version: 66.11
glider: 108
mission: 21
dive: 272
start: 8 7 112 23 16 40
data:
$ID,108
$MISSION,21
$DIVE,272
$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,-191428.89
$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,50
$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
$GPS1,070812,230804,6656.304,-5916.233,40,0.7,40,-33.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-77.7
$GPS2,070812,231606,6656.325,-5915.950,16,1.3,16,-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,296.8,56100,-16.9,-9.167
$D_GRID,1050
$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,-146.6,0.0,0.0,0,52,0.00,0.00,-33.30,0.000,2,0.000,0.000,340,2076,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.75,-146.6,3.0,-2.3,6,129,10.23,2.22,-55.17,0.000,4,0.246,0.063,2878,3509,3878,0,0,0,0,0,0,25.60,26.19,26.78
$GC,263,-0.75,-146.6,28.7,-12.5,44,271,0.00,2.08,0.00,0.000,6,0.000,0.031,2885,2105,3884,0,0,0,0,0,0,28.83,26.40,28.83
$GC,579,-0.75,-146.6,67.6,-12.5,105,585,0.00,2.17,0.00,0.000,4,0.000,0.050,2877,3509,3888,0,0,0,0,0,0,28.83,26.19,28.83
$GC,684,-0.75,-146.6,81.3,-12.7,125,691,0.00,2.10,0.00,0.000,6,0.000,0.030,2877,2095,3888,0,0,0,0,0,0,28.83,26.44,28.83
$GC,994,-0.75,-146.6,120.1,-12.9,170,1003,0.00,2.20,0.00,0.000,4,0.000,0.050,2866,3510,3888,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1119,-0.75,-146.6,136.7,-13.4,182,1126,0.00,2.05,0.00,0.000,6,0.000,0.031,2866,2119,3888,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1427,-0.75,-146.6,177.4,-13.2,213,1435,0.00,2.12,0.00,0.000,4,0.000,0.050,2856,3494,3887,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1502,-0.75,-146.6,187.0,-13.2,220,1510,0.12,2.00,0.00,0.000,6,0.171,0.031,2887,2132,3887,0,0,0,0,0,0,26.06,26.47,28.83
$GC,1808,-0.75,-146.6,220.4,-10.3,251,1812,0.00,2.12,0.00,0.000,4,0.000,0.050,2879,3503,3886,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1956,-0.75,-146.6,235.6,-10.3,265,1962,0.00,2.00,0.00,0.000,6,0.000,0.031,2879,2144,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2260,-0.75,-146.6,266.6,-9.7,296,2264,0.00,2.10,0.00,0.000,4,0.000,0.050,2869,3501,3885,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2346,-0.75,-146.6,275.3,-10.6,304,2354,0.00,1.98,0.00,0.000,6,0.000,0.031,2869,2156,3884,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2653,-0.75,-146.6,309.2,-11.0,335,2661,0.00,2.10,0.00,0.000,4,0.000,0.050,2859,3505,3884,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2705,-0.75,-146.6,315.1,-11.5,340,2714,0.00,1.98,0.00,0.000,6,0.000,0.030,2860,2159,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3014,-0.75,-146.6,349.3,-10.9,371,3027,0.12,2.08,0.00,0.000,4,0.179,0.048,2886,3505,3884,0,0,0,0,0,0,26.22,26.25,28.83
$GC,3117,-0.75,-146.6,359.1,-9.8,380,3125,0.00,1.92,0.00,0.000,6,0.000,0.030,2886,2168,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3424,-0.75,-146.6,387.2,-8.6,411,3427,0.00,2.05,0.00,0.000,4,0.000,0.050,2877,3500,3884,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3496,-0.75,-146.6,393.8,-9.3,418,3505,0.00,1.92,0.00,0.000,6,0.000,0.031,2876,2173,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3806,-0.75,-146.6,423.4,-9.8,449,3815,0.00,2.03,0.00,0.000,4,0.000,0.049,2867,3503,3884,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3898,-0.75,-146.6,432.7,-10.2,458,3907,0.00,1.92,0.00,0.000,6,0.000,0.030,2866,2176,3884,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4208,-0.75,-146.6,463.7,-10.3,489,4218,0.00,2.03,0.00,0.000,4,0.000,0.050,2856,3504,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4295,-0.75,-146.6,472.9,-11.3,497,4302,0.12,1.92,0.00,0.000,6,0.158,0.030,2888,2183,3884,0,0,0,0,0,0,26.14,26.53,28.83
