version: 66.11
glider: 192
mission: 2
dive: 637
start: 1 12 114 8 49 49
data:
$ID,192
$MISSION,2
$DIVE,637
$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,10
$SURFACE_URGENCY_FORCE,20
$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,-5
$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,-15442.364
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2580
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,18
$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,0.00062281737
$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
$GPS1,120114,084234,6346.598,-5749.140,41,1.8,41,-30.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-67.6
$GPS2,120114,084916,6346.587,-5749.375,4,1.5,4,-30.3
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_1
$TGT_LATLONG,6350.000,-5600.000
$TGT_RADIUS,5000.000
$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,126.4,89550,-15.5,-8.250,-18.49,2720
$D_GRID,1204
$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,-146.0,137,2586,1116,1076,0.0,0.0,0,111,0.00,0.00,-86.88,0.000,16386,0.000,0.000,136,2586,2791,2837,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.89,-146.0,136,2586,2838,2747,3.3,-1.8,9,148,10.35,1.50,-13.90,0.000,19204,0.426,0.122,2212,1737,3339,3497,3181,0,0,0,0,0,0,13.88,14.34,14.78
$GC,384,-0.83,-146.0,2212,1737,3499,3180,53.0,-18.1,35,388,0.15,1.52,0.00,0.000,3078,0.291,0.106,2239,2580,3340,3500,3180,0,0,0,0,0,0,13.90,14.16,28.83
$GC,721,-0.79,-146.0,2239,2580,3500,3178,105.2,-14.7,66,725,0.00,1.60,0.00,0.000,260,0.000,0.120,2234,3425,3338,3499,3178,0,0,0,0,0,0,28.83,14.02,28.83
$GC,764,-0.74,-146.0,2235,3425,3499,3177,110.7,-14.8,67,769,0.10,1.50,0.00,0.000,3078,0.257,0.076,2260,2579,3338,3499,3177,0,0,0,0,0,0,13.82,14.20,28.83
$GC,1092,-0.71,-146.0,2261,2578,3500,3176,154.6,-12.6,78,1095,0.00,1.50,0.00,0.000,516,0.000,0.088,2261,1716,3337,3499,3176,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1120,-0.68,-146.0,2261,1716,3499,3176,154.6,-12.6,78,1129,0.12,1.58,0.00,0.000,3078,0.269,0.110,2282,2580,3337,3499,3176,0,0,0,0,0,0,13.88,14.06,28.83
$GC,1427,-0.67,-146.0,2282,2580,3499,3176,190.0,-9.9,89,1431,0.00,1.55,0.00,0.000,260,0.000,0.120,2278,3427,3337,3499,3176,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1472,-0.65,-146.0,2278,3427,3499,3176,193.4,-9.9,90,1475,0.00,1.50,0.00,0.000,1030,0.000,0.077,2278,2559,3337,3499,3175,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1797,-0.63,-146.0,2278,2560,3500,3176,225.6,-9.6,101,1801,0.00,1.48,0.00,0.000,516,0.000,0.087,2278,1740,3337,3500,3175,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1842,-0.62,-146.0,2278,1740,3500,3176,229.3,-9.9,102,1846,0.15,1.52,0.00,0.000,3078,0.243,0.108,2306,2580,3338,3500,3176,0,0,0,0,0,0,13.87,14.03,28.83
$GC,2167,-0.62,-146.0,2306,2580,3501,3176,260.0,-9.4,113,2171,0.00,1.60,0.00,0.000,260,0.000,0.119,2302,3430,3338,3500,3176,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2203,-0.62,-146.0,2302,3430,3501,3176,263.7,-9.6,114,2206,0.00,1.50,0.00,0.000,1030,0.000,0.076,2302,2561,3338,3501,3176,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2539,-0.62,-146.0,2302,2560,3503,3176,298.1,-10.3,125,2542,0.00,1.48,0.00,0.000,516,0.000,0.087,2301,1740,3339,3503,3176,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2584,-0.62,-146.0,2301,1740,3503,3176,302.0,-10.4,126,2587,0.00,1.52,0.00,0.000,1030,0.000,0.107,2296,2579,3339,3503,3176,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2909,-0.62,-146.0,2296,2580,3506,3176,338.9,-11.0,137,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2580,3340,3505,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3210,-0.62,-146.0,2296,2580,3506,3176,371.5,-10