version: 66.11
glider: 192
mission: 2
dive: 343
start: 11 19 113 15 42 30
data:
$ID,192
$MISSION,2
$DIVE,343
$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,-3
$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,-2530.2253
$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,21
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$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
$GPS1,191113,152835,6654.257,-5831.232,122,0.8,122,-33.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.3
$GPS2,191113,154148,6654.366,-5831.970,14,1.0,14,-33.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,156.7,76766,-15.5,-8.250,-18.49,2720
$D_GRID,970
$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,-146.0,94,2517,1116,1069,0.0,0.0,0,112,0.00,0.00,-89.47,0.000,16386,0.000,0.000,94,2518,2691,2746,2637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.89,-146.0,94,2517,2746,2638,3.3,-3.1,15,152,10.35,1.58,-16.15,0.000,18948,0.418,0.136,2213,1646,3339,3509,3169,0,0,0,0,0,0,13.91,14.33,14.70
$GC,184,-0.79,-146.0,1360,1644,3505,3165,17.7,-22.3,25,192,0.20,1.58,0.00,0.000,3078,0.291,0.126,2253,2506,3340,3513,3168,0,0,0,0,0,0,14.03,14.25,28.83
$GC,504,-0.71,-146.0,2252,2506,3514,3167,81.0,-17.6,86,511,0.00,1.55,0.00,0.000,260,0.000,0.135,2249,3353,3340,3514,3167,0,0,0,0,0,0,28.83,14.24,28.83
$GC,533,-0.63,-146.0,2249,3353,3514,3167,86.0,-17.0,90,541,0.22,1.50,0.00,0.000,3078,0.270,0.090,2301,2479,3340,3514,3167,0,0,0,0,0,0,14.07,14.36,28.83
$GC,853,-0.60,-146.0,2301,2480,3514,3166,130.4,-13.1,130,857,0.00,1.48,0.00,0.000,516,0.000,0.106,2302,1656,3340,3514,3167,0,0,0,0,0,0,28.83,14.28,28.83
$GC,929,-0.58,-146.0,2302,1656,3514,3167,139.9,-12.3,137,933,0.00,1.58,0.00,0.000,1030,0.000,0.127,2297,2493,3340,3513,3167,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1245,-0.55,-146.0,2298,2494,3514,3167,178.1,-11.9,168,1251,0.12,0.00,0.00,0.000,2054,0.290,0.000,2328,2494,3340,3514,3166,0,0,0,0,0,0,14.13,28.83,28.83
$GC,1555,-0.55,-146.0,2328,2494,3513,3166,209.2,-9.6,199,1559,0.00,1.62,0.00,0.000,260,0.000,0.146,2323,3344,3339,3513,3166,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1663,-0.55,-146.0,1472,3344,3506,3162,220.2,-10.2,209,1671,0.00,1.50,0.00,0.000,1030,0.000,0.093,2324,2478,3339,3514,3165,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1974,-0.55,-146.0,2323,2478,3514,3165,251.8,-9.2,240,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2478,3340,3514,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.55,-146.0,2324,2478,3514,3165,278.8,-8.3,271,2292,0.00,1.62,0.00,0.000,260,0.000,0.142,2317,3350,3339,3514,3165,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2356,-0.55,-146.0,1448,3349,3506,3162,285.1,-9.1,277,2364,0.00,1.50,0.00,0.000,1030,0.000,0.094,2317,2487,3339,3514,3165,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2665,-0.55,-146.0,2317,2487,3514,3165,313.9,-9.6,308,2669,0.00,1.62,0.00,0.000,260,0.000,0.145,2311,3353,3339,3514,3165,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2734,-0.55,-146.0,2311,3353,3513,3165,320.3,-10.1,314,2740,0.00,1.50,0.00,0.000,1030,0.000,0.093,2311,2487,3339,3514