$GC,4602,-0.75,-146.6,501.0,-8.5,528,4611,0.00,2.00,0.00,0.000,4,0.000,0.049,2880,3496,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4645,-0.75,-146.6,505.0,-9.1,532,4654,0.00,1.88,0.00,0.000,6,0.000,0.030,2880,2196,3884,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4955,-0.75,-146.6,532.8,-8.9,563,4959,0.00,2.00,0.00,0.000,4,0.000,0.050,2871,3492,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5011,-0.75,-146.6,537.7,-9.6,568,5019,0.00,1.88,0.00,0.000,6,0.000,0.030,2870,2204,3883,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5317,-0.75,-146.6,566.8,-9.4,599,5326,0.00,2.00,0.00,0.000,4,0.000,0.049,2861,3507,3883,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5380,-0.75,-146.6,572.9,-9.9,605,5389,0.00,1.90,0.00,0.000,6,0.000,0.030,2861,2207,3884,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5699,-0.75,-146.6,603.8,-9.7,635,5705,0.00,2.00,0.00,0.000,4,0.000,0.050,2851,3499,3884,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5783,-0.75,-146.6,610.0,-10.1,637,5790,0.15,1.88,0.00,0.000,6,0.152,0.030,2891,2207,3884,0,0,0,0,0,0,26.07,26.53,28.83
$GC,6090,-0.75,-146.6,638.1,-8.1,648,6093,0.00,2.00,0.00,0.000,4,0.000,0.049,2885,3496,3883,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6125,-0.75,-146.6,640.9,-8.1,649,6128,0.00,1.85,0.00,0.000,6,0.000,0.030,2885,2224,3883,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6453,-0.75,-146.6,669.0,-8.4,660,6457,0.00,1.98,0.00,0.000,4,0.000,0.050,2876,3506,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6498,-0.75,-146.6,671.9,-8.6,661,6502,0.00,1.88,0.00,0.000,6,0.000,0.030,2876,2220,3884,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6817,-0.75,-146.6,701.0,-8.8,672,6821,0.00,2.00,0.00,0.000,4,0.000,0.050,2867,3502,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6883,-0.75,-146.6,706.8,-8.9,674,6886,0.00,1.85,0.00,0.000,6,0.000,0.030,2867,2233,3884,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7211,-0.75,-146.6,735.9,-8.6,685,7215,0.00,1.98,0.00,0.000,4,0.000,0.050,2857,3500,3883,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7273,-0.75,-146.6,741.9,-9.1,687,7278,0.05,1.88,0.00,0.000,6,0.145,0.031,2887,2238,3883,0,0,0,0,0,0,26.15,26.53,28.83
$GC,7606,-0.75,-146.6,767.4,-7.7,698,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2237,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7907,-0.75,-146.6,791.8,-8.1,708,7910,0.00,1.98,0.00,0.000,4,0.000,0.050,2880,3508,3883,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7957,-0.75,-146.6,794.5,-8.1,709,7960,0.00,1.83,0.00,0.000,6,0.000,0.030,2880,2238,3883,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8269,-0.75,-146.6,821.7,-8.3,720,8272,0.00,1.98,0.00,0.000,4,0.000,0.050,2871,3507,3883,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8305,-0.75,-146