version: 66.11
glider: 108
mission: 21
dive: 266
start: 8 6 112 14 27 38
data:
$ID,108
$MISSION,21
$DIVE,266
$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,-2
$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,-191421.39
$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,67
$R_STBD_OVSHOOT,44
$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
$GPS1,060812,141804,6658.198,-5851.828,38,0.8,38,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-76.9
$GPS2,060812,142611,6658.128,-5851.929,17,1.0,17,-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,312.4,73625,-16.9,-9.167
$D_GRID,1085
$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,-146.6,0.0,0.0,0,64,0.00,0.00,-45.55,0.000,2,0.000,0.000,337,2109,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.75,-146.6,3.0,-1.1,8,124,10.40,2.17,-36.72,0.000,4,0.252,0.054,2892,713,3881,0,0,0,0,0,0,25.57,26.27,26.71
$GC,244,-0.75,-146.6,29.8,-11.3,40,251,0.00,2.17,0.00,0.000,6,0.000,0.039,2885,2105,3886,0,0,0,0,0,0,28.83,26.24,28.83
$GC,556,-0.75,-146.6,65.8,-11.9,101,563,0.00,2.15,0.00,0.000,4,0.000,0.050,2874,3510,3889,0,0,0,0,0,0,28.83,26.18,28.83
$GC,691,-0.75,-146.6,83.8,-13.2,127,698,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,2100,3889,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1002,-0.75,-146.6,122.5,-12.0,170,1005,0.00,2.17,0.00,0.000,4,0.000,0.050,2869,3505,3889,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1123,-0.75,-146.6,137.7,-12.6,182,1133,0.00,2.08,0.00,0.000,6,0.000,0.031,2871,2107,3889,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1434,-0.75,-146.6,174.4,-11.7,213,1442,0.00,2.17,0.00,0.000,4,0.000,0.050,2863,3505,3888,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1547,-0.75,-146.6,188.1,-12.3,224,1556,0.00,2.03,0.00,0.000,6,0.000,0.031,2864,2137,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1856,-0.75,-146.6,223.9,-11.2,255,1860,0.00,2.15,0.00,0.000,4,0.000,0.050,2856,3516,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1972,-0.75,-146.6,237.4,-12.0,266,1980,0.12,2.03,0.00,0.000,6,0.166,0.031,2889,2136,3886,0,0,0,0,0,0,26.08,26.48,28.83
$GC,2278,-0.75,-146.6,268.2,-9.6,297,2287,0.00,2.12,0.00,0.000,4,0.000,0.050,2880,3515,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2354,-0.75,-146.6,275.3,-9.9,304,2361,0.00,2.00,0.00,0.000,6,0.000,0.030,2880,2145,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2661,-0.75,-146.6,304.7,-9.6,335,2669,0.00,2.08,0.00,0.000,4,0.000,0.049,2870,3503,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2753,-0.75,-146.6,314.0,-10.3,344,2762,0.00,1.98,0.00,0.000,6,0.000,0.030,2871,2158,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3063,-0.75,-146.6,345.6,-10.7,375,3072,0.00,2.08,0.00,0.000,4,0.000,0.049,2860,3503,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3129,-0.75,-146.6,352.4,-11.1,381,3135,0.00,1.95,0.00,0.000,6,0.000,0.029,2861,2168,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3436,-0.75,-146.6,386.2,-10.9,412,3439,0.00,2.08,0.00,0.000,4,0.000,0.049,2851,3505,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3538,-0.75,-146.6,397.9,-11.7,422,3548,0.15,1.92,0.00,0.000,6,0.153,0.029,2892,2186,3885,0,0,0,0,0,0,26.08,26.54,28.83
$GC,3848,-0.75,-146.6,425.5,-8.9,453,3857,0.00,2.03,0.00,0.000,4,0.000,0.049,2885,3506,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3912,-0.75,-146.6,431.3,-9.6,459,3921,0.00,1.92,0.00,0.000,6,0.000,0.029,2885,2189,3885,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4220,-0.75,-146.6,459.4,-8.8,490,4229,0.00,2.05,0.00,0.000,4,0.000,0.049,2875,3510,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4263,-0.75,-146.6,463.5,-9.6,494,4273,0.00,1.92,0.00,0.000,6,0.000,0.030,2876,2194,3885,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4573,-0.75,-146.6,492.7,-9.5,525,4581,0.00,2.05,0.00,0.000,4,0.000,0.050,2868,3514,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4617,-0.75,-146.6,496.9,-10.1,529,4624,0.00,1.90,0.00,0.000,6,0.000,0.030,2868,2205,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4925,-0.75,-146.6,527.1,-9.8,560,4934,0.00,2.00,0.00,0.000,4,0.000,0.049,2858,3507,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4990,-0.75,-146.6,533.6,-10.3,566,4999,0.12,1.90,0.00,0.000,6,0.155,0.030,2890,2201,3885,0,0,0,0,0,0,26.17,26.54,28.83
