version: 66.11
glider: 108
mission: 21
dive: 256
start: 8 4 112 7 28 39
data:
$ID,108
$MISSION,21
$DIVE,256
$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,-191406.42
$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,45
$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
$GPS1,040812,072004,6701.708,-5811.399,28,0.9,28,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-77.9
$GPS2,040812,072806,6701.750,-5811.145,17,1.3,17,-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,261.6,103988,-16.9,-9.167
$D_GRID,956
$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,-146.6,0.0,0.0,0,70,0.00,0.00,-50.75,0.000,2,0.000,0.000,342,2108,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.0,-2.0,9,124,10.40,2.17,-31.95,0.000,4,0.254,0.052,2893,709,3881,0,0,0,0,0,0,25.58,26.20,26.63
$GC,255,-0.75,-146.6,26.6,-12.6,42,262,0.00,2.17,0.00,0.000,6,0.000,0.040,2886,2100,3886,0,0,0,0,0,0,28.83,26.21,28.83
$GC,568,-0.75,-146.6,63.0,-12.1,103,576,0.00,2.17,0.00,0.000,4,0.000,0.050,2875,3509,3889,0,0,0,0,0,0,28.83,26.19,28.83
$GC,659,-0.75,-146.6,74.9,-12.5,120,666,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,2098,3889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,977,-0.75,-146.6,113.1,-11.7,171,981,0.00,2.20,0.00,0.000,4,0.000,0.050,2867,3512,3889,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1124,-0.75,-146.6,130.6,-12.8,185,1131,0.00,2.08,0.00,0.000,6,0.000,0.031,2866,2108,3889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1430,-0.75,-146.6,169.4,-12.1,216,1438,0.00,2.17,0.00,0.000,4,0.000,0.051,2856,3509,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1531,-0.75,-146.6,182.4,-12.9,226,1536,0.12,2.03,0.00,0.000,6,0.174,0.031,2887,2129,3887,0,0,0,0,0,0,26.07,26.47,28.83
$GC,1844,-0.75,-146.6,215.8,-10.7,257,1853,0.00,2.15,0.00,0.000,4,0.000,0.050,2879,3504,3886,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1950,-0.75,-146.6,227.2,-11.2,267,1959,0.00,2.03,0.00,0.000,6,0.000,0.031,2879,2124,3887,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2257,-0.75,-146.6,260.0,-10.4,298,2261,0.00,2.15,0.00,0.000,4,0.000,0.050,2869,3516,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2351,-0.75,-146.6,270.8,-11.8,307,2360,0.00,2.00,0.00,0.000,6,0.000,0.031,2869,2153,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2660,-0.75,-146.6,306.0,-11.1,338,2669,0.00,2.10,0.00,0.000,4,0.000,0.050,2858,3504,3885,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2746,-0.75,-146.6,315.4,-11.3,346,2754,0.12,1.98,0.00,0.000,6,0.166,0.030,2890,2150,3885,0,0,0,0,0,0,26.15,26.53,28.83
$GC,3053,-0.75,-146.6,342.9,-8.6,377,3061,0.00,2.05,0.00,0.000,4,0.000,0.050,2882,3497,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3128,-0.75,-146.6,349.5,-9.3,384,3135,0.00,1.95,0.00,0.000,6,0.000,0.031,2882,2162,3884,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3434,-0.75,-146.6,378.0,-9.4,415,3444,0.00,2.08,0.00,0.000,4,0.000,0.049,2872,3518,3885,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3497,-0.75,-146.6,384.2,-9.9,421,3506,0.00,1.98,0.00,0.000,6,0.000,0.030,2872,2167,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3807,-0.75,-146.6,414.9,-10.0,452,3816,0.00,2.08,0.00,0.000,4,0.000,0.049,2861,3509,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3891,-0.75,-146.6,423.9,-10.7,460,3899,0.00,1.95,0.00,0.000,6,0.000,0.030,2862,2173,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4200,-0.75,-146.6,455.5,-9.8,491,4210,0.00,2.05,0.00,0.000,4,0.000,0.050,2851,3512,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4254,-0.75,-146.6,461.2,-11.0,496,4259,0.12,1.92,0.00,0.000,6,0.159,0.030,2884,2189,3884,0,0,0,0,0,0,26.18,26.56,28.83
