version: 66.11
glider: 108
mission: 21
dive: 269
start: 8 7 112 6 56 35
data:
$ID,108
$MISSION,21
$DIVE,269
$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,-191425.14
$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,45
$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
$GPS1,070812,064821,6659.628,-5906.578,24,1.2,40,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-78.8
$GPS2,070812,065559,6659.708,-5906.605,17,1.2,17,-34.0
$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,242.6,64960,-16.9,-9.167
$D_GRID,1133
$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,14,begin dive
$GC,17,-0.75,-146.6,0.0,0.0,0,75,0.00,0.00,-55.97,0.000,2,0.000,0.000,343,2108,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.75,-146.6,3.3,-2.1,10,117,10.32,2.25,-21.05,0.000,4,0.250,0.054,2893,705,3883,0,0,0,0,0,0,25.56,26.26,26.71
$GC,243,-0.75,-146.6,28.6,-10.7,40,250,0.00,2.20,0.00,0.000,6,0.000,0.040,2886,2110,3888,0,0,0,0,0,0,28.83,26.22,28.83
$GC,557,-0.75,-146.6,66.1,-12.8,101,563,0.00,2.15,0.00,0.000,4,0.000,0.051,2876,3504,3891,0,0,0,0,0,0,28.83,26.16,28.83
$GC,704,-0.75,-146.6,86.1,-13.5,129,711,0.00,2.08,0.00,0.000,6,0.000,0.031,2876,2100,3891,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1014,-0.75,-146.6,124.1,-11.8,170,1023,0.00,2.17,0.00,0.000,4,0.000,0.050,2865,3502,3891,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1119,-0.75,-146.6,136.3,-12.0,180,1127,0.00,2.05,0.00,0.000,6,0.000,0.031,2865,2115,3891,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1426,-0.75,-146.6,173.1,-11.4,211,1435,0.00,2.17,0.00,0.000,4,0.000,0.050,2854,3503,3890,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1519,-0.75,-146.6,184.5,-12.1,220,1530,0.12,2.05,0.00,0.000,6,0.167,0.031,2886,2120,3890,0,0,0,0,0,0,26.06,26.46,28.83
$GC,1829,-0.75,-146.6,215.7,-9.8,251,1833,0.00,2.15,0.00,0.000,4,0.000,0.050,2877,3506,3889,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1941,-0.75,-146.6,227.2,-10.2,262,1950,0.00,2.03,0.00,0.000,6,0.000,0.031,2877,2135,3889,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2252,-0.75,-146.6,257.9,-10.0,293,2260,0.00,2.10,0.00,0.000,4,0.000,0.050,2868,3506,3888,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2306,-0.75,-146.6,263.5,-11.1,298,2313,0.00,2.00,0.00,0.000,6,0.000,0.031,2868,2143,3888,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2614,-0.75,-146.6,295.7,-10.1,329,2623,0.00,2.10,0.00,0.000,4,0.000,0.050,2857,3511,3888,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2679,-0.75,-146.6,302.6,-11.5,335,2687,0.12,1.98,0.00,0.000,6,0.161,0.031,2888,2159,3888,0,0,0,0,0,0,26.10,26.50,28.83
$GC,2987,-0.75,-146.6,329.7,-8.5,366,2996,0.00,2.08,0.00,0.000,4,0.000,0.050,2880,3506,3888,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3061,-0.75,-146.6,336.3,-9.1,373,3070,0.00,1.98,0.00,0.000,6,0.000,0.030,2880,2158,3888,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3370,-0.75,-146.6,363.7,-8.8,404,3379,0.00,2.10,0.00,0.000,4,0.000,0.050,2870,3512,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3445,-0.75,-146.6,370.6,-9.6,411,3452,0.00,1.95,0.00,0.000,6,0.000,0.030,2870,2171,3888,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3755,-0.75,-146.6,400.0,-9.6,442,3763,0.00,2.05,0.00,0.000,4,0.000,0.050,2860,3506,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3829,-0.75,-146.6,407.6,-10.6,449,3836,0.00,1.95,0.00,0.000,6,0.000,0.029,2860,2165,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4136,-0.75,-146.6,437.7,-9.5,480,4146,0.00,2.08,0.00,0.000,4,0.000,0.049,2850,3503,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4209,-0.75,-146.6,445.1,-10.2,487,4218,0.15,1.92,0.00,0.000,6,0.155,0.030,2889,2181,3888,0,0,0,0,0,0,26.07,26.53,28.83
