version: 66.11
glider: 108
mission: 21
dive: 32
start: 6 24 112 12 39 53
data:
$ID,108
$MISSION,21
$DIVE,32
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,1.023
$MASS,51396
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00275
$HD_B,0.0115
$HD_C,1.7999999e-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,0
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-191129.16
$T_RSLEEP,10
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3130
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3029
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.860044
$PRESSURE_SLOPE,0.0001161151
$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,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044220644
$SEABIRD_T_H,0.00065538363
$SEABIRD_T_I,2.8550956e-05
$SEABIRD_T_J,3.214675e-06
$SEABIRD_C_G,-10.084064
$SEABIRD_C_H,1.1288997
$SEABIRD_C_I,-0.0014441535
$SEABIRD_C_J,0.00017831143
$GPS1,240612,123135,6700.938,-5743.168,32,0.8,32,-33.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-77.4
$GPS2,240612,123918,6700.875,-5743.207,18,0.8,19,-33.7
$SPEED_LIMITS,0.159,0.240
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,315.5,123126,-16.3,-9.167
$D_GRID,870
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,16,-0.72,-146.6,0.0,0.0,0,87,0.00,0.00,-68.75,0.000,2,0.000,0.000,340,2109,2971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.72,-146.6,3.0,-1.4,12,135,10.18,2.20,-25.17,0.000,4,0.264,0.065,2902,706,3629,0,0,0,0,0,0,26.28,26.51,26.82
$GC,153,-0.72,-146.6,6.7,-11.5,22,161,0.00,2.20,0.00,0.000,6,0.000,0.048,2895,2099,3630,0,0,0,0,0,0,28.83,26.52,28.83
$GC,468,-0.72,-146.6,49.9,-12.4,83,475,0.00,2.15,0.00,0.000,4,0.000,0.060,2885,3504,3632,0,0,0,0,0,0,28.83,26.53,28.83
$GC,660,-0.72,-146.6,74.2,-12.5,120,667,0.00,2.12,0.00,0.000,6,0.000,0.044,2884,2100,3632,0,0,0,0,0,0,28.83,26.60,28.83
$GC,970,-0.72,-146.6,108.8,-10.8,173,974,0.00,2.20,0.00,0.000,4,0.000,0.062,2874,3504,3631,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1075,-0.72,-146.6,120.6,-11.6,183,1082,0.00,2.12,0.00,0.000,6,0.000,0.044,2874,2097,3632,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1383,-0.72,-146.6,157.7,-11.6,214,1393,0.00,2.17,0.00,0.000,4,0.000,0.061,2864,3506,3631,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1580,-0.72,-146.6,181.1,-12.2,233,1588,0.12,2.15,0.00,0.000,6,0.177,0.044,2895,2090,3631,0,0,0,0,0,0,26.51,26.65,28.83
$GC,1887,-0.72,-146.6,213.0,-10.7,264,1896,0.00,2.20,0.00,0.000,4,0.000,0.060,2886,3506,3631,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2012,-0.72,-146.6,226.4,-10.9,276,2019,0.00,2.12,0.00,0.000,6,0.000,0.044,2886,2096,3631,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2320,-0.72,-146.6,257.7,-9.7,307,2329,0.00,2.20,0.00,0.000,4,0.000,0.059,2876,3513,3631,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2364,-0.72,-146.6,262.1,-10.5,311,2371,0.00,2.12,0.00,0.000,6,0.000,0.042,2876,2095,3631,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2672,-0.72,-146.6,291.6,-9.4,342,2681,0.00,2.17,0.