version: 66.11
glider: 108
mission: 21
dive: 52
start: 6 28 112 22 11 52
data:
$ID,108
$MISSION,21
$DIVE,52
$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,-191151.75
$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,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
$GPS1,280612,215836,6656.762,-5917.321,39,0.7,39,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-76.7
$GPS2,280612,221118,6656.771,-5917.518,20,0.8,20,-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,237.8,55401,-16.3,-9.167
$D_GRID,1050
$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,-146.6,0.0,0.0,0,97,0.00,0.00,-77.28,0.000,2,0.000,0.000,341,2102,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.72,-146.6,3.1,-0.7,14,133,10.12,2.25,-12.82,0.000,4,0.262,0.067,2901,706,3630,0,0,0,0,0,0,26.25,26.47,26.76
$GC,170,-0.72,-146.6,12.9,-13.7,26,177,0.00,2.20,0.00,0.000,6,0.000,0.047,2893,2100,3632,0,0,0,0,0,0,28.83,26.48,28.83
$GC,481,-0.72,-146.6,50.4,-11.1,87,488,0.00,2.17,0.00,0.000,4,0.000,0.059,2883,3505,3635,0,0,0,0,0,0,28.83,26.50,28.83
$GC,643,-0.72,-146.6,69.8,-12.0,118,650,0.00,2.12,0.00,0.000,6,0.000,0.041,2883,2100,3636,0,0,0,0,0,0,28.83,26.56,28.83
$GC,953,-0.72,-146.6,105.9,-11.3,174,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2097,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1256,-0.72,-146.6,139.5,-11.0,204,1265,0.00,2.15,0.00,0.000,4,0.000,0.059,2873,3497,3636,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1338,-0.72,-146.6,149.3,-11.4,212,1348,0.00,2.12,0.00,0.000,6,0.000,0.042,2873,2095,3635,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1648,-0.72,-146.6,184.3,-11.3,243,1657,0.00,2.22,0.00,0.000,4,0.000,0.058,2862,3515,3635,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1730,-0.72,-146.6,194.0,-11.8,251,1740,0.12,2.15,0.00,0.000,6,0.184,0.042,2893,2090,3634,0,0,0,0,0,0,26.49,26.64,28.83
$GC,2040,-0.72,-146.6,221.4,-7.9,282,2049,0.00,2.12,0.00,0.000,4,0.000,0.049,2899,701,3633,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2073,-0.72,-146.6,224.0,-8.3,285,2081,0.00,2.17,0.00,0.000,6,0.000,0.047,2893,2102,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2382,-0.72,-146.6,248.8,-8.0,316,2391,0.00,2.12,0.00,0.000,4,0.000,0.058,2882,3498,3633,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2437,-0.72,-146.6,253.3,-8.5,321,2444,0.00,2.12,0.00,0.000,6,0.000,0.041,2881,2088,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2745,-0.72,-146.6,279.7,-8.4,352,2754,0.00,2.20,0.00,0.000,4,0.000,0.057,2871,3513,3634,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2798,-0.72,-146.6,284.6,-9.6,357,2802,0.00,2.10,0.00,0.000,6,0.000,0.041,2871,2100,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3110,-0.72,-146.6,313.5,-9.4,388,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2097,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3412,-0.72,-146.6,341.7,-9.3,418,3421,0.00,2.17,0.00,0.000,4,0.000,0.057,2861,3501,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3485,-0.72,-146.6,349.4,-10.5,425,3495,0.10,2.10,0.00,0.000,6,0.154,0.040,2892,2090,3634,0,0,0,0,0,0,26.56,26.70,28.83
