version: 66.11
glider: 192
mission: 2
dive: 400
start: 12 1 113 21 3 47
data:
$ID,192
$MISSION,2
$DIVE,400
$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,-3884.2134
$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,23
$R_STBD_OVSHOOT,14
$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,49
$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
$GPS1,011213,204559,6641.629,-5942.765,42,1.0,42,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.1
$GPS2,011213,210304,6641.471,-5942.841,87,1.2,87,-33.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,357.1,31919,-15.5,-8.250,-18.49,2720
$D_GRID,792
$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,20,-0.89,-146.0,136,2493,1109,1076,0.0,0.0,0,106,0.00,0.00,-83.70,0.000,16386,0.000,0.000,136,2493,2618,2684,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.89,-146.0,136,2493,2684,2553,3.1,-1.8,14,152,10.38,1.45,-19.88,0.000,18948,0.428,0.133,2213,1659,3337,3510,3165,0,0,0,0,0,0,13.88,14.33,14.75
$GC,189,-0.77,-146.0,2213,1659,3513,3164,17.2,-21.6,26,197,0.20,1.55,0.00,0.000,3078,0.297,0.122,2252,2510,3338,3512,3164,0,0,0,0,0,0,14.02,14.26,28.83
$GC,509,-0.70,-146.0,1392,2508,3506,3160,81.0,-19.1,87,516,0.12,1.55,0.00,0.000,2308,0.313,0.133,2280,3356,3338,3514,3163,0,0,0,0,0,0,14.07,14.26,28.83
$GC,568,-0.65,-146.0,2280,3356,3514,3163,91.6,-17.7,97,576,0.00,1.50,0.00,0.000,1030,0.000,0.092,2280,2488,3338,3514,3163,0,0,0,0,0,0,28.83,14.36,28.83
$GC,888,-0.60,-146.0,2280,2488,3515,3163,141.0,-14.9,132,892,0.12,1.45,0.00,0.000,2564,0.289,0.102,2311,1660,3338,3514,3163,0,0,0,0,0,0,14.17,14.33,28.83
$GC,964,-0.60,-146.0,2312,1660,3514,3163,151.2,-12.4,139,967,0.00,1.55,0.00,0.000,1030,0.000,0.128,2307,2504,3338,3514,3163,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1280,-0.59,-146.0,2307,2504,3514,3162,188.9,-12.9,170,1283,0.00,1.60,0.00,0.000,260,0.000,0.140,2300,3351,3338,3514,3163,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1327,-0.57,-146.0,2301,3350,3514,3162,194.6,-12.3,174,1330,0.00,1.52,0.00,0.000,1030,0.000,0.094,2300,2495,3338,3514,3162,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1642,-0.55,-146.0,2300,2495,3514,3162,231.1,-10.7,205,1650,0.12,0.00,0.00,0.000,2054,0.280,0.000,2333,2495,3338,3514,3162,0,0,0,0,0,0,14.16,28.83,28.83
$GC,1953,-0.56,-146.0,2332,2495,3513,3162,259.5,-8.3,236,1957,0.00,1.50,0.00,0.000,516,0.000,0.107,2333,1642,3338,3514,3162,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2032,-0.58,-146.0,2333,1642,3514,3162,266.5,-8.8,243,2038,0.00,1.60,0.00,0.000,1030,0.000,0.129,2329,2506,3338,3514,3162,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2341,-0.58,-146.0,2329,2506,3514,3162,295.4,-9.4,274,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2507,3338,3514,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2657,-0.59,-146.0,2329,2506,3514,3162,325.8,-10.3,305,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2506,3338,3514,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2971,-0.60,-146.0,2329,2506,3514,3162,356.9,-10.0,336,2974,0.00,1.52,0.00,0.000,516,0.000,0.105,2329,1662,3338,3515,3162,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3026,-0.61,-146.0,2329,1661,3515,3162,362.9,-9.9,341,3030,0.00,1.55,0.00,0.000,1030,0.000,0.126,2323,2506,3338,3515,3162