version: 66.12
glider: 38
mission: 4
dive: 20
start: 7 5 115 9 56 33
data:
$ID,38
$MISSION,4
$DIVE,20
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,4800
$D_ABORT,5500
$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,1600
$T_MISSION,1620
$T_ABORT,2880
$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,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$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,1500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,050715,095130,3209.0237,-6431.5044,81,1.1,84,-14.9,0.0,0.0,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-68.9
$GPS2,050715,095609,3209.0288,-6431.5176,5,0.8,17,-14.9,0.0,0.0,10,6.1
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SS12
$TGT_LATLONG,3121.300,-6357.420
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,163.5,103544,-18.4,-10.000,-21.00,2237
$D_GRID,4800
$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,-0.96,-146.6,144,1999,1308,1287,0.0,0.0,0,121,0.00,0.00,-103.85,0.151,16386,0.000,0.000,143,2000,2623,2580,2667,0,0,0,0,0,0,26.64,28.83,26.66
$GC,123,-0.96,-146.6,144,2000,2580,2667,5.1,-9.3,10,154,10.43,2.00,-12.27,0.184,18692,0.283,0.074,2725,3388,3006,2970,3043,0,0,0,0,0,0,25.98,26.16,26.09
$GC,473,-0.96,-146.6,2725,3388,2970,3046,63.4,-12.8,37,477,0.00,1.92,0.00,0.000,1030,0.000,0.060,2725,1987,3008,2970,3046,0,0,0,0,0,0,26.55,26.54,26.58
$GC,787,-0.96,-146.6,2725,1987,2973,3046,98.1,-11.0,58,793,0.00,2.03,0.00,0.000,260,0.000,0.074,2715,3396,3009,2973,3046,0,0,0,0,0,0,26.87,26.62,26.89
$GC,875,-0.96,-146.6,2714,3396,2972,3046,106.6,-10.8,63,884,0.00,1.92,0.00,0.000,1030,0.000,0.060,2715,1986,3009,2973,3046,0,0,0,0,0,0,26.72,26.71,26.73
$GC,1185,-0.96,-146.6,2715,1986,2975,3047,140.4,-11.1,84,1190,0.00,1.98,0.00,0.000,260,0.000,0.077,2705,3386,3011,2975,3047,0,0,0,0,0,0,26.98,26.72,27.00
$GC,1255,-0.96,-146.6,2705,3385,2975,3047,148.0,-11.7,88,1264,0.10,1.88,0.00,0.000,3078,0.176,0.060,2739,1979,3011,2975,3047,0,0,0,0,0,0,26.63,26.81,26.72
$GC,1579,-1.02,-146.6,2739,1979,2975,3047,182.8,-10.4,100,1584,0.00,1.98,0.00,0.000,260,0.000,0.074,2730,3386,3011,2975,3047,0,0,0,0,0,0,27.05,26.80,27.07
$GC,1678,-1.02,-146.6,2730,3386,2975,3047,193.3,-11.1,103,1683,0.00,1.85,0.00,0.000,1030,0.000,0.060,2730,2013,3011,2975,3048,0,0,0,0,0,0,26.90,26.88,26.91
$GC,2003,-1.07,-146.6,2728,2013,2976,3047,230.8,-11.4,114,2008,0.00,1.95,0.00,0.000,260,0.000,0.074,2720,3388,3011,2976,3047,0,0,0,0,0,0,27.11,26.86,27.13
$GC,2086,-1.07,-146.6,2719,3388,2976,3048,238.4,-11.9,116,2095,0.00,1.88,0.00,0.000,1030,0.000,0.060,2720,1991,3012,2976,3048,0,0,0,0,0,0,26.94,26.93,26.99
$GC,2395,-1.07,-146.6,2719,1990,2976,3048,277.1,-11.7,127,2401,0.00,2.00,0.00,0.000,260,0.000,0.074,2709,3400,3011,2975,3048,0,0,0,0,0,0,27.15,26.90,27.17
$GC,2510,-1.07,-146.6,2709,3400,2975,3048,288.4,-12.2,130,2519,0.00,1.90,0.00,0.000,1030,0.000,0.060,2709,1989,3011,2975,3048,0,0,0,0,0,0,26.98,26.97,27.00
