version: 66.11
glider: 108
mission: 21
dive: 144
start: 7 15 112 12 34 16
data:
$ID,108
$MISSION,21
$DIVE,144
$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,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-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,-191269.8
$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,66
$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,3279
$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
$GPS1,150712,121934,6702.027,-5802.637,40,0.8,40,-33.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-77.3
$GPS2,150712,123341,6702.081,-5802.208,15,1.1,15,-33.8
$SPEED_LIMITS,0.159,0.252
$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,282.9,110394,-16.9,-9.167
$D_GRID,962
$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,-0.75,-146.6,0.0,0.0,0,80,0.00,0.00,-60.88,0.000,2,0.000,0.000,335,2112,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.75,-146.6,3.2,-1.1,11,122,10.07,2.12,-19.85,0.000,4,0.254,0.066,2877,3512,3880,0,0,0,0,0,0,26.06,26.46,26.84
$GC,196,-0.75,-146.6,20.0,-13.7,31,203,0.00,2.08,0.00,0.000,6,0.000,0.031,2885,2102,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,509,-0.75,-146.6,61.5,-12.6,92,516,0.00,2.17,0.00,0.000,4,0.000,0.050,2877,3508,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,629,-0.75,-146.6,77.9,-13.4,115,636,0.00,2.08,0.00,0.000,6,0.000,0.031,2877,2093,3887,0,0,0,0,0,0,28.83,26.62,28.83
$GC,947,-0.75,-146.6,119.6,-12.6,162,956,0.00,2.15,0.00,0.000,4,0.000,0.050,2867,3495,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1113,-0.75,-146.6,141.5,-13.1,178,1120,0.00,2.05,0.00,0.000,6,0.000,0.031,2867,2098,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1421,-0.75,-146.6,178.1,-11.4,209,1424,0.00,2.17,0.00,0.000,4,0.000,0.050,2857,3507,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1495,-0.75,-146.6,186.7,-12.1,216,1502,0.12,2.08,0.00,0.000,6,0.171,0.031,2891,2092,3885,0,0,0,0,0,0,26.39,26.66,28.83
$GC,1802,-0.75,-146.6,216.6,-9.8,247,1811,0.00,2.17,0.00,0.000,4,0.000,0.050,2884,3503,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1924,-0.75,-146.6,229.3,-10.5,259,1933,0.00,2.05,0.00,0.000,6,0.000,0.031,2884,2092,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2235,-0.75,-146.6,259.7,-9.1,290,2244,0.00,2.15,0.00,0.000,4,0.000,0.049,2873,3498,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2277,-0.75,-146.6,264.2,-10.7,294,2286,0.00,2.05,0.00,0.000,6,0.000,0.031,2873,2088,3884,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2587,-0.75,-146.6,295.5,-10.1,325,2596,0.00,2.17,0.00,0.000,4,0.000,0.050,2864,3515,3884,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2722,-0.75,-146.6,309.9,-10.9,338,2731,0.00,2.05,0.00,0.000,6,0.000,0.031,2865,2098,3883,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3030,-0.75,-146.6,343.1,-10.4,369,3039,0.00,2.15,0.00,0.000,4,0.000,0.050,2856,3509,3883,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3176,-0.75,-146.6,359.7,-11.7,383,3181,0.12,2.05,0.00,0.000,6,0.164,0.031,2888,2096,3883,0,0,0,0,0,0,26.43,26.70,28.83
