version: 66.12
glider: 217
mission: 3
dive: 154
start: 10 13 114 20 14 24
data:
$ID,217
$MISSION,3
$DIVE,154
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,390
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52199
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3880
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2709
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0022
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.110779
$PRESSURE_SLOPE,0.0001155691
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0043902649
$SEABIRD_T_H,0.00063436845
$SEABIRD_T_I,2.5093383e-05
$SEABIRD_T_J,2.9521423e-06
$SEABIRD_C_G,-9.69524
$SEABIRD_C_H,1.1253856
$SEABIRD_C_I,-0.0011212705
$SEABIRD_C_J,0.00015718494
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,131014,200652,6653.162,-5850.919,39,0.9,39,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-74.1
$GPS2,131014,201300,6653.195,-5850.907,5,0.8,5,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,285.5,71621,-17.5,-9.167,-20.44,2275
$D_GRID,1013
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.92,-136.3,203,2456,1300,1229,0.0,0.0,0,63,0.00,0.00,-43.85,0.000,16386,0.000,0.000,203,2456,2376,2396,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.92,-136.3,208,2456,2397,2357,3.1,-1.7,4,115,12.05,2.42,-28.98,0.000,18948,0.411,0.087,2789,1055,3266,3299,3234,0,0,0,0,0,0,14.31,14.50,14.75
$GC,208,-0.92,-136.3,2789,1055,3301,3234,23.7,-18.3,28,215,0.00,2.42,0.00,0.000,1030,0.000,0.067,2786,2451,3268,3302,3235,0,0,0,0,0,0,28.83,14.54,28.83
$EKF,range,-6619.7
$GC,523,-0.92,-136.3,2786,2451,3302,3234,74.6,-15.5,40,531,0.00,2.35,0.00,0.000,260,0.000,0.099,2785,3784,3267,3301,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,591,-0.92,-136.3,2785,3785,3303,3234,85.0,-15.5,52,597,0.00,2.22,0.00,0.000,1030,0.000,0.054,2786,2439,3268,3303,3234,0,0,0,0,0,0,28.83,14.68,28.83
$GC,916,-0.92,-136.3,2786,2439,3303,3234,135.0,-15.2,69,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-6516.7
$GC,1215,-0.92,-136.3,2785,2439,3303,3234,178.9,-13.7,84,1222,0.00,2.42,0.00,0.000,260,0.000,0.101,2785,3784,3268,3303,3234,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1301,-0.92,-136.3,2785,3784,3298,3234,190.8,-13.8,100,1307,0.00,2.20,0.00,0.000,1030,0.000,0.056,2785,2452,3271,3308,3234,0,0,0,0,0,0,28.83,14.73,28.83
$EKF,range,-6874.1
$GC,1625,-0.92,-136.3,2781,2452,3304,3232,232.2,-12.7,119,1632,0.00,2.35,0.00,0.000,516,0.000,0.069,2785,1068,3267,3303,3232,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1674,-0.92,-136.3,2786,1067,3303,3232,238.7,-12.8,128,1681,0.00,2.38,0.00,0.000,1030,0.000,0.067,2785,2457,3267,3303,3232,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1994,-0.92,-136.3,2785,2457,3303,3231,277.0,-11.7,146,2001,0.00,2.40,0.00,0.000,516,0.000,0.067,2785,1062,3267,3303,3231,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2007,-0.92,-136.3,2785,1062,3303,3225,278.8,-11.5,148,2014,0.00,2.38,0.00,0.000,1030,0.000,0.067,2785,2455,3266,3302,3230,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2322,-0.92,-136.3,2785,2456,3303,3230,314.9,-11.4,165,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2456,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-6056.2