$GC,2834,-1.07,-146.6,2709,1990,2975,3048,329.7,-11.9,139,2839,0.00,2.00,0.00,0.000,260,0.000,0.074,2699,3399,3012,2976,3048,0,0,0,0,0,0,27.19,26.93,27.20
$GC,2937,-1.07,-146.6,2699,3398,2975,3048,341.0,-12.2,141,2941,0.00,1.88,0.00,0.000,1030,0.000,0.060,2699,2001,3011,2975,3048,0,0,0,0,0,0,27.02,27.00,27.03
$GC,3286,-1.07,-146.6,2699,2000,2975,3047,383.8,-11.6,149,3292,0.00,1.98,0.00,0.000,260,0.000,0.074,2689,3412,3011,2974,3048,0,0,0,0,0,0,27.21,26.95,27.22
$GC,3378,-1.07,-146.6,2689,3412,2975,3048,395.5,-12.1,151,3383,0.00,1.85,0.00,0.000,1030,0.000,0.060,2689,1993,3012,2976,3048,0,0,0,0,0,0,27.05,27.02,27.07
$GC,3693,-1.07,-146.6,2689,1993,2976,3048,434.1,-12.1,158,3698,0.00,1.98,0.00,0.000,260,0.000,0.077,2678,3406,3011,2975,3048,0,0,0,0,0,0,27.23,26.98,27.24
$GC,3775,-1.07,-146.6,2678,3406,2976,3048,439.8,-12.4,159,3784,0.00,1.90,0.00,0.000,1030,0.000,0.060,2678,1992,3012,2976,3048,0,0,0,0,0,0,27.05,27.04,27.07
$GC,4099,-1.07,-146.6,2678,1991,2976,3048,487.8,-13.5,167,4104,0.00,2.00,0.00,0.000,260,0.000,0.077,2668,3402,3011,2975,3048,0,0,0,0,0,0,27.24,26.99,27.26
$GC,4212,-1.07,-146.6,2667,3402,2976,3048,500.9,-13.9,169,4217,0.10,1.88,0.00,0.000,3078,0.174,0.060,2703,1990,3011,2975,3048,0,0,0,0,0,0,26.90,27.05,26.98
$GC,4552,-1.13,-146.6,2703,1990,2975,3047,545.2,-11.8,177,4557,0.00,2.00,0.00,0.000,260,0.000,0.077,2694,3391,3011,2975,3047,0,0,0,0,0,0,27.26,27.00,27.27
$GC,4650,-1.19,-146.6,2694,3391,2975,3047,557.1,-12.3,179,4654,0.00,1.85,0.00,0.000,1030,0.000,0.060,2695,2011,3011,2975,3048,0,0,0,0,0,0,27.08,27.06,27.09
$GC,4959,-1.24,-146.6,2694,2011,2975,3047,596.4,-12.4,186,4965,0.08,1.90,0.00,0.000,4356,0.154,0.074,2626,3385,3011,2975,3047,0,0,0,0,0,0,27.04,27.01,27.06
$GC,5069,-1.24,-146.6,2626,3385,2975,3047,610.6,-14.0,188,5073,0.00,1.83,0.00,0.000,1030,0.000,0.060,2626,1989,3011,2975,3047,0,0,0,0,0,0,27.11,27.07,27.12
$GC,5407,-1.24,-146.6,2626,1988,2975,3046,665.3,-15.3,196,5410,0.00,2.00,0.00,0.000,260,0.000,0.077,2616,3392,3010,2976,3045,0,0,0,0,0,0,27.27,27.01,27.29
$GC,5518,-1.24,-146.6,2615,3393,2975,3046,680.2,-15.4,198,5522,0.10,1.88,0.00,0.000,3078,0.181,0.060,2650,1981,3010,2975,3046,0,0,0,0,0,0,26.91,27.08,26.99
$GC,5862,-1.24,-146.6,2650,1981,2976,3044,730.1,-13.6,206,5867,0.00,1.98,0.00,0.000,260,0.000,0.077,2641,3393,3009,2975,3044,0,0,0,0,0,0,27.28,27.02,27.29
$GC,5944,-1.24,-146.6,2640,3393,2975,3045,736.3,-13.5,207,5953,0.00,1.85,0.00,0.000,1030,0.000,0.062,2641,2017,3010,2975,3045,0,0,0,0,0,0,27.10,27.08,27.14
$GC,6268,-1.24,-146.6,2640,2016,2975,3041,786.7,-13.9,215,6271,0.00,1.95,0.00,0.000,260,0.000,0.077,2630,3388,3008,2975,3042,0,0,0,0,0,0,27.28,27.03,27.29
$GC,6369,-1.24,-146.6,2630,3388,2976,3042,801.0,-14.7,217,6373,0.00,1.88,0.00,0.000,1030,0.000,0.062,2631,1995,3008,2975,3041,0,0,0,0,0,0,27.11,27.08,27.12
$GC,6678,-1.24,-146.6,2630,1995,2975,3039,849.4,-15.5,224,6681,0.00,2.00,0.00,0.000,260,0.000,0.077,2620,3395,3007,2975,3039,0,0,0,0,0,0,27.28,27.03,27.30