,3165,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3043,-0.55,-146.0,2311,2486,3514,3166,353.3,-10.8,345,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2487,3339,3514,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,-0.55,-146.0,2311,2487,3515,3165,386.7,-10.8,376,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2487,3340,3514,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3666,-0.55,-146.0,2312,2487,3515,3166,419.6,-10.3,407,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2487,3340,3515,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3978,-0.55,-146.0,1408,2484,3508,3163,450.6,-10.3,438,3982,0.00,1.62,0.00,0.000,260,0.000,0.144,2305,3354,3340,3516,3165,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4044,-0.55,-146.0,2305,3353,3516,3165,457.7,-10.3,444,4048,0.00,1.52,0.00,0.000,1030,0.000,0.092,2305,2496,3340,3516,3165,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4359,-0.55,-146.0,2305,2495,3517,3165,489.2,-9.4,475,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2496,3341,3517,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-0.55,-146.0,2305,2496,3518,3165,518.9,-9.5,506,4673,0.00,1.62,0.00,0.000,260,0.000,0.139,2299,3347,3342,3518,3166,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4705,-0.55,-146.0,2299,3347,3518,3166,522.3,-9.2,509,4709,0.08,1.50,0.00,0.000,3078,0.239,0.090,2320,2500,3342,3518,3166,0,0,0,0,0,0,14.09,14.35,28.83
$GC,5021,-0.57,-146.0,2320,2500,3519,3166,549.1,-8.5,540,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2500,3342,3519,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5337,-0.58,-146.0,2320,2500,3519,3166,574.1,-7.8,571,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2500,3342,3519,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,-0.59,-146.0,2320,2500,3520,3166,599.1,-8.1,602,5656,0.00,1.58,0.00,0.000,260,0.000,0.140,2315,3355,3342,3519,3166,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5712,-0.61,-146.0,2315,3354,3519,3166,602.6,-7.9,604,5718,0.00,1.50,0.00,0.000,1030,0.000,0.091,2315,2487,3342,3519,3166,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6018,-0.61,-146.0,2315,2487,3520,3165,630.3,-8.5,615,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2487,3343,3520,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6318,-0.62,-146.0,2315,2487,3520,3166,657.2,-9.2,625,6322,0.00,1.60,0.00,0.000,260,0.000,0.142,2308,3349,3343,3520,3166,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6401,-0.62,-146.0,2309,3348,3520,3165,663.5,-9.5,627,6405,0.00,1.50,0.00,0.000,1030,0.000,0.091,2309,2476,3343,3521,3166,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6717,-0.62,-146.0,2309,2475,3520,3166,696.5,-10.0,638,6721,0.00,1.62,0.00,0.000,260,0.000,0.138,2303,3353,3343,3520,3166,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6770,-0.62,-146.0,2303,3353,3521,3166,700.1,-10.0,639,6774,0.00,1.50,0.00,0.000,1030,0.000,0.091,2303,2481,3343,3520,3166,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7086,-0.62,-146.0,2303,2481,3521,3166,734.6,-10.4,650,7090,0.00,1.65,0.00,0.000,260,0.000,0.140,2297,3346,3343,3521,3166,