version: 66.11
glider: 192
mission: 2
dive: 641
start: 1 13 114 8 54 38
data:
$ID,192
$MISSION,2
$DIVE,641
$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,-15447.393
$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,20
$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
$GPS1,130114,084705,6346.775,-5735.904,28,0.9,28,-30.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-67.9
$GPS2,130114,085356,6346.761,-5735.934,7,0.9,7,-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,123.4,78579,-15.5,-8.250,-18.49,2720
$D_GRID,1240
$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,14,begin dive
$GC,20,-0.89,-146.0,127,2595,1114,1073,0.0,0.0,0,100,0.00,0.00,-76.80,0.000,16386,0.000,0.000,126,2595,2597,2646,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.89,-146.0,125,2595,2646,2549,3.2,-1.7,8,150,10.30,1.45,-22.58,0.000,18948,0.421,0.116,2213,1737,3338,3504,3173,0,0,0,0,0,0,13.86,14.30,14.77
$GC,280,-0.84,-146.0,2213,1737,3506,3173,32.1,-19.1,25,285,0.12,1.52,0.00,0.000,3078,0.291,0.109,2233,2580,3339,3506,3173,0,0,0,0,0,0,13.95,14.16,28.83
$GC,598,-0.79,-146.0,2233,2580,3506,3171,82.5,-14.8,56,601,0.00,1.50,0.00,0.000,516,0.000,0.086,2234,1712,3338,3505,3171,0,0,0,0,0,0,28.83,14.12,28.83
$GC,633,-0.74,-146.0,2234,1712,3506,3171,87.7,-15.1,59,638,0.17,1.58,0.00,0.000,3078,0.258,0.112,2268,2580,3338,3506,3171,0,0,0,0,0,0,13.85,14.08,28.83
$GC,950,-0.71,-146.0,2268,2581,3506,3169,128.2,-13.1,76,954,0.00,1.60,0.00,0.000,260,0.000,0.122,2264,3428,3337,3506,3169,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1034,-0.69,-146.0,2264,3427,3506,3169,137.0,-13.3,78,1038,0.00,1.50,0.00,0.000,1030,0.000,0.078,2264,2562,3337,3506,3169,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1350,-0.66,-146.0,2264,2562,3506,3169,178.7,-12.3,89,1354,0.12,1.42,0.00,0.000,2564,0.269,0.084,2296,1739,3337,3506,3169,0,0,0,0,0,0,14.07,14.09,28.83
$GC,1400,-0.64,-146.0,2296,1739,3506,3169,182.7,-12.1,90,1403,0.00,1.55,0.00,0.000,1030,0.000,0.110,2292,2590,3337,3506,3169,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1720,-0.63,-146.0,2292,2590,3506,3169,219.0,-11.1,101,1724,0.00,1.52,0.00,0.000,516,0.000,0.086,2292,1737,3337,3506,3169,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1765,-0.62,-146.0,2292,1737,3506,3169,223.0,-11.0,102,1769,0.00,1.58,0.00,0.000,1030,0.000,0.109,2285,2576,3337,3506,3169,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2091,-0.61,-146.0,2286,2576,3507,3169,260.6,-11.1,113,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2576,3337,3506,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-0.60,-146.0,2285,2576,3508,3169,294.1,-11.0,123,2393,0.12,0.00,0.00,0.000,2054,0.262,0.000,2313,2576,3338,3508,3169,0,0,0,0,0,0,14.17,28.83,28.83
$GC,2691,-0.60,-146.0,2313,2576,3509,3169,323.1,-9.6,133,2695,0.00,1.62,0.00,0.000,260,0.000,0.119,2308,3430,3339,3509,3169,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2727,-0.60,-146.0,2308,3430,3509,3169,326.6,-9.6,134,2731,0.00,1.50,0.00,0.000,1030,0.000,0.076,2308,2566,3339,3509,3169,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3062,-0.60,-146.0,2308,2566,3510,3169,358.8,-9.4,145,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2566,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-0.60,-146.0,2308,2566,3511,3170,386.7,-9.1,155,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2566,3340,3511,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3662,-0.60,-146.0,2308,2566,3512,3169,415.4,-9.7,165,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2566,3340,3512,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3962,-0.60,-146.0