,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3341,-0.61,-146.0,2323,2506,3515,3162,394.4,-9.7,372,3345,0.00,1.50,0.00,0.000,516,0.000,0.104,2323,1649,3338,3515,3162,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3379,-0.63,-146.0,2323,1649,3515,3162,398.0,-10.6,375,3386,0.00,1.58,0.00,0.000,1030,0.000,0.125,2318,2509,3338,3515,3162,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3690,-0.63,-146.0,2317,2509,3516,3162,429.1,-10.0,406,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2509,3339,3516,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4004,-0.63,-146.0,2318,2509,3517,3162,459.0,-9.3,437,4007,0.00,1.50,0.00,0.000,516,0.000,0.103,2317,1654,3339,3517,3162,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4039,-0.63,-146.0,2317,1654,3518,3162,462.8,-9.3,440,4042,0.00,1.55,0.00,0.000,1030,0.000,0.124,2312,2501,3339,3517,3162,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4355,-0.63,-146.0,2312,2501,3518,3162,491.5,-9.4,471,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2501,3340,3518,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.63,-146.0,2312,2501,3519,3162,521.3,-9.6,502,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2502,3340,3519,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4986,-0.63,-146.0,2312,2501,3519,3162,550.3,-9.0,533,4989,0.00,1.50,0.00,0.000,516,0.000,0.102,2312,1652,3341,3520,3162,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5042,-0.63,-146.0,2312,1652,3519,3162,556.1,-9.1,538,5045,0.00,1.58,0.00,0.000,1030,0.000,0.124,2307,2504,3340,3519,3162,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5359,-0.63,-146.0,2307,2504,3520,3162,585.9,-10.0,569,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2504,3341,3520,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5688,-0.63,-146.0,2307,2504,3520,3162,618.9,-9.9,590,5691,0.00,1.50,0.00,0.000,516,0.000,0.102,2307,1653,3341,3520,3162,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5723,-0.63,-146.0,2306,1653,3520,3163,622.4,-9.8,591,5726,0.00,1.55,0.00,0.000,1030,0.000,0.124,2301,2502,3341,3520,3162,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6059,-0.63,-146.0,2301,2501,3520,3163,655.7,-9.8,602,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2501,3341,3520,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6358,-0.63,-146.0,2301,2502,3521,3162,683.8,-9.2,612,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2502,3342,3521,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6659,-0.63,-146.0,2301,2501,3521,3162,711.7,-9.5,622,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2502,3341,3521,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6959,-0.63,-146.0,2301,2501,3521,3162,737.7,-8.3,632,6962,0.00,1.50,0.00,0.000,516,0.000,0.101,2300,1653,3341,3521,3162,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7002,-0.63,-146.0,2301,1653,3522,3163,741.2,-8.7,633,7005,0.00,1.58,0.00,0.000,1030,0.000,0.125,2295,2509,3342,3521,3163,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7327,-0.63,-146.0,2296,2509,3522,3163,773.9,-10.2,644,7330,0.00,1.50,0.00,0.000,516,0.000,0.103,2296,1656,3342,3521,3163,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7363,-0.63,-146.0,2296,1656,3521,3162,777.3,-10.0,645,7366,0.00,1.60,0.00,0.000,1030,0.000,0.121,2290,2502,3341,3521,3162,0,0,0,0,0,0,28.83,14.20,28.83