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7129,-0.62,-146.0,2297,3346,3521,3166,738.4,-10.4,651,7133,0.00,1.50,0.00,0.000,1030,0.000,0.089,2297,2498,3343,3521,3166,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7455,-0.62,-146.0,2297,2498,3521,3166,772.9,-10.5,662,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2498,3343,3521,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7755,-0.62,-146.0,2297,2498,3521,3166,803.3,-10.1,672,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2498,3343,3521,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8055,-0.62,-146.0,2297,2498,3522,3166,832.4,-9.3,682,8059,0.00,1.58,0.00,0.000,260,0.000,0.139,2290,3349,3343,3521,3166,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8123,-0.62,-146.0,1440,3348,3516,3164,838.6,-9.5,684,8126,0.00,1.50,0.00,0.000,1030,0.000,0.090,2290,2476,3344,3522,3166,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8453,-0.62,-146.0,2290,2476,3522,3166,869.5,-9.2,695,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2476,3344,3522,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,-0.62,-146.0,2290,2476,3522,3167,896.8,-9.1,705,8756,0.00,1.62,0.00,0.000,260,0.000,0.138,2283,3354,3344,3522,3166,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8807,-0.62,-146.0,2284,3354,3522,3167,900.1,-9.1,706,8810,0.00,1.50,0.00,0.000,1030,0.000,0.090,2283,2480,3344,3522,3166,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9122,-0.62,-146.0,2284,2480,3522,3167,930.7,-9.0,717,9126,0.00,1.65,0.00,0.000,260,0.000,0.139,2277,3346,3344,3522,3167,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9158,-0.62,-146.0,2277,3346,3522,3167,934.4,-9.3,718,9162,0.12,1.50,0.00,0.000,3078,0.264,0.089,2304,2501,3344,3522,3167,0,0,0,0,0,0,14.16,14.35,28.83
$GC,9493,-0.62,-146.0,2304,2501,3522,3167,963.7,-8.6,729,9497,0.00,1.50,0.00,0.000,516,0.000,0.104,2305,1637,3344,3522,3167,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9531,-0.62,-146.0,1440,1636,3515,3164,966.7,-8.7,730,9535,0.00,1.58,0.00,0.000,1030,0.000,0.125,2300,2504,3344,3522,3167,0,0,0,0,0,0,28.83,14.27,28.83
$STATE,9585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9585,begin apogee
$GC,9598,-0.22,0.0,2301,2504,3522,3166,972.5,-8.9,732,9784,0.47,0.00,173.45,2.894,10246,0.219,0.000,2432,2504,2741,2858,2625,0,0,0,0,0,0,14.07,28.83,12.02
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9792,0.89,146.0,2432,2504,2856,2625,979.2,0.0,738,9996,1.27,1.73,187.80,2.787,10756,0.164,0.106,2794,1671,2144,2234,2055,0,0,0,0,0,0,13.18,12.95,11.86
$GC,10120,0.84,146.0,2795,1671,2235,2046,955.7,10.9,749,10123,0.00,1.62,0.00,0.000,1030,0.000,0.125,2795,2509,2140,2235,2046,0,0,0,0,0,0,28.83,13.58,28.83
$GC,10446,0.77,146.0,2795,2509,2235,2042,917.7,11.2,760,10448,0.15,0.00,0.00,0.000,4102,0.263,0.000,2762,2509,2137,2234,2041,0,0,0,0,0,0,14.09,28.83,28.83
$GC,10746,0.74,146.0,2761,2509,2235,2040,890.2,9.2,770,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2509,2137,2234,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11045,0.71,146.0,2761,2509,2235,2039,862.5,9.2,780,11049,0.00,1.55,0.00,0.000,260,0.000,0.142,2761,3357,2136,2234,2039,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11080,0.67,146.0,2761,3357,2234,2039,859.2,9.2,781,11085,0.17,1.50,0.00,0.000,5126,0.251,0.096,2725,2485,2137,2235,2039,0,0,0,0,0,0,14.28,14.46,28.83
