version: 66.11
glider: 192
mission: 2
dive: 341
start: 11 19 113 4 32 8
data:
$ID,192
$MISSION,2
$DIVE,341
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2520.323
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,191113,042236,6651.814,-5841.119,36,0.9,36,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-66.7
$GPS2,191113,043130,6651.882,-5841.583,22,1.0,22,-33.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,136.5,84569,-15.5,-8.250,-18.49,2720
$D_GRID,966
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,21,-0.89,-146.0,122,2484,1123,1066,0.0,0.0,0,95,0.00,0.00,-71.80,0.000,16386,0.000,0.000,118,2483,2430,2509,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.89,-146.0,118,2483,2509,2354,3.1,-1.6,12,147,10.32,1.67,-29.10,0.000,18692,0.421,0.173,2212,3350,3339,3519,3160,0,0,0,0,0,0,13.95,14.26,14.70
$GC,170,-0.77,-146.0,2212,3350,3521,3159,12.6,-19.5,22,177,0.20,1.50,0.00,0.000,3078,0.288,0.090,2256,2480,3340,3521,3159,0,0,0,0,0,0,14.04,14.34,28.83
$GC,494,-0.69,-146.0,1368,2477,3514,3156,75.8,-18.8,83,501,0.12,1.60,0.00,0.000,2308,0.304,0.135,2284,3346,3340,3521,3159,0,0,0,0,0,0,14.08,14.26,28.83
$GC,548,-0.64,-146.0,1408,3345,3514,3156,86.4,-16.7,92,555,0.00,1.50,0.00,0.000,1030,0.000,0.091,2284,2477,3340,3522,3159,0,0,0,0,0,0,28.83,14.37,28.83
$GC,867,-0.60,-146.0,2284,2477,3522,3158,134.8,-14.8,131,871,0.12,1.65,0.00,0.000,2308,0.291,0.137,2310,3343,3340,3522,3158,0,0,0,0,0,0,14.16,14.22,28.83
$GC,924,-0.58,-146.0,2310,3343,3522,3158,142.6,-13.3,136,927,0.00,1.50,0.00,0.000,1030,0.000,0.092,2310,2469,3339,3521,3158,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1239,-0.57,-146.0,2310,2469,3522,3158,178.8,-10.8,167,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2469,3340,3522,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1551,-0.56,-146.0,1416,2467,3514,3155,210.5,-10.3,198,1554,0.00,1.62,0.00,0.000,260,0.000,0.144,2302,3346,3339,3522,3157,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1647,-0.54,-146.0,2304,3346,3521,3157,220.8,-10.8,207,1651,0.12,1.50,0.00,0.000,3078,0.273,0.092,2330,2472,3339,3522,3157,0,0,0,0,0,0,14.18,14.41,28.83
$GC,1964,-0.55,-146.0,2330,2472,3522,3157,251.1,-9.9,238,1968,0.00,1.65,0.00,0.000,260,0.000,0.142,2325,3340,3339,3522,3157,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2012,-0.55,-146.0,1472,3339,3515,3154,255.9,-10.1,242,2019,0.00,1.50,0.00,0.000,1030,0.000,0.092,2326,2469,3339,3522,3157,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2321,-0.55,-146.0,2326,2469,3521,3157,285.0,-8.7,273,2325,0.00,1.62,0.00,0.000,260,0.000,0.144,2320,3346,3339,3522,3157,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2379,-0.55,-146.0,1472,3345,3515,3154,289.8,-8.5,278,2386,0.00,1.50,0.00,0.000,1030,0.000,0.090,2320,2474,3339,3522,3157,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2687,-0.55,-146.0,2320,2474,3522,3157,315.8,-8.6,309,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2474,3339,3522,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3003,-0.55,-146.0,2320,2474,3522,3157,342.3,-9.0,340,3007,0.00,1.65,0.00,0.000,260,0.000,0.139,2313,3340,3339,3522,3157,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3071,-0.55,-146.0,1456,3339,3515,3154,348.8,-9.2,346,3078