version: 66.11
glider: 192
mission: 2
dive: 640
start: 1 13 114 2 53 17
data:
$ID,192
$MISSION,2
$DIVE,640
$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,-15446.136
$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,30
$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
$GPS1,130114,024524,6345.959,-5738.526,40,1.7,40,-30.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-68.7
$GPS2,130114,025235,6345.962,-5738.657,5,1.7,5,-30.2
$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,107.7,80920,-15.5,-8.250,-18.49,2720
$D_GRID,1229
$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,-146.0,133,2584,1119,1073,0.0,0.0,0,100,0.00,0.00,-77.10,0.000,16386,0.000,0.000,132,2584,2579,2629,2529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.89,-146.0,132,2584,2629,2530,3.0,-1.3,8,150,10.27,1.52,-23.83,0.000,18948,0.419,0.123,2217,1746,3339,3506,3172,0,0,0,0,0,0,13.84,14.29,14.76
$GC,243,-0.83,-146.0,1376,1745,3500,3168,23.3,-17.5,21,250,0.00,1.52,0.00,0.000,1030,0.000,0.109,2212,2587,3339,3508,3171,0,0,0,0,0,0,28.83,14.16,28.83
$GC,559,-0.76,-146.0,2212,2586,3507,3171,87.1,-20.9,52,565,0.17,0.00,0.00,0.000,2054,0.295,0.000,2253,2587,3339,3507,3171,0,0,0,0,0,0,13.77,28.83,28.83
$GC,867,-0.73,-146.0,2254,2587,3507,3169,137.4,-15.5,67,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2587,3338,3508,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1167,-0.69,-146.0,2254,2587,3507,3169,178.7,-12.9,77,1171,0.12,1.58,0.00,0.000,2308,0.285,0.120,2283,3434,3338,3507,3169,0,0,0,0,0,0,14.04,13.96,28.83
$GC,1205,-0.66,-146.0,2283,3434,3508,3169,183.1,-12.6,78,1209,0.00,1.50,0.00,0.000,1030,0.000,0.079,2283,2573,3338,3508,3168,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1541,-0.65,-146.0,2283,2572,3508,3169,218.2,-10.6,89,1544,0.00,1.50,0.00,0.000,516,0.000,0.087,2283,1735,3337,3507,3168,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1580,-0.63,-146.0,1408,1733,3500,3166,222.0,-10.6,90,1583,0.00,1.55,0.00,0.000,1030,0.000,0.111,2277,2585,3338,3507,3169,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1910,-0.61,-146.0,2277,2585,3509,3169,260.2,-11.6,101,1912,0.12,0.00,0.00,0.000,2054,0.263,0.000,2305,2585,3338,3508,3169,0,0,0,0,0,0,14.16,28.83,28.83
$GC,2210,-0.61,-146.0,2305,2585,3510,3169,290.1,-9.7,111,2213,0.00,1.55,0.00,0.000,260,0.000,0.122,2300,3424,3339,3509,3169,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2254,-0.61,-146.0,2300,3424,3510,3169,293.5,-9.6,112,2257,0.00,1.50,0.00,0.000,1030,0.000,0.076,2300,2563,3339,3510,3169,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2579,-0.61,-146.0,2300,2563,3511,3169,325.9,-9.7,123,2582,0.00,1.48,0.00,0.000,516,0.000,0.086,2300,1746,3340,3511,3169,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2607,-0.61,-146.0,2300,1745,3511,3169,325.9,-9.7,123,2614,0.00,1.52,0.00,0.000,1030,0.000,0.107,2295,2579,3339,3510,3169,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2916,-0.61,-146.0,2295,2580,3512,3169,358.6,-9.9,134,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2580,3340,3512,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3214,-0.61,-146.0,2295,2579,3514,3169,389.6,-10.4,144,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2580,3341,3514,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3515,-0.61,-146.0,2295,2580,3514,3168,421.4,-10.5,154,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