version: 66.12
glider: 38
mission: 4
dive: 106
start: 9 29 115 23 22 16
data:
$ID,38
$MISSION,4
$DIVE,106
$N_DIVES,0
$D_SURF,3
$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,0.30000001
$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,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$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,250
$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,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,121
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$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,-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,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$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
$GPS1,290915,230904,2936.9893,-7022.9966,39,1.1,40,-12.4,0.8,178.3,7,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-60.0
$GPS2,290915,232152,2937.1155,-7022.8599,5,1.0,12,-12.4,0.0,0.0,8,9.2
$SPEED_LIMITS,0.147,0.208
$TGT_NAME,3_SW
$TGT_LATLONG,2857.110,-7216.640
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.188518,-0.087672
$KALMAN_X,263568.031250,0.000000,0.000000,-829451.687500,18024.593750
$KALMAN_Y,157819.937500,0.000000,0.000000,-404680.437500,9570.625000
$MHEAD_RNG_PITCHd_Wd,257.5,198715,-9.8,-5.333,-14.39,4152
$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
$STATE,14,begin dive
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$GC,1537,-0.35,-146.6,2848,2185,2595,2694,94.0,-5.1,110,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2186,2644,2595,2694,0,0,0,0,0,0,27.16,27.18,27.17
$GC,1835,-0.35,-146.6,2848,2186,2595,2694,107.1,-4.0,130,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2186,2644,2595,2693,0,0,0,0,0,0,27.17,27.20,27.19
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$GC,3178,-0.35,-146.6,2837,2189,2595,2689,181.8,-5.2,200,3183,0.00,1.98,0.00,0.000,260,0.000,0.074,2828,3587,2642,2595,2689,0,0,0,0,0,0,27.19,26.78,27.21
$GC,3225,-0.35,-146.6,2828,3587,2594,2689,183.6,-5.2,201,3229,0.00,1.83,0.00,0.000,1030,0.000,0.057,2827,2196,2641,2594,2689,0,0,0,0,0,0,26.98,26.96,26.98
$GC,3539,-0.35,-146.6,2827,2194,2595,2687,200.4,-4.9,212,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2195,2641,2595,2687,0,0,0,0,0,0,27.20,27.22,27.21
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$GC,4139,-0.35,-146.6,2827,2195,2595,2684,233.4,-6.1,232,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2195,2639,2594,2684,0,0,0,0,0,0,27.20,27.22,27.21
$GC,4439,-0.35,-146.6,2827,2195,2595,2682,252.4,-6.4,242,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2195,2638,2595,2682,0,0,0,0,0,0,27.20,27.22,27.21
$GC,4739,-0.35,-146.6,2827,2195,2595,2681,271.9,-6.4,252,4745,0.00,2.00,0.00,0.000,260,0.000,0.077,2818,3601,2638,2595,2681,0,0,0,0,0,0,27.20,26.77,27.21
$GC,4802,-0.35,-146.6,2818,3601,2595,2681,276.1,-6.6,254,4807,0.10,1.85,0.00,0.000,3078,0.156,0.057,2857,2187,2637,2594,2681,0,0,0,0,0,0,26.63,26.95,26.69
$GC,5131,-0.35,-146.6,2857,2188,2595,2679,293.8,-5.0,265,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2188,2637,2595,2679,0,0,0,0,0,0,27.20,27.22,27.21