$STATE,7512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7512,begin apogee
$GC,7525,-0.22,0.0,2290,2502,3522,3162,793.2,-10.2,650,7702,0.50,0.00,164.45,2.642,10246,0.220,0.000,2428,2502,2741,2859,2623,0,0,0,0,0,0,14.03,28.83,12.09
$STATE,7703,end apogee,CONTROL_FINISHED_OK
$STATE,7703,begin climb
$GC,7710,0.89,146.0,2429,2502,2859,2623,800.7,0.0,656,7897,1.25,0.00,182.45,2.567,10758,0.156,0.000,2786,2502,2145,2238,2052,0,0,0,0,0,0,13.27,28.83,11.72
$GC,8184,0.85,146.0,2786,2502,2238,2041,766.2,9.2,672,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2502,2139,2238,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8486,0.81,146.0,2786,2502,2239,2039,738.0,9.1,682,8489,0.00,1.60,0.00,0.000,260,0.000,0.140,2787,3367,2139,2239,2039,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8551,0.76,146.0,2787,3367,2238,2039,731.2,9.7,684,8556,0.12,1.52,0.00,0.000,5126,0.221,0.094,2757,2514,2138,2238,2039,0,0,0,0,0,0,14.19,14.36,28.83
$GC,8894,0.75,153.4,2756,2514,2238,2037,705.4,8.0,695,8906,0.00,1.62,7.68,2.150,8452,0.000,0.145,2757,3360,2115,2216,2014,0,0,0,0,0,0,28.83,14.43,13.11
$GC,8931,0.75,166.6,2757,3360,2216,2014,703.1,7.8,696,8952,0.00,1.50,16.27,2.393,9222,0.000,0.094,2762,2493,2060,2162,1959,0,0,0,0,0,0,28.83,14.46,13.14
$GC,9280,0.75,178.8,2762,2493,2162,1958,674.9,7.8,708,9300,0.00,1.67,14.62,2.359,8452,0.000,0.144,2761,3359,2011,2114,1909,0,0,0,0,0,0,28.83,14.40,13.21
$GC,9367,0.73,178.8,2761,3359,2114,1909,667.0,8.3,711,9371,0.00,1.52,0.00,0.000,1030,0.000,0.094,2768,2514,2011,2114,1909,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9704,0.71,178.8,2768,2513,2113,1907,638.5,8.5,722,9707,0.00,1.58,0.00,0.000,260,0.000,0.143,2768,3366,2010,2113,1907,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9732,0.69,178.8,2768,3366,2113,1907,638.5,8.5,722,9740,0.17,1.50,0.00,0.000,5126,0.239,0.093,2732,2500,2010,2113,1907,0,0,0,0,0,0,14.31,14.47,28.83
$GC,10040,0.74,205.1,2732,2501,2113,1906,613.6,7.3,733,10076,0.00,1.67,30.02,2.464,8452,0.000,0.141,2732,3363,1904,2009,1800,0,0,0,0,0,0,28.83,14.31,13.19
$GC,10113,0.79,228.4,2731,3363,2008,1799,609.1,7.4,735,10147,0.00,1.50,27.08,2.386,9222,0.000,0.093,2736,2505,1809,1910,1709,0,0,0,0,0,0,28.83,14.34,13.02
$GC,10460,0.81,228.4,2736,2505,1904,1707,577.7,8.8,763,10466,0.12,0.00,0.00,0.000,2054,0.155,0.000,2789,2505,1806,1904,1708,0,0,0,0,0,0,14.45,28.83,28.83
$GC,10770,0.79,228.4,2789,2505,1903,1707,543.0,11.3,794,10773,0.00,1.58,0.00,0.000,260,0.000,0.142,2788,3357,1805,1903,1707,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10817,0.75,228.4,2789,3357,1902,1707,537.6,11.6,798,10821,0.17,1.50,0.00,0.000,5126,0.236,0.094,2753,2491,1804,1902,1707,0,0,0,0,0,0,14.31,14.46,28.83
$GC,11133,0.75,228.4,2753,2490,1902,1706,509.0,8.9,829,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2490,1803,1901,1706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11450,0.77,234.4,2753,2490,1901,1705,482.9,8.0,860,11462,0.00,1.65,6.43,1.946,8452,0.000,0.144,2752,3354,1785,1881,1689,0,0,0,0,0,0,28.83,14.47,13.20