$GC,3794,-0.72,-146.6,376.8,-8.7,456,3803,0.00,2.17,0.00,0.000,4,0.000,0.057,2885,3500,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3849,-0.72,-146.6,381.8,-9.8,461,3856,0.00,2.10,0.00,0.000,6,0.000,0.040,2884,2096,3633,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4157,-0.72,-146.6,409.3,-8.6,492,4166,0.00,2.15,0.00,0.000,4,0.000,0.057,2874,3500,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4203,-0.72,-146.6,413.2,-9.3,496,4210,0.00,2.10,0.00,0.000,6,0.000,0.041,2874,2097,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4510,-0.72,-146.6,439.4,-8.0,527,4518,0.00,2.17,0.00,0.000,4,0.000,0.057,2863,3512,3633,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4572,-0.72,-146.6,445.0,-9.3,533,4576,0.12,2.10,0.00,0.000,6,0.174,0.039,2894,2092,3634,0,0,0,0,0,0,26.58,26.72,28.83
$GC,4885,-0.72,-146.6,468.1,-7.8,564,4889,0.00,2.20,0.00,0.000,4,0.000,0.057,2887,3517,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4938,-0.72,-146.6,472.4,-8.3,569,4947,0.00,2.10,0.00,0.000,6,0.000,0.040,2886,2096,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5247,-0.72,-146.6,496.3,-7.7,600,5257,0.00,2.17,0.00,0.000,4,0.000,0.057,2876,3511,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5354,-0.72,-146.6,505.0,-8.4,610,5361,0.00,2.12,0.00,0.000,6,0.000,0.040,2876,2088,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5662,-0.72,-146.6,529.7,-7.9,641,5670,0.00,2.17,0.00,0.000,4,0.000,0.055,2865,3504,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5726,-0.72,-146.6,535.1,-8.7,647,5735,0.08,2.08,0.00,0.000,6,0.153,0.037,2890,2097,3634,0,0,0,0,0,0,26.59,26.74,28.83
$GC,6034,-0.72,-146.6,557.1,-6.9,678,6042,0.00,2.15,0.00,0.000,4,0.000,0.056,2882,3500,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6109,-0.72,-146.6,562.5,-7.4,685,6116,0.00,2.10,0.00,0.000,6,0.000,0.037,2882,2085,3634,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6416,-0.72,-146.6,584.2,-6.9,716,6426,0.00,2.17,0.00,0.000,4,0.000,0.057,2872,3500,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6592,-0.72,-146.6,598.3,-8.3,733,6599,0.00,2.10,0.00,0.000,6,0.000,0.040,2872,2094,3635,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6920,-0.72,-146.6,625.0,-8.1,746,6924,0.00,2.15,0.00,0.000,4,0.000,0.056,2862,3503,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7026,-0.72,-146.6,633.3,-8.9,749,7032,0.10,2.08,0.00,0.000,6,0.149,0.040,2894,2103,3635,0,0,0,0,0,0,26.60,26.76,28.83
$GC,7346,-0.72,-146.6,659.4,-7.8,760,7351,0.00,2.15,0.00,0.000,4,0.000,0.057,2886,3511,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7394,-0.72,-146.6,661.8,-7.8,761,7398,0.00,2.10,0.00,0.000,6,0.000,0.040,2886,2097,3635,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7708,-0.72,-146.6,687.6,-7.6,772,7713,0.00,2.17,0.00,0.000,4,0.000,0.056,2876,3513,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7769,-0.72,-146.6,692.5,-7.7,774,7774,0.00,2.12,0.00,0.000,6,0.000,0.039,2876,2088,3635,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8093,-0.72,-146.6,719.0,-8.2,785,8098,0.00,2.17,0.00,0.000,4,0.000,0.057,2865,3500,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8140,-0.72,-146.6,721.6,-8.4,786,8145,0.12,2.10,0.00,0.000,6,0.171,0.040,2896,2092,3636,0,0,0,0,0,0,26.62,26.77,28.83
