version: 66.11
glider: 108
mission: 21
dive: 263
start: 8 5 112 21 53 11
data:
$ID,108
$MISSION,21
$DIVE,263
$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,-191415.27
$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,69
$R_STBD_OVSHOOT,40
$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
$GPS1,050812,214452,6659.455,-5838.859,40,0.8,40,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-77.7
$GPS2,050812,215235,6659.453,-5838.412,14,1.8,14,-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,299.1,83749,-16.9,-9.167
$D_GRID,1073
$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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.55,0.000,2,0.000,0.000,343,2100,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.75,-146.6,3.0,-2.2,7,124,10.40,2.17,-42.58,0.000,4,0.253,0.050,2891,712,3880,0,0,0,0,0,0,25.59,26.19,26.62
$GC,179,-0.75,-146.6,17.2,-16.8,27,186,0.00,2.17,0.00,0.000,6,0.000,0.039,2884,2104,3883,0,0,0,0,0,0,28.83,26.19,28.83
$GC,494,-0.75,-146.6,55.3,-12.0,88,500,0.00,2.15,0.00,0.000,4,0.000,0.050,2873,3506,3887,0,0,0,0,0,0,28.83,26.16,28.83
$GC,628,-0.75,-146.6,73.1,-13.1,114,635,0.00,2.08,0.00,0.000,6,0.000,0.030,2873,2106,3888,0,0,0,0,0,0,28.83,26.38,28.83
$GC,946,-0.75,-146.6,112.5,-12.5,166,955,0.00,2.15,0.00,0.000,4,0.000,0.050,2865,3509,3888,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1018,-0.75,-146.6,122.0,-13.1,173,1028,0.00,2.08,0.00,0.000,6,0.000,0.030,2865,2110,3888,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1328,-0.75,-146.6,161.7,-12.7,204,1337,0.00,2.20,0.00,0.000,4,0.000,0.050,2853,3525,3887,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1392,-0.75,-146.6,169.5,-12.7,210,1400,0.12,2.08,0.00,0.000,6,0.174,0.031,2884,2118,3887,0,0,0,0,0,0,26.05,26.45,28.83
$GC,1700,-0.75,-146.6,202.2,-10.2,241,1710,0.00,2.15,0.00,0.000,4,0.000,0.050,2876,3509,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1838,-0.75,-146.6,216.2,-10.7,254,1845,0.00,2.03,0.00,0.000,6,0.000,0.030,2876,2131,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2143,-0.75,-146.6,247.3,-9.9,285,2152,0.00,2.12,0.00,0.000,4,0.000,0.050,2866,3509,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2215,-0.75,-146.6,255.3,-11.0,292,2224,0.00,2.00,0.00,0.000,6,0.000,0.030,2866,2148,3884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2526,-0.75,-146.6,288.7,-10.2,323,2534,0.00,2.10,0.00,0.000,4,0.000,0.050,2855,3503,3884,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2567,-0.75,-146.6,293.4,-11.4,327,2577,0.12,2.00,0.00,0.000,6,0.164,0.030,2887,2143,3884,0,0,0,0,0,0,26.13,26.51,28.83
$GC,2878,-0.75,-146.6,321.7,-8.6,358,2887,0.00,2.08,0.00,0.000,4,0.000,0.049,2880,3509,3884,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2970,-0.75,-146.6,330.5,-9.6,367,2978,0.00,1.98,0.00,0.000,6,0.000,0.029,2879,2160,3884,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3281,-0.75,-146.6,359.4,-9.1,398,3290,0.00,2.05,0.00,0.000,4,0.000,0.049,2870,3510,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3365,-0.75,-146.6,367.3,-9.6,406,3372,0.00,1.95,0.00,0.000,6,0.000,0.030,2870,2169,3884,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3673,-0.75,-146.6,396.9,-9.4,437,3682,0.00,2.05,0.00,0.000,4,0.000,0.049,2860,3507,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3755,-0.75,-146.6,405.3,-10.0,445,3765,0.12,1.95,0.00,0.000,6,0.160,0.030,2891,2171,3884,0,0,0,0,0,0,26.17,26.55,28.83