$GC,6809,-1.24,-146.6,2620,3395,2975,3039,864.4,-15.8,226,6818,0.10,1.88,0.00,0.000,3078,0.179,0.062,2656,1987,3007,2976,3039,0,0,0,0,0,0,26.93,27.09,27.01
$GC,7132,-1.24,-146.6,2655,1986,2975,3037,916.1,-14.0,234,7138,0.00,1.98,0.00,0.000,260,0.000,0.077,2646,3393,3006,2975,3037,0,0,0,0,0,0,27.29,27.03,27.31
$GC,7339,-1.24,-146.6,2645,3393,2975,3034,942.9,-14.6,238,7343,0.00,1.88,0.00,0.000,1030,0.000,0.060,2646,2005,3005,2976,3034,0,0,0,0,0,0,27.10,27.10,27.12
$GC,7678,-1.24,-146.6,2645,2004,2975,3031,996.6,-15.0,246,7683,0.00,1.98,0.00,0.000,260,0.000,0.077,2635,3406,3003,2975,3031,0,0,0,0,0,0,27.29,27.03,27.31
$GC,7785,-1.24,-146.6,2635,3406,2975,3031,1003.8,-15.2,247,7789,0.00,1.90,0.00,0.000,1030,0.000,0.060,2635,2000,3002,2975,3030,0,0,0,0,0,0,27.12,27.09,27.12
$GC,8159,-1.24,-146.6,2635,2000,2975,3027,1071.4,-15.5,251,8164,0.00,1.98,0.00,0.000,260,0.000,0.077,2625,3402,3001,2975,3027,0,0,0,0,0,0,27.29,27.03,27.31
$GC,8306,-1.24,-146.6,2624,3402,2976,3026,1090.7,-15.5,252,8311,0.00,1.90,0.00,0.000,1030,0.000,0.062,2624,2003,3001,2975,3027,0,0,0,0,0,0,27.11,27.10,27.13
$GC,8640,-1.24,-146.6,2624,2003,2975,3022,1146.3,-15.5,255,8646,0.00,2.00,0.00,0.000,260,0.000,0.077,2614,3405,2999,2975,3023,0,0,0,0,0,0,27.29,27.03,27.31
$GC,8768,-1.24,-146.6,2614,3405,2975,3022,1165.3,-15.4,256,8773,0.12,1.88,0.00,0.000,3078,0.181,0.062,2659,1987,2998,2975,3021,0,0,0,0,0,0,26.95,27.10,27.06
$GC,9122,-1.24,-146.6,2658,1986,2975,3018,1212.8,-13.7,259,9127,0.00,2.00,0.00,0.000,260,0.000,0.077,2649,3388,2997,2976,3018,0,0,0,0,0,0,27.29,27.03,27.32
$GC,9294,-1.30,-146.6,2648,3388,2975,3017,1229.0,-13.2,260,9298,0.00,1.88,0.00,0.000,1030,0.000,0.062,2649,2012,2996,2975,3017,0,0,0,0,0,0,27.11,27.10,27.13
$GC,9603,-1.36,-146.6,2648,2012,2976,3012,1275.6,-13.0,263,9609,0.05,1.95,0.00,0.000,4356,0.186,0.077,2594,3380,2993,2975,3012,0,0,0,0,0,0,27.09,27.03,27.13
$GC,9746,-1.42,-146.6,2593,3380,2975,3011,1294.3,-13.4,264,9750,0.00,1.85,0.00,0.000,1030,0.000,0.062,2594,2001,2993,2975,3011,0,0,0,0,0,0,27.13,27.09,27.15
$GC,10084,-1.42,-146.6,2593,1991,2974,3007,1352.3,-15.9,267,10090,0.00,2.03,0.00,0.000,260,0.000,0.079,2583,3402,2991,2974,3009,0,0,0,0,0,0,27.29,27.03,27.32
$GC,10226,-1.42,-146.6,2583,3403,2975,3007,1372.1,-16.2,268,10231,0.00,1.95,0.00,0.000,1030,0.000,0.060,2584,1985,2991,2975,3007,0,0,0,0,0,0,27.11,27.10,27.13
$GC,10565,-1.42,-146.6,2583,1985,2975,3004,1430.7,-16.3,271,10571,0.00,2.03,0.00,0.000,260,0.000,0.079,2574,3391,2989,2974,3004,0,0,0,0,0,0,27.29,27.03,27.32
$GC,10733,-1.42,-146.6,2573,3391,2975,3003,1450.9,-16.4,272,10737,0.00,1.92,0.00,0.000,1030,0.000,0.062,2573,1993,2989,2975,3003,0,0,0,0,0,0,27.11,27.09,27.12
$GC,11048,-1.42,-146.6,2573,1993,2975,2999,1509.3,-16.3,275,11052,0.00,2.03,0.00,0.000,260,0.000,0.079,2563,3390,2986,2974,2999,0,0,0,0,0,0,27.27,27.03,27.29
$GC,11198,-1.42,-146.6,2563,3390,2975,2999,1529.7,-16.2,276,11203,0.10,1.92,0.00,0.000,3078,0.171,0.062,2598,1981,2986,2975,2998,0,0,0,0,0,0,26.94,27.09,27.02
