version: 66.11
glider: 108
mission: 21
dive: 88
start: 7 5 112 9 5 21
data:
$ID,108
$MISSION,21
$DIVE,88
$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,-191197.5
$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,69
$R_STBD_OVSHOOT,48
$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
$GPS1,050712,085658,6646.814,-5908.899,37,0.8,37,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-76.4
$GPS2,050712,090447,6646.789,-5908.702,22,0.8,22,-33.7
$SPEED_LIMITS,0.159,0.240
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,62.2,105950,-16.3,-9.167
$D_GRID,969
$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,-146.6,0.0,0.0,0,104,0.00,0.00,-84.53,0.000,2,0.000,0.000,344,2099,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.72,-146.6,3.3,-1.5,15,129,9.98,2.20,-5.97,0.000,4,0.256,0.068,2882,3506,3630,0,0,0,0,0,0,26.27,26.51,26.80
$GC,359,-0.72,-146.6,41.2,-12.4,63,365,0.00,2.08,0.00,0.000,6,0.000,0.032,2890,2097,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,670,-0.72,-146.6,73.6,-9.6,124,676,0.00,2.15,0.00,0.000,4,0.000,0.051,2882,3501,3637,0,0,0,0,0,0,28.83,26.57,28.83
$GC,745,-0.72,-146.6,81.7,-10.7,138,752,0.00,2.08,0.00,0.000,6,0.000,0.032,2890,2090,3638,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1057,-0.72,-146.6,113.4,-10.4,186,1066,0.00,2.15,0.00,0.000,4,0.000,0.051,2882,3497,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1133,-0.72,-146.6,121.4,-11.1,193,1140,0.00,2.08,0.00,0.000,6,0.000,0.032,2888,2087,3637,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1439,-0.72,-146.6,153.2,-10.2,224,1443,0.00,2.17,0.00,0.000,4,0.000,0.052,2880,3501,3637,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1511,-0.72,-146.6,161.0,-10.9,231,1520,0.00,2.08,0.00,0.000,6,0.000,0.032,2881,2079,3636,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1822,-0.72,-146.6,191.0,-9.3,262,1830,0.00,2.17,0.00,0.000,4,0.000,0.051,2873,3499,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1958,-0.72,-146.6,203.4,-9.2,275,1965,0.00,2.08,0.00,0.000,6,0.000,0.032,2873,2084,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2264,-0.72,-146.6,230.8,-8.6,306,2273,0.00,2.15,0.00,0.000,4,0.000,0.051,2863,3503,3633,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2401,-0.72,-146.6,243.5,-9.8,319,2409,0.12,2.08,0.00,0.000,6,0.181,0.031,2897,2087,3633,0,0,0,0,0,0,26.52,26.71,28.83
$GC,2708,-0.72,-146.6,268.6,-7.8,350,2717,0.00,2.15,0.00,0.000,4,0.000,0.050,2888,3507,3633,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2800,-0.72,-146.6,276.6,-8.7,359,2809,0.00,2.08,0.00,0.000,6,0.000,0.031,2888,2078,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3112,-0.72,-146.6,300.1,-6.9,390,3120,0.00,2.15,0.00,0.000,4,0.000,0.050,2878,3506,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3194,-0.72,-146.6,306.3,-7.1,398,3203,0.00,2.05,0.00,0.000,6,0.000,0.031,2878,2093,3633,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3504,-0.72,-146.6,329.6,-8.0,429,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2093,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3807,-0.72,-146.6,353.7,-8.2,459,3816,0.00,2.10,0.00,0.000,4,0.000,0.048,2867,3500,3635,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3869,-0.72,-146.6,359.7,-9.4,465,3879,0.00,2.03,0.00,0.000,6,0.000,0.030,2867,2099,3635,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4179,-0.72,-146.6,388.1,-9.0,496,4188,0.00,2.12,0.00,0.000,4,0.000,0.048,2856,3501,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4337,-0.72,-146.6,402.9,-9.9,511,4345,0.15,2.05,0.00,0.000,6,0.169,0.030,2897,2088,3636,0,0,0,0,0,0,26.56,26.76,28.83
