version: 66.11
glider: 192
mission: 2
dive: 509
start: 12 21 113 5 6 43
data:
$ID,192
$MISSION,2
$DIVE,509
$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,-10371.977
$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,13
$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
$GPS1,211213,045735,6656.146,-5759.608,33,1.0,33,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.0
$GPS2,211213,050555,6656.162,-5759.673,13,1.1,13,-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,281.2,109391,-15.5,-8.250,-18.49,2720
$D_GRID,922
$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,-146.0,137,2513,1120,1070,0.0,0.0,0,113,0.00,0.00,-90.35,0.000,16386,0.000,0.000,137,2513,2775,2831,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.89,-146.0,137,2513,2831,2721,3.6,-4.0,15,153,10.57,1.60,-13.10,0.000,18692,0.431,0.167,2208,3351,3339,3501,3177,0,0,0,0,0,0,13.83,14.21,14.74
$GC,255,-0.79,-146.0,2208,3351,3506,3175,34.9,-21.7,38,263,0.20,1.50,0.00,0.000,3078,0.288,0.086,2252,2484,3340,3506,3175,0,0,0,0,0,0,13.93,14.29,28.83
$GC,575,-0.72,-146.0,1376,2483,3498,3171,94.2,-16.7,99,581,0.00,1.50,0.00,0.000,516,0.000,0.099,2252,1630,3340,3506,3174,0,0,0,0,0,0,28.83,14.21,28.83
$GC,637,-0.67,-146.0,1392,1629,3498,3171,104.2,-16.2,107,645,0.17,1.60,0.00,0.000,3078,0.276,0.122,2287,2503,3340,3506,3174,0,0,0,0,0,0,13.97,14.19,28.83
$GC,948,-0.64,-146.0,2287,2503,3506,3173,149.8,-13.6,138,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2503,3340,3506,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.61,-146.0,2287,2503,3506,3173,191.2,-13.0,169,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2503,3339,3506,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1579,-0.58,-146.0,2287,2503,3506,3172,230.0,-12.1,200,1583,0.12,1.55,0.00,0.000,2308,0.292,0.134,2316,3346,3339,3506,3172,0,0,0,0,0,0,14.12,14.12,28.83
$GC,1618,-0.57,-146.0,2316,3346,3507,3172,235.1,-11.9,203,1625,0.00,1.50,0.00,0.000,1030,0.000,0.089,2316,2482,3339,3506,3172,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1927,-0.57,-146.0,2316,2482,3507,3172,268.0,-10.3,234,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2482,3339,3506,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2242,-0.57,-146.0,2316,2482,3507,3172,299.5,-10.2,265,2246,0.00,1.65,0.00,0.000,260,0.000,0.138,2310,3339,3339,3507,3172,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2281,-0.57,-146.0,2309,3339,3507,3172,303.7,-10.3,268,2288,0.00,1.50,0.00,0.000,1030,0.000,0.087,2310,2480,3339,3507,3172,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2589,-0.57,-146.0,2310,2480,3507,3172,337.2,-11.0,299,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2480,3339,3507,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2907,-0.57,-146.0,2310,2480,3508,3172,369.8,-10.3,330,2911,0.00,1.62,0.00,0.000,260,0.000,0.136,2304,3348,3340,3508,3172,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2946,-0.57,-146.0,2303,3349,3507,3172,374.3,-10.5,333,2953,0.00,1.50,0.00,0.000,1030,0.000,0.086,2303,2491,3340,3508,3172,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3255,-0.57,-146.0,2304,2491,3509,3172,406.9,-10.4,364,3259,0.00,1.65,0.00,0.000,260,0.000,0.136,2297,3345,3340,3509,3172,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3290,-0.57,-146.0,2297,3345,3509,3171,410.7,-10.6,367,3294,0.00,1.52,0.00,0.000,1030,0.000,0.086,2297,2497,3340,3509,3172,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3607,-0.56,-146.0,2297,2498,3509,3172,445.0,-10.6,398,3613,0.12,0.00,0.00,0.000,2054,0.276,0.000,2328,2497,3340,3509,3172,0,0,0,0,0,0,14.06,28.83,28.83
