version: 66.11
glider: 108
mission: 21
dive: 261
start: 8 5 112 10 50 3
data:
$ID,108
$MISSION,21
$DIVE,261
$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,-191412.77
$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,71
$R_STBD_OVSHOOT,41
$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
$GPS1,050812,104005,6658.767,-5830.333,29,1.0,29,-33.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-76.7
$GPS2,050812,104931,6658.582,-5829.958,19,1.1,19,-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,331.2,89084,-16.9,-9.167
$D_GRID,1024
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.75,-146.6,0.0,0.0,0,60,0.00,0.00,-38.65,0.000,2,0.000,0.000,341,2111,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.75,-146.6,3.1,-2.5,7,125,10.23,2.20,-42.85,0.000,4,0.246,0.067,2877,3512,3881,0,0,0,0,0,0,25.62,26.20,26.70
$GC,204,-0.75,-146.6,20.6,-13.7,32,211,0.00,2.10,0.00,0.000,6,0.000,0.030,2881,2093,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,516,-0.75,-146.6,56.2,-11.3,93,523,0.00,2.20,0.00,0.000,4,0.000,0.049,2873,3510,3889,0,0,0,0,0,0,28.83,26.20,28.83
$GC,591,-0.75,-146.6,65.4,-12.1,107,598,0.00,2.08,0.00,0.000,6,0.000,0.030,2873,2101,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,903,-0.75,-146.6,101.7,-11.3,167,911,0.00,2.17,0.00,0.000,4,0.000,0.049,2865,3515,3890,0,0,0,0,0,0,28.83,26.23,28.83
$GC,985,-0.75,-146.6,111.5,-11.7,175,993,0.00,2.08,0.00,0.000,6,0.000,0.030,2865,2112,3890,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1295,-0.75,-146.6,148.6,-12.1,206,1304,0.00,2.15,0.00,0.000,4,0.000,0.050,2855,3503,3889,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1380,-0.75,-146.6,159.4,-13.0,214,1388,0.12,2.03,0.00,0.000,6,0.172,0.031,2886,2126,3889,0,0,0,0,0,0,26.06,26.46,28.83
$GC,1688,-0.75,-146.6,193.4,-10.9,245,1697,0.00,2.15,0.00,0.000,4,0.000,0.050,2877,3509,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1804,-0.75,-146.6,206.2,-11.3,256,1811,0.00,2.03,0.00,0.000,6,0.000,0.031,2877,2132,3887,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2110,-0.75,-146.6,238.4,-10.0,287,2119,0.00,2.15,0.00,0.000,4,0.000,0.050,2867,3512,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2196,-0.75,-146.6,247.2,-10.8,295,2203,0.00,2.00,0.00,0.000,6,0.000,0.031,2867,2144,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2503,-0.75,-146.6,278.3,-10.1,326,2511,0.00,2.08,0.00,0.000,4,0.000,0.050,2857,3502,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2565,-0.75,-146.6,285.0,-10.7,332,2569,0.12,2.00,0.00,0.000,6,0.164,0.031,2887,2142,3886,0,0,0,0,0,0,26.12,26.52,28.83
$GC,2877,-0.75,-146.6,313.4,-9.4,363,2881,0.00,2.12,0.00,0.000,4,0.000,0.050,2880,3522,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2973,-0.75,-146.6,322.8,-10.4,372,2980,0.00,2.00,0.00,0.000,6,0.000,0.030,2880,2150,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3280,-0.75,-146.6,352.6,-9.2,403,3288,0.00,2.10,0.00,0.000,4,0.000,0.050,2870,3519,3886,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3405,-0.75,-146.6,364.4,-9.9,415,3412,0.00,1.98,0.00,0.000,6,0.000,0.030,2870,2163,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3712,-0.75,-146.6,392.9,-9.1,446,3716,0.00,2.08,0.00,0.000,4,0.000,0.049,2860,3509,3885,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3805,-0.75,-146.6,402.1,-10.0,455,3814,0.00,1.95,0.00,0.000,6,0.000,0.030,2860,2181,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4115,-0.75,-146.6,432.2,-9.6,486,4124,0.12,2.03,0.00,0.000,4,0.171,0.047,2888,3512,3885,0,0,0,0,0,0,26.27,26.31,28.83