$GC,4644,-0.72,-146.6,425.6,-7.0,542,4648,0.00,2.15,0.00,0.000,4,0.000,0.049,2888,3507,3637,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4688,-0.72,-146.6,428.7,-7.3,546,4692,0.00,2.05,0.00,0.000,6,0.000,0.030,2888,2091,3636,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5000,-0.72,-146.6,451.5,-6.9,577,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2086,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5302,-0.72,-146.6,473.3,-7.4,607,5311,0.00,2.12,0.00,0.000,4,0.000,0.049,2877,3507,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5387,-0.72,-146.6,480.5,-8.7,615,5394,0.00,2.05,0.00,0.000,6,0.000,0.030,2877,2093,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5695,-0.72,-146.6,505.3,-7.8,646,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2092,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5997,-0.72,-146.6,529.2,-7.8,676,6001,0.00,2.15,0.00,0.000,4,0.000,0.049,2867,3507,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6081,-0.72,-146.6,536.3,-8.6,684,6088,0.00,2.05,0.00,0.000,6,0.000,0.030,2867,2090,3637,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6389,-0.72,-146.6,561.7,-8.2,715,6399,0.12,2.12,0.00,0.000,4,0.172,0.047,2894,3506,3637,0,0,0,0,0,0,26.60,26.72,28.83
$GC,6425,-0.72,-146.6,564.2,-7.5,718,6431,0.00,2.05,0.00,0.000,6,0.000,0.030,2894,2086,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6732,-0.72,-146.6,584.9,-6.6,749,6742,0.00,2.15,0.00,0.000,4,0.000,0.048,2884,3508,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6805,-0.72,-146.6,589.9,-7.1,756,6814,0.00,2.05,0.00,0.000,6,0.000,0.030,2884,2089,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7138,-0.72,-146.6,612.1,-6.8,777,7141,0.00,2.15,0.00,0.000,4,0.000,0.049,2873,3514,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7190,-0.72,-146.6,614.7,-6.8,778,7199,0.00,2.05,0.00,0.000,6,0.000,0.030,2874,2094,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7500,-0.72,-146.6,639.2,-7.5,789,7505,0.00,2.12,0.00,0.000,4,0.000,0.048,2863,3503,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7593,-0.72,-146.6,646.5,-8.0,792,7598,0.12,2.03,0.00,0.000,6,0.170,0.030,2895,2103,3637,0,0,0,0,0,0,26.60,26.79,28.83
$GC,7916,-0.72,-146.6,667.7,-6.3,803,7922,0.00,2.10,0.00,0.000,4,0.000,0.049,2888,3503,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7969,-0.72,-146.6,669.6,-6.3,804,7976,0.00,2.05,0.00,0.000,6,0.000,0.029,2887,2084,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8277,-0.72,-146.6,691.7,-6.6,815,8282,0.00,2.15,0.00,0.000,4,0.000,0.048,2877,3506,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8349,-0.72,-146.6,696.0,-7.0,817,8353,0.00,2.05,0.00,0.000,6,0.000,0.030,2877,2094,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8662,-0.72,-146.6,719.0,-6.9,828,8668,0.00,2.10,0.00,0.000,4,0.000,0.049,2866,3497,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8745,-0.72,-146.6,723.6,-7.3,830,8752,0.12,2.05,0.00,0.000,6,0.168,0.031,2898,2087,3636,0,0,0,0,0,0,26.60,26.79,28.83
