version: 66.11
glider: 192
mission: 2
dive: 389
start: 11 29 113 8 6 9
data:
$ID,192
$MISSION,2
$DIVE,389
$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,-2
$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,549.71729
$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,-3501.1028
$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,22
$R_STBD_OVSHOOT,15
$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,49
$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
$GPS1,291113,042731,6646.668,-5857.489,0,5110.0,0,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-28.5
$GPS2,291113,080527,6646.590,-5858.266,109,2.3,129,-33.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,344.4,64362,-15.5,-8.250,-18.49,2720
$D_GRID,932
$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,-146.0,139,2496,1159,1035,0.0,0.0,0,104,0.00,0.00,-81.57,0.000,16386,0.000,0.000,139,2496,2513,2598,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.89,-146.0,139,2496,2600,2429,3.1,-3.8,14,154,10.25,0.00,-27.33,0.000,19206,0.421,0.000,2212,2496,3339,3513,3165,0,0,0,0,0,0,13.93,28.83,14.80
$GC,472,-0.79,-146.0,1344,2494,3509,3158,79.9,-18.9,81,480,0.15,1.58,0.00,0.000,2308,0.317,0.130,2245,3348,3340,3517,3163,0,0,0,0,0,0,14.00,14.28,28.83
$GC,607,-0.70,-146.0,2245,3348,3517,3163,104.7,-17.0,103,612,0.15,1.50,0.00,0.000,3078,0.282,0.091,2277,2479,3340,3517,3163,0,0,0,0,0,0,14.10,14.39,28.83
$GC,925,-0.65,-146.0,2277,2480,3517,3163,158.0,-16.8,134,928,0.00,1.48,0.00,0.000,516,0.000,0.104,2277,1660,3339,3517,3162,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1023,-0.61,-146.0,1424,1659,3509,3159,173.1,-15.5,143,1031,0.15,1.55,0.00,0.000,3078,0.272,0.126,2306,2505,3340,3517,3163,0,0,0,0,0,0,14.15,14.30,28.83
$GC,1333,-0.59,-146.0,2307,2505,3517,3162,214.1,-13.0,174,1337,0.00,1.50,0.00,0.000,516,0.000,0.104,2307,1645,3339,3517,3162,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1399,-0.58,-146.0,2307,1645,3517,3162,222.4,-12.7,180,1402,0.00,1.58,0.00,0.000,1030,0.000,0.130,2302,2506,3339,3517,3162,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1714,-0.56,-146.0,2303,2507,3517,3162,262.4,-12.4,211,1718,0.00,1.52,0.00,0.000,260,0.000,0.138,2296,3347,3339,3517,3162,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1750,-0.54,-146.0,2296,3347,3517,3161,267.0,-12.9,214,1754,0.15,1.50,0.00,0.000,3078,0.262,0.090,2330,2473,3339,3517,3161,0,0,0,0,0,0,14.14,14.39,28.83
$GC,2070,-0.54,-146.0,2330,2473,3517,3161,300.5,-10.1,245,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2473,3339,3517,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,-0.54,-146.0,2330,2473,3517,3162,331.0,-9.7,276,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2473,3339,3517,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2692,-0.55,-146.0,2330,2472,3517,3162,361.0,-9.8,307,2695,0.00,1.62,0.00,0.000,260,0.000,0.140,2325,3349,3339,3517,3162,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2721,-0.56,-146.0,2325,3349,3518,3162,363.4,-9.6,309,2728,0.00,1.50,0.00,0.000,1030,0.000,0.090,2325,2485,3339,3517,3161,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3030,-0.57,-146.0,2325,2485,3518,3162,393.2,-9.8,340,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2485,3340,3518,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3346,-0.58,-146.0,2325,2485,3519,3162,421.9,-9.2,371,3349,0.00,1.48,0.00,0.000,516,0.000,0.103,2325,1661,3340,3518,3162,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3374,-0.59,-146.0,2325,1661,3519,3162,424.8,-9.1,373,3382,0.00,1.52,0.00,0.000,1030,0.000,0.127,2320,2500,3340,3519,3162,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