$GC,4189,-0.75,-146.6,438.4,-8.0,493,4199,0.00,1.95,0.00,0.000,6,0.000,0.030,2887,2180,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4498,-0.75,-146.6,462.3,-7.5,524,4507,0.00,2.03,0.00,0.000,4,0.000,0.048,2880,3514,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4573,-0.75,-146.6,468.3,-8.4,531,4580,0.00,1.92,0.00,0.000,6,0.000,0.030,2880,2191,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4880,-0.75,-146.6,494.8,-8.6,562,4884,0.00,2.03,0.00,0.000,4,0.000,0.049,2870,3506,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4966,-0.75,-146.6,502.6,-9.2,570,4972,0.00,1.90,0.00,0.000,6,0.000,0.030,2870,2202,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5273,-0.75,-146.6,532.5,-9.7,601,5283,0.00,2.00,0.00,0.000,4,0.000,0.049,2860,3516,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5336,-0.75,-146.6,538.9,-10.3,607,5344,0.00,1.90,0.00,0.000,6,0.000,0.030,2860,2214,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5647,-0.75,-146.6,570.8,-10.4,638,5655,0.00,2.00,0.00,0.000,4,0.000,0.049,2850,3521,3885,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5708,-0.75,-146.6,578.0,-11.5,644,5718,0.15,1.90,0.00,0.000,6,0.154,0.031,2889,2217,3885,0,0,0,0,0,0,26.10,26.55,28.83
$GC,6020,-0.75,-146.6,605.5,-8.7,671,6025,0.00,1.98,0.00,0.000,4,0.000,0.049,2882,3523,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6075,-0.75,-146.6,608.2,-8.8,672,6082,0.00,1.88,0.00,0.000,6,0.000,0.030,2882,2231,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6379,-0.75,-146.6,638.0,-8.9,683,6384,0.00,1.98,0.00,0.000,4,0.000,0.049,2872,3531,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6418,-0.75,-146.6,640.8,-9.0,684,6423,0.00,1.90,0.00,0.000,6,0.000,0.030,2872,2223,3885,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6739,-0.75,-146.6,671.6,-9.3,695,6744,0.00,1.98,0.00,0.000,4,0.000,0.049,2863,3511,3885,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6792,-0.75,-146.6,674.6,-9.3,696,6798,0.00,1.85,0.00,0.000,6,0.000,0.030,2863,2237,3885,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7099,-0.75,-146.6,706.6,-9.6,707,7105,0.00,1.95,0.00,0.000,4,0.000,0.048,2853,3513,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7147,-0.75,-146.6,709.5,-9.7,708,7151,0.12,1.85,0.00,0.000,6,0.156,0.030,2885,2234,3884,0,0,0,0,0,0,26.18,26.56,28.83
$GC,7455,-0.75,-146.6,737.4,-8.6,718,7461,0.00,1.95,0.00,0.000,4,0.000,0.048,2878,3511,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7502,-0.75,-146.6,740.1,-8.7,719,7506,0.00,1.83,0.00,0.000,6,0.000,0.029,2878,2253,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7809,-0.75,-146.6,768.7,-8.7,729,7813,0.00,1.95,0.00,0.000,4,0.000,0.048,2868,3514,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7843,-0.75,-146.6,771.6,-8.7,730,7846,0.00,1.85,0.00,0.000,6,0.000,0.029,2869,2247,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8175,-0.75,-146.6,802.3,-9.3,741,8181,0.00,1.95,0.00,0.000,4,0.000,0.050,2859,3513,3884,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8237,-0.75,-146.6,808.4,-9.8,743,8241,0.00,1.83,0.00,0.000,6,0.000,0.030,2859,2272,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8566,-0.75,-146.6,842.0,-10.2,754,8572,0.12,1.90,0.00,0.000,4,0.168,0.048,2888,3520,3884,0,0,0,0,0,0,26.31,26.30,28.83
