version: 66.11
glider: 192
mission: 2
dive: 392
start: 11 30 113 0 33 18
data:
$ID,192
$MISSION,2
$DIVE,392
$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,-3869.9854
$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,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,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
$GPS1,301113,001806,6645.275,-5903.204,32,1.1,32,-33.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-32.3
$GPS2,301113,003230,6645.054,-5903.036,111,1.3,111,-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,304.1,60725,-15.5,-8.250,-18.49,2720
$D_GRID,939
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,21,-0.89,-146.0,143,2496,1149,1034,0.0,0.0,0,163,0.00,0.00,-134.27,0.000,16390,0.000,0.000,143,2497,3336,3509,3163,0,0,0,0,0,0,28.83,28.83,14.76
$GC,170,-0.89,-146.0,143,2497,3510,3163,2.0,-0.0,24,184,8.40,1.62,0.00,0.000,2308,0.313,0.136,2209,3347,3337,3513,3162,0,0,0,0,0,0,13.97,14.23,28.83
$GC,423,-0.81,-146.0,1352,3348,3507,3157,1.6,0.1,71,431,0.15,1.50,0.00,0.000,3078,0.288,0.091,2241,2486,3337,3515,3160,0,0,0,0,0,0,14.07,14.36,28.83
$GC,751,-0.71,-146.0,1360,2483,3507,3156,1.6,0.5,132,758,0.12,1.62,0.00,0.000,2308,0.317,0.142,2268,3353,3336,3515,3158,0,0,0,0,0,0,14.07,14.23,28.83
$GC,997,-0.65,-146.0,2268,3354,3515,3158,1.5,0.1,178,1005,0.12,1.52,0.00,0.000,3078,0.301,0.096,2293,2481,3336,3515,3158,0,0,0,0,0,0,14.08,14.38,28.83
$GC,1327,-0.69,-146.0,2293,2480,3518,3156,1.7,-0.5,239,1335,0.00,1.58,0.00,0.000,260,0.000,0.119,2290,3353,3337,3518,3156,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1512,-0.61,-146.0,1416,3353,3511,3153,31.1,-20.5,273,1519,0.00,1.50,0.00,0.000,1030,0.000,0.094,2289,2491,3337,3518,3156,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1831,-0.57,-146.0,2290,2491,3518,3156,86.5,-14.1,334,1838,0.12,1.48,0.00,0.000,2564,0.308,0.102,2321,1652,3336,3517,3156,0,0,0,0,0,0,14.09,14.31,28.83
$GC,1910,-0.55,-146.0,2321,1652,3518,3156,96.4,-12.2,348,1917,0.00,1.55,0.00,0.000,1030,0.000,0.125,2316,2499,3336,3517,3156,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2224,-0.54,-146.0,2316,2499,3518,3155,136.3,-11.6,381,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2499,3337,3518,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,-0.52,-146.0,2316,2499,3518,3155,174.2,-12.1,412,2544,0.00,1.58,0.00,0.000,260,0.000,0.141,2309,3355,3336,3518,3155,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2599,-0.50,-146.0,1448,3353,3511,3152,182.2,-12.7,417,2606,0.15,1.50,0.00,0.000,3078,0.265,0.093,2343,2492,3336,3517,3155,0,0,0,0,0,0,14.10,14.35,28.83
$GC,2909,-0.52,-146.0,2343,2492,3518,3155,213.8,-9.2,448,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2492,3336,3518,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-0.53,-146.0,2343,2492,3518,3154,242.0,-9.2,479,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2492,3336,3518,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-0.55,-146.0,2343,2492,3518,3155,269.6,-9.0,510,3542,0.00,1.50,0.00,0.000,516,0.000,0.106,2344,1662,3336,3518,3155,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3577,-0.57,-146.0,2344,1661,3518,3155,273.2,-8.6,513,3584,0.00,1.55,0