.8,147,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2580,3341,3506,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3510,-0.62,-146.0,2296,2580,3507,3176,403.1,-10.5,157,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2580,3341,3507,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3809,-0.62,-146.0,2296,2580,3508,3176,433.8,-10.0,167,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2580,3342,3508,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4110,-0.62,-146.0,2296,2580,3509,3176,463.3,-10.0,177,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2580,3342,3509,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.62,-146.0,2296,2580,3509,3175,492.5,-9.9,187,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2580,3342,3509,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.62,-146.0,2296,2580,3509,3176,522.2,-10.2,197,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2580,3343,3510,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5011,-0.62,-146.0,2296,2580,3510,3176,552.6,-9.8,207,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2580,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5309,-0.62,-146.0,2296,2580,3510,3176,581.7,-9.8,217,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2580,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5609,-0.62,-146.0,2296,2580,3510,3176,610.1,-9.5,227,5613,0.00,1.50,0.00,0.000,516,0.000,0.084,2296,1732,3343,3510,3176,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5638,-0.62,-146.0,2296,1732,3510,3176,610.1,-9.5,227,5645,0.00,1.58,0.00,0.000,1030,0.000,0.106,2290,2583,3343,3511,3176,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5944,-0.62,-146.0,2290,2583,3511,3176,642.8,-9.8,238,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2583,3343,3510,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6244,-0.62,-146.0,2290,2583,3511,3176,672.0,-9.7,248,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2583,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6546,-0.62,-146.0,2290,2583,3511,3176,701.7,-9.9,258,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2583,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6844,-0.62,-146.0,2290,2583,3511,3176,730.2,-9.5,268,6848,0.00,1.50,0.00,0.000,516,0.000,0.080,2290,1714,3343,3511,3176,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6902,-0.62,-146.0,2290,1713,3511,3176,733.6,-9.5,269,6909,0.00,1.60,0.00,0.000,1030,0.000,0.104,2284,2588,3343,3511,3176,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7210,-0.62,-146.0,2284,2588,3511,3176,765.0,-9.5,280,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2588,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7509,-0.62,-146.0,2284,2588,3511,3176,792.9,-9.2,290,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2588,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7809,-0.62,-146.0,2284,2588,3511,3176,820.5,-9.2,300,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2588,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8109,-0.62,-146.0,2284,2588,3510,3175,848.1,-9.2,310,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2588,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8410,-0.62,-146.0,2284,2588,3511,3176,875.7,-9.3,320,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2588,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8709,-0.62,-146.0,2284,2588,3511,3176,903.4,-9.3,330,8713,0.00,1.50,0.00,0.000,516,0.000,0.080,2284,1720,3343,3511,3176,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8752,-0.62,-146.0,2284,1720,3511,3176,906.8,-9.4,331,8757,0.12,1.58,0.00,0.000,3078,0.243,0.102,2305,2591,3343,3511,3176,0,0,0,0,0,0,13.82,13.97,28.83