,2308,2565,3513,3169,444.1,-9.4,175,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2566,3341,3513,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4263,-0.60,-146.0,2308,2566,3514,3169,471.5,-9.1,185,4267,0.00,1.65,0.00,0.000,260,0.000,0.119,2302,3420,3342,3514,3170,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4301,-0.60,-146.0,1440,3419,3507,3166,474.8,-9.2,186,4305,0.00,1.52,0.00,0.000,1030,0.000,0.076,2302,2580,3341,3514,3169,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4631,-0.60,-146.0,2302,2580,3514,3169,508.0,-10.1,197,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2580,3341,3514,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.60,-146.0,2302,2580,3515,3170,538.7,-10.2,207,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2580,3341,3514,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5231,-0.60,-146.0,2302,2580,3515,3169,568.5,-9.7,217,5235,0.00,1.60,0.00,0.000,260,0.000,0.122,2296,3427,3342,3515,3169,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5270,-0.60,-146.0,2296,3427,3515,3169,571.9,-9.6,218,5273,0.00,1.50,0.00,0.000,1030,0.000,0.076,2296,2571,3342,3515,3169,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5601,-0.60,-146.0,2296,2571,3515,3170,605.1,-10.0,229,5604,0.00,1.50,0.00,0.000,516,0.000,0.085,2296,1713,3342,3515,3170,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5668,-0.60,-146.0,1440,1712,3508,3167,611.8,-10.2,231,5672,0.00,1.62,0.00,0.000,1030,0.000,0.109,2290,2577,3342,3515,3170,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5999,-0.60,-146.0,2290,2577,3515,3170,646.0,-10.3,242,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2577,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,-0.60,-146.0,2290,2577,3515,3170,676.6,-10.1,252,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2577,3342,3515,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6599,-0.60,-146.0,2290,2577,3515,3170,706.6,-9.8,262,6603,0.00,1.58,0.00,0.000,260,0.000,0.118,2283,3433,3342,3514,3170,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6627,-0.60,-146.0,2283,3433,3515,3170,706.6,-9.8,262,6635,0.12,1.50,0.00,0.000,3078,0.244,0.075,2310,2575,3342,3515,3170,0,0,0,0,0,0,13.83,14.09,28.83
$GC,6935,-0.61,-146.0,2310,2575,3515,3170,736.7,-8.7,273,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2575,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7235,-0.62,-146.0,2310,2575,3515,3170,762.2,-8.5,283,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2575,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7535,-0.63,-146.0,2310,2575,3515,3169,787.9,-8.5,293,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2575,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7836,-0.64,-146.0,2310,2575,3515,3171,812.8,-8.3,303,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2575,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,-0.65,-146.0,2310,2575,3515,3171,836.8,-7.9,313,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2575,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8436,-0.66,-146.0,2310,2575,3515,3170,860.1,-7.7,323,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2575,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8735,-0.67,-146.0,2310,2575,3515,3170,883.5,-7.8,333,8739,0.00,1.65,0.00,0.000,260,0.000,0.121,2306,3423,3342,3515,3170,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8774,-0.68,-146.0,1424,3422,3508,3167,886.4,-7.8,334,8777,0.00,1.52,0.00,0.000,1030,0.000,0.075,2306,2581,3342,3515,3170,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9105,-0.69,-146.0,2305,2581,3515,3170,913.9,-8.4,345,9109,0.00,1.50,0.00