$GC,3489,-0.75,-146.6,390.1,-9.6,414,3498,0.00,2.12,0.00,0.000,4,0.000,0.049,2881,3502,3883,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3603,-0.75,-146.6,401.7,-10.2,425,3612,0.00,2.05,0.00,0.000,6,0.000,0.030,2881,2095,3882,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3913,-0.75,-146.6,431.7,-9.6,456,3921,0.00,2.15,0.00,0.000,4,0.000,0.049,2871,3508,3882,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4045,-0.75,-146.6,445.4,-10.2,469,4054,0.00,2.05,0.00,0.000,6,0.000,0.030,2871,2089,3883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4354,-0.75,-146.6,476.4,-9.8,500,4363,0.00,2.17,0.00,0.000,4,0.000,0.049,2860,3506,3883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4457,-0.75,-146.6,487.1,-10.6,510,4466,0.00,2.05,0.00,0.000,6,0.000,0.029,2860,2079,3883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4766,-0.75,-146.6,517.6,-9.3,541,4776,0.00,2.17,0.00,0.000,4,0.000,0.048,2850,3512,3883,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4921,-0.75,-146.6,533.6,-10.4,556,4931,0.10,2.08,0.00,0.000,6,0.141,0.030,2886,2079,3883,0,0,0,0,0,0,26.44,26.73,28.83
$GC,5230,-0.75,-146.6,559.7,-8.8,587,5238,0.00,2.17,0.00,0.000,4,0.000,0.048,2878,3505,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5331,-0.75,-146.6,569.3,-9.6,597,5335,0.00,2.05,0.00,0.000,6,0.000,0.029,2878,2084,3883,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5644,-0.75,-146.6,599.3,-9.6,628,5656,0.00,2.15,0.00,0.000,4,0.000,0.049,2867,3506,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5789,-0.75,-146.6,612.0,-10.3,633,5799,0.00,2.03,0.00,0.000,6,0.000,0.029,2867,2099,3883,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6099,-0.75,-146.6,644.7,-9.7,644,6104,0.00,2.15,0.00,0.000,4,0.000,0.048,2856,3515,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6226,-0.75,-146.6,657.3,-10.4,648,6232,0.08,2.08,0.00,0.000,6,0.139,0.029,2882,2081,3883,0,0,0,0,0,0,26.48,26.74,28.83
$GC,6551,-0.75,-146.6,686.5,-8.8,659,6555,0.00,2.17,0.00,0.000,4,0.000,0.048,2874,3506,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6667,-0.75,-146.6,695.3,-9.3,662,6674,0.00,2.05,0.00,0.000,6,0.000,0.029,2875,2095,3883,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6973,-0.75,-146.6,726.7,-9.5,673,6979,0.00,2.17,0.00,0.000,4,0.000,0.049,2864,3513,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7082,-0.75,-146.6,736.0,-10.2,676,7086,0.00,2.08,0.00,0.000,6,0.000,0.030,2864,2092,3883,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7389,-0.75,-146.6,768.3,-9.8,686,7393,0.00,2.15,0.00,0.000,4,0.000,0.049,2854,3502,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7532,-0.75,-146.6,781.0,-10.3,690,7541,0.10,2.05,0.00,0.000,6,0.136,0.030,2887,2078,3883,0,0,0,0,0,0,26.46,26.74,28.83
$GC,7842,-0.75,-146.6,810.2,-8.7,701,7846,0.00,2.17,0.00,0.000,4,0.000,0.049,2879,3503,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7927,-0.75,-146.6,816.0,-8.9,703,7934,0.00,2.05,0.00,0.000,6,0.000,0.030,2879,2095,3883,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8235,-0.75,-146.6,846.7,-9.1,714,8241,0.00,2.15,0.00,0.000,4,0.000,0.050,2869,3503,3883,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8319,-0.75,-146.6,852.4,-9.3,716,8326,0.00,2.05,0.00,0.000,6,0.000,0.030,2869,2096,3883,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8627,-0.75,-146.6,882.8,-9.0,727,8632,0.00,2.12,0.00,0.000,4,0.000,0.049,2858,3503,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8754,-0.75,-146.6,894.8,-10.0,731,8759,0.12,2.05,0.00,0.000,6,0.158,0.030,2890,2095,3883,0,0,0,0,0,0,26.47,26.74,28.83
