version: 66.11
glider: 108
mission: 21
dive: 253
start: 8 3 112 15 58 14
data:
$ID,108
$MISSION,21
$DIVE,253
$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,-191402.67
$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,43
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,030812,154935,6701.729,-5756.734,32,0.8,32,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-77.4
$GPS2,030812,155741,6701.821,-5756.742,26,0.8,26,-33.7
$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,278.6,114071,-16.9,-9.167
$D_GRID,922
$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,-0.75,-146.6,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,2,0.000,0.000,342,2102,3082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.75,-146.6,3.2,-1.2,11,122,10.55,2.15,-20.23,0.000,4,0.259,0.051,2894,711,3881,0,0,0,0,0,0,25.60,26.23,26.65
$GC,257,-0.75,-146.6,29.0,-12.9,43,264,0.00,2.17,0.00,0.000,6,0.000,0.041,2888,2101,3887,0,0,0,0,0,0,28.83,26.23,28.83
$GC,570,-0.75,-146.6,65.4,-12.1,104,577,0.00,2.15,0.00,0.000,4,0.000,0.050,2877,3510,3889,0,0,0,0,0,0,28.83,26.21,28.83
$GC,620,-0.75,-146.6,72.0,-13.3,113,628,0.00,2.08,0.00,0.000,6,0.000,0.030,2878,2102,3889,0,0,0,0,0,0,28.83,26.40,28.83
$GC,935,-0.75,-146.6,110.0,-11.7,166,944,0.00,2.17,0.00,0.000,4,0.000,0.050,2870,3503,3890,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1027,-0.75,-146.6,121.2,-12.0,175,1036,0.00,2.08,0.00,0.000,6,0.000,0.031,2870,2108,3890,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1337,-0.75,-146.6,156.9,-11.3,206,1346,0.00,2.17,0.00,0.000,4,0.000,0.051,2861,3510,3889,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1442,-0.75,-146.6,169.6,-12.3,216,1449,0.00,2.05,0.00,0.000,6,0.000,0.031,2861,2124,3889,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1749,-0.75,-146.6,206.5,-12.1,247,1753,0.00,2.15,0.00,0.000,4,0.000,0.050,2850,3510,3888,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1811,-0.75,-146.6,214.2,-12.4,253,1821,0.15,2.03,0.00,0.000,6,0.164,0.031,2891,2127,3887,0,0,0,0,0,0,26.04,26.49,28.83
$GC,2122,-0.75,-146.6,243.1,-9.0,284,2130,0.00,2.12,0.00,0.000,4,0.000,0.050,2883,3503,3887,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2226,-0.75,-146.6,253.1,-10.0,294,2233,0.00,2.00,0.00,0.000,6,0.000,0.031,2883,2144,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2533,-0.75,-146.6,282.4,-9.4,325,2543,0.00,2.12,0.00,0.000,4,0.000,0.050,2873,3507,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2579,-0.75,-146.6,286.5,-9.9,329,2588,0.00,2.00,0.00,0.000,6,0.000,0.031,2873,2131,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2886,-0.75,-146.6,316.0,-9.3,360,2895,0.00,2.15,0.00,0.000,4,0.000,0.050,2862,3510,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2980,-0.75,-146.6,325.5,-10.3,369,2989,0.00,2.00,0.00,0.000,6,0.000,0.031,2863,2148,3885,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3289,-0.75,-146.6,356.8,-9.6,400,3298,0.00,2.12,0.00,0.000,4,0.000,0.050,2852,3518,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3335,-0.75,-146.6,361.1,-10.5,404,3342,0.12,1.98,0.00,0.000,6,0.160,0.030,2884,2163,3885,0,0,0,0,0,0,26.17,26.55,28.83
$GC,3642,-0.75,-146.6,387.6,-8.5,435,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2160,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3944,-0.75,-146.6,414.0,-8.7,465,3948,0.00,2.08,0.00,0.000,4,0.000,0.049,2877,3511,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4040,-0.75,-146.6,422.6,-9.0,474,4046,0.00,1.98,0.00,0.000,6,0.000,0.030,2877,2160,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4346,-0.75,-146.6,449.9,-8.5,505,4357,0.00,2.08,0.00,0.000,4,0.000,0.049,2867,3511,3884,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4403,-0.75,-146.6,454.8,-9.6,510,4410,0.00,1.95,0.00,0.000,6,0.000,0.030,2867,2171,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4710,-0.75,-146.6,482.5,-8.9,541,4720,0.00,2.05,0.00,0.000,4,0.000,0.049,2857,3507,3884,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4834,-0.75,-146.6,494.4,-9.8,553,4844,0.12,1.95,0.00,0.000,6,0.157,0.030,2888,2173,3884,0,0,0,0,0,0,26.20,26.58,28.83