,0.000,516,0.000,0.084,2305,1727,3342,3515,3170,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9141,-0.70,-146.0,2305,1727,3515,3170,916.9,-8.4,346,9145,0.00,1.58,0.00,0.000,1030,0.000,0.110,2300,2581,3342,3515,3170,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9476,-0.70,-146.0,2300,2581,3515,3170,945.4,-8.3,357,9480,0.00,1.60,0.00,0.000,260,0.000,0.122,2293,3423,3342,3515,3170,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9515,-0.70,-146.0,1416,3422,3507,3167,948.4,-8.4,358,9519,0.00,1.52,0.00,0.000,1030,0.000,0.075,2293,2574,3342,3515,3170,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9845,-0.70,-146.0,2294,2574,3515,3170,977.7,-8.9,369,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2574,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9990,begin apogee
$GC,10004,-0.22,0.0,2294,2510,3515,3170,991.0,-8.9,374,10189,0.50,0.00,172.27,2.819,10246,0.212,0.000,2429,2509,2742,2853,2631,0,0,0,0,0,0,13.66,28.83,12.10
$STATE,10190,end apogee,CONTROL_FINISHED_OK
$STATE,10190,begin climb
$GC,10196,0.89,146.0,2430,2509,2853,2631,998.1,0.0,380,10394,1.25,0.00,192.80,2.731,10758,0.152,0.000,2790,2509,2145,2239,2051,0,0,0,0,0,0,13.35,28.83,11.44
$GC,10715,0.86,146.0,2791,2509,2238,2042,951.8,11.3,398,10718,0.00,1.50,0.00,0.000,516,0.000,0.093,2797,1656,2140,2239,2042,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10773,0.82,146.0,2797,1657,2239,2040,947.9,11.2,399,10780,0.00,1.55,0.00,0.000,1030,0.000,0.108,2797,2520,2139,2239,2040,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11082,0.78,146.0,2796,2520,2239,2039,909.7,11.6,410,11084,0.15,0.00,0.00,0.000,4102,0.252,0.000,2762,2520,2139,2239,2040,0,0,0,0,0,0,14.26,28.83,28.83
$GC,11380,0.75,146.0,2762,2520,2239,2038,881.7,9.0,420,11384,0.00,1.50,0.00,0.000,516,0.000,0.093,2766,1672,2138,2239,2038,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11441,0.73,146.0,2766,1673,2239,2037,878.7,8.8,421,11449,0.00,1.50,0.00,0.000,1030,0.000,0.110,2766,2509,2138,2239,2037,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11746,0.71,146.0,2766,2509,2239,2037,848.4,9.2,432,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2509,2138,2239,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12046,0.68,146.0,2766,2509,2239,2036,820.9,9.3,442,12048,0.15,0.00,0.00,0.000,4102,0.244,0.000,2731,2509,2137,2238,2036,0,0,0,0,0,0,14.20,28.83,28.83
$GC,12347,0.70,154.0,2731,2509,2239,2035,797.5,7.9,452,12359,0.00,1.45,8.35,2.258,8708,0.000,0.092,2736,1669,2112,2216,2009,0,0,0,0,0,0,28.83,14.41,13.17
$GC,12410,0.71,165.4,2735,1670,2216,2009,793.1,7.8,454,12430,0.00,1.50,14.88,2.430,9222,0.000,0.112,2736,2509,2066,2170,1962,0,0,0,0,0,0,28.83,14.36,13.09
$GC,12769,0.71,165.4,2735,2509,2170,1960,762.6,8.6,466,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2509,2065,2170,1960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13062,0.71,165.4,2736,2509,2170,1959,736.5,8.7,476,13065,0.00,1.50,0.00,0.000,516,0.000,0.093,2741,1664,2064,2170,1959,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13099,0.71,165.4,1792,1663,2127,1954,733.5,8.8,477,13104,0.00,1.52,0.00,0.000,1030,0.000,0.112,2741,2509,2064,2170,1959,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13432,0.71,165.4,2741,2509,2170,1959,702.5,9.3,488,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2509,2064,2170,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13731,0.71,165.4,2741,2508,2169,1959,674.2,9.4,498,13735,0.00,1.50,0.00,0.000,516,0.000,0.093,2747,1652,2064,2170,1959,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13780,0.71,165.4,2747,1652,2169,1958,671.0,9.4,499,13784,0.00,1.58,0.00,0.000,1030,0.000,0.110,2747,2516,2064,2170,1959,0,0,0,0,0,0,28.83,14.17,28.83