$GC,9077,-0.75,-146.6,919.2,-6.8,742,9082,0.00,2.12,0.00,0.000,4,0.000,0.049,2883,3503,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9200,-0.75,-146.6,928.6,-7.7,746,9204,0.00,2.03,0.00,0.000,6,0.000,0.030,2882,2100,3882,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,9374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9374,begin apogee
$GC,9382,-0.17,0.0,943.8,-8.3,752,9510,0.57,0.00,123.85,1.485,6,0.134,0.000,3069,1877,3280,0,0,0,0,0,0,26.40,28.83,23.64
$STATE,9513,end apogee,CONTROL_FINISHED_OK
$STATE,9513,begin climb
$GC,9516,0.75,146.6,948.0,0.0,756,9656,0.85,2.38,129.50,1.452,4,0.064,0.037,3380,534,2681,0,0,0,0,0,0,24.70,23.67,22.73
$GC,9813,0.75,146.6,922.5,13.3,766,9817,0.00,2.25,0.00,0.000,6,0.000,0.036,3380,1899,2672,0,0,0,0,0,0,28.83,25.01,28.83
$GC,10120,0.75,146.6,879.3,13.0,776,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1898,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10420,0.75,146.6,839.3,13.4,786,10426,0.00,2.17,0.00,0.000,4,0.000,0.039,3389,526,2666,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10484,0.75,146.6,831.4,13.3,788,10488,0.00,2.17,0.00,0.000,6,0.000,0.036,3389,1907,2666,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10806,0.75,146.6,787.4,13.8,799,10812,0.00,2.17,0.00,0.000,4,0.000,0.039,3398,525,2666,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10865,0.75,146.6,779.3,13.7,801,10869,0.00,2.15,0.00,0.000,6,0.000,0.037,3398,1909,2664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11197,0.75,146.6,734.1,13.4,812,11203,0.00,2.20,0.00,0.000,4,0.000,0.040,3407,514,2664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11228,0.75,146.6,730.0,13.4,813,11234,0.10,2.15,0.00,0.000,6,0.151,0.037,3375,1907,2664,0,0,0,0,0,0,26.10,26.31,28.83
$GC,11557,0.75,146.6,689.5,12.2,824,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1907,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11859,0.75,146.6,653.5,12.0,834,11864,0.00,2.15,0.00,0.000,4,0.000,0.040,3382,526,2663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11906,0.75,146.6,649.9,12.0,835,11910,0.00,2.15,0.00,0.000,6,0.000,0.037,3382,1910,2663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12212,0.75,146.6,609.6,12.4,845,12218,0.00,2.17,0.00,0.000,4,0.000,0.040,3391,515,2663,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12235,0.75,146.6,609.6,12.4,845,12243,0.00,2.15,0.00,0.000,6,0.000,0.036,3391,1903,2663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12542,0.75,146.6,565.9,13.6,872,12546,0.00,2.15,0.00,0.000,4,0.000,0.040,3399,513,2663,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12607,0.75,146.6,557.5,13.8,878,12613,0.00,2.15,0.00,0.000,6,0.000,0.037,3399,1901,2662,0,0,0,0,0,0,28.83,26.50,28.83
$GC,12914,0.75,146.6,515.2,13.7,909,12924,0.00,2.15,0.00,0.000,4,0.000,0.039,3406,514,2662,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12970,0.75,146.6,507.9,13.8,914,12977,0.15,2.15,0.00,0.000,6,0.170,0.036,3368,1908,2663,0,0,0,0,0,0,26.29,26.53,28.83