$GC,4520,-0.75,-146.6,469.1,-7.2,518,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2181,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4819,-0.75,-146.6,490.5,-7.2,548,4823,0.00,2.05,0.00,0.000,4,0.000,0.050,2881,3517,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4895,-0.75,-146.6,496.0,-7.9,555,4902,0.00,1.95,0.00,0.000,6,0.000,0.030,2881,2175,3888,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5204,-0.75,-146.6,520.4,-8.2,586,5213,0.00,2.08,0.00,0.000,4,0.000,0.050,2872,3511,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5266,-0.75,-146.6,525.9,-9.0,592,5270,0.00,1.92,0.00,0.000,6,0.000,0.031,2872,2191,3888,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5578,-0.75,-146.6,553.5,-8.6,623,5582,0.00,2.03,0.00,0.000,4,0.000,0.049,2862,3503,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5650,-0.75,-146.6,560.5,-9.9,630,5659,0.00,1.92,0.00,0.000,6,0.000,0.030,2862,2186,3888,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5961,-0.75,-146.6,589.6,-9.5,661,5969,0.00,2.03,0.00,0.000,4,0.000,0.049,2852,3505,3888,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6012,-0.75,-146.6,594.8,-10.1,666,6017,0.15,1.90,0.00,0.000,6,0.151,0.030,2891,2189,3888,0,0,0,0,0,0,26.09,26.54,28.83
$GC,6328,-0.75,-146.6,619.7,-8.1,681,6334,0.00,2.03,0.00,0.000,4,0.000,0.048,2884,3505,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6370,-0.75,-146.6,622.5,-8.1,682,6374,0.00,1.90,0.00,0.000,6,0.000,0.029,2884,2199,3888,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6684,-0.75,-146.6,649.5,-8.3,693,6690,0.00,2.03,0.00,0.000,4,0.000,0.049,2874,3514,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6717,-0.75,-146.6,652.2,-8.4,694,6720,0.00,1.90,0.00,0.000,6,0.000,0.029,2874,2213,3888,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7045,-0.75,-146.6,680.6,-8.4,705,7050,0.00,1.98,0.00,0.000,4,0.000,0.049,2864,3503,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7077,-0.75,-146.6,683.3,-8.4,706,7081,0.00,1.88,0.00,0.000,6,0.000,0.030,2864,2215,3888,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7400,-0.75,-146.6,713.0,-9.3,717,7406,0.00,2.00,0.00,0.000,4,0.000,0.049,2854,3517,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7467,-0.75,-146.6,719.0,-9.7,719,7472,0.12,1.88,0.00,0.000,6,0.156,0.030,2886,2221,3888,0,0,0,0,0,0,26.15,26.54,28.83
$GC,7786,-0.75,-146.6,747.0,-8.6,730,7792,0.00,2.00,0.00,0.000,4,0.000,0.049,2878,3513,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7818,-0.75,-146.6,749.6,-8.7,731,7821,0.00,1.88,0.00,0.000,6,0.000,0.030,2878,2224,3888,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8145,-0.75,-146.6,779.4,-8.9,742,8149,0.00,2.00,0.00,0.000,4,0.000,0.050,2869,3517,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8181,-0.75,-146.6,782.4,-9.0,743,8185,0.00,1.88,0.00,0.000,6,0.000,0.029,2869,2230,3888,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8508,-0.75,-146.6,813.3,-9.2,754,8514,0.00,2.00,0.00,0.000,4,0.000,0.050,2859,3508,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8551,-0.75,-146.6,816.2,-9.2,755,8555,0.12,1.85,0.00,0.000,6,0.154,0.030,2890,2235,3888,0,0,0,0,0,0,26.15,26.53,28.83
