version: 66.11
glider: 192
mission: 2
dive: 638
start: 1 12 114 14 54 5
data:
$ID,192
$MISSION,2
$DIVE,638
$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,-15443.619
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,120114,144624,6346.384,-5745.293,42,1.1,42,-30.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-69.5
$GPS2,120114,145323,6346.380,-5745.292,5,1.0,5,-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,121.6,86254,-15.5,-8.250,-18.49,2720
$D_GRID,1217
$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,-146.0,135,2585,1108,1083,0.0,0.0,0,110,0.00,0.00,-86.78,0.000,16386,0.000,0.000,135,2586,2800,2848,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,135,2585,2848,2754,3.4,-1.8,9,147,10.38,1.55,-13.65,0.000,18948,0.427,0.119,2211,1729,3338,3498,3179,0,0,0,0,0,0,13.85,14.31,14.76
$GC,382,-0.83,-146.0,2211,1728,3500,3179,53.9,-18.9,35,387,0.15,1.55,0.00,0.000,3078,0.294,0.107,2237,2582,3338,3499,3178,0,0,0,0,0,0,13.84,14.12,28.83
$GC,719,-0.78,-146.0,2237,2582,3500,3176,115.4,-17.0,62,723,0.00,1.50,0.00,0.000,516,0.000,0.086,2237,1726,3337,3499,3176,0,0,0,0,0,0,28.83,14.10,28.83
$GC,777,-0.74,-146.0,2237,1725,3499,3176,121.3,-16.8,63,785,0.15,1.58,0.00,0.000,3078,0.275,0.109,2265,2590,3337,3499,3176,0,0,0,0,0,0,13.81,14.04,28.83
$GC,1086,-0.71,-146.0,2265,2590,3500,3175,165.6,-12.4,74,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2590,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1384,-0.69,-146.0,2265,2590,3500,3175,201.3,-11.6,84,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2590,3337,3499,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1685,-0.66,-146.0,2265,2590,3500,3175,235.1,-11.3,94,1687,0.12,0.00,0.00,0.000,2054,0.285,0.000,2294,2590,3337,3500,3175,0,0,0,0,0,0,14.12,28.83,28.83
$GC,1985,-0.66,-146.0,2294,2590,3500,3175,263.3,-9.3,104,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2590,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2285,-0.66,-146.0,2294,2590,3502,3175,292.1,-9.7,114,2288,0.00,1.50,0.00,0.000,516,0.000,0.084,2294,1725,3338,3502,3175,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2373,-0.66,-146.0,2294,1725,3502,3175,298.4,-9.8,116,2380,0.00,1.58,0.00,0.000,1030,0.000,0.105,2290,2585,3338,3502,3175,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2681,-0.65,-146.0,2290,2585,3504,3175,332.6,-10.4,127,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2585,3339,3504,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.64,-146.0,2290,2584,3506,3175,363.4,-10.2,137,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2585,3340,3506,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3281,-0.63,-146.0,2290,2585,3506,3175,393.1,-9.9,147,3284,0.00,1.55,0.00,0.000,260,0.000,0.118,2283,3432,3341,3506,3176,0,0,0,0,0,0,28.83,13.92,28.83
$GC,3319,-0.62,-146.0,1424,3430,3498,3173,396.9,-10.0,148,3322,0.00,1.50,0.00,0.000,1030,0.000,0.073,2283,2564,3341,3506,3176,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3649,-0.61,-146.0,2283,2564,3507,3175,431.6,-10.3,159,3651,0.12,0.00,0.00,0.000,2054,0.255,0.000,2311,2564,3341,3507,3176,0,0,0,0,0,0,14.17,28.83,28.83
$GC,3950,-0.61,-146.0,2311,2564,3508,3176,458.8,-9.1,169,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2564,3342,3508,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4249,-0.61,-146.0,2311,2564,3509,3176,486.3,-9.3,179,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2564,3342,3508,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4549,-0.61,-146.0,2311,2564,3509,3175,513.9,-9.0,189,4552,0.00,1.48,0.00,0.000,516,0.000,0.085,2311,1744,3342,3509,3176,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4598,-0.61,-146.0,2312,1744,3509,3176,517.1,-8.9,190,4602,0.00,1.52,0.00,0.000,1030,0.000,0.106,2307,2582,3342,3509,3176,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4918,-0.61,-146.0,2308,2582,3510,3175,549.8,-10.0,201,4922,0.00,1.55,0.00,0.000,260,0.000,0.118,2301,3426,3343,3510,3176,