$GC,13277,0.75,146.6,470.0,12.1,945,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1907,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13579,0.75,146.6,433.0,12.4,975,13582,0.00,2.12,0.00,0.000,4,0.000,0.040,3375,528,2662,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13611,0.75,146.6,428.7,12.5,978,13620,0.00,2.10,0.00,0.000,6,0.000,0.036,3375,1898,2662,0,0,0,0,0,0,28.83,26.57,28.83
$GC,13920,0.75,146.6,390.3,12.2,1009,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1898,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14224,0.75,146.6,353.8,12.3,1039,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1898,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14533,0.75,146.6,316.1,12.3,1070,14537,0.00,2.12,0.00,0.000,4,0.000,0.039,3384,518,2662,0,0,0,0,0,0,28.83,26.59,28.83
$GC,14609,0.75,146.6,306.8,12.7,1077,14616,0.00,2.12,0.00,0.000,6,0.000,0.036,3384,1899,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,14915,0.75,146.6,267.9,12.4,1108,14924,0.00,2.10,0.00,0.000,4,0.000,0.039,3393,527,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,14978,0.75,146.6,259.9,13.4,1114,14986,0.00,2.08,0.00,0.000,6,0.000,0.036,3393,1894,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,15288,0.75,146.6,221.8,12.1,1145,15293,0.00,2.12,0.00,0.000,4,0.000,0.047,3393,3304,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15314,0.75,146.6,218.8,12.6,1147,15321,0.12,2.05,0.00,0.000,6,0.185,0.031,3372,1913,2662,0,0,0,0,0,0,26.39,26.65,28.83
$GC,15621,0.75,146.6,184.1,10.9,1178,15630,0.00,2.10,0.00,0.000,4,0.000,0.040,3380,512,2662,0,0,0,0,0,0,28.83,26.62,28.83
$GC,15741,0.75,146.6,171.2,11.7,1189,15749,0.00,2.15,0.00,0.000,6,0.000,0.036,3380,1913,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16047,0.75,146.6,137.3,10.3,1220,16051,0.00,2.10,0.00,0.000,4,0.000,0.047,3380,3305,2662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16122,0.75,146.6,129.0,11.7,1227,16129,0.00,2.08,0.00,0.000,6,0.000,0.031,3389,1897,2662,0,0,0,0,0,0,28.83,26.67,28.83
$GC,16429,0.75,146.6,96.4,10.9,1261,16437,0.00,2.10,0.00,0.000,4,0.000,0.040,3399,511,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16510,0.75,146.6,88.1,10.2,1276,16517,0.00,2.12,0.00,0.000,6,0.000,0.037,3399,1902,2662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16821,0.75,146.6,56.9,9.6,1337,16829,0.00,2.15,0.00,0.000,4,0.000,0.039,3406,508,2662,0,0,0,0,0,0,28.83,26.64,28.83
$GC,16917,0.75,148.6,47.8,9.1,1355,16924,0.15,2.12,0.00,0.000,6,0.165,0.037,3368,1901,2662,0,0,0,0,0,0,26.42,26.65,28.83
$GC,17231,0.80,193.5,25.4,7.3,1416,17262,0.00,2.17,23.25,0.848,4,0.000,0.048,3368,3310,2488,0,0,0,0,0,0,28.83,26.26,25.48
$GC,17389,0.84,225.6,12.6,7.8,1445,17409,0.00,2.10,14.60,0.092,6,0.000,0.031,3375,1905,2359,0,0,0,0,0,0,28.83,26.36,26.19
$FREEZE,8.98,4.323,-1.723,0,1,0
$FREEZE,8.61,4.394,-1.722,0,1,0
$FREEZE,8.51,4.506,-1.719,0,1,0
$FREEZE,8.32,4.604,-1.717,0,1,0
$FREEZE,8.11,4.629,-1.717,0,1,0
$FREEZE,7.91,4.670,-1.717,0,1,0
$FREEZE,7.71,4.745,-1.715,0,1,0
$FREEZE,7.37,4.825,-1.716,0,1,0
$FREEZE,7.12,5.052,-1.707,0,1,0
$FREEZE,6.96,5.018,-1.712,0,1,0