.00,0.000,1030,0.000,0.125,2340,2509,3336,3518,3155,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3886,-0.59,-146.0,2338,2509,3518,3155,301.3,-8.6,544,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2509,3336,3517,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.61,-146.0,2340,2509,3518,3155,328.3,-8.6,575,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2509,3336,3518,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4516,-0.63,-146.0,2340,2509,3519,3155,354.9,-8.6,606,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2509,3337,3519,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4829,-0.65,-146.0,2340,2509,3520,3155,381.9,-8.5,637,4836,0.12,0.00,0.00,0.000,4102,0.151,0.000,2289,2509,3337,3520,3155,0,0,0,0,0,0,14.46,28.83,28.83
$GC,5141,-0.63,-146.0,2289,2509,3520,3155,417.3,-11.7,668,5144,0.00,1.50,0.00,0.000,516,0.000,0.103,2288,1650,3338,3520,3156,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5219,-0.63,-146.0,2288,1650,3520,3155,426.5,-11.8,675,5227,0.00,1.58,0.00,0.000,1030,0.000,0.126,2282,2506,3338,3520,3156,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5529,-0.61,-146.0,2282,2507,3521,3156,464.0,-11.8,706,5535,0.12,0.00,0.00,0.000,2054,0.277,0.000,2313,2506,3338,3521,3155,0,0,0,0,0,0,14.14,28.83,28.83
$GC,5839,-0.61,-146.0,2314,2507,3522,3155,495.0,-9.8,737,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2507,3338,3522,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6154,-0.61,-146.0,2314,2506,3522,3156,524.9,-9.3,768,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2507,3339,3522,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6468,-0.61,-146.0,2313,2506,3523,3155,554.6,-9.4,799,6472,0.00,1.52,0.00,0.000,516,0.000,0.103,2314,1664,3339,3522,3156,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6496,-0.61,-146.0,1448,1662,3516,3152,557.5,-9.5,801,6502,0.00,1.55,0.00,0.000,1030,0.000,0.128,2310,2504,3339,3523,3156,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6804,-0.61,-146.0,2310,2504,3523,3155,587.1,-9.3,832,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2504,3339,3523,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7125,-0.61,-146.0,2310,2504,3524,3155,617.1,-9.1,852,7128,0.00,1.55,0.00,0.000,260,0.000,0.138,2304,3347,3340,3524,3156,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7153,-0.61,-146.0,2304,3348,3524,3156,617.1,-9.1,852,7159,0.00,1.50,0.00,0.000,1030,0.000,0.090,2304,2484,3339,3524,3155,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7460,-0.61,-146.0,2304,2484,3524,3156,646.9,-8.7,863,7464,0.00,1.48,0.00,0.000,516,0.000,0.103,2303,1661,3340,3524,3156,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7499,-0.61,-146.0,2304,1661,3524,3156,650.1,-8.7,864,7503,0.00,1.58,0.00,0.000,1030,0.000,0.129,2298,2495,3340,3525,3156,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7830,-0.61,-146.0,2298,2495,3524,3156,680.7,-9.3,875,7833,0.00,1.58,0.00,0.000,260,0.000,0.138,2291,3351,3340,3524,3156,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7867,-0.61,-146.0,1440,3349,3517,3153,684.1,-9.4,876,7871,0.00,1.50,0.00,0.000,1030,0.000,0.090,2292,2481,3340,3524,3156,