version: 66.11
glider: 192
mission: 2
dive: 660
start: 1 18 114 3 35 20
data:
$ID,192
$MISSION,2
$DIVE,660
$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,-15480.39
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,180114,032724,6348.665,-5604.507,40,1.0,40,-30.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-68.5
$GPS2,180114,033437,6348.662,-5604.447,4,1.1,4,-30.0
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_2
$TGT_LATLONG,6400.000,-5400.000
$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,97.5,103193,-15.5,-8.250,-18.49,2720
$D_GRID,972
$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,-146.0,132,2598,1113,1078,0.0,0.0,0,99,0.00,0.00,-76.80,0.000,16386,0.000,0.000,131,2599,2621,2672,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.89,-146.0,131,2599,2672,2570,3.1,-1.0,8,144,10.12,1.52,-21.02,0.000,19204,0.412,0.151,2208,3413,3338,3504,3173,0,0,0,0,0,0,13.93,14.26,14.76
$GC,379,-0.82,-146.0,2208,3413,3506,3173,53.9,-18.1,35,383,0.15,1.50,0.00,0.000,3078,0.282,0.074,2239,2551,3339,3506,3173,0,0,0,0,0,0,13.84,14.21,28.83
$GC,696,-0.78,-146.0,2239,2551,3506,3171,112.5,-18.0,62,699,0.00,1.48,0.00,0.000,516,0.000,0.086,2239,1738,3338,3506,3170,0,0,0,0,0,0,28.83,14.00,28.83
$GC,764,-0.73,-146.0,2240,1737,3506,3170,123.7,-17.5,64,769,0.15,1.55,0.00,0.000,3078,0.267,0.107,2267,2579,3338,3506,3170,0,0,0,0,0,0,13.78,14.00,28.83
$GC,1097,-0.71,-146.0,2267,2579,3506,3169,171.9,-13.8,75,1101,0.00,1.62,0.00,0.000,260,0.000,0.118,2263,3430,3337,3506,3169,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1156,-0.69,-146.0,2263,3430,3506,3169,177.0,-13.7,76,1163,0.00,1.50,0.00,0.000,1030,0.000,0.076,2263,2571,3337,3506,3169,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1464,-0.66,-146.0,2263,2571,3506,3169,219.5,-12.9,87,1468,0.12,1.62,0.00,0.000,2308,0.271,0.116,2290,3433,3337,3506,3169,0,0,0,0,0,0,14.00,13.87,28.83
$GC,1503,-0.64,-146.0,2290,3433,3506,3169,224.1,-12.9,88,1507,0.00,1.50,0.00,0.000,1030,0.000,0.076,2290,2579,3337,3506,3169,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1833,-0.63,-146.0,2290,2579,3507,3169,261.4,-11.0,99,1837,0.00,1.60,0.00,0.000,260,0.000,0.120,2284,3430,3337,3506,3169,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1870,-0.62,-146.0,2284,3430,3507,3169,265.3,-11.1,100,1873,0.00,1.50,0.00,0.000,1030,0.000,0.075,2284,2572,3337,3506,3169,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2206,-0.61,-146.0,2284,2572,3508,3170,301.7,-10.6,111,2210,0.00,1.50,0.00,0.000,516,0.000,0.085,2284,1746,3338,3508,3169,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2251,-0.60,-146.0,2284,1746,3508,3169,305.7,-10.6,112,2255,0.10,1.58,0.00,0.000,3078,0.208,0.106,2307,2580,3338,3508,3169,0,0,0,0,0,0,13.65,13.84,28.83
$GC,2577,-0.60,-146.0,2307,2580,3509,3169,336.6,-9.2,123,2580,0.00,1.58,0.00,0.000,260,0.000,0.118,2302,3433,3339,3509,3170,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2672,-0.60,-146.0,2302,3433,3509,3170,346.3,-9.9,126,2676,0.00,1.50,0.00,0.000,1030,0.000,0.076,2302,2573,3339,3509,3170,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3011,-0.60,-146.0,2302,2573,3511,3169,380.4,-10.2,137,3015,0.00,1.48,0.00,0.000,516,0.000,0.084,2302,1736,3339,3510,3169,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3047,-0.60,-146.0,2302,1736,3511,3170,384.5,-10.2,138,3050,0.00,1.58,0.00,0.000,1030,0.000,0.107,2296,2577,3340,3510,3170,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3384,