.6,824.6,-8.5,721,8308,0.00,1.80,0.00,0.000,6,0.000,0.030,2871,2253,3882,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8632,-0.75,-146.6,854.1,-8.9,732,8636,0.00,1.92,0.00,0.000,4,0.000,0.050,2861,3501,3883,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8684,-0.75,-146.6,857.0,-9.0,733,8687,0.00,1.83,0.00,0.000,6,0.000,0.031,2861,2248,3882,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8997,-0.75,-146.6,887.9,-9.1,744,9000,0.00,1.95,0.00,0.000,4,0.000,0.050,2852,3498,3882,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9051,-0.75,-146.6,891.1,-9.2,745,9059,0.15,1.80,0.00,0.000,6,0.150,0.031,2891,2261,3883,0,0,0,0,0,0,26.08,26.53,28.83
$GC,9361,-0.75,-146.6,917.8,-7.7,756,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2260,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9659,-0.75,-146.6,939.7,-7.2,766,9663,0.00,1.92,0.00,0.000,4,0.000,0.050,2884,3499,3882,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9696,-0.75,-146.6,942.1,-7.4,767,9700,0.00,1.77,0.00,0.000,6,0.000,0.031,2884,2266,3882,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10024,-0.75,-146.6,967.4,-7.5,778,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2260,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10323,-0.75,-146.6,988.9,-7.2,788,10327,0.00,1.92,0.00,0.000,4,0.000,0.050,2875,3499,3881,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,10353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10353,begin apogee
$GC,10362,-0.17,0.0,991.4,-7.2,789,10492,0.62,0.00,124.93,1.423,4,0.134,0.000,3073,1892,3279,0,0,0,0,0,0,25.77,28.83,23.39
$STATE,10496,end apogee,CONTROL_FINISHED_OK
$STATE,10496,begin climb
$GC,10498,0.75,146.6,994.2,0.0,793,10640,0.85,2.30,129.50,1.326,4,0.065,0.038,3375,509,2681,0,0,0,0,0,0,24.57,24.59,22.64
$GC,10868,0.75,146.6,954.4,13.6,806,10874,0.00,2.28,0.00,0.000,6,0.000,0.036,3375,1902,2671,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11199,0.75,146.6,911.4,12.7,817,11205,0.00,2.17,0.00,0.000,4,0.000,0.047,3375,3301,2668,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11431,0.75,146.6,881.8,14.3,824,11439,0.00,2.12,0.00,0.000,6,0.000,0.031,3384,1900,2666,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11739,0.75,146.6,837.5,12.9,835,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1900,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12039,0.75,146.6,799.3,12.6,845,12044,0.00,2.12,0.00,0.000,4,0.000,0.041,3395,513,2665,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12111,0.75,146.6,791.7,12.5,847,12115,0.00,2.17,0.00,0.000,6,0.000,0.036,3394,1903,2664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12424,0.75,146.6,750.7,12.5,858,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1903,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12724,0.75,146.6,714.2,12.0,868,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1903,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13023,0.75,146.6,678.0,12.0,878,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1902,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13324,0.75,146.6,640.9,12.5,888,13330,0.00,2.17,0.00,0.000,4,0.000,0.040,3403,509,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13346,0.75,146.6,640.9,12.5,888,13355,0.12,2.15,0.00,0.000,6,0.173,0.037,3374,1891,2663,0,0,0,0,0,0,25.97,26.31,28.83
