version: 66.12
glider: 38
mission: 4
dive: 22
start: 7 6 115 3 17 15
data:
$ID,38
$MISSION,4
$DIVE,22
$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,123
$R_STBD_OVSHOOT,59
$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
$GPS1,060715,031233,3159.2268,-6430.5093,23,0.9,24,-14.9,0.0,0.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-62.8
$GPS2,060715,031652,3159.2019,-6430.5811,5,1.1,12,-14.9,0.7,268.0,10,9.7
$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,158.1,87623,-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,14,begin dive
$GC,15,-0.96,-146.6,133,1973,213,189,0.0,0.0,0,211,0.00,0.00,-193.23,0.149,16386,0.000,0.000,132,1973,2646,2606,2686,0,0,0,0,0,0,26.95,28.83,26.96
$GC,214,-0.96,-146.6,133,1973,2607,2686,4.0,-7.0,19,244,10.65,2.05,-11.93,0.184,18692,0.293,0.074,2727,3402,3007,2975,3039,0,0,0,0,0,0,26.10,26.28,26.22
$GC,513,-0.96,-146.6,2727,3402,2975,3039,53.1,-11.1,43,518,0.00,1.85,0.00,0.000,1030,0.000,0.062,2727,2022,3007,2975,3039,0,0,0,0,0,0,26.64,26.60,26.65
$GC,830,-0.96,-146.6,2727,2022,2975,3039,85.5,-10.0,64,835,0.00,1.95,0.00,0.000,260,0.000,0.074,2717,3395,3007,2975,3040,0,0,0,0,0,0,26.93,26.67,26.94
$GC,908,-0.96,-146.6,2717,3395,2975,3040,94.6,-11.3,69,913,0.00,1.88,0.00,0.000,1030,0.000,0.062,2718,1992,3007,2975,3039,0,0,0,0,0,0,26.79,26.76,26.81
$GC,1224,-0.96,-146.6,2717,1992,2975,3039,127.8,-10.7,90,1230,0.00,1.98,0.00,0.000,260,0.000,0.077,2707,3398,3006,2974,3039,0,0,0,0,0,0,27.03,26.79,27.05
$GC,1310,-0.96,-146.6,2707,3399,2975,3039,136.8,-11.7,95,1320,0.10,1.90,0.00,0.000,3078,0.184,0.060,2740,1973,3006,2974,3039,0,0,0,0,0,0,26.69,26.85,26.77
$GC,1619,-0.96,-146.6,2741,1972,2975,3039,168.0,-9.9,110,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1973,3007,2975,3039,0,0,0,0,0,0,27.10,27.12,27.12
$GC,1920,-1.01,-146.6,2741,1973,2975,3039,201.3,-11.5,120,1925,0.00,2.00,0.00,0.000,260,0.000,0.074,2731,3401,3007,2975,3039,0,0,0,0,0,0,27.14,26.89,27.15
$GC,2012,-1.01,-146.6,2731,3400,2975,3039,212.2,-11.9,123,2017,0.00,1.85,0.00,0.000,1030,0.000,0.060,2731,2000,3006,2974,3039,0,0,0,0,0,0,26.98,26.95,27.00
$GC,2342,-1.01,-146.6,2731,2000,2974,3039,250.1,-11.2,134,2347,0.00,1.98,0.00,0.000,260,0.000,0.077,2721,3411,3007,2975,3039,0,0,0,0,0,0,27.18,26.92,27.20
$GC,2403,-1.01,-146.6,2721,3411,2974,3039,257.2,-11.1,136,2409,0.00,1.85,0.00,0.000,1030,0.000,0.060,2721,1991,3006,2974,3039,0,0,0,0,0,0,27.03,26.98,27.03
$GC,2733,-1.01,-146.6,2721,1992,2974,3038,293.4,-10.8,147,2739,0.00,1.98,0.00,0.000,260,0.000,0.077,2711,3402,3006,2975,3038,0,0,0,0,0,0,27.20,26.95,27.22
$GC,2848,-1.01,-146.6,2711,3401,2974,3039,303.7,-10.8,150,2852,0.00,1.88,0.00,0.000,1030,0.000,0.060,2711,1998,3007,2975,3039,0,0,0,0,0,0,27.02,27.01,27.05
$GC,3187,-1.01,-146.6,2710,1998,2974,3038,344.8,-11.6,158,3193,0.00,1.98,0.00,0.000,260,0.000,0.077,2700,3410,3006,2974,3038,0,0,0,0,0,0,27.22,26.97,27.24
