version: 66.11
glider: 108
mission: 21
dive: 43
start: 6 26 112 20 20 2
data:
$ID,108
$MISSION,21
$DIVE,43
$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,-191140.5
$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,52
$R_STBD_OVSHOOT,40
$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
$GPS1,260612,201035,6659.440,-5835.291,31,0.9,31,-33.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-77.1
$GPS2,260612,201930,6659.499,-5835.504,18,1.0,19,-33.8
$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,254.7,85780,-16.3,-9.167
$D_GRID,1064
$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,17,-0.72,-146.6,0.0,0.0,0,86,0.00,0.00,-66.28,0.000,2,0.000,0.000,347,2102,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.72,-146.6,3.0,-1.0,12,126,10.00,0.00,-20.23,0.000,6,0.256,0.000,2891,2102,3629,0,0,0,0,0,0,26.16,28.83,26.67
$GC,431,-0.72,-146.6,44.2,-9.7,78,438,0.00,2.22,0.00,0.000,4,0.000,0.050,2895,698,3634,0,0,0,0,0,0,28.83,26.44,28.83
$GC,482,-0.72,-146.6,49.6,-10.9,87,489,0.00,2.22,0.00,0.000,6,0.000,0.048,2888,2105,3634,0,0,0,0,0,0,28.83,26.45,28.83
$GC,795,-0.72,-146.6,83.7,-10.9,148,802,0.00,2.20,0.00,0.000,4,0.000,0.061,2877,3515,3635,0,0,0,0,0,0,28.83,26.47,28.83
$GC,836,-0.72,-146.6,88.4,-12.2,155,842,0.00,2.15,0.00,0.000,6,0.000,0.043,2877,2094,3635,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1146,-0.72,-146.6,126.2,-12.1,195,1150,0.00,2.20,0.00,0.000,4,0.000,0.060,2867,3503,3634,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1201,-0.72,-146.6,132.9,-13.6,200,1208,0.00,2.12,0.00,0.000,6,0.000,0.042,2867,2098,3634,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1509,-0.72,-146.6,168.4,-11.0,231,1518,0.12,2.17,0.00,0.000,4,0.187,0.060,2892,3506,3634,0,0,0,0,0,0,26.45,26.54,28.83
$GC,1634,-0.72,-146.6,181.1,-10.6,243,1638,0.00,2.12,0.00,0.000,6,0.000,0.043,2893,2102,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1946,-0.72,-146.6,212.7,-9.6,274,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2098,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2246,-0.72,-146.6,241.7,-9.6,304,2255,0.00,2.22,0.00,0.000,4,0.000,0.060,2882,3516,3633,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2371,-0.72,-146.6,254.1,-10.2,316,2378,0.00,2.15,0.00,0.000,6,0.000,0.043,2882,2088,3633,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2678,-0.72,-146.6,284.0,-9.2,347,2687,0.00,2.20,0.00,0.000,4,0.000,0.060,2872,3509,3633,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2770,-0.72,-146.6,293.0,-9.6,356,2779,0.00,2.12,0.00,0.000,6,0.000,0.042,2872,2093,3633,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3081,-0.72,-146.6,320.6,-8.6,387,3089,0.00,2.17,0.00,0.000,4,0.000,0.059,2861,3501,3633,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3182,-0.72,-146.6,330.2,-9.7,397,3192,0.12,2.12,0.00,0.000,6,0.174,0.042,2892,2094,3633,0,0,0,0,0,0,26.53,26.67,28.83
$GC,3494,-0.72,-146.6,352.9,-7.4,428,3503,0.00,2.15,0.00,0.000,4,0.000,0.058,2884,3499,3633,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3546,-0.72,-146.6,357.1,-8.2,433,3555,0.00,2.10,0.00,0.000,6,0.000,0.041,2884,2097,3633,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3856,-0.72,-146.6,380.2,-7.5,464,3865,0.00,2.17,0.00,0.000,4,0.000,0.058,2874,3506,3633,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3920,-0.72,-146.6,385.4,-8.6,470,3929,0.00,2.10,0.00,0.000,6,0.000,0.041,2874,2091,3633,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4228,-0.72,-146.6,410.8,-8.5,501,4237,0.00,2.17,0.00,0.000,4,0.000,0.056,2864,3507,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4283,-0.72,-146.6,415.6,-9.4,506,4292,0.12,2.10,0.00,0.000,6,0.174,0.040,2895,2098,3634,0,0,0,0,0,0,26.56,26.71,28.83