$GC,5297,-0.75,-146.6,560.7,-8.7,597,5301,0.00,2.00,0.00,0.000,4,0.000,0.049,2882,3504,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5369,-0.75,-146.6,567.4,-9.7,604,5373,0.00,1.90,0.00,0.000,6,0.000,0.029,2882,2212,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5682,-0.75,-146.6,595.6,-8.7,635,5690,0.00,1.98,0.00,0.000,4,0.000,0.049,2873,3505,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5752,-0.75,-146.6,601.6,-9.9,641,5755,0.00,1.88,0.00,0.000,6,0.000,0.029,2873,2217,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6070,-0.75,-146.6,630.9,-8.7,652,6075,0.00,2.00,0.00,0.000,4,0.000,0.049,2864,3518,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6137,-0.75,-146.6,636.4,-8.8,654,6141,0.00,1.88,0.00,0.000,6,0.000,0.030,2864,2228,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6462,-0.75,-146.6,665.1,-8.4,665,6467,0.00,1.98,0.00,0.000,4,0.000,0.050,2855,3513,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6514,-0.75,-146.6,667.8,-8.5,666,6522,0.12,1.85,0.00,0.000,6,0.154,0.030,2887,2234,3885,0,0,0,0,0,0,26.17,26.55,28.83
$GC,6821,-0.75,-146.6,693.2,-7.5,677,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2233,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7121,-0.75,-146.6,717.2,-8.1,687,7126,0.00,1.95,0.00,0.000,4,0.000,0.050,2879,3506,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7180,-0.75,-146.6,722.5,-8.5,689,7186,0.00,1.85,0.00,0.000,6,0.000,0.030,2879,2237,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7513,-0.75,-146.6,750.6,-8.5,700,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2234,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7810,-0.75,-146.6,776.2,-8.5,710,7816,0.00,1.95,0.00,0.000,4,0.000,0.050,2870,3506,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7889,-0.75,-146.6,781.8,-8.8,712,7893,0.00,1.85,0.00,0.000,6,0.000,0.031,2870,2236,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8196,-0.75,-146.6,811.2,-9.0,722,8201,0.00,1.98,0.00,0.000,4,0.000,0.050,2861,3506,3884,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8248,-0.75,-146.6,814.0,-9.1,723,8255,0.00,1.83,0.00,0.000,6,0.000,0.031,2860,2248,3884,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8556,-0.75,-146.6,844.8,-9.3,734,8561,0.00,1.95,0.00,0.000,4,0.000,0.050,2851,3503,3884,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8598,-0.75,-146.6,847.7,-9.3,735,8603,0.15,1.83,0.00,0.000,6,0.148,0.030,2892,2247,3884,0,0,0,0,0,0,26.10,26.55,28.83
$GC,8914,-0.75,-146.6,872.8,-7.5,746,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2247,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,-0.75,-146.6,895.8,-7.7,756,9215,0.00,1.95,0.00,0.000,4,0.000,0.050,2885,3514,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9256,-0.75,-146.6,898.4,-7.8,757,9260,0.00,1.85,0.00,0.000,6,0.000,0.030,2884,2259,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9575,-0.75,-146.6,924.4,-7.6,768,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2257,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9874,-0.75,-146.6,946.3,-7.3,778,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2256,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10174,-0.75,-146.6,969.6,-7.9,788,10179,0.00,1.95,0.00,0.000,4,0.000,0.050,2875,3508,3883,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10222,-0.75,-146.6,972.0,-8.0,789,10226,0.00,1.83,0.00,0.000,6,0.000,0.031,2875,2258,3883,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,10441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10441,begin apogee
