version: 66.11
glider: 108
mission: 21
dive: 53
start: 6 29 112 3 40 39
data:
$ID,108
$MISSION,21
$DIVE,53
$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,-191153
$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
$GPS1,290612,033206,6653.960,-5920.030,26,0.8,26,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-76.8
$GPS2,290612,034006,6653.965,-5919.961,17,0.9,18,-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,305.8,51717,-16.3,-9.167
$D_GRID,1024
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-78.45,0.000,2,0.000,0.000,343,2111,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.72,-146.6,3.1,-1.1,14,135,9.90,2.28,-12.30,0.000,4,0.254,0.066,2902,700,3631,0,0,0,0,0,0,26.27,26.50,26.77
$GC,365,-0.72,-146.6,37.6,-11.3,64,373,0.00,2.20,0.00,0.000,6,0.000,0.047,2896,2099,3635,0,0,0,0,0,0,28.83,26.52,28.83
$GC,678,-0.72,-146.6,71.7,-11.7,125,685,0.00,2.17,0.00,0.000,4,0.000,0.060,2885,3504,3636,0,0,0,0,0,0,28.83,26.53,28.83
$GC,814,-0.72,-146.6,88.1,-12.2,151,820,0.00,2.12,0.00,0.000,6,0.000,0.042,2885,2098,3636,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1128,-0.72,-146.6,124.1,-10.7,192,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2097,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1430,-0.72,-146.6,154.0,-10.1,222,1434,0.00,2.17,0.00,0.000,4,0.000,0.050,2886,694,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1485,-0.72,-146.6,159.4,-10.2,227,1492,0.00,2.22,0.00,0.000,6,0.000,0.048,2879,2108,3635,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1792,-0.72,-146.6,189.8,-9.9,258,1801,0.00,2.15,0.00,0.000,4,0.000,0.060,2868,3506,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1864,-0.72,-146.6,197.7,-10.8,265,1873,0.00,2.10,0.00,0.000,6,0.000,0.042,2868,2097,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2174,-0.72,-146.6,229.0,-10.1,296,2183,0.00,2.20,0.00,0.000,4,0.000,0.059,2858,3506,3634,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2229,-0.72,-146.6,234.6,-10.9,301,2236,0.15,2.12,0.00,0.000,6,0.178,0.042,2897,2094,3634,0,0,0,0,0,0,26.51,26.67,28.83
$GC,2537,-0.72,-146.6,260.1,-7.9,332,2546,0.00,2.17,0.00,0.000,4,0.000,0.059,2888,3513,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2684,-0.72,-146.6,272.8,-8.2,346,2692,0.00,2.12,0.00,0.000,6,0.000,0.041,2888,2090,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2994,-0.72,-146.6,299.0,-8.9,377,3003,0.00,2.20,0.00,0.000,4,0.000,0.057,2878,3514,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3038,-0.72,-146.6,303.3,-9.8,381,3043,0.00,2.10,0.00,0.000,6,0.000,0.041,2878,2102,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3351,-0.72,-146.6,331.9,-8.6,412,3354,0.00,2.20,0.00,0.000,4,0.000,0.057,2868,3519,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3393,-0.72,-146.6,335.7,-9.0,416,3397,0.00,2.15,0.00,0.000,6,0.000,0.040,2868,2084,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3705,-0.72,-146.6,361.2,-8.4,447,3714,0.00,2.17,0.00,0.000,4,0.000,0.058,2857,3504,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3781,-0.72,-146.6,367.6,-9.1,454,3788,0.15,2.12,0.00,0.000,6,0.167,0.041,2896,2090,3634,0,0,0,0,0,0,26.55,26.71,28.83
