version: 66.11
glider: 192
mission: 2
dive: 664
start: 1 19 114 3 19 52
data:
$ID,192
$MISSION,2
$DIVE,664
$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,-15485.411
$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,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$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
$GPS1,190114,031224,6352.578,-5529.253,42,1.9,42,-30.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-64.9
$GPS2,190114,031910,6352.594,-5529.090,5,1.7,5,-30.0
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_2
$TGT_LATLONG,6400.000,-5400.000
$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,124.4,73618,-15.5,-8.250,-18.49,2720
$D_GRID,1104
$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,-146.0,116,2586,1120,1071,0.0,0.0,0,100,0.00,0.00,-77.22,0.000,16386,0.000,0.000,114,2587,2585,2633,2538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.89,-146.0,114,2587,2634,2538,3.0,-1.5,8,150,10.27,1.55,-23.02,0.000,18948,0.413,0.119,2214,1727,3339,3506,3173,0,0,0,0,0,0,13.92,14.35,14.75
$GC,170,-0.77,-146.0,1376,1726,3499,3170,11.0,-13.4,14,178,0.20,1.52,0.00,0.000,3078,0.269,0.107,2256,2581,3340,3507,3174,0,0,0,0,0,0,14.00,14.23,28.83
$GC,481,-0.72,-146.0,2256,2581,3507,3172,63.2,-16.6,45,484,0.00,1.55,0.00,0.000,260,0.000,0.121,2251,3429,3340,3508,3172,0,0,0,0,0,0,28.83,13.98,28.83
$GC,526,-0.68,-146.0,2252,3429,3507,3172,71.0,-16.7,49,530,0.15,1.50,0.00,0.000,3078,0.272,0.075,2284,2559,3339,3507,3172,0,0,0,0,0,0,13.81,14.15,28.83
$GC,868,-0.66,-146.0,2283,2558,3507,3170,116.6,-13.5,74,872,0.00,1.48,0.00,0.000,516,0.000,0.090,2284,1745,3338,3507,3170,0,0,0,0,0,0,28.83,13.96,28.83
$GC,918,-0.64,-146.0,2284,1745,3507,3170,122.2,-13.5,75,922,0.00,1.52,0.00,0.000,1030,0.000,0.110,2280,2579,3338,3507,3170,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1239,-0.62,-146.0,2280,2580,3507,3168,163.4,-12.1,86,1243,0.12,1.62,0.00,0.000,2308,0.270,0.119,2307,3431,3338,3507,3169,0,0,0,0,0,0,14.00,13.78,28.83
$GC,1300,-0.60,-146.0,2307,3430,3507,3168,167.6,-11.9,87,1307,0.00,1.50,0.00,0.000,1030,0.000,0.079,2307,2574,3337,3507,3168,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1606,-0.60,-146.0,2307,2574,3507,3169,199.9,-9.5,98,1609,0.00,1.50,0.00,0.000,516,0.000,0.088,2307,1724,3338,3507,3169,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1641,-0.60,-146.0,2307,1723,3508,3168,203.2,-9.5,99,1644,0.00,1.58,0.00,0.000,1030,0.000,0.110,2301,2584,3337,3507,3168,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1978,-0.60,-146.0,2301,2584,3507,3169,238.2,-10.5,110,1982,0.00,1.60,0.00,0.000,260,0.000,0.120,2295,3426,3338,3508,3169,0,0,0,0,0,0,28.83,13.73,28.83
$GC,2021,-0.60,-146.0,2294,3426,3507,3168,242.3,-10.6,111,2025,0.00,1.50,0.00,0.000,1030,0.000,0.077,2295,2587,3338,3507,3169,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2347,-0.60,-146.0,2295,2587,3509,3169,276.6,-10.0,122,2351,0.00,1.52,0.00,0.000,516,0.000,0.087,2295,1733,3338,3508,3169,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2391,-0.60,-146.0,2295,1733,3509,3169,280.2,-10.1,123,2395,0.00,1.58,0.00,0.000,1030,0.000,0.110,2289,2584,3339,3509,3169,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2717,-0.59,-146.0,2289,2584,3509,3169,312.3,-9.3,134,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2584,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3017,-0.59,-146.0,2289,2584,3511,3169,339.2,-8.8,144,3021,0.12,1.52,0.00,0.000,2564,0.271,0.080,2321,1726,3340,3511,3169,0,0,0,0,0,0,13.97,13.90,28.83