$GC,3916,-0.58,-146.0,2328,2497,3509,3172,472.2,-8.3,429,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2497,3341,3510,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4234,-0.59,-146.0,2328,2497,3510,3172,497.9,-8.3,460,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2496,3341,3510,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4548,-0.61,-146.0,2328,2497,3510,3172,523.8,-8.4,491,4551,0.00,1.60,0.00,0.000,260,0.000,0.135,2324,3346,3341,3510,3172,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4603,-0.63,-146.0,2324,3346,3510,3172,529.2,-8.8,496,4607,0.00,1.52,0.00,0.000,1030,0.000,0.086,2323,2501,3341,3510,3172,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4920,-0.64,-146.0,2324,2501,3510,3172,556.2,-8.3,527,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2501,3341,3510,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5235,-0.65,-146.0,2324,2501,3510,3172,581.4,-7.9,558,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2501,3341,3510,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5560,-0.67,-146.0,2324,2501,3511,3172,607.3,-7.9,584,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2501,3341,3511,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5854,-0.68,-146.0,2324,2501,3511,3172,631.1,-8.0,594,5858,0.00,1.50,0.00,0.000,516,0.000,0.099,2324,1656,3341,3511,3172,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5891,-0.70,-146.0,2324,1655,3511,3172,634.1,-8.1,595,5895,0.12,1.55,0.00,0.000,5126,0.148,0.121,2274,2499,3341,3511,3172,0,0,0,0,0,0,14.22,14.09,28.83
$GC,6233,-0.68,-146.0,2274,2499,3511,3172,669.9,-10.9,606,6236,0.00,1.58,0.00,0.000,260,0.000,0.135,2267,3351,3341,3511,3172,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6287,-0.66,-146.0,2267,3351,3511,3172,674.5,-11.0,607,6291,0.00,1.50,0.00,0.000,1030,0.000,0.085,2267,2485,3341,3511,3172,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6603,-0.63,-146.0,2267,2485,3511,3172,711.6,-10.9,618,6605,0.15,0.00,0.00,0.000,2054,0.271,0.000,2301,2485,3342,3512,3172,0,0,0,0,0,0,14.11,28.83,28.83
$GC,6902,-0.63,-146.0,2301,2485,3512,3172,738.7,-8.6,628,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2486,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7203,-0.63,-146.0,2301,2485,3512,3172,763.5,-8.4,638,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2485,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7503,-0.63,-146.0,2301,2485,3514,3172,789.7,-9.0,648,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2485,3342,3513,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,-0.63,-146.0,2300,2485,3513,3172,815.3,-8.6,658,7806,0.00,1.62,0.00,0.000,260,0.000,0.133,2296,3351,3342,3513,3172,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7851,-0.63,-146.0,2296,3351,3512,3172,818.5,-8.7,659,7854,0.00,1.50,0.00,0.000,1030,0.000,0.084,2296,2491,3342,3513,3172,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8172,-0.63,-146.0,2297,2491,3513,3172,849.7,-9.6,670,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2490,3342,3513,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8471,-0.63,-146.0,2297,2491,3513,3172,875.8,-8.5,680,8475,0.00,1.65,0.00,0.000,260,0.000,0.135,2290,3347,3342,3513,3172,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8506,-0.63,-146.0,2290,3347,3513,3172,878.9,-8.5,681,8510,0.00,1.50,0.00,0.000,1030,0.000,0.084,2290,2484,3342,3513,3172,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8842,-0.63,-146.0,2290,2484,3512,3172,909.7,-9.3,692,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2484,3342,3513,3172,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8985,begin apogee