3684,-0.59,-146.0,2320,2500,3519,3162,453.7,-9.4,404,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2500,3340,3519,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4001,-0.59,-146.0,2320,2500,3520,3162,482.9,-9.4,435,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2499,3341,3520,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.59,-146.0,2320,2500,3521,3162,512.6,-9.4,466,4318,0.00,1.55,0.00,0.000,260,0.000,0.139,2312,3349,3341,3521,3162,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4342,-0.59,-146.0,1456,3348,3514,3159,515.6,-9.4,468,4349,0.00,1.50,0.00,0.000,1030,0.000,0.090,2313,2480,3341,3521,3162,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4651,-0.59,-146.0,2313,2480,3521,3162,544.3,-8.9,499,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2481,3341,3521,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4967,-0.59,-146.0,2313,2481,3522,3162,572.3,-9.1,530,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2481,3342,3522,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5300,-0.59,-146.0,2313,2481,3522,3162,603.4,-9.3,561,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2480,3342,3523,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.60,-146.0,2313,2480,3523,3162,631.2,-9.2,571,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2480,3342,3523,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5895,-0.61,-146.0,2313,2481,3523,3162,658.8,-9.3,581,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2481,3342,3523,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6194,-0.63,-146.0,2313,2481,3524,3162,685.7,-8.7,591,6198,0.00,1.45,0.00,0.000,516,0.000,0.099,2313,1666,3343,3524,3162,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6233,-0.64,-146.0,2313,1666,3524,3162,688.8,-8.7,592,6236,0.00,1.52,0.00,0.000,1030,0.000,0.125,2308,2503,3343,3524,3162,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6564,-0.64,-146.0,2309,2503,3524,3162,718.1,-8.8,603,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2503,3343,3524,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,-0.64,-146.0,2308,2503,3524,3162,744.6,-8.8,613,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2503,3343,3524,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,-0.64,-146.0,2307,2503,3525,3162,770.8,-8.7,623,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2503,3343,3525,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,-0.64,-146.0,2308,2503,3525,3162,798.0,-9.0,633,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2503,3343,3525,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7764,-0.64,-146.0,2308,2503,3525,3162,825.5,-9.1,643,7767,0.00,1.50,0.00,0.000,516,0.000,0.099,2308,1639,3343,3525,3162,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7812,-0.64,-146.0,2308,1639,3525,3162,828.8,-9.1,644,7815,0.00,1.58,0.00,0.000,1030,0.000,0.122,2302,2504,3343,3525,3162,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8132,-0.64,-146.0,2303,2505,3525,3162,859.8,-9.3,655,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2505,3343,3525,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8432,-0.64,-146.0,2302,2504,3525,3162,887.1,-9.0,665,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2505,3343,3525,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8732,-0.64,-146.0,2302,2504,3526,3162,913.9,-8.9,675,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2504,3344,3526,3162,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8937,begin apogee
$GC,8951,-0.22,0.0,2302,2504,3525,3162,933.0,-9.2,682,9135,0.45,0.00,172.07,2.832,10246,0.216,0.000,2428,2504,2741,2861,2621,0,0,0,0,0,0,14.07,28.83,11.96