$GC,5463,-0.35,-146.6,2857,2188,2595,2678,309.8,-4.7,274,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2188,2636,2595,2677,0,0,0,0,0,0,27.20,27.21,27.21
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$GC,6174,-0.35,-146.6,2854,3605,2595,2674,339.7,-4.6,289,6183,0.00,1.85,0.00,0.000,1030,0.000,0.057,2854,2208,2634,2595,2674,0,0,0,0,0,0,26.96,26.94,26.97
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$GC,6550,-0.35,-146.6,2854,848,2595,2672,360.4,-5.2,298,6554,0.00,1.88,0.00,0.000,1030,0.000,0.060,2852,2199,2633,2595,2672,0,0,0,0,0,0,26.92,26.89,26.93
$GC,6859,-0.35,-146.6,2851,2199,2595,2671,376.0,-4.7,305,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2199,2633,2595,2671,0,0,0,0,0,0,27.19,27.21,27.20
$GC,7174,-0.35,-146.6,2851,2199,2595,2671,390.4,-4.5,312,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2199,2632,2595,2670,0,0,0,0,0,0,27.19,27.21,27.20
$GC,7489,-0.35,-146.6,2851,2199,2595,2670,405.7,-5.0,319,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2199,2632,2595,2670,0,0,0,0,0,0,27.19,27.21,27.20
$GC,7804,-0.35,-146.6,2850,2199,2595,2669,422.2,-5.3,326,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2199,2632,2595,2669,0,0,0,0,0,0,27.18,27.21,27.20
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$GC,8525,-0.35,-146.6,2849,2190,2595,2667,459.3,-5.0,342,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2190,2631,2595,2667,0,0,0,0,0,0,27.18,27.21,27.20
$GC,8840,-0.35,-146.6,2849,2191,2595,2666,474.2,-4.6,349,8845,0.00,1.98,0.00,0.000,260,0.000,0.077,2841,3590,2630,2595,2665,0,0,0,0,0,0,27.18,26.74,27.20
$GC,8892,-0.35,-146.6,2841,3590,2595,2666,476.5,-4.7,350,8896,0.00,1.85,0.00,0.000,1030,0.000,0.057,2841,2192,2630,2595,2666,0,0,0,0,0,0,26.96,26.94,26.96
$GC,9202,-0.35,-146.6,2841,2191,2595,2665,492.0,-5.0,357,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2191,2629,2594,2665,0,0,0,0,0,0,27.18,27.21,27.20
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$GC,10239,-0.35,-146.6,2839,2190,2595,2661,548.4,-4.9,380,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2190,2628,2595,2661,0,0,0,0,0,0,27.18,27.20,27.20
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$GC,10601,-0.35,-146.6,2832,3598,2595,2661,563.9,-4.2,388,10605,0.00,1.85,0.00,0.000,1030,0.000,0.057,2833,2205,2628,2595,2661,0,0,0,0,0,0,26.94,26.92,26.95
$GC,10915,-0.35,-146.6,2833,2205,2595,2660,578.6,-4.7,395,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2205,2627,2595,2659,0,0,0,0,0,0,27.18,27.20,27.20
$GC,11230,-0.35,-146.6,2832,2205,2595,2658,595.8,-5.6,402,11234,0.00,1.98,0.00,0.000,260,0.000,0.077,2828,3585,2626,2594,2658,0,0,0,0,0,0,27.18,26.72,27.20
$GC,11285,-0.35,-146.6,2827,3585,2595,2658,598.8,-5.8,403,11289,0.00,1.85,0.00,0.000,1030,0.000,0.057,2828,2188,2626,2595,2658,0,0,0,0,0,0,26.94,26.92,26.95
$GC,11594,-0.35,-146.6,2827,2187,2595,2657,619.5,-6.5,410,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2188,2625,2594,2657,0,0,0,0,0,0,27.18,27.20,27.20