$GC,4088,-0.72,-146.6,390.5,-7.0,485,4092,0.00,2.20,0.00,0.000,4,0.000,0.057,2888,3515,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4141,-0.72,-146.6,394.6,-8.1,490,4150,0.00,2.10,0.00,0.000,6,0.000,0.041,2887,2098,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4451,-0.72,-146.6,416.9,-7.0,521,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2098,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4751,-0.72,-146.6,437.6,-6.6,551,4760,0.00,2.15,0.00,0.000,4,0.000,0.058,2877,3505,3635,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4833,-0.72,-146.6,444.2,-8.0,559,4842,0.00,2.12,0.00,0.000,6,0.000,0.041,2877,2084,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5143,-0.72,-146.6,468.8,-8.2,590,5152,0.00,2.20,0.00,0.000,4,0.000,0.057,2866,3506,3635,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5195,-0.72,-146.6,473.5,-9.3,595,5204,0.00,2.12,0.00,0.000,6,0.000,0.041,2867,2083,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5506,-0.72,-146.6,500.3,-8.6,626,5516,0.12,2.20,0.00,0.000,4,0.177,0.056,2893,3507,3635,0,0,0,0,0,0,26.60,26.69,28.83
$GC,5549,-0.72,-146.6,504.0,-8.4,630,5558,0.00,2.10,0.00,0.000,6,0.000,0.041,2893,2088,3635,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5860,-0.72,-146.6,527.7,-7.6,661,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2088,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6162,-0.72,-146.6,549.8,-7.5,691,6174,0.00,2.15,0.00,0.000,4,0.000,0.057,2883,3504,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6251,-0.72,-146.6,556.9,-8.3,699,6258,0.00,2.10,0.00,0.000,6,0.000,0.041,2883,2095,3636,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6557,-0.72,-146.6,581.6,-8.2,730,6566,0.00,2.17,0.00,0.000,4,0.000,0.057,2871,3515,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6632,-0.72,-146.6,587.9,-9.1,737,6639,0.00,2.12,0.00,0.000,6,0.000,0.040,2872,2088,3636,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6950,-0.72,-146.6,615.5,-8.6,757,6954,0.00,2.17,0.00,0.000,4,0.000,0.056,2862,3508,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7036,-0.72,-146.6,621.5,-9.1,759,7043,0.12,2.10,0.00,0.000,6,0.171,0.041,2893,2099,3637,0,0,0,0,0,0,26.61,26.75,28.83
$GC,7343,-0.72,-146.6,648.2,-7.8,770,7347,0.00,2.17,0.00,0.000,4,0.000,0.057,2885,3515,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7399,-0.72,-146.6,650.9,-7.9,771,7406,0.00,2.12,0.00,0.000,6,0.000,0.040,2885,2089,3637,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7706,-0.72,-146.6,677.0,-7.8,782,7711,0.00,2.20,0.00,0.000,4,0.000,0.057,2874,3515,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7754,-0.72,-146.6,679.4,-7.9,783,7758,0.00,2.12,0.00,0.000,6,0.000,0.040,2874,2093,3637,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8062,-0.72,-146.6,705.2,-7.9,793,8066,0.00,2.20,0.00,0.000,4,0.000,0.056,2864,3519,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8113,-0.72,-146.6,708.1,-8.0,794,8118,0.12,2.12,0.00,0.000,6,0.168,0.040,2895,2097,3637,0,0,0,0,0,0,26.62,26.76,28.83
