version: 66.11
glider: 192
mission: 2
dive: 642
start: 1 13 114 14 49 50
data:
$ID,192
$MISSION,2
$DIVE,642
$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,-15448.647
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,130114,144054,6346.958,-5730.773,42,1.1,42,-30.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-65.1
$GPS2,130114,144908,6346.978,-5730.753,4,1.1,5,-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,128.2,74330,-15.5,-8.250,-18.49,2720
$D_GRID,1248
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.89,-146.0,114,2598,1125,1068,0.0,0.0,0,100,0.00,0.00,-76.75,0.000,16386,0.000,0.000,110,2598,2576,2626,2526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.89,-146.0,110,2598,2626,2528,3.1,-1.4,8,150,10.40,1.50,-21.65,0.000,18948,0.421,0.116,2213,1736,3337,3502,3173,0,0,0,0,0,0,13.88,14.35,14.76
$GC,282,-0.84,-146.0,2213,1736,3505,3173,34.6,-19.5,25,290,0.12,1.55,0.00,0.000,3078,0.289,0.112,2233,2583,3339,3505,3173,0,0,0,0,0,0,13.93,14.14,28.83
$GC,593,-0.78,-146.0,2232,2582,3505,3171,88.7,-16.5,56,596,0.00,1.60,0.00,0.000,260,0.000,0.125,2229,3423,3337,3504,3171,0,0,0,0,0,0,28.83,13.96,28.83
$GC,737,-0.72,-146.0,2229,3423,3505,3171,109.9,-16.9,65,741,0.20,1.50,0.00,0.000,3078,0.261,0.077,2274,2556,3337,3505,3170,0,0,0,0,0,0,13.79,14.17,28.83
$GC,1059,-0.70,-146.0,2274,2555,3505,3169,153.0,-11.5,76,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2555,3337,3505,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,-0.68,-146.0,2274,2555,3505,3169,188.0,-11.3,86,1362,0.00,1.65,0.00,0.000,260,0.000,0.127,2270,3434,3336,3504,3169,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1458,-0.66,-146.0,2270,3434,3505,3169,199.4,-11.6,89,1462,0.00,1.50,0.00,0.000,1030,0.000,0.079,2270,2578,3336,3505,3168,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1789,-0.63,-146.0,2270,2578,3505,3169,239.1,-12.0,100,1791,0.15,0.00,0.00,0.000,2054,0.251,0.000,2305,2578,3337,3505,3169,0,0,0,0,0,0,14.08,28.83,28.83
$GC,2089,-0.63,-146.0,2305,2578,3506,3169,270.3,-10.4,110,2092,0.00,1.60,0.00,0.000,260,0.000,0.126,2300,3423,3337,3506,3169,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2138,-0.63,-146.0,2300,3423,3506,3169,274.3,-10.7,111,2141,0.00,1.50,0.00,0.000,1030,0.000,0.078,2300,2568,3337,3506,3169,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2458,-0.63,-146.0,2300,2568,3507,3169,312.0,-11.5,122,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2568,3337,3507,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2758,-0.63,-146.0,2300,2568,3509,3169,346.5,-11.5,132,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2568,3339,3509,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-0.63,-146.0,2300,2568,3510,3169,379.8,-10.7,142,3062,0.00,1.62,0.00,0.000,260,0.000,0.122,2294,3429,3339,3510,3169,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3124,-0.63,-146.0,2294,3429,3509,3169,386.7,-10.5,144,3128,0.00,1.55,0.00,0.000,1030,0.000,0.077,2294,2575,3339,3509,3169,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3461,-0.63,-146.0,2294,2575,3511,3169