$GC,11534,-1.42,-146.6,2598,1981,2975,2996,1581.7,-14.8,279,11538,0.00,2.05,0.00,0.000,260,0.000,0.079,2589,3392,2986,2976,2996,0,0,0,0,0,0,27.27,27.03,27.29
$GC,11705,-1.42,-146.6,2589,3392,2975,2995,1600.0,-14.4,280,11709,0.00,1.90,0.00,0.000,1030,0.000,0.060,2589,2013,2985,2975,2995,0,0,0,0,0,0,27.09,27.08,27.13
$GC,12021,-1.42,-146.6,2589,2013,2975,2992,1651.6,-14.3,283,12025,0.00,1.98,0.00,0.000,260,0.000,0.079,2579,3386,2983,2975,2992,0,0,0,0,0,0,27.27,27.02,27.29
$GC,12162,-1.42,-146.6,2578,3385,2975,2992,1670.1,-14.4,284,12167,0.00,1.92,0.00,0.000,1030,0.000,0.062,2579,1990,2983,2975,2992,0,0,0,0,0,0,27.10,27.08,27.12
$GC,12508,-1.42,-146.6,2579,1990,2975,2989,1722.7,-14.6,287,12512,0.00,2.03,0.00,0.000,260,0.000,0.077,2569,3381,2982,2975,2989,0,0,0,0,0,0,27.27,27.01,27.28
$GC,12674,-1.42,-146.6,2569,3381,2975,2989,1741.0,-14.5,288,12678,0.00,1.90,0.00,0.000,1030,0.000,0.062,2569,2000,2981,2975,2988,0,0,0,0,0,0,27.10,27.08,27.13
$GC,12995,-1.42,-146.6,2568,1999,2975,2986,1792.8,-14.4,291,13000,0.00,2.03,0.00,0.000,260,0.000,0.077,2558,3391,2980,2975,2986,0,0,0,0,0,0,27.27,27.01,27.29
$GC,13119,-1.42,-146.6,2558,3391,2975,2986,1811.1,-14.3,292,13125,0.12,1.88,0.00,0.000,3078,0.176,0.062,2602,1985,2980,2975,2986,0,0,0,0,0,0,26.94,27.08,27.05
$GC,13485,-1.47,-146.6,2603,1984,2975,2985,1855.2,-12.6,295,13489,0.00,2.05,0.00,0.000,260,0.000,0.077,2592,3391,2980,2975,2985,0,0,0,0,0,0,27.27,27.01,27.29
$GC,13655,-1.53,-146.6,2593,3391,2974,2985,1871.0,-12.1,296,13660,0.05,1.88,0.00,0.000,5126,0.189,0.062,2557,1993,2979,2974,2985,0,0,0,0,0,0,26.99,27.08,27.08
$GC,13971,-1.53,-146.6,2557,1993,2974,2984,1921.6,-13.8,299,13976,0.00,2.03,0.00,0.000,260,0.000,0.079,2547,3381,2978,2974,2983,0,0,0,0,0,0,27.27,27.01,27.29
$GC,14109,-1.53,-146.6,2547,3382,2974,2984,1940.7,-14.4,300,14113,0.00,1.90,0.00,0.000,1030,0.000,0.062,2547,2007,2978,2974,2983,0,0,0,0,0,0,27.10,27.08,27.12
$GC,14460,-1.53,-146.6,2547,2007,2973,2982,1994.4,-14.8,303,14465,0.00,2.03,0.00,0.000,260,0.000,0.079,2537,3394,2977,2973,2982,0,0,0,0,0,0,27.27,27.01,27.29
$GC,14603,-1.53,-146.6,2536,3394,2972,2982,2014.2,-15.0,304,14608,0.00,1.92,0.00,0.000,1030,0.000,0.062,2537,1999,2977,2972,2982,0,0,0,0,0,0,27.10,27.07,27.13
$GC,14950,-1.53,-146.6,2536,1998,2973,2981,2069.2,-15.3,307,14955,0.00,2.00,0.00,0.000,260,0.000,0.079,2526,3383,2977,2973,2981,0,0,0,0,0,0,27.27,27.01,27.29
$GC,15108,-1.53,-146.6,2526,3383,2971,2981,2088.7,-15.2,308,15113,0.10,1.92,0.00,0.000,3078,0.176,0.062,2562,1986,2976,2972,2981,0,0,0,0,0,0,26.92,27.08,27.00
$GC,15438,-1.53,-146.6,2561,1986,2972,2980,2137.8,-14.0,311,15443,0.00,2.05,0.00,0.000,260,0.000,0.079,2553,3393,2976,2972,2980,0,0,0,0,0,0,27.26,27.01,27.27
$GC,15585,-1.53,-146.6,2552,3392,2971,2980,2154.9,-13.5,312,15589,0.00,1.92,0.00,0.000,1030,0.000,0.062,2552,2006,2975,2971,2980,0,0,0,0,0,0,27.09,27.08,27.10
$STATE,15928,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15928,begin apogee
