version: 66.11
glider: 192
mission: 2
dive: 636
start: 1 12 114 2 43 26
data:
$ID,192
$MISSION,2
$DIVE,636
$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,10
$SURFACE_URGENCY_FORCE,20
$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,-5
$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,-15433.999
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2580
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,120114,023536,6346.162,-5751.351,30,0.9,30,-30.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-67.0
$GPS2,120114,024244,6346.174,-5751.310,7,0.9,7,-30.3
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_1
$TGT_LATLONG,6350.000,-5600.000
$TGT_RADIUS,5000.000
$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,117.8,91182,-15.5,-8.250,-18.49,2720
$D_GRID,1197
$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,-146.0,137,2590,1113,1077,0.0,0.0,0,105,0.00,0.00,-82.12,0.000,16386,0.000,0.000,137,2590,2702,2750,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.89,-146.0,137,2590,2749,2655,3.0,-1.5,9,148,10.27,1.52,-18.35,0.000,18948,0.419,0.119,2211,1730,3338,3501,3175,0,0,0,0,0,0,13.92,14.39,14.76
$GC,371,-0.84,-146.0,1376,1728,3496,3172,47.5,-18.5,34,378,0.15,1.55,0.00,0.000,3078,0.291,0.108,2238,2588,3339,3504,3175,0,0,0,0,0,0,13.89,14.14,28.83
$GC,681,-0.79,-146.0,2238,2588,3504,3174,99.6,-16.1,65,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2588,3339,3504,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,991,-0.75,-146.0,2238,2588,3504,3172,146.3,-14.7,76,995,0.12,1.58,0.00,0.000,2308,0.303,0.119,2266,3421,3337,3504,3171,0,0,0,0,0,0,13.99,13.96,28.83
$GC,1066,-0.71,-146.0,2266,3422,3504,3171,155.1,-13.9,78,1070,0.00,1.50,0.00,0.000,1030,0.000,0.078,2266,2551,3337,3504,3171,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1392,-0.69,-146.0,2266,2551,3504,3171,196.6,-12.1,89,1396,0.00,1.45,0.00,0.000,516,0.000,0.087,2266,1738,3337,3504,3170,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1431,-0.66,-146.0,2266,1739,3504,3171,201.0,-11.9,90,1435,0.15,1.52,0.00,0.000,3078,0.252,0.108,2294,2581,3337,3503,3171,0,0,0,0,0,0,13.87,14.03,28.83
$GC,1763,-0.66,-146.0,2294,2581,3504,3171,238.1,-11.1,101,1766,0.00,1.60,0.00,0.000,260,0.000,0.122,2289,3426,3337,3504,3171,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1806,-0.66,-146.0,2289,3426,3504,3171,242.1,-11.1,102,1810,0.00,1.50,0.00,0.000,1030,0.000,0.076,2289,2586,3337,3504,3171,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2133,-0.65,-146.0,2289,2586,3506,3171,279.8,-11.2,113,2136,0.00,1.50,0.00,0.000,516,0.000,0.086,2289,1732,3338,3506,3171,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2181,-0.64,-146.0,2289,1731,3506,3171,284.0,-11.2,114,2185,0.00,1.55,0.00,0.000,1030,0.000,0.110,2283,2579,3338,3506,3171,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2502,-0.63,-146.0,2283,2579,3506,3171,322.6,-11.7,125,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2579,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2803,-0.62,-146.0,2283,2579,3507,3171,356.6,-11.2,135,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2579,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3102,-0.61,-146.0,2283,2579,3509,3171,390.6,-11.5,145,3104,0.12,0.00,0.00,0.000,2054,0.262,0.000,2310,2579,3339,3508,3171,0,0,0,0,0,0,14.18,28.83,28.83