$STATE,9136,end apogee,CONTROL_FINISHED_OK
$STATE,9136,begin climb
$GC,9142,0.89,146.0,2428,2505,2861,2621,940.3,0.0,688,9337,1.30,0.00,190.68,2.729,10246,0.165,0.000,2789,2505,2145,2237,2053,0,0,0,0,0,0,13.18,28.83,11.70
$GC,9638,0.85,146.0,2790,2505,2236,2042,903.1,9.7,705,9642,0.00,1.65,0.00,0.000,260,0.000,0.136,2789,3356,2139,2236,2042,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9676,0.80,146.0,1824,3355,2192,2037,898.8,10.0,706,9681,0.10,1.52,0.00,0.000,5126,0.228,0.090,2769,2519,2139,2236,2042,0,0,0,0,0,0,13.91,14.08,28.83
$GC,10008,0.77,146.0,2769,2518,2236,2039,869.6,8.7,717,10012,0.00,1.58,0.00,0.000,260,0.000,0.139,2768,3366,2137,2235,2039,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10057,0.74,146.0,2768,3366,2236,2039,866.4,8.9,718,10061,0.00,1.50,0.00,0.000,1030,0.000,0.092,2773,2498,2137,2236,2039,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10377,0.70,146.0,2773,2497,2236,2038,836.2,9.0,729,10382,0.12,1.62,0.00,0.000,4356,0.260,0.136,2740,3355,2137,2236,2038,0,0,0,0,0,0,14.32,14.35,28.83
$GC,10417,0.67,146.0,1792,3352,2192,2033,833.3,8.8,730,10421,0.00,1.50,0.00,0.000,1030,0.000,0.093,2744,2510,2137,2236,2038,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10747,0.72,176.8,2744,2510,2236,2037,809.1,7.1,741,10785,0.00,1.58,33.22,2.639,8452,0.000,0.139,2744,3360,2020,2122,1919,0,0,0,0,0,0,28.83,14.26,13.08
$GC,10863,0.74,190.5,2745,3360,2121,1918,801.9,7.7,744,10886,0.00,1.50,16.90,2.490,9222,0.000,0.093,2750,2496,1965,2066,1864,0,0,0,0,0,0,28.83,14.33,13.01
$GC,11197,0.74,190.5,2751,2497,2065,1858,771.0,8.7,756,11201,0.00,1.62,0.00,0.000,260,0.000,0.138,2751,3354,1961,2065,1858,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11226,0.74,190.5,2750,3354,2065,1858,771.0,8.7,756,11233,0.00,1.50,0.00,0.000,1030,0.000,0.093,2757,2487,1961,2065,1858,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11534,0.73,190.5,2757,2487,2065,1858,741.9,8.4,767,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2486,1961,2065,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11833,0.72,190.5,2757,2487,2065,1857,716.2,8.5,777,11837,0.00,1.60,0.00,0.000,260,0.000,0.142,2757,3356,1961,2065,1857,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11882,0.71,190.5,2757,3356,2065,1857,712.8,8.8,778,11886,0.00,1.50,0.00,0.000,1030,0.000,0.093,2764,2482,1960,2064,1857,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12203,0.69,190.5,2764,2482,2064,1857,683.7,8.6,789,12207,0.12,1.65,0.00,0.000,4356,0.269,0.138,2730,3354,1960,2064,1856,0,0,0,0,0,0,14.37,14.37,28.83
$GC,12240,0.68,190.5,2730,3354,2064,1855,680.7,8.5,790,12243,0.00,1.50,0.00,0.000,1030,0.000,0.093,2735,2507,1960,2064,1856,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12576,0.70,208.7,2735,2506,2064,1856,655.6,7.6,801,12602,0.00,0.00,20.42,2.458,8198,0.000,0.000,2735,2506,1890,1996,1784,0,0,0,0,0,0,28.83,28.83,13.27
$GC,12906,0.72,208.7,2735,2506,1996,1782,628.8,8.3,812,12910,0.00,1.58,0.00,0.000,260,0.000,0.140,2735,3358,1889,1996,1782,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12942,0.73,208.7,2735,3358,1996,1782,625.7,8.6,813,12946,0.00,1.50,0.00,0.000,1030,0.000,0.093,2742,2488,1889,1995,1783,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13257,0.73,208.7,2741,2488,1995,1782,598.5,8.6,824,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2488,1888,1995,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13574,0.73,208.7,2741,2488,1995,1782,572.1,8.3,855,13577,0.00,1.60,0.00,0.000,260,0.000,0.142,2741,3359,1888,1995,1782,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13612,0.73,208.7,1792,3358,1956,1778,568.4,8.7,858,13619,0.00,1.50,0.00,0.000,1030,0.000,0.093,2747,2489,1888,1995,1782,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13920,0.73,208.7,2747,2489,1995,1782,540.9,8.8,889,13923,0.00,1.45,0.00,0.000,516,0.000,0.107,2753,1670,1888,1995,1782,0,0,0,0,0,0,28.83,14.39,28.83