$GC,4066,-0.75,-146.6,430.7,-8.1,476,4075,0.00,2.05,0.00,0.000,4,0.000,0.049,2883,3509,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4148,-0.75,-146.6,437.9,-9.0,484,4157,0.00,1.92,0.00,0.000,6,0.000,0.029,2883,2191,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4458,-0.75,-146.6,464.8,-8.9,515,4467,0.00,2.00,0.00,0.000,4,0.000,0.048,2874,3510,3884,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4560,-0.75,-146.6,474.6,-9.5,525,4563,0.00,1.90,0.00,0.000,6,0.000,0.029,2872,2207,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4872,-0.75,-146.6,504.3,-9.5,556,4880,0.00,2.00,0.00,0.000,4,0.000,0.048,2864,3510,3884,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4944,-0.75,-146.6,511.6,-10.4,563,4952,0.00,1.90,0.00,0.000,6,0.000,0.030,2864,2207,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5254,-0.75,-146.6,543.0,-10.1,594,5263,0.00,2.03,0.00,0.000,4,0.000,0.049,2854,3528,3884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5319,-0.75,-146.6,549.7,-11.2,600,5327,0.12,1.90,0.00,0.000,6,0.158,0.029,2886,2214,3884,0,0,0,0,0,0,26.18,26.56,28.83
$GC,5626,-0.75,-146.6,576.5,-8.1,631,5630,0.00,1.98,0.00,0.000,4,0.000,0.048,2878,3506,3884,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5679,-0.75,-146.6,581.1,-8.9,636,5682,0.00,1.88,0.00,0.000,6,0.000,0.029,2879,2229,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5994,-0.75,-146.6,607.9,-8.5,661,5999,0.00,1.98,0.00,0.000,4,0.000,0.049,2871,3507,3883,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6057,-0.75,-146.6,613.7,-8.9,663,6062,0.00,1.88,0.00,0.000,6,0.000,0.030,2871,2213,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6384,-0.75,-146.6,643.9,-9.1,674,6389,0.00,2.00,0.00,0.000,4,0.000,0.049,2861,3504,3884,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6442,-0.75,-146.6,649.6,-9.2,676,6446,0.00,1.88,0.00,0.000,6,0.000,0.030,2861,2238,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6775,-0.75,-146.6,681.7,-9.6,687,6780,0.00,1.98,0.00,0.000,4,0.000,0.049,2852,3512,3883,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6865,-0.75,-146.6,690.9,-10.1,690,6871,0.15,1.85,0.00,0.000,6,0.152,0.030,2892,2237,3884,0,0,0,0,0,0,26.12,26.57,28.83
$GC,7195,-0.75,-146.6,717.2,-7.7,701,7200,0.00,1.98,0.00,0.000,4,0.000,0.050,2884,3516,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7258,-0.75,-146.6,722.3,-8.1,703,7262,0.00,1.88,0.00,0.000,6,0.000,0.030,2884,2238,3883,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7586,-0.75,-146.6,748.8,-7.9,714,7592,0.00,1.95,0.00,0.000,4,0.000,0.049,2875,3510,3883,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7686,-0.75,-146.6,756.5,-8.4,717,7689,0.00,1.83,0.00,0.000,6,0.000,0.030,2875,2252,3883,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8003,-0.75,-146.6,783.7,-8.2,728,8008,0.00,1.95,0.00,0.000,4,0.000,0.049,2866,3507,3883,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8067,-0.75,-146.6,789.1,-8.6,730,8071,0.00,1.80,0.00,0.000,6,0.000,0.030,2866,2265,3883,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8395,-0.75,-146.6,818.4,-8.8,741,8400,0.00,1.92,0.00,0.000,4,0.000,0.049,2857,3504,3882,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8459,-0.75,-146.6,824.1,-9.2,743,8465,0.12,1.80,0.00,0.000,6,0.154,0.030,2889,2263,3882,0,0,0,0,0,0,26.20,26.56,28.83
