version: 66.11
glider: 108
mission: 21
dive: 277
start: 8 9 112 2 28 44
data:
$ID,108
$MISSION,21
$DIVE,277
$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,-191435.14
$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,66
$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
$GPS1,090812,022030,6653.182,-5938.267,38,0.8,38,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-77.4
$GPS2,090812,022811,6653.104,-5937.909,15,1.2,15,-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,300.6,39013,-16.9,-9.167
$D_GRID,927
$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,-146.6,0.0,0.0,0,64,0.00,0.00,-44.92,0.000,2,0.000,0.000,340,2104,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.75,-146.6,3.1,-1.6,8,119,10.48,2.25,-34.28,0.000,4,0.253,0.067,2877,3506,3880,0,0,0,0,0,0,25.47,26.03,26.53
$GC,213,-0.75,-146.6,24.7,-13.9,34,221,0.00,2.10,0.00,0.000,6,0.000,0.031,2881,2103,3886,0,0,0,0,0,0,28.83,26.21,28.83
$GC,529,-0.75,-146.6,63.7,-12.9,95,536,0.00,2.20,0.00,0.000,4,0.000,0.050,2873,3507,3889,0,0,0,0,0,0,28.83,26.09,28.83
$GC,677,-0.75,-146.6,83.4,-12.4,123,684,0.00,2.08,0.00,0.000,6,0.000,0.031,2873,2113,3890,0,0,0,0,0,0,28.83,26.32,28.83
$GC,987,-0.75,-146.6,121.2,-12.2,167,991,0.00,2.17,0.00,0.000,4,0.000,0.050,2865,3503,3890,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1110,-0.75,-146.6,137.0,-12.7,179,1119,0.00,2.05,0.00,0.000,6,0.000,0.031,2865,2130,3890,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1420,-0.75,-146.6,176.4,-12.5,210,1430,0.00,2.12,0.00,0.000,4,0.000,0.051,2854,3503,3890,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1503,-0.75,-146.6,187.6,-13.4,218,1508,0.12,2.03,0.00,0.000,6,0.176,0.032,2884,2137,3889,0,0,0,0,0,0,25.99,26.40,28.83
$GC,1816,-0.75,-146.6,222.1,-10.6,249,1820,0.00,2.12,0.00,0.000,4,0.000,0.051,2877,3503,3888,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1909,-0.75,-146.6,232.4,-11.2,258,1918,0.00,2.03,0.00,0.000,6,0.000,0.031,2876,2139,3888,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2218,-0.75,-146.6,266.7,-11.3,289,2227,0.00,2.12,0.00,0.000,4,0.000,0.050,2867,3514,3887,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2321,-0.75,-146.6,278.8,-11.7,299,2329,0.00,2.00,0.00,0.000,6,0.000,0.031,2866,2163,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2630,-0.75,-146.6,313.9,-10.9,330,2640,0.00,2.10,0.00,0.000,4,0.000,0.050,2856,3507,3886,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2694,-0.75,-146.6,321.2,-11.7,336,2703,0.12,1.98,0.00,0.000,6,0.165,0.031,2887,2167,3887,0,0,0,0,0,0,26.08,26.46,28.83
$GC,3004,-0.75,-146.6,351.3,-9.6,367,3012,0.00,2.08,0.00,0.000,4,0.000,0.050,2879,3512,3886,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3106,-0.75,-146.6,361.7,-9.9,377,3109,0.00,1.98,0.00,0.000,6,0.000,0.031,2880,2183,3887,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3417,-0.75,-146.6,392.1,-9.2,408,3426,0.00,2.05,0.00,0.000,4,0.000,0.050,2870,3503,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3492,-0.75,-146.6,399.6,-10.4,415,3499,0.00,1.92,0.00,0.000,6,0.000,0.031,2870,2186,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3799,-0.75,-146.6,431.2,-10.3,446,3809,0.00,2.05,0.00,0.000,4,0.000,0.050,2859,3504,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3885,-0.75,-146.6,440.4,-11.2,454,3892,0.00,1.92,0.00,0.000,6,0.000,0.031,2860,2188,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4192,-0.75,-146.6,474.3,-10.8,485,4201,0.12,2.03,0.00,0.000,4,0.176,0.047,2888,3503,3886,0,0,0,0,0,0,26.23,26.26,28.83
