version: 66.11
glider: 192
mission: 2
dive: 503
start: 12 19 113 19 59 5
data:
$ID,192
$MISSION,2
$DIVE,503
$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,-9635.2012
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,191213,193859,6700.211,-5740.285,37,1.5,37,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-54.4
$GPS2,191213,195823,6659.941,-5740.128,42,0.9,42,-33.6
$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,244.9,124885,-15.5,-8.250,-18.49,2720
$D_GRID,865
$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,-146.0,137,2523,515,454,0.0,0.0,0,183,0.00,0.00,-157.45,0.000,16390,0.000,0.000,137,2523,3337,3481,3193,0,0,0,0,0,0,28.83,28.83,14.73
$GC,190,-0.89,-146.0,137,2524,3486,3191,2.0,1.1,27,204,9.12,1.52,0.00,0.000,2308,0.353,0.116,2210,3350,3338,3488,3189,0,0,0,0,0,0,13.88,14.26,28.83
$GC,440,-0.79,-146.0,1352,3349,3488,3180,43.3,-22.5,74,448,0.17,1.50,0.00,0.000,3078,0.289,0.083,2247,2480,3339,3497,3182,0,0,0,0,0,0,13.93,14.28,28.83
$GC,771,-0.73,-146.0,2248,2480,3497,3181,103.6,-16.6,134,774,0.00,1.60,0.00,0.000,260,0.000,0.128,2243,3349,3339,3497,3181,0,0,0,0,0,0,28.83,14.14,28.83
$GC,880,-0.66,-146.0,2243,3349,3497,3181,121.5,-15.6,144,887,0.20,1.50,0.00,0.000,3078,0.259,0.084,2290,2482,3339,3497,3181,0,0,0,0,0,0,13.96,14.28,28.83
$GC,1190,-0.64,-146.0,2290,2482,3497,3181,158.4,-10.8,175,1193,0.00,1.48,0.00,0.000,516,0.000,0.098,2290,1661,3339,3497,3181,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1248,-0.63,-146.0,1424,1659,3490,3176,164.5,-10.9,180,1254,0.00,1.52,0.00,0.000,1030,0.000,0.119,2286,2500,3339,3498,3180,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1557,-0.60,-146.0,2286,2500,3499,3180,200.5,-12.3,211,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2500,3339,3499,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,-0.58,-146.0,2286,2500,3500,3180,238.2,-12.4,242,1877,0.12,1.58,0.00,0.000,2308,0.282,0.128,2313,3339,3340,3500,3180,0,0,0,0,0,0,14.12,14.07,28.83
$GC,1919,-0.58,-146.0,2313,3339,3500,3180,244.6,-12.0,246,1922,0.00,1.50,0.00,0.000,1030,0.000,0.083,2313,2495,3340,3500,3180,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2234,-0.58,-146.0,2312,2495,3501,3180,279.7,-10.9,277,2238,0.00,1.50,0.00,0.000,516,0.000,0.097,2313,1639,3340,3500,3180,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2301,-0.58,-146.0,2313,1639,3500,3180,286.9,-10.9,283,2305,0.00,1.58,0.00,0.000,1030,0.000,0.119,2307,2506,3340,3500,3180,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2618,-0.58,-146.0,2307,2505,3501,3181,322.3,-11.0,314,2621,0.00,1.52,0.00,0.000,260,0.000,0.130,2301,3346,3340,3501,3180,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2696,-0.58,-146.0,2301,3346,3501,3181,330.7,-11.2,321,2702,0.00,1.50,0.00,0.000,1030,0.000,0.083,2301,2479,3340,3501,3180,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3006,-0.58,-146.0,2301,2480,3501,3181,364.4,-10.6,352,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2480,3341,3501,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3322,-0.58,-146.0,2301,2480,3501,3180,396.7,-10.4,383,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2480,3341,3501,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.58,-146.0,2301,2479,3501,3180,429.0,-10.3,414,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2480,3341,3501,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-0.58,-146.0,2301,2480,3501,3180,459.7,-9.5,445,3949,0.00,1.65,0.00,0.000,260,0.000,0.130,2294,3342,3341,3501,3181,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3995,-0.58,-146.0,2295,3342,3501,3180,464.7,-9.6,449,4001,0.00,1.50,0.00,0.000,1030,0.000,0.082,2295,2482,3340,3501,3180,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4303,-0.57,-146.0,2295,2481,3501,3181,495.1,-9.6,480,4310,0.12,0.00,0.00,0.000,2054,0.274,0.000,2326,2482,3341,3501,3181,0,0,0,0,0,0,14.07,28.83,28.83