$GC,8790,-0.75,-146.6,850.2,-7.9,754,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2262,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9084,-0.75,-146.6,873.7,-7.7,764,9088,0.00,1.92,0.00,0.000,4,0.000,0.050,2882,3504,3882,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9126,-0.75,-146.6,876.3,-7.7,765,9129,0.00,1.80,0.00,0.000,6,0.000,0.030,2882,2267,3882,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9448,-0.75,-146.6,902.8,-7.9,776,9452,0.00,1.92,0.00,0.000,4,0.000,0.049,2873,3503,3882,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9493,-0.75,-146.6,905.6,-8.1,777,9497,0.00,1.80,0.00,0.000,6,0.000,0.030,2872,2284,3882,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9812,-0.75,-146.6,933.1,-8.1,788,9817,0.00,1.90,0.00,0.000,4,0.000,0.050,2864,3505,3882,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9864,-0.75,-146.6,935.6,-8.2,789,9871,0.00,1.77,0.00,0.000,6,0.000,0.031,2864,2281,3881,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10172,-0.75,-146.6,963.8,-8.3,800,10177,0.00,2.33,0.00,0.000,4,0.000,0.036,2865,720,3881,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10235,-0.75,-146.6,969.2,-8.7,802,10241,0.12,2.40,0.00,0.000,6,0.167,0.038,2888,2275,3881,0,0,0,0,0,0,26.08,26.39,28.83
$STATE,10528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10528,begin apogee
$GC,10536,-0.17,0.0,992.4,-7.9,812,10666,0.57,0.00,124.45,1.454,4,0.135,0.000,3073,1906,3279,0,0,0,0,0,0,25.79,28.83,23.44
$STATE,10669,end apogee,CONTROL_FINISHED_OK
$STATE,10669,begin climb
$GC,10672,0.75,146.6,997.2,0.0,816,10811,0.85,2.35,129.05,1.331,4,0.066,0.037,3372,499,2682,0,0,0,0,0,0,24.59,24.60,22.70
$GC,11039,0.75,146.6,960.9,13.3,829,11045,0.00,2.30,0.00,0.000,6,0.000,0.037,3372,1905,2671,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11370,0.75,146.6,918.2,12.6,840,11375,0.00,2.22,0.00,0.000,4,0.000,0.039,3381,510,2668,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11604,0.75,146.6,891.1,12.9,847,11611,0.00,2.17,0.00,0.000,6,0.000,0.037,3381,1896,2666,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11912,0.75,146.6,848.8,12.8,858,11917,0.00,2.15,0.00,0.000,4,0.000,0.039,3389,509,2665,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12009,0.75,146.6,836.9,13.1,861,12013,0.00,2.17,0.00,0.000,6,0.000,0.036,3389,1896,2664,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12327,0.75,146.6,793.4,13.3,872,12333,0.00,2.17,0.00,0.000,4,0.000,0.039,3398,509,2664,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12349,0.75,146.6,793.4,13.3,872,12356,0.00,2.17,0.00,0.000,6,0.000,0.036,3398,1899,2664,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12656,0.75,146.6,748.1,13.9,883,12662,0.00,2.17,0.00,0.000,4,0.000,0.039,3407,500,2664,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12687,0.75,146.6,744.1,13.6,884,12693,0.10,2.15,0.00,0.000,6,0.153,0.035,3376,1885,2663,0,0,0,0,0,0,25.91,26.27,28.83