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8197,-0.61,-146.0,2292,2481,3524,3156,715.7,-9.2,887,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2481,3340,3524,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8498,-0.61,-146.0,2291,2481,3524,3157,743.5,-9.2,897,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2481,3340,3524,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8797,-0.61,-146.0,2291,2481,3525,3157,770.3,-9.0,907,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2481,3340,3524,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9097,-0.61,-146.0,2291,2481,3525,3157,798.4,-9.4,917,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2481,3340,3525,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9397,-0.61,-146.0,2291,2481,3525,3156,827.5,-9.9,927,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2481,3341,3525,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9698,-0.61,-146.0,2291,2481,3525,3157,856.0,-9.3,937,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2481,3340,3525,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9997,-0.61,-146.0,2291,2481,3526,3157,884.3,-9.4,947,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2481,3341,3525,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10297,-0.61,-146.0,2291,2481,3525,3156,912.3,-9.4,957,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2481,3341,3526,3156,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10591,begin apogee
$GC,10606,-0.22,0.0,2291,2511,3526,3157,940.5,-9.6,967,10790,0.50,0.00,172.27,2.873,10246,0.220,0.000,2430,2511,2741,2862,2620,0,0,0,0,0,0,14.01,28.83,11.87
$STATE,10791,end apogee,CONTROL_FINISHED_OK
$STATE,10791,begin climb
$GC,10798,0.89,146.0,2430,2511,2862,2620,946.5,0.0,973,10998,1.27,0.00,194.30,2.826,11014,0.159,0.000,2788,2511,2145,2240,2051,0,0,0,0,0,0,13.16,28.83,11.63
$GC,11288,0.85,146.0,2788,2511,2239,2041,907.3,9.9,990,11291,0.00,1.60,0.00,0.000,260,0.000,0.135,2788,3357,2140,2239,2041,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11387,0.80,146.0,2788,3357,2239,2041,897.0,10.7,993,11390,0.00,1.50,0.00,0.000,1030,0.000,0.092,2794,2509,2139,2238,2041,0,0,0,0,0,0,28.83,14.15,28.83
$GC,11718,0.75,146.0,2795,2509,2239,2038,863.7,9.6,1004,11723,0.15,1.62,0.00,0.000,4356,0.256,0.137,2755,3361,2138,2238,2038,0,0,0,0,0,0,14.24,14.29,28.83
$GC,11758,0.71,146.0,1792,3361,2193,2033,860.3,9.5,1005,11762,0.00,1.52,0.00,0.000,1030,0.000,0.093,2759,2509,2138,2238,2038,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12089,0.69,147.4,2758,2509,2238,2036,832.9,8.2,1016,12093,0.00,1.50,0.00,0.000,516,0.000,0.108,2765,1646,2137,2238,2036,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12138,0.67,147.4,2766,1646,2238,2035,829.8,8.3,1017,12142,0.15,1.58,0.00,0.000,5126,0.243,0.125,2731,2518,2136,2238,2035,0,0,0,0,0,0,14.31,14.41,28.83
$GC,12460,0.71,174.1,2730,2518,2238,2034,805.1,7.2,1028,12497,0.00,1.60,30.77,2.693,8452,0.000,0.143,2730,3361,2030,2134,1927,0,0,0,0,0,0,28.83,14.26,13.06
$GC,12582,0.73,184.5,2730,3360,2132,1927,795.5,7.9,1032,12600,0.00,1.52,13.15,2.481,9222,0.000,0.093,2735,2488,1987,2091,1884,0,0,0,0,0,0,28.83,14.33,13.00