$EKF,2459,4013.097900,-3531.640137,328.328125,-0.111116,-0.231867,0.110313,0.000055,0.000359,0.000100,0.002025,0.002025,0.000093
$GC,2622,-0.92,-136.3,2784,2455,3303,3230,348.6,-11.4,180,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2456,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,-0.92,-136.3,2785,2456,3303,3230,381.0,-10.4,195,2929,0.00,2.35,0.00,0.000,260,0.000,0.101,2785,3781,3266,3303,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2942,-0.92,-136.3,2784,3782,3303,3230,383.3,-10.9,198,2950,0.00,2.20,0.00,0.000,1030,0.000,0.056,2785,2448,3266,3302,3230,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3249,-0.92,-136.3,2785,2448,3303,3230,416.3,-11.0,214,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2448,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.92,-136.3,2785,2447,3303,3230,447.8,-10.3,229,3556,0.00,2.35,0.00,0.000,516,0.000,0.068,2785,1068,3266,3303,3230,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3583,-0.92,-136.3,2785,1068,3309,3231,451.6,-10.7,235,3590,0.00,2.35,0.00,0.000,1030,0.000,0.067,2785,2451,3266,3303,3230,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3897,-0.92,-136.3,2785,2451,3303,3230,484.2,-10.3,252,3904,0.00,2.35,0.00,0.000,516,0.000,0.067,2785,1066,3266,3303,3230,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3915,-0.92,-136.3,2785,1067,3303,3231,486.2,-10.8,255,3923,0.00,2.35,0.00,0.000,1030,0.000,0.064,2785,2454,3266,3303,3230,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4222,-0.92,-136.3,2785,2454,3304,3231,518.8,-11.0,271,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2454,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4524,-0.92,-136.3,2785,2454,3304,3231,551.4,-10.9,286,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2454,3267,3304,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,-0.92,-136.3,2785,2454,3304,3231,583.5,-10.7,301,4831,0.00,2.38,0.00,0.000,516,0.000,0.067,2785,1058,3267,3304,3230,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4854,-0.92,-136.3,2785,1058,3305,3231,587.0,-11.0,306,4860,0.00,2.35,0.00,0.000,1030,0.000,0.064,2785,2450,3268,3305,3231,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5173,-0.92,-136.3,2785,2450,3305,3231,621.5,-10.8,324,5179,0.00,2.35,0.00,0.000,260,0.000,0.099,2784,3790,3267,3304,3230,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5197,-0.92,-136.3,2785,3790,3304,3231,624.1,-11.1,328,5204,0.00,2.20,0.00,0.000,1030,0.000,0.054,2785,2441,3267,3304,3231,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5522,-0.92,-136.3,2785,2441,3305,3231,658.2,-10.4,347,5528,0.00,2.40,0.00,0.000,260,0.000,0.097,2785,3786,3268,3305,3231,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5535,-0.92,-136.3,2785,3786,3305,3230,659.7,-10.2,349,5543,0.00,2.17,0.00,0.000,1030,0.000,0.054,2785,2450,3268,3305,3231,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5851,-0.92,-136.3,2785,2450,3305,3231,690.5,-9.3,366,5858,0.00,2.33,0.00,0.000,516,0.000,0.067,2785,1069,3267,3305,3230,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5870,-0.92,-136.3,2784,1069,3305,3229,692.3,-9.7,369,5879,0.00,2.35,0.00,0.000,1030,0.000,0.065,2784,2458,3268,3305,3231,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6176,-0.92,-136.3,2784,2457,3305,3230,721.6