$GC,8999,-0.22,0.0,2290,2512,3512,3172,923.7,-9.3,697,9186,0.52,0.00,174.43,2.834,10246,0.222,0.000,2432,2512,2741,2855,2627,0,0,0,0,0,0,13.83,28.83,11.76
$STATE,9187,end apogee,CONTROL_FINISHED_OK
$STATE,9187,begin climb
$GC,9193,0.89,146.0,2432,2512,2855,2627,930.2,0.0,703,9394,1.27,0.00,196.40,2.756,10758,0.162,0.000,2788,2512,2144,2239,2050,0,0,0,0,0,0,13.14,28.83,11.29
$GC,9687,0.85,146.0,2788,2512,2238,2042,890.4,10.5,720,9691,0.00,1.62,0.00,0.000,260,0.000,0.132,2787,3352,2139,2238,2041,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9754,0.81,146.0,2788,3351,2237,2042,882.7,10.7,722,9758,0.00,1.50,0.00,0.000,1030,0.000,0.090,2794,2503,2139,2237,2042,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10090,0.76,146.0,2794,2502,2237,2039,846.0,10.8,733,10094,0.12,1.50,0.00,0.000,4612,0.265,0.100,2764,1669,2137,2237,2038,0,0,0,0,0,0,14.23,14.30,28.83
$GC,10120,0.71,146.0,2765,1670,2237,2038,846.0,10.8,733,10128,0.00,1.52,0.00,0.000,1030,0.000,0.123,2765,2513,2137,2236,2038,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10426,0.69,146.0,2765,2513,2236,2038,815.5,9.0,744,10428,0.12,0.00,0.00,0.000,4102,0.262,0.000,2737,2513,2137,2236,2038,0,0,0,0,0,0,14.32,28.83,28.83
$GC,10727,0.71,162.5,2737,2513,2236,2037,792.4,7.6,754,10751,0.00,0.00,18.08,2.577,8198,0.000,0.000,2737,2513,2078,2180,1976,0,0,0,0,0,0,28.83,28.83,13.04
$GC,11057,0.73,172.8,2737,2513,2180,1974,766.7,7.9,765,11074,0.00,1.50,12.85,2.463,8708,0.000,0.103,2741,1663,2036,2140,1933,0,0,0,0,0,0,28.83,14.40,13.05
$GC,11116,0.74,183.2,2741,1663,2140,1933,761.9,7.9,767,11134,0.00,1.52,13.68,2.446,9222,0.000,0.122,2741,2510,1994,2098,1890,0,0,0,0,0,0,28.83,14.34,12.96
$GC,11455,0.74,183.2,2741,2510,2098,1888,733.6,8.4,778,11457,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2510,1993,2098,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11746,0.75,186.8,2741,2510,2098,1886,709.3,8.1,788,11753,0.00,0.00,5.25,1.960,8198,0.000,0.000,2740,2510,1979,2085,1874,0,0,0,0,0,0,28.83,28.83,13.09
$GC,12047,0.75,186.8,2741,2510,2085,1874,684.2,8.6,798,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2510,1979,2085,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12346,0.75,186.8,2742,2510,2085,1873,658.2,8.7,808,12350,0.00,1.50,0.00,0.000,516,0.000,0.105,2747,1663,1979,2085,1873,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12385,0.75,186.8,1792,1662,2043,1868,655.3,8.7,809,12389,0.00,1.58,0.00,0.000,1030,0.000,0.121,2747,2509,1978,2085,1872,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12717,0.75,186.8,2747,2509,2085,1872,626.3,8.6,820,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2508,1978,2084,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13017,0.76,191.1,2747,2508,2085,1872,601.6,8.1,830,13029,0.00,1.55,6.22,2.043,8708,0.000,0.105,2752,1667,1962,2068,1857,0,0,0,0,0,0,28.83,14.45,13.17
$GC,13077,0.77,202.5,2753,1666,2067,1857,596.9,7.8,834,13096,0.00,1.52,14.70,2.360,9222,0.000,0.122,2752,2510,1915,2022,1808,0,0,0,0,0,0,28.83,14.35,13.08