$GC,11417,0.69,162.6,2725,2485,2234,2038,834.4,7.6,792,11442,0.00,0.00,17.88,2.609,8198,0.000,0.000,2725,2485,2078,2178,1978,0,0,0,0,0,0,28.83,28.83,13.26
$GC,11747,0.79,228.1,2725,2485,2178,1976,813.7,5.8,803,11834,0.12,1.55,75.97,2.717,10756,0.157,0.109,2780,1670,1811,1907,1715,0,0,0,0,0,0,14.49,13.85,12.85
$GC,11883,0.76,228.1,2780,1669,1903,1713,802.6,8.7,807,11887,0.00,1.62,0.00,0.000,1030,0.000,0.129,2780,2503,1808,1903,1713,0,0,0,0,0,0,28.83,13.92,28.83
$GC,12209,0.73,228.1,2779,2503,1899,1709,767.8,10.5,818,12211,0.12,0.00,0.00,0.000,4102,0.259,0.000,2751,2503,1804,1899,1709,0,0,0,0,0,0,14.26,28.83,28.83
$GC,12509,0.73,228.1,2752,2503,1897,1709,740.6,9.1,828,12510,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2503,1803,1898,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12809,0.73,228.1,2751,2503,1897,1708,714.6,8.7,838,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2503,1802,1897,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13108,0.73,228.1,2751,2503,1897,1707,687.9,9.0,848,13112,0.00,1.52,0.00,0.000,516,0.000,0.110,2755,1665,1802,1897,1707,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13144,0.73,228.1,2755,1665,1897,1706,684.6,9.1,849,13148,0.00,1.55,0.00,0.000,1030,0.000,0.129,2755,2521,1801,1897,1706,0,0,0,0,0,0,28.83,14.44,28.83
$GC,13479,0.73,228.1,2755,2521,1897,1706,653.3,9.3,860,13480,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2521,1801,1896,1706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13780,0.73,228.1,2755,2521,1896,1705,624.9,9.7,870,13781,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2521,1800,1896,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14080,0.73,228.1,2755,2521,1896,1705,594.5,10.5,882,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2521,1800,1896,1704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14396,0.73,228.1,2755,2521,1896,1704,561.6,10.8,913,14400,0.00,1.50,0.00,0.000,516,0.000,0.109,2761,1661,1800,1896,1704,0,0,0,0,0,0,28.83,14.44,28.83
$GC,14441,0.73,228.1,2761,1661,1896,1704,556.1,10.5,917,14445,0.00,1.55,0.00,0.000,1030,0.000,0.127,2761,2517,1800,1896,1704,0,0,0,0,0,0,28.83,14.42,28.83
$GC,14757,0.72,228.1,2761,2517,1896,1703,522.4,10.7,948,14763,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2517,1800,1896,1704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15074,0.72,228.1,2761,2517,1896,1703,490.5,9.9,979,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2517,1799,1896,1703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15387,0.72,228.1,2761,2517,1896,1703,459.7,9.7,1010,15390,0.00,1.55,0.00,0.000,260,0.000,0.141,2761,3360,1799,1896,1703,0,0,0,0,0,0,28.83,14.35,28.83
$GC,15454,0.70,228.1,2761,3360,1895,1704,452.4,10.5,1016,15459,0.12,1.50,0.00,0.000,5126,0.264,0.096,2741,2487,1799,1895,1703,0,0,0,0,0,0,14.28,14.46,28.83