,0.00,1.50,0.00,0.000,1030,0.000,0.090,2313,2469,3339,3521,3157,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3380,-0.55,-146.0,2313,2469,3522,3157,377.4,-9.1,377,3384,0.00,1.67,0.00,0.000,260,0.000,0.142,2307,3344,3339,3522,3157,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3429,-0.55,-146.0,2307,3345,3522,3157,381.9,-9.7,381,3436,0.00,1.50,0.00,0.000,1030,0.000,0.089,2307,2472,3339,3522,3157,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3738,-0.55,-146.0,2307,2473,3523,3157,411.8,-9.5,412,3742,0.00,1.62,0.00,0.000,260,0.000,0.138,2301,3351,3340,3523,3157,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3776,-0.55,-146.0,2301,3351,3522,3157,415.2,-9.8,415,3783,0.00,1.50,0.00,0.000,1030,0.000,0.090,2301,2481,3340,3523,3157,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4085,-0.55,-146.0,2301,2480,3524,3157,447.6,-10.1,446,4089,0.00,1.65,0.00,0.000,260,0.000,0.141,2295,3344,3340,3523,3157,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4161,-0.55,-146.0,2295,3344,3523,3157,455.7,-10.6,453,4165,0.15,1.50,0.00,0.000,3078,0.259,0.088,2328,2467,3340,3523,3158,0,0,0,0,0,0,14.15,14.40,28.83
$GC,4477,-0.57,-146.0,2328,2467,3524,3157,482.2,-8.3,484,4481,0.00,1.67,0.00,0.000,260,0.000,0.142,2324,3347,3341,3524,3158,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4517,-0.59,-146.0,2324,3347,3524,3157,485.1,-7.8,487,4523,0.00,1.50,0.00,0.000,1030,0.000,0.088,2323,2470,3340,3524,3157,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4827,-0.61,-146.0,2323,2470,3524,3158,510.3,-8.0,518,4830,0.00,1.62,0.00,0.000,260,0.000,0.140,2318,3350,3341,3524,3158,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4873,-0.63,-146.0,2318,3350,3524,3157,514.1,-8.1,522,4876,0.00,1.50,0.00,0.000,1030,0.000,0.088,2317,2470,3341,3524,3158,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5190,-0.64,-146.0,2318,2471,3524,3158,540.0,-8.0,553,5193,0.00,1.62,0.00,0.000,260,0.000,0.140,2311,3350,3341,3524,3158,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5239,-0.64,-146.0,2311,3350,3524,3158,543.8,-8.1,557,5246,0.00,1.50,0.00,0.000,1030,0.000,0.088,2311,2477,3341,3525,3158,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5548,-0.64,-146.0,2311,2477,3525,3159,570.3,-8.5,588,5552,0.00,1.60,0.00,0.000,260,0.000,0.138,2305,3346,3342,3525,3159,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5614,-0.64,-146.0,2305,3346,3525,3159,575.8,-8.9,594,5617,0.00,1.50,0.00,0.000,1030,0.000,0.088,2305,2495,3341,3524,3159,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5949,-0.64,-146.0,2305,2495,3524,3159,606.0,-8.9,623,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2495,3342,3525,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6249,-0.64,-146.0,2305,2495,3525,3160,633.3,-9.0,633,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2495,3342,3524,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,-0.64,-146.0,2305,2495,3524,3161,661.1,-9.2,643,6553,0.00,1.58,0.00,0.000,260,0.000,0.137,2299,3348,3342,3524,3160,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6608,-0.64,-146.0,2299,3347,3524,3161,664.4,-9.2,644,6614,0.00,1.50,0.00,0.000,1030,0.000,0.087,2299,2473,3342,3524,3161,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6915,-0