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4956,-0.61,-146.0,2301,3427,3510,3176,553.3,-10.1,202,4960,0.00,1.50,0.00,0.000,1030,0.000,0.074,2301,2561,3342,3509,3176,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5287,-0.61,-146.0,2301,2561,3510,3176,587.9,-10.3,213,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.61,-146.0,2301,2561,3510,3176,618.5,-10.2,223,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5887,-0.61,-146.0,2302,2561,3510,3176,648.7,-9.9,233,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6186,-0.61,-146.0,2301,2562,3510,3176,677.8,-9.5,243,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3511,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6486,-0.61,-146.0,2301,2561,3510,3175,705.9,-9.3,253,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6787,-0.61,-146.0,2301,2561,3510,3176,733.6,-9.2,263,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2562,3342,3510,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7086,-0.61,-146.0,2301,2561,3510,3176,760.8,-8.9,273,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7386,-0.61,-146.0,2301,2561,3511,3176,787.6,-8.8,283,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7687,-0.61,-146.0,2301,2561,3511,3176,813.7,-8.5,293,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7986,-0.61,-146.0,2302,2560,3511,3176,839.7,-8.6,303,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8286,-0.61,-146.0,2301,2561,3511,3176,864.6,-8.3,313,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8588,-0.61,-146.0,2301,2561,3511,3176,889.0,-8.2,323,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8886,-0.61,-146.0,2301,2561,3511,3175,913.8,-8.5,333,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9186,-0.61,-146.0,2301,2561,3511,3175,939.3,-8.6,343,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3511,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9487,-0.61,-146.0,2301,2561,3511,3176,965.6,-8.7,353,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2561,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9780,begin apogee
$GC,9794,-0.22,0.0,2301,2510,3510,3176,991.1,-8.4,363,9980,0.47,0.00,172.73,2.811,10246,0.203,0.000,2431,2509,2741,2850,2633,0,0,0,0,0,0,13.71,28.83,12.10
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9987,0.89,146.0,2431,2509,2850,2633,997.9,0.0,369,10186,1.23,0.00,194.32,2.723,10502,0.150,0.000,2787,2509,2145,2240,2051,0,0,0,0,0,0,13.36,28.83,11.45
$GC,10482,0.86,146.0,2787,2509,2239,2041,955.3,11.0,386,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2509,2140,2239,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10778,0.82,146.0,2787,2509,2239,2040,921.3,11.5,396,10781,0.00,1.50,0.00,0.000,516,0.000,0.087,2793,1644,2139,2239,2040,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10821,0.78,146.0,2793,1644,2239,2038,917.3,11.4,397,10825,0.12,1.55,0.00,0.000,5126,0.246,0.106,2766,2515,2138,2239,2038,0,0,0,0,0,0,14.22,14.35,28.83
$GC,11147,0.75,146.0,2766,2515,2239,2037,882.9,10.3,408,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2514,2138,2239,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11448,0.73,146.0,2766,2515,2239,2037,851.7,10.4,418,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2515,2138,2239,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11747,0.71,146.0,2766,2515,2239,2035,819.5,10.8,428,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2514,2137,2239,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12047,0.68,146.0,2766,2515,2239,2035,786.3,10.9,438,12049,0.15,0.00,0.00,0.000,4102,0.249,0.000,2730,2515,2137,2239,2035,0,0,0,0,0,0,14.20,28.83,28.83