$GC,3401,-0.61,-146.0,2311,2579,3509,3171,418.7,-9.2,155,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2579,3340,3509,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3702,-0.61,-146.0,2311,2579,3510,3171,446.1,-9.1,165,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2579,3340,3510,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4001,-0.61,-146.0,2311,2579,3510,3171,474.6,-9.6,175,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2579,3341,3511,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4301,-0.61,-146.0,2311,2579,3510,3171,503.7,-9.7,185,4305,0.00,1.50,0.00,0.000,516,0.000,0.084,2311,1731,3340,3510,3171,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4338,-0.61,-146.0,2311,1731,3510,3171,507.0,-9.7,186,4341,0.00,1.55,0.00,0.000,1030,0.000,0.109,2308,2579,3340,3510,3171,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4676,-0.61,-146.0,2308,2579,3511,3171,539.1,-9.5,197,4679,0.00,1.58,0.00,0.000,260,0.000,0.119,2301,3436,3341,3511,3172,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4729,-0.61,-146.0,2300,3436,3511,3172,542.7,-9.4,198,4732,0.00,1.50,0.00,0.000,1030,0.000,0.074,2300,2570,3341,3510,3172,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5046,-0.61,-146.0,2301,2570,3511,3172,574.8,-9.4,209,5049,0.00,1.48,0.00,0.000,516,0.000,0.083,2301,1743,3341,3511,3172,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5089,-0.61,-146.0,2301,1743,3511,3172,578.3,-9.5,210,5092,0.00,1.52,0.00,0.000,1030,0.000,0.106,2295,2583,3341,3511,3172,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5414,-0.61,-146.0,2295,2583,3511,3172,609.6,-9.4,221,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2583,3341,3511,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5714,-0.61,-146.0,2295,2583,3511,3172,636.3,-8.9,231,5717,0.00,1.55,0.00,0.000,260,0.000,0.114,2288,3432,3341,3511,3172,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5749,-0.61,-146.0,2289,3431,3512,3172,639.6,-9.0,232,5752,0.00,1.50,0.00,0.000,1030,0.000,0.072,2288,2562,3341,3511,3172,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6085,-0.61,-146.0,2289,2562,3512,3171,669.8,-9.0,243,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2562,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6384,-0.61,-146.0,2289,2562,3511,3172,696.2,-8.8,253,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2562,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6684,-0.61,-146.0,2288,2561,3512,3172,722.9,-9.1,263,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2561,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,-0.61,-146.0,2288,2562,3512,3172,749.6,-9.0,273,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2562,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7284,-0.61,-146.0,2289,2562,3512,3172,776.6,-9.1,283,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2562,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7584,-0.61,-146.0,2288,2562,3513,3171,804.6,-9.4,293,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2562,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7884,-0.61,-146.0,2289,2561,3512,3172,832.7,-9.4,303,7887,0.00,1.67,0.00,0.000,260,0.000,0.117,2282,3426,3342,3512,3172,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7912,-0.61,-146.0,2282,3427,3512,3172,832.7,-9.4,303,7920,0.12,1.50,0.00,0.000,3078,0.247,0.071,2309,2569,3342,3512,3172,0,0,0,0,0,0,13.83,14.10,28.83
$GC,8227,-0.62,-146.0,2309,2570,3512,3172,860.3,-7.9,314,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2570,3341,3512,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8520,-0.63,-146.0,2309,2570,3512,3172,884.3,-7.9,324,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2569,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8820,-0.64,-146.0,2309,2569,3512,3172,908.1,-8.1,334,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2570,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9121,-0.65,-146.0,2309,2570,3512,3172,931.6,-7.7,344,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2570,3341,3512,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9420,-0.66,-146.0,2309,2570,3512,3172,955.0,-7.9,354,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2569,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9720,-0.67,-146.0,2309,2570,3512,3172,979.1,-8.0,364,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2570,3342,3512,3172,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9863,begin apogee