$GC,4591,-0.72,-146.6,439.5,-7.3,537,4599,0.00,2.15,0.00,0.000,4,0.000,0.057,2886,3507,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4632,-0.72,-146.6,442.9,-8.1,541,4641,0.00,2.10,0.00,0.000,6,0.000,0.040,2886,2099,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4942,-0.72,-146.6,466.9,-7.9,572,4951,0.00,2.17,0.00,0.000,4,0.000,0.057,2876,3509,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5007,-0.72,-146.6,472.3,-8.7,578,5015,0.00,2.10,0.00,0.000,6,0.000,0.041,2876,2099,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5315,-0.72,-146.6,498.3,-8.3,609,5323,0.00,2.15,0.00,0.000,4,0.000,0.058,2865,3510,3635,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5381,-0.72,-146.6,504.1,-9.4,615,5389,0.12,2.10,0.00,0.000,6,0.173,0.041,2897,2098,3636,0,0,0,0,0,0,26.58,26.73,28.83
$GC,5689,-0.72,-146.6,527.4,-7.6,646,5698,0.00,2.15,0.00,0.000,4,0.000,0.057,2889,3511,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5733,-0.72,-146.6,530.8,-8.1,650,5743,0.00,2.08,0.00,0.000,6,0.000,0.040,2888,2102,3635,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6043,-0.72,-146.6,555.2,-7.7,681,6052,0.00,2.15,0.00,0.000,4,0.000,0.057,2878,3500,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6106,-0.72,-146.6,560.6,-8.6,687,6115,0.00,2.08,0.00,0.000,6,0.000,0.041,2878,2098,3636,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6415,-0.72,-146.6,586.9,-8.2,718,6425,0.00,2.15,0.00,0.000,4,0.000,0.057,2868,3506,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6461,-0.72,-146.6,590.7,-9.0,722,6468,0.00,2.10,0.00,0.000,6,0.000,0.040,2868,2096,3637,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6779,-0.72,-146.6,618.9,-8.9,740,6782,0.00,2.20,0.00,0.000,4,0.000,0.057,2857,3521,3637,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6840,-0.72,-146.6,624.7,-9.2,742,6847,0.15,2.12,0.00,0.000,6,0.168,0.041,2896,2105,3637,0,0,0,0,0,0,26.60,26.74,28.83
$GC,7172,-0.72,-146.6,649.3,-7.3,753,7178,0.00,2.17,0.00,0.000,4,0.000,0.058,2888,3515,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7246,-0.72,-146.6,654.1,-7.5,755,7250,0.00,2.12,0.00,0.000,6,0.000,0.041,2888,2090,3637,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7564,-0.72,-146.6,679.0,-7.3,766,7569,0.00,2.15,0.00,0.000,4,0.000,0.057,2877,3500,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7617,-0.72,-146.6,681.3,-7.3,767,7624,0.00,2.10,0.00,0.000,6,0.000,0.041,2878,2094,3637,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7924,-0.72,-146.6,706.6,-7.6,778,7929,0.00,2.17,0.00,0.000,4,0.000,0.057,2867,3509,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7967,-0.72,-146.6,709.0,-7.6,779,7971,0.00,2.10,0.00,0.000,6,0.000,0.039,2867,2100,3637,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8280,-0.72,-146.6,735.0,-7.9,790,8284,0.00,2.17,0.00,0.000,4,0.000,0.056,2856,3509,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8350,-0.72,-146.6,740.4,-8.4,792,8355,0.15,2.10,0.00,0.000,6,0.166,0.040,2895,2100,3637,0,0,0,0,0,0,26.61,26.76,28.83