$GC,5143,-0.75,-146.6,517.2,-7.1,584,5152,0.00,2.05,0.00,0.000,4,0.000,0.049,2881,3513,3885,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5208,-0.75,-146.6,522.0,-8.1,590,5215,0.00,1.92,0.00,0.000,6,0.000,0.030,2880,2188,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5515,-0.75,-146.6,546.6,-8.0,621,5525,0.00,2.05,0.00,0.000,4,0.000,0.049,2871,3523,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5582,-0.75,-146.6,552.2,-9.0,627,5588,0.00,1.92,0.00,0.000,6,0.000,0.029,2871,2195,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5889,-0.75,-146.6,579.7,-8.5,658,5898,0.00,2.03,0.00,0.000,4,0.000,0.049,2861,3529,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5941,-0.75,-146.6,584.8,-10.0,663,5949,0.00,1.95,0.00,0.000,6,0.000,0.029,2861,2192,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6252,-0.75,-146.6,615.0,-9.7,684,6257,0.00,2.05,0.00,0.000,4,0.000,0.048,2850,3530,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6314,-0.75,-146.6,621.1,-9.9,686,6319,0.15,1.90,0.00,0.000,6,0.153,0.029,2890,2202,3885,0,0,0,0,0,0,26.15,26.58,28.83
$GC,6638,-0.75,-146.6,647.7,-8.2,697,6643,0.00,2.03,0.00,0.000,4,0.000,0.049,2882,3512,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6707,-0.75,-146.6,653.1,-8.5,699,6711,0.00,1.90,0.00,0.000,6,0.000,0.029,2882,2207,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7026,-0.75,-146.6,681.9,-8.8,710,7031,0.00,2.03,0.00,0.000,4,0.000,0.049,2873,3509,3885,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7074,-0.75,-146.6,684.6,-8.8,711,7077,0.00,1.85,0.00,0.000,6,0.000,0.030,2873,2221,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7380,-0.75,-146.6,714.4,-9.0,721,7386,0.00,2.00,0.00,0.000,4,0.000,0.049,2863,3508,3885,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7445,-0.75,-146.6,720.1,-9.1,723,7450,0.00,1.88,0.00,0.000,6,0.000,0.029,2863,2219,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7772,-0.75,-146.6,750.5,-9.0,734,7776,0.00,1.98,0.00,0.000,4,0.000,0.049,2853,3505,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7842,-0.75,-146.6,756.6,-9.2,736,7846,0.12,1.85,0.00,0.000,6,0.156,0.030,2885,2229,3885,0,0,0,0,0,0,26.21,26.58,28.83
$GC,8161,-0.75,-146.6,782.8,-7.8,747,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2228,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8461,-0.75,-146.6,806.4,-7.9,757,8467,0.00,1.98,0.00,0.000,4,0.000,0.050,2878,3505,3886,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8523,-0.75,-146.6,811.5,-8.2,759,8526,0.00,1.83,0.00,0.000,6,0.000,0.030,2878,2236,3885,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8852,-0.75,-146.6,838.7,-8.2,770,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2231,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9150,-0.75,-146.6,864.1,-8.7,780,9156,0.00,1.98,0.00,0.000,4,0.000,0.050,2868,3505,3885,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9213,-0.75,-146.6,869.6,-8.9,782,9217,0.00,1.83,0.00,0.000,6,0.000,0.030,2868,2240,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9540,-0.75,-146.6,899.4,-9.1,793,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2233,3885,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9808,begin apogee
$GC,9815,-0.17,0.0,923.1,-8.7,802,9945,0.65,0.00,124.47,1.411,4,0.136,0.000,3074,1902,3279,0,0,0,0,0,0,25.84,28.83,23.56
$STATE,9949,end apogee,CONTROL_FINISHED_OK
$STATE,9949,begin climb
$GC,9952,0.75,146.6,927.3,0.0,806,10090,0.82,2.28,127.85,1.282,4,0.066,0.037,3369,521,2681,0,0,0,0,0,0,24.67,24.70,22.78