$GC,8448,-0.72,-146.6,746.3,-7.4,796,8454,0.00,2.15,0.00,0.000,4,0.000,0.057,2888,3499,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8532,-0.72,-146.6,751.2,-7.8,798,8538,0.00,2.10,0.00,0.000,6,0.000,0.040,2888,2090,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8839,-0.72,-146.6,776.2,-7.5,809,8844,0.00,2.15,0.00,0.000,4,0.000,0.056,2878,3500,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8925,-0.72,-146.6,781.2,-7.6,811,8932,0.00,2.10,0.00,0.000,6,0.000,0.040,2878,2094,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9232,-0.72,-146.6,807.0,-7.8,822,9237,0.00,2.17,0.00,0.000,4,0.000,0.056,2867,3504,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9285,-0.72,-146.6,809.3,-7.8,823,9292,0.00,2.10,0.00,0.000,6,0.000,0.040,2868,2098,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9592,-0.72,-146.6,835.1,-7.4,834,9596,0.00,2.17,0.00,0.000,4,0.000,0.057,2856,3511,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9628,-0.72,-146.6,837.7,-7.6,835,9633,0.15,2.12,0.00,0.000,6,0.164,0.040,2895,2089,3636,0,0,0,0,0,0,26.62,26.77,28.83
$GC,9953,-0.72,-146.6,858.0,-5.9,846,9959,0.00,2.15,0.00,0.000,4,0.000,0.057,2888,3501,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10066,-0.72,-146.6,863.9,-6.4,849,10073,0.00,2.10,0.00,0.000,6,0.000,0.040,2888,2093,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10373,-0.72,-146.6,885.2,-6.5,860,10378,0.00,2.17,0.00,0.000,4,0.000,0.057,2877,3504,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10421,-0.72,-146.6,887.2,-6.5,861,10425,0.00,2.10,0.00,0.000,6,0.000,0.040,2877,2101,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10729,-0.72,-146.6,910.7,-7.4,871,10733,0.00,2.17,0.00,0.000,4,0.000,0.057,2867,3508,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10784,-0.72,-146.6,913.3,-7.5,872,10792,0.00,2.12,0.00,0.000,6,0.000,0.041,2867,2088,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,11091,-0.72,-146.6,939.4,-7.9,883,11097,0.00,2.15,0.00,0.000,4,0.000,0.057,2856,3500,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11166,-0.72,-146.6,944.4,-8.1,885,11172,0.10,2.10,0.00,0.000,6,0.146,0.041,2890,2097,3636,0,0,0,0,0,0,26.63,26.77,28.83
$GC,11481,-0.72,-146.6,968.0,-7.0,896,11487,0.00,2.17,0.00,0.000,4,0.000,0.057,2882,3505,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11580,-0.72,-146.6,974.7,-7.4,899,11584,0.00,2.10,0.00,0.000,6,0.000,0.040,2882,2101,3636,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,11804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11804,begin apogee
$GC,11811,-0.17,0.0,991.3,-6.8,907,11946,0.57,0.00,128.02,1.499,6,0.142,0.000,3068,1879,3029,0,0,0,0,0,0,26.64,28.83,23.53
$STATE,11947,end apogee,CONTROL_FINISHED_OK
$STATE,11947,begin climb
$GC,11950,0.72,146.6,992.9,0.0,911,12092,0.88,2.40,131.57,1.460,4,0.090,0.047,3368,522,2431,0,0,0,0,0,0,24.63,23.89,22.92
$GC,12133,0.72,146.6,972.3,13.3,918,12138,0.00,2.35,0.00,0.000,6,0.000,0.040,3369,1898,2425,0,0,0,0,0,0,28.83,24.48,28.83
$GC,12456,0.72,146.6,921.5,16.1,929,12462,0.00,2.25,0.00,0.000,4,0.000,0.053,3368,3305,2418,0,0,0,0,0,0,28.83,25.43,28.83