$GC,15771,0.75,246.2,2740,2487,1895,1704,426.0,7.6,1047,15797,0.00,0.00,18.17,2.261,8198,0.000,0.000,2741,2487,1737,1831,1644,0,0,0,0,0,0,28.83,28.83,13.44
$GC,16103,0.79,261.3,2741,2487,1828,1643,399.7,7.7,1080,16129,0.00,1.48,17.92,2.209,8708,0.000,0.111,2744,1670,1675,1767,1583,0,0,0,0,0,0,28.83,14.41,13.40
$GC,16169,0.81,261.3,1792,1669,1732,1580,394.6,8.5,1086,16175,0.00,1.55,0.00,0.000,1030,0.000,0.127,2744,2515,1674,1766,1583,0,0,0,0,0,0,28.83,14.32,28.83
$GC,16480,0.82,261.3,2744,2514,1764,1582,367.7,8.7,1117,16484,0.00,1.50,0.00,0.000,516,0.000,0.109,2750,1661,1673,1764,1582,0,0,0,0,0,0,28.83,14.37,28.83
$GC,16529,0.84,261.3,2750,1661,1765,1582,363.5,8.7,1121,16537,0.00,1.55,0.00,0.000,1030,0.000,0.128,2750,2511,1673,1764,1582,0,0,0,0,0,0,28.83,14.36,28.83
$GC,16839,0.86,261.3,2750,2511,1764,1582,336.1,8.8,1152,16846,0.12,0.00,0.00,0.000,2054,0.160,0.000,2799,2511,1673,1764,1582,0,0,0,0,0,0,14.48,28.83,28.83
$GC,17149,0.83,261.3,2799,2511,1764,1582,301.5,11.4,1183,17155,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2511,1673,1764,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17459,0.80,261.3,2799,2511,1763,1582,266.5,11.8,1214,17464,0.12,1.48,0.00,0.000,4612,0.252,0.106,2770,1667,1672,1763,1582,0,0,0,0,0,0,14.32,14.42,28.83
$GC,17508,0.80,261.3,1808,1666,1731,1578,262.0,9.5,1218,17514,0.00,1.55,0.00,0.000,1030,0.000,0.127,2770,2517,1672,1763,1581,0,0,0,0,0,0,28.83,14.38,28.83
$GC,17817,0.80,261.3,2770,2518,1763,1581,234.7,8.4,1249,17824,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2518,1672,1763,1581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18125,0.80,261.3,1792,2515,1730,1578,205.9,9.6,1280,18129,0.00,1.50,0.00,0.000,516,0.000,0.110,2776,1668,1671,1763,1580,0,0,0,0,0,0,28.83,14.38,28.83
$GC,18181,0.80,261.3,2776,1668,1763,1580,200.6,9.4,1285,18185,0.00,1.58,0.00,0.000,1030,0.000,0.129,2776,2507,1671,1763,1580,0,0,0,0,0,0,28.83,14.33,28.83
$GC,18496,0.80,261.3,2776,2507,1763,1580,171.4,8.8,1316,18500,0.00,1.55,0.00,0.000,260,0.000,0.141,2776,3358,1671,1763,1580,0,0,0,0,0,0,28.83,14.33,28.83
$GC,18525,0.80,261.3,2776,3358,1762,1580,169.1,9.0,1318,18531,0.00,1.50,0.00,0.000,1030,0.000,0.096,2782,2490,1671,1762,1580,0,0,0,0,0,0,28.83,14.44,28.83
$GC,18834,0.80,261.3,2782,2489,1762,1580,138.9,10.1,1349,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2489,1671,1762,1580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19149,0.80,261.3,2782,2489,1762,1580,109.2,9.0,1380,19153,0.00,1.65,0.00,0.000,260,0.000,0.145,2782,3351,1671,1762,1580,0,0,0,0,0,0,28.83,14.28,28.83
$GC,19215,0.80,261.3,2782,3351,1762,1580,102.4,9.6,1386,19219,0.00,1.50,0.00,0.000,1030,0.000,0.097,2789,2485,1671,1762,1580,0,0,0,0,0,0,28.83,14.42,28.83
$GC,19531,0.86,299.6,2788,2485,1761,1580,77.6,6.8,1445,19556,0.00,0.00,22.58,0.416,8198,0.000,0.000,2788,2485,1518,1608,1428,0,0,0,0,0,0,28.83,28.83,14.07
$GC,19875,0.90,314.9,2789,2485,1604,1426,52.5,7.7,1509,19889,0.00,1.50,8.10,0.336,8708,0.000,0.111,2794,1668,1456,1545,1367,0,0,0,0,0,0,28.83,14.38,14.00
$GC,19927,0.95,324.8,2795,1668,1545,1367,48.3,7.9,1517,19941,0.00,1.55,5.68,0.329,9222,0.000,0.129,2794,2510,1415,1504,1326,0,0,0,0,0,0,28.83,14.33,14.00
