.98,26.98
$GC,21462,0.63,543.8,3398,1663,414,540,1144.5,14.0,509,21468,0.12,2.30,0.00,0.000,4356,0.166,0.057,3349,3227,477,414,541,0,0,0,0,0,0,26.44,26.55,26.48
$GC,21519,0.52,543.8,3348,3227,413,541,1144.5,14.0,509,21524,0.12,2.22,0.00,0.000,5126,0.161,0.047,3314,1661,477,413,541,0,0,0,0,0,0,26.39,26.71,26.51
$GC,21939,0.52,543.8,3313,1662,413,540,1100.8,9.1,513,21946,0.00,2.30,0.00,0.000,260,0.000,0.057,3313,3228,476,413,540,0,0,0,0,0,0,27.03,26.61,27.05
$GC,21987,0.52,543.8,3313,3227,413,540,1100.8,9.1,513,21991,0.00,2.22,0.00,0.000,1030,0.000,0.047,3322,1660,477,413,541,0,0,0,0,0,0,26.77,26.71,26.78
$GC,22295,0.52,543.8,3322,1661,413,541,1070.7,8.4,516,22296,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1661,476,413,540,0,0,0,0,0,0,27.04,27.05,27.05
$GC,22655,0.52,543.8,3322,1661,413,541,1036.5,9.4,519,22656,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1661,477,414,540,0,0,0,0,0,0,27.04,27.06,27.06
$GC,23015,0.52,543.8,3322,1661,412,541,1003.4,9.3,522,23016,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1660,477,414,540,0,0,0,0,0,0,27.04,27.07,27.06
$GC,23315,0.52,543.8,3322,1660,413,540,976.6,8.8,527,23316,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1660,476,413,540,0,0,0,0,0,0,27.05,27.06,27.06
$GC,23630,0.52,543.8,3321,1660,413,541,949.3,8.5,534,23635,0.00,2.33,0.00,0.000,260,0.000,0.057,3322,3230,476,413,540,0,0,0,0,0,0,27.05,26.55,27.06
$GC,23666,0.52,543.8,3322,3230,413,541,949.3,8.5,534,23675,0.00,2.28,0.00,0.000,1030,0.000,0.047,3330,1663,476,413,540,0,0,0,0,0,0,26.71,26.69,26.73
$GC,23990,0.52,543.8,3330,1663,413,540,916.8,8.7,542,23991,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1663,477,413,541,0,0,0,0,0,0,27.05,27.07,27.06
$GC,24305,0.52,543.8,3330,1663,413,541,891.0,8.1,549,24311,0.00,2.30,0.00,0.000,260,0.000,0.057,3330,3231,476,413,540,0,0,0,0,0,0,27.05,26.54,27.06
$GC,24341,0.52,543.8,3329,3230,413,541,891.0,8.1,549,24350,0.00,2.28,0.00,0.000,1030,0.000,0.047,3337,1661,477,413,541,0,0,0,0,0,0,26.72,26.70,26.73
$GC,24665,0.52,543.8,3337,1661,413,540,860.8,8.6,557,24666,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1661,477,413,541,0,0,0,0,0,0,27.05,27.07,27.06
$GC,24980,0.52,543.8,3337,1661,413,541,832.4,9.2,564,24981,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1661,477,413,541,0,0,0,0,0,0,27.05,27.08,27.07
$GC,25295,0.52,543.8,3337,1661,413,540,804.3,8.9,571,25296,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1660,477,413,541,0,0,0,0,0,0,27.05,27.07,27.07
$GC,25610,0.52,543.8,3337,1661,413,540,776.2,9.1,578,25611,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1661,477,413,541,0,0,0,0,0,0,27.05,27.07,27.06
$GC,25926,0.52,543.8,3336,1661,413,541,747.3,9.2,585,25931,0.00,2.30,0.00,0.000,260,0.000,0.057,3337,3233,476,413,540,0,0,0,0,0,0,27.05,26.51,27.07