$GC,9052,-0.72,-146.6,744.6,-6.0,841,9057,0.00,2.12,0.00,0.000,4,0.000,0.048,2890,3500,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9105,-0.72,-146.6,746.6,-6.1,842,9112,0.00,2.05,0.00,0.000,6,0.000,0.030,2890,2084,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9412,-0.72,-146.6,767.7,-6.2,853,9415,0.00,2.15,0.00,0.000,4,0.000,0.049,2879,3504,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9477,-0.72,-146.6,771.8,-6.4,855,9481,0.00,2.05,0.00,0.000,6,0.000,0.029,2879,2091,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9800,-0.72,-146.6,795.0,-7.3,866,9805,0.00,2.12,0.00,0.000,4,0.000,0.049,2869,3503,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9891,-0.72,-146.6,802.2,-7.9,869,9897,0.00,2.05,0.00,0.000,6,0.000,0.030,2869,2090,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10220,-0.72,-146.6,826.6,-7.0,880,10226,0.00,2.12,0.00,0.000,4,0.000,0.049,2858,3500,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10288,-0.72,-146.6,830.9,-6.9,882,10293,0.15,2.03,0.00,0.000,6,0.164,0.030,2898,2095,3636,0,0,0,0,0,0,26.60,26.79,28.83
$GC,10612,-0.72,-146.6,849.5,-5.4,893,10617,0.00,2.12,0.00,0.000,4,0.000,0.049,2891,3507,3636,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10650,-0.72,-146.6,851.2,-5.5,894,10654,0.00,2.05,0.00,0.000,6,0.000,0.030,2891,2094,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10967,-0.72,-146.6,872.1,-6.8,905,10971,0.00,2.15,0.00,0.000,4,0.000,0.049,2881,3514,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11033,-0.72,-146.6,876.8,-7.3,907,11037,0.00,2.05,0.00,0.000,6,0.000,0.030,2880,2100,3636,0,0,0,0,0,0,28.83,26.80,28.83
$GC,11356,-0.72,-146.6,899.8,-6.1,918,11362,0.00,2.12,0.00,0.000,4,0.000,0.050,2870,3506,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11517,-0.72,-146.6,910.7,-7.2,923,11521,0.00,2.05,0.00,0.000,6,0.000,0.031,2870,2097,3636,0,0,0,0,0,0,28.83,26.80,28.83
$GC,11835,-0.72,-146.6,933.3,-7.2,934,11840,0.00,2.15,0.00,0.000,4,0.000,0.050,2859,3507,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11895,-0.72,-146.6,939.0,-8.6,936,11901,0.10,2.05,0.00,0.000,6,0.143,0.031,2894,2095,3635,0,0,0,0,0,0,26.62,26.80,28.83
$GC,12226,-0.72,-146.6,962.1,-7.5,947,12230,0.00,2.15,0.00,0.000,4,0.000,0.050,2886,3501,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,12327,-0.72,-146.6,968.5,-6.8,950,12331,0.00,2.03,0.00,0.000,6,0.000,0.031,2885,2101,3635,0,0,0,0,0,0,28.83,26.80,28.83
$STATE,12346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12346,begin apogee
$GC,12353,-0.17,0.0,970.6,-6.8,951,12488,0.57,0.00,127.60,1.472,6,0.138,0.000,3073,1876,3029,0,0,0,0,0,0,26.61,28.83,23.60
$STATE,12489,end apogee,CONTROL_FINISHED_OK
$STATE,12489,begin climb
$GC,12492,0.72,146.6,971.0,0.0,955,12631,0.85,2.50,132.05,1.442,4,0.087,0.047,3357,3313,2430,0,0,0,0,0,0,24.69,23.82,22.86
$GC,12649,0.72,146.6,951.9,12.7,961,12655,0.00,2.28,0.00,0.000,6,0.000,0.029,3366,1909,2425,0,0,0,0,0,0,28.83,24.20,28.83
