version: 66.11
glider: 108
mission: 21
dive: 264
start: 8 6 112 3 24 19
data:
$ID,108
$MISSION,21
$DIVE,264
$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,-191416.52
$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,68
$R_STBD_OVSHOOT,47
$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
$GPS1,060812,031528,6700.150,-5843.894,38,0.8,38,-33.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-77.2
$GPS2,060812,032347,6700.229,-5844.094,17,0.9,17,-33.9
$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,273.5,80381,-16.9,-9.167
$D_GRID,1102
$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,-50.80,0.000,2,0.000,0.000,348,2129,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.0,-1.7,9,124,10.32,2.22,-30.35,0.000,4,0.250,0.053,2889,714,3882,0,0,0,0,0,0,25.53,26.15,26.58
$GC,269,-0.75,-146.6,31.6,-12.6,45,276,0.00,2.17,0.00,0.000,6,0.000,0.038,2883,2102,3886,0,0,0,0,0,0,28.83,26.17,28.83
$GC,584,-0.75,-146.6,67.5,-11.8,106,591,0.00,2.15,0.00,0.000,4,0.000,0.050,2872,3506,3889,0,0,0,0,0,0,28.83,26.14,28.83
$GC,754,-0.75,-146.6,89.1,-13.1,139,762,0.00,2.08,0.00,0.000,6,0.000,0.030,2872,2107,3889,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1065,-0.75,-146.6,128.5,-12.5,178,1069,0.00,2.17,0.00,0.000,4,0.000,0.050,2861,3512,3889,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1229,-0.75,-146.6,150.4,-13.0,194,1237,0.00,2.05,0.00,0.000,6,0.000,0.031,2861,2129,3889,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1539,-0.75,-146.6,186.3,-10.5,225,1548,0.00,2.12,0.00,0.000,4,0.000,0.050,2851,3504,3888,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1671,-0.75,-146.6,201.7,-11.9,238,1681,0.15,2.03,0.00,0.000,6,0.166,0.031,2894,2137,3887,0,0,0,0,0,0,25.96,26.45,28.83
$GC,1982,-0.75,-146.6,228.3,-8.5,269,1991,0.00,2.12,0.00,0.000,4,0.000,0.050,2886,3514,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2087,-0.75,-146.6,238.0,-9.5,279,2095,0.00,2.00,0.00,0.000,6,0.000,0.030,2886,2145,3886,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2395,-0.75,-146.6,266.9,-9.2,310,2403,0.00,2.08,0.00,0.000,4,0.000,0.050,2876,3508,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2489,-0.75,-146.6,275.9,-9.8,319,2496,0.00,1.98,0.00,0.000,6,0.000,0.030,2876,2156,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2796,-0.75,-146.6,308.2,-10.9,350,2800,0.00,2.10,0.00,0.000,4,0.000,0.049,2866,3516,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2842,-0.75,-146.6,313.1,-11.8,354,2848,0.00,1.98,0.00,0.000,6,0.000,0.029,2865,2159,3885,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3149,-0.75,-146.6,348.2,-11.3,385,3158,0.00,2.08,0.00,0.000,4,0.000,0.049,2855,3513,3885,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3305,-0.75,-146.6,366.3,-11.7,400,3312,0.12,1.95,0.00,0.000,6,0.163,0.030,2886,2177,3885,0,0,0,0,0,0,26.13,26.53,28.83