00,0.000,4,0.000,0.058,2866,3507,3632,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2737,-0.72,-146.6,298.1,-10.3,348,2744,0.12,2.12,0.00,0.000,6,0.173,0.041,2897,2088,3632,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3045,-0.72,-146.6,323.4,-7.9,379,3054,0.00,2.17,0.00,0.000,4,0.000,0.058,2888,3508,3633,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3140,-0.72,-146.6,331.2,-8.6,388,3146,0.00,2.12,0.00,0.000,6,0.000,0.041,2888,2085,3633,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3447,-0.72,-146.6,356.3,-8.1,419,3456,0.00,2.17,0.00,0.000,4,0.000,0.057,2878,3514,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3532,-0.72,-146.6,363.5,-8.9,427,3539,0.00,2.12,0.00,0.000,6,0.000,0.041,2878,2087,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3839,-0.72,-146.6,390.1,-8.3,458,3849,0.00,2.17,0.00,0.000,4,0.000,0.057,2868,3499,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3976,-0.72,-146.6,402.9,-9.8,471,3985,0.00,2.08,0.00,0.000,6,0.000,0.041,2867,2098,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4284,-0.72,-146.6,430.4,-8.9,502,4294,0.00,2.17,0.00,0.000,4,0.000,0.057,2857,3510,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4320,-0.72,-146.6,433.4,-9.0,505,4327,0.15,2.10,0.00,0.000,6,0.164,0.040,2896,2098,3636,0,0,0,0,0,0,26.58,26.74,28.83
$GC,4627,-0.72,-146.6,455.6,-7.0,536,4636,0.00,2.15,0.00,0.000,4,0.000,0.057,2888,3507,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4700,-0.72,-146.6,461.1,-7.8,543,4708,0.00,2.08,0.00,0.000,6,0.000,0.040,2888,2095,3636,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5009,-0.72,-146.6,483.0,-6.8,574,5018,0.00,2.15,0.00,0.000,4,0.000,0.057,2877,3510,3637,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5114,-0.72,-146.6,490.8,-7.7,584,5121,0.00,2.10,0.00,0.000,6,0.000,0.041,2877,2097,3637,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5422,-0.72,-146.6,514.1,-7.1,615,5431,0.00,2.15,0.00,0.000,4,0.000,0.058,2867,3513,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5507,-0.72,-146.6,520.9,-8.3,623,5514,0.00,2.10,0.00,0.000,6,0.000,0.041,2867,2100,3637,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5814,-0.72,-146.6,546.9,-8.5,654,5824,0.00,2.17,0.00,0.000,4,0.000,0.057,2856,3514,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5943,-0.72,-146.6,558.6,-9.7,666,5951,0.15,2.10,0.00,0.000,6,0.163,0.041,2896,2101,3637,0,0,0,0,0,0,26.60,26.76,28.83
$GC,6249,-0.72,-146.6,582.1,-7.5,697,6258,0.00,2.12,0.00,0.000,4,0.000,0.058,2887,3503,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6332,-0.72,-146.6,588.6,-8.2,705,6341,0.00,2.10,0.00,0.000,6,0.000,0.041,2888,2089,3638,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6664,-0.72,-146.6,614.0,-7.7,726,6669,0.00,2.15,0.00,0.000,4,0.000,0.057,2877,3504,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6761,-0.72,-146.6,621.6,-8.2,729,6765,0.00,2.08,0.00,0.000,6,0.000,0.041,2877,2099,3638,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7078,-0.72,-146.6,648.5,-8.1,740,7082,0.00,2.20,0.00,0.000,4,0.000,0.057,2867,3520,3639,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7189,-0.72,-146.6,656.5,-8.6,743,7193,0.00,2.12,0.00,0.000,6,0.000,0.041,2867,2097,3639,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7496,-0.72,-146.6,683.5,-8.4,753,7503,0.12,2.15,0.00,0.000,4,0.171,0.057,2895,3504,3639,0,0,0,0,0,0,26.64,26.73,28.83