$GC,8603,-0.75,-146.6,844.9,-10.1,755,8606,0.00,1.83,0.00,0.000,6,0.000,0.030,2889,2265,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8927,-0.75,-146.6,872.9,-8.5,766,8932,0.00,1.92,0.00,0.000,4,0.000,0.049,2882,3518,3884,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8968,-0.75,-146.6,875.6,-8.6,767,8972,0.00,1.83,0.00,0.000,6,0.000,0.030,2882,2264,3883,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9286,-0.75,-146.6,904.3,-8.6,778,9290,0.00,1.92,0.00,0.000,4,0.000,0.049,2873,3509,3884,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9332,-0.75,-146.6,907.2,-8.6,779,9336,0.00,1.80,0.00,0.000,6,0.000,0.031,2872,2287,3883,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9650,-0.75,-146.6,935.7,-8.4,790,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2285,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9950,-0.75,-146.6,961.6,-8.7,800,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2284,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10250,-0.75,-146.6,987.7,-8.8,810,10254,0.00,1.88,0.00,0.000,4,0.000,0.050,2864,3507,3883,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10280,begin apogee
$GC,10289,-0.17,0.0,990.7,-8.8,811,10419,0.65,0.00,125.05,1.450,4,0.138,0.000,3068,1894,3279,0,0,0,0,0,0,25.77,28.83,23.44
$STATE,10422,end apogee,CONTROL_FINISHED_OK
$STATE,10422,begin climb
$GC,10425,0.75,146.6,995.3,0.0,815,10566,0.85,2.30,129.25,1.316,4,0.067,0.037,3369,510,2680,0,0,0,0,0,0,24.57,24.60,22.70
$GC,10764,0.75,146.6,964.3,12.5,827,10770,0.00,2.30,0.00,0.000,6,0.000,0.034,3369,1910,2671,0,0,0,0,0,0,28.83,25.12,28.83
$GC,11095,0.75,146.6,923.3,12.6,838,11101,0.00,2.22,0.00,0.000,4,0.000,0.038,3378,520,2667,0,0,0,0,0,0,28.83,25.74,28.83
$GC,11327,0.75,146.6,896.4,12.7,845,11335,0.00,2.20,0.00,0.000,6,0.000,0.035,3378,1911,2666,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11635,0.75,146.6,855.1,12.5,856,11640,0.00,2.20,0.00,0.000,4,0.000,0.039,3387,520,2665,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11755,0.75,146.6,839.8,12.7,860,11759,0.00,2.15,0.00,0.000,6,0.000,0.035,3388,1897,2664,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12087,0.75,146.6,797.2,12.8,871,12092,0.00,2.15,0.00,0.000,4,0.000,0.038,3397,514,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12111,0.75,146.6,797.2,12.8,871,12118,0.00,2.17,0.00,0.000,6,0.000,0.035,3397,1906,2663,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12418,0.75,146.6,753.2,13.4,882,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1905,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12718,0.75,146.6,713.3,13.3,892,12724,0.00,2.15,0.00,0.000,4,0.000,0.039,3406,514,2662,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12785,0.75,146.6,705.2,13.4,894,12790,0.15,2.15,0.00,0.000,6,0.166,0.035,3368,1895,2662,0,0,0,0,0,0,25.92,26.31,28.83