$GC,3613,-0.75,-146.6,395.4,-9.2,431,3622,0.00,2.08,0.00,0.000,4,0.000,0.049,2879,3516,3885,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3717,-0.75,-146.6,405.3,-9.6,441,3725,0.00,1.95,0.00,0.000,6,0.000,0.029,2879,2179,3885,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4027,-0.75,-146.6,434.0,-9.2,472,4036,0.00,2.05,0.00,0.000,4,0.000,0.048,2869,3505,3885,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4112,-0.75,-146.6,442.1,-9.7,480,4118,0.00,1.90,0.00,0.000,6,0.000,0.029,2869,2195,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4419,-0.75,-146.6,472.0,-9.6,511,4429,0.00,2.03,0.00,0.000,4,0.000,0.049,2859,3504,3885,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4483,-0.75,-146.6,478.4,-10.5,517,4492,0.12,1.90,0.00,0.000,6,0.162,0.029,2898,2200,3885,0,0,0,0,0,0,26.10,26.55,28.83
$GC,4793,-0.75,-146.6,503.2,-7.8,548,4801,0.00,2.00,0.00,0.000,4,0.000,0.049,2890,3503,3885,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4856,-0.75,-146.6,508.3,-8.3,554,4864,0.00,1.90,0.00,0.000,6,0.000,0.029,2891,2200,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5165,-0.75,-146.6,532.7,-8.0,585,5169,0.00,2.03,0.00,0.000,4,0.000,0.049,2883,3509,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5210,-0.75,-146.6,536.1,-8.2,589,5216,0.00,1.88,0.00,0.000,6,0.000,0.029,2883,2212,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5518,-0.75,-146.6,562.2,-8.5,620,5522,0.00,2.00,0.00,0.000,4,0.000,0.049,2873,3514,3886,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5580,-0.75,-146.6,567.9,-9.3,626,5583,0.00,1.90,0.00,0.000,6,0.000,0.029,2873,2217,3885,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5892,-0.75,-146.6,595.5,-8.6,657,5900,0.00,2.00,0.00,0.000,4,0.000,0.049,2864,3506,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5948,-0.75,-146.6,600.6,-9.9,662,5954,0.00,1.85,0.00,0.000,6,0.000,0.030,2864,2228,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6255,-0.75,-146.6,629.7,-9.3,673,6258,0.00,1.98,0.00,0.000,4,0.000,0.049,2854,3503,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6309,-0.75,-146.6,632.8,-9.6,674,6316,0.12,1.85,0.00,0.000,6,0.158,0.029,2886,2226,3885,0,0,0,0,0,0,26.17,26.56,28.83
$GC,6619,-0.75,-146.6,660.4,-8.1,685,6622,0.00,1.98,0.00,0.000,4,0.000,0.049,2878,3503,3886,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6664,-0.75,-146.6,663.2,-8.0,686,6667,0.00,1.83,0.00,0.000,6,0.000,0.029,2878,2243,3885,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6981,-0.75,-146.6,689.9,-8.0,697,6984,0.00,1.98,0.00,0.000,4,0.000,0.049,2869,3514,3885,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7032,-0.75,-146.6,692.7,-8.2,698,7036,0.00,1.85,0.00,0.000,6,0.000,0.029,2869,2239,3885,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7344,-0.75,-146.6,721.0,-8.6,709,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2234,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7644,-0.75,-146.6,747.2,-8.8,719,7648,0.00,1.98,0.00,0.000,4,0.000,0.049,2859,3507,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7716,-0.75,-146.6,753.0,-9.2,721,7720,0.12,1.83,0.00,0.000,6,0.158,0.030,2890,2254,3884,0,0,0,0,0,0,26.18,26.56,28.83