$GC,13948,0.73,208.7,1792,1669,1956,1778,538.7,8.9,891,13955,0.00,1.52,0.00,0.000,1030,0.000,0.127,2753,2515,1888,1995,1782,0,0,0,0,0,0,28.83,14.39,28.83
$GC,14258,0.73,208.7,2753,2515,1995,1782,510.1,9.6,922,14262,0.00,1.52,0.00,0.000,260,0.000,0.139,2753,3356,1888,1995,1782,0,0,0,0,0,0,28.83,14.34,28.83
$GC,14316,0.73,208.7,1792,3354,1955,1778,504.6,10.3,927,14323,0.00,1.50,0.00,0.000,1030,0.000,0.093,2760,2485,1888,1995,1782,0,0,0,0,0,0,28.83,14.45,28.83
$GC,14625,0.73,208.7,2760,2485,1995,1782,476.0,8.8,958,14631,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2485,1888,1995,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14940,0.73,208.7,2760,2485,1995,1781,449.3,8.6,989,14944,0.00,1.62,0.00,0.000,260,0.000,0.140,2760,3364,1888,1995,1781,0,0,0,0,0,0,28.83,14.33,28.83
$GC,14986,0.72,208.7,2760,3364,1995,1782,444.6,9.2,993,14989,0.00,1.50,0.00,0.000,1030,0.000,0.092,2766,2493,1888,1995,1782,0,0,0,0,0,0,28.83,14.45,28.83
$GC,15301,0.72,208.7,2767,2493,1995,1782,416.1,8.8,1024,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2494,1887,1994,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15611,0.72,208.7,2766,2493,1995,1781,388.4,8.9,1055,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2493,1888,1995,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15923,0.72,208.7,2766,2493,1995,1782,359.6,9.0,1086,15926,0.00,1.60,0.00,0.000,260,0.000,0.141,2766,3355,1888,1995,1782,0,0,0,0,0,0,28.83,14.31,28.83
$GC,15958,0.71,208.7,2766,3356,1994,1780,356.0,9.5,1089,15962,0.15,1.52,0.00,0.000,5126,0.243,0.092,2738,2480,1888,1995,1782,0,0,0,0,0,0,14.26,14.42,28.83
$GC,16275,0.74,216.1,2738,2480,1994,1781,331.2,8.0,1120,16291,0.00,0.00,9.10,2.011,8198,0.000,0.000,2738,2479,1860,1966,1754,0,0,0,0,0,0,28.83,28.83,13.28
$GC,16597,0.80,241.3,2738,2480,1966,1753,306.9,7.3,1152,16633,0.00,1.62,28.10,2.159,8452,0.000,0.138,2737,3356,1757,1858,1657,0,0,0,0,0,0,28.83,14.34,13.29
$GC,16688,0.82,241.3,2737,3356,1855,1657,300.5,8.5,1160,16694,0.00,1.50,0.00,0.000,1030,0.000,0.093,2742,2498,1755,1854,1657,0,0,0,0,0,0,28.83,14.34,28.83
$GC,16997,0.88,260.7,2742,2498,1852,1656,276.2,7.5,1191,17025,0.12,1.52,21.42,2.088,10756,0.151,0.108,2799,1666,1677,1771,1584,0,0,0,0,0,0,14.48,14.39,13.33
$GC,17074,0.88,260.7,1824,1665,1738,1582,269.3,10.3,1198,17081,0.00,1.55,0.00,0.000,1030,0.000,0.125,2800,2513,1677,1771,1584,0,0,0,0,0,0,28.83,14.31,28.83
$GC,17383,0.86,260.7,2799,2513,1770,1584,238.7,9.2,1229,17390,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2513,1677,1770,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17699,0.85,260.7,2799,2513,1770,1583,208.1,10.3,1260,17702,0.00,1.55,0.00,0.000,260,0.000,0.138,2799,3366,1676,1770,1583,0,0,0,0,0,0,28.83,14.34,28.83
$GC,17757,0.83,260.7,1824,3365,1736,1581,201.5,10.9,1265,17764,0.00,1.50,0.00,0.000,1030,0.000,0.093,2806,2496,1675,1768,1583,0,0,0,0,0,0,28.83,14.45,28.83
$GC,18067,0.82,260.7,2806,2496,1768,1583,169.1,10.4,1296,18071,0.12,1.60,0.00,0.000,4356,0.262,0.137,2771,3365,1675,1768,1583,0,0,0,0,0,0,14.33,14.35,28.83
$GC,18103,0.82,260.7,2771,3366,1767,1583,165.2,10.4,1299,18106,0.00,1.50,0.00,0.000,1030,0.000,0.093,2776,2494,1675,1767,1583,0,0,0,0,0,0,28.83,14.45,28.83
$GC,18419,0.84,267.2,2776,2494,1767,1583,139.7,8.0,1330,18434,0.00,0.00,8.10,1.823,8198,0.000,0.000,2776,2494,1650,1740,1560,0,0,0,0,0,0,28.83,28.83,13.36