$GC,11515,0.77,234.4,2752,3354,1881,1689,476.6,9.2,866,11518,0.00,1.50,0.00,0.000,1030,0.000,0.095,2756,2511,1785,1881,1689,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11831,0.77,234.4,2756,2511,1881,1689,448.5,8.5,897,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2510,1785,1881,1689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12141,0.77,234.4,2756,2510,1881,1689,422.1,8.4,928,12145,0.00,1.58,0.00,0.000,260,0.000,0.142,2756,3361,1785,1881,1689,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12186,0.77,234.4,2756,3361,1881,1689,417.7,9.6,932,12190,0.00,1.50,0.00,0.000,1030,0.000,0.095,2763,2493,1784,1880,1689,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12504,0.77,234.4,2763,2493,1880,1689,389.4,8.8,963,12508,0.00,1.60,0.00,0.000,260,0.000,0.142,2763,3356,1784,1880,1689,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12535,0.77,234.4,2763,3356,1879,1689,386.9,9.2,965,12542,0.00,1.50,0.00,0.000,1030,0.000,0.093,2769,2491,1784,1880,1689,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12844,0.77,234.4,2769,2491,1879,1689,357.4,9.6,996,12847,0.00,1.60,0.00,0.000,260,0.000,0.144,2769,3356,1784,1879,1689,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12900,0.76,234.4,2770,3356,1878,1688,351.8,10.5,1001,12904,0.00,1.52,0.00,0.000,1030,0.000,0.093,2776,2507,1783,1878,1689,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13215,0.76,234.4,2776,2508,1879,1689,320.6,9.2,1032,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2507,1783,1878,1689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13527,0.76,234.4,2776,2507,1878,1688,291.5,9.4,1063,13531,0.00,1.62,0.00,0.000,260,0.000,0.142,2776,3357,1783,1879,1688,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13563,0.75,234.4,2776,3357,1878,1688,287.9,9.5,1066,13567,0.08,1.50,0.00,0.000,5126,0.224,0.094,2760,2515,1783,1878,1688,0,0,0,0,0,0,14.21,14.40,28.83
$GC,13880,0.76,234.4,2759,2515,1878,1688,261.2,8.7,1097,13883,0.00,1.50,0.00,0.000,516,0.000,0.108,2764,1650,1783,1878,1688,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13918,0.78,234.4,1800,1649,1842,1684,258.2,8.3,1100,13925,0.00,1.58,0.00,0.000,1030,0.000,0.127,2763,2518,1782,1878,1687,0,0,0,0,0,0,28.83,14.36,28.83
$GC,14227,0.79,243.8,2764,2517,1878,1687,232.5,7.9,1131,14245,0.00,1.52,11.23,1.978,8452,0.000,0.141,2763,3366,1746,1841,1652,0,0,0,0,0,0,28.83,14.50,13.33
$GC,14312,0.79,243.8,2764,3366,1842,1652,225.0,9.4,1139,14315,0.00,1.50,0.00,0.000,1030,0.000,0.094,2770,2497,1746,1841,1652,0,0,0,0,0,0,28.83,14.44,28.83
$GC,14628,0.81,255.2,2770,2496,1842,1652,198.1,7.8,1170,14646,0.00,1.45,13.75,1.978,8708,0.000,0.106,2776,1666,1699,1792,1607,0,0,0,0,0,0,28.83,14.50,13.38
$GC,14671,0.86,285.2,1792,1664,1759,1604,195.3,7.1,1174,14714,0.00,1.55,33.92,2.118,9222,0.000,0.127,2776,2520,1577,1666,1489,0,0,0,0,0,0,28.83,14.38,13.21
$GC,15018,0.88,285.2,2776,2520,1663,1486,165.4,9.3,1209,15022,0.00,1.58,0.00,0.000,260,0.000,0.142,2776,3357,1574,1663,1486,0,0,0,0,0,0,28.83,14.27,28.83
$GC,15075,0.88,285.2,2776,3357,1661,1486,160.1,9.5,1214,15078,0.00,1.52,0.00,0.000,1030,0.000,0.094,2783,2481,1574,1662,1486,0,0,0,0,0,0,28.83,14.40,28.83
$GC,15391,0.91,293.1,2782,2481,1662,1484,133.4,8.0,1245,15404,0.00,1.62,8.88,1.806,8452,0.000,0.140,2781,3363,1546,1633,1459,0,0,0,0,0,0,28.83,14.48,13.35
$GC,15440,0.93,293.1,2782,3363,1633,1459,129.4,8.8,1249,15447,0.00,1.50,0.00,0.000,1030,0.000,0.095,2789,2498,1545,1633,1458,0,0,0,0,0,0,28.83,14.45,28.83