2580,3342,3515,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-0.61,-146.0,2295,2579,3516,3169,451.3,-9.9,164,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2580,3342,3515,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4114,-0.61,-146.0,2295,2580,3517,3169,480.5,-9.8,174,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2579,3343,3517,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4414,-0.61,-146.0,2295,2580,3517,3169,509.9,-9.9,184,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2580,3343,3517,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4715,-0.61,-146.0,2295,2580,3517,3170,538.4,-9.4,194,4719,0.00,1.50,0.00,0.000,516,0.000,0.082,2295,1736,3343,3517,3170,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4763,-0.61,-146.0,2295,1736,3517,3170,541.7,-9.4,195,4767,0.00,1.55,0.00,0.000,1030,0.000,0.106,2289,2580,3344,3518,3170,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5084,-0.61,-146.0,2289,2581,3517,3170,572.7,-9.4,206,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2580,3343,3517,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5387,-0.61,-146.0,2289,2580,3517,3170,601.3,-9.1,216,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2580,3343,3517,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5684,-0.61,-146.0,2289,2581,3517,3171,628.5,-9.1,226,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2580,3344,3517,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5983,-0.61,-146.0,2289,2580,3517,3171,656.1,-9.3,236,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2580,3344,3517,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6285,-0.61,-146.0,2289,2580,3517,3171,683.7,-9.2,246,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2580,3344,3517,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6583,-0.61,-146.0,2289,2580,3517,3171,712.0,-9.7,256,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2581,3343,3517,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6885,-0.61,-146.0,2289,2580,3517,3171,741.2,-9.8,266,6888,0.00,1.50,0.00,0.000,516,0.000,0.081,2289,1736,3344,3517,3171,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6923,-0.61,-146.0,1416,1736,3510,3168,744.7,-9.7,267,6928,0.12,1.55,0.00,0.000,3078,0.242,0.106,2310,2579,3344,3518,3171,0,0,0,0,0,0,13.81,13.93,28.83
$GC,7261,-0.62,-146.0,2310,2579,3518,3171,772.7,-8.1,278,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2579,3343,3517,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.63,-146.0,2310,2579,3518,3171,797.3,-8.2,288,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2579,3344,3517,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7855,-0.64,-146.0,2310,2579,3518,3171,820.7,-7.6,298,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2579,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8155,-0.65,-146.0,2310,2579,3517,3171,842.8,-7.2,308,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2579,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8456,-0.66,-146.0,2310,2579,3518,3171,864.2,-7.1,318,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2579,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8755,-0.67,-146.0,2310,2579,3518,3171,885.4,-7.0,328,8758,0.00,1.58,0.00,0.000,260,0.000,0.118,2305,3433,3344,3517,3171,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8791,-0.68,