$GC,15931,-0.25,0.0,2552,2005,2971,2978,2202.8,-13.3,315,16048,1.17,0.00,112.90,2.292,10246,0.139,0.000,2971,2004,2500,2515,2485,0,0,0,0,0,0,26.93,24.49,23.46
$STATE,16049,end apogee,CONTROL_FINISHED_OK
$STATE,16049,begin climb
$GC,16050,0.96,146.6,2971,2004,2515,2485,2210.0,0.0,316,16180,1.05,2.22,122.70,2.242,10756,0.084,0.084,3385,639,1995,2010,1981,0,0,0,0,0,0,24.84,24.08,23.05
$GC,16306,0.96,146.6,3385,639,2010,1980,2233.5,-9.5,318,16311,0.00,2.05,0.00,0.000,1030,0.000,0.060,3385,1996,1994,2009,1980,0,0,0,0,0,0,25.53,25.50,25.53
$GC,16647,0.81,561.4,3385,1996,2009,1980,2265.4,-9.0,321,17017,0.25,2.38,354.23,2.262,12548,0.256,0.084,3314,3376,568,586,550,0,0,0,0,1,0,25.91,23.27,21.88
$GC,17295,0.54,561.4,3314,3376,586,549,2146.1,26.1,326,17300,0.35,1.98,0.00,0.000,5126,0.214,0.062,3226,2010,568,586,550,0,0,0,0,0,0,25.33,25.52,25.48
$GC,17606,0.35,561.4,3226,2011,586,550,2059.9,25.9,329,17608,0.22,0.00,0.00,0.000,4102,0.199,0.000,3157,2010,568,586,550,0,0,0,0,0,0,25.89,26.06,26.03
$GC,17964,0.27,561.4,3157,2009,585,550,1996.3,18.6,332,17970,0.00,2.05,0.00,0.000,260,0.000,0.079,3157,3384,567,585,550,0,0,0,0,0,0,26.56,26.31,26.58
$GC,18030,0.19,561.4,3157,3384,586,550,1996.3,18.6,332,18035,0.12,2.00,0.00,0.000,5126,0.176,0.062,3113,1991,568,586,551,0,0,0,0,0,0,26.25,26.39,26.38
$GC,18444,0.19,561.4,3113,1991,586,550,1925.5,14.6,336,18449,0.00,2.03,0.00,0.000,260,0.000,0.077,3114,3381,568,586,550,0,0,0,0,0,0,26.78,26.53,26.79
$GC,18530,0.19,561.4,3113,3382,586,550,1925.5,14.6,336,18534,0.00,1.98,0.00,0.000,1030,0.000,0.062,3122,1995,568,586,550,0,0,0,0,0,0,26.63,26.60,26.65
$GC,18924,0.19,561.4,3122,1994,586,550,1858.4,14.0,340,18929,0.00,2.03,0.00,0.000,260,0.000,0.079,3123,3385,568,586,550,0,0,0,0,0,0,26.90,26.65,26.91
$GC,18995,0.19,561.4,3122,3385,586,550,1858.4,14.0,340,18999,0.00,1.98,0.00,0.000,1030,0.000,0.062,3133,1993,567,585,550,0,0,0,0,0,0,26.73,26.70,26.74
$GC,19404,0.19,561.4,3133,1993,586,550,1790.5,14.2,344,19409,0.00,2.05,0.00,0.000,260,0.000,0.079,3132,3386,568,586,550,0,0,0,0,0,0,26.98,26.72,27.00
$GC,19470,0.19,561.4,3133,3387,586,550,1790.5,14.2,344,19475,0.08,1.95,0.00,0.000,5126,0.171,0.062,3115,2001,568,586,551,0,0,0,0,0,0,26.65,26.78,26.72
$GC,19884,0.19,561.4,3115,2001,586,550,1728.1,12.9,348,19889,0.00,2.03,0.00,0.000,260,0.000,0.079,3115,3382,568,586,550,0,0,0,0,0,0,27.03,26.77,27.05
$GC,19965,0.19,561.4,3115,3382,586,550,1728.1,12.9,348,19969,0.00,1.95,0.00,0.000,1030,0.000,0.062,3125,1995,568,586,550,0,0,0,0,0,0,26.86,26.83,26.87
$GC,20364,0.19,561.4,3124,1995,585,550,1666.8,12.7,352,20369,0.00,2.00,0.00,0.000,260,0.000,0.079,3125,3381,568,586,550,0,0,0,0,0,0,27.08,26.82,27.09
$GC,20445,0.19,561.4,3125,3381,586,550,1666.8,12.7,352,20449,0.00,1.95,0.00,0.000,1030,0.000,0.062,3134,1993,568,586,550,0,0,0,0,0,0,26.90,26.86,26.91
$GC,20844,0.19,561.4,3134,1993,586,550,1605.5,12.8,356,20849,0.00,2.00,0.00,0.000,260,0.000,0.079,3135,3382,568,586,550,0,0,0,0,0,0,27.10,26.84,27.12
$GC,20925,0.19,561.4,3134,3382,586,550,1605.5,12.8,356,20930,0.08,1.95,0.00,0.000,5126,0.166,0.062,3115,1998,568,586,550,0,0,0,0,0,0,26.78,26.90,26.84