$GC,12917,0.74,192.9,2735,2488,2092,1881,769.2,7.9,1043,12938,0.00,1.50,10.68,2.403,8708,0.000,0.109,2741,1663,1954,2058,1850,0,0,0,0,0,0,28.83,14.44,13.14
$GC,12954,0.75,201.3,2741,1663,2058,1850,767.0,7.9,1044,12971,0.00,1.52,11.07,2.377,9222,0.000,0.127,2741,2510,1919,2024,1815,0,0,0,0,0,0,28.83,14.36,13.08
$GC,13275,0.75,201.3,2741,2510,2024,1813,737.6,8.8,1055,13279,0.00,1.55,0.00,0.000,260,0.000,0.139,2741,3364,1918,2024,1813,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13318,0.75,201.3,2740,3365,2023,1813,734.3,8.9,1056,13322,0.00,1.50,0.00,0.000,1030,0.000,0.093,2747,2493,1918,2024,1813,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13644,0.75,201.3,2747,2493,2024,1812,705.1,8.6,1067,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2493,1917,2023,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13944,0.75,201.3,2747,2493,2024,1811,679.1,8.6,1077,13947,0.00,1.60,0.00,0.000,260,0.000,0.141,2747,3362,1917,2023,1811,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13992,0.75,201.3,2747,3362,2023,1811,675.9,8.8,1078,13995,0.00,1.50,0.00,0.000,1030,0.000,0.093,2754,2492,1917,2023,1811,0,0,0,0,0,0,28.83,14.49,28.83
$GC,14312,0.75,201.3,2753,2492,2023,1811,646.8,8.7,1089,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2492,1916,2023,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14612,0.76,207.2,2753,2492,2023,1810,622.0,8.0,1099,14624,0.00,1.65,7.18,2.153,8452,0.000,0.142,2753,3362,1895,2002,1789,0,0,0,0,0,0,28.83,14.51,13.21
$GC,14665,0.76,208.4,2753,3362,2003,1790,619.4,8.2,1100,14671,0.00,1.50,0.00,0.000,1030,0.000,0.093,2760,2491,1896,2003,1790,0,0,0,0,0,0,28.83,14.50,28.83
$GC,14972,0.76,208.4,2760,2491,2003,1789,590.2,8.8,1117,14978,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2491,1896,2003,1789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15285,0.76,208.4,2760,2491,2003,1789,562.2,8.7,1148,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2491,1896,2003,1789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15592,0.76,208.4,2760,2490,2003,1789,535.5,8.5,1179,15596,0.00,1.65,0.00,0.000,260,0.000,0.142,2760,3355,1896,2003,1789,0,0,0,0,0,0,28.83,14.32,28.83
$GC,15617,0.76,208.4,2760,3354,2003,1789,533.3,8.7,1181,15621,0.00,1.50,0.00,0.000,1030,0.000,0.095,2766,2485,1895,2003,1788,0,0,0,0,0,0,28.83,14.45,28.83
$GC,15933,0.77,212.8,2767,2485,2003,1788,506.8,8.1,1212,15948,0.00,0.00,7.93,2.114,8198,0.000,0.000,2767,2486,1873,1980,1767,0,0,0,0,0,0,28.83,28.83,13.23
$GC,16253,0.77,212.8,2767,2485,1980,1767,480.1,8.8,1244,16257,0.00,1.65,0.00,0.000,260,0.000,0.140,2767,3351,1873,1980,1766,0,0,0,0,0,0,28.83,14.32,28.83
$GC,16300,0.75,212.8,2766,3351,1980,1766,475.9,9.2,1248,16304,0.00,1.50,0.00,0.000,1030,0.000,0.095,2773,2512,1873,1980,1766,0,0,0,0,0,0,28.83,14.42,28.83
$GC,16616,0.74,212.8,2773,2512,1980,1766,447.9,8.7,1279,16619,0.00,1.50,0.00,0.000,516,0.000,0.109,2779,1657,1872,1979,1766,0,0,0,0,0,0,28.83,14.39,28.83
$GC,16671,0.74,212.8,2779,1657,1980,1766,443.1,8.5,1284,16675,0.00,1.55,0.00,0.000,1030,0.000,0.125,2779,2514,1873,1980,1766,0,0,0,0,0,0,28.83,14.38,28.83
$GC,16988,0.73,212.8,2779,2514,1980,1766,414.7,9.0,1315,16993,0.12,1.55,0.00,0.000,4356,0.257,0.138,2746,3362,1872,1979,1766,0,0,0,0,0,0,14.32,14.35,28.83