$FREEZE,6.66,5.001,-1.716,0,1,0
$FREEZE,6.59,4.998,-1.718,0,1,0
$FREEZE,6.37,4.994,-1.719,0,1,0
$FREEZE,6.25,5.083,-1.716,0,1,0
$FREEZE,6.13,5.108,-1.716,0,1,0
$FREEZE,5.91,5.114,-1.717,0,1,0
$FREEZE,5.82,5.129,-1.719,0,1,0
$FREEZE,5.73,5.125,-1.721,0,1,0
$FREEZE,5.51,5.130,-1.722,0,1,0
$FREEZE,5.30,5.136,-1.722,0,1,0
$FREEZE,5.16,5.110,-1.725,0,1,0
$FREEZE,4.93,5.140,-1.724,0,1,0
$FREEZE,4.73,5.145,-1.724,0,1,0
$FREEZE,4.55,5.152,-1.724,0,1,0
$FREEZE,4.26,5.159,-1.725,0,1,0
$FREEZE,3.99,5.164,-1.725,0,1,0
$STATE,17581,end climb,SURFACE_DEPTH_REACHED
$STATE,17583,begin surface coast
$FREEZE,3.75,5.190,-1.724,0,1,0
$FREEZE,3.37,5.186,-1.725,0,1,0
$FREEZE,3.17,5.166,-1.725,0,1,0
$FREEZE,2.87,5.166,-1.725,0,1,0
$FREEZE,2.78,5.193,-1.724,0,1,0
$FREEZE,2.45,5.202,-1.724,0,1,0
$FREEZE,2.22,5.210,-1.724,0,1,0
$FREEZE,1.93,5.206,-1.725,0,1,0
$FREEZE,1.66,5.207,-1.725,0,1,0
$FREEZE,1.45,4.995,-0.855,0,1,0
$FREEZE,1.40,4.960,-0.386,0,1,0
$FREEZE,1.48,5.173,-1.682,0,1,0
$FREEZE,1.45,5.134,-0.207,0,1,0
$FREEZE,1.46,5.015,-0.913,0,1,0
$FREEZE,1.40,5.079,-0.901,0,1,0
$FREEZE,1.33,4.820,-0.115,0,1,0
$FREEZE,1.43,5.034,-0.806,0,1,0
$FREEZE,1.47,4.967,-1.733,0,1,0
$FINISH,1.5,1.025030
$STATE,17678,end surface coast,CONTROL_FINISHED_OK
$STATE,17678,begin surface
$SM_CCo,17698,76.72,0.072,0,0,1647,400.08
$SM_GC,2.27,8.15,0.30,76.72,0.055,0.066,0.072,344,2090,1647,-8.65,-1.61,400.08,0,0,0,0,0,0,26.32,26.36,26.20
$RAFOS_CLK,914
$RAFOS,6,1342370947,16.833334,16.818611,47,45,43,43,41,40,588,1100,977,1824,61,923
$RAFOS,5,1342370468,16.700001,16.685556,46,45,44,43,42,41,1326,1830,1516,1255,413,1878
$RAFOS,4,1342369984,16.566668,16.551111,44,43,43,43,42,41,1355,1372,443,1617,1908,733
$RAFOS,3,1342369506,16.433332,16.418333,46,42,41,40,40,40,1005,928,1338,1941,861,1545
$RAFOS,2,1342369030,16.299999,16.286112,48,45,44,43,41,40,702,326,1530,1583,158,338
$RAFOS,1,1342368548,16.166666,16.152222,45,43,42,42,42,41,1536,1240,1566,862,1799,287
$RAFOS,0,1342368066,16.033333,16.018333,46,45,45,44,41,41,1069,249,791,663,1463,1176
$RAFOS,6,1342356550,12.833333,12.819445,48,48,43,43,40,40,1512,1936,967,249,311,808
$RAFOS,5,1342356062,12.700000,12.683888,47,43,42,42,42,41,1295,219,869,1868,1633,1522
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5757.93,150712,121253
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.65
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,16.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,17.9
$ALTIM_BOTTOM_PING,902.1,56.0
$24V_AH,22.7,18.558
$10V_AH,10.0,21.541
$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,20.825,166.100,291.200,76.725,0.000,0.000,0.000,645.150,5.000,0.000,18.325,3976.510,10075.651,594.234,3541.386,429.888,0.000,2778.470,0.000,2864.577,3240.000,28.394,0.000
$DEVICE_MAMPS,253.980,65.790,1484.865,71.910,0.000,0.000,0.000,279.393,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.630,1138.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151600
$DATA_FILE_SIZE,70061,1499
$CAP_FILE_SIZE,199527,0
$CFSIZE,260165632,233902080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1461.2
$CURRENT,0.088,117.5,1
$GPS,150712,173205,6701.432,-5806.360,38,0.9,38,-33.8