version: 66.11
glider: 108
mission: 21
dive: 258
start: 8 4 112 18 24 9
data:
$ID,108
$MISSION,21
$DIVE,258
$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,-191409.02
$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,65
$R_STBD_OVSHOOT,49
$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
$GPS1,040812,180527,6701.730,-5819.263,36,1.3,40,-33.8
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-77.4
$GPS2,040812,182334,6701.995,-5818.829,33,0.8,33,-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,253.3,98823,-16.9,-9.167
$D_GRID,1080
$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,-146.6,0.0,0.0,0,63,0.00,0.00,-45.05,0.000,2,0.000,0.000,336,2122,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.75,-146.6,3.0,-1.7,8,124,10.12,2.17,-36.05,0.000,4,0.243,0.066,2877,3497,3881,0,0,0,0,0,0,25.63,26.25,26.73
$GC,172,-0.75,-146.6,13.6,-13.0,26,180,0.00,2.08,0.00,0.000,6,0.000,0.031,2882,2098,3884,0,0,0,0,0,0,28.83,26.39,28.83
$GC,486,-0.75,-146.6,53.2,-13.1,87,493,0.00,2.12,0.00,0.000,4,0.000,0.037,2885,705,3888,0,0,0,0,0,0,28.83,26.33,28.83
$GC,531,-0.75,-146.6,59.4,-14.1,95,538,0.00,2.17,0.00,0.000,6,0.000,0.037,2878,2101,3889,0,0,0,0,0,0,28.83,26.33,28.83
$GC,843,-0.75,-146.6,99.8,-11.5,156,850,0.00,2.17,0.00,0.000,4,0.000,0.050,2867,3515,3890,0,0,0,0,0,0,28.83,26.27,28.83
$GC,941,-0.75,-146.6,111.5,-12.2,166,948,0.00,2.08,0.00,0.000,6,0.000,0.030,2867,2101,3889,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1248,-0.75,-146.6,147.8,-11.7,197,1257,0.00,2.20,0.00,0.000,4,0.000,0.050,2855,3514,3888,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1333,-0.75,-146.6,157.9,-12.4,205,1340,0.12,2.05,0.00,0.000,6,0.171,0.030,2888,2118,3888,0,0,0,0,0,0,26.10,26.49,28.83
$GC,1640,-0.75,-146.6,188.4,-9.5,236,1649,0.00,2.12,0.00,0.000,4,0.000,0.050,2879,3508,3887,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1722,-0.75,-146.6,196.7,-10.1,244,1731,0.00,2.05,0.00,0.000,6,0.000,0.031,2879,2117,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2032,-0.75,-146.6,228.8,-10.0,275,2041,0.00,2.15,0.00,0.000,4,0.000,0.050,2868,3511,3886,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2097,-0.75,-146.6,235.6,-10.8,281,2104,0.00,2.03,0.00,0.000,6,0.000,0.030,2869,2126,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2404,-0.75,-146.6,267.4,-9.8,312,2413,0.00,2.12,0.00,0.000,4,0.000,0.050,2857,3508,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2528,-0.75,-146.6,281.0,-11.2,324,2537,0.10,2.00,0.00,0.000,6,0.174,0.031,2885,2144,3884,0,0,0,0,0,0,26.20,26.53,28.83
$GC,2837,-0.75,-146.6,310.3,-9.3,355,2845,0.00,2.08,0.00,0.000,4,0.000,0.050,2877,3509,3883,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2939,-0.75,-146.6,320.6,-10.5,365,2947,0.00,2.00,0.00,0.000,6,0.000,0.030,2877,2143,3883,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3248,-0.75,-146.6,351.2,-10.0,396,3257,0.00,2.12,0.00,0.000,4,0.000,0.050,2867,3518,3883,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3283,-0.75,-146.6,354.5,-10.2,399,3290,0.00,1.98,0.00,0.000,6,0.000,0.030,2867,2161,3883,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3590,-0.75,-146.6,386.3,-10.2,430,3600,0.00,2.08,0.00,0.000,4,0.000,0.050,2856,3516,3883,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3653,-0.75,-146.6,393.1,-10.9,436,3658,0.12,1.98,0.00,0.000,6,0.161,0.030,2888,2155,3882,0,0,0,0,0,0,26.17,26.56,28.83