$GC,11909,-0.35,-146.6,2828,2188,2595,2656,638.8,-6.0,417,11914,0.00,1.98,0.00,0.000,260,0.000,0.074,2823,3583,2625,2595,2656,0,0,0,0,0,0,27.17,26.72,27.19
$GC,11976,-0.35,-146.6,2822,3583,2595,2656,641.4,-5.9,418,11981,0.10,1.85,0.00,0.000,3078,0.144,0.057,2864,2177,2625,2594,2656,0,0,0,0,0,0,26.63,26.91,26.68
$GC,12315,-0.43,-146.6,2864,2177,2594,2654,657.9,-4.4,426,12317,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2177,2624,2595,2654,0,0,0,0,0,0,27.17,27.20,27.19
$GC,12630,-0.56,-146.6,2864,2177,2595,2653,677.1,-6.5,433,12637,0.08,2.03,0.00,0.000,4356,0.154,0.074,2805,3595,2623,2594,2653,0,0,0,0,0,0,26.89,26.70,26.91
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$GC,108153,-1.82,-146.6,2377,2210,2575,2594,5408.9,-1.6,1287,108154,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2210,2584,2575,2594,0,0,0,0,0,0,27.11,27.13,27.13
$GC,108512,-1.82,-146.6,2377,2210,2575,2594,5414.8,-1.7,1290,108513,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2210,2584,2574,2594,0,0,0,0,0,0,27.12,27.14,27.13
$GC,108872,-1.82,-146.6,2377,2210,2574,2594,5420.7,-1.6,1293,108873,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2211,2584,2575,2594,0,0,0,0,0,0,27.11,27.13,27.13
$GC,109232,-1.82,-146.6,2377,2210,2575,2594,5426.7,-1.7,1296,109238,0.00,2.12,0.00,0.000,260,0.000,0.079,2372,3582,2584,2574,2594,0,0,0,0,0,0,27.11,25.58,27.13
$GC,109328,-1.82,-146.6,2372,3582,2575,2594,5426.7,-1.7,1296,109332,0.00,2.00,0.00,0.000,1030,0.000,0.057,2372,2208,2584,2574,2594,0,0,0,0,0,0,26.39,26.33,26.41
$GC,109712,-1.82,-146.6,2372,2197,2575,2594,5435.0,-1.7,1300,109713,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2197,2585,2576,2594,0,0,0,0,0,0,27.11,27.13,27.13
$GC,110072,-1.82,-146.6,2372,2197,2575,2594,5441.3,-1.7,1303,110073,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2197,2584,2575,2594,0,0,0,0,0,0,27.11,27.14,27.13
$GC,110432,-1.82,-146.6,2371,2197,2575,2595,5446.9,-1.6,1306,110433,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2197,2584,2575,2594,0,0,0,0,0,0,27.12,27.13,27.13
$GC,110792,-1.82,-146.6,2372,2197,2575,2594,5452.2,-1.5,1309,110793,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2197,2584,2575,2594,0,0,0,0,0,0,27.12,27.14,27.13
$GC,111152,-1.82,-146.6,2372,2198,2575,2594,5457.7,-1.5,1312,111153,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2197,2584,2575,2594,0,0,0,0,0,0,27.12,27.14,27.13
$GC,111512,-1.82,-146.6,2372,2197,2575,2594,5462.9,-1.5,1315,111517,0.00,2.17,0.00,0.000,260,0.000,0.079,2366,3590,2584,2575,2594,0,0,0,0,0,0,27.11,25.58,27.13
$GC,111632,-1.82,-146.6,2365,3590,2574,2594,5464.8,-1.5,1316,111636,0.00,2.00,0.00,0.000,1030,0.000,0.057,2366,2203,2584,2574,2595,0,0,0,0,0,0,26.39,26.34,26.41
$GC,111996,-1.82,-146.6,2365,2180,2575,2594,5470.4,-1.5,1319,111997,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2180,2584,2575,2594,0,0,0,0,0,0,27.11,27.14,27.13
$GC,112355,-1.82,-146.6,2365,2180,2575,2594,5476.0,-1.5,1322,112356,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2180,2583,2574,2593,0,0,0,0,0,0,27.11,27.14,27.13
$GC,112715,-1.82,-146.6,2365,2180,2574,2594,5480.7,-1.4,1325,112716,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2180,2584,2575,2594,0,0,0,0,0,0,27.12,27.14,27.13