$GC,3053,-0.59,-146.0,2321,1725,3511,3169,342.1,-8.7,145,3057,0.00,1.58,0.00,0.000,1030,0.000,0.107,2317,2586,3340,3511,3169,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3395,-0.59,-146.0,2317,2586,3513,3169,367.7,-7.8,156,3399,0.00,1.60,0.00,0.000,260,0.000,0.121,2310,3425,3341,3513,3169,0,0,0,0,0,0,28.83,13.69,28.83
$GC,3455,-0.60,-146.0,2310,3425,3513,3169,371.1,-7.8,157,3462,0.00,1.50,0.00,0.000,1030,0.000,0.074,2310,2570,3341,3513,3169,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3760,-0.60,-146.0,2310,2570,3514,3169,398.8,-8.4,168,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2570,3341,3514,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.60,-146.0,2310,2570,3515,3169,424.0,-8.3,178,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2570,3342,3515,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4362,-0.60,-146.0,2311,2570,3516,3169,448.4,-8.2,188,4365,0.00,1.50,0.00,0.000,516,0.000,0.086,2310,1717,3342,3516,3169,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4406,-0.60,-146.0,2310,1717,3517,3169,451.6,-8.3,189,4410,0.00,1.60,0.00,0.000,1030,0.000,0.106,2305,2588,3343,3517,3169,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4732,-0.60,-146.0,2305,2588,3517,3169,481.5,-9.3,200,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2588,3343,3517,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.60,-146.0,2305,2588,3518,3169,511.1,-10.2,210,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2588,3343,3518,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5331,-0.60,-146.0,2305,2588,3518,3170,543.2,-10.8,220,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2588,3344,3518,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,-0.60,-146.0,2305,2588,3518,3170,576.1,-10.9,230,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2588,3344,3518,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5931,-0.60,-146.0,2305,2588,3518,3171,606.8,-9.9,240,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2588,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6232,-0.60,-146.0,2305,2588,3518,3170,635.5,-9.5,250,6235,0.00,1.50,0.00,0.000,516,0.000,0.081,2305,1728,3344,3517,3171,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6271,-0.60,-146.0,2305,1728,3518,3171,638.7,-9.4,251,6274,0.00,1.58,0.00,0.000,1030,0.000,0.105,2300,2581,3344,3518,3171,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6601,-0.60,-146.0,2299,2581,3518,3171,669.5,-9.1,262,6605,0.00,1.60,0.00,0.000,260,0.000,0.116,2293,3420,3344,3518,3171,0,0,0,0,0,0,28.83,13.67,28.83