$GC,3967,-0.75,-146.6,420.8,-8.8,467,3971,0.00,2.08,0.00,0.000,4,0.000,0.049,2880,3508,3883,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4029,-0.75,-146.6,426.8,-10.0,473,4038,0.00,1.98,0.00,0.000,6,0.000,0.030,2880,2158,3882,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4339,-0.75,-146.6,456.0,-9.2,504,4348,0.00,2.08,0.00,0.000,4,0.000,0.049,2870,3516,3882,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4403,-0.75,-146.6,462.1,-9.7,510,4412,0.00,1.98,0.00,0.000,6,0.000,0.030,2870,2164,3882,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4711,-0.75,-146.6,491.5,-9.4,541,4715,0.00,2.08,0.00,0.000,4,0.000,0.049,2860,3517,3882,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4773,-0.75,-146.6,497.8,-10.5,547,4782,0.00,1.95,0.00,0.000,6,0.000,0.030,2860,2182,3881,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5083,-0.75,-146.6,529.4,-10.0,578,5093,0.12,2.03,0.00,0.000,4,0.171,0.047,2888,3504,3881,0,0,0,0,0,0,26.29,26.34,28.83
$GC,5160,-0.75,-146.6,536.1,-8.6,585,5167,0.00,1.92,0.00,0.000,6,0.000,0.030,2889,2180,3882,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5467,-0.75,-146.6,561.2,-8.1,616,5475,0.00,2.03,0.00,0.000,4,0.000,0.049,2881,3519,3881,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5509,-0.75,-146.6,564.7,-8.6,620,5517,0.00,1.95,0.00,0.000,6,0.000,0.030,2881,2182,3881,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5823,-0.75,-146.6,591.1,-8.0,651,5831,0.00,2.00,0.00,0.000,4,0.000,0.049,2873,3501,3881,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5888,-0.75,-146.6,596.9,-9.0,657,5894,0.00,1.90,0.00,0.000,6,0.000,0.030,2873,2196,3881,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6197,-0.75,-146.6,624.4,-9.0,670,6202,0.00,2.05,0.00,0.000,4,0.000,0.050,2863,3528,3881,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6302,-0.75,-146.6,633.2,-9.4,673,6307,0.00,1.92,0.00,0.000,6,0.000,0.030,2864,2209,3881,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6616,-0.75,-146.6,664.0,-9.4,684,6622,0.00,1.98,0.00,0.000,4,0.000,0.049,2854,3505,3881,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6693,-0.75,-146.6,670.2,-9.8,686,6698,0.12,1.88,0.00,0.000,6,0.158,0.029,2886,2211,3881,0,0,0,0,0,0,26.20,26.58,28.83
$GC,7002,-0.75,-146.6,698.0,-8.4,696,7007,0.00,1.98,0.00,0.000,4,0.000,0.049,2878,3519,3881,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7079,-0.75,-146.6,703.3,-8.5,698,7083,0.00,1.88,0.00,0.000,6,0.000,0.030,2878,2227,3880,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7388,-0.75,-146.6,731.5,-8.4,708,7393,0.00,1.98,0.00,0.000,4,0.000,0.050,2869,3530,3880,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7460,-0.75,-146.6,737.0,-8.7,710,7464,0.00,1.88,0.00,0.000,6,0.000,0.029,2868,2238,3881,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7772,-0.75,-146.6,767.1,-9.3,721,7777,0.00,1.98,0.00,0.000,4,0.000,0.050,2859,3509,3880,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7840,-0.75,-146.6,773.1,-9.7,723,7845,0.12,1.85,0.00,0.000,6,0.156,0.030,2891,2235,3880,0,0,0,0,0,0,26.20,26.57,28.83