$GC,13653,0.75,146.6,603.3,11.4,899,13655,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1891,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13956,0.75,146.6,568.2,11.9,927,13965,0.00,2.12,0.00,0.000,4,0.000,0.047,3374,3303,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13981,0.75,146.6,565.1,12.5,929,13988,0.00,2.12,0.00,0.000,6,0.000,0.031,3381,1876,2663,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14288,0.75,146.6,526.5,12.5,960,14297,0.00,2.10,0.00,0.000,4,0.000,0.040,3391,506,2663,0,0,0,0,0,0,28.83,26.31,28.83
$GC,14341,0.75,146.6,519.8,12.7,965,14350,0.00,2.15,0.00,0.000,6,0.000,0.036,3391,1890,2663,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14651,0.75,146.6,480.5,12.5,996,14660,0.00,2.15,0.00,0.000,4,0.000,0.047,3391,3311,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14676,0.75,146.6,477.4,13.0,998,14683,0.00,2.12,0.00,0.000,6,0.000,0.031,3400,1881,2663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,14985,0.75,146.6,435.7,13.2,1029,14994,0.00,2.10,0.00,0.000,4,0.000,0.040,3411,508,2663,0,0,0,0,0,0,28.83,26.33,28.83
$GC,15060,0.75,146.6,426.1,13.2,1036,15068,0.15,2.12,0.00,0.000,6,0.170,0.036,3374,1881,2662,0,0,0,0,0,0,25.96,26.38,28.83
$GC,15367,0.75,146.6,390.4,11.4,1067,15371,0.00,2.17,0.00,0.000,4,0.000,0.047,3374,3307,2662,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15400,0.75,146.6,386.5,11.8,1070,15408,0.00,2.12,0.00,0.000,6,0.000,0.031,3380,1881,2662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15711,0.75,146.6,350.4,11.5,1101,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1881,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16022,0.75,146.6,313.0,11.9,1132,16031,0.00,2.10,0.00,0.000,4,0.000,0.040,3391,509,2662,0,0,0,0,0,0,28.83,26.35,28.83
$GC,16038,0.75,146.6,311.6,12.2,1133,16045,0.00,2.12,0.00,0.000,6,0.000,0.035,3391,1881,2663,0,0,0,0,0,0,28.83,26.40,28.83
$GC,16344,0.75,146.6,272.3,12.0,1164,16346,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1881,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16646,0.75,146.6,235.6,12.2,1194,16655,0.00,2.15,0.00,0.000,4,0.000,0.047,3391,3302,2662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,16742,0.75,146.6,222.8,14.0,1203,16749,0.00,2.12,0.00,0.000,6,0.000,0.031,3400,1868,2662,0,0,0,0,0,0,28.83,26.47,28.83
$GC,17049,0.75,146.6,183.8,13.0,1234,17058,0.00,2.08,0.00,0.000,4,0.000,0.040,3411,510,2662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,17101,0.75,146.6,176.9,13.2,1239,17110,0.15,2.12,0.00,0.000,6,0.164,0.036,3372,1878,2662,0,0,0,0,0,0,26.00,26.41,28.83
$GC,17412,0.75,153.0,145.0,8.9,1270,17416,0.00,2.15,0.00,0.000,4,0.000,0.046,3372,3298,2662,0,0,0,0,0,0,28.83,26.30,28.83
$GC,17505,0.76,155.7,136.3,9.1,1279,17517,0.00,2.12,6.18,0.812,6,0.000,0.031,3379,1872,2643,0,0,0,0,0,0,28.83,26.48,25.16
$GC,17825,0.79,184.1,110.8,8.0,1311,17854,0.00,0.00,24.90,0.944,6,0.000,0.000,3379,1872,2527,0,0,0,0,0,0,28.83,28.83,25.08
$GC,18157,0.79,184.1,80.8,9.6,1364,18164,0.00,2.12,0.00,0.000,4,0.000,0.040,3390,503,2522,0,0,0,0,0,0,28.83,26.08,28.83
$GC,18198,0.79,186.4,77.1,9.1,1371,18204,0.00,2.12,0.00,0.000,6,0.000,0.036,3390,1861,2521,0,0,0,0,0,0,28.83,26.14,28.83