$GC,4246,-0.75,-146.6,479.4,-9.8,490,4249,0.00,1.90,0.00,0.000,6,0.000,0.030,2887,2203,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4558,-0.75,-146.6,506.9,-8.7,521,4562,0.00,2.03,0.00,0.000,4,0.000,0.050,2878,3503,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4621,-0.75,-146.6,512.5,-9.1,527,4625,0.00,1.90,0.00,0.000,6,0.000,0.030,2878,2211,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4933,-0.75,-146.6,539.9,-8.6,558,4943,0.00,2.03,0.00,0.000,4,0.000,0.050,2868,3508,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5001,-0.75,-146.6,545.6,-9.1,564,5007,0.00,1.90,0.00,0.000,6,0.000,0.031,2868,2207,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5308,-0.75,-146.6,572.6,-8.9,595,5312,0.00,2.03,0.00,0.000,4,0.000,0.050,2859,3512,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5373,-0.75,-146.6,578.5,-9.5,601,5380,0.12,1.90,0.00,0.000,6,0.158,0.031,2890,2209,3886,0,0,0,0,0,0,26.13,26.52,28.83
$GC,5691,-0.75,-146.6,602.7,-7.3,631,5696,0.00,1.98,0.00,0.000,4,0.000,0.050,2882,3506,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5738,-0.75,-146.6,605.0,-7.4,632,5742,0.00,1.88,0.00,0.000,6,0.000,0.030,2882,2221,3886,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6049,-0.75,-146.6,630.9,-8.0,642,6055,0.00,2.00,0.00,0.000,4,0.000,0.050,2873,3514,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6101,-0.75,-146.6,633.7,-8.1,643,6108,0.00,1.88,0.00,0.000,6,0.000,0.030,2873,2226,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6409,-0.75,-146.6,662.2,-8.7,654,6413,0.00,2.00,0.00,0.000,4,0.000,0.050,2864,3517,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6450,-0.75,-146.6,665.3,-8.8,655,6454,0.00,1.90,0.00,0.000,6,0.000,0.030,2864,2235,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6772,-0.75,-146.6,695.7,-9.0,666,6778,0.00,1.98,0.00,0.000,4,0.000,0.050,2854,3531,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6852,-0.75,-146.6,701.6,-9.5,668,6857,0.12,1.88,0.00,0.000,6,0.158,0.030,2886,2241,3886,0,0,0,0,0,0,26.14,26.53,28.83
$GC,7159,-0.75,-146.6,727.9,-7.8,678,7163,0.00,1.95,0.00,0.000,4,0.000,0.050,2879,3505,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7194,-0.75,-146.6,730.7,-8.0,679,7198,0.00,1.83,0.00,0.000,6,0.000,0.030,2879,2250,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7517,-0.75,-146.6,757.7,-8.3,690,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2247,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7817,-0.75,-146.6,782.4,-8.2,700,7822,0.00,1.95,0.00,0.000,4,0.000,0.049,2870,3503,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7877,-0.75,-146.6,787.6,-8.5,702,7881,0.00,1.83,0.00,0.000,6,0.000,0.030,2869,2243,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8209,-0.75,-146.6,816.3,-8.6,713,8215,0.00,2.28,0.00,0.000,4,0.000,0.036,2870,715,3886,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8258,-0.75,-146.6,819.2,-8.8,714,8268,0.00,2.40,0.00,0.000,6,0.000,0.038,2860,2268,3886,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8569,-0.75,-146.6,849.7,-9.1,725,8575,0.12,1.85,0.00,0.000,4,0.177,0.049,2888,3501,3886,0,0,0,0,0,0,26.25,26.26,28.83
$GC,8675,-0.75,-146.6,856.8,-8.2,728,8679,0.00,1.83,0.00,0.000,6,0.000,0.031,2888,2267,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8993,-0.75,-146.6,881.0,-7.3,739,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2264,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9292,-0.75,-146.6,903.4,-7.6,749,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2264,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9594,-0.75,-146.6,925.3,-7.1,759,9597,0.00,1.95,0.00,0.000,4,0.000,0.050,2881,3515,3885,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,9622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9623,begin apogee