$GC,8159,-0.75,-146.6,798.9,-7.6,734,8164,0.00,1.98,0.00,0.000,4,0.000,0.049,2884,3510,3880,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8194,-0.75,-146.6,801.2,-7.6,735,8197,0.00,1.83,0.00,0.000,6,0.000,0.030,2884,2256,3880,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8521,-0.75,-146.6,828.8,-8.3,746,8525,0.00,1.95,0.00,0.000,4,0.000,0.050,2875,3515,3880,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8566,-0.75,-146.6,831.5,-8.2,747,8570,0.00,1.85,0.00,0.000,6,0.000,0.030,2874,2261,3879,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8884,-0.75,-146.6,859.4,-8.4,758,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2257,3879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9184,-0.75,-146.6,884.8,-8.4,768,9189,0.00,1.95,0.00,0.000,4,0.000,0.050,2865,3513,3879,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9252,-0.75,-146.6,890.1,-8.7,770,9256,0.00,1.85,0.00,0.000,6,0.000,0.031,2865,2260,3878,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9575,-0.75,-146.6,919.2,-9.0,781,9580,0.00,1.95,0.00,0.000,4,0.000,0.050,2855,3512,3878,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9608,-0.75,-146.6,922.1,-9.1,782,9612,0.12,1.83,0.00,0.000,6,0.155,0.031,2887,2256,3878,0,0,0,0,0,0,26.20,26.57,28.83
$GC,9931,-0.75,-146.6,947.7,-7.6,793,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2255,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10233,-0.75,-146.6,970.0,-7.2,803,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2255,3878,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10498,begin apogee
$GC,10505,-0.17,0.0,990.2,-7.5,812,10633,0.55,0.00,124.28,1.460,4,0.132,0.000,3068,1889,3279,0,0,0,0,0,0,25.86,28.83,23.45
$STATE,10637,end apogee,CONTROL_FINISHED_OK
$STATE,10637,begin climb
$GC,10640,0.75,146.6,993.9,0.0,816,10780,0.85,2.30,129.25,1.324,4,0.065,0.038,3370,509,2680,0,0,0,0,0,0,24.58,24.60,22.72
$GC,11008,0.75,146.6,956.9,13.2,829,11014,0.00,2.25,0.00,0.000,6,0.000,0.036,3370,1902,2669,0,0,0,0,0,0,28.83,25.21,28.83
$GC,11339,0.75,146.6,913.2,13.2,840,11344,0.00,2.17,0.00,0.000,4,0.000,0.047,3370,3303,2666,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11572,0.75,146.6,883.1,14.4,847,11578,0.00,2.12,0.00,0.000,6,0.000,0.031,3379,1899,2664,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11879,0.75,146.6,837.5,13.8,858,11884,0.00,2.15,0.00,0.000,4,0.000,0.041,3390,506,2664,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11956,0.75,146.6,829.3,13.6,860,11961,0.00,2.17,0.00,0.000,6,0.000,0.036,3390,1903,2663,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12266,0.75,146.6,784.2,13.9,870,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1902,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12565,0.75,146.6,743.3,13.4,880,12570,0.00,2.17,0.00,0.000,4,0.000,0.039,3399,505,2662,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12606,0.75,146.6,739.3,13.4,881,12610,0.00,2.17,0.00,0.000,6,0.000,0.037,3398,1896,2662,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12919,0.75,146.6,693.2,14.4,892,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1896,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13218,0.75,146.6,650.6,14.2,902,13224,0.00,2.17,0.00,0.000,4,0.000,0.040,3408,507,2662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13256,0.75,146.6,646.3,14.3,903,13261,0.15,2.15,0.00,0.000,6,0.169,0.037,3370,1890,2661,0,0,0,0,0,0,25.96,26.33,28.83