,-9.8,385,6184,0.00,2.38,0.00,0.000,516,0.000,0.064,2785,1059,3268,3305,3231,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6228,-0.92,-136.3,2784,1059,3306,3230,726.8,-9.9,394,6234,0.00,2.35,0.00,0.000,1030,0.000,0.063,2785,2453,3268,3306,3231,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6547,-0.92,-136.3,2785,2453,3305,3231,758.3,-9.7,412,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3267,3305,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6848,-0.92,-136.3,2784,2453,3306,3231,788.5,-10.2,427,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3268,3306,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7149,-0.92,-136.3,2785,2453,3306,3231,819.4,-10.4,442,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3268,3306,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7448,-0.92,-136.3,2785,2453,3306,3231,849.6,-9.9,457,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2454,3268,3306,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7748,-0.92,-136.3,2785,2453,3306,3231,878.5,-9.7,472,7755,0.00,2.35,0.00,0.000,516,0.000,0.067,2785,1070,3268,3306,3231,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7796,-0.92,-136.3,2785,1070,3307,3231,883.8,-10.3,481,7805,0.00,2.35,0.00,0.000,1030,0.000,0.064,2785,2455,3268,3306,3231,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8117,-0.92,-136.3,2785,2454,3307,3231,915.5,-9.5,499,8124,0.00,2.35,0.00,0.000,516,0.000,0.064,2785,1068,3271,3306,3237,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8157,-0.92,-136.3,2785,1068,3306,3230,919.6,-11.1,506,8165,0.00,2.35,0.00,0.000,1030,0.000,0.065,2785,2458,3268,3306,3231,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8463,-0.92,-136.3,2785,2454,3306,3231,950.0,-9.6,522,8470,0.00,2.35,0.00,0.000,516,0.000,0.064,2785,1069,3268,3306,3231,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8492,-0.92,-136.3,2783,1069,3306,3231,953.2,-11.3,527,8498,0.00,2.33,0.00,0.000,1030,0.000,0.063,2785,2451,3268,3306,3230,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8811,-0.92,-136.3,2785,2451,3306,3230,984.1,-9.5,545,8819,0.00,2.35,0.00,0.000,516,0.000,0.065,2785,1069,3268,3306,3230,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8825,-0.92,-136.3,2785,1069,3306,3230,985.7,-9.6,547,8832,0.00,2.33,0.00,0.000,1030,0.000,0.063,2785,2451,3268,3306,3230,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,8878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8878,begin apogee
$GC,8883,-0.18,0.0,2785,2390,3306,3230,991.1,-10.2,551,9004,0.90,0.00,116.95,2.091,10246,0.243,0.000,3034,2390,2708,2772,2645,0,0,0,0,0,0,14.55,28.83,13.28
$STATE,9005,end apogee,CONTROL_FINISHED_OK
$STATE,9005,begin climb
$GC,9007,0.92,136.3,3034,2390,2768,2643,993.5,0.0,557,9131,1.17,0.00,119.53,2.053,11014,0.164,0.000,3384,2389,2152,2222,2083,0,0,0,0,0,0,13.97,28.83,12.90