.64,-146.0,2299,2472,3524,3161,695.6,-9.5,655,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2473,3343,3525,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,-0.64,-146.0,2299,2472,3524,3162,722.9,-8.8,665,7219,0.00,1.62,0.00,0.000,260,0.000,0.137,2292,3351,3342,3524,3161,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7253,-0.64,-146.0,1440,3350,3516,3158,726.0,-8.6,666,7256,0.00,1.50,0.00,0.000,1030,0.000,0.087,2292,2473,3342,3524,3161,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7583,-0.64,-146.0,2292,2473,3524,3162,754.6,-8.7,677,7586,0.00,1.62,0.00,0.000,260,0.000,0.135,2285,3352,3343,3525,3162,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7637,-0.64,-146.0,2286,3352,3525,3162,757.8,-8.9,678,7640,0.00,1.50,0.00,0.000,1030,0.000,0.087,2285,2475,3343,3525,3162,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7952,-0.64,-146.0,2285,2475,3525,3162,789.2,-9.5,689,7955,0.00,1.62,0.00,0.000,260,0.000,0.136,2279,3355,3343,3524,3162,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7995,-0.64,-146.0,2279,3355,3525,3162,792.5,-9.3,690,7998,0.00,1.50,0.00,0.000,1030,0.000,0.087,2279,2478,3343,3524,3162,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8321,-0.62,-146.0,2279,2478,3525,3162,822.5,-9.1,701,8323,0.12,0.00,0.00,0.000,2054,0.280,0.000,2306,2478,3343,3524,3162,0,0,0,0,0,0,14.25,28.83,28.83
$GC,8620,-0.62,-146.0,2306,2478,3524,3162,847.4,-8.2,711,8624,0.00,1.62,0.00,0.000,260,0.000,0.138,2301,3354,3342,3523,3162,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8693,-0.62,-146.0,2301,3354,3524,3163,852.9,-8.5,713,8697,0.00,1.50,0.00,0.000,1030,0.000,0.090,2301,2506,3343,3524,3162,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9020,-0.62,-146.0,2301,2506,3525,3163,882.1,-8.9,724,9023,0.00,1.50,0.00,0.000,516,0.000,0.104,2301,1642,3343,3525,3162,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9048,-0.62,-146.0,2301,1642,3525,3162,882.1,-8.9,724,9054,0.00,1.58,0.00,0.000,1030,0.000,0.128,2296,2499,3343,3525,3162,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9355,-0.62,-146.0,2295,2499,3525,3162,912.2,-8.7,735,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2499,3343,3524,3162,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9649,end dive,NO_VERTICAL_VELOCITY
$STATE,9649,begin apogee
$GC,9662,-0.22,0.0,2296,2499,3525,3162,918.0,0.0,745,9843,0.45,0.00,170.70,2.858,10246,0.174,0.000,2432,2499,2741,2862,2620,0,0,0,0,0,0,14.21,28.83,12.05
$STATE,9844,end apogee,CONTROL_FINISHED_OK
$STATE,9844,begin climb
$GC,9851,0.89,146.0,2432,2499,2862,2621,918.1,0.0,751,10054,1.25,1.80,187.20,2.780,10500,0.154,0.134,2788,3352,2145,2234,2057,0,0,0,0,0,0,13.20,12.93,11.87
$GC,10180,0.82,146.0,2788,3352,2231,2051,891.6,11.6,762,10184,0.00,1.55,0.00,0.000,1030,0.000,0.093,2794,2508,2141,2231,2051,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10511,0.76,146.0,2794,2507,2231,2045,853.7,11.0,773,10515,0.12,1.50,0.00,0.000,4612,0.273,0.105,2766,1661,2137,2231,2044,0,0,0,0,0,0,14.07,14.21,28.83
$GC,10555,0.71,146.0,2766,1661,2232,2042,849.9,10.8,774,10559,0.00,1.58,0.00,0.000,1030,0.000,0.126,2766,2517,2137,2231,2043,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10881,0.67,146.0,2766,2517,2231,2042,818.0,9.6,785,10885,0.12,1.58,0.00,0.000,4356,0.270,0.137,2734,3353,2136,2231,2042,0,0,0,0,0,0,14.27,14.32,28.83