$GC,4567,-0.75,-146.6,488.6,-8.7,527,4577,0.00,2.03,0.00,0.000,4,0.000,0.049,2877,3506,3885,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4621,-0.75,-146.6,493.3,-9.2,532,4629,0.00,1.92,0.00,0.000,6,0.000,0.029,2877,2185,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4930,-0.75,-146.6,521.2,-8.9,563,4940,0.00,2.03,0.00,0.000,4,0.000,0.048,2867,3506,3884,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5003,-0.75,-146.6,528.3,-10.0,570,5012,0.00,1.90,0.00,0.000,6,0.000,0.030,2867,2205,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5313,-0.75,-146.6,558.0,-9.9,601,5321,0.00,2.03,0.00,0.000,4,0.000,0.049,2857,3514,3884,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5375,-0.75,-146.6,564.3,-10.3,607,5380,0.12,1.92,0.00,0.000,6,0.158,0.029,2889,2185,3884,0,0,0,0,0,0,26.20,26.58,28.83
$GC,5688,-0.75,-146.6,591.2,-8.8,638,5697,0.00,2.05,0.00,0.000,4,0.000,0.048,2881,3510,3884,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5761,-0.75,-146.6,598.0,-9.7,645,5764,0.00,1.88,0.00,0.000,6,0.000,0.030,2881,2226,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6083,-0.75,-146.6,627.0,-8.9,657,6088,0.00,1.98,0.00,0.000,4,0.000,0.050,2872,3509,3885,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6126,-0.75,-146.6,629.9,-9.0,658,6130,0.00,1.88,0.00,0.000,6,0.000,0.030,2872,2223,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6444,-0.75,-146.6,660.6,-9.3,669,6450,0.00,1.98,0.00,0.000,4,0.000,0.049,2862,3506,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6491,-0.75,-146.6,663.7,-9.4,670,6495,0.00,1.85,0.00,0.000,6,0.000,0.029,2862,2232,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6804,-0.75,-146.6,696.5,-9.9,681,6809,0.00,1.98,0.00,0.000,4,0.000,0.049,2852,3520,3885,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6866,-0.75,-146.6,702.9,-10.3,683,6872,0.15,1.88,0.00,0.000,6,0.151,0.030,2892,2231,3884,0,0,0,0,0,0,26.15,26.58,28.83
$GC,7196,-0.75,-146.6,731.2,-8.5,694,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2231,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7497,-0.75,-146.6,756.4,-8.4,704,7502,0.00,1.95,0.00,0.000,4,0.000,0.050,2885,3506,3884,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7529,-0.75,-146.6,758.9,-8.4,705,7532,0.00,1.85,0.00,0.000,6,0.000,0.030,2885,2233,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7857,-0.75,-146.6,786.4,-8.3,716,7863,0.00,1.98,0.00,0.000,4,0.000,0.050,2875,3506,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7894,-0.75,-146.6,789.1,-8.3,717,7898,0.00,1.83,0.00,0.000,6,0.000,0.030,2875,2246,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8217,-0.75,-146.6,818.3,-8.9,728,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2241,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,-0.75,-146.6,844.9,-8.8,738,8523,0.00,1.95,0.00,0.000,4,0.000,0.050,2865,3514,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8579,-0.75,-146.6,850.6,-9.2,740,8583,0.00,1.85,0.00,0.000,6,0.000,0.030,2866,2246,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8907,-0.75,-146.6,880.5,-8.9,751,8913,0.00,1.98,0.00,0.000,4,0.000,0.050,2856,3516,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8946,-0.75,-146.6,883.4,-9.0,752,8950,0.12,1.83,0.00,0.000,6,0.155,0.030,2887,2254,3884,0,0,0,0,0,0,26.21,26.58,28.83