-0.60,-146.0,2296,2577,3511,3169,420.3,-10.7,149,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2577,3340,3511,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3685,-0.60,-146.0,2296,2577,3512,3170,453.3,-10.8,159,3688,0.00,1.58,0.00,0.000,260,0.000,0.116,2290,3432,3340,3512,3169,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3728,-0.60,-146.0,2290,3432,3512,3170,457.5,-11.0,160,3731,0.00,1.50,0.00,0.000,1030,0.000,0.073,2290,2571,3340,3510,3170,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4053,-0.60,-146.0,2290,2571,3514,3170,496.3,-11.7,171,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2571,3342,3514,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.60,-146.0,2290,2571,3514,3170,530.6,-11.2,181,4357,0.00,1.50,0.00,0.000,516,0.000,0.084,2290,1724,3342,3514,3170,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4412,-0.60,-146.0,2290,1724,3514,3170,534.6,-11.1,182,4419,0.12,1.60,0.00,0.000,3078,0.240,0.106,2310,2592,3342,3514,3170,0,0,0,0,0,0,13.72,13.86,28.83
$GC,4720,-0.61,-146.0,2311,2592,3514,3170,567.4,-10.0,193,4723,0.00,1.55,0.00,0.000,260,0.000,0.121,2306,3422,3342,3514,3170,0,0,0,0,0,0,28.83,13.76,28.83
$GC,4758,-0.62,-146.0,1440,3422,3507,3167,570.9,-9.9,194,4761,0.00,1.50,0.00,0.000,1030,0.000,0.074,2306,2568,3342,3514,3170,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5089,-0.62,-146.0,2306,2568,3515,3170,604.7,-9.9,205,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2568,3342,3514,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5389,-0.62,-146.0,2306,2567,3515,3170,633.1,-9.3,215,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2568,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5688,-0.62,-146.0,2306,2568,3516,3170,659.6,-8.8,225,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2568,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5989,-0.62,-146.0,2306,2568,3516,3170,685.5,-8.6,235,5992,0.00,1.65,0.00,0.000,260,0.000,0.119,2300,3433,3342,3515,3170,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6017,-0.62,-146.0,2300,3433,3516,3170,685.5,-8.6,235,6024,0.00,1.52,0.00,0.000,1030,0.000,0.073,2300,2575,3343,3516,3170,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6324,-0.62,-146.0,2300,2574,3516,3170,714.7,-8.6,246,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2575,3343,3516,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6625,-0.62,-146.0,2300,2575,3516,3170,740.4,-8.5,256,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2575,3343,3516,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6924,-0.62,-146.0,2300,2575,3516,3170,765.7,-8.3,266,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2575,3343,3516,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7224,-0.62,-146.0,2300,2575,3515,3170,791.5,-8.8,276,7227,0.00,1.50,0.00,0.000,516,0.000,0.083,2300,1729,3343,3516,3170,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7254,-0.62,-146.0,2300,1728,3516,3170,791.5,-8.8,276,7260,0.00,1.60,0.00,0.000,1030,0.000,0.109,2294,2584,3343,3516,3170,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7560,-0.62,-146.0,2294,2583,3516,3170,821.7,-9.1,287,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2584,3342,3516,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7859,-0.62,-146.0,2294,2584,3516,3170,849.7,-9.4,297,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2584,3343,3516,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8159,-0.62,-146.0,2294,2584,3516