$GC,10448,-0.17,0.0,991.7,-8.1,797,10580,0.60,0.00,126.00,1.480,4,0.132,0.000,3068,1888,3279,0,0,0,0,0,0,25.76,28.83,23.37
$STATE,10584,end apogee,CONTROL_FINISHED_OK
$STATE,10584,begin climb
$GC,10587,0.75,146.6,995.2,0.0,801,10728,0.85,2.28,129.18,1.318,4,0.067,0.037,3371,525,2681,0,0,0,0,0,0,24.53,24.56,22.67
$GC,10956,0.75,146.6,957.4,13.2,814,10962,0.00,2.28,0.00,0.000,6,0.000,0.035,3371,1908,2671,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11286,0.75,146.6,913.9,13.0,825,11291,0.00,2.17,0.00,0.000,4,0.000,0.047,3371,3304,2667,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11514,0.75,146.6,882.3,15.3,832,11518,0.00,2.12,0.00,0.000,6,0.000,0.031,3381,1903,2666,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11821,0.75,146.6,835.6,14.2,842,11826,0.00,2.12,0.00,0.000,4,0.000,0.039,3391,513,2665,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11919,0.75,146.6,822.7,14.2,845,11924,0.00,2.17,0.00,0.000,6,0.000,0.036,3391,1897,2664,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12237,0.75,146.6,777.1,14.1,856,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1897,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12537,0.75,146.6,735.3,13.8,866,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1897,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12837,0.75,146.6,692.2,15.1,876,12842,0.00,2.15,0.00,0.000,4,0.000,0.039,3400,509,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12899,0.75,146.6,682.9,15.3,878,12903,0.00,2.15,0.00,0.000,6,0.000,0.036,3400,1886,2663,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13224,0.75,146.6,634.4,14.6,889,13225,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1885,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13522,0.75,146.6,591.7,13.9,901,13531,0.00,2.15,0.00,0.000,4,0.000,0.040,3406,510,2662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13564,0.75,146.6,585.6,14.2,905,13574,0.15,2.15,0.00,0.000,6,0.168,0.036,3369,1887,2662,0,0,0,0,0,0,25.94,26.34,28.83
$GC,13875,0.75,146.6,547.2,11.8,936,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1887,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14177,0.75,146.6,512.7,11.5,966,14180,0.00,2.15,0.00,0.000,4,0.000,0.047,3369,3304,2662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14209,0.75,146.6,508.6,12.1,969,14218,0.00,2.10,0.00,0.000,6,0.000,0.031,3377,1883,2662,0,0,0,0,0,0,28.83,26.43,28.83
$GC,14519,0.75,146.6,472.3,11.5,1000,14527,0.00,2.12,0.00,0.000,4,0.000,0.041,3387,497,2662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14564,0.75,146.6,467.5,11.4,1004,14571,0.00,2.15,0.00,0.000,6,0.000,0.035,3387,1886,2662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14871,0.75,146.6,431.3,11.6,1035,14872,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1885,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15173,0.75,146.6,397.2,11.3,1065,15179,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1885,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15484,0.75,146.6,360.0,12.5,1096,15492,0.00,2.10,0.00,0.000,4,0.000,0.039,3396,513,2662,0,0,0,0,0,0,28.83,26.37,28.83
$GC,15526,0.75,146.6,354.5,12.1,1100,15535,0.00,2.12,0.00,0.000,6,0.000,0.036,3396,1884,2662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,15837,0.75,146.6,315.5,12.8,1131,15845,0.00,2.15,0.00,0.000,4,0.000,0.047,3396,3302,2662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15862,0.75,146.6,312.5,13.0,1133,15869,0.15,2.12,0.00,0.000,6,0.177,0.031,3368,1873,2662,0,0,0,0,0,0,25.99,26.46,28.83
$GC,16168,0.75,146.6,275.2,12.2,1164,16177,0.00,2.10,0.00,0.000,4,0.000,0.040,3376,511,2662,0,0,0,0,0,0,28.83,26.37,28.83