$GC,13104,0.75,146.6,666.3,12.0,905,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1895,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13405,0.75,146.6,627.8,13.0,915,13410,0.00,2.12,0.00,0.000,4,0.000,0.040,3375,517,2662,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13442,0.75,146.6,624.0,13.0,916,13446,0.00,2.12,0.00,0.000,6,0.000,0.035,3375,1888,2662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13751,0.75,146.6,582.9,13.0,934,13759,0.00,2.10,0.00,0.000,4,0.000,0.040,3384,522,2662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13782,0.75,146.6,578.8,12.9,937,13792,0.00,2.12,0.00,0.000,6,0.000,0.035,3384,1884,2661,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14093,0.75,146.6,537.3,13.2,968,14101,0.00,2.12,0.00,0.000,4,0.000,0.039,3393,510,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14135,0.75,146.6,531.7,12.9,972,14143,0.00,2.15,0.00,0.000,6,0.000,0.036,3393,1888,2661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14445,0.75,146.6,489.7,13.0,1003,14453,0.00,2.12,0.00,0.000,4,0.000,0.041,3402,516,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14487,0.75,146.6,484.2,12.9,1007,14496,0.12,2.12,0.00,0.000,6,0.172,0.035,3372,1881,2661,0,0,0,0,0,0,26.06,26.40,28.83
$GC,14797,0.75,146.6,447.2,11.9,1038,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1881,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15099,0.75,146.6,412.7,11.4,1068,15102,0.00,2.12,0.00,0.000,4,0.000,0.040,3379,508,2661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15131,0.75,146.6,408.8,11.4,1071,15140,0.00,2.10,0.00,0.000,6,0.000,0.037,3379,1868,2661,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15441,0.75,146.6,372.7,11.7,1102,15442,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1868,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15743,0.75,146.6,338.1,11.8,1132,15752,0.00,2.08,0.00,0.000,4,0.000,0.041,3388,519,2661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15768,0.75,146.6,335.1,12.0,1134,15775,0.00,2.10,0.00,0.000,6,0.000,0.036,3388,1876,2661,0,0,0,0,0,0,28.83,26.43,28.83
$GC,16075,0.75,146.6,295.6,12.9,1165,16079,0.00,2.17,0.00,0.000,4,0.000,0.047,3389,3313,2661,0,0,0,0,0,0,28.83,26.33,28.83
$GC,16110,0.75,146.6,291.0,14.2,1168,16117,0.00,2.12,0.00,0.000,6,0.000,0.030,3397,1876,2661,0,0,0,0,0,0,28.83,26.49,28.83
$GC,16417,0.75,146.6,250.6,12.7,1199,16418,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1876,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16721,0.75,146.6,213.0,12.6,1229,16730,0.00,2.08,0.00,0.000,4,0.000,0.040,3408,517,2661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16816,0.75,146.6,200.7,12.9,1238,16824,0.15,2.10,0.00,0.000,6,0.165,0.034,3370,1883,2661,0,0,0,0,0,0,26.05,26.46,28.83
$GC,17123,0.75,146.6,167.6,10.7,1269,17124,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1882,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17426,0.75,146.6,135.2,10.7,1299,17432,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1882,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17736,0.75,146.6,103.4,9.6,1330,17744,0.00,2.15,0.00,0.000,4,0.000,0.047,3370,3301,2661,0,0,0,0,0,0,28.83,26.35,28.83