$GC,3260,-1.01,-146.6,2700,3410,2975,3038,350.3,-11.7,159,3264,0.00,1.88,0.00,0.000,1030,0.000,0.060,2701,2003,3006,2974,3038,0,0,0,0,0,0,27.05,27.03,27.06
$GC,3594,-1.01,-146.6,2700,2002,2974,3036,394.7,-12.4,167,3597,0.00,1.98,0.00,0.000,260,0.000,0.077,2691,3394,3005,2975,3036,0,0,0,0,0,0,27.23,26.98,27.26
$GC,3663,-1.01,-146.6,2690,3394,2974,3036,400.8,-12.5,168,3668,0.10,1.88,0.00,0.000,3078,0.176,0.060,2725,1982,3005,2974,3036,0,0,0,0,0,0,26.90,27.05,26.97
$GC,4003,-1.08,-146.6,2725,1981,2975,3035,440.6,-10.7,176,4008,0.00,1.98,0.00,0.000,260,0.000,0.074,2716,3395,3004,2974,3034,0,0,0,0,0,0,27.25,27.00,27.27
$GC,4095,-1.15,-146.6,2716,3396,2975,3035,450.8,-10.9,178,4100,0.05,1.85,0.00,0.000,5126,0.129,0.060,2678,2013,3004,2974,3035,0,0,0,0,0,0,26.96,27.06,27.01
$GC,4410,-1.15,-146.6,2678,2013,2975,3033,490.7,-12.7,185,4415,0.00,1.95,0.00,0.000,260,0.000,0.077,2667,3400,3004,2974,3034,0,0,0,0,0,0,27.26,27.01,27.27
$GC,4462,-1.15,-146.6,2667,3400,2974,3034,496.6,-12.7,186,4466,0.00,1.88,0.00,0.000,1030,0.000,0.060,2667,1997,3004,2974,3034,0,0,0,0,0,0,27.10,27.07,27.10
$GC,4771,-1.15,-146.6,2667,1997,2975,3032,539.1,-13.5,193,4776,0.00,1.98,0.00,0.000,260,0.000,0.077,2657,3411,3003,2975,3032,0,0,0,0,0,0,27.27,27.01,27.28
$GC,4853,-1.15,-146.6,2657,3411,2974,3032,545.5,-13.7,194,4862,0.00,1.90,0.00,0.000,1030,0.000,0.062,2657,1996,3003,2974,3032,0,0,0,0,0,0,27.09,27.08,27.10
$GC,5177,-1.15,-146.6,2657,1997,2975,3031,597.4,-14.4,202,5181,0.00,2.00,0.00,0.000,260,0.000,0.077,2646,3404,3003,2975,3031,0,0,0,0,0,0,27.27,27.02,27.29
$GC,5226,-1.15,-146.6,2646,3405,2974,3032,604.1,-14.2,203,5232,0.08,1.88,0.00,0.000,3078,0.214,0.060,2677,1975,3003,2975,3031,0,0,0,0,0,0,26.93,27.08,27.00
$GC,5540,-1.15,-146.6,2677,1975,2975,3031,645.0,-12.5,210,5546,0.00,1.98,0.00,0.000,260,0.000,0.074,2667,3390,3002,2975,3030,0,0,0,0,0,0,27.28,27.03,27.29
$GC,5619,-1.15,-146.6,2667,3391,2974,3031,651.0,-12.8,211,5623,0.00,1.83,0.00,0.000,1030,0.000,0.060,2667,2006,3003,2975,3031,0,0,0,0,0,0,27.12,27.08,27.13
$GC,5942,-1.15,-146.6,2667,2006,2975,3028,699.5,-13.6,218,5947,0.00,1.95,0.00,0.000,260,0.000,0.077,2657,3394,3001,2974,3029,0,0,0,0,0,0,27.28,27.03,27.29
$GC,6024,-1.15,-146.6,2657,3394,2974,3029,705.6,-13.6,219,6033,0.00,1.88,0.00,0.000,1030,0.000,0.060,2657,1996,3001,2975,3028,0,0,0,0,0,0,27.10,27.09,27.12
$GC,6348,-1.15,-146.6,2657,1996,2974,3027,756.3,-14.1,227,6353,0.00,1.98,0.00,0.000,260,0.000,0.074,2646,3409,3001,2975,3028,0,0,0,0,0,0,27.28,27.04,27.29
$GC,6426,-1.15,-146.6,2646,3409,2974,3027,762.9,-14.2,228,6431,0.10,1.88,0.00,0.000,3078,0.194,0.060,2681,1981,3001,2974,3028,0,0,0,0,0,0,26.94,27.09,27.05
$GC,6749,-1.15,-146.6,2681,1980,2974,3026,808.8,-12.7,235,6754,0.00,1.98,0.00,0.000,260,0.000,0.074,2672,3392,3000,2974,3026,0,0,0,0,0,0,27.29,27.03,27.30
$GC,6840,-1.15,-146.6,2671,3393,2974,3025,821.4,-13.2,237,6846,0.00,1.83,0.00,0.000,1030,0.000,0.060,2671,2011,2999,2974,3025,0,0,0,0,0,0,27.13,27.09,27.14