$GC,7574,-0.72,-146.6,688.0,-8.0,755,7578,0.00,2.10,0.00,0.000,6,0.000,0.041,2894,2099,3639,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7882,-0.72,-146.6,711.7,-7.3,765,7887,0.00,2.15,0.00,0.000,4,0.000,0.058,2884,3505,3639,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7949,-0.72,-146.6,716.5,-7.8,767,7953,0.00,2.10,0.00,0.000,6,0.000,0.041,2884,2093,3639,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8272,-0.72,-146.6,742.3,-7.8,778,8277,0.00,2.15,0.00,0.000,4,0.000,0.057,2873,3503,3639,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8363,-0.72,-146.6,750.1,-8.5,781,8368,0.00,2.08,0.00,0.000,6,0.000,0.041,2873,2103,3639,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8692,-0.72,-146.6,779.0,-9.0,792,8696,0.00,2.17,0.00,0.000,4,0.000,0.060,2863,3513,3639,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8787,-0.72,-146.6,788.0,-9.6,795,8792,0.12,2.12,0.00,0.000,6,0.170,0.042,2894,2086,3639,0,0,0,0,0,0,26.64,26.78,28.83
$GC,9116,-0.72,-146.6,814.1,-7.8,806,9121,0.00,2.17,0.00,0.000,4,0.000,0.059,2886,3510,3640,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9214,-0.72,-146.6,821.7,-8.2,809,9218,0.00,2.10,0.00,0.000,6,0.000,0.041,2886,2101,3639,0,0,0,0,0,0,28.83,26.78,28.83
$GC,9533,-0.72,-146.6,847.5,-7.8,820,9538,0.00,2.15,0.00,0.000,4,0.000,0.059,2876,3507,3639,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9625,-0.72,-146.6,855.2,-8.3,823,9630,0.00,2.10,0.00,0.000,6,0.000,0.042,2876,2095,3639,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,9771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9771,begin apogee
$GC,9778,-0.17,0.0,867.6,-8.2,828,9910,0.60,0.00,125.97,1.408,6,0.142,0.000,3069,1876,3028,0,0,0,0,0,0,26.64,28.83,23.61
$STATE,9913,end apogee,CONTROL_FINISHED_OK
$STATE,9913,begin climb
$GC,9916,0.72,146.6,870.0,0.0,832,10055,0.85,2.38,128.68,1.366,4,0.087,0.047,3365,517,2431,0,0,0,0,0,0,24.68,24.17,23.24
$GC,10136,0.72,146.6,847.7,13.0,840,10140,0.00,2.33,0.00,0.000,6,0.000,0.043,3365,1897,2425,0,0,0,0,0,0,28.83,24.96,28.83
$GC,10461,0.72,146.6,802.7,13.8,851,10466,0.00,2.25,0.00,0.000,4,0.000,0.056,3365,3311,2419,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10482,0.72,146.6,802.7,13.8,851,10489,0.00,2.22,0.00,0.000,6,0.000,0.042,3374,1903,2419,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10789,0.72,146.6,754.7,14.4,862,10795,0.00,2.25,0.00,0.000,4,0.000,0.050,3385,492,2418,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10883,0.72,146.6,741.6,14.6,865,10887,0.00,2.28,0.00,0.000,6,0.000,0.044,3385,1903,2417,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11207,0.72,146.6,693.5,14.8,876,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1902,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11507,0.72,146.6,649.2,14.8,886,11512,0.00,2.25,0.00,0.000,4,0.000,0.050,3395,497,2416,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11529,0.72,146.6,649.2,14.8,886,11537,0.12,2.25,0.00,0.000,6,0.178,0.044,3364,1911,2416,0,0,0,0,0,0,26.14,26.26,28.83