$GC,20260,1.02,354.0,2795,2510,1499,1327,22.9,7.1,1579,20280,0.12,0.00,16.02,0.234,10502,0.157,0.000,2844,2511,1295,1377,1214,0,0,0,0,0,0,14.44,28.83,14.16
$FREEZE,8.58,-0.826,-1.767,2,1,0
$FREEZE,8.22,-0.821,-1.767,2,1,0
$FREEZE,7.47,-0.821,-1.766,2,1,0
$FREEZE,6.71,-0.823,-1.766,2,1,0
$FREEZE,6.09,-0.819,-1.765,2,1,0
$FREEZE,5.40,-0.819,-1.765,2,1,0
$FREEZE,4.81,-0.819,-1.764,2,1,0
$FREEZE,4.19,-0.817,-1.764,2,1,0
$FREEZE,3.75,-0.819,-1.763,2,1,0
$FREEZE,3.17,-0.819,-1.763,2,1,0
$FREEZE,2.50,-0.821,-1.762,2,1,0
$STATE,20432,end climb,SURFACE_DEPTH_REACHED
$STATE,20432,begin surface coast
$FREEZE,1.83,-0.819,-1.762,2,1,0
$FREEZE,0.92,-0.820,-1.761,2,1,0
$FREEZE,0.98,-0.772,-1.758,2,1,0
$FREEZE,1.06,-0.811,-0.957,2,1,0
$FREEZE,0.95,-0.801,-0.850,2,1,0
$FINISH,1.0,1.012537
$STATE,20466,end surface coast,FINISH_DEPTH_REACHED
$STATE,20466,begin surface
$SM_CCo,20494,24.23,0.171,0,0,1109,400.08
$SM_GC,2.14,8.00,0.00,24.23,0.086,0.000,0.171,143,2510,1109,-7.34,0.28,400.08,0,0,0,0,0,0,14.42,28.83,14.25
$RAFOS_CLK,1019
$RAFOS,6,1384894150,20.833334,20.819445,61,61,60,58,53,52,225,650,162,661,187,208
$RAFOS,5,1384893670,20.700001,20.686111,71,65,65,62,58,55,213,174,607,185,131,151
$RAFOS,4,1384893192,20.566668,20.553333,70,62,57,54,52,51,576,201,164,212,176,116
$RAFOS,3,1384892702,20.433332,20.417223,66,61,59,59,58,55,152,213,195,182,121,133
$RAFOS,2,1384892221,20.299999,20.283611,70,62,61,55,55,53,828,221,195,144,132,204
$RAFOS,1,1384891744,20.166666,20.151112,70,63,55,53,51,50,216,206,134,186,114,143
$RAFOS,0,1384891264,20.033333,20.017778,59,55,54,52,51,50,207,152,228,193,105,167
$RAFOS,6,1384879741,16.833334,16.816944,87,61,60,59,55,53,683,206,224,186,152,130
$RAFOS,5,1384879270,16.700001,16.686111,70,70,62,56,52,52,170,636,152,195,218,120
$RAFOS,4,1384878786,16.566668,16.551666,97,63,57,54,51,51,607,206,186,162,237,217
$RAFOS,3,1384878309,16.433332,16.419167,61,61,59,55,53,52,185,206,215,756,119,230
$RAFOS,2,1384877827,16.299999,16.285278,67,59,58,54,53,52,193,791,116,215,184,169
$RAFOS,1,1384877344,16.166666,16.151112,60,60,60,59,54,51,146,163,206,181,787,128
$RAFOS,0,1384876868,16.033333,16.018888,67,58,58,53,51,49,206,173,152,182,117,126
$RAFOS_FIX,6655.112305,-5831.915039,191113,161644,2,92,0.37
$IRIDIUM_FIX,6625.71,-5833.97,191113,151510
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.92
$INTERNAL_PRESSURE,8.65461
$TCM_TEMP,12.50
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.3,17.9
$24V_AH,11.9,152.006
$10V_AH,12.1,0.000
$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,21.925,89.950,543.575,24.225,0.000,0.000,0.000,462.900,16.750,0.000,15.922,4198.630,12268.973,667.838,3192.730,981.555,0.000,2646.882,0.000,2737.640,5040.000,27.383,0.000
$DEVICE_MAMPS,417.690,146.115,2893.995,170.595,0.000,0.000,0.000,140.760,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.803,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150808
$DATA_FILE_SIZE,69942,1616
$CAP_FILE_SIZE,199804,0
$CFSIZE,259252224,224399360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.0
$CURRENT,0.027,116.2,1
$GPS,191113,212624,6652.493,-5825.085,38,1.0,38,-33.7