$STATE,113074,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,113074,begin apogee
$GC,113078,-0.25,0.0,2365,2180,2575,2594,5485.6,-1.3,1328,113226,1.55,0.00,144.32,4.273,10246,0.122,0.000,2897,2180,2140,2146,2135,0,0,0,0,0,0,24.85,22.61,20.86
$STATE,113227,end apogee,CONTROL_FINISHED_OK
$STATE,113227,begin climb
$GC,113229,0.53,146.6,2897,2180,2146,2135,5480.2,0.0,1329,113408,0.73,2.35,172.10,4.221,10756,0.092,0.092,3168,820,1634,1647,1622,0,0,0,0,0,0,23.18,22.37,20.98
$GC,113535,0.53,146.6,3167,820,1647,1622,5425.1,28.8,1331,113539,0.00,2.20,0.00,0.000,1030,0.000,0.057,3168,2190,1635,1648,1622,0,0,0,0,0,0,25.02,24.99,25.04
$GC,113914,-0.06,146.6,3167,2191,1647,1622,5270.4,32.2,1335,113920,0.62,2.10,0.00,0.000,4612,0.231,0.062,2997,816,1634,1647,1622,0,0,0,0,0,0,25.60,25.91,25.79
$GC,114147,-0.61,146.6,2997,816,1648,1622,5241.9,30.4,1336,114156,0.62,2.12,0.00,0.000,5126,0.199,0.062,2809,2216,1635,1648,1622,0,0,0,0,0,0,25.91,26.28,26.05
$GC,114516,-0.87,146.6,2808,2216,1648,1622,5170.1,14.5,1340,114518,0.35,0.00,0.00,0.000,4102,0.161,0.000,2692,2216,1634,1647,1622,0,0,0,0,0,0,26.17,26.40,26.34
$GC,114876,-0.95,146.6,2692,2216,1647,1622,5146.1,7.8,1343,114881,0.00,2.10,0.00,0.000,516,0.000,0.065,2693,825,1635,1648,1622,0,0,0,0,0,0,26.84,26.53,26.86
$GC,114927,-1.03,146.6,2693,825,1648,1622,5146.1,7.8,1343,114932,0.15,2.05,0.00,0.000,5126,0.146,0.060,2634,2205,1634,1647,1621,0,0,0,0,0,0,26.37,26.58,26.50
$GC,115351,-0.95,146.6,2635,2205,1647,1622,5120.4,5.3,1347,115357,0.00,2.10,0.00,0.000,260,0.000,0.079,2635,3583,1634,1647,1622,0,0,0,0,0,0,26.92,26.53,26.94
$GC,115528,-0.84,146.6,2634,3583,1648,1622,5112.5,5.8,1348,115533,0.10,2.00,0.00,0.000,3078,0.129,0.057,2693,2178,1635,1648,1622,0,0,0,0,0,0,26.57,26.65,26.64
$GC,115948,-0.76,146.6,2693,2176,1648,1622,5080.0,6.8,1352,115953,0.00,2.17,0.00,0.000,2308,0.000,0.079,2694,3581,1634,1647,1622,0,0,0,0,0,0,26.99,26.57,27.01
$GC,115988,-0.68,146.6,2693,3581,1647,1622,5080.0,6.8,1352,115993,0.08,1.98,0.00,0.000,3078,0.134,0.057,2746,2204,1634,1647,1622,0,0,0,0,0,0,26.62,26.69,26.70
$GC,116307,-0.68,146.6,2749,2198,1648,1622,5052.4,7.5,1355,116312,0.00,2.08,0.00,0.000,516,0.000,0.065,2759,824,1635,1648,1622,0,0,0,0,0,0,27.01,26.66,27.03
$GC,116388,-0.68,146.6,2758,824,1647,1622,5052.4,7.5,1355,116392,0.00,2.05,0.00,0.000,1030,0.000,0.060,2759,2195,1635,1648,1622,0,0,0,0,0,0,26.72,26.71,26.76
$GC,116787,-0.76,146.6,2758,2196,1648,1622,5013.9,8.0,1359,116789,0.10,0.00,0.00,0.000,4102,0.174,0.000,2723,2196,1634,1647,1622,0,0,0,0,0,0,26.61,26.72,26.69
$GC,117147,-0.81,146.6,2722,2196,1647,1622,4990.0,6.9,1362,117148,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2195,1634,1647,1622,0,0,0,0,0,0,27.05,27.07,27.06
$GC,117507,-0.81,146.6,2722,2196,1647,1622,4966.8,6.5,1365,117508,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1635,1648,1622,0,0,0,0,0,0,27.06,27.08,27.08
$GC,117867,-0.81,146.6,2722,2196,1647,1622,4944.2,6.3,1368,117868,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2196,1634,1647,1622,0,0,0,0,0,0,27.08,27.10,27.08