$GC,6637,-0.60,-146.0,2293,3420,3518,3171,672.8,-9.1,263,6640,0.00,1.50,0.00,0.000,1030,0.000,0.073,2293,2558,3344,3518,3171,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6973,-0.60,-146.0,2293,2559,3518,3171,703.7,-9.1,274,6977,0.00,1.48,0.00,0.000,516,0.000,0.083,2293,1747,3344,3518,3171,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7011,-0.60,-146.0,1424,1745,3511,3168,707.1,-9.1,275,7014,0.00,1.52,0.00,0.000,1030,0.000,0.103,2287,2580,3344,3518,3170,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7341,-0.60,-146.0,2287,2580,3517,3171,739.0,-9.6,286,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2580,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7641,-0.60,-146.0,2287,2580,3518,3171,767.6,-9.6,296,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2580,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,-0.60,-146.0,2287,2580,3518,3171,796.1,-9.5,306,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2580,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,-0.60,-146.0,2287,2580,3518,3171,825.0,-9.6,316,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2581,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8542,-0.60,-146.0,2287,2581,3518,3171,853.1,-9.2,326,8545,0.00,1.50,0.00,0.000,516,0.000,0.081,2287,1740,3344,3518,3171,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8590,-0.60,-146.0,2287,1740,3518,3171,856.6,-9.4,327,8594,0.12,1.55,0.00,0.000,3078,0.245,0.102,2308,2579,3344,3518,3171,0,0,0,0,0,0,13.64,13.79,28.83
$GC,8912,-0.62,-146.0,2309,2579,3518,3171,883.1,-7.8,338,8916,0.00,1.50,0.00,0.000,516,0.000,0.083,2309,1744,3344,3518,3171,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8943,-0.63,-146.0,2309,1744,3518,3171,883.1,-7.8,338,8949,0.00,1.55,0.00,0.000,1030,0.000,0.103,2305,2586,3344,3518,3171,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9249,-0.64,-146.0,2305,2586,3518,3171,909.5,-7.7,349,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2586,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9550,-0.65,-146.0,2305,2586,3518,3171,932.8,-7.8,359,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2586,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9849,-0.66,-146.0,2305,2586,3518,3171,956.3,-7.8,369,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2586,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10149,-0.67,-146.0,2305,2586,3518,3171,979.3,-7.9,379,10152,0.00,1.50,0.00,0.000,516,0.000,0.082,2305,1730,3344,3518,3171,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10194,-0.68,-146.0,2305,1729,3518,3171,982.2,-7.9,380,10197,0.00,1.58,0.00,0.000,1030,0.000,0.105,2300,2579,3344,3518,3171,0,0,0,0,0,0,28.83,13.77,28.83
$STATE,10272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10273,begin apogee
$GC,10286,-0.22,0.0,2300,2472,3518,3171,990.0,-8.1,383,10472,0.47,0.00,172.52,2.800,10246,0.200,0.000,2431,2472,2742,2853,2631,0,0,0,0,0,0,13.57,28.83,12.19
$STATE,10473,end apogee,CONTROL_FINISHED_OK
$STATE,10473,begin climb
$GC,10479,0.89,146.0,2431,2471,2853,2631,996.5,0.0,389,10680,1.25,0.00,189.52,2.715,10758,0.149,0.000,2792,2472,2144,2239,2050,0,0,0,0,0,0,13.33,28.83,11.49
$GC,10970,0.86,146.0,2792,2471,2239,2042,953.8,11.0,406,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2471,2140,2239,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11269,0.82,146.0,2792,2472,2239,2039,921.2,10.8,416,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2471,2139,2239,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11569,0.78,146.0,2792,2471,2239,2038,888.5,10.8,426,11573,0.12,1.58,0.00,0.000,4356,0.265,0.114,2759,3329,2138,2239,2038,0,0,0,0,0,0,14.20,14.25,28.83
