version: 66.11
glider: 192
mission: 2
dive: 650
start: 1 15 114 15 26 31
data:
$ID,192
$MISSION,2
$DIVE,650
$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,-15467.832
$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,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,19
$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
$GPS1,150114,151253,6347.299,-5657.056,41,1.7,41,-30.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.6
$GPS2,150114,152543,6347.215,-5656.843,20,1.2,20,-30.1
$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,126.8,46709,-15.5,-8.250,-18.49,2720
$D_GRID,1217
$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,19,-0.89,-146.0,94,2592,1120,1071,0.0,0.0,0,109,0.00,0.00,-86.62,0.000,16386,0.000,0.000,94,2593,2740,2785,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.89,-146.0,94,2593,2786,2696,3.5,-2.5,9,146,10.40,1.50,-14.38,0.000,18692,0.415,0.148,2207,3423,3338,3495,3181,0,0,0,0,0,0,13.88,14.31,14.78
$GC,227,-0.82,-146.0,2207,3423,3500,3179,25.3,-21.1,19,235,0.15,1.50,0.00,0.000,3078,0.285,0.074,2238,2548,3339,3500,3179,0,0,0,0,0,0,13.96,14.31,28.83
$GC,537,-0.77,-146.0,2239,2548,3500,3177,82.8,-15.7,50,541,0.00,1.45,0.00,0.000,516,0.000,0.086,2238,1738,3338,3500,3177,0,0,0,0,0,0,28.83,14.09,28.83
$GC,740,-0.74,-146.0,2239,1738,3499,3176,112.3,-15.6,64,744,0.15,1.52,0.00,0.000,3078,0.268,0.112,2267,2577,3337,3499,3176,0,0,0,0,0,0,13.83,14.02,28.83
$GC,1062,-0.71,-146.0,2266,2577,3500,3175,159.9,-14.2,75,1066,0.00,1.50,0.00,0.000,516,0.000,0.088,2267,1737,3337,3499,3175,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1100,-0.69,-146.0,1408,1735,3492,3172,165.1,-14.2,76,1104,0.00,1.55,0.00,0.000,1030,0.000,0.112,2263,2590,3337,3500,3175,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1431,-0.66,-146.0,2263,2590,3499,3175,210.4,-13.2,87,1435,0.12,1.60,0.00,0.000,2308,0.275,0.122,2291,3425,3337,3500,3175,0,0,0,0,0,0,14.01,13.87,28.83
$GC,1471,-0.64,-146.0,2291,3425,3498,3175,214.9,-12.7,88,1475,0.00,1.50,0.00,0.000,1030,0.000,0.076,2291,2586,3337,3500,3175,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1802,-0.63,-146.0,2291,2586,3501,3176,249.2,-9.6,99,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2586,3338,3501,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-0.62,-146.0,2291,2586,3502,3176,278.7,-10.0,109,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2586,3339,3502,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2403,-0.61,-146.0,2291,2586,3504,3176,308.9,-10.1,119,2406,0.00,1.50,0.00,0.000,516,0.000,0.085,2290,1728,3339,3504,3175,0,0,0,0,0,0,28.83,13.99,28.83
$GC,2441,-0.60,-146.0,2290,1728,3504,3176,312.6,-10.2,120,2445,0.12,1.58,0.00,0.000,3078,0.243,0.109,2311,2588,3340,3504,3176,0,0,0,0,0,0,13.81,13.94,28.83