$GC,21324,0.25,561.4,3114,1998,586,550,1550.2,11.4,360,21330,0.00,2.03,0.00,0.000,260,0.000,0.079,3114,3389,568,586,550,0,0,0,0,0,0,27.13,26.86,27.15
$GC,21410,0.30,561.4,3115,3389,585,550,1550.2,11.4,360,21414,0.00,1.95,0.00,0.000,1030,0.000,0.062,3123,2001,568,586,550,0,0,0,0,0,0,26.95,26.92,26.95
$GC,21804,0.36,561.4,3123,2001,585,550,1496.0,11.3,364,21810,0.08,1.98,0.00,0.000,2308,0.146,0.077,3179,3382,568,586,550,0,0,0,0,0,0,26.94,26.88,26.96
$GC,21891,0.41,561.4,3179,3382,586,550,1496.0,11.3,364,21895,0.00,1.92,0.00,0.000,1030,0.000,0.062,3190,1989,568,587,550,0,0,0,0,0,0,26.98,26.94,27.01
$GC,22284,0.41,561.4,3190,1988,586,550,1424.2,15.0,368,22289,0.00,2.00,0.00,0.000,260,0.000,0.079,3190,3381,568,586,550,0,0,0,0,0,0,27.17,26.90,27.17
$GC,22325,0.41,561.4,3189,3381,586,550,1424.2,15.0,368,22329,0.00,1.95,0.00,0.000,1030,0.000,0.062,3200,1994,567,585,550,0,0,0,0,0,0,26.98,26.96,26.98
$GC,22644,0.41,561.4,3200,1993,586,550,1368.2,15.4,371,22645,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1993,568,586,550,0,0,0,0,0,0,27.17,27.20,27.19
$GC,23004,0.41,561.4,3200,1993,586,551,1313.7,15.3,374,23009,0.00,2.00,0.00,0.000,260,0.000,0.079,3201,3385,568,586,550,0,0,0,0,0,0,27.18,26.92,27.20
$GC,23100,0.41,561.4,3200,3385,586,550,1313.7,15.3,374,23104,0.00,1.95,0.00,0.000,1030,0.000,0.062,3210,1997,568,586,550,0,0,0,0,0,0,27.00,26.97,27.01
$GC,23484,0.41,561.4,3211,1996,586,550,1239.6,15.4,378,23485,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1996,568,586,550,0,0,0,0,0,0,27.19,27.22,27.21
$GC,23844,0.41,561.4,3210,1996,586,551,1185.4,15.1,381,23845,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1996,568,586,550,0,0,0,0,0,0,27.20,27.22,27.22
$GC,24204,0.41,561.4,3210,1996,586,550,1131.3,14.9,384,24209,0.00,2.03,0.00,0.000,260,0.000,0.077,3211,3389,568,586,550,0,0,0,0,0,0,27.20,26.94,27.22
$GC,24285,0.41,561.4,3211,3389,586,550,1131.3,14.9,384,24290,0.12,1.95,0.00,0.000,5126,0.174,0.062,3177,1992,568,586,550,0,0,0,0,0,0,26.85,27.00,26.93
$GC,24684,0.41,561.4,3178,1991,586,550,1066.5,13.3,388,24689,0.00,2.00,0.00,0.000,260,0.000,0.077,3178,3388,567,585,550,0,0,0,0,0,0,27.21,26.95,27.23
$GC,24725,0.41,561.4,3178,3388,586,550,1066.5,13.3,388,24729,0.00,1.95,0.00,0.000,1030,0.000,0.062,3188,1994,568,586,550,0,0,0,0,0,0,27.03,27.00,27.03
$GC,25044,0.41,561.4,3188,1993,586,550,1018.3,13.3,391,25049,0.00,2.03,0.00,0.000,260,0.000,0.077,3188,3392,568,586,550,0,0,0,0,0,0,27.22,26.94,27.23
$GC,25120,0.41,561.4,3188,3392,586,550,1018.3,13.3,391,25124,0.00,1.95,0.00,0.000,1030,0.000,0.062,3199,1997,568,586,550,0,0,0,0,0,0,27.03,27.01,27.05
$GC,25464,0.41,561.4,3198,1997,586,550,962.5,12.9,397,25468,0.00,1.98,0.00,0.000,516,0.000,0.072,3210,617,568,586,550,0,0,0,0,0,0,27.22,26.98,27.23
$GC,25502,0.41,561.4,3209,616,586,551,962.5,12.9,397,25511,0.00,1.98,0.00,0.000,1030,0.000,0.062,3209,1994,568,586,550,0,0,0,0,0,0,27.03,27.00,27.05