$GC,9264,-0.75,-146.6,908.7,-7.7,763,9268,0.00,1.92,0.00,0.000,4,0.000,0.050,2881,3505,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9299,-0.75,-146.6,911.4,-7.8,764,9302,0.00,1.83,0.00,0.000,6,0.000,0.030,2881,2248,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9627,-0.75,-146.6,938.5,-8.3,775,9633,0.00,1.95,0.00,0.000,4,0.000,0.050,2871,3515,3884,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9659,-0.75,-146.6,941.0,-8.2,776,9662,0.00,1.83,0.00,0.000,6,0.000,0.030,2871,2257,3884,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,9834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9834,begin apogee
$GC,9842,-0.17,0.0,956.2,-8.3,782,9972,0.62,0.00,125.50,1.460,4,0.135,0.000,3069,1885,3279,0,0,0,0,0,0,25.84,28.83,23.46
$STATE,9975,end apogee,CONTROL_FINISHED_OK
$STATE,9976,begin climb
$GC,9978,0.75,146.6,959.6,0.0,786,10117,0.85,2.28,128.27,1.300,4,0.066,0.037,3372,513,2681,0,0,0,0,0,0,24.58,24.60,22.74
$GC,10334,0.75,146.6,926.5,12.6,798,10338,0.00,2.28,0.00,0.000,6,0.000,0.035,3372,1910,2671,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10644,0.75,146.6,884.5,13.1,808,10650,0.00,2.15,0.00,0.000,4,0.000,0.047,3372,3303,2668,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10876,0.75,146.6,853.0,15.2,815,10884,0.00,2.12,0.00,0.000,6,0.000,0.031,3381,1901,2666,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11183,0.75,146.6,807.2,13.5,826,11188,0.00,2.15,0.00,0.000,4,0.000,0.040,3392,504,2665,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11296,0.75,146.6,795.0,13.6,829,11303,0.00,2.17,0.00,0.000,6,0.000,0.036,3392,1890,2664,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11604,0.75,146.6,750.2,13.5,840,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1890,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11903,0.75,146.6,709.3,13.7,850,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1890,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12203,0.75,146.6,669.2,13.3,860,12209,0.00,2.17,0.00,0.000,4,0.000,0.039,3401,501,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12246,0.75,146.6,665.2,13.3,861,12251,0.12,2.15,0.00,0.000,6,0.174,0.036,3371,1886,2662,0,0,0,0,0,0,25.98,26.31,28.83
$GC,12560,0.75,146.6,624.1,12.6,872,12566,0.00,2.17,0.00,0.000,4,0.000,0.047,3371,3305,2663,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12582,0.75,146.6,624.1,12.6,872,12589,0.00,2.12,0.00,0.000,6,0.000,0.031,3379,1876,2663,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12890,0.75,146.6,580.7,13.1,891,12899,0.00,2.10,0.00,0.000,4,0.000,0.040,3389,495,2663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12973,0.75,146.6,569.5,13.4,899,12982,0.00,2.15,0.00,0.000,6,0.000,0.036,3389,1877,2662,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