$GC,8420,-0.72,-146.6,731.3,-6.9,804,8425,0.00,2.17,0.00,0.000,4,0.000,0.056,2887,3504,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8488,-0.72,-146.6,735.8,-7.0,806,8492,0.00,2.10,0.00,0.000,6,0.000,0.040,2887,2099,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8806,-0.72,-146.6,759.6,-7.4,817,8812,0.00,2.17,0.00,0.000,4,0.000,0.057,2876,3506,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8879,-0.72,-146.6,764.1,-7.6,819,8883,0.00,2.10,0.00,0.000,6,0.000,0.040,2877,2100,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9192,-0.72,-146.6,788.1,-7.2,830,9195,0.00,2.17,0.00,0.000,4,0.000,0.057,2866,3515,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9254,-0.72,-146.6,792.9,-7.4,832,9259,0.00,2.10,0.00,0.000,6,0.000,0.040,2866,2093,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9584,-0.72,-146.6,817.3,-7.2,843,9589,0.12,2.17,0.00,0.000,4,0.172,0.055,2894,3507,3637,0,0,0,0,0,0,26.63,26.72,28.83
$GC,9661,-0.72,-146.6,821.5,-7.0,845,9665,0.00,2.10,0.00,0.000,6,0.000,0.040,2893,2101,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9974,-0.72,-146.6,843.1,-6.8,856,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2096,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10273,-0.72,-146.6,862.8,-6.5,866,10277,0.00,2.17,0.00,0.000,4,0.000,0.057,2883,3507,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10400,-0.72,-146.6,871.8,-7.4,870,10406,0.00,2.12,0.00,0.000,6,0.000,0.041,2883,2082,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10728,-0.72,-146.6,894.6,-7.0,881,10734,0.00,2.20,0.00,0.000,4,0.000,0.057,2872,3513,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10780,-0.72,-146.6,896.9,-7.0,882,10787,0.00,2.12,0.00,0.000,6,0.000,0.041,2872,2088,3638,0,0,0,0,0,0,28.83,26.77,28.83
$GC,11088,-0.72,-146.6,921.9,-7.5,893,11094,0.00,2.15,0.00,0.000,4,0.000,0.057,2863,3503,3637,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11177,-0.72,-146.6,929.4,-8.1,896,11184,0.10,2.10,0.00,0.000,6,0.147,0.041,2897,2098,3638,0,0,0,0,0,0,26.63,26.77,28.83
$GC,11512,-0.72,-146.6,950.6,-6.5,907,11518,0.00,2.15,0.00,0.000,4,0.000,0.057,2889,3505,3637,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11591,-0.72,-146.6,955.2,-7.0,909,11600,0.00,2.10,0.00,0.000,6,0.000,0.040,2889,2095,3637,0,0,0,0,0,0,28.83,26.78,28.83
$GC,11902,-0.72,-146.6,978.5,-6.9,920,11907,0.00,2.15,0.00,0.000,4,0.000,0.057,2878,3506,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11955,-0.72,-146.6,980.6,-6.8,921,11962,0.00,2.10,0.00,0.000,6,0.000,0.041,2879,2097,3637,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,12078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12079,begin apogee
$GC,12086,-0.17,0.0,991.7,-7.5,926,12221,0.60,0.00,128.43,1.496,6,0.141,0.000,3071,1881,3029,0,0,0,0,0,0,26.64,28.83,23.53
$STATE,12222,end apogee,CONTROL_FINISHED_OK
$STATE,12222,begin climb
$GC,12225,0.72,146.6,993.8,0.0,930,12361,0.85,0.00,132.18,1.463,6,0.086,0.000,3357,1881,2431,0,0,0,0,0,0,24.63,28.83,22.92
$GC,12647,0.72,146.6,940.3,13.9,945,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1881,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12946,0.72,146.6,899.0,13.7,955,12952,0.00,2.28,0.00,0.000,4,0.000,0.055,3356,3311,2417,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12976,0.72,146.6,894.4,14.0,956,12982,0.00,2.20,0.00,0.000,6,0.000,0.041,3366,1908,2416,0,0,0,0,0,0,28.83,25.76,28.83
$GC,13308,0.72,146.6,844.5,15.6,967,13313,0.00,2.20,0.00,0.000,4,0.000,0.049,3377,502,2415,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13367,0.72,146.6,834.9,16.0,969,13373,0.00,2.25,0.00,0.000,6,0.000,0.042,3377,1907,2415,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13698,0.72,146.6,779.3,16.8,980,13703,0.00,2.17,0.00,0.000,4,0.000,0.054,3377,3310,2414,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13715,0.72,146.6,779.3,16.8,980,13719,0.00,2.17,0.00,0.000,6,0.000,0.041,3386,1902,2414,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14022,0.72,146.6,724.1,16.9,990,14026,0.00,2.22,0.00,0.000,4,0.000,0.049,3397,492,2413,0,0,0,0,0,0,28.83,26.26,28.83