$GC,12980,0.72,146.6,898.9,15.5,972,12985,0.00,2.22,0.00,0.000,4,0.000,0.038,3378,502,2417,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13009,0.72,146.6,894.0,15.9,973,13015,0.00,2.25,0.00,0.000,6,0.000,0.036,3378,1904,2417,0,0,0,0,0,0,28.83,25.51,28.83
$GC,13341,0.72,146.6,837.8,17.3,984,13346,0.00,2.15,0.00,0.000,4,0.000,0.048,3378,3303,2415,0,0,0,0,0,0,28.83,25.87,28.83
$GC,13378,0.72,146.6,832.4,17.5,985,13382,0.00,2.12,0.00,0.000,6,0.000,0.031,3386,1891,2414,0,0,0,0,0,0,28.83,25.95,28.83
$GC,13695,0.72,146.6,775.1,17.5,996,13701,0.00,2.15,0.00,0.000,4,0.000,0.039,3397,511,2414,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13795,0.72,146.6,759.5,17.4,999,13802,0.12,2.20,0.00,0.000,6,0.171,0.037,3367,1910,2413,0,0,0,0,0,0,26.03,26.17,28.83
$GC,14117,0.72,146.6,707.1,15.8,1010,14119,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,1910,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14417,0.72,146.6,658.1,16.5,1020,14422,0.00,2.12,0.00,0.000,4,0.000,0.049,3367,3306,2412,0,0,0,0,0,0,28.83,26.33,28.83
$GC,14446,0.72,146.6,652.9,16.5,1021,14450,0.00,2.10,0.00,0.000,6,0.000,0.031,3374,1892,2412,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14778,0.72,146.6,596.4,17.1,1032,14787,0.00,2.12,0.00,0.000,4,0.000,0.040,3385,505,2411,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14874,0.72,146.6,580.9,16.8,1041,14881,0.00,2.17,0.00,0.000,6,0.000,0.037,3385,1903,2411,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15180,0.72,146.6,527.5,17.5,1072,15181,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1903,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15483,0.72,146.6,476.1,16.9,1102,15487,0.00,2.15,0.00,0.000,4,0.000,0.039,3392,510,2411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15518,0.72,146.6,470.0,17.3,1105,15526,0.00,2.17,0.00,0.000,6,0.000,0.037,3392,1914,2411,0,0,0,0,0,0,28.83,26.52,28.83
$GC,15826,0.72,146.6,415.9,17.5,1136,15827,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1913,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16129,0.72,146.6,364.5,16.9,1166,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1913,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16438,0.72,146.6,315.3,15.3,1197,16447,0.00,2.15,0.00,0.000,4,0.000,0.040,3401,515,2411,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16513,0.72,146.6,303.3,16.1,1204,16520,0.15,2.15,0.00,0.000,6,0.161,0.037,3362,1910,2411,0,0,0,0,0,0,26.46,26.60,28.83
$GC,16820,0.72,146.6,260.4,13.1,1235,16829,0.00,2.17,0.00,0.000,4,0.000,0.039,3369,500,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16845,0.72,146.6,257.5,13.0,1237,16853,0.00,2.15,0.00,0.000,6,0.000,0.036,3369,1897,2411,0,0,0,0,0,0,28.83,26.61,28.83
$GC,17153,0.72,146.6,215.6,13.7,1268,17161,0.00,2.08,0.00,0.000,4,0.000,0.047,3369,3300,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17194,0.72,146.6,209.5,14.5,1272,17203,0.00,2.05,0.00,0.000,6,0.000,0.031,3377,1891,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17504,0.72,146.6,167.6,13.4,1303,17513,0.00,2.10,0.00,0.000,4,0.000,0.039,3387,505,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17579,0.72,146.6,157.8,13.8,1310,17586,0.00,2.15,0.00,0.000,6,0.000,0.036,3387,1905,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17886,0.72,146.6,117.5,12.2,1341,17890,0.00,2.10,0.00,0.000,4,0.000,0.047,3387,3304,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17921,0.72,146.6,113.2,13.0,1344,17929,0.12,2.08,0.00,0.000,6,0.174,0.030,3365,1890,2411,0,0,0,0,0,0,26.51,26.67,28.83