$GC,12479,0.72,146.6,921.5,16.1,929,12486,0.00,2.22,0.00,0.000,6,0.000,0.040,3378,1904,2418,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12786,0.72,146.6,865.0,17.2,940,12792,0.00,2.22,0.00,0.000,4,0.000,0.049,3388,503,2416,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12878,0.72,146.6,850.1,16.8,943,12883,0.00,2.28,0.00,0.000,6,0.000,0.042,3388,1915,2416,0,0,0,0,0,0,28.83,25.90,28.83
$GC,13201,0.72,146.6,796.4,16.3,954,13202,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1915,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13501,0.72,146.6,747.9,15.9,964,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1915,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13801,0.72,146.6,698.9,16.6,974,13807,0.00,2.25,0.00,0.000,4,0.000,0.049,3397,497,2414,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13854,0.72,146.6,693.7,17.0,975,13861,0.15,2.22,0.00,0.000,6,0.171,0.042,3360,1905,2414,0,0,0,0,0,0,26.17,26.30,28.83
$GC,14161,0.72,146.6,645.6,14.7,986,14162,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1904,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14461,0.72,146.6,603.9,14.1,996,14467,0.00,2.17,0.00,0.000,4,0.000,0.054,3360,3311,2413,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14491,0.72,146.6,599.5,14.4,997,14500,0.00,2.17,0.00,0.000,6,0.000,0.041,3367,1888,2412,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14801,0.72,146.6,553.8,14.3,1028,14810,0.00,2.15,0.00,0.000,4,0.000,0.050,3378,496,2412,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14874,0.72,146.6,543.0,15.1,1035,14882,0.00,2.22,0.00,0.000,6,0.000,0.042,3378,1908,2412,0,0,0,0,0,0,28.83,26.48,28.83
$GC,15183,0.72,146.6,494.7,16.0,1066,15185,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1908,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15486,0.72,146.6,446.0,16.0,1096,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1908,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15796,0.72,146.6,399.7,14.5,1127,15805,0.00,2.20,0.00,0.000,4,0.000,0.049,3387,504,2412,0,0,0,0,0,0,28.83,26.54,28.83
$GC,15860,0.72,146.6,390.1,15.2,1133,15869,0.00,2.17,0.00,0.000,6,0.000,0.042,3387,1904,2412,0,0,0,0,0,0,28.83,26.57,28.83
$GC,16168,0.72,146.6,344.5,14.6,1164,16169,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1905,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16470,0.72,146.6,300.8,14.5,1194,16479,0.00,2.20,0.00,0.000,4,0.000,0.050,3396,500,2412,0,0,0,0,0,0,28.83,26.59,28.83
$GC,16503,0.72,146.6,295.8,14.4,1197,16512,0.10,2.17,0.00,0.000,6,0.151,0.042,3364,1905,2412,0,0,0,0,0,0,26.48,26.60,28.83
$GC,16812,0.72,146.6,256.3,12.8,1228,16822,0.00,2.15,0.00,0.000,4,0.000,0.054,3364,3309,2412,0,0,0,0,0,0,28.83,26.59,28.83
$GC,16866,0.72,146.6,248.9,14.2,1233,16875,0.00,2.12,0.00,0.000,6,0.000,0.041,3372,1896,2412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17175,0.72,146.6,208.7,13.5,1264,17185,0.00,2.17,0.00,0.000,4,0.000,0.050,3382,495,2412,0,0,0,0,0,0,28.83,26.62,28.83
$GC,17261,0.72,146.6,197.5,13.8,1272,17270,0.00,2.20,0.00,0.000,6,0.000,0.042,3382,1906,2412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17568,0.72,146.6,155.9,13.5,1303,17577,0.00,2.15,0.00,0.000,4,0.000,0.054,3382,3312,2412,0,0,0,0,0,0,28.83,26.62,28.83