$GC,9877,-0.22,0.0,2309,2506,3512,3172,991.1,-8.0,369,10063,0.43,0.00,174.55,2.817,10246,0.203,0.000,2428,2506,2741,2852,2631,0,0,0,0,0,0,13.76,28.83,12.03
$STATE,10064,end apogee,CONTROL_FINISHED_OK
$STATE,10064,begin climb
$GC,10070,0.89,146.0,2429,2506,2852,2631,997.9,0.0,375,10269,1.25,0.00,194.48,2.703,10502,0.152,0.000,2788,2506,2145,2239,2051,0,0,0,0,0,0,13.33,28.83,11.47
$GC,10566,0.86,146.0,2788,2506,2239,2042,955.6,11.1,392,10570,0.00,1.50,0.00,0.000,516,0.000,0.087,2793,1672,2140,2238,2042,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10595,0.82,146.0,2794,1671,2239,2041,955.6,11.1,392,10601,0.00,1.50,0.00,0.000,1030,0.000,0.103,2793,2513,2139,2239,2040,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10902,0.78,146.0,2794,2514,2239,2039,916.6,11.6,403,10904,0.12,0.00,0.00,0.000,4102,0.256,0.000,2765,2514,2139,2239,2039,0,0,0,0,0,0,14.31,28.83,28.83
$GC,11202,0.75,146.0,2765,2513,2239,2039,885.6,10.2,413,11205,0.00,1.50,0.00,0.000,516,0.000,0.090,2769,1661,2138,2239,2038,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11255,0.73,146.0,2769,1661,2239,2037,881.8,10.3,414,11259,0.00,1.52,0.00,0.000,1030,0.000,0.104,2769,2518,2138,2239,2037,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11572,0.70,146.0,2769,2518,2238,2037,847.6,10.3,425,11574,0.15,0.00,0.00,0.000,4102,0.249,0.000,2735,2518,2138,2239,2037,0,0,0,0,0,0,14.23,28.83,28.83
$GC,11871,0.69,146.0,2735,2518,2239,2036,821.3,8.7,435,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2518,2137,2239,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12172,0.68,146.0,2734,2518,2239,2034,795.7,8.5,445,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2519,2137,2239,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12471,0.68,146.0,2735,2518,2239,2034,770.4,8.5,455,12474,0.00,1.52,0.00,0.000,516,0.000,0.090,2740,1644,2136,2239,2034,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12519,0.68,146.0,2740,1644,2239,2033,767.5,8.5,456,12522,0.00,1.55,0.00,0.000,1030,0.000,0.105,2740,2510,2136,2239,2033,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12840,0.67,146.0,2739,2510,2239,2033,738.3,8.8,467,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2510,2136,2239,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13139,0.66,146.0,2740,2510,2238,2033,711.7,8.8,477,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2510,2135,2238,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13439,0.65,146.0,2740,2510,2239,2033,685.1,8.8,487,13443,0.00,1.50,0.00,0.000,516,0.000,0.091,2745,1667,2136,2239,2033,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13476,0.64,146.0,2745,1666,2239,2033,682.0,8.9,488,13479,0.00,1.55,0.00,0.000,1030,0.000,0.106,2745,2519,2135,2239,2032,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13811,0.63,146.0,2745,2519,2239,2033,652.0,9.1,499,13813,0.12,0.00,0.00,0.000,4102,0.243,0.000,2717,2519,2136,2239,2033,0,0,0,0,0,0,14.26,28.83,28.83
$GC,14111,0.65,161.9,2717,2519,2239,2032,628.7,7.6,509,14138,0.00,1.52,16.60,2.329,8708,0.000,0.091,2720,1673,2080,2184,1976,0,0,0,0,0,0,28.83,14.32,13.17
$GC,14189,0.68,177.1,2720,1673,2184,1975,623.8,7.7,511,14212,0.00,1.50,18.77,2.312,9222,0.000,0.106,2720,2515,2017,2123,1912,0,0,0,0,0,0,28.83,14.35,13.07