$GC,2773,-0.60,-146.0,2311,2588,3506,3176,344.5,-9.8,131,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2587,3341,3506,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.61,-146.0,2311,2588,3506,3176,372.3,-9.1,141,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2587,3341,3506,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3372,-0.61,-146.0,2311,2588,3507,3175,399.2,-8.7,151,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2587,3341,3507,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-0.61,-146.0,2311,2587,3509,3176,425.1,-8.6,161,3677,0.00,1.52,0.00,0.000,516,0.000,0.083,2312,1741,3342,3508,3176,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3717,-0.62,-146.0,2312,1740,3508,3176,428.3,-8.6,162,3720,0.00,1.58,0.00,0.000,1030,0.000,0.107,2307,2574,3341,3508,3175,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4042,-0.62,-146.0,2307,2574,3509,3175,458.1,-9.1,173,4046,0.00,1.62,0.00,0.000,260,0.000,0.119,2301,3429,3342,3509,3176,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4071,-0.62,-146.0,2301,3429,3509,3176,458.1,-9.1,173,4078,0.00,1.50,0.00,0.000,1030,0.000,0.074,2301,2568,3342,3509,3176,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4377,-0.62,-146.0,2301,2568,3510,3176,489.8,-9.6,184,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2568,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4678,-0.62,-146.0,2301,2568,3510,3176,518.0,-9.3,194,4681,0.00,1.67,0.00,0.000,260,0.000,0.119,2295,3430,3343,3510,3176,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4752,-0.62,-146.0,2295,3430,3509,3175,524.5,-9.5,196,4755,0.00,1.50,0.00,0.000,1030,0.000,0.074,2295,2573,3343,3510,3176,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5077,-0.62,-146.0,2295,2573,3509,3176,557.5,-9.9,207,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2573,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5377,-0.62,-146.0,2295,2573,3510,3176,587.2,-9.9,217,5380,0.00,1.60,0.00,0.000,260,0.000,0.118,2289,3424,3343,3510,3176,0,0,0,0,0,0,28.83,13.86,28.83
$GC,5420,-0.62,-146.0,2289,3425,3509,3176,590.9,-10.0,218,5423,0.00,1.50,0.00,0.000,1030,0.000,0.075,2289,2566,3343,3510,3177,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5745,-0.62,-146.0,2288,2566,3511,3176,624.9,-10.2,229,5748,0.00,1.62,0.00,0.000,260,0.000,0.119,2282,3427,3343,3511,3175,0,0,0,0,0,0,28.83,13.86,28.83
$GC,5784,-0.62,-146.0,1408,3426,3502,3173,628.5,-10.3,230,5787,0.00,1.50,0.00,0.000,1030,0.000,0.074,2282,2567,3343,3510,3176,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6115,-0.61,-146.0,2282,2567,3510,3176,664.4,-10.6,241,6119,0.12,1.50,0.00,0.000,2564,0.253,0.081,2315,1737,3343,3511,3176,0,0,0,0,0,0,14.06,13.93,28.83
$GC,6175,-0.61,-146.0,2315,1736,3511,3176,667.9,-10.3,242,6182,0.00,1.55,0.00,0.000,1030,0.000,0.109,2310,2580,3343,3510,3176,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6482,-0.62,-146.0,2311,2580,3510,3176,697.5,-9.0,253,6486,0.00,1.55,0.00,0.000,260,0.000,0.119,2304,3425,3343,3510,3176,0,0,0,0,0,0,28.83,13.84,28.83