$GC,9420,0.92,136.3,3384,2390,2211,2079,952.9,11.7,587,9426,0.00,2.55,0.00,0.000,260,0.000,0.093,3384,3778,2144,2209,2079,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9444,0.92,136.3,3384,3778,2209,2079,950.2,11.5,591,9450,0.00,2.42,0.00,0.000,1030,0.000,0.052,3395,2365,2144,2209,2079,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9770,0.92,136.3,3395,2364,2208,2079,911.2,12.0,610,9777,0.00,2.40,0.00,0.000,516,0.000,0.069,3406,974,2143,2208,2079,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9816,0.92,136.3,3406,974,2208,2078,905.7,12.4,618,9822,0.00,2.40,0.00,0.000,1030,0.000,0.060,3406,2382,2143,2208,2079,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10140,0.92,136.3,3406,2378,2208,2085,864.7,12.6,637,10148,0.00,2.40,0.00,0.000,516,0.000,0.067,3417,980,2144,2208,2080,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10186,0.92,136.3,3417,980,2208,2079,859.0,12.5,645,10194,0.00,2.38,0.00,0.000,1030,0.000,0.058,3415,2376,2144,2209,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10512,0.92,136.3,3416,2376,2207,2079,817.2,12.7,664,10519,0.00,2.38,0.00,0.000,516,0.000,0.068,3427,979,2143,2207,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10562,0.92,136.3,3427,978,2207,2079,810.9,11.8,673,10571,0.15,2.38,0.00,0.000,5126,0.281,0.060,3394,2383,2143,2207,2079,0,0,0,0,0,0,14.46,14.64,28.83
$GC,10884,0.92,136.3,3394,2383,2207,2079,773.7,11.4,691,10890,0.00,2.40,0.00,0.000,516,0.000,0.068,3405,981,2143,2207,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10917,0.92,136.3,3405,982,2207,2079,769.7,11.2,697,10926,0.00,2.35,0.00,0.000,1030,0.000,0.057,3405,2380,2142,2206,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11234,0.92,136.3,3405,2380,2206,2079,732.9,11.9,714,11241,0.00,2.38,0.00,0.000,516,0.000,0.068,3416,982,2142,2206,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11311,0.92,136.3,3416,982,2208,2080,723.3,12.1,728,11318,0.00,2.35,0.00,0.000,1030,0.000,0.058,3416,2382,2142,2206,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11626,0.92,136.3,3412,2382,2206,2079,686.0,11.8,745,11634,0.00,2.40,0.00,0.000,516,0.000,0.067,3426,973,2142,2206,2079,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11701,0.92,136.3,3427,973,2206,2079,676.7,12.1,759,11708,0.12,2.35,0.00,0.000,5126,0.283,0.061,3399,2375,2142,2206,2079,0,0,0,0,0,0,14.55,14.72,28.83
$GC,12016,0.92,136.3,3399,2375,2206,2079,640.9,11.5,776,12023,0.00,2.35,0.00,0.000,516,0.000,0.067,3410,980,2142,2206,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12040,0.92,136.3,3410,980,2206,2078,637.9,11.5,780,12047,0.00,2.35,0.00,0.000,1030,0.000,0.059,3410,2382,2142,2206,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12365,0.92,136.3,3410,2382,2205,2079,599.9,11.8,799,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2382,2142,2206,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12667,0.92,136.3,3410,2382,2205,2079,565.2,11.9,814,12673,0.00,2.38,0.00,0.000,516,0.000,0.067,3421,979,2142,2206,2079,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12727,0.92,136.3,3421,976,2206,2079,557.6,12.4,825,12736,0.00,2.35,0.00,0.000,1030,0.000,0.060,3421,2382,2142,2205,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13033,0.92,136.3,3420,2383,2205,2079,519.9,12.4,841,13041,0.00,2.38,0.00,0.000,516,0.000,0.067,3432,976,2142,2206,2079,0,0,0,0,0,0,28.83,14.75,28.83
$GC,13063,0.92,136.3,3432,976,2206,2079,515.9,12.7,846,13070,0.15,2.35,0.00,0.000,5126,0.265,0.059,3396,2382,2142,2205,2079,0,0,0,0,0,0,14.59,14.76,28.83
$GC,13383,0.92,136.3,3396,2382,2206,2079,480.1,11.0,864,13390,0.00,2.42,0.00,0.000,260,0.000,0.091,3396,3776,2141,2205,2078,0,0,0,0,0,0,28.83,14.73,28.83