$GC,18739,0.92,303.4,2776,2494,1740,1560,116.0,6.9,1362,18768,0.00,1.60,24.23,1.925,8452,0.000,0.141,2776,3367,1503,1593,1414,0,0,0,0,0,0,28.83,14.41,13.45
$GC,18821,0.97,319.0,2776,3367,1590,1414,110.6,7.7,1369,18840,0.10,1.52,10.12,1.736,11270,0.109,0.093,2828,2513,1439,1527,1352,0,0,0,0,0,0,14.36,14.37,13.31
$GC,19147,0.97,319.0,2828,2513,1522,1349,78.5,8.6,1422,19154,0.00,1.50,0.00,0.000,516,0.000,0.108,2834,1657,1435,1521,1349,0,0,0,0,0,0,28.83,14.35,28.83
$GC,19217,1.07,383.5,2835,1657,1520,1348,73.7,5.8,1434,19261,0.00,1.55,37.17,0.399,9222,0.000,0.126,2834,2511,1176,1254,1099,0,0,0,0,0,0,28.83,14.34,14.01
$GC,19577,1.07,383.5,2835,2510,1243,1094,40.4,11.8,1501,19584,0.00,1.55,0.00,0.000,260,0.000,0.144,2834,3355,1168,1243,1094,0,0,0,0,0,0,28.83,14.30,28.83
$GC,19627,1.08,383.5,2834,3355,1242,1094,34.2,12.6,1509,19635,0.00,1.50,0.00,0.000,1030,0.000,0.096,2841,2491,1168,1242,1094,0,0,0,0,0,0,28.83,14.40,28.83
$FREEZE,8.75,-1.347,-1.772,2,2,0
$FREEZE,7.87,-1.346,-1.771,2,2,0
$FREEZE,7.11,-1.349,-1.771,2,2,0
$FREEZE,6.53,-1.347,-1.770,2,2,0
$FREEZE,6.04,-1.346,-1.770,2,2,0
$FREEZE,5.55,-1.347,-1.769,2,2,0
$FREEZE,4.89,-1.352,-1.769,2,2,0
$FREEZE,4.17,-1.349,-1.768,2,2,0
$FREEZE,3.25,-1.350,-1.768,2,2,0
$FREEZE,2.80,-1.357,-1.768,2,2,0
$STATE,19871,end climb,SURFACE_DEPTH_REACHED
$STATE,19871,begin surface coast
$FREEZE,1.44,-1.363,-1.540,2,2,0
$FREEZE,1.68,-1.335,-1.541,2,2,0
$FREEZE,1.74,-1.336,-1.537,2,2,0
$FREEZE,1.69,-1.354,-1.537,2,2,0
$FINISH,1.7,1.022634
$STATE,19900,end surface coast,CONTROL_FINISHED_OK
$STATE,19900,begin surface
$SM_CCo,19929,87.50,0.179,0,0,497,549.72
$SM_GC,1.59,8.23,0.00,87.50,0.109,0.000,0.179,144,2490,497,-7.36,-0.31,549.72,0,0,0,0,0,0,14.38,28.83,14.21
$RAFOS_CLK,996
$RAFOS,6,1385729349,12.833333,12.819167,66,60,58,56,52,51,663,209,188,200,142,233
$RAFOS,5,1385728868,12.700000,12.685555,62,62,54,53,52,50,144,170,206,191,219,127
$RAFOS,4,1385728387,12.566667,12.551945,123,70,67,56,54,51,512,193,212,159,1076,174
$RAFOS,3,1385727904,12.433333,12.417778,63,61,60,58,55,54,163,194,732,152,119,206
$RAFOS,2,1385727424,12.300000,12.284445,69,66,63,60,55,55,720,213,200,141,182,114
$RAFOS,1,1385726947,12.166667,12.151944,61,61,56,56,54,51,192,205,158,171,115,182
$RAFOS,0,1385726469,12.033333,12.019167,64,59,57,57,55,54,225,189,207,164,139,216
$RAFOS,6,1385714945,8.833333,8.818055,69,66,55,52,52,51,187,702,161,213,1554,173
$RAFOS,5,1385714461,8.700000,8.683611,60,59,54,51,51,51,183,219,128,201,167,610
$RAFOS,4,1385713986,8.566667,8.551666,105,66,60,51,50,49,533,169,194,208,116,131
$RAFOS,3,1385713505,8.433333,8.418056,98,62,57,54,52,51,718,209,184,157,135,172
$RAFOS,2,1385713026,8.300000,8.285000,96,65,58,56,53,50,703,151,187,206,215,131
$RAFOS,1,1385712543,8.166667,8.150833,56,54,54,54,53,52,214,177,188,125,135,114
$RAFOS_FIX,6647.331543,-5902.470703,291113,080844,3,100,2.52
$IRIDIUM_FIX,6620.33,-5857.50,291113,020239
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.46
$INTERNAL_PRESSURE,8.58625
$TCM_TEMP,12.20
$XPDR_PINGS,72
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,11.7,173.235
$10V_AH,11.2,0.000
$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,21.675,89.250,571.550,87.500,0.000,0.000,0.000,121.050,21.500,0.000,130.178,4050.195,12001.146,790.758,2838.528,955.162,0.000,2315.778,0.000,2551.383,4680.000,25.820,0.000
$DEVICE_MAMPS,420.750,143.820,2832.030,179.010,0.000,0.000,0.000,50.490,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150700
$DATA_FILE_SIZE,66591,1560
$CAP_FILE_SIZE,188821,0
$CFSIZE,259252224,220639232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.0
$CURRENT,95.236,310.4,1
$GPS,291113,080527,6646.590,-5858.266,181,99.0,181,-33.7