$GC,9080,-0.63,-146.0,2305,2591,3511,3176,935.0,-8.4,342,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2591,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9379,-0.63,-146.0,2305,2591,3511,3176,959.0,-7.9,352,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2591,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9680,-0.64,-146.0,2305,2591,3511,3176,983.3,-8.2,362,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2591,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9762,begin apogee
$GC,9776,-0.22,0.0,2306,2507,3511,3176,990.7,-8.3,365,9962,0.45,0.00,175.60,2.829,10246,0.207,0.000,2431,2506,2741,2850,2632,0,0,0,0,0,0,13.72,28.83,12.05
$STATE,9963,end apogee,CONTROL_FINISHED_OK
$STATE,9963,begin climb
$GC,9970,0.89,146.0,2431,2507,2851,2632,997.8,0.0,371,10175,1.25,0.00,194.18,2.729,11014,0.152,0.000,2789,2507,2144,2239,2050,0,0,0,0,0,0,13.31,28.83,11.43
$GC,10457,0.86,146.0,2789,2507,2239,2042,957.0,10.6,388,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2507,2140,2239,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10758,0.82,146.0,2789,2507,2239,2040,924.7,10.8,398,10762,0.00,1.48,0.00,0.000,516,0.000,0.089,2795,1679,2139,2239,2040,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10796,0.78,146.0,1808,1677,2194,2034,920.8,10.9,399,10801,0.12,1.50,0.00,0.000,5126,0.248,0.103,2766,2528,2138,2239,2038,0,0,0,0,0,0,14.22,14.35,28.83
$GC,11129,0.76,146.0,2767,2528,2239,2038,888.7,9.4,410,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2528,2138,2238,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11428,0.73,146.0,2767,2528,2240,2037,861.3,9.1,420,11431,0.00,1.50,0.00,0.000,516,0.000,0.090,2770,1658,2138,2239,2037,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11471,0.71,146.0,2771,1658,2238,2036,858.1,9.0,421,11477,0.15,1.52,0.00,0.000,5126,0.240,0.103,2737,2515,2137,2239,2035,0,0,0,0,0,0,14.12,14.28,28.83
$GC,11805,0.71,156.0,2737,2516,2239,2035,831.4,7.9,432,11825,0.00,1.55,10.48,2.414,8452,0.000,0.119,2736,3358,2104,2208,2001,0,0,0,0,0,0,28.83,14.31,13.16
$GC,11845,0.72,169.5,2737,3357,2207,2001,829.3,7.7,433,11868,0.00,1.48,17.30,2.509,9222,0.000,0.079,2741,2513,2049,2153,1945,0,0,0,0,0,0,28.83,14.43,13.04
$GC,12198,0.72,169.5,2741,2513,2153,1943,798.5,8.7,445,12201,0.00,1.50,0.00,0.000,516,0.000,0.092,2747,1640,2048,2154,1943,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12241,0.72,169.5,2747,1640,2153,1942,794.8,8.8,446,12244,0.00,1.55,0.00,0.000,1030,0.000,0.107,2747,2518,2047,2153,1942,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12567,0.71,169.5,2747,2518,2153,1942,763.9,9.5,457,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2518,2047,2153,1942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12867,0.70,169.5,2747,2518,2154,1941,734.2,10.1,467,12870,0.00,1.50,0.00,0.000,516,0.000,0.091,2753,1657,2047,2153,1941,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12922,0.69,169.5,2753,1657,2153,1940,730.7,10.1,468,12925,0.00,1.58,0.00,0.000,1030,0.000,0.106,2753,2512,2046,2153,1940,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13238,0.67,169.5,2753,2510,2153,1940,695.6,10.5,479,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2512,2046,2153,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13537,0.66,169.5,2753,2512,2153,1940,664.3,10.3,489,13538,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2512,2046,2153,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13839,0.65,169.5,2753,2512,2153,1940,634.4,9.8,499,13843,0.12,1.50,0.00,0.000,4612,0.257,0.089,2725,1667,2046,2153,1940,0,0,0,0,0,0,14.17,14.21,28.83
$GC,13875,0.64,169.5,2725,1667,2153,1939,631.1,9.5,500,13880,0.00,1.52,0.00,0.000,1030,0.000,0.109,2724,2515,2046,2153,1939,0,0,0,0,0,0,28.83,14.16,28.83