$GC,13575,0.75,146.6,604.6,12.6,914,13581,0.00,2.15,0.00,0.000,4,0.000,0.047,3370,3303,2661,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13598,0.75,146.6,604.6,12.6,914,13605,0.00,2.12,0.00,0.000,6,0.000,0.031,3378,1875,2661,0,0,0,0,0,0,28.83,26.40,28.83
$GC,13905,0.75,146.6,560.8,13.3,943,13914,0.00,2.08,0.00,0.000,4,0.000,0.041,3388,515,2661,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13999,0.75,146.6,548.4,13.7,952,14007,0.00,2.10,0.00,0.000,6,0.000,0.035,3388,1876,2661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14307,0.75,146.6,505.8,13.5,983,14311,0.00,2.17,0.00,0.000,4,0.000,0.047,3388,3300,2661,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14343,0.75,146.6,500.9,14.3,986,14351,0.00,2.12,0.00,0.000,6,0.000,0.031,3397,1872,2660,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14649,0.75,146.6,456.5,14.1,1017,14658,0.00,2.10,0.00,0.000,4,0.000,0.041,3408,501,2660,0,0,0,0,0,0,28.83,26.35,28.83
$GC,14763,0.75,146.6,440.1,15.0,1028,14772,0.10,2.10,0.00,0.000,6,0.151,0.036,3376,1867,2661,0,0,0,0,0,0,26.04,26.41,28.83
$GC,15072,0.75,146.6,399.7,13.0,1059,15081,0.00,2.17,0.00,0.000,4,0.000,0.047,3376,3302,2661,0,0,0,0,0,0,28.83,26.33,28.83
$GC,15114,0.75,146.6,393.6,14.2,1063,15123,0.00,2.12,0.00,0.000,6,0.000,0.031,3383,1867,2660,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15424,0.75,146.6,352.6,12.9,1094,15434,0.00,2.08,0.00,0.000,4,0.000,0.041,3393,510,2660,0,0,0,0,0,0,28.83,26.38,28.83
$GC,15537,0.75,146.6,337.5,13.5,1105,15541,0.00,2.08,0.00,0.000,6,0.000,0.036,3393,1860,2660,0,0,0,0,0,0,28.83,26.43,28.83
$GC,15850,0.75,146.6,297.4,12.3,1136,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1860,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16151,0.75,146.6,261.4,11.8,1166,16158,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1860,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16462,0.75,146.6,225.0,11.3,1197,16468,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1860,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16771,0.75,146.6,189.6,11.4,1228,16780,0.00,2.17,0.00,0.000,4,0.000,0.048,3393,3294,2660,0,0,0,0,0,0,28.83,26.35,28.83
$GC,16813,0.75,146.6,184.2,12.7,1232,16823,0.10,2.12,0.00,0.000,6,0.158,0.031,3372,1860,2660,0,0,0,0,0,0,26.07,26.50,28.83
$GC,17124,0.75,146.6,153.2,9.6,1263,17132,0.00,2.05,0.00,0.000,4,0.000,0.039,3380,505,2660,0,0,0,0,0,0,28.83,26.41,28.83
$GC,17149,0.76,155.0,151.2,8.8,1265,17159,0.00,2.10,4.95,0.753,6,0.000,0.035,3380,1870,2647,0,0,0,0,0,0,28.83,26.46,25.18
$GC,17467,0.76,155.0,119.1,9.8,1297,17476,0.00,2.20,0.00,0.000,4,0.000,0.047,3380,3308,2646,0,0,0,0,0,0,28.83,26.33,28.83
$GC,17543,0.76,155.0,111.4,11.0,1304,17549,0.00,2.15,0.00,0.000,6,0.000,0.030,3390,1851,2646,0,0,0,0,0,0,28.83,26.48,28.83
$GC,17851,0.76,155.0,80.8,9.2,1354,17858,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1851,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18164,0.76,155.0,53.9,9.3,1415,18170,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1851,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18476,0.83,213.7,27.8,6.7,1476,18519,0.00,2.12,33.17,0.855,4,0.000,0.042,3400,518,2404,0,0,0,0,0,0,28.83,26.03,25.27