$GC,17761,0.75,146.6,100.9,10.2,1332,17767,0.00,2.10,0.00,0.000,6,0.000,0.031,3377,1873,2661,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18074,0.76,157.6,71.7,8.7,1393,18088,0.00,2.05,7.65,0.821,4,0.000,0.038,3387,517,2635,0,0,0,0,0,0,28.83,26.47,25.28
$GC,18122,0.79,185.3,67.6,8.0,1401,18153,0.00,2.10,24.10,0.904,6,0.000,0.034,3387,1874,2523,0,0,0,0,0,0,28.83,26.44,25.10
$GC,18460,0.79,185.3,32.9,10.8,1466,18466,0.00,2.20,0.00,0.000,4,0.000,0.047,3387,3301,2516,0,0,0,0,0,0,28.83,26.08,28.83
$GC,18489,0.79,185.3,29.6,10.9,1471,18496,0.00,2.12,0.00,0.000,6,0.000,0.031,3396,1867,2516,0,0,0,0,0,0,28.83,26.20,28.83
$FREEZE,8.66,5.699,-1.696,0,1,0
$FREEZE,8.30,5.765,-1.684,0,1,0
$FREEZE,7.85,5.847,-1.675,0,1,0
$GC,18805,1.00,355.1,11.4,2.1,1532,18895,0.12,2.12,79.35,0.088,4,0.106,0.041,3465,510,1828,0,0,0,0,0,0,26.29,26.09,25.88
$FREEZE,6.88,5.850,-1.671,0,1,0
$FREEZE,6.53,5.850,-1.671,0,1,0
$FREEZE,5.91,5.866,-1.669,0,1,0
$FREEZE,5.58,5.873,-1.668,0,1,0
$FREEZE,5.17,5.895,-1.666,0,1,0
$FREEZE,4.80,5.912,-1.666,0,1,0
$FREEZE,4.17,5.992,-1.663,0,1,0
$FREEZE,3.57,5.997,-1.663,0,1,0
$GC,18931,1.05,397.5,4.8,7.4,1552,18949,0.00,2.15,13.10,0.076,2,0.000,0.035,3464,1875,1708,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,18950,end climb,SURFACE_DEPTH_REACHED
$STATE,18950,begin surface coast
$FREEZE,2.36,6.002,-1.662,0,1,0
$FREEZE,1.94,6.018,-1.661,0,1,0
$FREEZE,1.38,5.995,-1.662,0,1,0
$FREEZE,1.65,5.928,-1.666,0,1,0
$FREEZE,1.53,6.044,-1.660,0,1,0
$FREEZE,1.51,5.470,-1.688,0,1,0
$FREEZE,1.35,6.020,-0.310,0,1,0
$FREEZE,1.52,5.784,-1.671,0,1,0
$FREEZE,1.58,5.881,-1.657,0,1,0
$FINISH,1.6,1.023870
$STATE,19001,end surface coast,CONTROL_FINISHED_OK
$STATE,19001,begin surface
$SM_CCo,19020,5.30,0.076,0,0,1647,400.08
$SM_GC,3.47,8.40,0.32,5.30,0.049,0.059,0.076,342,2107,1647,-8.65,-1.27,400.08,0,0,0,0,0,0,26.02,26.15,25.91
$RAFOS_CLK,986
$RAFOS,6,1344170943,12.833333,12.817500,52,46,43,41,41,41,491,457,307,1198,1036,1916
$RAFOS,5,1344170479,12.700000,12.688611,46,46,45,44,43,42,1381,138,280,1110,607,1323
$RAFOS,4,1344169999,12.566667,12.555278,52,49,46,42,41,41,243,384,1489,513,618,631
$RAFOS,3,1344169502,12.433333,12.417222,44,43,41,41,41,40,1130,833,1732,1005,1812,151
$RAFOS,2,1344169025,12.300000,12.284722,42,41,41,40,39,39,940,277,408,1606,220,907
$RAFOS,1,1344168550,12.166667,12.152778,52,51,51,45,44,43,210,1202,1592,232,755,1509
$RAFOS,0,1344168068,12.033333,12.018888,48,47,45,44,41,41,837,1767,1674,1717,1233,1810
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5832.92,050812,050558
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.59
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,16.00
$XPDR_PINGS,20
$ALTIM_TOP_PING,20.0,19.5
$24V_AH,22.7,30.872
$10V_AH,9.9,34.637
$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,21.450,176.650,378.500,5.300,0.000,0.000,0.000,410.175,8.750,0.000,20.975,4084.115,11124.305,604.206,3319.066,448.678,0.000,2583.496,0.000,2858.651,2880.000,27.362,0.000
$DEVICE_MAMPS,246.330,66.555,1450.440,75.735,0.000,0.000,0.000,298.118,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.732,1083.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,73297,1563
$CAP_FILE_SIZE,203316,0
$CFSIZE,260165632,224477184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.2
$CURRENT,0.057, 16.7,1
$GPS,050812,160834,6700.561,-5834.417,33,0.9,33,-33.8