$GC,17034,0.73,213.1,2746,3362,1980,1766,410.8,8.2,1319,17038,0.00,1.52,0.00,0.000,1030,0.000,0.094,2750,2485,1873,1980,1766,0,0,0,0,0,0,28.83,14.45,28.83
$GC,17350,0.75,226.8,2751,2485,1980,1766,387.1,7.7,1350,17369,0.00,0.00,16.67,2.225,8710,0.000,0.000,2750,2484,1815,1920,1710,0,0,0,0,0,0,28.83,28.83,13.35
$GC,17681,0.76,226.8,2751,2485,1918,1710,360.6,8.7,1383,17685,0.00,1.65,0.00,0.000,260,0.000,0.141,2750,3350,1813,1918,1709,0,0,0,0,0,0,28.83,14.28,28.83
$GC,17730,0.76,226.8,2751,3350,1918,1710,356.4,9.2,1387,17738,0.00,1.50,0.00,0.000,1030,0.000,0.094,2757,2489,1814,1918,1710,0,0,0,0,0,0,28.83,14.42,28.83
$GC,18041,0.77,226.8,2757,2489,1918,1710,327.7,8.8,1418,18044,0.00,1.48,0.00,0.000,516,0.000,0.108,2763,1664,1814,1918,1710,0,0,0,0,0,0,28.83,14.35,28.83
$GC,18077,0.78,226.8,2763,1664,1917,1709,324.5,8.9,1421,18080,0.00,1.52,0.00,0.000,1030,0.000,0.126,2762,2510,1813,1917,1710,0,0,0,0,0,0,28.83,14.35,28.83
$GC,18394,0.78,226.8,2763,2510,1917,1709,295.5,9.0,1452,18397,0.00,1.55,0.00,0.000,260,0.000,0.139,2763,3367,1813,1917,1709,0,0,0,0,0,0,28.83,14.33,28.83
$GC,18430,0.78,226.8,2762,3367,1917,1709,291.9,9.4,1455,18433,0.00,1.50,0.00,0.000,1030,0.000,0.093,2769,2495,1813,1917,1709,0,0,0,0,0,0,28.83,14.44,28.83
$GC,18745,0.78,226.8,2769,2494,1917,1709,261.6,9.6,1486,18749,0.00,1.48,0.00,0.000,516,0.000,0.108,2775,1670,1813,1917,1709,0,0,0,0,0,0,28.83,14.35,28.83
$GC,18771,0.78,226.8,2775,1669,1917,1708,259.1,9.8,1488,18775,0.00,1.52,0.00,0.000,1030,0.000,0.125,2775,2517,1813,1917,1709,0,0,0,0,0,0,28.83,14.36,28.83
$GC,19086,0.78,226.8,2775,2517,1917,1709,228.0,9.8,1519,19093,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2518,1813,1917,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19404,0.80,236.1,2775,2517,1917,1709,202.0,7.9,1550,19418,0.00,0.00,10.65,1.971,8198,0.000,0.000,2775,2517,1778,1879,1677,0,0,0,0,0,0,28.83,28.83,13.37
$GC,19720,0.84,254.6,2774,2517,1878,1678,176.1,7.6,1582,19746,0.00,0.00,21.10,2.061,8198,0.000,0.000,2775,2517,1703,1801,1605,0,0,0,0,0,0,28.83,28.83,13.38
$GC,20051,0.89,274.9,2775,2517,1799,1605,150.8,7.5,1615,20079,0.00,1.58,22.80,2.041,8708,0.000,0.112,2781,1663,1620,1713,1527,0,0,0,0,0,0,28.83,14.37,13.35
$GC,20112,0.92,276.4,2781,1663,1713,1527,146.0,8.2,1621,20116,0.00,1.55,0.00,0.000,1030,0.000,0.123,2781,2520,1620,1713,1527,0,0,0,0,0,0,28.83,14.31,28.83
$GC,20430,0.95,279.6,2781,2520,1711,1526,120.5,8.1,1652,20440,0.12,1.52,2.85,1.086,10500,0.153,0.137,2832,3363,1601,1692,1510,0,0,0,0,0,0,14.50,14.42,13.20
$GC,20488,0.93,279.6,2832,3363,1692,1510,114.4,11.5,1657,20492,0.00,1.52,0.00,0.000,1030,0.000,0.096,2839,2509,1601,1692,1510,0,0,0,0,0,0,28.83,14.41,28.83
$GC,20805,0.92,279.6,2838,2509,1691,1510,78.3,10.5,1706,20812,0.12,1.58,0.00,0.000,4356,0.261,0.138,2805,3361,1600,1691,1509,0,0,0,0,0,0,14.25,14.33,28.83
$GC,20834,0.92,279.6,2805,3361,1690,1509,75.2,10.7,1710,20840,0.00,1.50,0.00,0.000,1030,0.000,0.096,2810,2497,1600,1690,1510,0,0,0,0,0,0,28.83,14.42,28.83
$GC,21153,0.93,279.6,1824,2495,1660,1507,48.5,8.6,1771,21160,0.00,1.50,0.00,0.000,516,0.000,0.111,2816,1640,1599,1690,1509,0,0,0,0,0,0,28.83,14.35,28.83