$GC,14212,0.66,180.3,2725,2516,2153,1939,604.2,7.8,511,14227,0.00,0.00,12.70,2.299,8198,0.000,0.000,2724,2515,2005,2112,1898,0,0,0,0,0,0,28.83,28.83,13.19
$GC,14512,0.67,189.4,2724,2516,2112,1898,580.0,7.9,521,14525,0.00,0.00,11.95,2.224,8198,0.000,0.000,2724,2516,1967,2074,1860,0,0,0,0,0,0,28.83,28.83,13.21
$GC,14812,0.70,202.6,2724,2515,2074,1861,556.4,7.8,531,14837,0.00,1.55,15.40,2.248,8708,0.000,0.093,2730,1669,1916,2023,1809,0,0,0,0,0,0,28.83,14.41,13.21
$GC,14863,0.73,216.1,2730,1669,2023,1808,554.3,7.7,532,14887,0.00,1.50,17.23,2.277,9222,0.000,0.109,2730,2513,1859,1966,1752,0,0,0,0,0,0,28.83,14.40,13.10
$GC,15210,0.74,218.5,2731,2513,1966,1750,524.6,8.2,544,15211,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2513,1858,1966,1750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15505,0.75,222.1,2731,2513,1966,1748,500.3,8.1,554,15517,0.00,1.48,7.60,1.965,8708,0.000,0.090,2736,1662,1834,1941,1728,0,0,0,0,0,0,28.83,14.46,13.28
$GC,15560,0.77,227.6,2736,1662,1942,1728,495.8,8.0,556,15572,0.00,1.50,7.57,1.942,9222,0.000,0.108,2737,2511,1813,1917,1709,0,0,0,0,0,0,28.83,14.41,13.24
$GC,15891,0.78,227.6,2736,2511,1916,1708,467.5,8.6,567,15892,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2511,1813,1917,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16189,0.79,227.6,2736,2511,1916,1708,440.9,9.0,577,16193,0.00,1.50,0.00,0.000,516,0.000,0.092,2742,1659,1812,1916,1708,0,0,0,0,0,0,28.83,14.24,28.83
$GC,16228,0.81,227.6,2742,1659,1916,1708,437.7,9.1,578,16231,0.00,1.52,0.00,0.000,1030,0.000,0.108,2742,2510,1812,1916,1708,0,0,0,0,0,0,28.83,14.22,28.83
$GC,16559,0.81,227.6,2742,2510,1916,1708,405.3,9.9,589,16560,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2510,1812,1917,1708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16859,0.81,227.6,2742,2510,1916,1708,374.8,10.2,599,16860,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2510,1812,1916,1708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17158,0.82,227.6,2742,2510,1916,1708,345.2,9.6,609,17162,0.00,1.50,0.00,0.000,516,0.000,0.092,2747,1658,1812,1916,1708,0,0,0,0,0,0,28.83,14.16,28.83
$GC,17203,0.83,227.6,2747,1658,1916,1707,341.9,9.5,610,17206,0.00,1.55,0.00,0.000,1030,0.000,0.107,2747,2521,1811,1916,1707,0,0,0,0,0,0,28.83,14.14,28.83
$GC,17528,0.83,227.6,2747,2521,1916,1707,310.6,9.1,621,17532,0.00,1.55,0.00,0.000,516,0.000,0.092,2753,1667,1811,1916,1707,0,0,0,0,0,0,28.83,14.12,28.83
$GC,17581,0.83,227.6,2753,1667,1916,1706,307.4,9.0,622,17585,0.00,1.58,0.00,0.000,1030,0.000,0.108,2753,2515,1811,1916,1707,0,0,0,0,0,0,28.83,14.07,28.83
$GC,17897,0.83,227.6,2753,2515,1916,1707,277.8,8.6,633,17899,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2514,1812,1917,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18197,0.83,227.6,2753,2515,1915,1706,251.4,8.9,643,18200,0.00,1.52,0.00,0.000,516,0.000,0.092,2758,1661,1811,1916,1707,0,0,0,0,0,0,28.83,14.12,28.83
$GC,18235,0.83,227.6,2758,1661,1916,1707,248.3,8.7,644,18238,0.00,1.55,0.00,0.000,1030,0.000,0.109,2759,2512,1811,1916,1707,0,0,0,0,0,0,28.83,14.09,28.83
$GC,18567,0.83,229.2,2759,2513,1916,1707,220.0,8.2,655,18568,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2513,1811,1916,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18865,0.83,229.2,2758,2513,1916,1707,195.5,8.3,665,18868,0.00,1.50,0.00,0.000,516,0.000,0.091,2764,1669,1811,1916,1707,0,0,0,0,0,0,28.83,14.10,28.83
$GC,18931,0.83,229.2,2764,1669,1916,1707,190.1,8.3,667,18935,0.00,1.58,0.00,0.000,1030,0.000,0.109,2764,2509,1811,1916,1707,0,0,0,0,0,0,28.83,14.02,28.83