$GC,8669,-0.72,-146.6,762.2,-6.4,803,8673,0.00,2.20,0.00,0.000,4,0.000,0.057,2888,3520,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8735,-0.72,-146.6,766.6,-6.6,805,8739,0.00,2.12,0.00,0.000,6,0.000,0.040,2887,2096,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9057,-0.72,-146.6,789.0,-6.9,816,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2094,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9357,-0.72,-146.6,809.8,-6.9,826,9361,0.00,2.20,0.00,0.000,4,0.000,0.058,2877,3516,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9453,-0.72,-146.6,817.1,-7.7,829,9457,0.00,2.12,0.00,0.000,6,0.000,0.041,2877,2093,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9777,-0.72,-146.6,842.1,-7.8,840,9782,0.00,2.17,0.00,0.000,4,0.000,0.057,2866,3505,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9836,-0.72,-146.6,847.2,-8.1,842,9841,0.00,2.08,0.00,0.000,6,0.000,0.041,2867,2104,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10166,-0.72,-146.6,874.4,-8.2,853,10171,0.00,2.15,0.00,0.000,4,0.000,0.059,2856,3514,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10219,-0.72,-146.6,877.1,-8.4,854,10227,0.15,2.12,0.00,0.000,6,0.164,0.041,2896,2089,3637,0,0,0,0,0,0,26.63,26.77,28.83
$GC,10528,-0.72,-146.6,901.5,-7.2,865,10534,0.00,2.15,0.00,0.000,4,0.000,0.058,2888,3502,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10575,-0.72,-146.6,903.9,-7.3,866,10579,0.00,2.10,0.00,0.000,6,0.000,0.041,2888,2099,3637,0,0,0,0,0,0,28.83,26.78,28.83
$GC,10883,-0.72,-146.6,928.7,-7.6,876,10888,0.00,2.15,0.00,0.000,4,0.000,0.058,2878,3505,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10950,-0.72,-146.6,933.6,-7.8,878,10954,0.00,2.10,0.00,0.000,6,0.000,0.041,2877,2092,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,11273,-0.72,-146.6,960.1,-7.9,889,11278,0.00,2.17,0.00,0.000,4,0.000,0.058,2867,3505,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11333,-0.72,-146.6,965.1,-8.0,891,11339,0.00,2.10,0.00,0.000,6,0.000,0.041,2867,2090,3637,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,11659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11660,begin apogee
$GC,11667,-0.17,0.0,992.0,-8.0,902,11801,0.62,0.00,128.00,1.491,6,0.145,0.000,3067,1891,3029,0,0,0,0,0,0,26.64,28.83,23.53
$STATE,11802,end apogee,CONTROL_FINISHED_OK
$STATE,11803,begin climb
$GC,11805,0.72,146.6,994.6,0.0,906,11947,0.88,2.45,130.98,1.444,4,0.089,0.048,3368,507,2430,0,0,0,0,0,0,24.62,24.02,23.12
$GC,11978,0.72,146.6,979.9,10.6,912,11982,0.00,2.40,0.00,0.000,6,0.000,0.041,3368,1909,2426,0,0,0,0,0,0,28.83,24.51,28.83
$GC,12285,0.72,146.6,934.7,13.8,922,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1908,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12586,0.72,146.6,893.9,13.5,932,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1908,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12885,0.72,146.6,852.1,13.9,942,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1908,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13185,0.72,146.6,808.7,14.6,952,13191,0.00,2.22,0.00,0.000,4,0.000,0.050,3378,519,2415,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13228,0.72,146.6,804.3,14.5,953,13232,0.00,2.22,0.00,0.000,6,0.000,0.044,3378,1910,2415,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13541,0.72,146.6,755.3,14.8,964,13542,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1910,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13840,0.72,146.6,711.2,14.7,974,13846,0.00,2.25,0.00,0.000,4,0.000,0.050,3386,504,2414,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13873,0.72,146.6,706.7,14.7,975,13877,0.00,2.22,0.00,0.000,6,0.000,0.043,3386,1908,2414,0,0,0,0,0,0,28.83,26.35,28.83