$GC,15749,0.99,321.2,2789,2498,1633,1458,105.0,7.2,1280,15776,0.12,1.42,17.30,0.506,10756,0.163,0.107,2846,1671,1430,1517,1344,0,0,0,0,0,0,14.50,14.37,13.92
$GC,15794,0.99,321.2,2847,1671,1517,1344,101.2,8.6,1284,15797,0.00,1.52,0.00,0.000,1030,0.000,0.129,2847,2510,1430,1517,1344,0,0,0,0,0,0,28.83,14.37,28.83
$GC,16114,0.98,321.2,2847,2510,1513,1343,67.1,10.8,1344,16121,0.00,1.55,0.00,0.000,260,0.000,0.142,2847,3362,1428,1513,1343,0,0,0,0,0,0,28.83,14.32,28.83
$GC,16174,0.95,321.2,2846,3361,1512,1343,59.9,11.2,1354,16181,0.15,1.50,0.00,0.000,5126,0.250,0.096,2816,2498,1427,1512,1342,0,0,0,0,0,0,14.25,14.42,28.83
$GC,16499,0.97,321.2,2816,2498,1512,1341,32.4,9.0,1415,16506,0.00,1.50,0.00,0.000,516,0.000,0.109,2821,1648,1426,1511,1341,0,0,0,0,0,0,28.83,14.36,28.83
$GC,16548,0.99,321.2,1824,1646,1488,1338,27.6,9.4,1423,16555,0.00,1.58,0.00,0.000,1030,0.000,0.129,2821,2509,1425,1511,1340,0,0,0,0,0,0,28.83,14.35,28.83
$FREEZE,8.80,-1.332,-1.775,2,1,0
$FREEZE,8.40,-1.332,-1.774,2,1,0
$FREEZE,7.95,-1.332,-1.774,2,1,0
$FREEZE,7.53,-1.331,-1.774,2,1,0
$FREEZE,7.16,-1.330,-1.773,2,1,0
$FREEZE,6.58,-1.331,-1.773,2,1,0
$FREEZE,6.08,-1.331,-1.772,2,1,0
$FREEZE,5.62,-1.331,-1.772,2,1,0
$FREEZE,5.20,-1.331,-1.772,2,1,0
$FREEZE,4.82,-1.332,-1.772,2,1,0
$FREEZE,4.39,-1.332,-1.771,2,1,0
$FREEZE,3.87,-1.331,-1.771,2,1,0
$FREEZE,2.78,-1.330,-1.770,2,1,0
$STATE,16823,end climb,SURFACE_DEPTH_REACHED
$STATE,16824,begin surface coast
$FREEZE,2.34,-1.333,-1.770,2,1,0
$FREEZE,1.94,-1.335,-1.770,2,1,0
$FREEZE,1.94,-1.323,-1.767,2,1,0
$FREEZE,1.96,-1.334,-1.768,2,1,0
$FREEZE,1.90,-1.291,-1.766,2,1,0
$FREEZE,1.89,-1.320,-1.767,2,1,0
$FINISH,1.9,1.025944
$STATE,16856,end surface coast,CONTROL_FINISHED_OK
$STATE,16856,begin surface
$RAFOS_CLK,837
$RAFOS,6,1385945346,0.833333,0.818333,91,64,62,55,53,51,768,179,198,188,147,115
$RAFOS,5,1385944866,0.700000,0.685000,101,62,56,55,54,54,864,113,162,135,202,227
$RAFOS,4,1385944384,0.566667,0.551111,148,73,60,58,58,57,644,212,132,146,192,114
$RAFOS,3,1385943902,0.433333,0.417222,139,68,62,58,53,52,742,195,142,169,212,109
$RAFOS,2,1385943421,0.300000,0.283611,151,63,58,57,56,56,643,191,201,147,166,115
$RAFOS,1,1385942944,0.166667,0.151111,64,64,53,50,50,46,163,205,221,121,179,136
$RAFOS,0,1385942470,0.033333,0.019444,136,57,55,54,52,52,659,212,165,199,176,134
$RAFOS,5,1385930463,20.700001,20.684166,72,57,56,54,54,53,203,178,121,153,219,139
$RAFOS_FIX,6642.824707,-5942.989258,021213,000013,6,128,0.20
$IRIDIUM_FIX,6614.97,-5949.70,011213,202037
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.55
$INTERNAL_PRESSURE,8.67414
$TCM_TEMP,12.20
$XPDR_PINGS,163
$ALTIM_TOP_PING,19.9,20.5
$24V_AH,11.7,178.685
$10V_AH,11.3,0.000
$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,13.650,95.525,534.075,0.000,0.000,0.000,0.000,608.975,43.500,0.000,88.038,3850.081,9413.142,602.119,3055.958,1075.285,0.000,2599.242,0.000,2475.586,2520.000,26.323,0.000
$DEVICE_MAMPS,427.635,145.350,2641.545,0.000,0.000,0.000,0.000,154.530,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150628
$DATA_FILE_SIZE,63325,1481
$CAP_FILE_SIZE,187721,0
$CFSIZE,259252224,219697152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.8
$CURRENT,0.240,110.1,1
$GPS,021213,003013,6642.825,-5942.989,0,6127.7,0,-33.7