$GC,8040,-0.75,-146.6,778.4,-7.4,732,8043,0.00,1.92,0.00,0.000,4,0.000,0.049,2883,3510,3884,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8085,-0.75,-146.6,780.9,-7.5,733,8088,0.00,1.83,0.00,0.000,6,0.000,0.030,2883,2253,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8403,-0.75,-146.6,806.6,-7.6,744,8406,0.00,1.95,0.00,0.000,4,0.000,0.049,2874,3508,3884,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8453,-0.75,-146.6,809.3,-7.7,745,8456,0.00,1.80,0.00,0.000,6,0.000,0.030,2874,2266,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8766,-0.75,-146.6,835.4,-7.9,756,8770,0.00,1.92,0.00,0.000,4,0.000,0.049,2865,3509,3884,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8807,-0.75,-146.6,838.3,-8.1,757,8810,0.00,1.80,0.00,0.000,6,0.000,0.030,2865,2267,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9129,-0.75,-146.6,865.8,-8.2,768,9133,0.00,1.92,0.00,0.000,4,0.000,0.050,2855,3505,3883,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9175,-0.75,-146.6,868.6,-8.2,769,9179,0.12,1.80,0.00,0.000,6,0.156,0.030,2887,2264,3883,0,0,0,0,0,0,26.17,26.56,28.83
$GC,9494,-0.75,-146.6,892.0,-7.0,780,9497,0.00,1.92,0.00,0.000,4,0.000,0.049,2879,3505,3883,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9539,-0.75,-146.6,894.4,-7.2,781,9542,0.00,1.77,0.00,0.000,6,0.000,0.030,2880,2283,3883,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9857,-0.75,-146.6,918.9,-7.2,792,9860,0.00,1.88,0.00,0.000,4,0.000,0.050,2872,3504,3883,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9897,-0.75,-146.6,921.5,-7.3,793,9901,0.00,1.77,0.00,0.000,6,0.000,0.030,2872,2285,3883,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10220,-0.75,-146.6,947.2,-7.9,804,10224,0.00,1.90,0.00,0.000,4,0.000,0.050,2862,3509,3882,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10261,-0.75,-146.6,950.0,-7.9,805,10264,0.00,1.77,0.00,0.000,6,0.000,0.030,2862,2287,3882,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10584,-0.75,-146.6,978.4,-8.7,816,10587,0.00,1.88,0.00,0.000,4,0.000,0.050,2853,3506,3882,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10619,-0.75,-146.6,981.6,-9.0,817,10624,0.12,1.77,0.00,0.000,6,0.155,0.030,2884,2284,3882,0,0,0,0,0,0,26.17,26.55,28.83
$STATE,10734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10734,begin apogee
$GC,10741,-0.17,0.0,991.5,-8.2,821,10870,0.57,0.00,124.25,1.421,4,0.134,0.000,3071,1892,3279,0,0,0,0,0,0,25.82,28.83,23.46
$STATE,10874,end apogee,CONTROL_FINISHED_OK
$STATE,10874,begin climb
$GC,10877,0.75,146.6,995.3,0.0,825,11016,0.85,2.30,129.07,1.332,4,0.066,0.037,3373,513,2680,0,0,0,0,0,0,24.61,24.63,22.70
$GC,11207,0.75,146.6,965.8,13.4,836,11214,0.00,2.25,0.00,0.000,6,0.000,0.034,3373,1898,2670,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11515,0.75,146.6,921.5,13.7,847,11520,0.00,2.22,0.00,0.000,4,0.000,0.037,3382,505,2666,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11750,0.75,146.6,891.6,14.2,854,11757,0.00,2.22,0.00,0.000,6,0.000,0.036,3382,1909,2665,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12057,0.75,146.6,844.3,14.1,865,12063,0.00,2.20,0.00,0.000,4,0.000,0.039,3391,510,2664,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12111,0.75,146.6,839.9,14.2,866,12117,0.00,2.20,0.00,0.000,6,0.000,0.036,3391,1909,2663,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12417,0.75,146.6,792.8,14.2,877,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1909,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12717,0.75,146.6,750.8,13.9,887,12723,0.00,2.20,0.00,0.000,4,0.000,0.040,3400,503,2663,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12766,0.75,146.6,746.7,13.8,888