,3170,876.3,-8.7,307,8163,0.00,1.58,0.00,0.000,260,0.000,0.114,2287,3431,3343,3516,3170,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8198,-0.62,-146.0,1412,3431,3508,3167,879.5,-8.8,308,8201,0.00,1.50,0.00,0.000,1030,0.000,0.071,2287,2572,3343,3516,3170,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8528,-0.62,-146.0,2287,2573,3516,3170,909.8,-9.0,319,8532,0.00,1.50,0.00,0.000,516,0.000,0.082,2288,1746,3343,3516,3170,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8571,-0.62,-146.0,2288,1745,3516,3170,913.1,-9.0,320,8575,0.00,1.58,0.00,0.000,1030,0.000,0.105,2281,2577,3343,3516,3170,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8898,-0.62,-146.0,2282,2577,3515,3170,945.3,-9.7,331,8901,0.00,1.58,0.00,0.000,260,0.000,0.115,2276,3427,3343,3516,3170,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8933,-0.62,-146.0,2275,3427,3516,3170,948.8,-9.7,332,8937,0.12,1.50,0.00,0.000,3078,0.241,0.072,2302,2565,3342,3515,3170,0,0,0,0,0,0,13.73,13.98,28.83
$STATE,9202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9202,begin apogee
$GC,9217,-0.22,0.0,2303,2478,3515,3170,972.6,-8.3,341,9399,0.45,0.00,170.90,2.772,10246,0.198,0.000,2429,2478,2741,2852,2631,0,0,0,0,0,0,13.62,28.83,12.23
$STATE,9400,end apogee,CONTROL_FINISHED_OK
$STATE,9400,begin climb
$GC,9406,0.89,146.0,2428,2478,2852,2631,979.9,0.0,347,9609,1.25,1.73,190.82,2.728,11012,0.151,0.087,2795,1649,2145,2240,2050,0,0,0,0,0,0,13.36,12.64,11.50
$GC,9674,0.85,146.0,2795,1649,2240,2045,963.3,9.6,356,9678,0.00,1.67,0.00,0.000,1030,0.000,0.106,2795,2476,2142,2239,2045,0,0,0,0,0,0,28.83,13.18,28.83
$GC,9996,0.81,146.0,2795,2476,2240,2040,927.3,10.9,367,9999,0.00,1.52,0.00,0.000,260,0.000,0.122,2795,3328,2140,2240,2040,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10031,0.77,146.0,2795,3328,2240,2040,923.1,11.0,368,10035,0.17,1.50,0.00,0.000,5126,0.246,0.081,2760,2455,2140,2240,2040,0,0,0,0,0,0,14.21,14.40,28.83
$GC,10368,0.75,146.0,2760,2454,2239,2038,892.1,9.1,379,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2454,2139,2240,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10667,0.74,146.0,2760,2454,2239,2037,864.7,9.0,389,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2454,2138,2240,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10967,0.72,146.0,2760,2454,2239,2036,838.3,8.6,399,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2454,2138,2240,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11268,0.70,146.0,2760,2454,2240,2035,813.7,8.3,409,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2454,2137,2240,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11567,0.68,146.0,2760,2454,2239,2034,787.7,8.7,419,11569,0.12,0.00,0.00,0.000,4102,0.255,0.000,2731,2454,2137,2240,2034,0,0,0,0,0,0,14.21,28.83,28.83
$GC,11867,0.69,157.0,2731,2454,2239,2033,764.7,7.8,429,11885,0.00,1.70,11.52,2.372,8452,0.000,0.119,2731,3333,2101,2206,1997,0,0,0,0,0,0,28.83,14.31,13.19
$GC,11912,0.71,166.4,2731,3333,2206,1996,762.3,7.9,430,11931,0.00,1.50,13.05,2.356,9222,0.000,0.080,2735,2468,2062,2167,1958,0,0,0,0,0,0,28.83,14.40,13.09