$GC,11614,0.74,146.0,2759,3329,2239,2038,884.7,10.8,427,11618,0.00,1.50,0.00,0.000,1030,0.000,0.080,2764,2465,2138,2239,2037,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11941,0.72,146.0,2764,2465,2239,2037,852.6,9.6,438,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2465,2137,2239,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12241,0.70,146.0,2764,2465,2239,2036,823.5,9.8,448,12244,0.00,1.50,0.00,0.000,516,0.000,0.093,2770,1644,2137,2239,2036,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12285,0.67,146.0,2770,1643,2239,2034,820.1,9.7,449,12290,0.17,1.50,0.00,0.000,5126,0.233,0.106,2729,2482,2136,2239,2034,0,0,0,0,0,0,14.02,14.17,28.83
$GC,12611,0.67,146.0,2729,2482,2239,2034,791.9,8.3,460,12615,0.00,1.60,0.00,0.000,260,0.000,0.120,2729,3327,2136,2239,2034,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12651,0.67,146.0,2728,3327,2239,2034,788.8,8.4,461,12655,0.00,1.52,0.00,0.000,1030,0.000,0.081,2732,2478,2136,2239,2034,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12982,0.68,148.0,2733,2478,2239,2034,760.7,8.2,472,12985,0.00,1.50,0.00,0.000,516,0.000,0.093,2739,1631,2136,2239,2034,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13020,0.69,153.4,2739,1631,2239,2033,757.9,8.0,473,13034,0.00,1.52,7.62,2.187,9222,0.000,0.104,2739,2480,2115,2220,2011,0,0,0,0,0,0,28.83,14.12,13.22
$GC,13348,0.68,153.4,2739,2480,2220,2011,730.0,8.5,484,13352,0.00,1.58,0.00,0.000,260,0.000,0.120,2739,3327,2115,2220,2011,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13407,0.67,153.4,2739,3328,2218,2011,726.7,8.6,485,13414,0.00,1.50,0.00,0.000,1030,0.000,0.082,2745,2464,2115,2220,2011,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13715,0.66,154.0,2745,2464,2220,2011,698.2,8.2,496,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2464,2115,2219,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14014,0.66,163.3,2745,2464,2220,2011,674.5,7.9,506,14032,0.00,1.62,12.65,2.307,8452,0.000,0.121,2745,3323,2075,2180,1971,0,0,0,0,0,0,28.83,14.25,13.21
$GC,14082,0.65,167.2,2745,3323,2180,1971,669.4,8.1,508,14093,0.10,1.50,6.00,1.937,13318,0.216,0.082,2723,2477,2058,2164,1953,0,0,0,0,0,0,14.19,14.38,13.19
$GC,14405,0.71,205.3,2723,2478,2164,1954,646.2,6.8,518,14454,0.00,0.00,45.05,2.429,8198,0.000,0.000,2723,2477,1903,2010,1797,0,0,0,0,0,0,28.83,28.83,13.02
$GC,14759,0.75,224.5,2723,2477,2009,1790,620.0,7.5,530,14785,0.00,0.00,22.00,2.327,8198,0.000,0.000,2723,2477,1825,1930,1721,0,0,0,0,0,0,28.83,28.83,13.19
$GC,15090,0.79,241.8,2723,2477,1927,1719,595.5,7.6,541,15116,0.12,1.55,19.75,2.316,10756,0.143,0.095,2783,1637,1756,1854,1658,0,0,0,0,0,0,14.49,14.37,13.20
$GC,15141,0.82,254.7,2783,1637,1854,1657,593.1,7.8,542,15162,0.00,1.50,16.30,2.217,9222,0.000,0.104,2783,2483,1701,1797,1605,0,0,0,0,0,0,28.83,14.38,13.12
$GC,15485,0.80,254.7,2783,2483,1795,1605,551.8,11.6,554,15487,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2483,1700,1795,1605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15779,0.79,254.7,2783,2483,1795,1604,516.0,12.2,564,15780,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2483,1699,1794,1604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16079,0.77,254.7,2783,2482,1795,1603,479.2,12.1,574,16080,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2483,1698,1794,1603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16380,0.76,254.7,2783,2483,1794,1603,444.0,11.5,584,16384,0.00,1.50,0.00,0.000,516,0.000,0.094,2789,1624,1698,1795,1602,0,0,0,0,0,0,28.83,14.13,28.83