$GC,8865,-0.75,-146.6,841.7,-7.7,766,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2234,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9165,-0.75,-146.6,863.8,-7.2,776,9171,0.00,1.98,0.00,0.000,4,0.000,0.049,2883,3509,3888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9213,-0.75,-146.6,866.1,-7.3,777,9217,0.00,1.85,0.00,0.000,6,0.000,0.030,2883,2237,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9525,-0.75,-146.6,891.4,-7.7,788,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2233,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9825,-0.75,-146.6,915.2,-7.9,798,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2233,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10126,-0.75,-146.6,938.8,-7.7,808,10131,0.00,1.98,0.00,0.000,4,0.000,0.050,2874,3504,3887,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10185,-0.75,-146.6,943.6,-7.9,810,10189,0.00,1.88,0.00,0.000,6,0.000,0.031,2874,2243,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10518,-0.75,-146.6,970.0,-8.0,821,10523,0.00,1.98,0.00,0.000,4,0.000,0.050,2864,3509,3887,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10550,-0.75,-146.6,972.4,-8.0,822,10554,0.00,1.85,0.00,0.000,6,0.000,0.031,2864,2238,3886,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,10784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10784,begin apogee
$GC,10791,-0.17,0.0,992.4,-8.3,830,10923,0.65,0.00,126.72,1.459,4,0.137,0.000,3069,1880,3278,0,0,0,0,0,0,25.72,28.83,23.36
$STATE,10927,end apogee,CONTROL_FINISHED_OK
$STATE,10927,begin climb
$GC,10930,0.75,146.6,996.0,0.0,834,11070,0.85,2.25,129.18,1.323,4,0.065,0.037,3371,531,2681,0,0,0,0,0,0,24.53,24.55,22.67
$GC,11271,0.75,146.6,961.3,13.4,846,11275,0.00,2.22,0.00,0.000,6,0.000,0.034,3371,1897,2671,0,0,1,0,0,0,28.83,25.10,28.83
$GC,11594,0.75,146.6,921.0,12.2,857,11600,0.00,2.20,0.00,0.000,4,0.000,0.047,3371,3304,2667,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11827,0.75,146.6,891.7,13.9,864,11835,0.00,2.10,0.00,0.000,6,0.000,0.031,3380,1921,2666,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12135,0.75,146.6,848.6,12.9,875,12140,0.00,2.17,0.00,0.000,4,0.000,0.045,3380,3308,2666,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12164,0.75,146.6,844.3,13.1,876,12170,0.00,2.15,0.00,0.000,6,0.000,0.031,3390,1890,2664,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12495,0.75,146.6,802.5,12.4,887,12501,0.00,2.10,0.00,0.000,4,0.000,0.040,3400,517,2665,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12555,0.75,146.6,795.0,12.5,889,12561,0.08,2.15,0.00,0.000,6,0.163,0.036,3377,1900,2664,0,0,0,0,0,0,25.84,26.18,28.83
$GC,12886,0.75,146.6,756.8,11.5,900,12892,0.00,2.12,0.00,0.000,4,0.000,0.047,3377,3293,2664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12915,0.75,146.6,752.8,11.8,901,12919,0.00,2.12,0.00,0.000,6,0.000,0.031,3384,1882,2663,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13248,0.75,146.6,710.8,12.6,912,13253,0.00,2.12,0.00,0.000,4,0.000,0.040,3394,501,2663,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13307,0.75,146.6,703.3,12.6,914,13313,0.00,2.17,0.00,0.000,6,0.000,0.035,3394,1891,2662,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13638,0.75,146.6,662.0,12.5,925,13643,0.00,2.15,0.00,0.000,4,0.000,0.047,3394,3298,2662,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13671,0.75,146.6,658.0,12.7,926,13676,0.12,2.10,0.00,0.000,6,0.187,0.031,3375,1890,2662,0,0,0,0,0,0,25.95,26.36,28.83