$GC,118227,-0.81,146.6,2722,2196,1647,1621,4922.0,6.2,1371,118228,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2196,1635,1648,1622,0,0,0,0,0,0,27.08,27.10,27.10
$GC,118587,-0.81,146.6,2722,2195,1647,1621,4899.5,6.2,1374,118588,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1634,1647,1622,0,0,0,0,0,0,27.09,27.11,27.10
$GC,118947,-0.81,146.6,2722,2196,1647,1622,4877.4,6.2,1377,118948,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2195,1634,1647,1622,0,0,0,0,0,0,27.10,27.12,27.11
$GC,119307,-0.81,146.6,2722,2196,1647,1622,4855.8,6.1,1380,119312,0.00,2.05,0.00,0.000,516,0.000,0.067,2722,828,1635,1648,1622,0,0,0,0,0,0,27.10,26.69,27.12
$GC,119348,-0.81,146.6,2722,828,1647,1622,4855.8,6.1,1380,119352,0.00,2.05,0.00,0.000,1030,0.000,0.060,2722,2223,1635,1648,1622,0,0,0,0,0,0,26.81,26.74,26.84
$GC,119667,-0.81,146.6,2722,2223,1647,1621,4834.6,5.9,1383,119668,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2223,1634,1647,1621,0,0,0,0,0,0,27.10,27.13,27.12
$GC,120027,-0.81,146.6,2723,2223,1647,1622,4813.9,5.8,1386,120028,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2223,1634,1647,1622,0,0,0,0,0,0,27.10,27.13,27.12
$GC,120387,-0.81,146.6,2723,2223,1647,1622,4793.3,5.7,1389,120392,0.00,2.12,0.00,0.000,516,0.000,0.065,2722,824,1634,1647,1622,0,0,0,0,0,0,27.11,26.67,27.13
$GC,120428,-0.81,146.6,2722,824,1647,1622,4793.3,5.7,1389,120432,0.00,2.05,0.00,0.000,1030,0.000,0.060,2722,2202,1634,1647,1622,0,0,0,0,0,0,26.77,26.74,26.80
$GC,120747,-0.81,146.6,2722,2202,1647,1621,4773.4,5.6,1392,120748,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2202,1634,1647,1622,0,0,0,0,0,0,27.11,27.13,27.13
$GC,121107,-0.81,146.6,2722,2202,1647,1622,4753.4,5.5,1395,121108,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2201,1635,1648,1622,0,0,0,0,0,0,27.11,27.13,27.13
$GC,121467,-0.81,146.6,2722,2202,1647,1621,4733.8,5.5,1398,121468,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2202,1634,1647,1622,0,0,0,0,0,0,27.11,27.14,27.13
$GC,121827,-0.81,146.6,2722,2202,1647,1621,4714.8,5.3,1401,121828,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2202,1634,1647,1621,0,0,0,0,0,0,27.12,27.13,27.14
$GC,122187,-0.81,146.6,2722,2202,1647,1621,4697.0,5.0,1404,122188,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2202,1634,1647,1622,0,0,0,0,0,0,27.12,27.14,27.13
$GC,122547,-0.81,146.6,2722,2202,1647,1621,4679.5,4.9,1407,122548,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2202,1634,1647,1621,0,0,0,0,0,0,27.12,27.15,27.13
$GC,122907,-0.81,146.6,2722,2202,1647,1622,4662.3,4.8,1410,122912,0.00,2.05,0.00,0.000,516,0.000,0.065,2723,833,1634,1646,1622,0,0,0,0,0,0,27.12,26.65,27.14
$GC,122948,-0.81,146.6,2722,833,1647,1621,4662.3,4.8,1410,122952,0.00,2.03,0.00,0.000,1030,0.000,0.060,2723,2196,1634,1647,1621,0,0,0,0,0,0,26.77,26.74,26.79
$GC,123267,-0.81,146.6,2722,2196,1647,1621,4644.8,4.9,1413,123268,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1634,1647,1621,0,0,0,0,0,0,27.12,27.15,27.14