$GC,13408,0.77,202.5,2753,2510,2022,1807,567.9,9.3,867,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2510,1914,2022,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13726,0.77,202.5,2753,2510,2022,1805,540.9,8.6,898,13729,0.00,1.58,0.00,0.000,260,0.000,0.135,2753,3354,1914,2022,1806,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13774,0.77,202.5,1792,3352,1981,1801,536.1,9.2,902,13780,0.00,1.50,0.00,0.000,1030,0.000,0.092,2759,2491,1913,2021,1805,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14083,0.77,202.5,2759,2490,2021,1805,508.1,8.7,933,14086,0.00,1.48,0.00,0.000,516,0.000,0.103,2765,1669,1913,2022,1805,0,0,0,0,0,0,28.83,14.25,28.83
$GC,14130,0.77,202.5,1808,1667,1981,1801,503.9,9.2,937,14138,0.00,1.55,0.00,0.000,1030,0.000,0.124,2765,2519,1912,2021,1804,0,0,0,0,0,0,28.83,14.26,28.83
$GC,14440,0.76,202.5,2765,2519,2021,1804,475.8,8.7,968,14444,0.00,1.58,0.00,0.000,260,0.000,0.137,2765,3357,1912,2021,1804,0,0,0,0,0,0,28.83,14.16,28.83
$GC,14489,0.75,202.5,2765,3358,2021,1804,471.4,9.6,972,14496,0.00,1.50,0.00,0.000,1030,0.000,0.090,2771,2493,1912,2021,1804,0,0,0,0,0,0,28.83,14.33,28.83
$GC,14798,0.73,202.5,2771,2493,2021,1804,442.7,9.3,1003,14804,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2493,1912,2021,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15114,0.72,202.5,2772,2493,2020,1804,414.8,9.1,1034,15117,0.00,1.60,0.00,0.000,260,0.000,0.138,2771,3357,1912,2020,1804,0,0,0,0,0,0,28.83,14.18,28.83
$GC,15150,0.70,202.5,2771,3358,2020,1804,411.0,9.3,1037,15154,0.17,1.50,0.00,0.000,5126,0.237,0.090,2736,2493,1912,2020,1804,0,0,0,0,0,0,14.12,14.31,28.83
$GC,15466,0.76,226.9,2736,2493,2020,1804,387.9,7.3,1068,15503,0.00,1.50,27.20,2.265,8708,0.000,0.106,2740,1669,1816,1922,1710,0,0,0,0,0,0,28.83,14.30,13.07
$GC,15579,0.82,244.7,1728,1668,1880,1706,380.0,7.6,1078,15605,0.00,1.55,21.17,2.201,9222,0.000,0.123,2740,2521,1742,1843,1642,0,0,0,0,0,0,28.83,14.28,13.01
$GC,15918,0.86,251.8,2740,2521,1838,1642,352.2,8.0,1112,15934,0.12,0.00,8.43,2.033,10246,0.153,0.000,2791,2521,1715,1812,1619,0,0,0,0,0,0,14.43,28.83,13.15
$GC,16237,0.84,251.8,2791,2521,1811,1619,318.5,10.4,1144,16243,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2521,1714,1811,1618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16554,0.83,251.8,2791,2521,1811,1618,287.6,10.2,1175,16558,0.00,1.52,0.00,0.000,516,0.000,0.104,2797,1663,1714,1811,1618,0,0,0,0,0,0,28.83,14.30,28.83
$GC,16639,0.83,251.8,2797,1663,1811,1618,278.6,9.6,1183,16643,0.00,1.58,0.00,0.000,1030,0.000,0.122,2796,2508,1714,1811,1617,0,0,0,0,0,0,28.83,14.22,28.83
$GC,16956,0.81,251.8,2797,2508,1810,1617,244.5,11.7,1214,16960,0.00,1.55,0.00,0.000,260,0.000,0.137,2797,3357,1713,1810,1617,0,0,0,0,0,0,28.83,14.21,28.83
$GC,16984,0.79,251.8,1824,3356,1775,1614,241.4,12.0,1216,16991,0.15,1.50,0.00,0.000,5126,0.247,0.091,2768,2492,1713,1810,1617,0,0,0,0,0,0,14.15,14.34,28.83
$GC,17294,0.80,251.8,2768,2492,1810,1617,210.1,9.4,1247,17300,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2492,1713,1810,1617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17612,0.82,251.8,2768,2492,1810,1617,181.7,8.9,1278,17618,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2492,1713,1810,1617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17925,0.83,251.8,2768,2492,1810,1617,154.3,8.5,1309,17929,0.00,1.50,0.00,0.000,516,0.000,0.103,2772,1644,1713,1810,1617,0,0,0,0,0,0,28.83,14.23,28.83
$GC,17972,0.85,251.8,2772,1644,1809,1616,150.0,8.6,1313,17975,0.00,1.60,0.00,0.000,1030,0.000,0.123,2772,2510,1712,1809,1616,0,0,0,0,0,0,28.83,14.21,28.83