$GC,18634,0.85,228.0,13.9,8.6,1505,18648,0.00,2.10,6.20,0.099,6,0.000,0.036,3399,1849,2348,0,0,0,0,0,0,28.83,26.07,25.79
$FREEZE,8.97,6.461,-1.664,0,1,0
$FREEZE,8.84,6.457,-1.666,0,1,0
$FREEZE,8.74,6.458,-1.666,0,1,0
$FREEZE,8.47,6.460,-1.668,0,1,0
$FREEZE,8.29,6.476,-1.667,0,1,0
$FREEZE,8.25,6.463,-1.669,0,1,0
$FREEZE,8.15,6.491,-1.668,0,1,0
$FREEZE,7.96,6.535,-1.666,0,1,0
$FREEZE,7.60,6.605,-1.662,0,1,0
$FREEZE,7.45,6.704,-1.652,0,1,0
$FREEZE,7.15,6.688,-1.650,0,1,0
$FREEZE,6.82,6.703,-1.644,0,1,0
$FREEZE,6.50,6.762,-1.639,0,1,0
$FREEZE,6.23,6.767,-1.638,0,1,0
$FREEZE,5.74,6.779,-1.636,0,1,0
$FREEZE,5.34,6.779,-1.634,0,1,0
$FREEZE,4.92,6.779,-1.633,0,1,0
$GC,18957,1.05,392.3,8.2,2.3,1567,19039,0.17,0.00,75.65,0.080,6,0.088,0.000,3477,1849,1676,0,0,0,0,0,0,26.18,28.83,25.87
$FREEZE,3.90,6.745,-1.630,0,1,0
$STATE,19048,end climb,SURFACE_DEPTH_REACHED
$STATE,19048,begin surface coast
$FREEZE,3.22,6.740,-1.627,0,1,0
$FREEZE,2.81,6.739,-1.626,0,1,0
$FREEZE,2.51,6.738,-1.626,0,1,0
$FREEZE,1.98,6.737,-1.625,0,1,0
$FREEZE,1.59,6.726,-1.625,0,1,0
$FREEZE,1.59,6.605,-0.739,0,1,0
$FREEZE,1.49,6.696,-0.868,0,1,0
$FREEZE,1.66,6.683,-1.626,0,1,0
$FREEZE,1.59,6.466,-1.637,0,1,0
$FREEZE,1.37,6.297,-0.621,0,1,0
$FREEZE,1.53,6.610,-1.307,0,1,0
$FREEZE,1.74,6.637,-1.627,0,1,0
$FREEZE,1.63,6.636,-1.611,0,1,0
$FREEZE,1.56,6.691,-0.938,0,1,0
$FINISH,1.6,1.013553
$STATE,19120,end surface coast,CONTROL_FINISHED_OK
$STATE,19120,begin surface
$SM_CCo,19140,1.30,0.081,0,0,1647,400.08
$SM_GC,3.48,8.50,0.38,1.30,0.053,0.058,0.081,343,2109,1647,-8.65,-1.13,400.08,0,0,0,0,0,0,25.98,26.10,25.89
$RAFOS_CLK,994
$RAFOS,6,1344113350,20.833334,20.819445,46,43,43,42,41,39,1921,498,952,1899,1667,1066
$RAFOS,5,1344112867,20.700001,20.685278,48,45,45,43,40,40,689,926,1928,1643,1226,1433
$RAFOS,4,1344112388,20.566668,20.552221,44,43,43,41,39,38,951,189,1473,759,1905,1700
$RAFOS,3,1344111912,20.433332,20.420000,44,42,41,41,40,38,1765,1905,563,1699,1511,203
$RAFOS,2,1344111437,20.299999,20.288055,45,45,41,40,39,38,346,477,1101,61,1204,1865
$RAFOS,1,1344110946,20.166666,20.151667,51,48,46,41,39,36,61,1476,1334,264,841,1623
$RAFOS,0,1344110465,20.033333,20.018055,47,43,42,42,38,38,1118,754,1561,540,175,1595
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5814.88,040812,181815
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.69
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,16.00
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,22.7,30.544
$10V_AH,9.8,34.247
$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,21.400,165.350,373.500,1.300,0.000,0.000,0.000,800.775,11.250,0.000,34.345,4140.173,11249.642,598.748,3767.208,465.150,0.000,2992.924,0.000,2922.329,2520.000,27.355,0.000
$DEVICE_MAMPS,243.270,65.790,1460.385,81.090,0.000,0.000,0.000,282.389,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1146.830,1104.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151588
$DATA_FILE_SIZE,73371,1593
$CAP_FILE_SIZE,208907,0
$CFSIZE,260165632,224751616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.4
$CURRENT,0.099,146.4,1
$GPS,040812,234505,6659.594,-5821.849,62,0.9,62,-33.8