$GC,123627,-0.81,146.6,2722,2196,1647,1621,4627.4,4.9,1416,123628,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2195,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.14
$GC,123987,-0.81,146.6,2722,2196,1647,1621,4609.9,4.8,1419,123988,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.14
$GC,124347,-0.81,146.6,2722,2196,1647,1621,4592.7,4.8,1422,124348,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.14
$GC,124707,-0.81,146.6,2722,2196,1647,1621,4575.0,4.9,1425,124708,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.14
$GC,125067,-0.81,146.6,2722,2196,1647,1621,4557.4,4.9,1428,125068,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,125427,-0.81,146.6,2722,2196,1647,1621,4539.7,4.9,1431,125428,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,125787,-0.81,146.6,2722,2196,1647,1621,4521.6,5.0,1434,125788,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.14
$GC,126147,-0.81,146.6,2722,2196,1647,1621,4503.9,4.9,1437,126148,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,126507,-0.81,146.6,2722,2196,1647,1621,4486.9,4.8,1440,126508,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,126867,-0.81,146.6,2722,2195,1647,1621,4469.6,4.8,1443,126868,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.14
$GC,127227,-0.81,146.6,2722,2196,1647,1621,4452.6,4.7,1446,127228,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2196,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,127587,-0.81,146.6,2722,2196,1647,1621,4436.2,4.6,1449,127592,0.00,2.05,0.00,0.000,516,0.000,0.065,2722,832,1634,1647,1621,0,0,0,0,0,0,27.13,26.60,27.15
$GC,127628,-0.81,146.6,2722,832,1647,1621,4436.2,4.6,1449,127632,0.00,2.03,0.00,0.000,1030,0.000,0.060,2722,2197,1634,1647,1621,0,0,0,0,0,0,26.72,26.68,26.74
$GC,127947,-0.81,146.6,2722,2197,1647,1621,4419.8,4.6,1452,127948,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2197,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,128307,-0.81,146.6,2722,2197,1647,1621,4404.0,4.4,1455,128308,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2197,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,128667,-0.81,146.6,2722,2197,1647,1621,4388.3,4.4,1458,128668,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2197,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,129027,-0.81,146.6,2722,2197,1647,1621,4373.1,4.3,1461,129028,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2197,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.14
$GC,129387,-0.81,146.6,2722,2197,1647,1621,4357.9,4.2,1464,129388,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2197,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,129747,-0.81,146.6,2722,2197,1647,1621,4342.2,4.3,1467,129748,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2197,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,130107,-0.81,146.6,2722,2197,1647,1621,4326.7,4.3,1470,130108,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2197,1634,1647,1621,0,0,0,0,0,0,27.13,27.15,27.15
$GC,130467,-0.76,146.6,2722,2197,1647,1622,4310.9,4.4,1473,130473,0.00,2.08,0.00,0.000,516,0.000,0.065,2722,828,1634,1647,1621,0,0,0,0,0,0,27.13,26.57,27.15