$GC,14196,0.72,146.6,658.2,14.6,986,14200,0.00,2.22,0.00,0.000,4,0.000,0.050,3395,506,2414,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14224,0.72,146.6,658.2,14.6,986,14231,0.12,2.22,0.00,0.000,6,0.177,0.044,3365,1913,2414,0,0,0,0,0,0,26.29,26.41,28.83
$GC,14528,0.72,146.6,612.4,13.3,997,14529,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1913,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14828,0.72,146.6,572.9,13.1,1019,14829,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1913,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15128,0.72,146.6,534.2,12.9,1049,15137,0.00,2.25,0.00,0.000,4,0.000,0.050,3373,504,2413,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15153,0.72,146.6,531.4,12.9,1051,15161,0.00,2.20,0.00,0.000,6,0.000,0.044,3373,1902,2413,0,0,0,0,0,0,28.83,26.52,28.83
$GC,15460,0.72,146.6,491.3,12.7,1082,15461,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1902,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15760,0.72,146.6,451.7,13.3,1112,15769,0.00,2.20,0.00,0.000,4,0.000,0.049,3381,503,2413,0,0,0,0,0,0,28.83,26.56,28.83
$GC,15803,0.72,146.6,445.9,14.1,1116,15811,0.00,2.17,0.00,0.000,6,0.000,0.044,3382,1903,2413,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16112,0.72,146.6,402.6,13.8,1147,16122,0.00,2.20,0.00,0.000,4,0.000,0.049,3391,510,2413,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16148,0.72,146.6,398.1,13.9,1150,16156,0.00,2.15,0.00,0.000,6,0.000,0.043,3391,1898,2413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16455,0.72,146.6,353.4,14.6,1181,16456,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1898,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16755,0.72,146.6,309.6,14.4,1211,16765,0.00,2.20,0.00,0.000,4,0.000,0.048,3400,503,2413,0,0,0,0,0,0,28.83,26.61,28.83
$GC,16801,0.72,146.6,303.2,14.6,1215,16810,0.12,2.20,0.00,0.000,6,0.176,0.043,3367,1913,2413,0,0,0,0,0,0,26.50,26.63,28.83
$GC,17108,0.72,146.6,262.5,13.0,1246,17117,0.00,2.20,0.00,0.000,4,0.000,0.049,3374,506,2413,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17150,0.72,146.6,256.8,13.5,1250,17159,0.00,2.17,0.00,0.000,6,0.000,0.042,3374,1898,2413,0,0,0,0,0,0,28.83,26.64,28.83
$GC,17461,0.72,146.6,212.9,14.4,1281,17469,0.00,2.12,0.00,0.000,4,0.000,0.054,3374,3301,2413,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17482,0.72,146.6,209.6,14.4,1283,17492,0.00,2.10,0.00,0.000,6,0.000,0.041,3383,1907,2413,0,0,0,0,0,0,28.83,26.66,28.83
$GC,17793,0.72,146.6,165.4,13.5,1314,17801,0.00,2.17,0.00,0.000,4,0.000,0.050,3394,503,2413,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17855,0.72,146.6,156.8,13.8,1320,17865,0.08,2.17,0.00,0.000,6,0.155,0.042,3370,1908,2413,0,0,0,0,0,0,26.54,26.66,28.83
$GC,18164,0.72,146.6,120.5,11.2,1351,18174,0.00,2.22,0.00,0.000,4,0.000,0.049,3377,496,2413,0,0,0,0,0,0,28.83,26.66,28.83
$GC,18248,0.72,146.6,111.1,11.1,1359,18258,0.00,2.17,0.00,0.000,6,0.000,0.043,3377,1900,2413,0,0,0,0,0,0,28.83,26.67,28.83
