version: 66.11
glider: 108
mission: 21
dive: 51
start: 6 28 112 16 29 15
data:
$ID,108
$MISSION,21
$DIVE,51
$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,-2
$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,-191150.5
$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,50
$R_STBD_OVSHOOT,42
$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
$GPS1,280612,162035,6653.751,-5911.863,34,0.8,34,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-76.2
$GPS2,280612,162842,6653.807,-5911.637,14,1.1,15,-33.9
$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,329.2,57353,-16.3,-9.167
$D_GRID,1042
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-146.6,0.0,0.0,0,94,0.00,0.00,-73.40,0.000,2,0.000,0.000,343,2105,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.72,-146.6,3.0,-1.2,13,131,9.95,2.28,-17.15,0.000,4,0.256,0.067,2902,702,3630,0,0,0,0,0,0,26.29,26.51,26.81
$GC,361,-0.72,-146.6,35.5,-12.0,63,369,0.00,2.20,0.00,0.000,6,0.000,0.048,2895,2101,3635,0,0,0,0,0,0,28.83,26.54,28.83
$GC,675,-0.72,-146.6,72.6,-11.9,124,682,0.00,2.17,0.00,0.000,4,0.000,0.060,2885,3514,3635,0,0,0,0,0,0,28.83,26.55,28.83
$GC,786,-0.72,-146.6,86.0,-11.9,145,792,0.00,2.15,0.00,0.000,6,0.000,0.043,2885,2094,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1096,-0.72,-146.6,121.8,-11.1,187,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2092,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1398,-0.72,-146.6,152.4,-10.0,217,1401,0.00,2.22,0.00,0.000,4,0.000,0.060,2874,3503,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1500,-0.72,-146.6,163.2,-10.2,227,1510,0.00,2.12,0.00,0.000,6,0.000,0.044,2874,2096,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1810,-0.72,-146.6,194.0,-10.1,258,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2095,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2112,-0.72,-146.6,223.5,-10.2,288,2121,0.00,2.17,0.00,0.000,4,0.000,0.060,2864,3507,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2224,-0.72,-146.6,236.1,-11.2,299,2235,0.12,2.12,0.00,0.000,6,0.181,0.043,2894,2100,3634,0,0,0,0,0,0,26.53,26.68,28.83
$GC,2534,-0.72,-146.6,265.1,-9.1,330,2543,0.00,2.15,0.00,0.000,4,0.000,0.060,2886,3499,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2586,-0.72,-146.6,270.4,-10.0,335,2596,0.00,2.12,0.00,0.000,6,0.000,0.042,2886,2087,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2896,-0.72,-146.6,298.2,-8.9,366,2905,0.00,2.17,0.00,0.000,4,0.000,0.058,2875,3512,3633,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2979,-0.72,-146.6,306.2,-9.9,374,2987,0.00,2.12,0.00,0.000,6,0.000,0.041,2875,2093,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3289,-0.72,-146.6,335.6,-9.6,405,3297,0.00,2.17,0.00,0.000,4,0.000,0.057,2865,3505,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3401,-0.72,-146.6,346.8,-10.1,416,3410,0.08,2.10,0.00,0.000,6,0.162,0.041,2889,2095,3634,0,0,0,0,0,0,26.56,26.71,28.83
$GC,3711,-0.72,-146.6,373.2,-8.2,447,3715,0.00,2.17,0.00,0.000,4,0.000,0.057,2881,3508,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3757,-0.72,-146.6,376.9,-8.9,451,3764,0.00,2.12,0.00,0.000,6,0.000,0.040,2881,2086,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4063,-0.72,-146.6,404.5,-8.9,482,4072,0.00,2.20,0.00,0.000,4,0.000,0.057,2870,3513,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4135,-0.72,-146.6,411.3,-9.9,489,4139,0.00,2.10,0.00,0.000,6,0.000,0.041,2870,2103,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4448,-0.72,-146.6,440.0,-9.1,520,4456,0.00,2.15,0.00,0.000,4,0.000,0.057,2860,3508,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4499,-0.72,-146.6,444.8,-9.8,525,4504,0.15,2.10,0.00,0.000,6,0.171,0.041,2898,2094,3634,0,0,0,0,0,0,26.58,26.73,28.83