$GC,130513,-0.71,146.6,2722,828,1647,1621,4310.9,4.4,1473,130517,0.00,2.03,0.00,0.000,1030,0.000,0.060,2722,2204,1633,1646,1621,0,0,0,0,0,0,26.73,26.67,26.76
$GC,130827,-0.63,146.6,2722,2203,1647,1621,4290.5,5.3,1476,130833,0.05,2.05,0.00,0.000,2564,0.186,0.062,2756,830,1634,1647,1621,0,0,0,0,0,0,26.90,26.56,26.92
$GC,130995,-0.54,146.6,2756,830,1647,1621,4282.8,5.9,1477,130999,0.00,2.03,0.00,0.000,3078,0.000,0.060,2756,2201,1634,1647,1621,0,0,0,0,0,0,26.74,26.67,26.77
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$GC,189874,0.22,313.8,3029,844,1075,1043,1594.5,5.3,1968,189878,0.00,2.00,0.00,0.000,1030,0.000,0.060,3029,2205,1059,1075,1043,0,0,0,0,0,0,26.72,26.65,26.74
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$GC,190386,0.32,313.8,3029,841,1074,1043,1569.9,5.1,1972,190390,0.00,2.00,0.00,0.000,3078,0.000,0.060,3029,2205,1059,1075,1043,0,0,0,0,0,0,26.74,26.65,26.76
$GC,190705,0.37,313.8,3029,2205,1075,1043,1551.0,5.2,1975,190711,0.08,2.03,0.00,0.000,2564,0.156,0.062,3095,842,1059,1075,1043,0,0,0,0,0,0,26.84,26.56,26.86
$GC,191000,0.37,313.8,3095,842,1075,1043,1537.1,5.5,1977,191004,0.00,2.00,0.00,0.000,1030,0.000,0.060,3096,2203,1059,1075,1043,0,0,0,0,0,0,26.71,26.64,26.73
$GC,191423,0.30,313.8,3095,2203,1074,1043,1507.0,6.3,1981,191424,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2203,1059,1075,1043,0,0,0,0,0,0,27.13,27.16,27.15
$GC,191783,0.22,313.8,3095,2203,1074,1043,1483.8,6.5,1984,191789,0.15,2.03,0.00,0.000,4612,0.161,0.062,3042,843,1059,1075,1043,0,0,0,0,0,0,26.45,26.53,26.48
$GC,191834,0.14,313.8,3041,843,1075,1043,1483.8,6.5,1984,191838,0.00,2.00,0.00,0.000,1030,0.000,0.060,3041,2200,1059,1075,1043,0,0,0,0,0,0,26.70,26.63,26.72
$GC,192143,0.14,313.8,3041,2200,1073,1043,1467.1,5.0,1987,192144,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2200,1058,1074,1043,0,0,0,0,0,0,27.13,27.16,27.15
$GC,192503,0.14,313.8,3041,2201,1075,1043,1450.7,4.5,1990,192508,0.00,2.03,0.00,0.000,516,0.000,0.065,3041,843,1059,1075,1043,0,0,0,0,0,0,27.13,26.54,27.15
$GC,192554,0.14,313.8,3041,842,1075,1043,1450.7,4.5,1990,192558,0.00,2.03,0.00,0.000,1030,0.000,0.060,3041,2201,1059,1075,1043,0,0,0,0,0,0,26.67,26.64,26.68
$GC,192863,0.14,313.8,3041,2201,1075,1043,1436.1,4.1,1993,192864,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2201,1059,1075,1043,0,0,0,0,0,0,27.13,27.16,27.15
$GC,193223,0.14,313.8,3041,2201,1075,1043,1421.3,4.1,1996,193224,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2201,1059,1075,1043,0,0,0,0,0,0,27.14,27.16,27.15
$GC,193583,0.14,313.8,3042,2201,1075,1043,1405.3,4.4,1999,193588,0.00,2.05,0.00,0.000,516,0.000,0.065,3042,839,1059,1075,1043,0,0,0,0,0,0,27.13,26.53,27.15
$GC,193654,0.14,313.8,3041,839,1075,1043,1405.3,4.4,1999,193658,0.00,2.00,0.00,0.000,1030,0.000,0.060,3042,2215,1059,1075,1043,0,0,0,0,0,0,26.70,26.63,26.72
$GC,194063,0.14,313.8,3041,2215,1075,1043,1382.4,4.8,2003,194064,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2215,1059,1075,1043,0,0,0,0,0,0,27.13,27.16,27.15