$GC,13994,0.75,146.6,620.4,11.2,937,13998,0.00,2.12,0.00,0.000,4,0.000,0.041,3382,508,2663,0,0,0,0,0,0,28.83,26.28,28.83
$GC,14080,0.75,146.6,613.1,11.3,939,14087,0.00,2.15,0.00,0.000,6,0.000,0.036,3382,1890,2662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14389,0.75,146.6,574.7,11.4,964,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1889,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14699,0.75,146.6,538.6,11.4,995,14708,0.00,2.15,0.00,0.000,4,0.000,0.047,3382,3304,2662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14723,0.75,146.6,535.6,11.6,997,14730,0.00,2.12,0.00,0.000,6,0.000,0.031,3392,1874,2662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15032,0.75,146.6,497.8,12.5,1028,15036,0.00,2.08,0.00,0.000,4,0.000,0.041,3402,513,2662,0,0,0,0,0,0,28.83,26.33,28.83
$GC,15077,0.75,146.6,492.4,12.9,1032,15085,0.12,2.12,0.00,0.000,6,0.176,0.036,3373,1886,2662,0,0,0,0,0,0,26.02,26.37,28.83
$GC,15384,0.75,146.6,455.7,12.0,1063,15388,0.00,2.15,0.00,0.000,4,0.000,0.047,3372,3305,2662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15439,0.75,146.6,448.8,13.3,1068,15447,0.00,2.12,0.00,0.000,6,0.000,0.031,3380,1878,2662,0,0,0,0,0,0,28.83,26.43,28.83
$GC,15747,0.75,146.6,409.4,12.6,1099,15755,0.00,2.10,0.00,0.000,4,0.000,0.041,3390,500,2662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15781,0.75,146.6,405.4,12.5,1102,15788,0.00,2.12,0.00,0.000,6,0.000,0.035,3390,1875,2662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16089,0.75,146.6,366.1,12.5,1133,16090,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1875,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16391,0.75,146.6,328.9,11.9,1163,16400,0.00,2.17,0.00,0.000,4,0.000,0.047,3390,3303,2662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,16426,0.75,146.6,324.5,12.3,1166,16433,0.00,2.12,0.00,0.000,6,0.000,0.031,3399,1869,2661,0,0,0,0,0,0,28.83,26.46,28.83
$GC,16734,0.75,146.6,285.0,12.9,1197,16742,0.00,2.10,0.00,0.000,4,0.000,0.041,3410,503,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,16776,0.75,146.6,279.4,13.1,1201,16785,0.12,2.12,0.00,0.000,6,0.147,0.036,3370,1886,2661,0,0,0,0,0,0,25.96,26.40,28.83
$GC,17085,0.75,146.6,244.5,11.2,1232,17095,0.00,2.15,0.00,0.000,4,0.000,0.047,3370,3307,2661,0,0,0,0,0,0,28.83,26.29,28.83
$GC,17148,0.75,146.6,236.7,12.9,1238,17152,0.00,2.10,0.00,0.000,6,0.000,0.031,3377,1880,2661,0,0,0,0,0,0,28.83,26.47,28.83
$GC,17461,0.75,146.6,199.5,12.0,1269,17470,0.00,2.10,0.00,0.000,4,0.000,0.040,3388,513,2661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,17526,0.75,146.6,191.8,12.3,1275,17533,0.00,2.12,0.00,0.000,6,0.000,0.035,3388,1892,2662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,17833,0.75,146.6,155.1,11.0,1306,17837,0.00,2.12,0.00,0.000,4,0.000,0.047,3388,3299,2661,0,0,0,0,0,0,28.83,26.30,28.83
$GC,17885,0.75,146.6,148.8,12.2,1311,17894,0.00,2.10,0.00,0.000,6,0.000,0.031,3397,1886,2661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,18195,0.75,146.6,116.2,9.6,1342,18204,0.00,2.10,0.00,0.000,4,0.000,0.040,3407,509,2662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,18372,0.75,146.6,98.9,9.6,1360,18380,0.15,2.10,0.00,0.000,6,0.163,0.036,3369,1877,2661,0,0,0,0,0,0,26.02,26.43,28.83