$GC,6542,-0.63,-146.0,2304,3426,3511,3176,700.9,-9.1,254,6548,0.00,1.50,0.00,0.000,1030,0.000,0.075,2304,2564,3343,3510,3176,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6849,-0.63,-146.0,2304,2564,3511,3176,731.8,-9.4,265,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2564,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7148,-0.63,-146.0,2304,2564,3510,3176,760.5,-9.5,275,7152,0.00,1.67,0.00,0.000,260,0.000,0.120,2298,3423,3343,3510,3176,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7187,-0.63,-146.0,2298,3423,3511,3176,764.0,-9.6,276,7190,0.00,1.52,0.00,0.000,1030,0.000,0.074,2298,2579,3343,3510,3176,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7518,-0.63,-146.0,2298,2579,3511,3176,796.6,-9.5,287,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2580,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7817,-0.63,-146.0,2298,2580,3511,3176,824.0,-9.0,297,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2579,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8117,-0.63,-146.0,2298,2579,3511,3176,849.0,-8.2,307,8121,0.00,1.52,0.00,0.000,516,0.000,0.083,2298,1740,3343,3511,3176,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8168,-0.63,-146.0,2298,1740,3511,3176,852.0,-8.3,308,8172,0.00,1.55,0.00,0.000,1030,0.000,0.108,2292,2579,3343,3510,3176,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8488,-0.63,-146.0,2293,2579,3511,3176,880.2,-8.4,319,8492,0.00,1.58,0.00,0.000,260,0.000,0.119,2286,3429,3343,3510,3176,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8516,-0.63,-146.0,2286,3429,3511,3176,880.2,-8.4,319,8523,0.00,1.50,0.00,0.000,1030,0.000,0.073,2286,2571,3343,3510,3176,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8825,-0.63,-146.0,2286,2571,3511,3176,909.3,-8.8,330,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2570,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9123,-0.63,-146.0,2286,2571,3511,3176,935.5,-8.8,340,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2571,3343,3510,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9424,-0.63,-146.0,2286,2571,3511,3176,962.2,-8.9,350,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2571,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9725,-0.63,-146.0,2286,2571,3511,3176,989.7,-9.3,360,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2571,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9747,begin apogee
$GC,9761,-0.22,0.0,2286,2482,3511,3176,992.5,-9.3,361,9946,0.52,0.00,172.98,2.814,10246,0.204,0.000,2429,2482,2741,2850,2632,0,0,0,0,0,0,13.62,28.83,12.14
$STATE,9947,end apogee,CONTROL_FINISHED_OK
$STATE,9947,begin climb
$GC,9954,0.89,146.0,2430,2482,2850,2632,999.0,0.0,367,10155,1.25,1.70,190.45,2.722,10756,0.151,0.087,2796,1640,2144,2239,2050,0,0,0,0,0,0,13.37,12.67,11.51
$GC,10196,0.84,146.0,2796,1640,2240,2047,985.2,8.6,375,10200,0.00,1.67,0.00,0.000,1030,0.000,0.105,2796,2483,2142,2239,2046,0,0,0,0,0,0,28.83,13.07,28.83
$GC,10512,0.80,146.0,2796,2483,2239,2041,948.7,11.0,386,10516,0.00,1.58,0.00,0.000,260,0.000,0.122,2796,3329,2140,2239,2041,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10551,0.76,146.0,2796,3329,2239,2041,944.4,11.1,387,10556,0.15,1.50,0.00,0.000,5126,0.221,0.081,2761,2484,2140,2240,2041,0,0,0,0,0,0,14.17,14.39,28.83
$GC,10884,0.74,146.0,2760,2484,2239,2039,913.6,9.0,398,10888,0.00,1.50,0.00,0.000,516,0.000,0.093,2765,1625,2138,2239,2038,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10943,0.72,146.0,2765,1625,2239,2037,910.4,8.9,399,10949,0.00,1.55,0.00,0.000,1030,0.000,0.112,2765,2483,2138,2240,2037,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11251,0.69,146.0,2765,2483,2239,2037,880.8,9.1,410,11253,0.12,0.00,0.00,0.000,4102,0.259,0.000,2737,2483,2137,2239,2036,0,0,0,0,0,0,14.25,28.83,28.83