$GC,14541,0.69,177.1,2720,2515,2123,1910,594.2,8.4,523,14542,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2515,2017,2123,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14835,0.70,177.1,2720,2515,2123,1909,568.3,8.6,533,14838,0.00,1.50,0.00,0.000,516,0.000,0.090,2727,1646,2016,2123,1910,0,0,0,0,0,0,28.83,14.27,28.83
$GC,14883,0.71,177.1,2726,1645,2123,1908,565.2,8.7,534,14887,0.00,1.55,0.00,0.000,1030,0.000,0.107,2727,2509,2015,2123,1908,0,0,0,0,0,0,28.83,14.26,28.83
$GC,15204,0.71,177.1,2727,2508,2123,1908,535.6,9.0,545,15206,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2509,2016,2124,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15503,0.71,177.1,2726,2509,2123,1908,509.9,8.4,555,15505,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2509,2015,2123,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15803,0.71,177.1,2726,2509,2123,1908,484.8,8.4,565,15807,0.00,1.50,0.00,0.000,516,0.000,0.091,2733,1649,2015,2123,1908,0,0,0,0,0,0,28.83,14.16,28.83
$GC,15842,0.71,177.1,1760,1649,2081,1903,481.9,8.4,566,15845,0.00,1.55,0.00,0.000,1030,0.000,0.106,2732,2510,2015,2123,1907,0,0,0,0,0,0,28.83,14.16,28.83
$GC,16172,0.71,177.1,2732,2510,2123,1907,453.5,8.8,577,16173,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2510,2015,2123,1907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16472,0.71,177.1,2732,2510,2124,1907,426.9,8.8,587,16475,0.00,1.48,0.00,0.000,516,0.000,0.093,2738,1659,2015,2123,1907,0,0,0,0,0,0,28.83,14.14,28.83
$GC,16508,0.71,177.1,2738,1660,2123,1907,424.0,8.7,588,16511,0.00,1.52,0.00,0.000,1030,0.000,0.106,2738,2508,2014,2123,1906,0,0,0,0,0,0,28.83,14.13,28.83
$GC,16843,0.71,177.1,2738,2508,2123,1907,394.7,8.7,599,16847,0.00,1.60,0.00,0.000,260,0.000,0.122,2738,3360,2015,2123,1907,0,0,0,0,0,0,28.83,14.02,28.83
$GC,16886,0.71,177.1,2738,3361,2123,1907,391.4,8.9,600,16890,0.00,1.50,0.00,0.000,1030,0.000,0.079,2744,2516,2014,2122,1907,0,0,0,0,0,0,28.83,14.19,28.83
$GC,17213,0.71,177.1,2744,2516,2123,1907,361.6,8.8,611,17216,0.00,1.50,0.00,0.000,516,0.000,0.092,2750,1658,2015,2123,1907,0,0,0,0,0,0,28.83,14.12,28.83
$GC,17286,0.71,177.1,2750,1658,2123,1906,355.8,8.8,613,17290,0.00,1.55,0.00,0.000,1030,0.000,0.108,2750,2513,2014,2123,1906,0,0,0,0,0,0,28.83,14.10,28.83
$GC,17611,0.71,177.1,2750,2513,2123,1906,326.6,8.6,624,17615,0.00,1.58,0.00,0.000,260,0.000,0.122,2750,3350,2014,2123,1906,0,0,0,0,0,0,28.83,13.97,28.83
$GC,17656,0.70,177.1,2750,3350,2123,1907,323.3,8.8,625,17660,0.00,1.50,0.00,0.000,1030,0.000,0.079,2757,2510,2015,2123,1907,0,0,0,0,0,0,28.83,14.18,28.83
$GC,17982,0.69,177.1,2757,2510,2123,1906,294.1,8.5,636,17985,0.00,1.50,0.00,0.000,516,0.000,0.093,2763,1660,2014,2123,1906,0,0,0,0,0,0,28.83,14.09,28.83
$GC,18061,0.68,177.1,2763,1659,2123,1906,288.6,8.4,638,18065,0.12,1.55,0.00,0.000,5126,0.237,0.105,2736,2517,2014,2123,1906,0,0,0,0,0,0,13.97,14.09,28.83
$GC,18382,0.72,198.2,2736,2517,2123,1906,264.0,7.5,649,18409,0.00,0.00,22.92,2.015,8198,0.000,0.000,2736,2518,1933,2041,1825,0,0,0,0,0,0,28.83,28.83,13.24
$GC,18713,0.73,201.7,2735,2517,2041,1822,237.4,8.1,660,18722,0.00,1.50,5.35,1.600,8708,0.000,0.089,2739,1665,1918,2027,1809,0,0,0,0,0,0,28.83,14.45,13.32
$GC,18759,0.75,208.1,2738,1665,2027,1809,235.3,8.0,661,18773,0.00,1.52,8.48,1.786,9222,0.000,0.108,2740,2521,1892,2002,1782,0,0,0,0,0,0,28.83,14.39,13.28
$GC,19110,0.76,208.1,2740,2521,2002,1782,203.8,8.8,673,19113,0.00,1.50,0.00,0.000,516,0.000,0.092,2745,1666,1892,2002,1782,0,0,0,0,0,0,28.83,14.26,28.83
$GC,19169,0.77,208.1,2745,1666,2002,1782,200.4,8.6,674,19176,0.00,1.52,0.00,0.000,1030,0.000,0.108,2745,2514,1892,2002,1782,0,0,0,0,0,0,28.83,14.25,28.83
$GC,19475,0.80,228.8,2745,2514,2002,1781,174.3,7.5,685,19503,0.00,1.58,22.85,1.924,8452,0.000,0.122,2745,3356,1808,1915,1701,0,0,0,0,0,0,28.83,14.33,13.28