$GC,12348,0.68,146.0,2729,2515,2239,2035,758.0,9.3,448,12351,0.00,1.50,0.00,0.000,516,0.000,0.087,2734,1676,2136,2238,2034,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12383,0.68,146.0,2733,1676,2239,2034,754.6,9.3,449,12387,0.00,1.52,0.00,0.000,1030,0.000,0.102,2733,2527,2136,2239,2034,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12719,0.68,146.0,2733,2527,2239,2033,722.4,9.7,460,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2527,2136,2239,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13018,0.68,146.0,2734,2527,2239,2033,694.1,9.3,470,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2527,2136,2239,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13318,0.68,146.0,2734,2527,2239,2033,666.4,9.1,480,13322,0.00,1.52,0.00,0.000,516,0.000,0.087,2740,1652,2136,2239,2033,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13371,0.68,146.0,2740,1652,2239,2033,663.5,8.8,481,13375,0.00,1.52,0.00,0.000,1030,0.000,0.103,2740,2511,2136,2239,2033,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13688,0.67,146.0,2740,2511,2239,2033,634.3,8.4,492,13689,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2510,2135,2239,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13987,0.67,147.6,2740,2510,2239,2033,609.3,8.2,502,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2510,2136,2239,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14287,0.66,147.6,2740,2510,2239,2032,584.2,8.4,512,14289,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2511,2135,2239,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14588,0.65,147.6,2740,2510,2239,2033,558.5,8.7,522,14589,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2511,2135,2239,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14887,0.64,147.6,2740,2510,2239,2032,533.2,8.6,532,14888,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2511,2135,2239,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15187,0.64,147.6,2740,2511,2239,2032,506.7,9.0,542,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2510,2135,2239,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15486,0.64,147.6,2740,2510,2239,2032,479.1,9.3,552,15490,0.00,1.50,0.00,0.000,516,0.000,0.088,2745,1676,2135,2239,2032,0,0,0,0,0,0,28.83,14.09,28.83
$GC,15535,0.64,147.6,2745,1676,2239,2032,475.8,9.3,553,15538,0.00,1.55,0.00,0.000,1030,0.000,0.103,2745,2513,2135,2239,2032,0,0,0,0,0,0,28.83,14.06,28.83
$GC,15856,0.63,147.6,2746,2513,2239,2032,443.5,9.7,564,15858,0.12,0.00,0.00,0.000,4102,0.240,0.000,2717,2513,2135,2239,2032,0,0,0,0,0,0,14.24,28.83,28.83
$GC,16155,0.64,147.6,2717,2513,2239,2032,417.5,8.7,574,16159,0.00,1.50,0.00,0.000,516,0.000,0.089,2721,1651,2135,2239,2031,0,0,0,0,0,0,28.83,14.10,28.83
$GC,16191,0.65,147.6,2721,1651,2239,2032,414.5,8.7,575,16195,0.00,1.60,0.00,0.000,1030,0.000,0.105,2721,2513,2135,2239,2032,0,0,0,0,0,0,28.83,14.04,28.83
$GC,16528,0.67,153.7,2721,2513,2239,2032,386.7,8.0,586,16537,0.00,0.00,7.30,1.901,8198,0.000,0.000,2721,2513,2114,2220,2008,0,0,0,0,0,0,28.83,28.83,13.26
$GC,16827,0.69,159.8,2721,2513,2220,2007,362.8,8.0,596,16840,0.00,1.45,8.52,1.929,8708,0.000,0.087,2727,1670,2089,2195,1983,0,0,0,0,0,0,28.83,14.39,13.28
$GC,16896,0.72,173.1,2727,1670,2195,1982,358.5,7.7,598,16916,0.00,1.52,15.55,2.056,9222,0.000,0.107,2727,2503,2035,2142,1929,0,0,0,0,0,0,28.83,14.33,13.20
$GC,17244,0.74,180.8,2726,2503,2142,1928,329.8,8.0,610,17256,0.00,0.00,10.00,1.932,8198,0.000,0.000,2727,2504,2002,2109,1896,0,0,0,0,0,0,28.83,28.83,13.30
$GC,17539,0.75,182.2,2727,2504,2109,1896,305.6,8.2,620,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2503,2002,2109,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17838,0.76,182.2,2727,2503,2109,1896,280.3,8.5,630,17842,0.00,1.50,0.00,0.000,516,0.000,0.091,2732,1648,2002,2109,1896,0,0,0,0,0,0,28.83,14.21,28.83
$GC,17867,0.77,182.2,2733,1647,2109,1895,280.3,8.5,630,17874,0.00,1.55,0.00,0.000,1030,0.000,0.106,2733,2511,2002,2109,1895,0,0,0,0,0,0,28.83,14.21,28.83
$GC,18174,0.77,182.2,2732,2511,2109,1894,251.3,8.5,641,18175,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2511,2002,2109,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18474,0.79,189.3,2733,2511,2109,1895,227.2,8.0,651,18487,0.00,0.00,10.12,1.861,8198,0.000,0.000,2733,2511,1969,2078,1861,0,0,0,0,0,0,28.83,28.83,13.33