$GC,16409,0.75,254.7,2789,1624,1794,1602,444.0,11.5,584,16416,0.15,1.55,0.00,0.000,5126,0.223,0.106,2754,2481,1698,1794,1602,0,0,0,0,0,0,14.01,14.15,28.83
$GC,16717,0.75,254.7,2754,2481,1794,1601,413.4,8.6,595,16720,0.00,1.55,0.00,0.000,260,0.000,0.119,2753,3332,1698,1794,1602,0,0,0,0,0,0,28.83,14.05,28.83
$GC,16745,0.75,254.7,2753,3332,1794,1602,413.4,8.6,595,16751,0.00,1.50,0.00,0.000,1030,0.000,0.081,2758,2471,1697,1793,1601,0,0,0,0,0,0,28.83,14.19,28.83
$GC,17052,0.78,273.7,2757,2471,1793,1601,386.1,7.5,606,17079,0.00,1.52,20.75,2.103,8708,0.000,0.096,2764,1637,1626,1719,1533,0,0,0,0,0,0,28.83,14.30,13.26
$GC,17140,0.82,305.1,2764,1637,1718,1532,381.7,7.1,608,17181,0.00,1.50,36.12,2.116,9222,0.000,0.103,2764,2482,1497,1590,1404,0,0,0,0,0,0,28.83,14.35,13.12
$GC,17502,0.82,305.1,2764,2482,1588,1400,349.6,8.8,621,17503,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2482,1494,1588,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17804,0.83,305.1,2764,2482,1587,1398,321.4,9.6,631,17805,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2482,1493,1588,1399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18103,0.84,305.1,2764,2482,1588,1398,290.4,10.6,641,18106,0.00,1.55,0.00,0.000,260,0.000,0.119,2764,3330,1492,1587,1397,0,0,0,0,0,0,28.83,14.12,28.83
$GC,18138,0.85,305.1,2764,3330,1586,1398,286.6,10.6,642,18142,0.00,1.52,0.00,0.000,1030,0.000,0.081,2770,2464,1492,1586,1398,0,0,0,0,0,0,28.83,14.24,28.83
$GC,18474,0.85,305.1,2771,2463,1586,1398,250.7,10.5,653,18478,0.00,1.50,0.00,0.000,516,0.000,0.094,2776,1640,1492,1586,1398,0,0,0,0,0,0,28.83,14.08,28.83
$GC,18527,0.85,305.1,2776,1639,1586,1397,247.0,10.5,654,18531,0.00,1.55,0.00,0.000,1030,0.000,0.104,2777,2475,1491,1586,1397,0,0,0,0,0,0,28.83,14.09,28.83
$GC,18844,0.85,305.1,2777,2474,1586,1397,211.9,10.5,665,18847,0.00,1.58,0.00,0.000,260,0.000,0.118,2776,3335,1491,1586,1397,0,0,0,0,0,0,28.83,14.04,28.83
$GC,18897,0.85,305.1,2776,3335,1585,1397,207.9,10.7,666,18900,0.00,1.50,0.00,0.000,1030,0.000,0.080,2782,2472,1491,1585,1397,0,0,0,0,0,0,28.83,14.18,28.83
$GC,19212,0.85,305.1,2782,2472,1585,1397,170.1,11.2,677,19215,0.00,1.50,0.00,0.000,516,0.000,0.095,2789,1620,1491,1585,1397,0,0,0,0,0,0,28.83,14.06,28.83
$GC,19271,0.85,305.1,2789,1620,1585,1396,166.1,11.3,678,19280,0.00,1.55,0.00,0.000,1030,0.000,0.104,2789,2481,1490,1585,1396,0,0,0,0,0,0,28.83,14.09,28.83
$GC,19577,0.85,305.1,2789,2481,1585,1396,127.0,11.9,689,19578,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2481,1491,1585,1397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19877,0.85,305.1,2789,2481,1585,1397,91.2,11.7,703,19881,0.00,1.55,0.00,0.000,516,0.000,0.094,2794,1631,1490,1585,1396,0,0,0,0,0,0,28.83,13.99,28.83
$GC,19924,0.85,305.1,2794,1631,1585,1396,86.3,11.0,707,19928,0.00,1.58,0.00,0.000,1030,0.000,0.104,2794,2478,1490,1585,1396,0,0,0,0,0,0,28.83,14.02,28.83
$GC,20240,0.87,305.1,2794,2478,1585,1397,54.3,9.2,738,20244,0.00,1.55,0.00,0.000,260,0.000,0.119,2794,3326,1490,1585,1396,0,0,0,0,0,0,28.83,13.98,28.83