$GC,25970,0.52,543.8,3337,3233,413,541,742.8,9.4,586,25975,0.00,2.20,0.00,0.000,1030,0.000,0.047,3345,1665,476,412,540,0,0,0,0,0,0,26.70,26.68,26.72
$GC,26285,0.52,543.8,3345,1666,413,541,714.0,9.1,593,26286,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1665,477,413,541,0,0,0,0,0,0,27.05,27.07,27.07
$GC,26600,0.52,543.8,3345,1665,413,541,684.8,9.3,600,26604,0.00,2.08,0.00,0.000,516,0.000,0.060,3349,265,477,413,541,0,0,0,0,0,0,27.05,26.46,27.07
$GC,26649,0.52,543.8,3349,265,415,541,680.3,9.3,601,26655,0.08,1.95,0.00,0.000,5126,0.127,0.045,3317,1687,478,415,541,0,0,0,0,0,0,26.40,26.66,26.44
$GC,26964,0.59,543.8,3316,1686,416,540,658.3,6.9,608,26968,0.00,2.28,0.00,0.000,260,0.000,0.057,3317,3222,478,416,541,0,0,0,0,0,0,27.05,26.48,27.07
$GC,27036,0.66,543.8,3316,3222,415,541,654.4,7.1,609,27040,0.00,2.20,0.00,0.000,3078,0.000,0.045,3322,1656,478,415,541,0,0,0,0,0,0,26.73,26.66,26.74
$GC,27369,0.72,543.8,3322,1656,416,540,627.6,7.6,617,27371,0.00,0.00,0.00,0.000,2054,0.000,0.000,3322,1656,478,415,541,0,0,0,0,0,0,27.07,27.08,27.07
$GC,27684,0.78,543.8,3322,1656,415,541,603.6,7.6,624,27686,0.08,0.00,0.00,0.000,2054,0.137,0.000,3383,1656,478,415,541,0,0,0,0,0,0,26.81,26.84,26.82
$GC,27999,0.78,543.8,3383,1656,415,540,568.1,11.3,631,28000,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1656,478,415,541,0,0,0,0,0,0,27.05,27.07,27.07
$GC,28315,0.78,543.8,3383,1656,416,541,531.5,11.6,638,28316,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1657,477,415,540,0,0,0,0,0,0,27.05,27.08,27.07
$GC,28629,0.78,543.8,3382,1656,415,541,493.3,12.3,645,28634,0.00,2.03,0.00,0.000,516,0.000,0.060,3393,264,478,415,541,0,0,0,0,0,0,27.05,26.46,27.07
$GC,28669,0.78,543.8,3393,264,417,540,493.3,12.3,645,28678,0.00,1.98,0.00,0.000,1030,0.000,0.045,3393,1656,479,417,541,0,0,0,0,0,0,26.69,26.67,26.70
$GC,28993,0.73,543.8,3393,1657,418,539,447.1,12.8,653,28998,0.00,2.33,0.00,0.000,260,0.000,0.057,3393,3240,478,417,540,0,0,0,0,0,0,27.05,26.46,27.07
$GC,29055,0.67,543.8,3393,3240,417,541,440.6,12.9,654,29060,0.12,2.22,0.00,0.000,5126,0.169,0.047,3361,1656,479,417,541,0,0,0,0,0,0,26.22,26.66,26.32
$GC,29404,0.67,543.8,3361,1656,417,541,403.4,9.6,662,29410,0.00,2.00,0.00,0.000,516,0.000,0.062,3370,269,479,417,541,0,0,0,0,0,0,27.05,26.46,27.07
$GC,29440,0.67,543.8,3370,268,419,541,403.4,9.6,662,29449,0.00,1.98,0.00,0.000,1030,0.000,0.047,3370,1673,480,419,541,0,0,0,0,0,0,26.69,26.70,26.70
$GC,29764,0.67,543.8,3370,1673,419,541,366.3,10.5,670,29770,0.00,2.25,0.00,0.000,260,0.000,0.057,3370,3230,480,419,541,0,0,0,0,0,0,27.05,26.47,27.07
$GC,29816,0.67,543.8,3370,3229,419,541,361.4,10.6,671,29821,0.00,2.22,0.00,0.000,1030,0.000,0.045,3380,1649,480,419,541,0,0,0,0,0,0,26.72,26.66,26.73
$GC,30126,0.67,543.8,3380,1649,421,541,323.7,11.8,678,30130,0.00,2.00,0.00,0.000,516,0.000,0.062,3390,269,481,422,541,0,0,0,0,0,0,27.05,26.46,27.08