$GC,18512,0.79,186.4,47.6,9.5,1432,18520,0.00,2.22,0.00,0.000,4,0.000,0.047,3390,3302,2520,0,0,0,0,0,0,28.83,26.10,28.83
$GC,18578,0.79,186.4,40.1,10.8,1444,18585,0.00,2.15,0.00,0.000,6,0.000,0.031,3399,1868,2519,0,0,0,0,0,0,28.83,26.26,28.83
$GC,18897,1.01,360.8,17.2,1.9,1505,18990,0.12,2.10,86.18,0.104,4,0.110,0.040,3465,508,1806,0,0,0,0,0,0,26.33,26.09,25.82
$GC,19010,1.03,381.2,10.8,8.3,1523,19025,0.00,2.17,9.12,0.093,6,0.000,0.036,3465,1882,1723,0,0,0,0,0,0,28.83,26.14,25.82
$FREEZE,8.57,5.652,-1.679,0,1,0
$FREEZE,8.07,5.664,-1.679,0,1,0
$FREEZE,7.58,5.741,-1.678,0,1,0
$FREEZE,7.19,5.824,-1.677,0,1,0
$FREEZE,6.64,5.899,-1.676,0,1,0
$FREEZE,6.09,5.902,-1.676,0,1,0
$FREEZE,5.63,5.980,-1.676,0,1,0
$FREEZE,4.99,6.028,-1.675,0,1,0
$FREEZE,4.43,6.068,-1.674,0,1,0
$FREEZE,3.99,6.068,-1.674,0,1,0
$STATE,19081,end climb,SURFACE_DEPTH_REACHED
$STATE,19081,begin surface coast
$FREEZE,3.09,6.065,-1.674,0,1,0
$FREEZE,2.49,6.065,-1.673,0,1,0
$FREEZE,2.00,6.060,-1.673,0,1,0
$FREEZE,1.48,6.066,-1.673,0,1,0
$FREEZE,1.40,5.916,-0.814,0,1,0
$FREEZE,1.41,4.991,-0.845,0,1,0
$FREEZE,1.39,5.485,-0.786,0,1,0
$FINISH,1.4,1.011441
$STATE,19118,end surface coast,CONTROL_FINISHED_OK
$STATE,19118,begin surface
$SM_CCo,19138,6.93,0.076,0,0,1647,400.08
$SM_GC,3.42,8.52,0.32,6.93,0.057,0.060,0.076,345,2117,1647,-8.65,-1.10,400.08,0,0,0,0,0,0,25.97,26.16,25.89
$RAFOS_CLK,997
$RAFOS,3,1344399902,4.433333,4.417222,50,47,45,40,40,40,312,973,1464,389,663,1423
$RAFOS,2,1344399423,4.300000,4.284167,47,45,44,41,41,40,1576,1782,1694,1050,1662,665
$RAFOS,1,1344398942,4.166667,4.150556,47,46,43,43,42,41,61,574,1530,1261,1439,1732
$RAFOS,0,1344398462,4.033333,4.017222,55,46,46,45,40,39,243,1785,1866,1469,1511,873
$RAFOS,6,1344386946,0.833333,0.818333,54,48,47,44,41,40,273,1069,306,706,1569,1581
$RAFOS,5,1344386465,0.700000,0.684722,51,46,41,41,41,39,753,1112,613,1728,930,1527
$RAFOS,4,1344385989,0.566667,0.552500,57,46,43,42,40,39,529,1020,781,1013,861,1
$RAFOS,3,1344385505,0.433333,0.418056,46,41,41,41,39,39,1643,1,669,1314,1325,497
$RAFOS,2,1344385023,0.300000,0.284167,49,43,41,41,41,39,1661,1574,1084,1285,322,1326
$RAFOS,1,1344384550,0.166667,0.152778,44,43,42,42,41,41,850,733,1001,1343,1842,1820
$RAFOS,0,1344384065,0.033333,0.018056,45,43,42,41,41,40,864,357,777,760,1747,1693
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5907.83,070812,171710
$TT8_MAMPS,0.029211,0.029211
$HUMID,42.91
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.40
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,22.6,32.108
$10V_AH,9.9,36.065
$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,21.500,168.125,380.800,6.925,0.000,0.000,0.000,337.550,7.250,0.000,19.921,4048.712,11325.166,612.052,3191.597,443.821,0.000,2480.935,0.000,2806.496,4320.000,27.349,0.000
$DEVICE_MAMPS,245.565,63.495,1422.900,76.500,0.000,0.000,0.000,287.632,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1108.526,1071.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151620
$DATA_FILE_SIZE,73283,1542
$CAP_FILE_SIZE,199852,0
$CFSIZE,260165632,223473664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.2
$CURRENT,0.011, 47.7,1
$GPS,080812,043704,6656.358,-5921.830,26,0.9,26,-33.9