,12770,0.00,2.20,0.00,0.000,6,0.000,0.036,3400,1910,2662,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13072,0.75,146.6,699.2,14.7,898,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1910,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13373,0.75,146.6,655.1,14.5,908,13378,0.00,2.17,0.00,0.000,4,0.000,0.040,3409,506,2661,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13416,0.75,146.6,650.6,14.5,909,13421,0.15,2.17,0.00,0.000,6,0.168,0.036,3370,1898,2662,0,0,0,0,0,0,25.94,26.32,28.83
$GC,13730,0.75,146.6,607.2,13.0,920,13731,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1898,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14029,0.75,146.6,568.9,12.7,946,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1898,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14332,0.75,146.6,530.9,12.6,976,14338,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1898,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14642,0.75,146.6,492.3,12.3,1007,14646,0.00,2.15,0.00,0.000,4,0.000,0.040,3378,510,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14696,0.75,146.6,485.3,12.9,1012,14703,0.00,2.15,0.00,0.000,6,0.000,0.035,3377,1896,2661,0,0,0,0,0,0,28.83,26.40,28.83
$GC,15004,0.75,146.6,445.0,13.1,1043,15005,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1896,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15307,0.75,146.6,406.6,13.0,1073,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1896,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15617,0.75,146.6,366.3,12.7,1104,15626,0.00,2.15,0.00,0.000,4,0.000,0.040,3386,505,2661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15659,0.75,146.6,360.6,12.4,1108,15668,0.00,2.15,0.00,0.000,6,0.000,0.036,3386,1895,2660,0,0,0,0,0,0,28.83,26.42,28.83
$GC,15970,0.75,146.6,320.5,12.9,1139,15979,0.00,2.15,0.00,0.000,4,0.000,0.041,3396,506,2660,0,0,0,0,0,0,28.83,26.37,28.83
$GC,16035,0.75,146.6,312.0,13.5,1145,16041,0.00,2.15,0.00,0.000,6,0.000,0.036,3396,1894,2661,0,0,0,0,0,0,28.83,26.42,28.83
$GC,16343,0.75,146.6,270.5,13.9,1176,16347,0.00,2.15,0.00,0.000,4,0.000,0.047,3395,3305,2661,0,0,0,0,0,0,28.83,26.32,28.83
$GC,16378,0.75,146.6,265.7,14.5,1179,16387,0.15,2.12,0.00,0.000,6,0.177,0.031,3368,1872,2661,0,0,0,0,0,0,26.01,26.48,28.83
$GC,16685,0.75,146.6,228.3,11.5,1210,16689,0.00,2.08,0.00,0.000,4,0.000,0.040,3376,502,2661,0,0,0,0,0,0,28.83,26.38,28.83
$GC,16824,0.75,146.6,212.9,11.5,1223,16832,0.00,2.12,0.00,0.000,6,0.000,0.034,3376,1880,2660,0,0,0,0,0,0,28.83,26.45,28.83
$GC,17130,0.75,146.6,177.2,10.5,1254,17139,0.00,2.15,0.00,0.000,4,0.000,0.039,3385,505,2660,0,0,0,0,0,0,28.83,26.39,28.83
$GC,17212,0.75,146.6,168.3,11.0,1262,17221,0.00,2.12,0.00,0.000,6,0.000,0.035,3385,1874,2660,0,0,0,0,0,0,28.83,26.44,28.83
$GC,17522,0.75,146.6,135.7,10.4,1293,17523,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1874,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17822,0.75,146.6,106.7,9.7,1323,17831,0.00,2.15,0.00,0.000,4,0.000,0.041,3394,504,2660,0,0,0,0,0,0,28.83,26.38,28.83
$GC,17858,0.75,149.6,103.7,9.0,1326,17864,0.00,2.10,0.00,0.000,6,0.000,0.035,3394,1865,2660,0,0,0,0,0,0,28.83,26.45,28.83