$GC,9632,-0.17,0.0,927.9,-7.3,760,9761,0.60,0.00,123.65,1.363,4,0.132,0.000,3073,1889,3279,0,0,0,0,0,0,25.75,28.83,23.48
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9768,0.75,146.6,932.5,0.0,764,9906,0.85,2.30,128.32,1.280,4,0.066,0.037,3375,505,2680,0,0,0,0,0,0,24.63,24.66,22.68
$GC,10117,0.75,146.6,899.5,13.4,776,10121,0.00,2.28,0.00,0.000,6,0.000,0.035,3375,1903,2670,0,0,0,0,0,0,28.83,25.12,28.83
$GC,10435,0.75,146.6,856.4,13.0,787,10441,0.00,2.22,0.00,0.000,4,0.000,0.037,3384,517,2667,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10670,0.75,146.6,827.7,13.6,794,10677,0.00,2.20,0.00,0.000,6,0.000,0.036,3384,1902,2666,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10977,0.75,146.6,785.0,13.1,805,10982,0.00,2.17,0.00,0.000,4,0.000,0.039,3393,516,2665,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11070,0.75,146.6,773.1,13.1,808,11074,0.00,2.17,0.00,0.000,6,0.000,0.036,3393,1896,2665,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11394,0.75,146.6,729.2,13.2,819,11395,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1896,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11694,0.75,146.6,690.4,12.9,829,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1896,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11995,0.75,146.6,651.1,13.1,839,12000,0.00,2.17,0.00,0.000,4,0.000,0.040,3402,516,2663,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12032,0.75,146.6,646.8,13.2,840,12037,0.12,2.15,0.00,0.000,6,0.174,0.036,3373,1894,2663,0,0,0,0,0,0,25.93,26.27,28.83
$GC,12351,0.75,146.6,607.2,12.1,851,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1894,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12651,0.75,146.6,571.5,12.1,875,12660,0.00,2.12,0.00,0.000,4,0.000,0.047,3373,3290,2663,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12677,0.75,146.6,568.6,12.2,877,12684,0.00,2.10,0.00,0.000,6,0.000,0.031,3380,1885,2663,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12983,0.75,146.6,529.6,12.2,908,12987,0.00,2.10,0.00,0.000,4,0.000,0.041,3390,511,2663,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13046,0.75,146.6,521.7,12.7,914,13056,0.00,2.15,0.00,0.000,6,0.000,0.036,3390,1884,2663,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13356,0.75,146.6,483.3,12.0,945,13365,0.00,2.17,0.00,0.000,4,0.000,0.048,3390,3305,2662,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13388,0.75,146.6,479.1,13.2,948,13396,0.00,2.12,0.00,0.000,6,0.000,0.031,3400,1886,2662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13699,0.75,146.6,441.2,12.1,979,13709,0.00,2.12,0.00,0.000,4,0.000,0.041,3409,498,2662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13774,0.75,146.6,432.1,12.2,986,13782,0.15,2.15,0.00,0.000,6,0.165,0.036,3372,1886,2663,0,0,0,0,0,0,25.97,26.36,28.83
$GC,14082,0.75,146.6,398.9,10.5,1017,14091,0.00,2.15,0.00,0.000,4,0.000,0.047,3372,3302,2662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14105,0.75,146.6,396.4,11.0,1019,14109,0.00,2.10,0.00,0.000,6,0.000,0.031,3379,1881,2662,0,0,0,0,0,0,28.83,26.43,28.83
$GC,14418,0.75,146.6,361.6,11.3,1050,14427,0.00,2.10,0.00,0.000,4,0.000,0.040,3390,497,2662,0,0,0,0,0,0,28.83,26.33,28.83
$GC,14460,0.75,146.6,356.6,11.3,1054,14470,0.00,2.15,0.00,0.000,6,0.000,0.035,3389,1880,2662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14771,0.75,146.6,320.2,12.0,1085,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1880,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15074,0.75,146.6,285.3,11.8,1115,15077,0.00,2.17,0.00,0.000,4,0.000,0.048,3389,3310,2662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15106,0.75,146.6,280.8,12.6,1118,15115,0.00,2.15,0.00,0.000,6,0.000,0.031,3399,1870,2662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15416,0.75,146.6,243.0,11.9,1149,15425,0.00,2.08,0.00,0.000,4,0.000,0.041,3409,499,2662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15528,0.75,146.6,229.0,12.7,1160,15537,0.15,2.15,0.00,0.000,6,0.164,0.036,3370,1886,2662,0,0,0,0,0,0,26.00,26.40,28.83