$GC,10921,0.63,146.0,2734,3353,2232,2042,814.7,9.4,786,10925,0.00,1.50,0.00,0.000,1030,0.000,0.096,2738,2509,2136,2231,2042,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11253,0.62,146.8,2738,2509,2231,2041,786.6,8.2,797,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2509,2136,2231,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11553,0.60,146.8,2738,2509,2231,2041,761.7,8.2,807,11555,0.12,0.00,0.00,0.000,4102,0.262,0.000,2710,2509,2135,2231,2040,0,0,0,0,0,0,14.38,28.83,28.83
$GC,11853,0.70,201.2,2710,2509,2231,2040,741.9,6.2,817,11915,0.00,0.00,60.62,2.616,8198,0.000,0.000,2710,2509,1919,2019,1820,0,0,0,0,0,0,28.83,28.83,13.02
$GC,12212,0.76,224.2,2710,2509,2017,1814,716.7,7.4,829,12245,0.12,1.55,26.00,2.505,10756,0.156,0.109,2765,1668,1826,1925,1727,0,0,0,0,0,0,14.43,14.23,13.16
$GC,12291,0.76,227.2,2765,1668,1924,1727,711.3,8.1,831,12303,0.00,1.60,5.03,1.844,9222,0.000,0.129,2765,2510,1813,1911,1715,0,0,0,0,0,0,28.83,14.21,13.05
$GC,12602,0.74,227.2,2765,2510,1909,1714,676.5,10.7,842,12606,0.00,1.55,0.00,0.000,260,0.000,0.141,2765,3360,1811,1909,1714,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12626,0.72,227.2,2765,3359,1908,1714,676.5,10.7,842,12629,0.00,1.50,0.00,0.000,1030,0.000,0.096,2771,2515,1811,1908,1714,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12942,0.70,227.2,2771,2515,1908,1714,639.9,10.8,853,12946,0.12,1.50,0.00,0.000,4612,0.266,0.106,2743,1672,1811,1908,1714,0,0,0,0,0,0,14.33,14.42,28.83
$GC,12998,0.69,227.2,2743,1671,1908,1713,636.3,10.6,854,13001,0.00,1.52,0.00,0.000,1030,0.000,0.129,2743,2513,1809,1907,1712,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13313,0.69,227.2,2743,2513,1907,1712,605.7,9.3,865,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2513,1809,1907,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13618,0.69,227.2,2743,2513,1907,1711,578.2,9.0,889,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2513,1809,1907,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13925,0.69,227.2,2743,2513,1907,1710,549.3,8.6,920,13931,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2513,1809,1907,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14241,0.69,227.2,2743,2513,1907,1710,521.9,8.8,951,14245,0.00,1.50,0.00,0.000,516,0.000,0.109,2749,1662,1808,1907,1710,0,0,0,0,0,0,28.83,14.43,28.83
$GC,14287,0.69,227.2,2749,1662,1907,1709,517.6,8.7,955,14291,0.00,1.55,0.00,0.000,1030,0.000,0.128,2749,2515,1808,1906,1710,0,0,0,0,0,0,28.83,14.41,28.83
$GC,14602,0.69,230.4,2749,2516,1907,1710,490.6,8.1,986,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2516,1808,1907,1710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14913,0.72,249.0,2749,2516,1907,1709,464.8,7.5,1017,14941,0.00,1.60,23.30,2.305,8452,0.000,0.145,2748,3356,1725,1818,1632,0,0,0,0,0,0,28.83,14.42,13.40
$GC,14967,0.72,249.0,2749,3356,1818,1632,460.1,8.8,1022,14971,0.00,1.50,0.00,0.000,1030,0.000,0.095,2755,2486,1725,1818,1632,0,0,0,0,0,0,28.83,14.38,28.83
$GC,15283,0.72,249.0,2755,2486,1816,1631,431.6,9.3,1053,15286,0.00,1.48,0.00,0.000,516,0.000,0.109,2761,1664,1724,1816,1632,0,0,0,0,0,0,28.83,14.35,28.83