,419.7,-9.5,155,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2575,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.63,-146.0,2294,2575,3512,3169,447.8,-9.2,165,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2575,3340,3512,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.63,-146.0,2294,2575,3514,3169,475.0,-9.0,175,4063,0.00,1.62,0.00,0.000,260,0.000,0.125,2287,3433,3341,3514,3169,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4089,-0.63,-146.0,2287,3433,3514,3169,475.0,-9.0,175,4096,0.00,1.50,0.00,0.000,1030,0.000,0.076,2287,2578,3341,3514,3169,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4395,-0.63,-146.0,2287,2578,3514,3169,505.7,-9.0,186,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2578,3341,3514,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4696,-0.63,-146.0,2287,2578,3515,3169,531.9,-8.7,196,4700,0.00,1.60,0.00,0.000,260,0.000,0.123,2281,3423,3342,3515,3169,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4726,-0.62,-146.0,2281,3423,3514,3169,531.9,-8.7,196,4732,0.00,1.50,0.00,0.000,1030,0.000,0.076,2281,2573,3342,3515,3169,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5032,-0.61,-146.0,2281,2572,3515,3170,562.1,-9.0,207,5034,0.12,0.00,0.00,0.000,2054,0.255,0.000,2309,2573,3342,3514,3170,0,0,0,0,0,0,14.08,28.83,28.83
$GC,5332,-0.62,-146.0,2309,2573,3516,3170,585.1,-7.7,217,5336,0.00,1.60,0.00,0.000,260,0.000,0.122,2304,3425,3343,3516,3170,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5377,-0.62,-146.0,2304,3424,3515,3170,587.9,-7.7,218,5380,0.00,1.50,0.00,0.000,1030,0.000,0.076,2304,2570,3343,3516,3170,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5702,-0.62,-146.0,2304,2570,3516,3170,614.5,-8.1,229,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2570,3343,3516,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6002,-0.62,-146.0,2304,2570,3515,3170,639.4,-8.3,239,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2570,3343,3516,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,-0.62,-146.0,2304,2570,3517,3170,664.1,-8.4,249,6305,0.00,1.62,0.00,0.000,260,0.000,0.122,2298,3434,3343,3517,3170,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6346,-0.62,-146.0,2298,3433,3517,3170,667.3,-8.6,250,6349,0.00,1.50,0.00,0.000,1030,0.000,0.076,2297,2579,3343,3517,3170,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6671,-0.62,-146.0,2298,2579,3517,3170,698.0,-9.2,261,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2579,3343,3517,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,-0.62,-146.0,2298,2579,3517,3169,725.8,-9.5,271,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2579,3343,3517,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.62,-146.0,2298,2579,3518,3170,754.3,-9.4,281,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2579,3344,3518,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,-0.62,-146.0,2298,2579,3518,3170,783.0,-9.6,291,7576,0.00,1.60,0.00,0.000,260,0.000,0.122,2292,3425,3344,3518,3170,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7616,-0.62,-146.0,2292,3425