$GC,4615,-0.58,-146.0,2326,2482,3502,3180,519.9,-8.0,511,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2482,3341,3502,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4930,-0.60,-146.0,2326,2482,3502,3181,545.3,-8.6,542,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2482,3341,3502,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5244,-0.61,-146.0,2326,2483,3502,3180,571.8,-8.4,573,5248,0.00,1.65,0.00,0.000,260,0.000,0.134,2321,3340,3341,3502,3181,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5313,-0.63,-146.0,1440,3338,3494,3178,577.8,-8.7,579,5320,0.00,1.50,0.00,0.000,1030,0.000,0.083,2321,2482,3341,3502,3181,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5633,-0.64,-146.0,2321,2481,3502,3181,605.5,-8.6,607,5637,0.00,1.65,0.00,0.000,260,0.000,0.135,2315,3343,3341,3502,3181,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5678,-0.65,-146.0,2315,3343,3502,3180,608.6,-8.5,608,5682,0.00,1.50,0.00,0.000,1030,0.000,0.083,2315,2501,3341,3502,3180,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6005,-0.66,-146.0,2315,2501,3502,3180,638.9,-9.0,619,6008,0.00,1.50,0.00,0.000,516,0.000,0.096,2315,1649,3341,3502,3181,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6053,-0.67,-146.0,2314,1648,3502,3181,642.1,-8.9,620,6056,0.00,1.55,0.00,0.000,1030,0.000,0.119,2309,2499,3341,3502,3181,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6375,-0.67,-146.0,2309,2498,3502,3180,671.9,-8.9,631,6379,0.00,1.60,0.00,0.000,260,0.000,0.132,2303,3347,3341,3502,3180,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6434,-0.67,-146.0,2303,3347,3502,3181,675.4,-9.1,632,6440,0.00,1.50,0.00,0.000,1030,0.000,0.084,2303,2479,3341,3502,3181,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6741,-0.67,-146.0,2303,2479,3502,3181,706.1,-9.3,643,6744,0.00,1.60,0.00,0.000,260,0.000,0.129,2297,3346,3341,3502,3181,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6770,-0.67,-146.0,2297,3346,3502,3181,706.1,-9.3,643,6776,0.00,1.50,0.00,0.000,1030,0.000,0.083,2297,2484,3341,3502,3181,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7076,-0.67,-146.0,2297,2483,3502,3181,738.7,-9.8,654,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2484,3341,3502,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7376,-0.67,-146.0,2297,2484,3502,3181,767.5,-9.6,664,7379,0.00,1.62,0.00,0.000,260,0.000,0.134,2291,3350,3341,3502,3181,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7425,-0.67,-146.0,2291,3351,3501,3181,771.1,-9.8,665,7428,0.00,1.50,0.00,0.000,1030,0.000,0.083,2290,2487,3341,3502,3181,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7745,-0.67,-146.0,2291,2488,3502,3181,804.8,-10.1,676,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2487,3341,3502,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8045,-0.67,-146.0,2291,2488,3502,3180,835.2,-10.1,686,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2488,3341,3502,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8346,-0.69,-146.0,2290,2488,3502,3181,863.5,-8.8,696,8349,0.00,1.62,0.00,0.000,260,0.000,0.141,2290,3345,3341,3501,3181,0,0,0,0,0,0,28.83,14.00,28.83