$GC,7155,-1.15,-146.6,2671,2011,2974,3022,864.9,-13.8,244,7161,0.00,1.98,0.00,0.000,260,0.000,0.077,2661,3392,2998,2975,3022,0,0,0,0,0,0,27.29,27.03,27.30
$GC,7237,-1.15,-146.6,2661,3392,2974,3022,871.1,-13.7,245,7246,0.00,1.88,0.00,0.000,1030,0.000,0.060,2661,2000,2997,2974,3021,0,0,0,0,0,0,27.11,27.09,27.13
$GC,7562,-1.15,-146.6,2661,2000,2975,3018,922.7,-14.3,253,7567,0.00,2.00,0.00,0.000,260,0.000,0.074,2650,3405,2996,2975,3018,0,0,0,0,0,0,27.29,27.03,27.31
$GC,7624,-1.15,-146.6,2650,3405,2974,3018,929.5,-14.6,254,7628,0.00,1.90,0.00,0.000,1030,0.000,0.060,2650,2000,2996,2974,3018,0,0,0,0,0,0,27.12,27.09,27.13
$GC,7968,-1.15,-146.6,2650,1999,2974,3013,984.9,-15.2,262,7974,0.08,1.98,0.00,0.000,2308,0.209,0.074,2673,3397,2994,2974,3014,0,0,0,0,0,0,26.97,27.03,27.02
$GC,8072,-1.15,-146.6,2673,3397,2974,3013,997.7,-14.6,264,8076,0.00,1.88,0.00,0.000,1030,0.000,0.060,2673,2005,2993,2974,3013,0,0,0,0,0,0,27.11,27.10,27.13
$GC,8466,-1.21,-146.6,2674,2005,2974,3009,1051.5,-13.2,268,8471,0.00,2.00,0.00,0.000,260,0.000,0.077,2663,3396,2992,2974,3010,0,0,0,0,0,0,27.29,27.03,27.31
$GC,8594,-1.26,-146.6,2663,3396,2974,3009,1068.8,-13.4,269,8597,0.00,1.88,0.00,0.000,1030,0.000,0.062,2663,1994,2991,2974,3009,0,0,0,0,0,0,27.13,27.10,27.15
$GC,8943,-1.32,-146.6,2663,1993,2974,3003,1115.7,-13.5,272,8949,0.05,2.00,0.00,0.000,4356,0.186,0.074,2605,3398,2989,2974,3004,0,0,0,0,0,0,27.09,27.04,27.13
$GC,9054,-1.38,-146.6,2605,3399,2974,3003,1115.7,-13.5,272,9063,0.00,1.90,0.00,0.000,1030,0.000,0.062,2605,2001,2988,2974,3002,0,0,0,0,0,0,27.11,27.10,27.13
$GC,9422,-1.38,-146.6,2605,2001,2974,2997,1192.4,-15.9,276,9428,0.00,2.00,0.00,0.000,260,0.000,0.077,2595,3402,2986,2974,2998,0,0,0,0,0,0,27.29,27.03,27.31
$GC,9555,-1.38,-146.6,2594,3402,2974,2997,1213.1,-16.1,277,9559,0.00,1.92,0.00,0.000,1030,0.000,0.062,2595,1991,2985,2974,2997,0,0,0,0,0,0,27.12,27.10,27.13
$GC,9904,-1.38,-146.6,2594,1992,2974,2992,1273.6,-16.9,280,9909,0.00,1.98,0.00,0.000,260,0.000,0.077,2584,3388,2983,2974,2992,0,0,0,0,0,0,27.29,27.04,27.31
$GC,10036,-1.38,-146.6,2584,3388,2974,2992,1294.4,-16.8,281,10040,0.00,1.88,0.00,0.000,1030,0.000,0.062,2584,1996,2983,2974,2992,0,0,0,0,0,0,27.14,27.09,27.15
$GC,10385,-1.38,-146.6,2584,1995,2974,2987,1358.0,-17.5,284,10390,0.00,2.03,0.00,0.000,260,0.000,0.077,2574,3404,2980,2974,2987,0,0,0,0,0,0,27.29,27.03,27.31
$GC,10491,-1.38,-146.6,2574,3404,2973,2986,1358.0,-17.5,284,10496,0.10,1.92,0.00,0.000,3078,0.174,0.062,2609,1991,2980,2974,2986,0,0,0,0,0,0,26.94,27.09,27.02
$GC,10865,-1.38,-146.6,2608,1991,2974,2983,1436.5,-16.2,288,10870,0.00,2.00,0.00,0.000,260,0.000,0.077,2599,3387,2978,2974,2983,0,0,0,0,0,0,27.29,27.03,27.31
$GC,10987,-1.38,-146.6,2599,3387,2973,2983,1455.5,-15.6,289,10991,0.00,1.90,0.00,0.000,1030,0.000,0.060,2600,2005,2978,2973,2983,0,0,0,0,0,0,27.12,27.10,27.13
$GC,11348,-1.38,-146.6,2599,2005,2973,2980,1511.6,-15.6,292,11353,0.00,2.03,0.00,0.000,260,0.000,0.077,2589,3401,2976,2973,2979,0,0,0,0,0,0,27.27,27.03,27.29