$GC,13401,0.92,136.3,3396,3776,2205,2079,477.9,11.7,867,13410,0.00,2.33,0.00,0.000,1030,0.000,0.051,3408,2360,2142,2205,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,13708,0.92,136.3,3408,2360,2206,2079,443.3,11.4,883,13714,0.00,2.30,0.00,0.000,516,0.000,0.068,3418,986,2142,2205,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13768,0.92,136.3,3418,986,2205,2079,436.5,11.4,894,13776,0.00,2.33,0.00,0.000,1030,0.000,0.059,3418,2376,2142,2205,2079,0,0,0,0,0,0,28.83,14.76,28.83
$EKF,range,-8837.4
$GC,14074,0.92,136.3,3418,2376,2205,2079,400.3,11.8,910,14082,0.00,2.33,0.00,0.000,516,0.000,0.065,3428,987,2142,2205,2079,0,0,0,0,0,0,28.83,14.74,28.83
$GC,14110,0.92,136.3,3428,986,2205,2079,395.9,11.5,916,14118,0.15,2.33,0.00,0.000,5126,0.264,0.056,3393,2381,2140,2206,2075,0,0,0,0,0,0,14.60,14.77,28.83
$GC,14425,0.92,136.3,3393,2381,2205,2079,362.6,10.2,933,14434,0.00,2.42,0.00,0.000,260,0.000,0.092,3394,3777,2142,2206,2079,0,0,0,0,0,0,28.83,14.72,28.83
$GC,14472,0.92,136.3,3393,3776,2206,2079,357.1,12.1,941,14480,0.00,2.30,0.00,0.000,1030,0.000,0.050,3404,2373,2142,2205,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,14798,0.92,136.3,3404,2373,2206,2079,322.9,10.3,960,14799,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2373,2142,2205,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15098,0.92,136.3,3404,2373,2206,2079,292.5,9.8,975,15104,0.00,2.47,0.00,0.000,260,0.000,0.093,3404,3778,2142,2205,2079,0,0,0,0,0,0,28.83,14.72,28.83
$GC,15138,0.92,136.3,3403,3777,2205,2079,288.1,10.8,982,15146,0.00,2.30,0.00,0.000,1030,0.000,0.051,3415,2370,2142,2205,2079,0,0,0,0,0,0,28.83,14.80,28.83
$EKF,range,-11344.6
$GC,15445,0.92,136.3,3415,2370,2206,2079,257.6,10.0,998,15452,0.00,2.47,0.00,0.000,260,0.000,0.092,3416,3777,2142,2205,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,15513,0.92,136.3,3416,3777,2206,2079,249.7,12.4,1010,15522,0.10,2.28,0.00,0.000,5126,0.249,0.051,3397,2374,2145,2212,2079,0,0,0,0,0,0,14.58,14.78,28.83
$GC,15840,0.94,144.0,3397,2373,2205,2079,219.2,8.8,1029,15849,0.00,0.00,6.35,0.964,8198,0.000,0.000,3397,2373,2120,2183,2057,0,0,0,0,0,0,28.83,28.83,14.14
$EKF,range,-5091.2
$GC,16140,0.97,156.8,3397,2373,2181,2055,192.9,8.6,1044,16160,0.00,2.38,11.52,1.050,8708,0.000,0.069,3408,990,2065,2129,2002,0,0,0,0,0,0,28.83,14.71,14.15
$GC,16172,1.01,173.0,3408,991,2129,2002,190.2,8.4,1049,16193,0.00,2.33,14.12,1.050,9222,0.000,0.059,3408,2375,2001,2065,1937,0,0,0,0,0,0,28.83,14.71,14.12
$GC,16491,1.01,173.0,3408,2375,2062,1935,158.6,10.3,1067,16497,0.00,2.47,0.00,0.000,260,0.000,0.094,3407,3775,1998,2061,1935,0,0,0,0,0,0,28.83,14.63,28.83
$GC,16580,1.01,173.0,3408,3776,2061,1935,147.8,11.5,1084,16587,0.00,2.33,0.00,0.000,1030,0.000,0.051,3418,2368,1997,2061,1934,0,0,0,0,0,0,28.83,14.71,28.83
$EKF,range,-2646.5
$EKF,16857,4012.547363,-3535.909668,120.334389,-0.248506,-0.017097,-0.099758,0.000250,0.001621,0.000100,0.002025,0.002025,0.000093
$GC,16889,1.01,173.0,3418,2367,2062,1935,115.1,10.3,1101,16898,0.00,2.53,0.00,0.000,260,0.000,0.094,3419,3782,1997,2061,1934,0,0,0,0,0,0,28.83,14.64,28.83
$GC,16942,1.01,173.0,3418,3782,2061,1935,109.2,12.0,1110,16948,0.00,2.33,0.00,0.000,1030,0.000,0.050,3429,2370,1998,2061,1935,0,0,0,0,0,0,28.83,14.75,28.83