,3518,3170,786.5,-9.6,292,7619,0.00,1.50,0.00,0.000,1030,0.000,0.075,2292,2570,3344,3518,3170,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7941,-0.62,-146.0,2292,2569,3518,3170,819.3,-9.9,303,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2569,3344,3518,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8242,-0.62,-146.0,2291,2569,3518,3170,848.5,-9.7,313,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2570,3343,3517,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,-0.62,-146.0,2291,2570,3518,3170,878.6,-10.2,323,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2570,3344,3518,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8841,-0.62,-146.0,2292,2569,3518,3170,909.4,-10.5,333,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2570,3344,3518,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9142,-0.62,-146.0,2292,2569,3518,3170,941.3,-10.6,343,9145,0.00,1.62,0.00,0.000,260,0.000,0.120,2285,3432,3343,3517,3170,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9170,-0.62,-146.0,2285,3431,3518,3170,941.3,-10.6,343,9176,0.00,1.50,0.00,0.000,1030,0.000,0.073,2285,2579,3344,3518,3170,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9477,-0.62,-146.0,2285,2579,3518,3170,978.1,-10.9,354,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2579,3344,3518,3170,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9591,begin apogee
$GC,9606,-0.22,0.0,2285,2502,3518,3170,990.6,-10.4,358,9791,0.52,0.00,174.15,2.824,10246,0.209,0.000,2428,2502,2741,2853,2630,0,0,0,0,0,0,13.65,28.83,12.09
$STATE,9792,end apogee,CONTROL_FINISHED_OK
$STATE,9792,begin climb
$GC,9798,0.89,146.0,2427,2502,2854,2631,999.6,0.0,364,10000,1.25,0.00,198.23,2.759,10246,0.151,0.000,2787,2502,2145,2240,2051,0,0,0,0,0,0,13.31,28.83,11.36
$GC,10289,0.86,146.0,2788,2502,2240,2042,962.7,10.0,381,10292,0.00,1.50,0.00,0.000,516,0.000,0.090,2793,1673,2140,2239,2042,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10354,0.82,146.0,2793,1673,2239,2040,955.4,10.1,383,10358,0.00,1.52,0.00,0.000,1030,0.000,0.108,2793,2524,2139,2239,2040,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10691,0.78,146.0,2793,2524,2239,2040,919.5,10.8,394,10693,0.12,0.00,0.00,0.000,4102,0.261,0.000,2765,2524,2139,2239,2039,0,0,0,0,0,0,14.31,28.83,28.83
$GC,10990,0.75,146.0,2765,2524,2239,2038,890.7,9.4,404,10993,0.00,1.50,0.00,0.000,516,0.000,0.091,2769,1664,2138,2239,2038,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11070,0.73,146.0,2770,1664,2240,2037,884.6,9.3,406,11073,0.00,1.50,0.00,0.000,1030,0.000,0.108,2770,2509,2138,2239,2037,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11390,0.70,146.0,2770,2509,2240,2037,852.2,10.0,417,11392,0.15,0.00,0.00,0.000,4102,0.251,0.000,2736,2509,2138,2239,2037,0,0,0,0,0,0,14.21,28.83,28.83