$GC,11836,0.72,146.6,604.6,13.2,897,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1910,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12138,0.72,146.6,567.1,12.4,923,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1910,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12449,0.72,146.6,528.7,12.6,954,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1910,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12758,0.72,146.6,489.1,13.0,985,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1910,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13066,0.72,146.6,447.2,14.1,1016,13074,0.00,2.22,0.00,0.000,4,0.000,0.050,3371,499,2415,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13098,0.72,146.6,442.8,13.8,1019,13107,0.00,2.20,0.00,0.000,6,0.000,0.044,3371,1907,2415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,13409,0.72,146.6,398.6,14.1,1050,13418,0.00,2.15,0.00,0.000,4,0.000,0.055,3371,3311,2415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,13432,0.72,146.6,395.0,14.5,1052,13441,0.00,2.12,0.00,0.000,6,0.000,0.042,3381,1899,2415,0,0,0,0,0,0,28.83,26.56,28.83
$GC,13742,0.72,146.6,349.8,14.2,1083,13751,0.00,2.17,0.00,0.000,4,0.000,0.050,3391,494,2415,0,0,0,0,0,0,28.83,26.56,28.83
$GC,13814,0.72,146.6,339.3,15.1,1090,13823,0.00,2.20,0.00,0.000,6,0.000,0.044,3391,1909,2415,0,0,0,0,0,0,28.83,26.58,28.83
$GC,14124,0.72,146.6,293.7,14.4,1121,14133,0.00,2.25,0.00,0.000,4,0.000,0.049,3401,488,2415,0,0,0,0,0,0,28.83,26.58,28.83
$GC,14170,0.72,146.6,287.5,14.4,1125,14178,0.12,2.22,0.00,0.000,6,0.175,0.043,3363,1909,2415,0,0,0,0,0,0,26.47,26.60,28.83
$GC,14479,0.72,146.6,247.1,12.9,1156,14488,0.00,2.20,0.00,0.000,4,0.000,0.049,3370,502,2415,0,0,0,0,0,0,28.83,26.60,28.83
$GC,14514,0.72,146.6,242.5,13.2,1159,14521,0.00,2.20,0.00,0.000,6,0.000,0.042,3370,1911,2415,0,0,0,0,0,0,28.83,26.62,28.83
$GC,14821,0.72,146.6,201.0,13.0,1190,14825,0.00,2.12,0.00,0.000,4,0.000,0.054,3370,3305,2415,0,0,0,0,0,0,28.83,26.60,28.83
$GC,14847,0.72,146.6,197.9,13.8,1192,14854,0.00,2.12,0.00,0.000,6,0.000,0.041,3378,1895,2414,0,0,0,0,0,0,28.83,26.63,28.83
$GC,15153,0.72,146.6,155.8,12.8,1223,15157,0.00,2.17,0.00,0.000,4,0.000,0.050,3389,497,2415,0,0,0,0,0,0,28.83,26.63,28.83
$GC,15316,0.72,146.6,134.9,12.6,1239,15320,0.00,2.17,0.00,0.000,6,0.000,0.043,3388,1901,2415,0,0,0,0,0,0,28.83,26.65,28.83
$GC,15624,0.72,146.6,97.8,10.9,1271,15630,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1900,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15934,0.72,146.6,64.3,10.1,1332,15941,0.00,2.20,0.00,0.000,4,0.000,0.050,3398,505,2415,0,0,0,0,0,0,28.83,26.66,28.83
$GC,15995,0.72,146.6,58.1,10.2,1343,16002,0.12,2.17,0.00,0.000,6,0.168,0.044,3366,1900,2415,0,0,0,0,0,0,26.56,26.67,28.83