$GC,4812,-0.72,-146.6,468.7,-7.3,556,4816,0.00,2.20,0.00,0.000,4,0.000,0.057,2890,3518,3635,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4875,-0.72,-146.6,473.6,-7.9,562,4883,0.00,2.12,0.00,0.000,6,0.000,0.041,2890,2092,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5185,-0.72,-146.6,497.4,-7.7,593,5193,0.00,2.15,0.00,0.000,4,0.000,0.056,2880,3507,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5260,-0.72,-146.6,503.5,-8.5,600,5267,0.00,2.10,0.00,0.000,6,0.000,0.040,2880,2099,3635,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5567,-0.72,-146.6,528.7,-8.0,631,5577,0.00,2.15,0.00,0.000,4,0.000,0.057,2870,3514,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5650,-0.72,-146.6,536.1,-9.1,639,5660,0.00,2.10,0.00,0.000,6,0.000,0.040,2869,2094,3636,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5960,-0.72,-146.6,563.0,-8.9,670,5969,0.00,2.15,0.00,0.000,4,0.000,0.056,2859,3507,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6042,-0.72,-146.6,570.9,-9.9,678,6052,0.15,2.10,0.00,0.000,6,0.167,0.040,2899,2097,3637,0,0,0,0,0,0,26.60,26.74,28.83
$GC,6352,-0.72,-146.6,595.0,-7.6,709,6361,0.00,2.15,0.00,0.000,4,0.000,0.056,2890,3512,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6404,-0.72,-146.6,599.2,-8.4,714,6408,0.00,2.10,0.00,0.000,6,0.000,0.039,2890,2094,3636,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6717,-0.72,-146.6,622.9,-7.4,725,6723,0.00,2.15,0.00,0.000,4,0.000,0.056,2879,3504,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6785,-0.72,-146.6,627.7,-7.8,727,6789,0.00,2.10,0.00,0.000,6,0.000,0.040,2879,2099,3637,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7105,-0.72,-146.6,651.8,-7.2,738,7110,0.00,2.15,0.00,0.000,4,0.000,0.057,2869,3511,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7197,-0.72,-146.6,659.0,-7.8,741,7201,0.00,2.12,0.00,0.000,6,0.000,0.040,2869,2089,3637,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7520,-0.72,-146.6,683.7,-7.4,752,7526,0.00,2.15,0.00,0.000,4,0.000,0.057,2859,3500,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7585,-0.72,-146.6,688.5,-7.7,754,7591,0.10,2.10,0.00,0.000,6,0.147,0.040,2891,2086,3637,0,0,0,0,0,0,26.61,26.77,28.83
$GC,7910,-0.72,-146.6,710.2,-6.5,765,7915,0.00,2.17,0.00,0.000,4,0.000,0.057,2883,3512,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7993,-0.72,-146.6,714.7,-6.9,767,8001,0.00,2.12,0.00,0.000,6,0.000,0.041,2883,2088,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8300,-0.72,-146.6,737.9,-6.9,778,8305,0.00,2.15,0.00,0.000,4,0.000,0.057,2872,3503,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8383,-0.72,-146.6,742.5,-7.1,780,8389,0.00,2.10,0.00,0.000,6,0.000,0.040,2872,2097,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8690,-0.72,-146.6,767.6,-7.7,791,8694,0.00,2.17,0.00,0.000,4,0.000,0.057,2862,3514,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8752,-0.72,-146.6,772.8,-8.0,793,8759,0.10,2.10,0.00,0.000,6,0.148,0.041,2894,2098,3637,0,0,0,0,0,0,26.62,26.77,28.83
$GC,9083,-0.72,-146.6,795.8,-6.8,804,9087,0.00,2.17,0.00,0.000,4,0.000,0.057,2886,3507,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9147,-0.72,-146.6,800.6,-7.0,806,9152,0.00,2.10,0.00,0.000,6,0.000,0.041,2886,2092,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9476,-0.72,-146.6,824.3,-7.2,817,9482,0.00,2.17,0.00,0.000,4,0.000,0.057,2876,3504,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9559,-0.72,-146.6,828.8,-7.4,819,9567,0.00,2.10,0.00,0.000,6,0.000,0.041,2876,2097,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9866,-0.72,-146.6,853.8,-7.5,830,9871,0.00,2.15,0.00,0.000,4,0.000,0.057,2866,3505,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9979,-0.72,-146.6,861.2,-8.2,833,9987,0.12,2.10,0.00,0.000,6,0.170,0.041,2897,2097,3637,0,0,0,0,0,0,26.63,26.77,28.83
$GC,10286,-0.72,-146.6,883.9,-6.6,844,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2096,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10586,-0.72,-146.6,903.9,-6.7,854,10591,0.00,2.15,0.00,0.000,4,0.000,0.057,2889,3512,3637,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10676,-0.72,-146.6,910.4,-7.1,857,10682,0.00,2.10,0.00,0.000,6,0.000,0.041,2889,2096,3637,0,0,0,0,0,0,28.83,26.78,28.83