$GC,11476,-1.38,-146.6,2589,3402,2971,2979,1531.3,-15.5,293,11480,0.00,1.92,0.00,0.000,1030,0.000,0.062,2589,2004,2975,2971,2979,0,0,0,0,0,0,27.11,27.09,27.13
$GC,11835,-1.38,-146.6,2589,2003,2971,2977,1586.6,-15.4,296,11842,0.00,2.03,0.00,0.000,260,0.000,0.077,2579,3398,2973,2971,2976,0,0,0,0,0,0,27.26,27.03,27.28
$GC,11966,-1.38,-146.6,2578,3398,2970,2976,1606.2,-15.3,297,11970,0.00,1.88,0.00,0.000,1030,0.000,0.062,2578,1998,2973,2969,2977,0,0,0,0,0,0,27.13,27.08,27.15
$GC,12319,-1.38,-146.6,2579,1998,2969,2974,1661.0,-15.3,300,12326,0.00,2.03,0.00,0.000,260,0.000,0.079,2569,3390,2972,2969,2975,0,0,0,0,0,0,27.27,27.03,27.28
$GC,12436,-1.38,-146.6,2568,3390,2968,2975,1661.0,-15.3,300,12449,0.10,1.92,0.00,0.000,3078,0.169,0.062,2605,1988,2971,2967,2975,0,0,0,0,0,0,26.95,27.09,27.02
$GC,12807,-1.38,-146.6,2605,1988,2968,2973,1731.2,-14.3,304,12812,0.00,2.05,0.00,0.000,260,0.000,0.077,2596,3395,2970,2968,2973,0,0,0,0,0,0,27.27,27.02,27.29
$GC,12960,-1.38,-146.6,2596,3395,2966,2973,1749.6,-14.0,305,12964,0.00,1.92,0.00,0.000,1030,0.000,0.062,2596,2001,2969,2966,2973,0,0,0,0,0,0,27.11,27.08,27.13
$GC,13298,-1.43,-146.6,2595,2000,2967,2971,1800.8,-14.2,308,13302,0.00,2.03,0.00,0.000,260,0.000,0.079,2585,3390,2968,2966,2971,0,0,0,0,0,0,27.27,27.02,27.29
$GC,13424,-1.48,-146.6,2585,3389,2966,2971,1819.1,-14.1,309,13429,0.00,1.90,0.00,0.000,1030,0.000,0.062,2586,1992,2968,2966,2971,0,0,0,0,0,0,27.13,27.08,27.14
$GC,13784,-1.48,-146.6,2585,1992,2966,2969,1868.7,-13.9,312,13789,0.00,2.03,0.00,0.000,260,0.000,0.079,2575,3388,2967,2966,2969,0,0,0,0,0,0,27.26,27.02,27.28
$GC,13912,-1.48,-146.6,2575,3388,2965,2969,1886.4,-13.8,313,13916,0.00,1.90,0.00,0.000,1030,0.000,0.062,2575,1992,2967,2965,2969,0,0,0,0,0,0,27.13,27.08,27.14
$GC,14266,-1.48,-146.6,2575,1992,2966,2968,1936.9,-14.2,316,14272,0.00,2.05,0.00,0.000,260,0.000,0.077,2565,3395,2966,2965,2968,0,0,0,0,0,0,27.26,27.01,27.27
$GC,14377,-1.48,-146.6,2565,3395,2964,2968,1936.9,-14.2,316,14381,0.00,1.90,0.00,0.000,1030,0.000,0.062,2565,1988,2966,2964,2968,0,0,0,0,0,0,27.13,27.08,27.13
$GC,14754,-1.48,-146.6,2564,1988,2965,2967,2007.7,-14.5,320,14758,0.00,2.05,0.00,0.000,260,0.000,0.077,2555,3393,2966,2965,2967,0,0,0,0,0,0,27.27,27.01,27.29
$GC,14902,-1.48,-146.6,2554,3393,2964,2967,2026.3,-14.6,321,14906,0.00,1.92,0.00,0.000,1030,0.000,0.062,2555,2002,2965,2964,2967,0,0,0,0,0,0,27.10,27.08,27.12
$GC,15244,-1.48,-146.6,2554,2002,2964,2967,2079.3,-14.7,324,15248,0.00,2.00,0.00,0.000,260,0.000,0.077,2545,3387,2965,2964,2967,0,0,0,0,0,0,27.27,27.01,27.29
$GC,15358,-1.48,-146.6,2544,3388,2963,2967,2079.3,-14.7,324,15370,0.00,1.92,0.00,0.000,1030,0.000,0.062,2544,1999,2964,2963,2966,0,0,0,0,0,0,27.10,27.08,27.12
$GC,15729,-1.48,-146.6,2544,1999,2963,2966,2151.3,-14.8,328,15735,0.08,2.00,0.00,0.000,2308,0.206,0.077,2567,3390,2964,2963,2966,0,0,0,0,0,0,26.94,27.01,27.01
$GC,15844,-1.48,-146.6,2566,3391,2963,2966,2151.3,-14.8,328,15854,0.00,1.92,0.00,0.000,1030,0.000,0.062,2567,2000,2964,2963,2966,0,0,0,0,0,0,27.10,27.08,27.12