$GC,11690,0.69,146.0,2736,2509,2239,2036,826.7,8.5,427,11693,0.00,1.50,0.00,0.000,516,0.000,0.093,2740,1672,2137,2239,2036,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11719,0.69,146.0,2740,1672,2239,2034,826.7,8.5,427,11726,0.00,1.50,0.00,0.000,1030,0.000,0.109,2739,2509,2137,2239,2035,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12026,0.68,146.0,2740,2509,2239,2035,796.9,9.0,438,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2509,2136,2238,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12326,0.67,146.0,2740,2509,2240,2035,770.0,8.8,448,12329,0.00,1.50,0.00,0.000,516,0.000,0.093,2745,1674,2136,2239,2034,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12370,0.66,146.0,2745,1674,2239,2034,766.8,8.8,449,12374,0.00,1.50,0.00,0.000,1030,0.000,0.108,2745,2510,2136,2239,2034,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12696,0.65,146.0,2745,2510,2240,2034,738.0,8.5,460,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2510,2136,2239,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12998,0.64,148.3,2745,2510,2240,2033,713.6,8.2,470,13002,0.00,1.55,0.00,0.000,260,0.000,0.121,2745,3358,2137,2240,2034,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13034,0.63,149.5,2745,3359,2240,2034,710.5,8.2,471,13038,0.15,1.52,0.00,0.000,5126,0.244,0.081,2717,2489,2136,2239,2034,0,0,0,0,0,0,14.01,14.23,28.83
$GC,13371,0.68,181.5,2717,2489,2239,2033,686.6,7.0,482,13415,0.00,1.52,39.28,2.551,8708,0.000,0.093,2721,1667,2001,2106,1897,0,0,0,0,0,0,28.83,14.19,12.98
$GC,13466,0.73,209.8,1712,1665,2060,1890,680.4,7.2,485,13504,0.00,1.55,33.88,2.431,9222,0.000,0.109,2721,2506,1885,1992,1778,0,0,0,0,0,0,28.83,14.27,12.92
$GC,13822,0.74,209.8,2721,2506,1990,1772,649.8,8.8,497,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2505,1881,1990,1772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14118,0.75,209.8,2721,2506,1989,1770,623.7,8.9,507,14121,0.00,1.50,0.00,0.000,516,0.000,0.093,2727,1657,1880,1990,1770,0,0,0,0,0,0,28.83,14.32,28.83
$GC,14171,0.76,209.8,2727,1657,1989,1769,620.4,8.9,508,14175,0.00,1.55,0.00,0.000,1030,0.000,0.107,2727,2523,1879,1989,1769,0,0,0,0,0,0,28.83,14.31,28.83
$GC,14488,0.77,209.8,2727,2523,1989,1768,590.0,9.3,519,14492,0.00,1.55,0.00,0.000,516,0.000,0.093,2733,1666,1879,1989,1769,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14532,0.79,209.8,2733,1666,1989,1768,586.7,9.1,520,14536,0.00,1.55,0.00,0.000,1030,0.000,0.110,2733,2505,1878,1989,1768,0,0,0,0,0,0,28.83,14.20,28.83
$GC,14858,0.79,209.8,2733,2505,1989,1768,556.8,8.8,531,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2505,1878,1989,1767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15159,0.81,218.6,2733,2505,1989,1768,532.2,7.9,541,15175,0.12,1.52,9.45,2.096,10756,0.144,0.096,2795,1669,1850,1957,1743,0,0,0,0,0,0,14.47,14.40,13.24
$GC,15217,0.81,218.6,2795,1669,1957,1742,526.3,8.9,543,15221,0.00,1.50,0.00,0.000,1030,0.000,0.110,2795,2512,1849,1957,1742,0,0,0,0,0,0,28.83,14.38,28.83
$GC,15554,0.79,218.6,2795,2511,1956,1741,487.5,11.5,554,15558,0.12,1.48,0.00,0.000,4612,0.255,0.090,2766,1669,1848,1954,1742,0,0,0,0,0,0,14.21,14.29,28.83
$GC,15620,0.77,218.6,2766,1669,1956,1741,480.8,10.7,556,15624,0.00,1.52,0.00,0.000,1030,0.000,0.111,2766,2520,1848,1956,1741,0,0,0,0,0,0,28.83,14.24,28.83