$GC,11008,-0.72,-146.6,933.1,-7.0,868,11014,0.00,2.15,0.00,0.000,4,0.000,0.057,2877,3511,3638,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11075,-0.72,-146.6,937.7,-7.3,870,11079,0.00,2.12,0.00,0.000,6,0.000,0.041,2879,2090,3637,0,0,0,0,0,0,28.83,26.78,28.83
$GC,11393,-0.72,-146.6,962.7,-7.6,881,11398,0.00,2.17,0.00,0.000,4,0.000,0.057,2868,3503,3637,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11446,-0.72,-146.6,965.3,-7.8,882,11453,0.00,2.10,0.00,0.000,6,0.000,0.041,2869,2096,3637,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,11750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11750,begin apogee
$GC,11757,-0.17,0.0,991.4,-7.8,893,11892,0.62,0.00,127.97,1.494,6,0.145,0.000,3070,1878,3029,0,0,0,0,0,0,26.64,28.83,23.53
$STATE,11893,end apogee,CONTROL_FINISHED_OK
$STATE,11893,begin climb
$GC,11896,0.72,146.6,992.8,0.0,897,12033,0.88,0.00,132.10,1.465,6,0.090,0.000,3361,1878,2431,0,0,0,0,0,0,24.63,28.83,22.94
$GC,12318,0.72,146.6,937.0,14.6,912,12324,0.00,2.25,0.00,0.000,4,0.000,0.048,3370,513,2419,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12341,0.72,146.6,937.0,14.6,912,12348,0.00,2.28,0.00,0.000,6,0.000,0.041,3371,1898,2418,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12647,0.72,146.6,888.1,15.0,923,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1898,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12948,0.72,146.6,846.3,13.8,933,12953,0.00,2.22,0.00,0.000,4,0.000,0.049,3380,514,2415,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12977,0.72,146.6,842.3,13.8,934,12983,0.00,2.22,0.00,0.000,6,0.000,0.043,3379,1913,2415,0,0,0,0,0,0,28.83,26.00,28.83
$GC,13308,0.72,146.6,794.6,14.4,945,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1912,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13609,0.72,146.6,751.3,14.4,955,13615,0.00,2.20,0.00,0.000,4,0.000,0.048,3389,518,2414,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13631,0.72,146.6,751.3,14.4,955,13639,0.00,2.20,0.00,0.000,6,0.000,0.042,3389,1905,2414,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13938,0.72,146.6,700.9,15.5,966,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1905,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14238,0.72,146.6,654.3,15.4,976,14243,0.00,2.17,0.00,0.000,4,0.000,0.049,3398,521,2413,0,0,0,0,0,0,28.83,26.38,28.83
$GC,14270,0.72,146.6,649.5,15.6,977,14275,0.15,2.17,0.00,0.000,6,0.170,0.042,3360,1900,2413,0,0,0,0,0,0,26.27,26.39,28.83
$GC,14594,0.72,146.6,603.4,13.8,988,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1900,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14896,0.72,146.6,562.8,13.4,1016,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1900,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15203,0.72,146.6,521.0,13.5,1047,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1900,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15503,0.72,146.6,479.3,14.0,1077,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1900,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15804,0.72,146.6,437.2,14.2,1107,15805,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1900,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16103,0.72,146.6,397.0,12.4,1137,16104,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1900,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16405,0.72,146.6,359.7,12.8,1167,16412,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1900,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16716,0.72,146.6,321.4,12.3,1198,16722,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1900,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17026,0.72,146.6,284.9,11.4,1229,17034,0.00,2.12,0.00,0.000,4,0.000,0.054,3360,3300,2412,0,0,0,0,0,0,28.83,26.61,28.83