$GC,25826,0.41,561.4,3209,1995,586,550,913.0,14.2,405,25832,0.00,2.03,0.00,0.000,260,0.000,0.077,3209,3401,568,586,550,0,0,0,0,0,0,27.22,26.96,27.24
$GC,25905,0.41,561.4,3209,3402,586,550,905.9,14.5,406,25910,0.12,1.90,0.00,0.000,5126,0.184,0.062,3177,1993,568,586,550,0,0,0,0,0,0,26.86,27.01,26.98
$GC,26228,0.41,561.4,3177,1993,586,550,859.5,12.4,413,26229,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1993,568,586,550,0,0,0,0,0,0,27.22,27.24,27.24
$GC,26542,0.41,561.4,3177,1993,586,550,820.5,12.2,420,26546,0.00,2.05,0.00,0.000,260,0.000,0.077,3177,3403,567,585,550,0,0,0,0,0,0,27.22,26.96,27.24
$GC,26627,0.41,561.4,3177,3404,586,550,814.5,12.3,421,26636,0.00,1.95,0.00,0.000,1030,0.000,0.060,3186,2001,568,586,550,0,0,0,0,0,0,27.05,27.02,27.06
$GC,26951,0.41,561.4,3186,2001,586,550,768.3,12.7,429,26956,0.00,2.00,0.00,0.000,260,0.000,0.077,3186,3399,568,586,550,0,0,0,0,0,0,27.23,26.96,27.25
$GC,26996,0.41,561.4,3186,3399,586,550,762.3,12.8,430,27001,0.00,1.90,0.00,0.000,1030,0.000,0.062,3196,1989,568,586,550,0,0,0,0,0,0,27.06,27.02,27.07
$GC,27311,0.41,561.4,3196,1989,585,550,721.0,13.3,437,27316,0.00,2.03,0.00,0.000,260,0.000,0.077,3196,3395,568,586,551,0,0,0,0,0,0,27.23,26.97,27.25
$GC,27356,0.41,561.4,3196,3394,586,550,714.9,13.2,438,27361,0.00,1.88,0.00,0.000,1030,0.000,0.062,3206,1998,568,586,551,0,0,0,0,0,0,27.07,27.02,27.08
$GC,27671,0.41,561.4,3206,1998,586,551,670.9,14.0,445,27672,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1998,568,586,550,0,0,0,0,0,0,27.23,27.26,27.25
$GC,27986,0.41,561.4,3206,1998,586,550,624.9,14.9,452,27990,0.00,2.05,0.00,0.000,260,0.000,0.077,3207,3411,568,586,551,0,0,0,0,0,0,27.24,26.97,27.25
$GC,28071,0.41,561.4,3207,3411,586,551,617.5,15.1,453,28081,0.10,1.95,0.00,0.000,5126,0.174,0.060,3181,1995,568,586,551,0,0,0,0,0,0,26.88,27.03,26.96
$GC,28395,0.41,561.4,3181,1995,589,551,567.8,13.0,461,28400,0.00,2.00,0.00,0.000,260,0.000,0.077,3181,3402,570,589,551,0,0,0,0,0,0,27.24,26.98,27.25
$GC,28457,0.41,561.4,3181,3401,589,551,561.4,13.3,462,28461,0.00,1.92,0.00,0.000,1030,0.000,0.060,3191,2001,570,589,551,0,0,0,0,0,0,27.05,27.03,27.07
$GC,28801,0.41,561.4,3191,2000,591,551,510.6,13.8,470,28806,0.00,2.00,0.00,0.000,260,0.000,0.077,3191,3399,571,591,551,0,0,0,0,0,0,27.24,26.98,27.26
$GC,28846,0.41,561.4,3191,3400,591,552,504.0,13.8,471,28854,0.00,1.88,3.30,0.591,9222,0.000,0.060,3200,1992,567,583,551,0,0,0,0,0,0,27.08,27.03,25.98
$GC,29157,0.41,561.4,3201,1992,582,551,459.8,14.2,478,29163,0.00,2.03,0.00,0.000,260,0.000,0.077,3201,3403,567,584,551,0,0,0,0,0,0,27.21,26.94,27.22
$GC,29225,0.41,561.4,3201,3403,583,551,452.9,14.4,479,29229,0.00,1.92,0.00,0.000,1030,0.000,0.060,3212,1998,567,583,551,0,0,0,0,0,0,27.03,27.01,27.04
$GC,29564,0.41,561.4,3212,1998,585,551,398.1,15.4,487,29569,0.00,1.98,0.00,0.000,260,0.000,0.077,3213,3397,568,585,551,0,0,0,0,0,0,27.22,26.96,27.24
$GC,29610,0.41,561.4,3212,3397,585,551,390.4,15.7,488,29616,0.12,1.92,0.00,0.000,5126,0.166,0.060,3178,1988,568,584,552,0,0,0,0,0,0,26.86,27.02,26.94