13283,0.75,146.6,528.1,13.3,930,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1876,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13585,0.75,146.6,487.6,13.4,960,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1876,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13895,0.75,146.6,446.5,12.9,991,13905,0.00,2.12,0.00,0.000,4,0.000,0.039,3398,508,2661,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13918,0.75,146.6,443.1,13.1,993,13927,0.00,2.12,0.00,0.000,6,0.000,0.035,3398,1875,2662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,14229,0.75,146.6,402.5,13.7,1024,14238,0.00,2.15,0.00,0.000,4,0.000,0.046,3397,3297,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14263,0.75,146.6,398.0,13.9,1027,14272,0.15,2.12,0.00,0.000,6,0.178,0.031,3370,1866,2662,0,0,0,0,0,0,26.03,26.47,28.83
$GC,14571,0.75,146.6,360.6,11.6,1058,14580,0.00,2.10,0.00,0.000,4,0.000,0.040,3378,500,2662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14653,0.75,146.6,350.7,11.9,1066,14661,0.00,2.12,0.00,0.000,6,0.000,0.035,3378,1873,2662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14963,0.75,146.6,313.2,12.0,1097,14972,0.00,2.20,0.00,0.000,4,0.000,0.047,3378,3321,2661,0,0,0,0,0,0,28.83,26.35,28.83
$GC,15005,0.75,146.6,307.8,12.9,1101,15013,0.00,2.17,0.00,0.000,6,0.000,0.030,3386,1862,2661,0,0,0,0,0,0,28.83,26.49,28.83
$GC,15315,0.75,146.6,270.7,11.9,1132,15316,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1862,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15617,0.75,146.6,237.2,10.9,1162,15626,0.00,2.08,0.00,0.000,4,0.000,0.039,3397,509,2662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15682,0.75,146.6,230.1,11.2,1168,15688,0.00,2.10,0.00,0.000,6,0.000,0.035,3396,1876,2662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15989,0.75,146.6,197.3,10.4,1199,15998,0.00,2.15,0.00,0.000,4,0.000,0.039,3406,500,2662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,16024,0.75,146.6,193.8,10.6,1202,16032,0.12,2.10,0.00,0.000,6,0.168,0.034,3374,1870,2661,0,0,0,0,0,0,26.14,26.47,28.83
$GC,16332,0.76,156.2,166.1,8.8,1233,16345,0.00,2.22,6.28,0.820,4,0.000,0.046,3374,3303,2641,0,0,0,0,0,0,28.83,26.46,25.27
$GC,16387,0.76,156.2,160.8,10.3,1238,16393,0.00,2.15,0.00,0.000,6,0.000,0.030,3381,1853,2641,0,0,0,0,0,0,28.83,26.47,28.83
$GC,16694,0.76,156.2,129.7,10.0,1269,16695,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1853,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16994,0.77,167.5,102.0,8.7,1299,17012,0.00,0.00,11.60,0.893,6,0.000,0.000,3381,1853,2595,0,0,0,0,0,0,28.83,28.83,25.29
$GC,17320,0.77,169.3,73.3,9.1,1360,17326,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1853,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17631,0.77,169.3,43.4,10.3,1421,17638,0.00,2.08,0.00,0.000,4,0.000,0.041,3391,505,2592,0,0,0,0,0,0,28.83,26.31,28.83
$GC,17651,0.77,169.3,41.3,10.3,1424,17658,0.00,2.12,0.00,0.000,6,0.000,0.036,3391,1872,2592,0,0,0,0,0,0,28.83,26.37,28.83
$GC,17968,0.91,278.5,19.4,4.6,1485,18029,0.00,2.28,54.88,0.110,4,0.000,0.047,3390,3309,2142,0,0,0,0,0,0,28.83,26.21,25.96
$GC,18043,0.97,327.8,15.0,7.1,1497,18074,0.12,2.15,23.15,0.100,6,0.103,0.031,3452,1864,1941,0,0,0,0,0,0,26.20,26.33,25.94
$FREEZE,8.90,6.415,-1.700,0,1,0