$GC,17610,0.72,146.6,149.8,14.5,1307,17619,0.00,2.12,0.00,0.000,6,0.000,0.041,3391,1898,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17920,0.72,146.6,108.3,13.1,1338,17929,0.00,2.15,0.00,0.000,4,0.000,0.050,3402,499,2412,0,0,0,0,0,0,28.83,26.64,28.83
$GC,18109,0.72,146.6,83.5,12.6,1369,18117,0.15,2.20,0.00,0.000,6,0.161,0.043,3361,1914,2412,0,0,0,0,0,0,26.55,26.67,28.83
$GC,18423,0.72,146.6,52.6,9.6,1430,18429,0.00,2.12,0.00,0.000,4,0.000,0.054,3360,3302,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18463,0.72,146.6,48.4,10.4,1437,18470,0.00,2.12,0.00,0.000,6,0.000,0.042,3367,1897,2412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,18775,0.74,160.1,20.4,8.6,1498,18790,0.00,2.20,5.00,0.675,4,0.000,0.051,3378,506,2375,0,0,0,0,0,0,28.83,26.59,25.82
$FREEZE,8.98,1.784,-1.776,2,1,0
$FREEZE,8.54,1.846,-1.776,2,1,0
$FREEZE,7.90,1.995,-1.776,2,1,0
$FREEZE,7.27,2.051,-1.778,2,1,0
$FREEZE,6.64,2.085,-1.779,2,1,0
$GC,18930,0.80,207.8,8.5,7.2,1527,18961,0.00,2.20,22.70,0.083,6,0.000,0.044,3378,1915,2178,0,0,0,0,0,0,28.83,26.62,26.52
$FREEZE,5.27,2.186,-1.779,2,1,0
$FREEZE,4.84,2.202,-1.779,2,1,0
$FREEZE,4.46,2.272,-1.778,2,1,0
$FREEZE,3.91,2.286,-1.778,2,1,0
$STATE,18982,end climb,SURFACE_DEPTH_REACHED
$STATE,18982,begin surface coast
$FREEZE,3.40,2.287,-1.778,2,1,0
$FREEZE,3.05,2.285,-1.778,2,1,0
$FREEZE,2.21,2.286,-1.778,2,1,0
$FREEZE,1.78,2.287,-1.777,2,1,0
$FREEZE,1.45,2.285,-0.957,2,1,0
$FREEZE,1.40,2.077,-0.754,2,1,0
$FREEZE,1.42,2.227,-0.075,2,1,0
$FREEZE,1.42,1.573,-0.786,2,1,0
$FREEZE,1.33,1.821,-0.731,2,1,0
$FINISH,1.3,1.010778
$STATE,19034,end surface coast,CONTROL_FINISHED_OK
$STATE,19034,begin surface
$SM_CCo,19053,83.20,0.073,0,0,1397,400.08
$SM_GC,2.44,8.10,0.28,83.20,0.057,0.071,0.073,344,2111,1397,-8.65,-1.02,400.08,0,0,0,0,0,0,26.56,26.58,26.41
$RAFOS_CLK,998
$RAFOS,6,1340930951,0.833333,0.819722,55,45,42,42,41,41,242,715,1609,1803,316,1488
$RAFOS,5,1340930471,0.700000,0.686389,50,44,43,43,41,41,1859,1455,1170,730,743,270
$RAFOS,4,1340929986,0.566667,0.551667,51,43,43,43,43,43,553,187,1519,1733,138,199
$RAFOS,3,1340929511,0.433333,0.419722,49,45,41,41,38,36,722,1109,844,1579,848,89
$RAFOS,2,1340929036,0.300000,0.287778,45,45,43,43,39,39,1068,1383,1105,1426,874,1202
$RAFOS,1,1340928542,0.166667,0.150556,46,43,43,43,42,39,412,1245,1727,613,1284,1175
$RAFOS,0,1340928062,0.033333,0.017222,47,44,43,43,43,43,579,1509,431,1458,313,1793
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5915.36,280612,222255
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.91
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.6
$24V_AH,22.9,9.353
$10V_AH,10.1,10.962
$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,20.975,186.325,287.300,83.200,0.000,0.000,0.000,557.050,3.750,0.000,21.233,4067.656,11327.372,648.242,3393.878,453.050,0.000,2751.192,0.000,2809.372,2520.000,27.352,0.000
$DEVICE_MAMPS,261.630,71.145,1498.635,72.675,0.000,0.000,0.000,271.903,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.556,1187.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151616
$DATA_FILE_SIZE,69922,1544
$CAP_FILE_SIZE,208149,0
$CFSIZE,260165632,241393664
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.9
$CURRENT,0.094,165.0,1
$GPS,290612,033206,6653.960,-5920.030,26,0.8,26,-33.9