$STATE,16215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,16215,begin apogee
$GC,16219,-0.25,0.0,2566,2000,2962,2966,2212.7,-12.6,332,16334,1.15,0.00,109.85,2.302,10246,0.139,0.000,2979,1997,2500,2518,2482,0,0,0,0,0,0,26.94,24.57,23.55
$STATE,16335,end apogee,CONTROL_FINISHED_OK
$STATE,16335,begin climb
$GC,16337,0.96,146.6,2978,1998,2518,2481,2219.4,0.0,333,16466,1.02,2.25,122.65,2.252,10500,0.082,0.087,3374,3396,1994,2011,1978,0,0,0,0,0,0,24.95,23.89,23.08
$GC,16571,0.96,146.6,3374,3396,2008,1981,2242.4,-9.2,335,16576,0.00,2.08,0.00,0.000,1030,0.000,0.060,3385,2001,1994,2008,1981,0,0,0,0,0,0,25.44,25.42,25.46
$GC,16932,0.82,563.5,3384,2001,2007,1981,2275.0,-9.1,338,17299,0.25,2.33,356.90,2.269,12804,0.261,0.082,3324,628,559,582,537,0,0,0,0,0,0,25.94,22.68,21.89
$GC,17496,0.52,563.5,3324,628,582,537,2195.1,17.5,342,17501,0.38,2.08,0.00,0.000,5126,0.204,0.062,3219,1995,559,582,537,0,0,0,0,0,0,25.09,25.25,25.23
$GC,17885,0.36,563.5,3218,1995,582,537,2078.1,24.2,346,17891,0.15,2.08,0.00,0.000,4356,0.209,0.077,3166,3387,559,582,537,0,0,0,0,0,0,25.92,26.01,26.00
$GC,17946,0.20,563.5,3166,3386,582,537,2078.1,24.2,346,17951,0.15,2.00,0.00,0.000,5126,0.179,0.062,3116,2002,559,582,537,0,0,0,0,0,0,25.98,26.15,26.11
$GC,18365,0.20,563.5,3116,2001,582,536,1997.2,16.7,350,18370,0.00,2.08,0.00,0.000,260,0.000,0.079,3116,3393,559,582,537,0,0,0,0,0,0,26.65,26.39,26.67
$GC,18450,0.20,563.5,3116,3393,582,536,1997.2,16.7,350,18455,0.00,2.00,0.00,0.000,1030,0.000,0.062,3126,1990,559,582,537,0,0,0,0,0,0,26.51,26.49,26.53
$GC,18844,0.20,563.5,3125,1989,582,537,1922.9,15.4,354,18850,0.00,2.08,0.00,0.000,260,0.000,0.079,3126,3390,559,582,537,0,0,0,0,0,0,26.83,26.57,26.85
$GC,18900,0.20,563.5,3125,3390,582,537,1922.9,15.4,354,18904,0.00,1.98,0.00,0.000,1030,0.000,0.062,3137,2000,559,582,537,0,0,0,0,0,0,26.67,26.65,26.68
$GC,19324,0.20,563.5,3136,1999,582,537,1848.9,15.4,358,19330,0.00,2.05,0.00,0.000,260,0.000,0.079,3136,3389,559,582,537,0,0,0,0,0,0,26.94,26.68,26.96
$GC,19405,0.20,563.5,3136,3389,582,537,1848.9,15.4,358,19410,0.00,1.98,0.00,0.000,1030,0.000,0.062,3147,1988,559,582,537,0,0,0,0,0,0,26.77,26.74,26.79
$GC,19804,0.20,563.5,3146,1988,582,537,1775.7,15.2,362,19810,0.00,2.08,0.00,0.000,260,0.000,0.079,3147,3397,559,582,537,0,0,0,0,0,0,27.01,26.75,27.03
$GC,19885,0.20,563.5,3146,3397,582,537,1775.7,15.2,362,19891,0.12,1.98,0.00,0.000,5126,0.169,0.062,3113,1998,559,582,537,0,0,0,0,0,0,26.68,26.82,26.76
$GC,20284,0.20,563.5,3113,1998,581,537,1709.7,13.6,366,20290,0.00,2.05,0.00,0.000,260,0.000,0.077,3113,3395,560,583,537,0,0,0,0,0,0,27.05,26.79,27.08
$GC,20350,0.20,563.5,3113,3395,582,537,1709.7,13.6,366,20355,0.00,1.98,0.00,0.000,1030,0.000,0.062,3123,1994,559,582,537,0,0,0,0,0,0,26.89,26.86,26.90
$GC,20764,0.20,563.5,3122,1994,582,536,1646.5,13.2,370,20770,0.00,2.03,0.00,0.000,260,0.000,0.077,3123,3395,559,582,537,0,0,0,0,0,0,27.09,26.83,27.11