$GC,18689,0.79,183.8,75.3,7.6,1421,18726,0.00,2.22,28.77,0.917,4,0.000,0.048,3369,3305,2528,0,0,0,0,0,0,28.83,26.07,25.12
$GC,18757,0.79,183.8,69.4,9.9,1432,18765,0.00,2.15,0.00,0.000,6,0.000,0.031,3376,1875,2525,0,0,0,0,0,0,28.83,26.13,28.83
$GC,19072,0.81,197.4,39.1,8.6,1493,19091,0.00,2.10,12.20,0.863,4,0.000,0.039,3387,512,2473,0,0,0,0,0,0,28.83,26.06,25.03
$GC,19154,0.81,200.9,31.4,9.0,1508,19163,0.00,2.15,3.28,0.544,6,0.000,0.035,3387,1873,2460,0,0,0,0,0,0,28.83,26.06,24.87
$GC,19472,1.05,395.8,14.3,1.0,1569,19574,0.20,2.25,93.70,0.096,4,0.083,0.047,3472,3311,1662,0,0,0,0,0,0,26.14,25.94,25.77
$FREEZE,7.68,5.996,-1.679,0,1,0
$FREEZE,7.09,6.005,-1.678,0,1,0
$GC,19590,1.06,400.5,7.1,9.0,1588,19599,0.00,2.17,1.45,0.088,6,0.000,0.031,3482,1877,1644,0,0,0,0,0,0,28.83,26.06,25.77
$FREEZE,5.03,5.872,-1.674,0,1,0
$FREEZE,4.43,5.876,-1.673,0,1,0
$FREEZE,3.98,5.885,-1.673,0,1,0
$STATE,19615,end climb,SURFACE_DEPTH_REACHED
$STATE,19615,begin surface coast
$FREEZE,3.25,5.895,-1.672,0,1,0
$FREEZE,2.73,5.904,-1.672,0,1,0
$FREEZE,2.03,5.928,-1.671,0,1,0
$FREEZE,1.57,6.016,-1.672,0,1,0
$FREEZE,1.37,6.068,-0.819,0,1,0
$FREEZE,1.39,5.980,-0.781,0,1,0
$FREEZE,1.41,5.562,-0.866,0,1,0
$FINISH,1.4,1.012600
$STATE,19656,end surface coast,CONTROL_FINISHED_OK
$STATE,19656,begin surface
$SM_CCo,19736,0.00,0.000,0,0,1632,404.01
$SM_GC,2.51,8.60,0.38,0.00,0.056,0.054,0.000,342,2113,1632,-8.66,-1.13,404.01,0,0,0,0,0,0,25.91,26.06,28.83
$RAFOS_CLK,1026
$RAFOS,2,1344341823,12.300000,12.284166,53,50,48,47,47,44,1917,1346,527,61,195,1797
$RAFOS,1,1344341347,12.166667,12.151944,46,44,43,43,39,39,1916,704,1805,984,1,384
$RAFOS,0,1344340863,12.033333,12.017500,41,41,40,39,39,39,910,1263,71,572,1044,1597
$RAFOS,6,1344329366,8.833333,8.823889,57,44,42,41,41,40,1476,1647,1315,1661,1806,371
$RAFOS,5,1344328887,8.700000,8.690833,51,50,43,39,39,38,1267,1802,1694,907,1542,137
$RAFOS,4,1344328383,8.566667,8.550834,48,46,44,41,40,39,815,215,1309,191,1572,195
$RAFOS,3,1344327910,8.433333,8.419444,47,46,44,44,41,40,1903,858,164,499,1366,1665
$RAFOS,2,1344327423,8.300000,8.284166,44,43,42,42,41,40,1188,1135,1290,377,1350,1362
$RAFOS,1,1344326951,8.166667,8.153055,48,45,44,43,42,40,1358,1368,1721,1800,608,517
$RAFOS,0,1344326469,8.033334,8.019167,46,44,43,40,40,40,1873,1474,736,359,1894,164
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5903.12,070812,010146
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.71
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.60
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,22.7,31.772
$10V_AH,9.9,35.688
$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,22.025,190.825,395.300,0.000,0.000,0.000,0.000,309.425,6.750,0.000,18.572,4210.630,11586.104,610.719,3314.197,461.636,0.000,2546.396,0.000,2952.881,3600.000,27.358,0.000
$DEVICE_MAMPS,250.155,53.550,1458.855,0.000,0.000,0.000,0.000,289.130,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1152.350,1107.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151616
$DATA_FILE_SIZE,73494,1599
$CAP_FILE_SIZE,211395,0
$CFSIZE,260165632,223735808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1459.5
$CURRENT,0.178,155.6,1
$GPS,070812,122659,6656.069,-5908.000,38,0.8,38,-33.9