$GC,10316,0.75,146.6,895.0,12.4,818,10322,0.00,2.25,0.00,0.000,6,0.000,0.037,3369,1899,2670,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10623,0.75,146.6,853.6,12.8,829,10629,0.00,2.20,0.00,0.000,4,0.000,0.038,3378,520,2668,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10857,0.75,146.6,827.4,12.2,836,10864,0.00,2.17,0.00,0.000,6,0.000,0.035,3378,1902,2666,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11165,0.75,146.6,785.6,12.8,847,11170,0.00,2.15,0.00,0.000,4,0.000,0.038,3386,524,2665,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11257,0.75,146.6,773.3,13.6,850,11261,0.00,2.15,0.00,0.000,6,0.000,0.035,3386,1898,2664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11580,0.75,146.6,727.7,14.2,861,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1898,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11879,0.75,146.6,685.4,14.0,871,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1897,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12179,0.75,146.6,644.1,13.6,881,12185,0.00,2.17,0.00,0.000,4,0.000,0.047,3386,3325,2663,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12202,0.75,146.6,644.1,13.6,881,12209,0.00,2.12,0.00,0.000,6,0.000,0.031,3395,1897,2662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12510,0.75,146.6,594.8,15.2,894,12519,0.00,2.12,0.00,0.000,4,0.000,0.040,3406,502,2662,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12583,0.75,146.6,583.9,15.4,901,12592,0.10,2.15,0.00,0.000,6,0.152,0.035,3376,1896,2662,0,0,0,0,0,0,26.00,26.36,28.83
$GC,12892,0.75,146.6,542.8,12.8,932,12901,0.00,2.12,0.00,0.000,4,0.000,0.047,3375,3293,2661,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12914,0.75,146.6,539.8,13.1,934,12918,0.00,2.10,0.00,0.000,6,0.000,0.031,3382,1875,2661,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13226,0.75,146.6,497.5,13.2,965,13235,0.00,2.10,0.00,0.000,4,0.000,0.039,3393,508,2661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13260,0.75,146.6,493.2,14.0,968,13267,0.00,2.15,0.00,0.000,6,0.000,0.035,3392,1893,2662,0,0,0,0,0,0,28.83,26.40,28.83
$GC,13568,0.75,146.6,451.5,12.7,999,13578,0.00,2.12,0.00,0.000,4,0.000,0.038,3400,511,2662,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13623,0.75,146.6,444.6,13.0,1004,13630,0.00,2.12,0.00,0.000,6,0.000,0.034,3401,1888,2661,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13932,0.75,146.6,404.4,12.6,1035,13941,0.00,2.12,0.00,0.000,4,0.000,0.039,3409,516,2661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13967,0.75,146.6,399.9,13.2,1038,13975,0.15,2.12,0.00,0.000,6,0.170,0.035,3370,1895,2661,0,0,0,0,0,0,26.03,26.43,28.83
$GC,14275,0.75,146.6,363.8,11.8,1069,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1895,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14580,0.75,146.6,328.9,11.8,1099,14590,0.00,2.12,0.00,0.000,4,0.000,0.046,3370,3297,2661,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14613,0.75,146.6,324.0,12.2,1102,14622,0.00,2.10,0.00,0.000,6,0.000,0.031,3377,1874,2661,0,0,0,0,0,0,28.83,26.49,28.83
$GC,14923,0.75,146.6,286.9,11.7,1133,14927,0.00,2.08,0.00,0.000,4,0.000,0.039,3387,508,2662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15106,0.75,146.6,265.0,11.8,1151,15116,0.00,2.05,0.00,0.000,6,0.000,0.035,3388,1859,2661,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15416,0.75,146.6,227.8,12.0,1182,15420,0.00,2.17,0.00,0.000,4,0.000,0.046,3387,3298,2662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15472,0.75,146.6,220.6,13.9,1187,15479,0.00,2.12,0.00,0.000,6,0.000,0.031,3397,1859,2661,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15779,0.75,146.6,181.2,12.4,1218,15787,0.00,2.08,0.00,0.000,4,0.000,0.039,3407,500,2662,0,0,0,0,0,0,28.83,26.43,28.83
$GC,15883,0.75,146.6,168.5,12.5,1228,15891,0.15,2.08,0.00,0.000,6,0.163,0.034,3369,1871,2661,0,0,0,0,0,0,26.09,26.48,28.83