$GC,18289,0.87,251.8,2772,2510,1810,1617,122.5,8.8,1344,18295,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2510,1712,1809,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18603,0.95,288.9,1792,2508,1774,1613,97.0,6.8,1378,18634,0.12,1.55,23.17,0.471,10756,0.158,0.108,2831,1670,1563,1655,1471,0,0,0,0,0,0,14.45,14.33,13.85
$GC,18666,0.95,288.9,2831,1670,1655,1471,91.0,10.6,1388,18673,0.00,1.55,0.00,0.000,1030,0.000,0.125,2830,2520,1563,1655,1471,0,0,0,0,0,0,28.83,14.27,28.83
$GC,18986,0.95,288.9,2831,2520,1651,1468,57.3,10.0,1449,18993,0.00,1.52,0.00,0.000,516,0.000,0.106,2837,1664,1560,1652,1468,0,0,0,0,0,0,28.83,14.21,28.83
$GC,19041,0.95,288.9,2837,1664,1651,1467,51.9,10.0,1458,19048,0.00,1.55,0.00,0.000,1030,0.000,0.124,2837,2510,1560,1652,1468,0,0,0,0,0,0,28.83,14.19,28.83
$GC,19360,0.95,288.9,1856,2508,1622,1464,20.2,10.1,1519,19367,0.00,1.58,0.00,0.000,260,0.000,0.139,2837,3363,1558,1650,1467,0,0,0,0,0,0,28.83,14.12,28.83
$GC,19446,0.93,288.9,2837,3363,1650,1467,11.0,10.5,1534,19453,0.15,1.50,0.00,0.000,5126,0.245,0.092,2807,2503,1558,1650,1467,0,0,0,0,0,0,14.08,14.26,28.83
$FREEZE,8.50,-1.482,-1.817,2,1,0
$FREEZE,8.19,-1.482,-1.816,2,1,0
$FREEZE,7.76,-1.486,-1.816,2,1,0
$FREEZE,7.25,-1.483,-1.816,2,1,0
$FREEZE,6.85,-1.483,-1.816,2,1,0
$FREEZE,6.33,-1.489,-1.815,2,1,0
$FREEZE,5.95,-1.492,-1.815,2,1,0
$FREEZE,5.53,-1.493,-1.815,2,1,0
$FREEZE,5.10,-1.489,-1.814,2,1,0
$FREEZE,4.81,-1.495,-1.814,2,1,0
$FREEZE,3.76,-1.502,-1.813,2,1,0
$FREEZE,3.35,-1.504,-1.813,2,1,0
$FREEZE,2.82,-1.508,-1.813,2,1,0
$STATE,19531,end climb,SURFACE_DEPTH_REACHED
$STATE,19531,begin surface coast
$FREEZE,2.47,-1.518,-1.813,2,1,0
$FREEZE,2.02,-1.515,-1.812,2,1,0
$FREEZE,1.59,-1.528,-1.812,2,1,0
$FREEZE,1.41,-1.487,-1.809,2,1,0
$FREEZE,1.34,-1.510,-1.811,2,1,0
$FREEZE,1.37,-1.524,-1.812,2,1,0
$FINISH,1.4,1.026592
$STATE,19564,end surface coast,CONTROL_FINISHED_OK
$STATE,19564,begin surface
$SM_CCo,19592,60.85,0.173,0,0,1109,400.08
$SM_GC,2.94,8.15,0.00,60.85,0.106,0.000,0.173,137,2503,1109,-7.36,0.08,400.08,0,0,0,0,0,0,14.32,28.83,14.14
$RAFOS_CLK,967
$RAFOS,6,1387615745,8.833333,8.818055,131,61,60,54,51,51,695,185,209,162,226,176
$RAFOS,5,1387615263,8.700000,8.684167,151,60,57,53,53,48,590,222,166,177,205,129
$RAFOS,4,1387614781,8.566667,8.550278,87,56,55,54,53,53,692,191,209,219,162,174
$RAFOS,3,1387614323,8.433333,8.423056,148,67,66,63,57,51,708,185,215,200,136,148
$RAFOS,2,1387613843,8.300000,8.289722,82,56,55,51,51,50,762,162,187,211,114,197
$RAFOS,1,1387613363,8.166667,8.156389,61,58,56,56,50,44,159,141,198,216,118,45
$RAFOS,0,1387612883,8.033334,8.023056,57,56,55,54,52,50,182,215,199,93,416,117
$RAFOS,6,1387601343,4.833333,4.817500,158,63,61,58,56,55,693,199,169,187,215,140
$RAFOS_FIX,6655.727051,-5806.178223,211213,080859,5,120,0.38
$IRIDIUM_FIX,6625.71,-5757.35,201213,232358
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.01
$INTERNAL_PRESSURE,8.65461
$TCM_TEMP,12.50
$XPDR_PINGS,69
$ALTIM_TOP_PING,19.3,18.2
$24V_AH,11.3,224.368
$10V_AH,11.0,0.000
$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,22.400,83.450,521.575,60.850,0.000,0.000,0.000,297.500,20.750,0.000,14.298,4075.962,11619.663,729.091,2779.225,974.027,0.000,2403.594,0.000,2507.711,2520.000,25.618,0.000
$DEVICE_MAMPS,431.460,224.910,2833.560,172.890,0.000,0.000,0.000,146.880,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150688
$DATA_FILE_SIZE,66547,1555
$CAP_FILE_SIZE,188277,0
$CFSIZE,259252224,211472384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.8
$CURRENT,0.090, 12.4,1
$GPS,211213,083459,6655.727,-5806.178,0,5119.8,0,-33.6