$STATE,8561,end dive,NO_VERTICAL_VELOCITY
$STATE,8561,begin apogee
$GC,8576,-0.22,0.0,2290,2501,3502,3180,863.5,0.0,703,8760,0.47,0.00,171.43,2.759,10246,0.154,0.000,2436,2501,2741,2853,2630,0,0,0,0,0,0,14.05,28.83,11.88
$STATE,8761,end apogee,CONTROL_FINISHED_OK
$STATE,8761,begin climb
$GC,8767,0.89,146.0,2436,2501,2853,2630,863.5,0.0,709,8972,1.23,1.77,190.32,2.668,11012,0.151,0.122,2786,3353,2145,2237,2053,0,0,0,0,0,0,13.23,12.68,11.43
$GC,9149,0.84,146.0,1808,3352,2186,2044,837.8,9.9,722,9153,0.00,1.58,0.00,0.000,1030,0.000,0.086,2792,2513,2140,2232,2049,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9480,0.79,146.0,2791,2513,2232,2043,806.2,9.6,733,9484,0.00,1.52,0.00,0.000,516,0.000,0.102,2798,1646,2137,2232,2043,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9524,0.75,146.0,2799,1646,2232,2042,802.9,9.6,734,9528,0.20,1.55,0.00,0.000,5126,0.237,0.118,2750,2510,2137,2233,2042,0,0,0,0,0,0,14.14,14.28,28.83
$GC,9851,0.76,161.3,2751,2510,2232,2041,776.8,7.7,745,9874,0.00,0.00,16.48,2.488,8198,0.000,0.000,2750,2510,2083,2182,1984,0,0,0,0,0,0,28.83,28.83,13.06
$GC,10180,0.77,168.7,2750,2510,2182,1983,750.4,8.0,756,10191,0.00,0.00,9.88,2.318,8198,0.000,0.000,2750,2510,2052,2154,1951,0,0,0,0,0,0,28.83,28.83,13.08
$GC,10480,0.77,171.2,2750,2510,2154,1951,726.1,8.2,766,10489,0.00,1.52,4.62,1.845,8452,0.000,0.129,2750,3357,2043,2144,1942,0,0,0,0,0,0,28.83,14.43,13.00
$GC,10529,0.78,174.2,2750,3357,2144,1942,723.8,8.1,767,10539,0.00,1.50,5.38,1.965,9222,0.000,0.089,2755,2481,2030,2131,1929,0,0,0,0,0,0,28.83,14.44,13.00
$GC,10877,0.77,174.2,2755,2480,2131,1929,692.4,8.6,779,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2481,2030,2131,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11170,0.77,174.2,2755,2481,2130,1928,665.8,9.0,789,11174,0.00,1.62,0.00,0.000,260,0.000,0.131,2755,3365,2029,2131,1928,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11198,0.77,174.2,2755,3365,2131,1928,665.8,9.0,789,11205,0.00,1.50,0.00,0.000,1030,0.000,0.088,2761,2503,2029,2131,1928,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11506,0.75,174.2,2762,2503,2131,1928,635.2,9.1,800,11509,0.00,1.50,0.00,0.000,516,0.000,0.101,2768,1644,2029,2131,1928,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11542,0.73,174.2,2768,1644,2131,1927,631.9,9.2,801,11546,0.00,1.58,0.00,0.000,1030,0.000,0.119,2768,2520,2028,2130,1927,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11878,0.72,174.2,2768,2520,2130,1927,600.6,9.2,812,11881,0.00,1.55,0.00,0.000,260,0.000,0.133,2768,3350,2029,2131,1927,0,0,0,0,0,0,28.83,14.20,28.83
$GC,11935,0.69,174.2,2768,3350,2130,1927,595.0,9.9,815,11939,0.17,1.50,0.00,0.000,5126,0.236,0.090,2732,2481,2028,2130,1927,0,0,0,0,0,0,14.16,14.35,28.83
$GC,12252,0.74,198.0,2732,2481,2130,1927,570.7,7.3,846,12286,0.00,0.00,27.58,2.441,8198,0.000,0.000,2732,2481,1933,2037,1830,0,0,0,0,0,0,28.83,28.83,13.02
$GC,12592,0.79,221.6,2732,2481,2037,1826,545.8,7.4,880,12629,0.12,1.50,27.38,2.400,10756,0.151,0.105,2789,1664,1836,1938,1735,0,0,0,0,0,0,14.49,14.27,13.04
$GC,12650,0.78,221.6,2790,1664,1938,1734,541.1,9.7,885,12656,0.00,1.55,0.00,0.000,1030,0.000,0.119,2789,2517,1836,1938,1734,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12958,0.75,221.6,2789,2517,1935,1732,508.1,10.8,916,12963,0.12,1.58,0.00,0.000,4356,0.260,0.131,2756,3357,1833,1935,1732,0,0,0,0,0,0,14.24,14.24,28.83