$GC,14101,0.70,165.4,2747,2516,2170,1958,639.8,9.3,510,14102,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2516,2064,2170,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14401,0.70,165.4,2747,2516,2170,1958,612.4,9.2,520,14404,0.00,1.55,0.00,0.000,516,0.000,0.093,2753,1671,2064,2170,1958,0,0,0,0,0,0,28.83,14.12,28.83
$GC,14437,0.69,165.4,2753,1672,2169,1957,609.1,9.1,521,14441,0.00,1.55,0.00,0.000,1030,0.000,0.112,2753,2515,2063,2169,1957,0,0,0,0,0,0,28.83,14.12,28.83
$GC,14773,0.68,165.4,2753,2515,2170,1957,577.5,9.3,532,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2515,2063,2170,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15074,0.66,165.4,2753,2515,2170,1957,549.8,9.2,542,15078,0.00,1.55,0.00,0.000,516,0.000,0.093,2759,1672,2063,2170,1957,0,0,0,0,0,0,28.83,14.09,28.83
$GC,15119,0.65,165.4,2759,1672,2170,1957,546.6,9.0,543,15123,0.12,1.58,0.00,0.000,5126,0.199,0.112,2723,2510,2063,2170,1957,0,0,0,0,0,0,13.90,14.05,28.83
$GC,15446,0.71,196.4,2724,2509,2170,1957,521.7,7.1,554,15483,0.00,0.00,34.97,2.311,8710,0.000,0.000,2724,2510,1940,2048,1833,0,0,0,0,0,0,28.83,28.83,13.07
$GC,15776,0.75,216.3,2724,2509,2048,1829,497.2,7.5,565,15804,0.00,1.50,22.88,2.232,8708,0.000,0.096,2728,1675,1859,1966,1752,0,0,0,0,0,0,28.83,14.34,13.17
$GC,15837,0.79,237.9,2728,1675,1966,1752,492.7,7.4,567,15869,0.12,1.52,25.33,2.225,11270,0.142,0.110,2778,2526,1770,1870,1671,0,0,0,0,0,0,14.45,14.38,13.05
$GC,16196,0.78,237.9,2778,2526,1866,1669,453.3,11.4,579,16200,0.00,1.50,0.00,0.000,516,0.000,0.095,2784,1669,1768,1866,1670,0,0,0,0,0,0,28.83,14.34,28.83
$GC,16245,0.76,237.9,2784,1669,1866,1668,449.3,11.4,580,16248,0.00,1.50,0.00,0.000,1030,0.000,0.111,2784,2509,1767,1866,1669,0,0,0,0,0,0,28.83,14.31,28.83
$GC,16565,0.75,237.9,2784,2509,1864,1668,409.6,12.0,591,16569,0.12,1.48,0.00,0.000,4612,0.248,0.091,2755,1664,1766,1864,1669,0,0,0,0,0,0,14.25,14.29,28.83
$GC,16602,0.74,237.9,2755,1664,1864,1668,405.8,11.5,592,16605,0.00,1.52,0.00,0.000,1030,0.000,0.112,2755,2514,1766,1864,1668,0,0,0,0,0,0,28.83,14.25,28.83
$GC,16937,0.74,237.9,2755,2514,1864,1667,372.1,10.1,603,16941,0.00,1.55,0.00,0.000,516,0.000,0.094,2760,1668,1766,1864,1668,0,0,0,0,0,0,28.83,14.19,28.83
$GC,16976,0.74,237.9,1792,1666,1827,1664,368.7,10.1,604,16979,0.00,1.58,0.00,0.000,1030,0.000,0.110,2761,2512,1765,1864,1667,0,0,0,0,0,0,28.83,14.16,28.83
$GC,17306,0.74,237.9,2759,2511,1864,1667,334.8,10.1,615,17309,0.00,1.50,0.00,0.000,516,0.000,0.094,2766,1668,1765,1864,1667,0,0,0,0,0,0,28.83,14.19,28.83
$GC,17341,0.74,237.9,2766,1668,1865,1667,331.4,9.9,616,17344,0.00,1.52,0.00,0.000,1030,0.000,0.112,2766,2511,1765,1864,1667,0,0,0,0,0,0,28.83,14.16,28.83
$GC,17677,0.74,237.9,2766,2510,1864,1667,297.0,10.3,627,17681,0.00,1.52,0.00,0.000,516,0.000,0.095,2772,1677,1765,1864,1667,0,0,0,0,0,0,28.83,14.14,28.83
$GC,17720,0.74,237.9,2772,1677,1864,1666,293.3,10.4,628,17724,0.00,1.55,0.00,0.000,1030,0.000,0.110,2772,2507,1765,1864,1666,0,0,0,0,0,0,28.83,14.11,28.83
$GC,18047,0.74,237.9,2772,2507,1863,1666,258.4,10.5,639,18049,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2507,1764,1863,1666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18346,0.74,237.9,2773,2507,1864,1666,225.7,11.4,649,18350,0.00,1.50,0.00,0.000,516,0.000,0.094,2778,1676,1765,1864,1666,0,0,0,0,0,0,28.83,14.10,28.83
$GC,18400,0.74,237.9,2778,1676,1863,1666,221.6,11.5,650,18404,0.10,1.55,0.00,0.000,5126,0.200,0.110,2750,2507,1764,1863,1665,0,0,0,0,0,0,13.93,14.07,28.83