$GC,11550,0.70,158.6,2737,2483,2239,2036,857.4,7.8,420,11566,0.00,0.00,14.05,2.508,8198,0.000,0.000,2737,2483,2094,2198,1990,0,0,0,0,0,0,28.83,28.83,13.16
$GC,11850,0.69,158.6,2737,2483,2198,1990,833.1,8.3,430,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2483,2094,2198,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12150,0.69,158.6,2737,2483,2198,1989,807.4,8.6,440,12154,0.00,1.50,0.00,0.000,516,0.000,0.094,2741,1633,2093,2198,1989,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12185,0.69,158.6,2741,1633,2198,1987,804.5,8.5,441,12189,0.00,1.55,0.00,0.000,1030,0.000,0.110,2741,2486,2093,2198,1988,0,0,0,0,0,0,28.83,14.23,28.83
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$GC,12861,0.66,158.6,2741,3333,2198,1987,743.6,9.3,463,12864,0.00,1.50,0.00,0.000,1030,0.000,0.080,2747,2468,2092,2198,1987,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13192,0.65,158.6,2747,2468,2198,1987,712.8,9.2,474,13193,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2468,2092,2198,1987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13492,0.64,158.6,2747,2468,2198,1986,685.5,9.0,484,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2468,2091,2197,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13792,0.63,158.6,2747,2468,2198,1986,659.5,8.6,494,13794,0.15,0.00,0.00,0.000,4102,0.237,0.000,2713,2468,2092,2198,1986,0,0,0,0,0,0,14.16,28.83,28.83
$GC,14093,0.74,222.9,2713,2468,2198,1986,640.2,5.8,504,14169,0.12,0.00,73.82,2.453,10246,0.144,0.000,2759,2468,1832,1935,1729,0,0,0,0,0,0,14.45,28.83,12.93
$GC,14451,0.74,222.9,2759,2468,1931,1724,607.5,9.7,516,14454,0.00,1.50,0.00,0.000,516,0.000,0.095,2766,1609,1827,1931,1724,0,0,0,0,0,0,28.83,14.37,28.83
$GC,14474,0.74,222.9,2766,1609,1931,1724,607.5,9.7,516,14477,0.00,1.58,0.00,0.000,1030,0.000,0.110,2766,2484,1827,1931,1723,0,0,0,0,0,0,28.83,14.36,28.83
$GC,14790,0.73,222.9,2766,2484,1930,1723,574.0,10.1,527,14794,0.00,1.50,0.00,0.000,516,0.000,0.096,2772,1634,1826,1930,1723,0,0,0,0,0,0,28.83,14.29,28.83
$GC,14819,0.72,222.9,2772,1634,1930,1722,574.0,10.1,527,14825,0.00,1.52,0.00,0.000,1030,0.000,0.109,2772,2480,1826,1930,1722,0,0,0,0,0,0,28.83,14.28,28.83
$GC,15126,0.71,222.9,2772,2480,1929,1722,538.1,10.9,538,15128,0.12,0.00,0.00,0.000,4102,0.256,0.000,2742,2480,1825,1929,1722,0,0,0,0,0,0,14.26,28.83,28.83
$GC,15426,0.71,222.9,2742,2480,1929,1721,509.5,9.4,548,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2480,1825,1929,1721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15726,0.71,222.9,2742,2479,1929,1721,480.9,9.5,558,15727,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2480,1825,1929,1721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16025,0.71,222.9,2742,2480,1929,1720,452.5,9.2,568,16029,0.00,1.50,0.00,0.000,516,0.000,0.096,2746,1623,1824,1929,1720,0,0,0,0,0,0,28.83,14.14,28.83