$GC,18774,0.81,199.2,2733,2511,2078,1861,203.8,7.9,661,18789,0.12,0.00,12.05,1.875,10246,0.142,0.000,2782,2511,1928,2036,1820,0,0,0,0,0,0,14.50,28.83,13.33
$GC,19074,0.80,199.2,2782,2511,2036,1819,172.9,10.3,671,19078,0.00,1.52,0.00,0.000,516,0.000,0.092,2788,1676,1927,2036,1819,0,0,0,0,0,0,28.83,14.26,28.83
$GC,19143,0.78,199.2,2788,1676,2036,1819,165.8,10.4,673,19146,0.00,1.50,0.00,0.000,1030,0.000,0.105,2789,2513,1927,2036,1819,0,0,0,0,0,0,28.83,14.26,28.83
$GC,19474,0.76,199.2,2789,2514,2036,1819,128.8,11.2,684,19478,0.12,1.50,0.00,0.000,4612,0.246,0.085,2760,1668,1927,2036,1819,0,0,0,0,0,0,14.18,14.23,28.83
$GC,19498,0.74,199.2,2760,1669,2036,1818,128.8,11.2,684,19502,0.00,1.55,0.00,0.000,1030,0.000,0.107,2759,2503,1927,2036,1818,0,0,0,0,0,0,28.83,14.14,28.83
$GC,19814,0.74,199.2,2760,2503,2036,1818,96.9,9.0,697,19820,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2503,1927,2036,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20129,0.75,206.9,2759,2504,2036,1818,69.0,8.0,728,20139,0.00,1.52,4.55,0.376,8708,0.000,0.090,2765,1672,1896,2006,1787,0,0,0,0,0,0,28.83,14.26,13.81
$GC,20208,0.79,223.0,2765,1672,2007,1787,62.9,7.6,735,20224,0.00,1.50,9.52,0.349,9222,0.000,0.105,2765,2511,1830,1937,1724,0,0,0,0,0,0,28.83,14.17,13.93
$GC,20527,0.87,267.4,2765,2511,1936,1723,40.1,6.6,767,20563,0.00,1.55,25.65,0.272,8708,0.000,0.091,2771,1668,1649,1745,1553,0,0,0,0,0,0,28.83,14.37,14.07
$GC,20595,0.92,289.1,2771,1668,1746,1553,35.7,7.4,773,20614,0.10,1.52,12.32,0.264,11270,0.161,0.106,2811,2519,1560,1654,1467,0,0,0,0,0,0,14.33,14.26,14.09
$FREEZE,8.44,-0.641,-1.846,0,1,0
$FREEZE,7.47,-0.591,-1.844,0,1,0
$FREEZE,6.50,-0.673,-1.840,0,1,0
$FREEZE,5.55,-0.729,-1.840,0,1,0
$FREEZE,4.53,-0.719,-1.839,0,1,0
$FREEZE,3.61,-0.718,-1.838,0,1,0
$FREEZE,2.39,-0.719,-1.837,0,1,0
$STATE,20921,end climb,SURFACE_DEPTH_REACHED
$STATE,20921,begin surface coast
$FREEZE,1.56,-0.722,-1.836,0,1,0
$FREEZE,1.47,-0.979,-0.878,0,1,0
$FINISH,1.5,1.012944
$STATE,20948,end surface coast,CONTROL_FINISHED_OK
$STATE,20948,begin surface
$SM_CCo,20978,58.58,0.161,0,0,1109,400.08
$SM_GC,2.46,8.02,0.12,58.58,0.086,0.168,0.161,138,2587,1109,-7.36,-0.51,400.08,0,0,0,0,0,0,14.27,14.37,14.21
$RAFOS_CLK,980
$RAFOS,4,1389558785,20.566668,20.551390,66,60,60,57,54,53,199,124,218,178,161,138
$RAFOS,3,1389558302,20.433332,20.417223,69,65,60,59,56,53,196,158,184,124,213,136
$RAFOS,2,1389557822,20.299999,20.283890,60,55,55,55,52,51,201,170,136,237,185,213
$RAFOS,1,1389557362,20.166666,20.156111,60,59,56,55,55,54,158,181,204,194,119,145
$RAFOS,0,1389556882,20.033333,20.022778,62,60,59,57,57,56,189,169,157,211,230,132
$RAFOS,6,1389545345,16.833334,16.818056,60,58,55,53,52,51,209,191,140,176,116,157
$RAFOS,5,1389544866,16.700001,16.684999,62,58,56,53,53,50,207,185,219,163,124,134
$RAFOS,4,1389544385,16.566668,16.551390,67,62,55,54,51,51,192,181,208,148,165,217
$RAFOS,3,1389543906,16.433332,16.418333,61,56,56,56,53,52,212,154,166,134,186,222
$RAFOS,2,1389543425,16.299999,16.284721,60,59,57,56,55,46,181,171,159,213,194,103
$RAFOS,1,1389542958,16.166666,16.155001,67,59,57,57,52,52,206,188,152,173,114,134
$RAFOS,0,1389542478,16.033333,16.021667,70,69,53,52,50,48,169,207,190,127,146,227
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6322.64,-5746.27,120114,080835
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.90
$XPDR_PINGS,92
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,11.4,261.839
$10V_AH,11.1,0.000
$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,21.400,52.025,482.650,58.575,0.000,0.000,0.000,237.475,26.750,0.000,6.264,2295.852,16133.025,598.549,1699.677,732.271,0.000,1723.795,0.000,1490.559,4680.000,27.585,0.000
$DEVICE_MAMPS,426.870,178.245,2810.610,160.650,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227712
$DATA_FILE_SIZE,33422,808
$CAP_FILE_SIZE,143066,0
$CFSIZE,259252224,203116544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1473.2
$CURRENT,0.152,265.3,1
$GPS,120114,204635,6346.185,-5742.440,44,0.9,44,-30.2