$GC,18717,0.74,237.9,2750,2507,1863,1665,183.3,11.8,661,18721,0.00,1.58,0.00,0.000,260,0.000,0.124,2749,3366,1764,1863,1665,0,0,0,0,0,0,28.83,14.05,28.83
$GC,18755,0.75,237.9,1792,3365,1826,1662,178.9,11.9,662,18759,0.00,1.50,0.00,0.000,1030,0.000,0.081,2754,2507,1763,1862,1665,0,0,0,0,0,0,28.83,14.22,28.83
$GC,19085,0.75,237.9,2754,2507,1863,1665,140.9,10.9,673,19089,0.00,1.50,0.00,0.000,516,0.000,0.093,2760,1654,1763,1862,1665,0,0,0,0,0,0,28.83,14.12,28.83
$GC,19170,0.76,237.9,2760,1654,1862,1665,134.0,10.6,675,19173,0.00,1.55,0.00,0.000,1030,0.000,0.108,2760,2511,1763,1862,1665,0,0,0,0,0,0,28.83,14.10,28.83
$GC,19486,0.77,245.1,2760,2510,1862,1665,104.0,8.0,686,19494,0.00,1.58,3.62,0.501,8708,0.000,0.094,2766,1666,1741,1838,1644,0,0,0,0,0,0,28.83,14.15,13.73
$GC,19535,0.78,250.7,2766,1666,1838,1644,101.5,8.0,687,19544,0.00,1.52,3.50,0.489,9222,0.000,0.109,2766,2510,1718,1815,1621,0,0,0,0,0,0,28.83,14.14,13.75
$GC,19847,0.86,296.7,2766,2510,1815,1621,76.6,6.5,718,19883,0.00,1.60,28.58,0.392,8452,0.000,0.122,2766,3358,1530,1623,1437,0,0,0,0,0,0,28.83,14.30,13.88
$GC,19914,0.93,335.3,1792,3357,1594,1435,72.4,6.8,724,19948,0.12,1.50,22.90,0.379,11270,0.142,0.080,2820,2492,1375,1463,1287,0,0,0,0,0,0,14.37,14.34,13.92
$GC,20251,0.93,335.3,2820,2492,1457,1282,38.5,10.0,758,20255,0.00,1.50,0.00,0.000,516,0.000,0.096,2826,1667,1369,1456,1282,0,0,0,0,0,0,28.83,14.12,28.83
$GC,20317,0.93,335.3,2826,1667,1456,1281,31.4,10.7,764,20320,0.00,1.52,0.00,0.000,1030,0.000,0.110,2826,2510,1368,1456,1281,0,0,0,0,0,0,28.83,14.12,28.83
$FREEZE,8.89,-1.176,-1.823,0,1,0
$FREEZE,7.80,-1.173,-1.822,0,1,0
$FREEZE,6.57,-1.142,-1.821,0,1,0
$FREEZE,5.35,-1.145,-1.820,0,1,0
$FREEZE,4.04,-1.145,-1.819,0,1,0
$FREEZE,3.02,-1.154,-1.818,0,1,0
$FREEZE,2.07,-1.160,-1.818,0,1,0
$STATE,20578,end climb,SURFACE_DEPTH_REACHED
$STATE,20578,begin surface coast
$FREEZE,1.41,-1.124,-1.811,0,1,0
$FREEZE,1.32,-1.134,-1.674,0,1,0
$FINISH,1.3,1.024608
$STATE,20599,end surface coast,CONTROL_FINISHED_OK
$STATE,20599,begin surface
$SM_CCo,20630,34.67,0.163,0,0,1107,400.08
$SM_GC,2.45,8.12,0.15,34.67,0.091,0.161,0.163,140,2593,1107,-7.36,-0.37,400.08,0,0,0,0,0,0,14.19,14.33,14.14
$RAFOS_CLK,952
$RAFOS,6,1389617342,12.833333,12.817223,61,59,58,57,57,56,215,192,145,157,166,121
$RAFOS,5,1389616883,12.700000,12.689722,61,56,56,53,50,48,213,193,156,177,96,137
$RAFOS,4,1389616381,12.566667,12.550278,63,58,56,55,50,50,214,189,172,140,115,223
$RAFOS,3,1389615914,12.433333,12.420555,60,57,55,53,52,51,205,174,157,227,215,191
$RAFOS,2,1389615437,12.300000,12.288055,75,64,63,57,57,52,216,204,162,130,185,140
$RAFOS,1,1389614957,12.166667,12.154722,61,57,56,52,52,52,206,190,115,155,170,218
$RAFOS,0,1389614472,12.033333,12.020000,64,58,56,50,50,50,163,217,195,120,182,1405
$RAFOS,5,1389602468,8.700000,8.685555,59,56,55,52,52,48,215,196,174,117,228,184
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6317.84,-5742.16,130114,020229
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.77
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.70
$XPDR_PINGS,116
$ALTIM_TOP_PING,18.8,18.4
$24V_AH,11.4,263.173
$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,21.750,98.425,530.075,34.675,0.000,0.000,0.000,226.375,32.750,0.000,8.120,2336.133,15428.009,580.947,1932.759,798.969,0.000,1872.372,0.000,1713.680,2520.000,27.395,0.000
$DEVICE_MAMPS,420.750,161.415,2819.025,162.945,0.000,0.000,0.000,139.230,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227724
$DATA_FILE_SIZE,33362,792
$CAP_FILE_SIZE,162471,0
$CFSIZE,259252224,202899456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.8
$CURRENT,0.082,305.9,1
$GPS,130114,144054,6346.958,-5730.773,42,1.1,42,-30.2