-146.0,2306,3433,3518,3171,888.2,-7.2,329,8795,0.00,1.50,0.00,0.000,1030,0.000,0.073,2305,2565,3344,3517,3171,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9128,-0.69,-146.0,2305,2565,3518,3171,913.5,-7.5,340,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2565,3344,3517,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9427,-0.69,-146.0,2305,2565,3516,3171,935.9,-7.4,350,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2565,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9728,-0.70,-146.0,2305,2565,3518,3171,958.6,-7.6,360,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2566,3344,3517,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10027,-0.71,-146.0,2305,2565,3517,3171,981.5,-7.7,370,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2565,3344,3517,3171,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10142,begin apogee
$GC,10156,-0.22,0.0,2306,2505,3517,3171,991.1,-8.0,374,10342,0.45,0.00,174.02,2.825,10246,0.204,0.000,2429,2505,2742,2853,2632,0,0,0,0,0,0,13.71,28.83,12.08
$STATE,10343,end apogee,CONTROL_FINISHED_OK
$STATE,10343,begin climb
$GC,10349,0.89,146.0,2429,2505,2852,2632,997.6,0.0,380,10546,1.25,0.00,192.55,2.716,10502,0.151,0.000,2788,2505,2145,2239,2051,0,0,0,0,0,0,13.32,28.83,11.45
$GC,10831,0.86,146.0,2788,2504,2239,2042,957.0,10.5,397,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2505,2140,2239,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11131,0.82,146.0,2788,2505,2239,2040,925.9,10.4,407,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2504,2139,2239,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11431,0.78,146.0,2788,2505,2239,2039,895.4,10.1,417,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2505,2139,2239,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11732,0.74,146.0,2788,2505,2238,2038,865.2,10.1,427,11734,0.15,0.00,0.00,0.000,4102,0.255,0.000,2754,2505,2138,2239,2038,0,0,0,0,0,0,14.22,28.83,28.83
$GC,12032,0.73,152.2,2754,2504,2239,2037,840.4,8.0,437,12040,0.00,0.00,6.38,2.137,8198,0.000,0.000,2754,2504,2121,2224,2018,0,0,0,0,0,0,28.83,28.83,13.19
$GC,12333,0.72,154.9,2754,2505,2223,2019,816.2,8.1,447,12343,0.00,1.55,4.80,1.897,8452,0.000,0.119,2754,3356,2110,2213,2007,0,0,0,0,0,0,28.83,14.42,13.21
$GC,12370,0.71,157.1,2754,3356,2213,2007,813.8,8.2,448,12379,0.00,1.50,4.82,1.884,9222,0.000,0.079,2759,2482,2100,2203,1997,0,0,0,0,0,0,28.83,14.47,13.16
$GC,12692,0.69,157.1,2758,2482,2203,1997,784.9,8.9,459,12695,0.00,1.45,0.00,0.000,516,0.000,0.092,2765,1669,2099,2202,1997,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12721,0.67,157.1,2765,1669,2202,1997,784.9,8.9,459,12729,0.15,1.52,0.00,0.000,5126,0.237,0.109,2730,2520,2100,2203,1997,0,0,0,0,0,0,14.14,14.27,28.83
$GC,13028,0.70,173.8,2730,2521,2203,1997,758.8,7.6,470,13053,0.00,0.00,20.38,2.509,8198,0.000,0.000,2730,2520,2032,2136,1928,0,0,0,0,0,0,28.83,28.83,13.13
$GC,13358,0.71,183.1,2730,2520,2137,1927,733.1,7.9,481,13375,0.00,1.50,11.68,2.336,8708,0.000,0.092,2734,1674,1994,2099,1890,0,0,0,0,0,0,28.83,14.41,13.19
$GC,13418,0.72,193.3,2734,1674,2098,1890,728.4,7.9,483,13436,0.00,1.50,13.50,2.346,9222,0.000,0.108,2734,2524,1951,2056,1846,0,0,0,0,0,0,28.83,14.41,13.10