$GC,15957,0.75,218.6,2767,2520,1956,1741,446.9,10.1,567,15960,0.00,1.50,0.00,0.000,516,0.000,0.095,2772,1667,1848,1956,1741,0,0,0,0,0,0,28.83,14.19,28.83
$GC,16005,0.74,218.6,2772,1667,1956,1741,443.5,9.8,568,16009,0.00,1.52,0.00,0.000,1030,0.000,0.110,2772,2513,1848,1956,1741,0,0,0,0,0,0,28.83,14.19,28.83
$GC,16326,0.73,218.6,2773,2513,1956,1740,409.1,10.6,579,16329,0.00,1.50,0.00,0.000,516,0.000,0.095,2778,1670,1848,1956,1740,0,0,0,0,0,0,28.83,14.16,28.83
$GC,16385,0.72,218.6,2779,1670,1956,1740,405.5,10.5,580,16393,0.15,1.55,0.00,0.000,5126,0.230,0.111,2743,2519,1848,1956,1740,0,0,0,0,0,0,14.02,14.15,28.83
$GC,16691,0.72,218.6,2743,2519,1956,1740,376.4,8.7,591,16692,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2519,1848,1956,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16991,0.72,218.6,2743,2519,1956,1740,349.9,8.9,601,16995,0.00,1.55,0.00,0.000,516,0.000,0.093,2747,1672,1848,1956,1740,0,0,0,0,0,0,28.83,14.09,28.83
$GC,17076,0.72,218.6,2747,1672,1956,1739,344.2,8.8,603,17079,0.00,1.52,0.00,0.000,1030,0.000,0.109,2747,2512,1847,1956,1739,0,0,0,0,0,0,28.83,14.11,28.83
$GC,17391,0.72,218.6,2747,2511,1956,1739,314.1,8.8,614,17394,0.00,1.52,0.00,0.000,516,0.000,0.095,2752,1661,1847,1956,1739,0,0,0,0,0,0,28.83,14.12,28.83
$GC,17440,0.72,218.6,2753,1661,1956,1739,311.0,8.8,615,17443,0.00,1.55,0.00,0.000,1030,0.000,0.109,2753,2515,1847,1955,1739,0,0,0,0,0,0,28.83,14.11,28.83
$GC,17761,0.72,218.6,2753,2515,1956,1739,280.5,9.0,626,17764,0.00,1.55,0.00,0.000,516,0.000,0.095,2757,1670,1847,1956,1739,0,0,0,0,0,0,28.83,14.06,28.83
$GC,17821,0.72,218.6,2758,1670,1956,1739,277.2,9.0,627,17827,0.00,1.55,0.00,0.000,1030,0.000,0.111,2758,2518,1847,1956,1739,0,0,0,0,0,0,28.83,14.08,28.83
$GC,18128,0.72,218.6,2758,2518,1956,1739,246.3,9.7,638,18131,0.00,1.52,0.00,0.000,516,0.000,0.094,2764,1666,1847,1956,1739,0,0,0,0,0,0,28.83,14.09,28.83
$GC,18176,0.72,218.6,2764,1666,1956,1739,242.7,9.7,639,18179,0.00,1.55,0.00,0.000,1030,0.000,0.112,2764,2515,1847,1956,1739,0,0,0,0,0,0,28.83,14.08,28.83
$GC,18496,0.72,218.6,2764,2515,1956,1739,210.2,10.1,650,18497,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2515,1847,1956,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18797,0.72,218.6,2764,2515,1956,1739,182.0,9.1,660,18800,0.00,1.52,0.00,0.000,516,0.000,0.093,2770,1664,1847,1956,1739,0,0,0,0,0,0,28.83,14.07,28.83
$GC,18892,0.72,218.6,2770,1663,1956,1739,173.5,8.8,663,18896,0.00,1.60,0.00,0.000,1030,0.000,0.110,2770,2512,1847,1956,1739,0,0,0,0,0,0,28.83,14.01,28.83
$GC,19229,0.72,218.6,2770,2512,1956,1739,139.5,10.7,674,19232,0.00,1.52,0.00,0.000,516,0.000,0.094,2776,1662,1847,1956,1739,0,0,0,0,0,0,28.83,14.06,28.83
$GC,19272,0.72,218.6,2776,1662,1956,1739,135.2,11.1,675,19276,0.12,1.55,0.00,0.000,5126,0.231,0.110,2748,2511,1847,1956,1739,0,0,0,0,0,0,13.94,14.04,28.83
$GC,19598,0.74,218.6,2748,2511,1956,1739,100.7,9.8,686,19602,0.00,1.60,0.00,0.000,260,0.000,0.124,2748,3357,1847,1956,1739,0,0,0,0,0,0,28.83,13.93,28.83
$GC,19685,0.74,218.6,2748,3357,1956,1739,92.4,9.6,692,19689,0.00,1.52,0.00,0.000,1030,0.000,0.080,2752,2508,1848,1957,1739,0,0,0,0,0,0,28.83,14.12,28.83