$GC,16308,0.78,188.3,30.8,7.4,1404,16345,0.00,0.00,30.62,0.852,6,0.000,0.000,3366,1899,2260,0,0,0,0,0,0,28.83,28.83,25.43
$FREEZE,8.84,-0.814,-1.779,1,1,0
$FREEZE,8.39,-0.782,-1.778,1,1,0
$FREEZE,7.92,-0.739,-1.776,1,1,0
$FREEZE,7.62,-0.703,-1.774,1,1,0
$FREEZE,7.15,-0.701,-1.773,1,1,0
$FREEZE,6.85,-0.636,-1.770,1,1,0
$FREEZE,6.40,-0.528,-1.767,1,1,0
$FREEZE,5.90,-0.490,-1.763,1,1,0
$FREEZE,5.51,-0.465,-1.762,1,1,0
$FREEZE,5.09,-0.361,-1.758,1,1,0
$FREEZE,4.73,-0.229,-1.758,1,1,0
$FREEZE,4.38,0.082,-1.747,1,1,0
$FREEZE,3.88,0.233,-1.745,1,1,0
$STATE,16631,end climb,SURFACE_DEPTH_REACHED
$STATE,16631,begin surface coast
$FREEZE,3.54,0.293,-1.743,1,1,0
$FREEZE,3.21,0.310,-1.743,1,1,0
$FREEZE,2.76,0.405,-1.742,1,1,0
$FREEZE,2.45,0.444,-1.741,1,1,0
$FREEZE,2.11,0.482,-1.739,1,1,0
$FREEZE,1.78,0.475,-1.737,1,1,0
$FREEZE,1.50,0.421,-1.735,1,1,0
$FREEZE,1.47,0.110,-0.469,1,1,0
$FREEZE,1.43,0.292,-0.240,1,1,0
$FREEZE,1.51,0.204,-0.069,1,1,0
$FREEZE,1.38,0.245,-0.049,1,1,0
$FINISH,1.4,1.000557
$STATE,16691,end surface coast,CONTROL_FINISHED_OK
$STATE,16691,begin surface
$SM_CCo,16710,92.43,0.070,0,0,1397,400.08
$SM_GC,2.43,8.18,0.30,92.43,0.059,0.070,0.070,347,2107,1397,-8.64,-1.07,400.08,0,0,0,0,0,0,26.29,26.30,26.17
$RAFOS_CLK,860
$RAFOS,6,1340556543,16.833334,16.817499,46,43,43,42,38,38,1401,837,1578,246,248,1632
$RAFOS,5,1340556067,16.700001,16.685278,45,45,44,42,41,40,151,1917,1808,237,1211,1
$RAFOS,4,1340555584,16.566668,16.551111,43,43,41,40,40,40,134,1629,1334,640,1600,656
$RAFOS,3,1340555102,16.433332,16.417223,44,43,43,42,40,40,107,518,1859,915,528,1465
$RAFOS,2,1340554628,16.299999,16.285555,46,45,44,42,42,41,1741,224,1213,240,658,1
$RAFOS,1,1340554146,16.166666,16.151667,47,46,44,44,41,41,1107,202,162,1657,724,1489
$RAFOS,0,1340553666,16.033333,16.018333,45,43,42,41,41,39,882,1359,1938,196,1121,1533
$RAFOS,6,1340542143,12.833333,12.817500,47,45,42,41,41,40,660,116,1069,587,516,1698
$RAFOS,5,1340541665,12.700000,12.684722,53,48,45,44,42,41,536,1678,394,71,1458,1797
$RAFOS,3,1340540707,12.433333,12.418612,48,48,45,45,43,39,965,1393,899,1445,1189,843
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5742.73,240612,070747
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.54
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,852.4,28.6
$24V_AH,23.2,7.144
$10V_AH,10.3,8.449
$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,20.975,156.425,285.275,92.425,0.000,0.000,0.000,320.875,3.750,0.000,19.681,3861.561,9310.600,618.620,3073.850,396.450,0.000,2404.767,0.000,2712.467,3240.000,26.561,0.000
$DEVICE_MAMPS,263.925,70.380,1407.600,69.615,0.000,0.000,0.000,276.397,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.954,1131.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151532
$DATA_FILE_SIZE,66787,1477
$CAP_FILE_SIZE,185989,0
$CFSIZE,260165632,243179520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1461.5
$CURRENT,0.075,  5.9,1
$GPS,240612,172129,6702.444,-5747.778,41,0.8,41,-33.7