$GC,15322,0.72,249.0,2760,1664,1816,1631,428.2,9.5,1056,15328,0.00,1.55,0.00,0.000,1030,0.000,0.126,2761,2516,1723,1816,1631,0,0,0,0,0,0,28.83,14.37,28.83
$GC,15630,0.72,249.0,2761,2516,1816,1631,398.1,9.9,1087,15634,0.00,1.55,0.00,0.000,260,0.000,0.141,2761,3367,1723,1816,1631,0,0,0,0,0,0,28.83,14.35,28.83
$GC,15658,0.72,249.0,2761,3367,1815,1630,395.5,10.0,1089,15665,0.00,1.50,0.00,0.000,1030,0.000,0.094,2767,2495,1722,1815,1630,0,0,0,0,0,0,28.83,14.45,28.83
$GC,15966,0.72,249.0,2767,2495,1815,1631,363.4,10.4,1120,15970,0.00,1.48,0.00,0.000,516,0.000,0.110,2773,1670,1723,1815,1631,0,0,0,0,0,0,28.83,14.38,28.83
$GC,16015,0.72,249.0,2773,1670,1814,1630,358.9,10.1,1124,16022,0.10,1.58,0.00,0.000,5126,0.216,0.129,2744,2510,1722,1815,1630,0,0,0,0,0,0,14.25,14.35,28.83
$GC,16325,0.74,249.0,2744,2510,1814,1630,331.4,8.7,1155,16328,0.00,1.55,0.00,0.000,260,0.000,0.141,2744,3367,1721,1813,1630,0,0,0,0,0,0,28.83,14.36,28.83
$GC,16360,0.75,249.0,2744,3367,1814,1630,328.0,9.1,1158,16363,0.00,1.50,0.00,0.000,1030,0.000,0.093,2748,2489,1722,1814,1630,0,0,0,0,0,0,28.83,14.47,28.83
$GC,16676,0.76,249.0,2748,2488,1814,1630,300.0,9.1,1189,16682,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2489,1722,1814,1630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16991,0.78,249.0,2748,2489,1814,1630,272.7,9.0,1220,16995,0.00,1.65,0.00,0.000,260,0.000,0.144,2748,3356,1721,1813,1630,0,0,0,0,0,0,28.83,14.32,28.83
$GC,17028,0.78,249.0,2748,3357,1813,1630,269.0,9.1,1223,17031,0.00,1.50,0.00,0.000,1030,0.000,0.095,2753,2510,1721,1813,1630,0,0,0,0,0,0,28.83,14.44,28.83
$GC,17343,0.79,249.0,2754,2510,1813,1630,240.7,8.7,1254,17347,0.00,1.50,0.00,0.000,516,0.000,0.110,2760,1647,1721,1813,1630,0,0,0,0,0,0,28.83,14.40,28.83
$GC,17409,0.81,249.0,2760,1647,1813,1629,235.1,8.7,1260,17413,0.00,1.60,0.00,0.000,1030,0.000,0.126,2760,2504,1721,1813,1629,0,0,0,0,0,0,28.83,14.34,28.83
$GC,17726,0.82,249.0,2760,2504,1813,1629,208.0,8.7,1291,17729,0.00,1.50,0.00,0.000,516,0.000,0.109,2766,1650,1721,1813,1630,0,0,0,0,0,0,28.83,14.39,28.83
$GC,17795,0.83,249.0,2766,1650,1813,1629,202.4,8.7,1297,17801,0.00,1.58,0.00,0.000,1030,0.000,0.126,2766,2512,1721,1813,1629,0,0,0,0,0,0,28.83,14.38,28.83
$GC,18103,0.83,249.0,2766,2512,1813,1629,176.5,8.4,1328,18106,0.00,1.55,0.00,0.000,260,0.000,0.141,2766,3358,1720,1812,1629,0,0,0,0,0,0,28.83,14.33,28.83
$GC,18168,0.83,249.0,2766,3359,1813,1629,170.5,9.6,1334,18172,0.00,1.50,0.00,0.000,1030,0.000,0.094,2772,2512,1721,1813,1629,0,0,0,0,0,0,28.83,14.42,28.83
$GC,18484,0.83,249.0,2772,2512,1813,1628,143.9,8.4,1365,18487,0.00,1.50,0.00,0.000,516,0.000,0.110,2778,1650,1720,1812,1629,0,0,0,0,0,0,28.83,14.37,28.83
$GC,18560,0.85,249.0,2778,1650,1812,1629,137.6,8.3,1372,18563,0.00,1.62,0.00,0.000,1030,0.000,0.126,2778,2510,1721,1813,1629,0,0,0,0,0,0,28.83,14.32,28.83
$GC,18876,0.90,282.4,2778,2510,1812,1629,116.2,7.0,1403,18901,0.00,0.00,21.70,1.952,8198,0.000,0.000,2778,2510,1590,1678,1502,0,0,0,0,0,0,28.83,28.83,13.54
$GC,19212,0.93,293.9,1792,2508,1645,1496,89.4,7.8,1448,19224,0.00,0.00,6.80,0.463,8198,0.000,0.000,2779,2511,1541,1628,1454,0,0,0,0,0,0,28.83,28.83,13.94
$GC,19542,0.97,303.4,2778,2510,1627,1452,69.0,7.9,1510,19557,0.12,1.55,5.32,0.386,10756,0.163,0.113,2834,1666,1503,1590,1417,0,0,0,0,0,0,14.43,14.30,13.97