$GC,14108,0.72,146.6,713.4,17.2,992,14116,0.12,2.25,0.00,0.000,6,0.176,0.042,3367,1913,2413,0,0,0,0,0,0,26.17,26.30,28.83
$GC,14415,0.72,146.6,661.2,15.6,1003,14419,0.00,2.15,0.00,0.000,4,0.000,0.054,3367,3303,2413,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14440,0.72,146.6,661.2,15.6,1003,14447,0.00,2.15,0.00,0.000,6,0.000,0.041,3374,1896,2412,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14747,0.72,146.6,609.8,15.0,1014,14751,0.00,2.17,0.00,0.000,4,0.000,0.050,3384,504,2412,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14839,0.72,146.6,594.8,16.4,1019,14843,0.00,2.20,0.00,0.000,6,0.000,0.042,3385,1907,2412,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15151,0.72,146.6,540.8,17.0,1050,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1907,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15455,0.72,146.6,489.7,17.3,1080,15465,0.00,2.20,0.00,0.000,4,0.000,0.050,3394,507,2412,0,0,0,0,0,0,28.83,26.49,28.83
$GC,15501,0.72,146.6,481.5,17.4,1084,15509,0.12,2.20,0.00,0.000,6,0.174,0.042,3362,1910,2412,0,0,0,0,0,0,26.39,26.51,28.83
$GC,15808,0.72,146.6,432.6,16.2,1115,15809,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1910,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16111,0.72,146.6,386.9,14.9,1145,16117,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1910,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16420,0.72,146.6,343.0,13.2,1176,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1909,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16728,0.72,146.6,301.9,12.9,1207,16729,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1909,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17028,0.72,146.6,264.5,12.3,1237,17030,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1909,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17328,0.72,146.6,227.3,12.2,1267,17337,0.00,2.15,0.00,0.000,4,0.000,0.054,3362,3313,2412,0,0,0,0,0,0,28.83,26.61,28.83
$GC,17360,0.72,146.6,223.1,13.3,1270,17368,0.00,2.15,0.00,0.000,6,0.000,0.041,3370,1892,2412,0,0,0,0,0,0,28.83,26.64,28.83
$GC,17671,0.72,146.6,182.7,12.3,1301,17679,0.00,2.12,0.00,0.000,4,0.000,0.050,3380,510,2412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17715,0.72,146.6,177.2,12.8,1305,17722,0.00,2.17,0.00,0.000,6,0.000,0.042,3380,1907,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18023,0.72,146.6,138.1,12.9,1336,18028,0.00,2.12,0.00,0.000,4,0.000,0.054,3380,3303,2412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,18097,0.72,146.6,127.8,14.1,1343,18105,0.00,2.10,0.00,0.000,6,0.000,0.041,3389,1900,2412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,18410,0.72,146.6,90.9,11.6,1381,18416,0.00,2.17,0.00,0.000,4,0.000,0.050,3400,498,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18464,0.72,146.6,84.2,12.0,1391,18472,0.15,2.20,0.00,0.000,6,0.161,0.042,3360,1914,2412,0,0,0,0,0,0,26.55,26.67,28.83
$GC,18781,0.74,159.1,54.0,8.6,1452,18796,0.00,2.20,8.82,0.823,4,0.000,0.054,3360,3304,2380,0,0,0,0,0,0,28.83,26.50,25.75