$GC,20815,0.20,563.5,3123,3395,582,537,1646.5,13.2,370,20819,0.00,1.95,0.00,0.000,1030,0.000,0.062,3133,2002,559,582,537,0,0,0,0,0,0,26.91,26.89,26.92
$GC,21124,0.20,563.5,3133,2002,582,537,1600.0,12.9,373,21126,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2002,559,582,537,0,0,0,0,0,0,27.11,27.14,27.13
$GC,21484,0.20,563.5,3133,2002,582,537,1554.0,12.7,376,21490,0.00,2.03,0.00,0.000,260,0.000,0.079,3133,3390,559,582,537,0,0,0,0,0,0,27.13,26.88,27.15
$GC,21560,0.20,563.5,3133,3390,582,537,1554.0,12.7,376,21564,0.00,1.95,0.00,0.000,1030,0.000,0.062,3144,1995,559,582,537,0,0,0,0,0,0,26.96,26.93,26.97
$GC,21964,0.20,563.5,3143,1994,582,537,1489.1,13.5,380,21970,0.00,2.05,0.00,0.000,260,0.000,0.077,3143,3396,559,582,537,0,0,0,0,0,0,27.15,26.89,27.17
$GC,22030,0.20,563.5,3143,3396,582,537,1489.1,13.5,380,22035,0.10,1.95,0.00,0.000,5126,0.156,0.062,3116,2000,559,582,537,0,0,0,0,0,0,26.82,26.94,26.89
$GC,22445,0.26,563.5,3116,2000,582,537,1432.8,11.6,384,22450,0.00,2.05,0.00,0.000,260,0.000,0.077,3116,3401,559,582,537,0,0,0,0,0,0,27.17,26.91,27.18
$GC,22511,0.32,563.5,3116,3401,582,537,1432.8,11.6,384,22515,0.00,1.92,0.00,0.000,1030,0.000,0.062,3125,1994,559,582,536,0,0,0,0,0,0,27.01,26.96,27.02
$GC,22925,0.39,563.5,3124,1994,582,537,1378.1,11.4,388,22931,0.08,2.00,0.00,0.000,2308,0.146,0.077,3183,3386,559,582,537,0,0,0,0,0,0,26.96,26.92,26.99
$GC,22971,0.46,563.5,3182,3386,582,537,1378.1,11.4,388,22975,0.00,1.90,0.00,0.000,1030,0.000,0.062,3194,1996,559,582,537,0,0,0,0,0,0,27.02,26.97,27.03
$GC,23285,0.46,563.5,3193,1995,581,537,1323.9,14.3,391,23286,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1996,559,582,537,0,0,0,0,0,0,27.18,27.21,27.20
$GC,23644,0.46,563.5,3193,1996,582,537,1271.4,14.8,394,23646,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1996,559,582,537,0,0,0,0,0,0,27.19,27.22,27.21
$GC,24004,0.46,563.5,3193,1995,582,537,1219.8,14.3,397,24010,0.00,2.05,0.00,0.000,260,0.000,0.077,3193,3402,559,582,537,0,0,0,0,0,0,27.20,26.94,27.22
$GC,24070,0.46,563.5,3193,3402,582,537,1219.8,14.3,397,24075,0.00,1.98,0.00,0.000,1030,0.000,0.062,3204,1990,559,582,536,0,0,0,0,0,0,27.01,26.99,27.03
$GC,24484,0.46,563.5,3204,1990,582,537,1145.9,15.4,401,24490,0.00,2.03,0.00,0.000,260,0.000,0.077,3204,3400,559,582,537,0,0,0,0,0,0,27.21,26.94,27.22
$GC,24570,0.46,563.5,3204,3400,582,537,1145.9,15.4,401,24575,0.00,1.95,0.00,0.000,1030,0.000,0.060,3214,2003,559,582,537,0,0,0,0,0,0,27.03,26.99,27.04
$GC,24965,0.46,563.5,3214,2002,582,537,1071.3,15.5,405,24966,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2002,559,582,537,0,0,0,0,0,0,27.21,27.24,27.23
$GC,25324,0.46,563.5,3214,2002,582,537,1017.9,14.9,408,25330,0.00,2.00,0.00,0.000,260,0.000,0.077,3214,3395,559,582,537,0,0,0,0,0,0,27.22,26.95,27.24
$GC,25370,0.46,563.5,3214,3395,582,537,1017.9,14.9,408,25375,0.00,1.95,0.00,0.000,1030,0.000,0.060,3225,1994,559,582,537,0,0,0,0,0,0,27.04,27.01,27.05
$GC,25714,0.46,563.5,3225,1994,582,537,957.8,15.0,415,25716,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1994,559,582,537,0,0,0,0,0,0,27.22,27.24,27.24