$GC,12996,0.74,221.6,2756,3357,1934,1732,504.4,10.4,919,13000,0.00,1.50,0.00,0.000,1030,0.000,0.090,2760,2511,1832,1933,1732,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13311,0.74,221.6,2761,2512,1933,1732,474.5,9.4,950,13315,0.00,1.50,0.00,0.000,516,0.000,0.104,2767,1648,1832,1934,1731,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13356,0.74,221.6,2767,1648,1933,1731,470.4,9.1,954,13360,0.00,1.55,0.00,0.000,1030,0.000,0.119,2767,2513,1832,1933,1731,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13673,0.74,221.6,2767,2513,1933,1731,437.8,10.5,985,13676,0.00,1.58,0.00,0.000,260,0.000,0.133,2767,3357,1832,1933,1731,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13728,0.72,221.6,2767,3357,1932,1731,431.4,11.7,990,13732,0.12,1.50,0.00,0.000,5126,0.257,0.088,2745,2484,1831,1932,1731,0,0,0,0,0,0,14.19,14.37,28.83
$GC,14045,0.73,221.6,2746,2484,1932,1731,400.8,9.3,1021,14051,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2483,1831,1932,1730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14361,0.75,221.6,2745,2484,1932,1730,372.0,9.3,1052,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2483,1831,1932,1731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14669,0.76,221.6,2746,2483,1932,1730,344.7,8.3,1083,14675,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2484,1830,1931,1730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14980,0.82,245.9,2746,2484,1932,1730,320.5,7.3,1114,15008,0.00,0.00,26.17,2.204,8198,0.000,0.000,2745,2483,1738,1836,1641,0,0,0,0,0,0,28.83,28.83,13.12
$GC,15313,0.89,277.8,2746,2483,1833,1640,297.1,7.0,1147,15358,0.12,1.67,35.95,2.170,10500,0.153,0.133,2796,3349,1608,1700,1517,0,0,0,0,0,0,14.47,14.19,13.09
$GC,15391,0.87,277.8,2796,3349,1700,1517,290.4,10.7,1154,15394,0.00,1.50,0.00,0.000,1030,0.000,0.089,2803,2493,1608,1700,1517,0,0,0,0,0,0,28.83,14.31,28.83
$GC,15707,0.85,277.8,2803,2493,1694,1514,255.5,11.0,1185,15710,0.00,1.50,0.00,0.000,516,0.000,0.103,2809,1640,1604,1694,1514,0,0,0,0,0,0,28.83,14.31,28.83
$GC,15792,0.85,277.8,2809,1640,1694,1513,246.3,10.3,1193,15795,0.00,1.58,0.00,0.000,1030,0.000,0.118,2809,2512,1603,1694,1513,0,0,0,0,0,0,28.83,14.30,28.83
$GC,16107,0.83,277.8,2809,2513,1693,1513,207.8,13.1,1224,16112,0.12,1.58,0.00,0.000,4356,0.269,0.129,2776,3353,1603,1693,1513,0,0,0,0,0,0,14.24,14.21,28.83
$GC,16144,0.82,277.8,2776,3353,1692,1512,203.3,12.7,1227,16148,0.00,1.50,0.00,0.000,1030,0.000,0.089,2780,2515,1603,1693,1513,0,0,0,0,0,0,28.83,14.33,28.83
$GC,16460,0.82,277.8,2780,2514,1692,1512,168.1,10.0,1258,16464,0.00,1.52,0.00,0.000,516,0.000,0.102,2786,1664,1602,1693,1511,0,0,0,0,0,0,28.83,14.26,28.83
$GC,16516,0.82,277.8,2786,1664,1692,1510,162.4,10.0,1263,16519,0.00,1.52,0.00,0.000,1030,0.000,0.119,2786,2510,1601,1692,1510,0,0,0,0,0,0,28.83,14.26,28.83
$GC,16831,0.82,277.8,2786,2510,1692,1510,132.8,9.4,1294,16838,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2510,1601,1692,1510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17141,0.82,277.8,2786,2510,1692,1510,100.4,11.3,1325,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2509,1601,1692,1510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17462,0.82,277.8,2786,2510,1692,1510,68.2,9.5,1386,17469,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2510,1601,1692,1510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17788,0.87,296.8,2786,2510,1693,1510,42.4,7.5,1447,17807,0.00,1.55,10.38,0.288,8708,0.000,0.099,2792,1669,1530,1622,1439,0,0,0,0,0,0,28.83,14.19,13.92