$GC,17262,1.01,173.0,3429,2368,2061,1935,77.0,9.5,1123,17269,0.00,2.35,0.00,0.000,516,0.000,0.070,3440,984,1998,2061,1935,0,0,0,0,0,0,28.83,14.71,28.83
$GC,17322,1.01,175.6,3440,984,2060,1935,71.2,9.1,1134,17330,0.00,2.35,0.00,0.000,1030,0.000,0.059,3439,2381,1998,2061,1935,0,0,0,0,0,0,28.83,14.73,28.83
$GC,17628,1.03,182.8,3440,2381,2059,1935,43.7,8.8,1145,17643,0.00,2.53,9.25,0.899,8452,0.000,0.097,3440,3775,1960,2024,1897,0,0,0,0,0,0,28.83,14.69,14.20
$GC,17656,1.06,196.4,3440,3775,2023,1897,41.0,8.6,1149,17678,0.00,2.33,12.68,0.910,9222,0.000,0.051,3451,2367,1906,1970,1842,0,0,0,0,0,0,28.83,14.74,14.18
$GC,17986,1.16,244.7,3451,2366,1967,1840,15.9,7.0,1173,18016,0.00,2.60,23.83,0.138,8452,0.000,0.097,3451,3778,1713,1783,1644,0,0,0,0,0,0,28.83,14.62,14.60
$STATE,18123,end climb,SURFACE_DEPTH_REACHED
$STATE,18123,begin surface coast
$FINISH,1.7,1.004743
$STATE,18134,end surface coast,CONTROL_FINISHED_OK
$STATE,18135,begin surface
$SM_CCo,18154,49.95,0.095,0,0,1281,350.04
$SM_GC,2.71,9.45,2.28,49.95,0.088,0.056,0.095,215,2453,1281,-8.96,1.33,350.04,0,0,0,0,0,0,14.64,14.69,14.62
$RAFOS_CLK,1046
$RAFOS,6,1413247749,0.833333,0.819167,137,60,55,54,54,53,644,177,187,219,210,158
$RAFOS,5,1413247261,0.700000,0.683611,70,59,54,53,52,51,193,210,113,163,172,133
$RAFOS,4,1413246781,0.566667,0.550278,151,58,56,52,47,45,548,204,173,227,123,141
$RAFOS,3,1413246319,0.433333,0.421944,106,60,58,57,55,52,637,205,214,173,188,229
$RAFOS,2,1413245839,0.300000,0.288611,61,60,59,58,56,56,224,201,637,163,119,147
$RAFOS,1,1413245342,0.166667,0.150556,64,61,59,59,58,53,206,134,190,176,216,115
$RAFOS,0,1413244870,0.033333,0.019444,84,70,60,56,56,55,779,215,173,138,198,229
$RAFOS,6,1413233343,20.833334,20.817499,113,67,60,59,57,55,659,190,159,220,176,202
$RAFOS,5,1413232867,20.700001,20.685278,68,59,57,53,53,50,162,189,198,115,221,208
$RAFOS,4,1413232397,20.566668,20.554722,81,56,54,54,53,53,467,148,195,117,139,178
$RAFOS,3,1413231917,20.433332,20.421389,135,57,57,54,53,50,671,217,184,1289,170,114
$RAFOS,2,1413231421,20.299999,20.283611,92,63,61,56,52,51,755,218,157,199,138,174
$RAFOS,0,1413230465,20.033333,20.018055,63,61,60,60,58,55,180,121,190,223,204,147
$RAFOS_FIX,6651.846680,-5903.643066,141014,000020,4,120,0.62
$IRIDIUM_FIX,6620.33,-5851.86,131014,150310
$TT8_MAMPS,0.03745,0.03745
$HUMID,44.40
$INTERNAL_PRESSURE,8.48431
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3970784
$24V_AH,12.90,40.035
$10V_AH,12.90,0.000
$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,24.250,184.300,314.225,49.950,0.000,0.000,0.000,227.600,0.000,0.000,12.344,3785.797,11779.089,726.315,2139.596,227.313,0.000,1951.470,0.000,1794.308,4320.000,0.535,0.000
$DEVICE_MAMPS,410.805,156.825,2090.745,94.860,0.000,0.000,0.000,159.885,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18148.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.939,0.000,0.000,0.000
$MEM,144228
$DATA_FILE_SIZE,43228,1200
$CAP_FILE_SIZE,203387,1
$CFSIZE,1024409600,999636992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18384.45,0x23769e,7,5
$SOUNDSPEED,1460.0
$EKF,18314,4012.473145,-3536.147461,1.718704,0.012676,-0.451242,-0.013422,0.000274,0.001781,0.000095,0.001125,0.001125,0.000034
$CURRENT,0.259,165.35,1
$GPS,141014,011935,6649.987,-5854.598,26,0.8,26,-32.8