$GC,20329,0.87,305.1,1808,3325,1559,1394,45.9,9.9,746,20336,0.00,1.50,0.00,0.000,1030,0.000,0.082,2801,2473,1490,1585,1396,0,0,0,0,0,0,28.83,14.12,28.83
$GC,20638,0.87,305.1,2801,2473,1585,1396,18.0,9.2,777,20642,0.00,1.52,0.00,0.000,516,0.000,0.096,2807,1640,1490,1585,1396,0,0,0,0,0,0,28.83,13.98,28.83
$GC,20667,0.89,305.1,1824,1638,1559,1394,15.6,9.2,779,20674,0.00,1.55,0.00,0.000,1030,0.000,0.108,2807,2486,1490,1585,1396,0,0,0,0,0,0,28.83,14.04,28.83
$FREEZE,8.53,-0.387,-1.831,0,1,0
$FREEZE,7.87,-0.392,-1.831,0,1,0
$FREEZE,7.11,-0.389,-1.830,0,1,0
$FREEZE,6.26,-0.395,-1.829,0,1,0
$FREEZE,5.33,-0.394,-1.828,0,1,0
$FREEZE,4.29,-0.392,-1.828,0,1,0
$FREEZE,3.02,-0.389,-1.827,0,1,0
$FREEZE,2.13,-0.405,-1.827,0,1,0
$STATE,20810,end climb,SURFACE_DEPTH_REACHED
$STATE,20810,begin surface coast
$FREEZE,1.51,-0.544,-1.834,0,1,0
$FREEZE,1.37,-0.416,-1.825,0,1,0
$FINISH,1.4,1.026743
$STATE,20832,end surface coast,CONTROL_FINISHED_OK
$STATE,20832,begin surface
$SM_CCo,20863,51.40,0.161,0,0,1107,400.08
$SM_GC,2.44,8.05,0.17,51.40,0.083,0.147,0.161,139,2585,1107,-7.36,-0.59,400.08,0,0,0,0,0,0,14.17,14.25,14.17
$RAFOS_CLK,970
$RAFOS,6,1390121342,8.833333,8.817223,66,59,56,52,52,52,145,210,189,124,168,219
$RAFOS,5,1390120868,8.700000,8.685555,62,55,53,52,52,47,209,187,114,132,146,81
$RAFOS,4,1390120398,8.566667,8.555000,62,57,56,54,54,52,150,204,187,132,216,114
$RAFOS,3,1390119909,8.433333,8.419167,73,54,52,52,51,49,213,189,145,174,121,131
$RAFOS,2,1390119448,8.300000,8.291111,59,57,55,53,53,52,183,166,156,127,215,141
$RAFOS,1,1390118968,8.166667,8.157778,60,60,59,57,56,56,120,200,129,170,145,158
$RAFOS,0,1390118487,8.033334,8.024167,63,58,58,57,57,51,208,168,144,193,181,127
$RAFOS,6,1390106947,4.833333,4.818611,59,53,53,48,48,47,206,142,216,155,174,111
$RAFOS,5,1390106467,4.700000,4.685278,67,67,66,56,56,54,170,195,227,141,121,215
$RAFOS,4,1390105983,4.566667,4.550833,61,60,55,54,52,52,193,213,203,121,160,133
$RAFOS,3,1390105526,4.433333,4.423889,62,57,57,57,57,54,193,173,162,206,220,152
$RAFOS,2,1390105025,4.300000,4.284722,60,57,55,55,54,54,158,215,191,176,148,236
$RAFOS,1,1390104542,4.166667,4.150556,68,61,56,55,48,48,193,221,172,204,147,126
$RAFOS,0,1390104062,4.033333,4.017222,59,57,57,55,55,53,126,199,231,208,180,167
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6327.46,-5542.05,180114,212127
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.64
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.70
$XPDR_PINGS,126
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,11.5,273.201
$10V_AH,11.7,0.000
$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,21.450,101.650,548.300,51.400,0.000,0.000,0.000,221.075,35.250,0.000,6.246,2375.765,15592.034,637.924,1883.026,838.284,0.000,1912.653,0.000,1679.744,5040.000,27.595,0.000
$DEVICE_MAMPS,413.100,146.880,2799.900,161.415,0.000,0.000,0.000,141.525,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.589,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227700
$DATA_FILE_SIZE,33482,796
$CAP_FILE_SIZE,165350,0
$CFSIZE,259252224,201371648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1473.1
$CURRENT,0.194, 73.2,1
$GPS,190114,091024,6353.016,-5517.356,40,1.5,40,-30.0