$GC,30181,0.67,543.8,3390,268,423,541,317.7,11.9,679,30186,0.00,1.98,0.00,0.000,1030,0.000,0.045,3390,1680,481,423,540,0,0,0,0,0,0,26.70,26.67,26.72
$GC,30505,0.67,543.8,3390,1680,423,541,275.9,12.6,688,30506,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1680,482,423,541,0,0,0,0,0,0,27.06,27.08,27.08
$GC,30807,0.67,543.8,3390,1680,424,541,238.7,12.0,698,30812,0.00,2.22,0.00,0.000,260,0.000,0.057,3390,3227,482,424,541,0,0,0,0,0,0,27.06,26.48,27.07
$GC,30848,0.67,543.8,3390,3227,425,541,234.9,11.9,699,30853,0.12,2.20,0.00,0.000,5126,0.164,0.047,3356,1648,483,425,541,0,0,0,0,0,0,26.27,26.67,26.37
$GC,31163,0.73,543.8,3356,1648,426,541,204.4,8.3,710,31164,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1648,483,426,541,0,0,0,0,0,0,27.06,27.08,27.08
$GC,31464,0.79,543.8,3356,1648,428,540,179.9,8.1,720,31465,0.00,0.00,0.00,0.000,2054,0.000,0.000,3356,1648,484,427,541,0,0,0,0,0,0,27.08,27.09,27.08
$GC,31763,0.86,543.8,3356,1648,429,541,157.2,7.4,730,31765,0.08,0.00,0.00,0.000,2054,0.137,0.000,3430,1648,485,429,541,0,0,0,0,0,0,26.82,26.85,26.84
$GC,32062,0.86,543.8,3429,1648,430,541,120.3,12.5,747,32068,0.00,0.00,4.03,0.477,8198,0.000,0.000,3430,1648,476,415,538,0,0,0,0,0,0,27.07,24.86,23.69
$GC,32364,0.86,543.8,3429,1648,416,538,84.9,12.1,767,32365,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1648,477,416,538,0,0,0,0,0,0,27.05,27.08,27.07
$GC,32662,0.86,543.8,3429,1648,418,538,47.3,11.8,787,32663,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1648,478,419,538,0,0,0,0,0,0,27.07,27.09,27.08
$GC,32968,0.86,543.8,3429,1648,420,538,11.8,10.8,815,32976,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1649,478,419,538,0,0,0,0,0,0,27.07,27.09,27.09
$STATE,33068,end climb,SURFACE_DEPTH_REACHED
$STATE,33068,begin surface coast
$FINISH,0.4,1.024708
$STATE,33077,end surface coast,CONTROL_FINISHED_OK
$STATE,33077,begin surface
$SM_CCo,33093,55.40,0.636,0,0,199,624.55
$SM_GC,0.36,8.15,0.28,55.40,0.070,0.065,0.636,185,1965,199,-9.21,-2.37,624.55,0,0,0,0,0,0,26.25,26.84,24.65
$IRIDIUM_FIX,2612.58,-7546.74,041108,121359
$TT8_MAMPS,0.02247,0.02247
$HUMID,70.35
$INTERNAL_PRESSURE,9.15263
$TCM_TEMP,24.20
$XPDR_PINGS,20
$ALTIM_TOP_PING,58.4,0.0
$24V_AH,22.41,55.805
$10V_AH,10.24,41.848
$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,22.125,153.675,577.550,55.400,175.425,660.486,104.188,0.000,5.250,0.000,342.468,2641.372,26600.471,754.081,5049.494,419.606,0.000,2164.137,0.000,3862.811,0.000,3.347,0.000
$DEVICE_MAMPS,280.579,72.007,1599.052,635.648,317.824,14.900,160.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.065,2695.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50294,826
$CAP_FILE_SIZE,214305,0
$CFSIZE,1024409600,939016192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,240.090,163.24,1
$GPS,030216,181358,2715.941,-7703.018,901,99.0,901,-8.5,0.7,330.6,8,57.0