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$GC,215544,0.51,313.8,3132,829,1075,1048,328.6,7.1,2363,215549,0.00,1.92,0.00,0.000,1030,0.000,0.057,3132,2202,1062,1075,1049,0,0,0,0,0,0,26.82,26.80,26.84
$GC,215859,0.51,313.8,3131,2202,1076,1049,306.7,6.7,2370,215860,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2202,1062,1076,1049,0,0,0,0,0,0,27.17,27.19,27.18
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$GC,216835,0.51,313.8,3131,2200,1078,1048,243.1,6.3,2401,216841,0.00,1.95,0.00,0.000,516,0.000,0.065,3132,820,1064,1079,1049,0,0,0,0,0,0,27.17,26.72,27.19
$GC,216888,0.51,313.8,3131,820,1079,1049,241.4,6.1,2402,216896,0.00,1.92,0.00,0.000,1030,0.000,0.060,3132,2200,1063,1079,1048,0,0,0,0,0,0,26.81,26.81,26.83
$GC,217197,0.51,313.8,3131,2200,1079,1049,220.9,6.2,2413,217198,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2200,1064,1080,1049,0,0,0,0,0,0,27.17,27.19,27.19
$GC,217497,0.51,313.8,3131,2200,1081,1048,202.4,6.1,2423,217502,0.00,1.95,0.00,0.000,516,0.000,0.065,3132,819,1065,1081,1049,0,0,0,0,0,0,27.17,26.73,27.19
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$GC,218158,0.51,313.8,3131,2209,1083,1049,163.6,5.6,2445,218164,0.00,1.92,0.00,0.000,516,0.000,0.065,3132,826,1066,1083,1049,0,0,0,0,0,0,27.17,26.74,27.19
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$GC,219136,0.56,313.8,3131,2207,1084,1049,108.6,5.4,2501,219151,0.00,1.98,3.83,0.469,8708,0.000,0.065,3132,830,1058,1069,1048,0,0,0,0,0,0,27.18,26.51,25.58
$GC,219203,0.63,313.8,3132,829,1069,1048,104.7,5.8,2505,219209,0.00,1.90,0.00,0.000,3078,0.000,0.060,3132,2215,1058,1069,1048,0,0,0,0,0,0,26.89,26.82,26.91
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$GC,220562,0.73,421.8,3180,2209,1073,1048,29.0,2.7,2604,220642,0.00,0.00,75.32,0.678,8198,0.000,0.000,3180,2209,687,708,667,0,0,0,0,0,0,27.18,25.91,25.39
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$STATE,220980,end climb,SURFACE_DEPTH_REACHED
$STATE,220981,begin surface coast
$FINISH,0.4,1.023382
$STATE,221022,end surface coast,CONTROL_FINISHED_OK
$STATE,221022,begin surface
$SM_CCo,221096,0.00,0.000,0,0,687,422.08
$SM_GC,0.71,7.55,0.00,0.00,0.072,0.000,0.000,155,2208,687,-8.70,0.23,422.08,0,0,0,0,0,0,26.58,26.94,26.62
$IRIDIUM_FIX,2937.63,-6920.24,240708,002839
$TT8_MAMPS,0.026215,0.026215
$HUMID,72.79
$INTERNAL_PRESSURE,9.49499
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,5401.0,113.1
$24V_AH,20.86,33.470
$10V_AH,10.18,22.656
$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,26.875,1107.625,551.275,0.000,154.175,56.584,41.837,383.536,35.500,0.000,13.322,10406.236,189856.344,1272.430,19471.109,738.405,0.611,8956.072,0.000,18489.480,0.000,260.991,0.000
$DEVICE_MAMPS,292.994,91.871,4273.243,0.000,188.708,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1819.803,8668.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329844
$DATA_FILE_SIZE,163634,2650
$CAP_FILE_SIZE,1247094,0
$CFSIZE,1024409600,999833600
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,68530.26,0x212b3c,0,24
$INTR,1,142828.41,0x235780,1,24
$GPS,021015,124900,2926.770,-7041.444,61,1.2,68,-12.2,0.8,92.0,9,9.8