$GC,16054,0.71,222.9,2747,1623,1929,1720,452.5,9.2,568,16061,0.00,1.58,0.00,0.000,1030,0.000,0.109,2746,2484,1824,1929,1720,0,0,0,0,0,0,28.83,14.16,28.83
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$GC,16389,0.71,222.9,2746,3325,1929,1720,421.8,9.1,579,16396,0.00,1.50,0.00,0.000,1030,0.000,0.082,2753,2468,1824,1928,1720,0,0,0,0,0,0,28.83,14.23,28.83
$GC,16697,0.71,222.9,2753,2468,1929,1720,391.0,9.0,590,16701,0.00,1.52,0.00,0.000,516,0.000,0.096,2759,1616,1824,1929,1719,0,0,0,0,0,0,28.83,14.10,28.83
$GC,16740,0.71,222.9,2759,1616,1929,1719,387.7,8.9,591,16744,0.00,1.58,0.00,0.000,1030,0.000,0.109,2759,2482,1824,1929,1719,0,0,0,0,0,0,28.83,14.13,28.83
$GC,17066,0.71,222.9,2758,2482,1929,1719,357.6,9.0,602,17069,0.00,1.58,0.00,0.000,260,0.000,0.125,2759,3330,1824,1929,1719,0,0,0,0,0,0,28.83,14.02,28.83
$GC,17110,0.71,222.9,2759,3330,1929,1719,354.2,9.2,603,17113,0.00,1.50,0.00,0.000,1030,0.000,0.082,2765,2472,1824,1929,1719,0,0,0,0,0,0,28.83,14.19,28.83
$GC,17435,0.71,222.9,2765,2472,1929,1719,322.9,9.4,614,17440,0.00,1.52,0.00,0.000,516,0.000,0.096,2771,1616,1824,1929,1719,0,0,0,0,0,0,28.83,14.08,28.83
$GC,17491,0.71,222.9,2771,1616,1928,1719,319.4,9.2,615,17495,0.12,1.58,0.00,0.000,5126,0.243,0.109,2743,2483,1823,1928,1718,0,0,0,0,0,0,13.97,14.10,28.83
$GC,17809,0.73,233.2,2743,2483,1928,1719,292.6,7.9,626,17825,0.00,1.58,10.20,1.909,8452,0.000,0.125,2742,3323,1790,1892,1689,0,0,0,0,0,0,28.83,14.28,13.31
$GC,17855,0.76,243.5,2742,3323,1892,1689,290.2,7.9,627,17874,0.00,1.50,12.95,1.924,9222,0.000,0.083,2747,2452,1748,1847,1650,0,0,0,0,0,0,28.83,14.40,13.24
$GC,18203,0.77,243.5,2747,2452,1846,1648,260.3,8.5,639,18207,0.00,1.45,0.00,0.000,516,0.000,0.096,2753,1641,1747,1846,1648,0,0,0,0,0,0,28.83,14.24,28.83
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$GC,18573,0.78,243.5,2753,2480,1846,1647,227.1,8.8,651,18574,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2481,1746,1846,1647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18872,0.79,245.1,2753,2481,1846,1647,201.6,8.2,661,18877,0.00,1.50,0.00,0.000,516,0.000,0.095,2758,1638,1745,1845,1646,0,0,0,0,0,0,28.83,14.13,28.83
$GC,18912,0.80,248.4,1792,1637,1809,1643,198.6,8.1,662,18922,0.00,1.52,6.15,1.648,9222,0.000,0.109,2758,2480,1728,1827,1630,0,0,0,0,0,0,28.83,14.14,13.37
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$GC,19534,0.81,255.7,2758,2480,1826,1630,144.2,8.0,683,19548,0.00,1.48,9.15,1.732,8708,0.000,0.093,2763,1638,1698,1796,1601,0,0,0,0,0,0,28.83,14.39,13.38
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$GC,19889,0.81,255.7,2764,2488,1796,1601,106.8,10.9,695,19893,0.00,1.52,0.00,0.000,260,0.000,0.125,2764,3326,1698,1796,1601,0,0,0,0,0,0,28.83,14.15,28.83
$GC,19924,0.81,255.7,2763,3326,1796,1601,102.8,11.0,696,19928,0.00,1.50,0.00,0.000,1030,0.000,0.081,2771,2460,1698,1796,1601,0,0,0,0,0,0,28.83,14.29,28.83
$GC,20241,0.82,255.7,2770,2460,1796,1601,68.7,9.5,725,20249,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2460,1698,1796,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20559,0.84,261.0,2770,2459,1796,1601,41.1,8.1,756,20566,0.00,0.00,3.17,0.295,8198,0.000,0.000,2770,2459,1676,1773,1579,0,0,0,0,0,0,28.83,28.83,13.87