$GC,19629,0.97,303.4,2834,1666,1590,1417,59.9,10.2,1525,19636,0.00,1.55,0.00,0.000,1030,0.000,0.129,2834,2510,1503,1590,1417,0,0,0,0,0,0,28.83,14.33,28.83
$GC,19953,0.96,303.4,1808,2509,1561,1413,27.4,10.9,1586,19960,0.00,1.58,0.00,0.000,260,0.000,0.144,2834,3365,1502,1589,1415,0,0,0,0,0,0,28.83,14.29,28.83
$GC,20019,0.94,303.4,2834,3366,1588,1415,19.6,11.0,1597,20026,0.00,1.50,0.00,0.000,1030,0.000,0.100,2840,2508,1501,1588,1415,0,0,0,0,0,0,28.83,14.39,28.83
$FREEZE,8.90,-0.127,-1.775,2,1,0
$FREEZE,8.24,-0.124,-1.774,2,1,0
$FREEZE,7.51,-0.101,-1.774,2,1,0
$FREEZE,6.99,-0.113,-1.774,2,1,0
$FREEZE,5.42,-0.106,-1.772,2,1,0
$FREEZE,4.53,-0.158,-1.772,2,1,0
$FREEZE,3.86,-0.160,-1.771,2,1,0
$FREEZE,3.61,-0.160,-1.771,2,1,0
$FREEZE,3.21,-0.161,-1.771,2,1,0
$FREEZE,2.66,-0.166,-1.770,2,1,0
$STATE,20168,end climb,SURFACE_DEPTH_REACHED
$STATE,20169,begin surface coast
$FREEZE,2.00,-0.162,-1.770,2,1,0
$FREEZE,1.31,-0.160,-1.769,2,1,0
$FREEZE,1.22,-0.249,-1.768,2,1,0
$FREEZE,1.32,-0.148,-1.768,2,1,0
$FREEZE,1.24,-0.298,-0.953,2,1,0
$FREEZE,1.14,-0.161,-1.769,2,1,0
$FREEZE,1.21,-0.164,-1.768,2,1,0
$FINISH,1.2,1.025913
$STATE,20206,end surface coast,CONTROL_FINISHED_OK
$STATE,20212,begin surface
$SM_CCo,20240,52.08,0.175,0,0,1109,400.08
$SM_GC,2.08,8.12,0.00,52.08,0.097,0.000,0.175,145,2505,1109,-7.35,0.14,400.08,0,0,0,0,0,0,14.41,28.83,14.26
$RAFOS_CLK,996
$RAFOS,6,1384850942,8.833333,8.817223,69,62,61,57,54,51,714,206,193,222,699,179
$RAFOS,5,1384850461,8.700000,8.683611,74,68,63,60,60,59,184,200,699,690,212,168
$RAFOS,4,1384849984,8.566667,8.551111,124,66,60,59,57,56,604,209,116,181,134,163
$RAFOS,3,1384849507,8.433333,8.418612,71,59,55,55,53,53,728,181,214,150,129,205
$RAFOS,2,1384849025,8.300000,8.284722,63,62,55,54,53,52,208,218,149,131,117,175
$RAFOS,1,1384848565,8.166667,8.156944,60,60,53,52,52,50,149,187,121,204,219,173
$RAFOS,0,1384848064,8.033334,8.017777,63,56,55,55,50,48,210,169,189,225,128,145
$RAFOS,6,1384836550,4.833333,4.819445,67,61,58,57,55,51,648,115,163,215,174,143
$RAFOS,5,1384836064,4.700000,4.684444,94,65,53,52,52,50,689,170,211,131,185,116
$RAFOS,4,1384835583,4.566667,4.550833,91,60,59,57,57,50,578,129,198,209,165,223
$RAFOS,2,1384834623,4.300000,4.284167,65,62,58,58,56,53,163,212,192,139,115,173
$RAFOS_FIX,6652.315918,-5843.822754,191113,040444,4,93,7.24
$IRIDIUM_FIX,6620.33,-5847.18,181113,232320
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.84
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.40
$XPDR_PINGS,78
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,11.9,151.043
$10V_AH,12.1,0.000
$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,21.850,121.325,506.675,52.075,0.000,0.000,0.000,322.625,23.000,0.000,23.369,4333.751,11697.429,661.204,3108.719,1031.108,0.000,2525.386,0.000,2788.035,3600.000,25.805,0.000
$DEVICE_MAMPS,420.750,172.890,2858.040,175.185,0.000,0.000,0.000,145.350,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1153.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150756
$DATA_FILE_SIZE,69938,1632
$CAP_FILE_SIZE,209812,0
$CFSIZE,259252224,224563200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1458.2
$CURRENT,0.125,156.3,1
$GPS,191113,101305,6649.833,-5833.321,76,0.7,76,-33.6