$GC,21305,0.97,290.5,2816,1640,1690,1509,36.6,7.8,1798,21319,0.00,1.60,6.22,0.288,9222,0.000,0.129,2816,2517,1556,1645,1467,0,0,0,0,0,0,28.83,14.35,14.06
$GC,21636,0.98,290.5,2816,2517,1643,1465,10.3,9.0,1860,21643,0.00,1.55,0.00,0.000,260,0.000,0.143,2816,3360,1554,1643,1465,0,0,0,0,0,0,28.83,14.29,28.83
$FREEZE,8.77,-1.311,-1.773,2,2,0
$FREEZE,8.07,-1.310,-1.772,2,2,0
$FREEZE,7.60,-1.311,-1.772,2,2,0
$FREEZE,7.16,-1.309,-1.772,2,2,0
$FREEZE,6.61,-1.309,-1.771,2,2,0
$GC,21675,0.98,290.5,1808,3359,1613,1463,6.6,10.4,1866,21682,0.00,1.50,0.00,0.000,1030,0.000,0.097,2822,2498,1554,1643,1465,0,0,0,0,0,0,28.83,14.40,28.83
$FREEZE,4.82,-1.307,-1.770,2,2,0
$FREEZE,4.23,-1.307,-1.770,2,2,0
$FREEZE,3.82,-1.308,-1.769,2,2,0
$FREEZE,3.34,-1.308,-1.769,2,2,0
$FREEZE,2.84,-1.308,-1.768,2,2,0
$STATE,21710,end climb,SURFACE_DEPTH_REACHED
$STATE,21710,begin surface coast
$FREEZE,2.44,-1.315,-1.768,2,2,0
$FREEZE,1.94,-1.317,-1.768,2,2,0
$FREEZE,1.39,-1.310,-1.767,2,2,0
$FREEZE,1.25,-1.324,-1.767,2,2,0
$FREEZE,1.25,-1.345,-1.694,2,2,0
$FREEZE,1.31,-1.225,-1.687,2,2,0
$FINISH,1.3,1.024795
$STATE,21748,end surface coast,CONTROL_FINISHED_OK
$STATE,21748,begin surface
$SM_CCo,21776,137.95,0.169,0,0,498,549.72
$SM_GC,2.28,8.05,0.00,137.95,0.097,0.000,0.169,141,2498,498,-7.35,-0.06,549.72,0,0,0,0,0,0,14.43,28.83,14.21
$RAFOS_CLK,1093
$RAFOS,6,1385786944,4.833333,4.817778,70,63,60,59,57,57,219,156,145,198,175,184
$RAFOS,5,1385786474,4.700000,4.687222,71,63,61,59,56,49,219,206,157,730,141,124
$RAFOS,4,1385785993,4.566667,4.553611,96,63,61,60,59,58,534,206,184,196,157,118
$RAFOS,3,1385785505,4.433333,4.418056,74,57,56,56,56,53,680,218,195,139,167,236
$RAFOS,2,1385785025,4.300000,4.284722,73,65,64,59,57,57,208,669,219,136,192,160
$RAFOS,1,1385784545,4.166667,4.151389,61,59,54,54,53,51,172,199,148,210,115,158
$RAFOS,0,1385784062,4.033333,4.017222,60,58,55,55,54,52,152,188,201,224,215,134
$RAFOS,6,1385772543,0.833333,0.817500,64,61,57,57,56,53,189,171,138,161,180,147
$RAFOS,5,1385772065,0.700000,0.684722,59,55,55,54,51,50,205,194,132,165,221,145
$RAFOS,4,1385771630,0.566667,0.563889,64,63,57,56,56,50,142,223,182,211,201,111
$RAFOS,1,1385770142,0.166667,0.150556,63,61,52,50,50,48,205,217,166,193,1780,126
$RAFOS_FIX,6643.051270,-5907.632324,301113,040456,2,85,0.35
$IRIDIUM_FIX,6614.97,-5900.31,301113,000014
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.75
$INTERNAL_PRESSURE,8.58625
$TCM_TEMP,12.10
$XPDR_PINGS,92
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,11.6,174.724
$10V_AH,11.3,0.000
$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,19.825,98.700,527.650,137.950,0.000,0.000,0.000,422.700,26.500,0.000,112.348,4885.274,12477.729,826.149,3537.150,1076.323,0.000,2887.004,0.000,3018.562,3600.000,25.820,0.000
$DEVICE_MAMPS,316.710,216.495,2873.340,169.065,0.000,0.000,0.000,118.575,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1327.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150752
$DATA_FILE_SIZE,83190,1878
$CAP_FILE_SIZE,219890,0
$CFSIZE,259252224,220307456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1454.5
$CURRENT,0.212,168.2,1
$GPS,301113,064036,6642.600,-5909.218,27,1.1,27,-33.6