$GC,26029,0.46,563.5,3225,1994,582,537,910.1,15.3,422,26035,0.00,2.03,0.00,0.000,260,0.000,0.077,3225,3389,559,582,537,0,0,0,0,0,0,27.22,26.96,27.24
$GC,26076,0.46,563.5,3225,3389,582,537,902.8,15.6,423,26081,0.10,1.95,0.00,0.000,5126,0.181,0.060,3201,1991,559,582,537,0,0,0,0,0,0,26.86,27.02,26.94
$GC,26391,0.46,563.5,3200,1991,582,537,859.6,13.4,430,26396,0.00,2.05,0.00,0.000,260,0.000,0.077,3200,3401,559,582,537,0,0,0,0,0,0,27.22,26.96,27.24
$GC,26443,0.46,563.5,3201,3401,582,537,853.3,13.5,431,26447,0.00,1.95,0.00,0.000,1030,0.000,0.062,3211,1995,560,583,537,0,0,0,0,0,0,27.05,27.01,27.05
$GC,26752,0.46,563.5,3211,1995,582,537,807.4,14.8,438,26756,0.00,2.05,0.00,0.000,260,0.000,0.077,3211,3399,559,582,537,0,0,0,0,0,0,27.22,26.96,27.24
$GC,26785,0.46,563.5,3211,3403,582,537,807.4,14.8,438,26789,0.00,1.95,0.00,0.000,1030,0.000,0.062,3222,2001,559,582,537,0,0,0,0,0,0,27.04,27.03,27.05
$GC,27114,0.46,563.5,3221,2001,582,537,751.6,15.4,446,27115,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2000,559,582,537,0,0,0,0,0,0,27.23,27.25,27.24
$GC,27429,0.46,563.5,3221,2001,583,537,704.9,14.6,453,27430,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2001,559,582,537,0,0,0,0,0,0,27.23,27.25,27.25
$GC,27744,0.46,563.5,3221,2001,582,537,659.3,14.6,460,27750,0.00,2.00,0.00,0.000,260,0.000,0.077,3222,3393,559,582,537,0,0,0,0,0,0,27.23,26.98,27.25
$GC,27816,0.46,563.5,3222,3393,582,538,651.8,15.1,461,27821,0.10,1.92,0.00,0.000,5126,0.174,0.060,3197,1999,559,581,538,0,0,0,0,0,0,26.88,27.03,26.96
$GC,28151,0.46,563.5,3196,1998,583,540,601.1,13.9,469,28154,0.00,2.03,0.00,0.000,260,0.000,0.077,3197,3399,561,582,540,0,0,0,0,0,0,27.24,26.97,27.25
$GC,28199,0.46,563.5,3196,3400,582,541,594.3,14.2,470,28205,0.00,1.88,0.00,0.000,1030,0.000,0.060,3207,1994,562,583,541,0,0,0,0,0,0,27.08,27.03,27.09
$GC,28513,0.46,563.5,3207,1993,583,542,547.4,14.7,477,28514,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1993,562,582,542,0,0,0,0,0,0,27.24,27.26,27.26
$GC,28828,0.46,563.5,3207,1993,583,545,498.8,15.4,484,28834,0.00,2.00,0.00,0.000,260,0.000,0.074,3206,3393,563,582,545,0,0,0,0,0,0,27.24,26.98,27.26
$GC,28895,0.46,563.5,3207,3393,583,546,491.6,15.5,485,28900,0.00,1.92,0.00,0.000,1030,0.000,0.060,3218,1992,564,583,546,0,0,0,0,0,0,27.06,27.03,27.07
$GC,29234,0.46,563.5,3217,1991,583,548,433.8,15.8,493,29238,0.00,2.03,0.00,0.000,260,0.000,0.077,3218,3398,565,583,548,0,0,0,0,0,0,27.24,26.98,27.26
$GC,29289,0.46,563.5,3217,3397,583,548,425.8,16.0,494,29294,0.10,1.92,0.00,0.000,5126,0.176,0.060,3192,1992,565,582,549,0,0,0,0,0,0,26.89,27.03,26.96
$GC,29599,0.51,563.5,3191,1992,583,551,381.9,13.4,501,29602,0.00,2.03,0.00,0.000,260,0.000,0.074,3192,3402,567,583,551,0,0,0,0,0,0,27.24,26.98,27.26
$GC,29653,0.51,563.5,3192,3403,583,552,374.8,13.6,502,29657,0.00,1.92,0.00,0.000,1030,0.000,0.060,3202,1990,567,583,552,0,0,0,0,0,0,27.06,27.05,27.08