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$FREEZE,8.36,-0.253,-1.825,0,1,0
$FREEZE,8.36,-0.253,-1.825,0,1,0
$GC,20931,0.89,261.0,2776,1640,1773,1579,8.4,9.2,792,20937,0.00,1.55,0.00,0.000,1030,0.000,0.109,2776,2486,1676,1773,1579,0,0,0,0,0,0,28.83,14.09,28.83
$FREEZE,6.66,-0.258,-1.824,0,1,0
$FREEZE,5.91,-0.258,-1.823,0,1,0
$FREEZE,5.15,-0.259,-1.822,0,1,0
$FREEZE,4.63,-0.259,-1.822,0,1,0
$FREEZE,4.17,-0.264,-1.822,0,1,0
$FREEZE,3.67,-0.262,-1.821,0,1,0
$FREEZE,2.95,-0.258,-1.821,0,1,0
$STATE,21003,end climb,SURFACE_DEPTH_REACHED
$STATE,21003,begin surface coast
$FREEZE,2.03,-0.261,-1.820,0,1,0
$FREEZE,1.51,-0.266,-1.819,0,1,0
$FREEZE,1.18,-0.246,-0.317,0,1,0
$FREEZE,1.21,-0.238,-1.611,0,1,0
$FREEZE,1.16,-0.270,-1.819,0,1,0
$FINISH,1.2,1.026649
$STATE,21060,end surface coast,CONTROL_FINISHED_OK
$STATE,21060,begin surface
$SM_CCo,21089,75.18,0.150,0,0,1108,400.08
$SM_GC,2.05,8.00,0.20,75.18,0.093,0.149,0.150,140,2593,1108,-7.35,-0.28,400.08,0,0,0,0,0,0,14.30,14.26,14.26
$RAFOS_CLK,973
$RAFOS,6,1389818969,20.833334,20.824722,65,57,55,54,52,51,197,128,210,163,147,223
$RAFOS,5,1389818467,20.700001,20.685278,63,55,54,54,52,52,179,206,188,216,118,133
$RAFOS,4,1389818006,20.566668,20.557222,63,61,60,57,53,53,161,176,148,194,216,226
$RAFOS,3,1389817511,20.433332,20.419722,69,68,56,55,54,53,199,213,171,224,131,155
$RAFOS,2,1389817030,20.299999,20.286112,58,58,55,55,53,51,112,158,191,215,177,204
$RAFOS,1,1389816560,20.166666,20.155556,58,57,56,55,55,52,186,154,144,129,211,200
$RAFOS,0,1389816071,20.033333,20.019722,60,57,55,55,52,51,157,179,169,209,188,198
$RAFOS,6,1389804541,16.833334,16.816944,64,58,58,58,54,53,124,168,190,218,90,181
$RAFOS,5,1389804083,16.700001,16.689722,60,58,58,54,52,50,184,152,214,134,193,165
$RAFOS,4,1389803597,16.566668,16.554722,72,60,55,55,54,49,196,210,152,176,220,133
$RAFOS,3,1389803107,16.433332,16.418612,68,62,57,57,51,50,178,159,115,199,145,218
$RAFOS,2,1389802628,16.299999,16.285555,60,59,56,51,49,49,220,201,176,158,120,143
$RAFOS,1,1389802147,16.166666,16.151945,62,60,59,57,56,56,181,140,215,162,204,194
$RAFOS,0,1389801686,16.033333,16.023890,58,58,56,55,54,52,164,198,114,207,174,154
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6322.64,-5701.84,150114,151541
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.34
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,14.10
$XPDR_PINGS,126
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,11.5,267.159
$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,21.650,101.900,492.925,75.175,0.000,0.000,0.000,448.650,35.250,0.000,22.007,2379.225,15946.622,606.837,2145.992,863.512,0.000,2128.196,0.000,1711.940,5040.000,32.757,0.000
$DEVICE_MAMPS,415.395,149.175,2813.670,149.940,0.000,0.000,0.000,136.935,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.777,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227648
$DATA_FILE_SIZE,36779,805
$CAP_FILE_SIZE,168968,0
$CFSIZE,259252224,202289152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1474.5
$CURRENT,0.086,284.2,1
$GPS,150114,212105,6347.102,-5652.090,38,1.0,38,-30.1