$GC,16201,0.75,146.6,271.4,11.8,1167,16209,0.00,2.12,0.00,0.000,6,0.000,0.035,3376,1885,2662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,16510,0.75,146.6,235.7,10.8,1198,16512,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1885,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16814,0.75,146.6,203.3,10.6,1228,16823,0.00,2.12,0.00,0.000,4,0.000,0.039,3385,511,2662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16848,0.75,146.6,199.7,10.1,1231,16857,0.00,2.10,0.00,0.000,6,0.000,0.035,3385,1877,2662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,17157,0.75,146.6,165.7,11.2,1262,17158,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1877,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17458,0.75,146.6,133.1,10.9,1292,17464,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1877,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17771,0.75,146.6,99.7,10.8,1323,17778,0.00,2.12,0.00,0.000,4,0.000,0.039,3394,504,2662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,17836,0.75,146.6,92.5,10.0,1335,17843,0.00,2.15,0.00,0.000,6,0.000,0.035,3394,1888,2662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,18149,0.75,146.6,62.4,9.4,1396,18156,0.00,2.17,0.00,0.000,4,0.000,0.047,3394,3315,2662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,18276,0.75,146.6,49.8,9.7,1420,18283,0.12,2.15,0.00,0.000,6,0.177,0.031,3373,1872,2662,0,0,0,0,0,0,26.10,26.49,28.83
$GC,18591,0.82,203.5,26.5,6.8,1481,18628,0.00,2.12,28.90,0.859,4,0.000,0.041,3381,512,2448,0,0,0,0,0,0,28.83,26.13,25.33
$FREEZE,8.86,5.731,-1.650,0,1,0
$FREEZE,8.17,5.790,-1.655,0,1,0
$FREEZE,7.71,5.851,-1.657,0,1,0
$FREEZE,7.12,5.859,-1.659,0,1,0
$FREEZE,6.57,5.857,-1.660,0,1,0
$GC,18860,1.07,414.0,10.3,0.4,1532,18966,0.28,2.15,97.70,0.086,6,0.069,0.036,3496,1877,1589,0,0,0,0,0,0,26.08,26.15,25.81
$FREEZE,4.78,5.877,-1.659,0,1,0
$FREEZE,4.28,5.875,-1.659,0,1,0
$FREEZE,3.67,5.874,-1.658,0,1,0
$STATE,18985,end climb,SURFACE_DEPTH_REACHED
$STATE,18985,begin surface coast
$FREEZE,3.19,5.863,-1.658,0,1,0
$FREEZE,2.48,5.877,-1.658,0,1,0
$FREEZE,1.86,5.852,-1.659,0,1,0
$FREEZE,1.43,5.880,-1.657,0,1,0
$FREEZE,1.39,5.747,-0.853,0,1,0
$FREEZE,1.39,5.724,-0.793,0,1,0
$FREEZE,1.42,5.792,-1.148,0,1,0
$FREEZE,1.35,5.889,-1.629,0,1,0
$FINISH,1.4,1.023479
$STATE,19027,end surface coast,CONTROL_FINISHED_OK
$STATE,19027,begin surface
$SM_CCo,19108,0.00,0.000,0,0,1573,418.24
$SM_GC,2.44,8.57,0.32,0.00,0.053,0.063,0.000,339,2104,1573,-8.66,-1.24,418.24,0,0,0,0,0,0,25.96,26.05,28.83
$RAFOS_CLK,992
$RAFOS,6,1344271750,16.833334,16.819445,51,48,44,41,39,39,200,1136,1659,1065,632,1743
$RAFOS,5,1344271270,16.700001,16.686111,47,44,44,44,41,40,561,559,1285,1444,719,1807
$RAFOS,4,1344270795,16.566668,16.554167,47,43,41,40,40,40,212,461,112,180,1364,1247
$RAFOS,3,1344270315,16.433332,16.420834,48,47,47,39,38,38,1796,1370,1915,1400,1473,1534
$RAFOS,2,1344269835,16.299999,16.287500,48,45,44,43,42,40,1632,546,496,234,998,1244
$RAFOS,1,1344269343,16.166666,16.150833,46,46,44,42,42,41,61,1205,1935,369,1004,200
$RAFOS,0,1344268866,16.033333,16.018333,42,41,40,40,40,39,278,1163,1,469,1186,1938
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5848.04,060812,080823
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.80
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,22.7,31.435
$10V_AH,9.8,35.302
$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,21.800,152.300,381.775,0.000,0.000,0.000,0.000,337.900,7.500,0.000,18.638,4045.964,11355.506,585.383,3176.996,469.284,0.000,2444.413,0.000,2793.322,2520.000,27.359,0.000
$DEVICE_MAMPS,252.450,62.730,1479.510,0.000,0.000,0.000,0.000,283.887,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1121.869,1082.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152664
$DATA_FILE_SIZE,73316,1559
$CAP_FILE_SIZE,193527,0
$CFSIZE,260165632,224026624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.1
$CURRENT,0.125,  3.9,1
$GPS,060812,194729,6700.076,-5857.391,36,0.8,36,-33.9