$GC,13749,0.72,193.3,2733,2524,2057,1845,700.4,8.5,494,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2524,1951,2057,1845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14048,0.72,193.3,2734,2524,2057,1843,674.1,9.0,504,14051,0.00,1.50,0.00,0.000,516,0.000,0.092,2740,1660,1949,2056,1843,0,0,0,0,0,0,28.83,14.28,28.83
$GC,14091,0.72,193.3,2740,1660,2056,1842,670.9,9.1,505,14094,0.00,1.52,0.00,0.000,1030,0.000,0.107,2739,2516,1949,2057,1842,0,0,0,0,0,0,28.83,14.26,28.83
$GC,14417,0.72,193.3,2740,2516,2056,1842,639.6,9.5,516,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2516,1949,2056,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14716,0.72,193.3,2740,2515,2057,1842,610.7,9.7,526,14720,0.00,1.50,0.00,0.000,516,0.000,0.091,2746,1654,1949,2056,1842,0,0,0,0,0,0,28.83,14.20,28.83
$GC,14759,0.72,193.3,2746,1654,2056,1841,607.4,9.7,527,14763,0.00,1.52,0.00,0.000,1030,0.000,0.107,2746,2509,1948,2056,1841,0,0,0,0,0,0,28.83,14.19,28.83
$GC,15086,0.72,193.3,2746,2509,2056,1841,574.0,9.9,538,15090,0.00,1.58,0.00,0.000,260,0.000,0.122,2746,3350,1948,2056,1841,0,0,0,0,0,0,28.83,14.06,28.83
$GC,15114,0.72,193.3,2746,3350,2056,1841,574.0,9.9,538,15121,0.00,1.50,0.00,0.000,1030,0.000,0.080,2751,2486,1948,2056,1841,0,0,0,0,0,0,28.83,14.25,28.83
$GC,15422,0.72,193.3,2752,2486,2056,1841,540.3,9.8,549,15425,0.00,1.48,0.00,0.000,516,0.000,0.092,2757,1665,1948,2056,1841,0,0,0,0,0,0,28.83,14.13,28.83
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$GC,15791,0.71,193.3,2758,2513,2056,1840,506.1,9.1,561,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2513,1948,2056,1840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16091,0.70,193.3,2757,2513,2056,1840,479.1,9.0,571,16093,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2513,1948,2056,1840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16392,0.69,193.3,2758,2513,2056,1840,451.9,9.3,581,16396,0.00,1.50,0.00,0.000,516,0.000,0.089,2764,1650,1948,2057,1840,0,0,0,0,0,0,28.83,14.12,28.83
$GC,16430,0.68,193.3,1792,1648,2014,1836,448.6,9.2,582,16435,0.15,1.55,0.00,0.000,5126,0.231,0.106,2729,2508,1948,2056,1840,0,0,0,0,0,0,13.96,14.11,28.83
$GC,16769,0.71,203.5,2729,2509,2056,1840,422.3,7.9,593,16788,0.00,0.00,11.55,2.079,8198,0.000,0.000,2729,2508,1911,2019,1803,0,0,0,0,0,0,28.83,28.83,13.27
$GC,17093,0.74,215.7,2729,2508,2019,1802,396.3,7.8,604,17110,0.00,0.00,15.18,2.142,8198,0.000,0.000,2729,2509,1860,1969,1752,0,0,0,0,0,0,28.83,28.83,13.26
$GC,17393,0.81,252.7,2729,2508,1969,1752,375.0,6.9,614,17440,0.12,1.55,40.70,2.147,10756,0.136,0.093,2789,1674,1710,1809,1611,0,0,0,0,0,0,14.51,14.22,13.09
$GC,17500,0.81,252.7,2789,1674,1808,1610,366.4,8.8,617,17503,0.00,1.50,0.00,0.000,1030,0.000,0.106,2789,2516,1709,1808,1610,0,0,0,0,0,0,28.83,14.35,28.83
$GC,17820,0.79,252.7,2790,2516,1804,1609,328.9,11.2,628,17824,0.00,1.50,0.00,0.000,516,0.000,0.093,2796,1659,1707,1804,1610,0,0,0,0,0,0,28.83,14.32,28.83
$GC,17860,0.77,252.7,2796,1659,1804,1609,324.9,11.2,629,17864,0.15,1.52,0.00,0.000,5126,0.230,0.107,2760,2514,1706,1804,1609,0,0,0,0,0,0,14.18,14.29,28.83
$GC,18191,0.77,252.7,2760,2515,1803,1608,293.1,9.6,640,18192,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2515,1705,1803,1608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18494,0.77,252.7,2760,2515,1803,1608,263.0,10.0,650,18497,0.00,1.50,0.00,0.000,516,0.000,0.091,2764,1658,1705,1803,1608,0,0,0,0,0,0,28.83,14.20,28.83
$GC,18543,0.77,252.7,2764,1658,1803,1607,258.9,10.2,651,18546,0.00,1.52,0.00,0.000,1030,0.000,0.107,2764,2510,1705,1803,1607,0,0,0,0,0,0,28.83,14.18,28.83