$GC,13016,0.75,146.6,705.5,11.4,895,13018,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1885,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13316,0.75,146.6,671.9,11.2,905,13322,0.00,2.17,0.00,0.000,4,0.000,0.039,3383,505,2662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13355,0.75,146.6,668.6,11.2,906,13359,0.00,2.15,0.00,0.000,6,0.000,0.037,3383,1881,2662,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13672,0.75,146.6,630.9,11.4,917,13673,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1880,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13972,0.75,146.6,597.0,11.4,927,13981,0.00,2.15,0.00,0.000,4,0.000,0.039,3392,500,2662,0,0,0,0,0,0,28.83,26.33,28.83
$GC,14005,0.75,146.6,593.1,11.8,930,14014,0.00,2.15,0.00,0.000,6,0.000,0.036,3392,1882,2662,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14314,0.75,146.6,555.0,12.7,961,14324,0.00,2.15,0.00,0.000,4,0.000,0.039,3399,493,2662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14368,0.75,146.6,548.1,12.8,966,14372,0.00,2.17,0.00,0.000,6,0.000,0.036,3400,1887,2661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14680,0.75,146.6,506.1,13.4,997,14690,0.00,2.17,0.00,0.000,4,0.000,0.040,3409,483,2661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14714,0.75,146.6,501.6,13.3,1000,14723,0.10,2.15,0.00,0.000,6,0.153,0.036,3376,1875,2661,0,0,0,0,0,0,26.01,26.40,28.83
$GC,15023,0.75,146.6,463.4,12.3,1031,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1875,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15326,0.75,146.6,427.5,11.8,1061,15336,0.00,2.15,0.00,0.000,4,0.000,0.047,3376,3305,2662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15359,0.75,146.6,423.0,12.7,1064,15368,0.00,2.15,0.00,0.000,6,0.000,0.031,3383,1864,2661,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15669,0.75,146.6,383.6,12.9,1095,15678,0.00,2.08,0.00,0.000,4,0.000,0.041,3394,508,2661,0,0,0,0,0,0,28.83,26.37,28.83
$GC,15731,0.75,146.6,375.7,13.1,1101,15741,0.00,2.12,0.00,0.000,6,0.000,0.035,3394,1874,2661,0,0,0,0,0,0,28.83,26.42,28.83
$GC,16041,0.75,146.6,334.4,13.3,1132,16042,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1873,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16344,0.75,146.6,295.1,13.0,1162,16352,0.00,2.12,0.00,0.000,4,0.000,0.039,3402,497,2661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16406,0.75,146.6,286.6,12.9,1168,16416,0.10,2.15,0.00,0.000,6,0.151,0.035,3371,1886,2661,0,0,0,0,0,0,26.07,26.44,28.83
$GC,16716,0.75,146.6,252.3,10.7,1199,16724,0.00,2.12,0.00,0.000,4,0.000,0.047,3371,3291,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,16768,0.75,146.6,246.0,12.1,1204,16777,0.00,2.12,0.00,0.000,6,0.000,0.031,3378,1863,2661,0,0,0,0,0,0,28.83,26.49,28.83
$GC,17078,0.75,146.6,208.7,12.1,1235,17086,0.00,2.05,0.00,0.000,4,0.000,0.040,3388,506,2661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,17191,0.75,146.6,194.4,12.8,1246,17200,0.00,2.08,0.00,0.000,6,0.000,0.035,3388,1861,2661,0,0,0,0,0,0,28.83,26.45,28.83