$GC,18834,0.74,159.1,48.1,11.2,1461,18841,0.00,2.15,0.00,0.000,6,0.000,0.041,3367,1892,2378,0,0,0,0,0,0,28.83,26.53,28.83
$GC,19148,0.78,191.6,21.5,7.8,1522,19172,0.00,2.17,17.25,0.809,4,0.000,0.051,3377,495,2246,0,0,0,0,0,0,28.83,26.25,25.56
$GC,19226,0.78,194.0,14.6,9.1,1535,19233,0.00,2.22,0.00,0.000,6,0.000,0.043,3377,1901,2242,0,0,0,0,0,0,28.83,26.29,28.83
$FREEZE,8.80,1.644,-1.779,2,1,0
$FREEZE,8.34,1.656,-1.779,2,1,0
$FREEZE,7.86,1.679,-1.778,2,1,0
$FREEZE,7.38,1.686,-1.778,2,1,0
$FREEZE,6.97,1.701,-1.777,2,1,0
$FREEZE,6.38,1.753,-1.778,2,1,0
$FREEZE,6.03,1.870,-1.775,2,1,0
$FREEZE,5.54,1.877,-1.775,2,1,0
$FREEZE,4.93,1.876,-1.775,2,1,0
$FREEZE,4.50,1.882,-1.775,2,1,0
$FREEZE,4.00,1.883,-1.774,2,1,0
$STATE,19342,end climb,SURFACE_DEPTH_REACHED
$STATE,19342,begin surface coast
$FREEZE,3.52,1.884,-1.774,2,1,0
$FREEZE,2.99,1.884,-1.774,2,1,0
$FREEZE,2.53,1.888,-1.774,2,1,0
$FREEZE,2.24,1.891,-1.773,2,1,0
$FREEZE,1.62,1.893,-1.773,2,1,0
$FREEZE,1.51,1.823,-0.897,2,1,0
$FREEZE,1.38,1.493,-0.849,2,1,0
$FREEZE,1.46,1.556,-0.861,2,1,0
$FINISH,1.5,1.012701
$STATE,19385,end surface coast,CONTROL_FINISHED_OK
$STATE,19385,begin surface
$SM_CCo,19405,91.80,0.073,0,0,1397,400.08
$SM_GC,2.40,8.18,0.30,91.80,0.055,0.070,0.073,338,2107,1397,-8.67,-1.07,400.08,0,0,0,0,0,0,26.32,26.34,26.19
$RAFOS_CLK,1024
$RAFOS,6,1340959746,8.833333,8.818334,47,45,43,43,42,41,61,737,1,1876,816,528
$RAFOS,5,1340959266,8.700000,8.685000,46,46,46,43,42,40,1070,1931,506,242,377,1250
$RAFOS,4,1340958786,8.566667,8.551666,45,43,43,41,41,40,253,547,1296,560,1608,198
$RAFOS,3,1340958304,8.433333,8.417778,44,41,41,40,39,39,937,138,1026,1732,327,946
$RAFOS,2,1340957824,8.300000,8.284445,46,44,43,43,42,41,844,1751,431,1307,1486,389
$RAFOS,1,1340957344,8.166667,8.151111,49,45,42,40,39,37,1863,1493,937,192,208,1684
$RAFOS,0,1340956864,8.033334,8.017777,43,42,42,41,40,39,1209,367,1528,862,1755,1287
$RAFOS,6,1340945346,4.833333,4.818333,50,44,44,40,40,40,1442,1356,713,61,903,1535
$RAFOS,5,1340944861,4.700000,4.683611,43,43,42,41,39,38,112,1875,261,541,693,1614
$RAFOS,4,1340944387,4.566667,4.551944,44,44,42,42,40,40,799,1426,674,1097,268,1153
$RAFOS,3,1340943908,4.433333,4.418889,54,45,45,45,44,42,344,309,1424,1767,316,1366
$RAFOS,2,1340943426,4.300000,4.285000,55,46,45,40,38,38,785,391,646,1621,510,549
$RAFOS,1,1340942948,4.166667,4.152222,44,44,43,43,43,41,1742,405,897,812,1339,1526
$RAFOS,0,1340942465,4.033333,4.018055,45,43,43,42,40,39,1477,196,362,527,853,312
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5920.08,280612,222250
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.88
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,22.9,9.472
$10V_AH,10.2,11.090
$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,20.825,177.800,286.675,91.800,0.000,0.000,0.000,335.250,4.000,0.000,18.629,4168.884,11558.508,631.144,3169.150,440.603,0.000,2487.572,0.000,2796.891,5040.000,27.353,0.000
$DEVICE_MAMPS,253.980,70.380,1495.575,72.675,0.000,0.000,0.000,279.393,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.145,1205.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,73327,1565
$CAP_FILE_SIZE,204214,0
$CFSIZE,260165632,241307648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.2
$CURRENT,0.026, 11.4,1
$GPS,290612,090705,6654.517,-5925.645,34,0.8,34,-33.9