$GC,12258,0.71,166.4,2735,2468,2167,1956,731.9,8.4,442,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2468,2061,2167,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12558,0.71,166.4,2735,2468,2167,1954,705.6,8.8,452,12562,0.00,1.60,0.00,0.000,260,0.000,0.122,2735,3326,2060,2167,1954,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12596,0.71,166.4,2735,3326,2167,1954,702.3,9.0,453,12600,0.00,1.50,0.00,0.000,1030,0.000,0.080,2741,2469,2060,2167,1954,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12926,0.71,166.4,2741,2468,2167,1953,671.1,9.4,464,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2468,2059,2166,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13228,0.71,166.4,2741,2468,2167,1952,643.7,9.3,474,13231,0.00,1.62,0.00,0.000,260,0.000,0.122,2741,3332,2059,2167,1952,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13263,0.71,166.4,2741,3332,2167,1952,640.2,9.3,475,13267,0.00,1.50,0.00,0.000,1030,0.000,0.080,2748,2478,2059,2167,1952,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13599,0.70,166.4,2748,2478,2167,1952,608.1,9.4,486,13603,0.00,1.52,0.00,0.000,516,0.000,0.093,2753,1644,2059,2167,1952,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13636,0.69,166.4,2753,1644,2167,1951,604.7,9.4,487,13639,0.00,1.52,0.00,0.000,1030,0.000,0.108,2753,2481,2059,2167,1952,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13972,0.68,166.4,2754,2481,2167,1952,573.0,9.3,498,13973,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2481,2059,2167,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14271,0.67,166.4,2753,2481,2167,1951,546.1,8.7,508,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2481,2059,2167,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14573,0.68,178.1,2754,2481,2167,1951,522.2,7.8,518,14591,0.00,1.62,13.57,2.186,8452,0.000,0.122,2753,3332,2014,2121,1908,0,0,0,0,0,0,28.83,14.26,13.24
$GC,14641,0.67,185.0,2754,3332,2120,1908,517.5,8.0,519,14657,0.12,1.50,9.45,2.049,13318,0.256,0.080,2731,2466,1986,2093,1879,0,0,0,0,0,0,14.23,14.40,13.19
$GC,14995,0.71,207.0,2731,2466,2093,1878,491.3,7.4,531,15027,0.00,1.52,25.25,2.246,8708,0.000,0.096,2735,1640,1898,2007,1789,0,0,0,0,0,0,28.83,14.31,13.19
$GC,15057,0.74,222.6,2735,1640,2006,1788,486.5,7.7,533,15082,0.00,1.50,19.25,2.173,9222,0.000,0.108,2735,2481,1833,1938,1728,0,0,0,0,0,0,28.83,14.35,13.08
$GC,15415,0.75,222.6,2735,2481,1935,1726,454.6,9.1,545,15419,0.00,1.58,0.00,0.000,260,0.000,0.123,2735,3325,1830,1935,1726,0,0,0,0,0,0,28.83,14.21,28.83
$GC,15453,0.75,222.6,1792,3324,1895,1721,450.5,9.2,546,15457,0.00,1.50,0.00,0.000,1030,0.000,0.081,2741,2486,1829,1933,1725,0,0,0,0,0,0,28.83,14.33,28.83
$GC,15785,0.75,222.6,2741,2486,1933,1725,417.3,10.0,557,15788,0.00,1.50,0.00,0.000,516,0.000,0.094,2747,1637,1828,1933,1724,0,0,0,0,0,0,28.83,14.19,28.83
$GC,15893,0.76,222.6,2747,1637,1933,1724,407.9,9.8,560,15897,0.00,1.52,0.00,0.000,1030,0.000,0.106,2747,2483,1828,1933,1724,0,0,0,0,0,0,28.83,14.18,28.83
$GC,16213,0.76,222.6,2747,2483,1933,1724,374.9,9.9,571,16217,0.00,1.58,0.00,0.000,260,0.000,0.122,2747,3322,1828,1933,1724,0,0,0,0,0,0,28.83,14.02,28.83
$GC,16258,0.76,222.6,2747,3322,1932,1724,371.2,10.2,572,16261,0.00,1.52,0.00,0.000,1030,0.000,0.080,2753,2474,1828,1932,1724,0,0,0,0,0,0,28.83,14.18,28.83
$GC,16583,0.76,222.6,2754,2473,1932,1723,336.1,10.3,583,16586,0.00,1.50,0.00,0.000,516,0.000,0.094,2759,1630,1827,1931,1723,0,0,0,0,0,0,28.83,14.08,28.83
$GC,16667,0.76,222.6,2759,1630,1932,1723,329.7,10.1,585,16670,0.00,1.55,0.00,0.000,1030,0.000,0.109,2759,2481,1827,1932,1723,0,0,0,0,0,0,28.83,14.09,28.83
$GC,16982,0.76,222.6,2759,2481,1932,1723,295.2,10.3,596,16985,0.00,1.60,0.00,0.000,260,0.000,0.122,2759,3326,1827,1932,1723,0,0,0,0,0,0,28.83,13.93,28.83