$GC,15838,0.75,146.6,195.2,10.1,1191,15847,0.00,2.15,0.00,0.000,4,0.000,0.047,3370,3299,2662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15910,0.75,146.6,187.1,11.3,1198,15920,0.00,2.12,0.00,0.000,6,0.000,0.031,3377,1860,2662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,16221,0.75,151.0,158.0,9.0,1229,16222,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1859,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16524,0.77,168.1,131.0,8.5,1259,16542,0.00,0.00,16.35,0.931,6,0.000,0.000,3377,1859,2593,0,0,0,0,0,0,28.83,28.83,25.19
$GC,16841,0.80,187.0,103.8,8.4,1291,16860,0.00,0.00,16.75,0.915,6,0.000,0.000,3377,1860,2516,0,0,0,0,0,0,28.83,28.83,25.05
$GC,17163,0.80,187.0,72.3,10.4,1350,17171,0.00,2.10,0.00,0.000,4,0.000,0.041,3387,510,2511,0,0,0,0,0,0,28.83,26.09,28.83
$GC,17249,0.80,187.0,63.3,10.5,1366,17257,0.00,2.15,0.00,0.000,6,0.000,0.036,3387,1878,2510,0,0,0,0,0,0,28.83,26.15,28.83
$GC,17566,0.80,195.1,31.0,8.8,1427,17578,0.00,0.00,7.57,0.818,6,0.000,0.000,3387,1877,2483,0,0,0,0,0,0,28.83,28.83,25.06
$FREEZE,8.65,4.997,-1.658,0,1,0
$FREEZE,8.04,4.999,-1.660,0,1,0
$FREEZE,7.22,5.006,-1.660,0,1,0
$GC,17887,1.13,462.6,14.3,-2.0,1489,18025,0.28,0.00,127.25,0.096,6,0.076,0.000,3499,1877,1389,0,0,0,0,0,0,26.17,28.83,25.79
$FREEZE,5.40,5.016,-1.661,0,1,0
$FREEZE,4.59,5.021,-1.660,0,1,0
$FREEZE,4.07,5.022,-1.660,0,1,0
$FREEZE,3.39,5.021,-1.660,0,1,0
$STATE,18049,end climb,SURFACE_DEPTH_REACHED
$STATE,18049,begin surface coast
$FREEZE,2.72,5.020,-1.659,0,1,0
$FREEZE,2.10,5.020,-1.659,0,1,0
$FREEZE,1.44,5.011,-1.659,0,1,0
$FREEZE,1.52,4.312,-1.594,0,1,0
$FREEZE,1.45,4.841,-1.270,0,1,0
$FREEZE,1.47,4.852,-0.995,0,1,0
$FINISH,1.5,1.014530
$STATE,18081,end surface coast,CONTROL_FINISHED_OK
$STATE,18082,begin surface
$SM_CCo,18162,0.00,0.000,0,0,1374,467.05
$SM_GC,2.42,8.52,0.32,0.00,0.049,0.063,0.000,339,2106,1374,-8.66,-1.22,467.05,0,0,0,0,0,0,25.91,26.05,28.83
$RAFOS_CLK,947
$RAFOS,6,1344487770,4.833333,4.825000,53,46,44,41,39,39,1597,607,555,562,142,473
$RAFOS,5,1344487290,4.700000,4.691667,45,44,44,43,43,38,1264,1676,971,484,1054,1430
$RAFOS,4,1344486808,4.566667,4.557778,55,51,45,43,42,42,1687,942,1747,1394,749,716
$RAFOS,3,1344486330,4.433333,4.425000,44,44,42,41,41,41,502,1000,1242,1283,635,1258
$RAFOS,2,1344485823,4.300000,4.284167,44,44,41,41,40,40,384,1451,711,1717,151,236
$RAFOS,1,1344485366,4.166667,4.157222,43,43,41,40,39,38,1436,1384,1614,1,1887,159
$RAFOS,0,1344484861,4.033333,4.016944,46,43,43,43,42,41,1590,405,1605,1169,304,1601
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5930.40,080812,212108
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.28
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,901.1,65.1
$24V_AH,22.7,32.677
$10V_AH,9.9,36.721
$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,21.900,153.425,419.900,0.000,0.000,0.000,0.000,316.825,7.000,0.000,17.200,3986.438,10473.015,603.276,3123.452,424.308,0.000,2429.333,0.000,2759.604,2520.000,30.361,0.000
$DEVICE_MAMPS,253.215,67.320,1363.230,0.000,0.000,0.000,0.000,286.883,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1093.829,1053.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,70050,1521
$CAP_FILE_SIZE,190456,0
$CFSIZE,260165632,223031296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.4
$CURRENT,0.089,  3.5,1
$GPS,090812,073252,6654.261,-5943.424,39,0.8,39,-34.0