$GC,17500,0.75,146.6,157.0,11.2,1277,17501,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1860,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17803,0.75,146.6,125.3,10.4,1307,17811,0.00,2.17,0.00,0.000,4,0.000,0.048,3388,3297,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,17878,0.75,146.6,117.0,11.6,1314,17885,0.00,2.12,0.00,0.000,6,0.000,0.031,3397,1860,2661,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18189,0.75,146.6,84.7,10.3,1359,18195,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1860,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18500,0.75,151.7,54.6,9.0,1420,18507,0.00,2.08,0.00,0.000,4,0.000,0.040,3407,500,2661,0,0,0,0,0,0,28.83,26.41,28.83
$GC,18596,0.75,151.7,45.3,10.3,1438,18603,0.15,2.12,0.00,0.000,6,0.161,0.035,3370,1876,2662,0,0,0,0,0,0,26.07,26.46,28.83
$GC,18912,0.90,271.4,22.3,4.2,1499,18984,0.12,2.20,63.10,0.739,4,0.104,0.037,3433,505,2169,0,0,0,0,0,0,26.58,25.75,25.01
$GC,19050,0.98,336.9,13.8,6.4,1522,19087,0.00,2.15,30.42,0.095,6,0.000,0.035,3433,1852,1904,0,0,0,0,0,0,28.83,25.86,25.63
$FREEZE,8.84,6.283,-1.722,0,1,0
$FREEZE,8.34,6.283,-1.720,0,1,0
$FREEZE,7.86,6.278,-1.720,0,1,0
$FREEZE,7.42,6.274,-1.720,0,1,0
$FREEZE,6.86,6.274,-1.719,0,1,0
$FREEZE,6.30,6.253,-1.717,0,1,0
$FREEZE,5.77,6.243,-1.716,0,1,0
$FREEZE,5.00,6.228,-1.715,0,1,0
$FREEZE,4.34,6.214,-1.714,0,1,0
$FREEZE,3.87,6.208,-1.713,0,1,0
$STATE,19162,end climb,SURFACE_DEPTH_REACHED
$STATE,19162,begin surface coast
$FREEZE,3.32,6.214,-1.713,0,1,0
$FREEZE,2.75,6.228,-1.713,0,1,0
$FREEZE,2.21,6.221,-1.712,0,1,0
$FREEZE,1.57,6.221,-1.712,0,1,0
$FREEZE,1.35,5.901,-1.703,0,1,0
$FREEZE,1.40,5.572,-1.742,0,1,0
$FREEZE,1.25,6.080,-0.818,0,1,0
$FINISH,1.3,1.011858
$STATE,19200,end surface coast,CONTROL_FINISHED_OK
$STATE,19200,begin surface
$SM_CCo,19220,27.35,0.072,0,0,1647,400.08
$SM_GC,2.70,8.52,0.35,27.35,0.058,0.048,0.072,349,2115,1647,-8.64,-1.07,400.08,0,0,0,0,0,0,25.77,25.97,25.73
$RAFOS_CLK,994
$RAFOS,6,1344214142,0.833333,0.817222,54,52,46,43,43,41,424,831,1798,630,225,384
$RAFOS,5,1344213669,0.700000,0.685833,55,46,45,40,39,39,899,1776,1230,1687,397,710
$RAFOS,4,1344213189,0.566667,0.552500,48,43,42,41,40,40,1747,1060,607,1132,1711,730
$RAFOS,3,1344212704,0.433333,0.417778,48,47,43,43,42,41,135,619,1288,1755,853,1883
$RAFOS,2,1344212222,0.300000,0.283889,45,42,42,42,41,40,1300,817,1526,213,1737,726
$RAFOS,1,1344211742,0.166667,0.150556,45,45,44,43,41,41,198,665,712,1776,156,270
$RAFOS,0,1344211264,0.033333,0.017778,45,43,43,42,42,41,1449,1071,1215,299,463,1002
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5840.48,050812,161614
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.08
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.70
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,22.7,31.106
$10V_AH,9.9,34.916
$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,21.825,177.750,347.025,27.350,0.000,0.000,0.000,319.575,7.500,0.000,15.548,4090.296,11265.258,614.713,3280.425,452.506,0.000,2537.173,0.000,2917.842,2520.000,29.874,0.000
$DEVICE_MAMPS,253.215,50.490,1454.265,71.910,0.000,0.000,0.000,289.130,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1113.634,1079.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,73419,1549
$CAP_FILE_SIZE,204653,0
$CFSIZE,260165632,224292864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.6
$CURRENT,0.050, 20.3,1
$GPS,060812,031528,6700.150,-5843.894,38,0.8,38,-33.9