$GC,20002,0.81,249.5,2752,2508,1956,1739,68.8,7.1,723,20028,0.00,1.48,18.45,0.368,8708,0.000,0.089,2758,1667,1722,1824,1621,0,0,0,0,0,0,28.83,14.29,13.82
$GC,20102,0.88,278.1,2758,1667,1824,1620,62.3,7.2,732,20125,0.10,1.52,17.02,0.347,11270,0.166,0.109,2798,2511,1606,1703,1509,0,0,0,0,0,0,14.27,14.19,13.93
$GC,20437,0.88,278.1,2798,2511,1700,1509,30.5,8.5,765,20441,0.00,1.55,0.00,0.000,260,0.000,0.123,2799,3357,1604,1700,1508,0,0,0,0,0,0,28.83,14.06,28.83
$GC,20475,0.88,278.1,2799,3359,1699,1508,27.3,9.1,768,20482,0.00,1.50,0.00,0.000,1030,0.000,0.082,2805,2503,1603,1699,1508,0,0,0,0,0,0,28.83,14.20,28.83
$FREEZE,8.42,-0.792,-1.822,0,1,0
$FREEZE,7.40,-0.818,-1.821,0,1,0
$FREEZE,6.43,-0.816,-1.820,0,1,0
$FREEZE,5.62,-0.828,-1.819,0,1,0
$FREEZE,4.68,-0.824,-1.819,0,1,0
$FREEZE,3.96,-0.831,-1.818,0,1,0
$FREEZE,3.17,-0.835,-1.817,0,1,0
$FREEZE,2.52,-0.837,-1.817,0,1,0
$STATE,20760,end climb,SURFACE_DEPTH_REACHED
$STATE,20760,begin surface coast
$FREEZE,1.89,-0.834,-1.816,0,1,0
$FREEZE,1.36,-0.837,-1.816,0,1,0
$FREEZE,1.34,-0.944,-1.140,0,1,0
$FINISH,1.3,1.016830
$STATE,20790,end surface coast,CONTROL_FINISHED_OK
$STATE,20790,begin surface
$SM_CCo,20819,65.82,0.155,0,0,1109,400.08
$SM_GC,2.45,7.95,0.17,65.82,0.080,0.157,0.155,136,2587,1109,-7.36,-0.42,400.08,0,0,0,0,0,0,14.23,14.26,14.18
$RAFOS_CLK,968
$RAFOS,3,1389644704,20.433332,20.417778,64,60,59,58,54,52,211,154,222,116,167,188
$RAFOS,2,1389644221,20.299999,20.283611,61,60,59,55,53,50,138,148,211,187,171,122
$RAFOS,1,1389643751,20.166666,20.153055,63,56,56,56,55,53,179,162,118,214,196,143
$RAFOS,0,1389643289,20.033333,20.024723,59,54,53,52,51,51,203,169,1355,139,118,128
$RAFOS,6,1389631764,16.833334,16.823334,62,59,55,54,50,49,130,200,169,181,119,220
$RAFOS,5,1389631285,16.700001,16.690277,60,56,56,55,52,50,176,158,228,199,216,124
$RAFOS,4,1389630795,16.566668,16.554167,61,57,56,54,51,50,199,181,218,147,233,171
$RAFOS,3,1389630315,16.433332,16.420834,62,62,56,55,55,53,184,211,142,110,170,223
$RAFOS,2,1389629825,16.299999,16.284721,68,56,53,53,52,50,198,126,177,162,141,218
$RAFOS,1,1389629345,16.166666,16.151388,70,65,58,57,55,53,218,155,182,137,196,121
$RAFOS,0,1389628889,16.033333,16.024723,62,61,60,58,58,55,207,126,195,158,169,144
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6322.64,-5739.56,130114,080806
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.01
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.50
$XPDR_PINGS,140
$ALTIM_TOP_PING,19.2,18.6
$24V_AH,11.4,263.608
$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,21.775,98.675,490.450,65.825,0.000,0.000,0.000,254.500,38.750,0.000,6.237,2364.439,15610.184,611.031,1969.697,823.798,0.000,1915.774,0.000,1740.076,4320.000,27.393,0.000
$DEVICE_MAMPS,420.750,156.825,2824.380,154.530,0.000,0.000,0.000,136.935,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227628
$DATA_FILE_SIZE,33522,800
$CAP_FILE_SIZE,163734,0
$CFSIZE,259252224,202833920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.7
$CURRENT,0.082,275.0,1
$GPS,130114,203938,6346.474,-5726.211,33,1.5,33,-30.2