$GC,16191,0.75,146.6,135.0,10.1,1259,16200,0.00,2.17,0.00,0.000,4,0.000,0.044,3369,3304,2661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16286,0.75,146.6,124.8,11.0,1268,16293,0.00,2.12,0.00,0.000,6,0.000,0.030,3376,1864,2662,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16594,0.77,169.5,97.4,8.2,1302,16619,0.00,2.22,17.67,0.900,4,0.000,0.043,3376,3307,2586,0,0,0,0,0,0,28.83,26.28,25.32
$GC,16637,0.78,171.0,93.3,9.1,1309,16644,0.00,2.12,0.00,0.000,6,0.000,0.030,3385,1878,2584,0,0,0,0,0,0,28.83,26.33,28.83
$GC,16952,0.78,171.0,61.7,9.4,1370,16959,0.00,2.10,0.00,0.000,4,0.000,0.039,3396,508,2583,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16975,0.78,171.0,59.5,9.6,1373,16982,0.00,2.12,0.00,0.000,6,0.000,0.034,3396,1882,2582,0,0,0,0,0,0,28.83,26.31,28.83
$GC,17291,0.82,208.3,31.0,7.6,1434,17328,0.00,2.20,28.90,0.890,4,0.000,0.045,3396,3309,2427,0,0,0,0,0,0,28.83,25.92,25.08
$FREEZE,8.73,6.494,-1.750,0,1,0
$FREEZE,8.15,6.517,-1.750,0,1,0
$FREEZE,7.64,6.517,-1.751,0,1,0
$FREEZE,7.31,6.522,-1.751,0,1,0
$FREEZE,6.84,6.539,-1.751,0,1,0
$FREEZE,6.38,6.533,-1.752,0,1,0
$GC,17562,0.91,279.4,8.7,6.2,1485,17606,0.00,2.12,33.12,0.081,6,0.000,0.031,3405,1902,2138,0,0,0,0,0,0,28.83,26.11,25.85
$FREEZE,5.33,6.539,-1.752,0,1,0
$FREEZE,5.03,6.539,-1.752,0,1,0
$FREEZE,4.62,6.542,-1.752,0,1,0
$FREEZE,4.23,6.551,-1.752,0,1,0
$FREEZE,3.96,6.849,-1.748,0,1,0
$STATE,17636,end climb,SURFACE_DEPTH_REACHED
$STATE,17636,begin surface coast
$FREEZE,3.25,6.857,-1.748,0,1,0
$FREEZE,2.72,6.812,-1.748,0,1,0
$FREEZE,2.31,6.846,-1.748,0,1,0
$FREEZE,1.81,6.857,-1.748,0,1,0
$FREEZE,1.47,6.857,-1.748,0,1,0
$FREEZE,1.47,6.753,-0.889,0,1,0
$FREEZE,1.33,6.355,-1.771,0,1,0
$FREEZE,1.39,6.318,-0.858,0,1,0
$FREEZE,1.41,6.520,-0.819,0,1,0
$FREEZE,1.38,6.530,-1.608,0,1,0
$FREEZE,1.45,6.601,-1.756,0,1,0
$FREEZE,1.38,6.688,-1.750,0,1,0
$FINISH,1.4,1.025073
$STATE,17700,end surface coast,CONTROL_FINISHED_OK
$STATE,17700,begin surface
$SM_CCo,17719,53.20,0.071,0,0,1647,400.08
$SM_GC,2.49,8.32,0.32,53.20,0.053,0.059,0.071,339,2105,1647,-8.66,-1.22,400.08,0,0,0,0,0,0,25.99,26.08,25.88
$RAFOS_CLK,908
$RAFOS,5,1344026464,20.700001,20.684444,60,45,44,41,40,40,562,1841,1411,665,61,1647
$RAFOS,4,1344025985,20.566668,20.551390,49,47,46,43,43,41,1780,868,335,1061,1705,1351
$RAFOS,3,1344025502,20.433332,20.417223,50,46,44,40,40,38,541,598,145,161,494,625
$RAFOS,2,1344025030,20.299999,20.286112,44,42,42,42,41,41,944,1,1030,1591,903,1236
$RAFOS,1,1344024543,20.166666,20.150833,45,45,43,41,40,38,210,311,1794,1612,1689,619
$RAFOS,0,1344024069,20.033333,20.019167,51,43,42,41,41,39,626,1467,61,197,240,536
$RAFOS,6,1344012551,16.833334,16.819723,54,48,41,38,37,37,1619,1862,348,890,655,710
$RAFOS,5,1344012067,16.700001,16.685278,45,42,41,40,39,39,341,1649,61,1322,151,1177
$RAFOS,4,1344011583,16.566668,16.550833,49,43,42,39,38,38,1108,1272,384,90,820,1123
$RAFOS,3,1344011111,16.433332,16.419722,49,49,44,44,42,41,1361,1510,576,681,209,1304
$RAFOS,2,1344010628,16.299999,16.285555,52,49,45,44,39,39,219,1392,1207,195,1279,1414
$RAFOS,1,1344010142,16.166666,16.150555,51,50,43,42,42,40,716,557,1168,328,649,1193
$RAFOS,0,1344009661,16.033333,16.016945,46,44,43,43,41,40,1364,1477,225,786,138,1351
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5756.18,030812,101053
$TT8_MAMPS,0.029211,0.029211
$HUMID,42.47
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.70
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,22.8,29.986
$10V_AH,9.9,33.581
$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,21.425,162.250,332.025,53.200,0.000,0.000,0.000,331.375,7.250,0.000,27.855,3922.879,10138.304,625.624,3147.277,418.131,0.000,2456.206,0.000,2760.302,5040.000,28.469,0.000
$DEVICE_MAMPS,259.335,58.905,1411.425,71.145,0.000,0.000,0.000,283.138,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1084.935,1045.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,69998,1508
$CAP_FILE_SIZE,193281,0
$CFSIZE,260165632,225218560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.9
$CURRENT,0.125,151.5,1
$GPS,030812,205558,6700.163,-5800.404,37,0.7,37,-33.7