$GC,19268,0.83,229.2,2764,2510,1916,1706,161.7,8.8,678,19269,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2510,1811,1916,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19567,0.83,229.2,2764,2510,1916,1707,135.5,8.6,688,19568,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2510,1811,1916,1706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19868,0.84,236.3,2764,2510,1916,1707,110.9,8.0,698,19879,0.00,1.50,5.38,1.469,8708,0.000,0.090,2770,1661,1777,1878,1676,0,0,0,0,0,0,28.83,14.33,13.37
$GC,19930,0.85,244.8,1792,1660,1841,1672,106.2,7.9,700,19940,0.00,1.55,5.68,0.501,9222,0.000,0.109,2770,2526,1742,1843,1642,0,0,0,0,0,0,28.83,14.26,13.75
$GC,20248,0.85,244.8,2770,2526,1842,1643,77.0,9.0,726,20255,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2526,1742,1842,1643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20563,0.87,244.8,2770,2525,1843,1643,49.9,8.9,757,20567,0.00,1.58,0.00,0.000,516,0.000,0.093,2776,1669,1742,1842,1643,0,0,0,0,0,0,28.83,14.08,28.83
$GC,20695,0.90,253.2,2776,1669,1842,1643,38.5,7.9,769,20705,0.00,1.52,4.95,0.278,9222,0.000,0.107,2776,2507,1707,1806,1608,0,0,0,0,0,0,28.83,14.09,13.87
$GC,21007,0.91,253.2,2776,2507,1806,1608,14.0,9.4,800,21011,0.00,1.60,0.00,0.000,260,0.000,0.122,2776,3359,1707,1806,1608,0,0,0,0,0,0,28.83,13.97,28.83
$GC,21054,0.92,253.2,2776,3359,1805,1608,9.7,9.1,804,21058,0.00,1.52,0.00,0.000,1030,0.000,0.080,2782,2512,1706,1805,1608,0,0,0,0,0,0,28.83,14.15,28.83
$FREEZE,7.99,-0.703,-1.852,0,1,0
$FREEZE,6.95,-0.766,-1.851,0,1,0
$FREEZE,6.09,-0.756,-1.850,0,1,0
$FREEZE,5.33,-0.789,-1.849,0,1,0
$FREEZE,4.54,-0.783,-1.849,0,1,0
$FREEZE,3.81,-0.805,-1.848,0,1,0
$FREEZE,3.00,-0.815,-1.847,0,1,0
$FREEZE,2.39,-0.835,-1.847,0,1,0
$STATE,21135,end climb,SURFACE_DEPTH_REACHED
$STATE,21135,begin surface coast
$FREEZE,1.56,-0.832,-1.846,0,1,0
$FREEZE,1.35,-1.200,-0.278,0,1,0
$FREEZE,1.31,-0.875,-1.154,0,1,0
$FREEZE,1.39,-0.978,-1.449,0,1,0
$FINISH,1.4,1.021355
$STATE,21177,end surface coast,CONTROL_FINISHED_OK
$STATE,21177,begin surface
$SM_CCo,21207,78.45,0.159,0,0,1107,400.08
$SM_GC,2.25,7.95,0.15,78.45,0.084,0.170,0.159,136,2585,1107,-7.36,-0.57,400.08,0,0,0,0,0,0,14.24,14.30,14.17
$RAFOS_CLK,1007
$RAFOS,6,1389530944,12.833333,12.817778,63,60,59,59,55,54,196,172,183,211,140,113
$RAFOS,5,1389530467,12.700000,12.685278,64,56,56,53,53,52,192,133,211,165,174,183
$RAFOS,4,1389530000,12.566667,12.555555,66,61,54,52,52,52,202,189,174,127,211,231
$RAFOS,3,1389529504,12.433333,12.417778,63,61,59,58,52,51,215,205,196,185,226,169
$RAFOS,2,1389529028,12.300000,12.285556,62,61,58,53,53,51,184,203,129,163,214,111
$RAFOS,1,1389528564,12.166667,12.156667,57,56,54,54,53,53,219,144,157,112,206,194
$RAFOS,0,1389528064,12.033333,12.017777,61,60,55,54,54,50,169,215,202,142,113,129
$RAFOS,4,1389515588,8.566667,8.552222,61,61,58,57,55,52,158,199,217,140,182,131
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6317.84,-5759.68,120114,020238
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.93
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.60
$XPDR_PINGS,107
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,11.4,261.439
$10V_AH,11.5,0.000
$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,21.050,79.725,486.000,78.450,0.000,0.000,0.000,218.300,30.500,0.000,7.736,2373.282,16038.573,583.191,1871.218,811.211,0.000,1827.760,0.000,1665.667,2520.000,27.397,0.000
$DEVICE_MAMPS,426.105,169.830,2828.970,159.120,0.000,0.000,0.000,142.290,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227708
$DATA_FILE_SIZE,36747,816
$CAP_FILE_SIZE,157414,0
$CFSIZE,259252224,203161600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.0
$CURRENT,0.111,278.5,1
$GPS,120114,144624,6346.384,-5745.293,42,1.1,42,-30.3