$GC,17060,0.72,146.6,280.7,12.1,1232,17067,0.00,2.10,0.00,0.000,6,0.000,0.041,3367,1910,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17367,0.72,146.6,242.1,12.8,1263,17377,0.00,2.17,0.00,0.000,4,0.000,0.050,3378,499,2412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17430,0.72,146.6,234.0,12.8,1269,17439,0.00,2.15,0.00,0.000,6,0.000,0.041,3378,1898,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17741,0.72,146.6,194.6,12.5,1300,17742,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1897,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18042,0.72,146.6,157.3,12.6,1330,18051,0.00,2.12,0.00,0.000,4,0.000,0.054,3378,3298,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18084,0.72,146.6,151.1,14.0,1334,18094,0.00,2.12,0.00,0.000,6,0.000,0.040,3387,1887,2412,0,0,0,0,0,0,28.83,26.68,28.83
$GC,18394,0.72,146.6,109.7,12.3,1365,18403,0.00,2.12,0.00,0.000,4,0.000,0.050,3397,506,2412,0,0,0,0,0,0,28.83,26.66,28.83
$GC,18459,0.72,146.6,102.5,11.7,1371,18468,0.12,2.17,0.00,0.000,6,0.168,0.042,3366,1903,2412,0,0,0,0,0,0,26.57,26.67,28.83
$GC,18771,0.72,146.6,72.0,9.8,1430,18778,0.00,2.15,0.00,0.000,4,0.000,0.055,3366,3306,2412,0,0,0,0,0,0,28.83,26.66,28.83
$GC,18807,0.72,146.6,68.0,11.0,1436,18814,0.00,2.10,0.00,0.000,6,0.000,0.041,3373,1903,2412,0,0,0,0,0,0,28.83,26.70,28.83
$GC,19117,0.72,146.6,38.3,9.4,1497,19124,0.00,2.20,0.00,0.000,4,0.000,0.050,3384,495,2412,0,0,0,0,0,0,28.83,26.68,28.83
$GC,19227,0.75,167.4,28.8,8.3,1518,19247,0.00,2.20,13.23,0.845,6,0.000,0.043,3384,1905,2345,0,0,0,0,0,0,28.83,26.70,25.70
$FREEZE,8.59,2.005,-1.780,2,1,0
$FREEZE,8.16,2.053,-1.779,2,1,0
$FREEZE,7.65,2.065,-1.779,2,1,0
$FREEZE,7.26,2.076,-1.780,2,1,0
$FREEZE,6.69,2.202,-1.779,2,1,0
$FREEZE,6.38,2.311,-1.778,2,1,0
$FREEZE,5.75,2.372,-1.777,2,1,0
$FREEZE,5.40,2.374,-1.777,2,1,0
$FREEZE,4.79,2.413,-1.778,2,1,0
$FREEZE,4.33,2.410,-1.778,2,1,0
$FREEZE,3.97,2.404,-1.778,2,1,0
$STATE,19499,end climb,SURFACE_DEPTH_REACHED
$STATE,19499,begin surface coast
$FREEZE,3.49,2.427,-1.777,2,1,0
$FREEZE,2.87,2.428,-1.777,2,1,0
$FREEZE,2.57,2.436,-1.777,2,1,0
$FREEZE,1.98,2.439,-1.777,2,1,0
$FREEZE,1.56,2.442,-1.777,2,1,0
$FREEZE,1.45,2.427,-0.749,2,1,0
$FREEZE,1.53,2.336,-0.119,2,1,0
$FREEZE,1.61,2.400,-1.772,2,1,0
$FREEZE,1.50,2.439,-0.981,2,1,0
$FINISH,1.5,1.014450
$STATE,19547,end surface coast,CONTROL_FINISHED_OK
$STATE,19547,begin surface
$SM_CCo,19566,102.47,0.073,0,0,1398,400.08
$SM_GC,2.40,8.12,0.28,102.47,0.055,0.070,0.073,341,2101,1398,-8.66,-1.24,400.08,0,0,0,0,0,0,26.50,26.51,26.32
$RAFOS_CLK,1035
$RAFOS,6,1340916546,20.833334,20.818333,54,45,45,43,43,41,1076,704,267,252,1344,1817
$RAFOS,5,1340916066,20.700001,20.684999,56,45,42,42,41,40,1919,1360,776,1866,446,276
$RAFOS,4,1340915586,20.566668,20.551666,48,45,44,43,42,39,1760,707,227,378,1865,1
$RAFOS,3,1340915130,20.433332,20.424999,46,44,44,44,41,41,506,654,1411,1856,1378,367
$RAFOS,2,1340914650,20.299999,20.291666,49,46,45,44,43,41,640,151,1354,157,738,1229
$RAFOS,1,1340914170,20.166666,20.158333,50,44,44,44,42,42,1904,61,884,88,1513,623
$RAFOS,0,1340913690,20.033333,20.025000,44,41,41,40,39,38,1784,1042,1534,451,877,1705
$RAFOS,6,1340902148,16.833334,16.818890,43,43,41,39,39,39,137,1860,608,1,376,1479
$RAFOS,5,1340901662,16.700001,16.683889,51,50,47,47,45,43,1508,1578,888,1380,1036,395
$RAFOS,4,1340901183,16.566668,16.550833,43,42,42,41,40,40,304,1401,1906,1572,935,1511
$RAFOS,2,1340900225,16.299999,16.284721,53,49,44,41,39,38,641,1526,552,1513,1,61
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5910.64,280612,101007
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.35
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,22.9,9.239
$10V_AH,10.2,10.819
$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,20.675,159.700,273.300,102.475,0.000,0.000,0.000,346.250,3.750,0.000,16.196,4126.573,11803.669,619.997,3179.742,416.696,0.000,2477.644,0.000,2797.634,3600.000,32.171,0.000
$DEVICE_MAMPS,255.510,70.380,1494.045,73.440,0.000,0.000,0.000,274.899,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.546,1207.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151632
$DATA_FILE_SIZE,73399,1579
$CAP_FILE_SIZE,198627,0
$CFSIZE,260165632,241491968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.7
$CURRENT,0.167,354.8,1
$GPS,280612,215836,6656.762,-5917.321,39,0.7,39,-33.9