$GC,18864,0.77,252.7,2764,2510,1803,1607,223.4,10.8,662,18868,0.00,1.50,0.00,0.000,516,0.000,0.093,2770,1666,1705,1803,1607,0,0,0,0,0,0,28.83,14.17,28.83
$GC,18902,0.77,252.7,2770,1666,1803,1606,219.4,10.9,663,18906,0.00,1.52,0.00,0.000,1030,0.000,0.108,2770,2510,1704,1803,1606,0,0,0,0,0,0,28.83,14.16,28.83
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$GC,19604,0.77,252.7,2776,2511,1802,1606,139.4,11.2,686,19608,0.00,1.52,0.00,0.000,516,0.000,0.093,2782,1670,1704,1803,1606,0,0,0,0,0,0,28.83,14.09,28.83
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$GC,20753,0.79,262.7,2794,1663,1765,1571,23.9,9.0,774,20756,0.00,1.52,0.00,0.000,1030,0.000,0.109,2793,2510,1668,1765,1571,0,0,0,0,0,0,28.83,14.10,28.83
$FREEZE,8.51,-0.726,-1.842,0,1,0
$FREEZE,7.65,-0.765,-1.838,0,1,0
$FREEZE,6.84,-0.758,-1.836,0,1,0
$FREEZE,5.91,-0.776,-1.835,0,1,0
$FREEZE,5.19,-0.771,-1.834,0,1,0
$FREEZE,4.27,-0.777,-1.833,0,1,0
$FREEZE,3.45,-0.774,-1.832,0,1,0
$FREEZE,2.43,-0.776,-1.831,0,1,0
$STATE,20994,end climb,SURFACE_DEPTH_REACHED
$STATE,20994,begin surface coast
$FREEZE,1.42,-0.728,-1.827,0,1,0
$FREEZE,1.38,-0.771,-1.830,0,1,0
$FREEZE,1.59,-0.785,-1.830,0,1,0
$FINISH,1.6,1.026815
$STATE,21025,end surface coast,CONTROL_FINISHED_OK
$STATE,21025,begin surface
$SM_CCo,21054,75.10,0.152,0,0,1107,400.08
$SM_GC,2.33,8.00,0.15,75.10,0.087,0.163,0.152,144,2590,1107,-7.34,-0.40,400.08,0,0,0,0,0,0,14.21,14.31,14.21
$RAFOS_CLK,983
$RAFOS,4,1389601987,8.566667,8.551945,55,53,52,52,51,50,188,216,197,113,149,163
$RAFOS,3,1389601530,8.433333,8.425000,62,60,60,56,49,47,134,192,213,174,227,112
$RAFOS,2,1389601043,8.300000,8.289722,60,58,51,51,50,50,204,181,139,151,118,167
$RAFOS,1,1389600554,8.166667,8.153889,64,60,55,54,51,51,211,200,174,126,157,136
$RAFOS,0,1389600081,8.033334,8.022500,60,60,56,55,54,51,143,225,177,205,122,189
$RAFOS,6,1389588545,4.833333,4.818056,68,64,62,51,50,50,221,187,199,113,169,212
$RAFOS,5,1389588084,4.700000,4.690000,65,61,57,54,54,51,213,189,139,150,172,1475
$RAFOS,4,1389587604,4.566667,4.556667,67,59,58,58,55,53,218,188,201,142,175,129
$RAFOS,3,1389587124,4.433333,4.423333,62,57,56,52,47,46,147,224,192,171,1695,115
$RAFOS,2,1389586644,4.300000,4.290000,70,63,57,55,55,54,217,192,144,203,178,163
$RAFOS,1,1389586155,4.166667,4.154167,63,54,51,50,49,48,208,146,166,157,112,238
$RAFOS,0,1389585675,4.033333,4.020833,73,58,57,57,52,51,195,204,163,178,151,220
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6322.64,-5739.56,120114,202034
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.05
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.80
$XPDR_PINGS,96
$ALTIM_TOP_PING,19.7,18.6
$24V_AH,11.5,262.735
$10V_AH,11.5,0.000
$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,21.250,73.100,500.875,75.100,0.000,0.000,0.000,245.400,27.750,0.000,6.201,2347.245,16018.428,635.324,1774.545,785.325,0.000,1827.716,0.000,1552.861,4680.000,27.394,0.000
$DEVICE_MAMPS,419.220,162.945,2825.145,152.235,0.000,0.000,0.000,137.700,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.803,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227668
$DATA_FILE_SIZE,33490,801
$CAP_FILE_SIZE,152383,0
$CFSIZE,259252224,202973184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1473.2
$CURRENT,0.154,277.9,1
$GPS,130114,084705,6346.775,-5735.904,28,0.9,28,-30.2