$GC,17834,0.90,296.8,2792,1669,1621,1440,38.1,8.8,1454,17842,0.00,1.52,0.00,0.000,1030,0.000,0.116,2792,2513,1529,1620,1439,0,0,0,0,0,0,28.83,14.25,28.83
$GC,18163,0.95,314.6,2792,2513,1621,1438,11.5,7.6,1515,18176,0.00,1.58,9.38,0.196,8708,0.000,0.099,2797,1664,1458,1550,1366,0,0,0,0,0,0,28.83,14.27,14.06
$FREEZE,8.72,-0.825,-1.814,0,1,0
$FREEZE,8.36,-0.826,-1.814,0,1,0
$FREEZE,7.92,-0.835,-1.814,0,1,0
$FREEZE,7.52,-0.839,-1.813,0,1,0
$FREEZE,7.21,-0.850,-1.813,0,1,0
$FREEZE,6.42,-0.848,-1.812,0,1,0
$GC,18216,1.01,328.2,1792,1663,1524,1364,7.2,7.7,1523,18232,0.12,1.52,7.50,0.195,11270,0.155,0.115,2844,2510,1400,1490,1311,0,0,0,0,0,0,14.32,14.22,14.09
$FREEZE,4.71,-0.850,-1.811,0,1,0
$FREEZE,4.08,-0.835,-1.810,0,1,0
$FREEZE,3.54,-0.869,-1.810,0,1,0
$FREEZE,3.11,-0.871,-1.810,0,1,0
$FREEZE,2.59,-0.834,-1.809,0,1,0
$STATE,18258,end climb,SURFACE_DEPTH_REACHED
$STATE,18258,begin surface coast
$FREEZE,2.16,-0.837,-1.809,0,1,0
$FREEZE,1.53,-0.853,-1.809,0,1,0
$FREEZE,1.15,-0.791,-1.759,0,1,0
$FREEZE,1.10,-1.002,-1.811,0,1,0
$FREEZE,1.14,-1.033,-1.812,0,1,0
$FREEZE,1.02,-0.894,-1.210,0,1,0
$FINISH,1.0,1.017873
$STATE,18295,end surface coast,CONTROL_FINISHED_OK
$STATE,18296,begin surface
$SM_CCo,18324,38.15,0.161,0,0,1109,400.08
$SM_GC,2.24,8.20,0.00,38.15,0.100,0.000,0.161,140,2509,1109,-7.36,0.28,400.08,0,0,0,0,0,0,14.30,28.83,14.17
$RAFOS_CLK,882
$RAFOS,6,1387500544,0.833333,0.817778,87,66,55,55,54,53,731,196,213,129,114,168
$RAFOS,5,1387500070,0.700000,0.686111,164,68,62,61,57,49,497,199,119,152,174,162
$RAFOS,4,1387499589,0.566667,0.552500,96,64,60,60,57,48,727,137,193,120,209,232
$RAFOS,3,1387499106,0.433333,0.418333,59,58,56,53,52,50,192,213,159,237,105,127
$RAFOS,2,1387498624,0.300000,0.284444,81,53,50,50,49,48,209,1716,175,190,139,1726
$RAFOS,1,1387498148,0.166667,0.152222,60,57,56,54,53,52,207,188,168,126,112,155
$RAFOS,0,1387497667,0.033333,0.018611,67,63,57,53,53,52,205,145,121,154,214,188
$RAFOS,6,1387486143,20.833334,20.817499,102,57,55,55,53,47,741,222,189,198,137,167
$RAFOS,5,1387485665,20.700001,20.684723,133,70,57,56,56,54,521,201,142,156,171,212
$RAFOS,4,1387485183,20.566668,20.550833,87,67,62,62,59,56,764,169,194,181,203,218
$RAFOS,3,1387484707,20.433332,20.418612,68,67,51,50,50,49,217,866,187,151,135,176
$RAFOS,2,1387484228,20.299999,20.285555,57,57,54,53,48,48,144,208,223,183,153,71
$RAFOS,1,1387483743,20.166666,20.150833,58,57,54,53,50,48,158,209,194,183,232,115
$RAFOS,0,1387483261,20.033333,20.016945,64,61,56,54,53,52,201,213,150,188,159,177
$RAFOS_FIX,6659.252441,-5741.780762,201213,000022,3,116,0.10
$IRIDIUM_FIX,6631.12,-5738.07,191213,191940
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.26
$INTERNAL_PRESSURE,8.70344
$TCM_TEMP,13.50
$XPDR_PINGS,103
$ALTIM_TOP_PING,19.8,19.0
$24V_AH,11.4,221.444
$10V_AH,11.1,0.000
$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,20.775,92.775,542.425,38.150,0.000,0.000,0.000,790.100,29.000,0.000,43.375,3963.521,10363.228,707.885,3360.568,1136.208,0.000,2968.702,0.000,2641.053,5040.000,29.151,0.000
$DEVICE_MAMPS,353.430,140.760,2758.590,161.415,0.000,0.000,0.000,155.295,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150816
$DATA_FILE_SIZE,66696,1536
$CAP_FILE_SIZE,197714,0
$CFSIZE,259252224,212000768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.9
$CURRENT,0.187, 98.5,1
$GPS,201213,010706,6657.542,-5739.133,36,0.9,36,-33.6