$GC,29925,0.49,561.4,3177,1987,587,551,349.8,12.4,495,29931,0.00,2.03,0.00,0.000,260,0.000,0.074,3177,3405,569,587,551,0,0,0,0,0,0,27.22,26.96,27.24
$GC,29988,0.57,561.4,3177,3405,586,551,344.0,12.4,496,29992,0.08,1.88,0.00,0.000,3078,0.142,0.060,3243,1984,569,587,551,0,0,0,0,0,0,26.97,27.02,27.03
$GC,30296,0.57,561.4,3243,1983,590,552,288.7,17.4,504,30302,0.00,2.03,0.00,0.000,260,0.000,0.074,3243,3401,570,590,551,0,0,0,0,0,0,27.23,26.98,27.24
$GC,30357,0.57,561.4,3243,3401,590,551,277.2,18.1,506,30363,0.00,1.85,0.00,0.000,1030,0.000,0.060,3254,2003,570,590,551,0,0,0,0,0,0,27.07,27.03,27.08
$GC,30687,0.57,561.4,3253,2003,591,551,216.1,18.9,517,30693,0.00,1.98,0.00,0.000,260,0.000,0.077,3253,3402,571,591,552,0,0,0,0,0,0,27.24,26.98,27.26
$GC,30730,0.57,561.4,3253,3403,590,551,210.5,18.9,518,30734,0.00,1.92,0.00,0.000,1030,0.000,0.060,3264,1990,571,591,551,0,0,0,0,0,0,27.05,27.04,27.07
$GC,31049,0.57,561.4,3263,1990,593,551,149.2,18.7,529,31054,0.00,2.00,0.00,0.000,260,0.000,0.077,3263,3397,572,593,551,0,0,0,0,0,0,27.24,26.98,27.26
$GC,31129,0.57,561.4,3263,3397,593,552,133.8,19.6,534,31135,0.10,1.85,0.00,0.000,5126,0.199,0.060,3233,1991,572,594,551,0,0,0,0,0,0,26.88,27.04,26.97
$GC,31445,0.63,561.4,3233,1991,597,551,85.0,14.3,555,31450,0.00,1.98,0.00,0.000,260,0.000,0.074,3234,3403,574,597,551,0,0,0,0,0,0,27.24,26.99,27.26
$GC,31498,0.63,561.4,3233,3403,597,552,77.9,14.7,558,31507,0.00,1.90,0.00,0.000,1030,0.000,0.060,3243,2001,574,597,552,0,0,0,0,0,0,27.06,27.05,27.08
$GC,31808,0.70,561.4,3243,2000,598,551,34.8,12.4,580,31819,0.03,1.95,0.00,0.000,2308,0.295,0.074,3274,3404,575,598,552,0,0,0,0,0,0,27.10,26.99,27.10
$GC,31866,0.70,561.4,3274,3404,598,552,25.8,15.7,585,31876,0.00,1.85,0.00,0.000,1030,0.000,0.060,3278,1998,575,598,552,0,0,0,0,0,0,27.10,27.05,27.10
$STATE,32075,end climb,SURFACE_DEPTH_REACHED
$STATE,32075,begin surface coast
$FINISH,0.1,1.023649
$STATE,32097,end surface coast,CONTROL_FINISHED_OK
$STATE,32097,begin surface
$SM_CCo,32171,0.00,0.000,0,0,574,559.19
$SM_GC,0.47,7.72,0.00,0.00,0.072,0.000,0.000,149,1997,574,-8.97,-0.08,559.19,0,0,0,0,0,0,27.01,27.27,27.05
$IRIDIUM_FIX,3153.16,-6434.39,300408,152510
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.24
$INTERNAL_PRESSURE,9.20201
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,2202.8,11.2
$24V_AH,21.88,5.597
$10V_AH,10.38,1.922
$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,23.250,258.850,593.125,0.000,116.125,22.313,22.423,132.453,17.750,0.000,18.754,2366.923,24123.389,736.758,5068.219,153.808,0.000,2774.590,0.000,4705.606,0.000,133.924,0.000
$DEVICE_MAMPS,295.477,84.422,2291.809,0.000,183.742,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.446,1988.126,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330548
$DATA_FILE_SIZE,40255,608
$CAP_FILE_SIZE,273490,0
$CFSIZE,1024409600,1017610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050715,185351,3204.063,-6431.252,33,1.0,34,-14.9,0.0,0.0,8,8.8