$GC,18559,0.72,146.6,77.8,10.0,1410,18566,0.00,2.15,0.00,0.000,4,0.000,0.054,3377,3308,2413,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18614,0.72,146.6,71.4,11.7,1420,18621,0.00,2.12,0.00,0.000,6,0.000,0.041,3385,1900,2413,0,0,0,0,0,0,28.83,26.69,28.83
$GC,18925,0.72,146.6,38.1,11.2,1481,18931,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1900,2413,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.95,-0.682,-1.770,2,1,0
$GC,19236,0.79,197.9,10.3,7.0,1542,19262,0.00,0.00,22.80,0.089,6,0.000,0.000,3385,1900,2221,0,0,0,0,0,0,28.83,28.83,26.60
$FREEZE,7.73,-0.567,-1.770,2,1,0
$FREEZE,7.35,-0.273,-1.767,2,1,0
$FREEZE,6.93,-0.216,-1.764,2,1,0
$FREEZE,6.46,-0.205,-1.765,2,1,0
$FREEZE,5.94,-0.180,-1.767,2,1,0
$FREEZE,5.53,0.076,-1.761,2,1,0
$FREEZE,5.13,0.151,-1.761,2,1,0
$FREEZE,4.76,0.368,-1.754,2,1,0
$FREEZE,4.31,0.493,-1.752,2,1,0
$FREEZE,3.96,0.927,-1.744,2,1,0
$STATE,19317,end climb,SURFACE_DEPTH_REACHED
$STATE,19317,begin surface coast
$FREEZE,3.23,1.224,-1.735,2,1,0
$FREEZE,2.90,1.554,-1.723,2,1,0
$FREEZE,2.51,1.867,-1.711,2,1,0
$FREEZE,2.25,1.902,-1.710,2,1,0
$FREEZE,1.84,1.895,-1.711,2,1,0
$FREEZE,1.56,1.882,-1.712,2,1,0
$FREEZE,1.44,1.869,-0.791,2,1,0
$FREEZE,1.44,1.346,-0.728,2,1,0
$FREEZE,1.50,1.451,-0.640,2,1,0
$FREEZE,1.42,1.763,-0.103,2,1,0
$FREEZE,1.53,1.846,-0.051,2,1,0
$FINISH,1.5,1.000663
$STATE,19375,end surface coast,CONTROL_FINISHED_OK
$STATE,19376,begin surface
$SM_CCo,19395,87.65,0.073,0,0,1397,400.08
$SM_GC,2.50,8.12,0.32,87.65,0.059,0.065,0.073,343,2105,1397,-8.66,-1.27,400.08,0,0,0,0,0,0,26.63,26.65,26.48
$RAFOS_CLK,1008
$RAFOS,6,1340758144,0.833333,0.817778,47,43,41,40,40,40,864,630,835,1,629,1591
$RAFOS,5,1340757669,0.700000,0.685833,50,46,46,43,41,40,771,1157,1502,303,914,1349
$RAFOS,4,1340757189,0.566667,0.552500,52,45,45,43,43,41,535,325,839,61,970,425
$RAFOS,3,1340756707,0.433333,0.418611,50,47,47,44,44,39,999,262,385,146,1124,237
$RAFOS,2,1340756221,0.300000,0.283611,51,50,46,45,42,41,1042,710,1545,210,1776,1584
$RAFOS,1,1340755749,0.166667,0.152500,50,46,45,43,42,42,1529,432,245,1501,1166,1197
$RAFOS,0,1340755269,0.033333,0.019167,44,42,42,41,40,40,1397,511,1660,1344,498,1553
$RAFOS,6,1340743745,20.833334,20.818056,48,47,47,43,41,41,201,1409,1618,321,882,1746
$RAFOS,5,1340743268,20.700001,20.685556,50,46,44,44,42,42,867,1687,527,1356,1620,1482
$RAFOS,4,1340742784,20.566668,20.551111,50,46,44,42,42,41,613,1105,1225,613,1585,1172
$RAFOS,3,1340742304,20.433332,20.417778,43,43,43,42,42,41,274,334,467,232,107,1366
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5922.88,260612,141446
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.25
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,23.1,8.356
$10V_AH,10.2,9.813
$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,20.900,178.075,281.775,87.650,0.000,0.000,0.000,390.575,3.750,0.000,20.188,4120.326,11621.681,633.906,3211.426,421.880,0.000,2555.998,0.000,2784.502,3960.000,27.357,0.000
$DEVICE_MAMPS,255.510,65.025,1490.985,72.675,0.000,0.000,0.000,280.891,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.847,1195.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151544
$DATA_FILE_SIZE,73408,1567
$CAP_FILE_SIZE,204546,0
$CFSIZE,260165632,242204672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.8
$CURRENT,0.057,172.5,1
$GPS,270612,014606,6657.277,-5839.768,27,0.7,28,-33.8