$GC,18171,0.75,151.2,74.6,9.1,1384,18178,0.00,2.20,0.00,0.000,4,0.000,0.045,3394,3310,2660,0,0,0,0,0,0,28.83,26.34,28.83
$GC,18221,0.75,151.2,69.1,10.9,1393,18228,0.12,2.15,0.00,0.000,6,0.177,0.030,3374,1864,2660,0,0,0,0,0,0,26.10,26.51,28.83
$GC,18536,0.79,182.0,44.1,7.9,1454,18573,0.00,2.12,27.08,0.907,4,0.000,0.041,3381,522,2534,0,0,0,0,0,0,28.83,26.13,25.18
$GC,18654,0.79,182.0,33.9,9.4,1475,18662,0.00,2.10,0.00,0.000,6,0.000,0.035,3381,1859,2531,0,0,0,0,0,0,28.83,26.13,28.83
$FREEZE,8.90,5.606,-1.708,0,1,0
$FREEZE,8.34,5.693,-1.704,0,1,0
$GC,18973,1.02,370.4,12.3,1.3,1536,19069,0.20,2.30,88.65,0.090,4,0.083,0.047,3470,3304,1767,0,0,0,0,0,0,26.20,26.01,25.83
$FREEZE,7.00,5.765,-1.702,0,1,0
$FREEZE,6.33,5.786,-1.702,0,1,0
$FREEZE,5.66,5.786,-1.702,0,1,0
$FREEZE,5.24,5.792,-1.701,0,1,0
$FREEZE,4.63,5.791,-1.701,0,1,0
$FREEZE,3.94,5.794,-1.701,0,1,0
$STATE,19102,end climb,SURFACE_DEPTH_REACHED
$STATE,19102,begin surface coast
$FREEZE,3.13,5.804,-1.700,0,1,0
$FREEZE,2.52,5.805,-1.699,0,1,0
$FREEZE,1.76,5.804,-1.699,0,1,0
$FREEZE,1.54,5.799,-1.699,0,1,0
$FREEZE,1.37,5.758,-0.831,0,1,0
$FREEZE,1.48,5.801,-1.699,0,1,0
$FINISH,1.5,1.024459
$STATE,19133,end surface coast,CONTROL_FINISHED_OK
$STATE,19134,begin surface
$SM_CCo,19155,11.73,0.075,0,0,1648,400.08
$SM_GC,2.61,8.55,1.88,11.73,0.056,0.032,0.075,339,2085,1648,-8.67,1.67,400.08,0,0,0,0,0,0,25.97,26.14,25.87
$RAFOS_CLK,997
$RAFOS,4,1344241984,8.566667,8.551111,48,45,44,43,41,39,194,964,1530,1053,981,702
$RAFOS,3,1344241501,8.433333,8.416945,49,47,45,45,44,42,1717,1503,1728,776,1884,360
$RAFOS,2,1344241028,8.300000,8.285556,44,42,42,38,38,38,1666,174,585,225,814,1719
$RAFOS,1,1344240546,8.166667,8.151667,44,43,42,41,41,41,154,440,1101,203,312,1383
$RAFOS,0,1344240074,8.033334,8.020555,46,41,39,39,38,38,266,1429,396,276,177,1941
$RAFOS,6,1344228551,4.833333,4.819722,43,43,42,42,41,41,154,983,1419,1892,530,449
$RAFOS,5,1344228068,4.700000,4.685555,45,45,41,40,40,39,510,892,1752,775,1320,454
$RAFOS,4,1344227586,4.566667,4.551667,51,47,47,47,44,41,1007,570,1719,1005,1829,1676
$RAFOS,3,1344227102,4.433333,4.417222,45,42,42,42,41,40,969,1246,1805,1896,581,1023
$RAFOS,2,1344226628,4.300000,4.285555,52,46,44,42,42,42,1261,61,1084,244,150,823
$RAFOS,1,1344226142,4.166667,4.150556,46,44,39,39,39,39,919,1416,1,1884,1138,1481
$RAFOS,0,1344225670,4.033333,4.019444,45,45,43,42,42,38,1254,1177,796,183,1201,1432
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5832.92,050812,212115
$TT8_MAMPS,0.029211,0.029211
$HUMID,42.16
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.70
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,22.7,31.216
$10V_AH,9.9,35.047
$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,21.825,170.900,369.050,11.725,0.000,0.000,0.000,348.525,8.250,0.000,18.751,4126.163,11237.379,585.218,3257.825,449.387,0.000,2483.779,0.000,2862.485,4680.000,27.356,0.000
$DEVICE_MAMPS,250.155,52.785,1421.370,74.970,0.000,0.000,0.000,289.130,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1122.012,1085.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,73304,1563
$CAP_FILE_SIZE,202648,0
$CFSIZE,260165632,224202752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.1
$CURRENT,0.052, 53.4,1
$GPS,060812,084505,6659.828,-5848.659,25,0.9,25,-33.9