$GC,18231,0.72,146.6,79.8,9.5,1394,18238,0.00,2.10,0.00,0.000,4,0.000,0.041,3373,504,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18301,0.72,146.6,72.8,10.4,1407,18308,0.00,2.15,0.00,0.000,6,0.000,0.036,3374,1905,2411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,18613,0.72,146.6,40.7,10.2,1468,18619,0.00,2.10,0.00,0.000,4,0.000,0.049,3374,3305,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18672,0.73,153.3,35.1,8.9,1479,18679,0.00,2.08,0.00,0.000,6,0.000,0.032,3383,1897,2411,0,0,0,0,0,0,28.83,26.70,28.83
$FREEZE,8.98,3.607,-1.779,1,1,0
$FREEZE,8.61,3.605,-1.779,1,1,0
$FREEZE,8.16,3.612,-1.779,1,1,0
$FREEZE,7.66,3.634,-1.779,1,1,0
$FREEZE,7.00,3.648,-1.778,1,1,0
$GC,18989,0.75,167.3,7.7,8.6,1540,19005,0.00,2.10,7.95,0.086,4,0.000,0.040,3393,501,2345,0,0,0,0,0,0,28.83,26.66,26.59
$FREEZE,5.65,3.649,-1.778,1,1,0
$FREEZE,5.16,3.669,-1.778,1,1,0
$FREEZE,4.74,3.664,-1.777,1,1,0
$FREEZE,4.21,3.656,-1.777,1,1,0
$FREEZE,3.72,3.658,-1.777,1,1,0
$STATE,19031,end climb,SURFACE_DEPTH_REACHED
$STATE,19031,begin surface coast
$FREEZE,3.24,3.663,-1.776,1,1,0
$FREEZE,2.81,3.669,-1.776,1,1,0
$FREEZE,2.14,3.667,-1.776,1,1,0
$FREEZE,1.61,3.666,-1.775,1,1,0
$FREEZE,1.49,3.662,-1.775,1,1,0
$FINISH,1.5,1.025759
$STATE,19061,end surface coast,CONTROL_FINISHED_OK
$STATE,19061,begin surface
$SM_CCo,19082,102.12,0.073,0,0,1397,400.08
$SM_GC,2.33,8.05,2.53,102.12,0.052,0.040,0.073,347,2110,1397,-8.64,-1.22,400.08,0,0,0,0,0,0,26.62,26.67,26.44
$RAFOS_CLK,986
$RAFOS,6,1341492544,12.833333,12.817778,46,44,44,42,40,39,1520,191,1497,812,1333,432
$RAFOS,5,1341492068,12.700000,12.685555,47,46,45,42,42,41,646,1119,92,161,1552,732
$RAFOS,4,1341491581,12.566667,12.550278,43,41,41,41,39,39,279,61,1852,1897,619,1292
$RAFOS,3,1341491102,12.433333,12.417222,49,44,41,41,40,40,1901,1361,1,991,36,597
$RAFOS,2,1341490626,12.300000,12.285000,47,46,45,45,40,40,908,1457,1400,1667,1703,1857
$RAFOS,1,1341490142,12.166667,12.150556,41,41,40,40,40,37,285,1480,598,1763,1125,1682
$RAFOS,0,1341489669,12.033333,12.019167,48,47,44,41,41,40,463,1225,1554,101,324,238
$RAFOS,6,1341478145,8.833333,8.818055,45,44,44,44,42,41,1313,154,107,1939,1408,1043
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5919.04,050712,030335
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,950.9,53.4
$24V_AH,22.9,12.986
$10V_AH,10.2,15.054
$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,20.750,186.800,267.600,102.125,0.000,0.000,0.000,320.600,4.000,0.000,23.014,4116.236,11217.843,633.116,3247.387,430.116,0.000,2508.618,0.000,2873.368,2520.000,30.168,0.000
$DEVICE_MAMPS,256.275,68.085,1471.860,72.675,0.000,0.000,0.000,280.142,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.010,1237.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151440
$DATA_FILE_SIZE,69984,1552
$CAP_FILE_SIZE,204972,0
$CFSIZE,260165632,238485504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.7
$CURRENT,0.022,103.7,1
$GPS,050712,142635,6648.438,-5904.695,38,0.8,38,-33.7