$GC,17019,0.76,222.6,1792,3325,1893,1720,291.5,10.3,597,17023,0.00,1.52,0.00,0.000,1030,0.000,0.081,2766,2482,1827,1932,1723,0,0,0,0,0,0,28.83,14.13,28.83
$GC,17351,0.76,222.6,2766,2481,1932,1723,256.1,10.8,608,17354,0.00,1.50,0.00,0.000,516,0.000,0.094,2772,1632,1827,1932,1723,0,0,0,0,0,0,28.83,14.03,28.83
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$GC,18903,0.75,222.6,2754,2476,1932,1723,103.9,9.6,658,18906,0.00,1.50,0.00,0.000,516,0.000,0.094,2760,1628,1827,1931,1723,0,0,0,0,0,0,28.83,13.96,28.83
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$GC,19704,0.93,307.6,2766,2482,1837,1636,38.5,5.9,732,19742,0.12,0.00,34.55,0.266,10246,0.139,0.000,2820,2482,1486,1579,1393,0,0,0,0,0,0,14.37,28.83,14.02
$FREEZE,8.08,-0.493,-1.825,0,1,0
$FREEZE,7.10,-0.536,-1.825,0,1,0
$FREEZE,6.29,-0.536,-1.823,0,1,0
$FREEZE,5.28,-0.509,-1.822,0,1,0
$GC,20048,0.93,307.6,2820,2482,1573,1389,5.3,9.5,766,20054,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2482,1481,1573,1390,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,3.29,-0.504,-1.821,0,1,0
$FREEZE,2.42,-0.515,-1.820,0,1,0
$STATE,20071,end climb,SURFACE_DEPTH_REACHED
$STATE,20071,begin surface coast
$FREEZE,1.40,-0.561,-1.820,0,1,0
$FREEZE,1.46,-0.672,-0.132,0,1,0
$FREEZE,1.46,-0.580,-0.880,0,1,0
$FINISH,1.5,1.012980
$STATE,20102,end surface coast,CONTROL_FINISHED_OK
$STATE,20103,begin surface
$SM_CCo,20133,48.17,0.155,0,0,1108,400.08
$SM_GC,2.57,8.12,0.20,48.17,0.088,0.151,0.155,138,2583,1108,-7.36,-0.45,400.08,0,0,0,0,0,0,14.18,14.24,14.18
$RAFOS_CLK,921
$RAFOS,6,1390034956,8.833333,8.821111,63,61,59,54,53,53,177,217,152,194,207,141
$RAFOS,5,1390034490,8.700000,8.691667,68,53,53,51,49,48,171,161,195,123,1156,136
$RAFOS,4,1390033999,8.566667,8.555278,67,64,58,57,55,55,201,192,182,163,216,1468
$RAFOS,3,1390033501,8.433333,8.416945,63,57,54,54,52,51,207,153,193,174,114,225
$RAFOS,2,1390033035,8.300000,8.287500,58,55,54,52,51,50,221,123,147,181,206,191
$RAFOS,1,1390032547,8.166667,8.151944,61,58,54,52,51,47,181,218,144,1688,206,125
$RAFOS,0,1390032087,8.033334,8.024167,67,61,57,53,49,49,218,202,182,119,160,145
$RAFOS,6,1390020562,4.833333,4.822778,60,59,57,57,52,50,220,207,159,187,137,114
$RAFOS,5,1390020076,4.700000,4.687778,59,55,55,54,52,51,200,191,211,174,152,118
$RAFOS,4,1390019586,4.566667,4.551667,62,61,56,55,51,49,175,209,199,140,158,102
$RAFOS,3,1390019121,4.433333,4.422500,62,58,57,52,52,51,206,189,218,166,152,753
$RAFOS,2,1390018631,4.300000,4.286389,61,58,52,51,49,47,221,198,149,166,175,122
$RAFOS,1,1390018168,4.166667,4.157778,66,59,58,57,56,55,200,152,211,190,130,166
$RAFOS,0,1390017677,4.033333,4.021389,58,55,53,53,52,49,204,157,113,144,174,135
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6322.64,-5619.95,170114,212137
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.01
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,13.90
$XPDR_PINGS,129
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,11.5,271.393
$10V_AH,11.8,0.000
$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,21.425,108.525,500.650,48.175,0.000,0.000,0.000,250.550,36.000,0.000,5.283,2341.597,14863.167,541.705,2054.193,816.700,0.000,1918.309,0.000,1814.948,5040.000,33.821,0.000
$DEVICE_MAMPS,412.335,150.705,2772.360,154.530,0.000,0.000,0.000,136.935,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33444,772
$CAP_FILE_SIZE,165426,0
$CFSIZE,259252224,201637888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1473.7
$CURRENT,0.070, 65.8,1
$GPS,180114,091334,6350.002,-5556.536,39,1.5,42,-30.0