$GC,19534,0.83,254.4,2745,3356,1914,1702,172.4,7.3,686,19566,0.00,1.50,27.60,1.927,9222,0.000,0.079,2751,2482,1704,1803,1605,0,0,0,0,0,0,28.83,14.42,13.14
$GC,19876,0.87,270.9,2752,2482,1800,1604,143.8,7.6,698,19899,0.12,1.42,18.02,1.867,10756,0.141,0.090,2813,1661,1637,1731,1544,0,0,0,0,0,0,14.51,14.41,13.31
$GC,20008,0.86,270.9,2813,1661,1731,1542,131.3,10.6,702,20012,0.00,1.55,0.00,0.000,1030,0.000,0.109,2813,2508,1636,1731,1542,0,0,0,0,0,0,28.83,14.34,28.83
$GC,20325,0.84,270.9,2813,2508,1730,1542,92.1,12.2,717,20329,0.12,1.48,0.00,0.000,4612,0.256,0.086,2783,1669,1635,1729,1542,0,0,0,0,0,0,14.23,14.32,28.83
$GC,20352,0.83,270.9,2783,1668,1730,1541,89.3,10.8,719,20356,0.00,1.55,0.00,0.000,1030,0.000,0.107,2782,2511,1635,1730,1541,0,0,0,0,0,0,28.83,14.23,28.83
$GC,20668,0.86,290.7,2783,2511,1730,1541,62.7,7.5,750,20683,0.00,0.00,12.07,0.351,8198,0.000,0.000,2782,2511,1553,1647,1460,0,0,0,0,0,0,28.83,28.83,13.96
$GC,20992,0.87,290.7,2783,2511,1647,1458,33.3,9.6,782,20995,0.00,1.50,0.00,0.000,516,0.000,0.093,2788,1670,1552,1647,1458,0,0,0,0,0,0,28.83,14.21,28.83
$GC,21071,0.89,290.7,2788,1670,1647,1457,26.0,9.1,789,21079,0.00,1.55,0.00,0.000,1030,0.000,0.109,2789,2519,1552,1647,1457,0,0,0,0,0,0,28.83,14.19,28.83
$FREEZE,8.70,-0.709,-1.852,0,1,0
$FREEZE,7.65,-0.789,-1.848,0,1,0
$FREEZE,6.62,-0.858,-1.848,0,1,0
$FREEZE,5.80,-0.852,-1.847,0,1,0
$FREEZE,4.96,-0.866,-1.846,0,1,0
$FREEZE,4.11,-0.867,-1.845,0,1,0
$FREEZE,3.09,-0.874,-1.845,0,1,0
$FREEZE,2.15,-0.877,-1.844,0,1,0
$STATE,21316,end climb,SURFACE_DEPTH_REACHED
$STATE,21316,begin surface coast
$FREEZE,1.33,-0.808,-1.840,0,1,0
$FREEZE,1.45,-0.915,-1.123,0,1,0
$FREEZE,1.32,-0.756,-1.836,0,1,0
$FINISH,1.3,1.026907
$STATE,21347,end surface coast,CONTROL_FINISHED_OK
$STATE,21347,begin surface
$SM_CCo,21376,58.60,0.155,0,0,1109,400.08
$SM_GC,2.30,7.90,0.12,58.60,0.082,0.181,0.155,143,2583,1109,-7.35,-0.57,400.08,0,0,0,0,0,0,14.31,14.36,14.22
$RAFOS_CLK,995
$RAFOS,3,1389515107,8.433333,8.418612,60,60,54,53,52,50,185,205,221,175,131,146
$RAFOS,2,1389514622,8.300000,8.283889,70,53,53,51,50,47,213,195,172,112,147,129
$RAFOS,1,1389514145,8.166667,8.151389,65,60,58,56,53,51,204,146,165,124,182,216
$RAFOS,0,1389513674,8.033334,8.020555,63,62,58,56,55,53,189,161,173,201,227,130
$RAFOS,6,1389502154,4.833333,4.820556,62,59,58,58,53,52,210,167,197,147,222,185
$RAFOS,5,1389501673,4.700000,4.686944,64,59,59,59,57,56,187,154,173,118,199,210
$RAFOS,4,1389501193,4.566667,4.553611,60,59,56,53,51,50,198,143,211,170,127,240
$RAFOS,3,1389500713,4.433333,4.420278,64,59,57,57,55,54,201,223,128,180,214,158
$RAFOS,2,1389500224,4.300000,4.284444,65,56,56,56,54,53,206,167,194,147,133,114
$RAFOS,1,1389499744,4.166667,4.151111,63,60,60,60,55,53,120,142,201,220,159,211
$RAFOS,0,1389499273,4.033333,4.020278,68,55,54,53,53,51,213,153,119,200,186,138
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6322.64,-5750.39,110114,202005
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.60
$XPDR_PINGS,100
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,11.5,261.004
$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,21.300,85.575,521.700,58.600,0.000,0.000,0.000,242.375,28.750,0.000,8.118,2412.364,16095.896,627.392,1920.832,809.175,0.000,1893.193,0.000,1689.547,4320.000,27.591,0.000
$DEVICE_MAMPS,419.220,180.540,2817.495,154.530,0.000,0.000,0.000,137.700,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227704
$DATA_FILE_SIZE,36781,817
$CAP_FILE_SIZE,160857,0
$CFSIZE,259252224,203223040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.5
$CURRENT,0.186,279.4,1
$GPS,120114,084234,6346.598,-5749.140,41,1.8,41,-30.3