$GC,29962,0.51,563.5,3202,1990,583,554,331.0,13.8,509,29972,0.00,2.08,3.80,0.613,8452,0.000,0.074,3202,3399,560,579,541,0,0,0,0,0,0,27.24,26.85,26.10
$GC,30007,0.51,563.5,3202,3399,579,541,324.2,14.1,510,30012,0.00,1.88,0.00,0.000,1030,0.000,0.060,3213,1988,560,579,542,0,0,0,0,0,0,27.03,26.99,27.05
$GC,30339,0.51,563.5,3213,1988,579,541,275.6,14.8,519,30344,0.00,2.00,0.00,0.000,260,0.000,0.074,3213,3401,560,579,541,0,0,0,0,0,0,27.21,26.96,27.22
$GC,30385,0.51,563.5,3213,3401,579,541,270.8,15.0,520,30389,0.00,1.92,0.00,0.000,1030,0.000,0.060,3224,1991,560,579,541,0,0,0,0,0,0,27.06,27.02,27.05
$GC,30699,0.51,563.5,3223,1991,579,542,220.0,15.4,531,30704,0.00,2.00,0.00,0.000,260,0.000,0.077,3224,3397,560,579,542,0,0,0,0,0,0,27.22,26.96,27.24
$GC,30751,0.51,563.5,3223,3396,579,542,215.3,15.5,532,30760,0.00,1.90,0.00,0.000,1030,0.000,0.060,3234,1997,560,579,542,0,0,0,0,0,0,27.05,27.03,27.05
$GC,31060,0.51,563.5,3233,1997,579,544,164.0,15.2,543,31065,0.00,2.00,0.00,0.000,260,0.000,0.077,3234,3397,561,579,543,0,0,0,0,0,0,27.22,26.97,27.24
$GC,31123,0.51,563.5,3234,3397,578,545,153.9,15.9,545,31128,0.00,1.90,0.00,0.000,1030,0.000,0.060,3243,1997,562,579,545,0,0,0,0,0,0,27.05,27.03,27.07
$GC,31438,0.51,563.5,3242,1997,579,547,103.5,15.5,565,31439,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1997,563,580,546,0,0,0,0,0,0,27.24,27.26,27.25
$GC,31738,0.51,563.5,3243,1997,580,547,58.0,14.7,585,31743,0.00,1.98,0.00,0.000,260,0.000,0.077,3243,3405,563,579,548,0,0,0,0,0,0,27.24,26.98,27.26
$GC,31802,0.51,563.5,3242,3404,579,548,47.2,16.9,589,31808,0.12,1.88,0.00,0.000,5126,0.154,0.060,3205,1983,563,579,548,0,0,0,0,0,0,26.91,27.04,26.98
$GC,32117,0.73,647.4,3204,1982,579,549,21.6,6.2,618,32188,0.12,2.12,59.72,0.804,10500,0.119,0.082,3284,3397,270,311,230,0,0,0,0,0,0,27.03,26.01,25.48
$STATE,32269,end climb,SURFACE_DEPTH_REACHED
$STATE,32269,begin surface coast
$FINISH,1.0,1.023680
$STATE,32282,end surface coast,CONTROL_FINISHED_OK
$STATE,32282,begin surface
$SM_CCo,32359,0.00,0.000,0,0,270,647.79
$SM_GC,0.11,8.25,1.95,0.00,0.092,0.057,0.000,159,2006,270,-8.98,2.77,647.79,0,0,0,0,0,0,26.26,26.33,26.32
$IRIDIUM_FIX,3150.62,-6429.79,010508,082141
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.96
$INTERNAL_PRESSURE,9.18248
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,2212.7,11.5
$24V_AH,21.89,6.468
$10V_AH,10.48,2.154
$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,23.675,255.925,652.925,0.000,205.150,22.917,18.457,117.115,17.750,0.000,12.963,2325.208,24532.805,824.969,4780.905,145.508,0.000,2775.721,0.000,4453.489,0.000,133.602,0.000
$DEVICE_MAMPS,292.994,86.905,2301.741,0.000,183.742,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.861,2069.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330340
$DATA_FILE_SIZE,40105,633
$CAP_FILE_SIZE,262277,0
$CFSIZE,1024409600,1017380864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060715,121733,3153.320,-6430.333,25,0.8,26,-14.9,0.0,0.0,10,9.4