$FREEZE,8.54,6.380,-1.696,0,1,0
$FREEZE,8.20,6.344,-1.693,0,1,0
$FREEZE,7.87,6.294,-1.689,0,1,0
$FREEZE,7.50,6.215,-1.686,0,1,0
$FREEZE,7.07,6.191,-1.682,0,1,0
$FREEZE,6.75,6.229,-1.677,0,1,0
$FREEZE,6.47,6.300,-1.673,0,1,0
$FREEZE,6.17,6.331,-1.669,0,1,0
$FREEZE,5.86,6.361,-1.667,0,1,0
$FREEZE,5.49,6.378,-1.664,0,1,0
$FREEZE,5.20,6.379,-1.663,0,1,0
$FREEZE,4.90,6.422,-1.660,0,1,0
$FREEZE,4.61,6.472,-1.655,0,1,0
$FREEZE,4.38,6.573,-1.647,0,1,0
$FREEZE,4.21,6.634,-1.642,0,1,0
$FREEZE,3.94,6.629,-1.641,0,1,0
$STATE,18193,end climb,SURFACE_DEPTH_REACHED
$STATE,18193,begin surface coast
$FREEZE,3.59,6.654,-1.640,0,1,0
$FREEZE,3.33,6.695,-1.637,0,1,0
$FREEZE,2.94,6.694,-1.637,0,1,0
$FREEZE,2.70,6.681,-1.637,0,1,0
$FREEZE,2.30,6.705,-1.636,0,1,0
$FREEZE,2.13,6.706,-1.636,0,1,0
$FREEZE,1.89,6.704,-1.636,0,1,0
$FREEZE,1.53,6.682,-1.636,0,1,0
$FREEZE,1.48,6.610,-1.639,0,1,0
$FREEZE,1.31,6.488,-0.931,0,1,0
$FREEZE,1.36,6.563,-0.952,0,1,0
$FREEZE,1.35,6.447,-1.647,0,1,0
$FREEZE,1.30,6.298,-1.654,0,1,0
$FREEZE,1.40,6.540,-0.866,0,1,0
$FREEZE,1.48,6.436,-0.901,0,1,0
$FREEZE,1.37,6.487,-0.919,0,1,0
$FREEZE,1.42,6.559,-0.435,0,1,0
$FREEZE,1.41,6.520,-1.644,0,1,0
$FINISH,1.4,1.023612
$STATE,18289,end surface coast,CONTROL_FINISHED_OK
$STATE,18290,begin surface
$SM_CCo,18309,30.90,0.075,0,0,1647,400.08
$SM_GC,2.72,8.48,0.38,30.90,0.057,0.057,0.075,340,2102,1647,-8.67,-1.44,400.08,0,0,0,0,0,0,26.11,26.27,26.03
$RAFOS_CLK,954
$RAFOS,3,1344083107,12.433333,12.418612,44,43,43,43,42,42,196,1007,1539,338,695,1808
$RAFOS,2,1344082622,12.300000,12.283889,47,47,46,44,42,39,61,1271,925,1263,1790,555
$RAFOS,1,1344082150,12.166667,12.152778,43,40,40,39,39,39,61,515,569,1881,304,1538
$RAFOS,0,1344081662,12.033333,12.017222,51,44,43,43,41,40,1811,1559,380,1418,1935,1208
$RAFOS,6,1344070146,8.833333,8.818334,49,45,45,39,39,39,1794,1193,1306,61,421,1565
$RAFOS,5,1344069663,8.700000,8.684167,49,44,42,41,40,39,940,203,1247,1900,436,1510
$RAFOS,4,1344069186,8.566667,8.551666,44,40,40,39,38,38,1375,221,858,1584,1,1867
$RAFOS,3,1344068711,8.433333,8.419723,48,44,42,41,40,38,1546,930,845,473,1886,1324
$RAFOS,2,1344068229,8.300000,8.285833,48,47,45,43,42,38,212,1071,1130,701,457,1537
$RAFOS,1,1344067747,8.166667,8.151944,51,51,44,41,39,39,295,1005,194,796,150,1746
$RAFOS,0,1344067263,8.033334,8.017500,47,45,44,38,38,38,1476,1653,1176,322,603,1907
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5814.88,040812,020238
$TT8_MAMPS,0.029211,0.029211
$HUMID,44.36
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,15.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,22.7,30.318
$10V_AH,9.9,33.954
$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,21.650,160.975,349.675,30.900,0.000,0.000,0.000,336.100,7.750,0.000,18.836,4054.231,10552.888,603.655,3173.829,430.671,0.000,2464.844,0.000,2794.975,4320.000,33.221,0.000
$DEVICE_MAMPS,253.980,56.610,1459.620,74.970,0.000,0.000,0.000,283.138,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.357,1072.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73217,1543
$CAP_FILE_SIZE,196408,0
$CFSIZE,260165632,224948224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.4
$CURRENT,0.154,138.1,1
$GPS,040812,123552,6659.347,-5813.237,37,0.8,37,-33.7