version: 66.11
glider: 108
mission: 21
dive: 304
start: 8 13 112 17 4 23
data:
$ID,108
$MISSION,21
$DIVE,304
$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,-191471.02
$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,72
$R_STBD_OVSHOOT,49
$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
$GPS1,130812,165604,6644.377,-5914.658,23,0.8,24,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-77.3
$GPS2,130812,170348,6644.345,-5914.470,16,1.1,16,-33.7
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,78.9,111272,-16.9,-9.167
$D_GRID,935
$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,-146.6,0.0,0.0,0,54,0.00,0.00,-35.78,0.000,2,0.000,0.000,338,2068,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.75,-146.6,3.0,-2.0,6,125,10.23,2.25,-48.95,0.000,4,0.243,0.063,2876,3501,3879,0,0,0,0,0,0,25.46,26.08,26.64
$GC,357,-0.75,-146.6,43.8,-13.7,62,364,0.00,2.08,0.00,0.000,6,0.000,0.031,2883,2106,3884,0,0,0,0,0,0,28.83,26.31,28.83
$GC,669,-0.75,-146.6,82.9,-12.3,123,676,0.00,2.17,0.00,0.000,4,0.000,0.050,2874,3506,3885,0,0,0,0,0,0,28.83,26.13,28.83
$GC,784,-0.75,-146.6,97.3,-12.1,145,791,0.00,2.08,0.00,0.000,6,0.000,0.031,2875,2106,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1100,-0.75,-146.6,135.9,-12.1,178,1104,0.00,2.17,0.00,0.000,4,0.000,0.051,2864,3505,3885,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1304,-0.75,-146.6,162.1,-12.9,198,1313,0.00,2.03,0.00,0.000,6,0.000,0.031,2864,2112,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1613,-0.75,-146.6,199.9,-12.5,229,1623,0.00,2.17,0.00,0.000,4,0.000,0.050,2853,3502,3885,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1758,-0.75,-146.6,218.5,-13.1,243,1768,0.10,2.00,0.00,0.000,6,0.143,0.031,2885,2144,3884,0,0,0,0,0,0,26.02,26.43,28.83
$GC,2067,-0.75,-146.6,251.3,-10.4,274,2076,0.00,2.10,0.00,0.000,4,0.000,0.050,2878,3499,3884,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2183,-0.75,-146.6,263.6,-11.1,285,2190,0.00,1.98,0.00,0.000,6,0.000,0.031,2877,2157,3884,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2489,-0.75,-146.6,296.7,-10.7,316,2498,0.00,2.08,0.00,0.000,4,0.000,0.050,2868,3502,3883,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2565,-0.75,-146.6,304.8,-11.4,323,2572,0.00,1.95,0.00,0.000,6,0.000,0.031,2868,2160,3883,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2872,-0.75,-146.6,339.1,-11.0,354,2880,0.00,2.08,0.00,0.000,4,0.000,0.050,2857,3501,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2955,-0.75,-146.6,348.9,-11.9,362,2964,0.10,1.98,0.00,0.000,6,0.168,0.031,2887,2162,3883,0,0,0,0,0,0,26.10,26.47,28.83
$GC,3264,-0.75,-146.6,378.5,-9.5,393,3274,0.00,2.05,0.00,0.000,4,0.000,0.050,2879,3494,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3349,-0.75,-146.6,386.8,-10.0,401,3357,0.00,1.90,0.00,0.000,6,0.000,0.031,2879,2182,3883,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3657,-0.75,-146.6,416.9,-9.4,432,3666,0.00,2.05,0.00,0.000,4,0.000,0.050,2870,3523,3883,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3773,-0.75,-146.6,428.2,-10.0,443,3779,0.00,1.95,0.00,0.000,6,0.000,0.031,2870,2190,3883,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4080,-0.75,-146.6,458.2,-9.4,474,4084,0.00,2.03,0.00,0.000,4,0.000,0.049,2859,3502,3883,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4182,-0.75,-146.6,468.4,-10.0,484,4191,0.12,1.90,0.00,0.000,6,0.156,0.030,2891,2207,3883,0,0,0,0,0,0,26.11,26.50,28.83
$GC,4492,-0.75,-146.6,493.0,-7.8,515,4501,0.00,2.00,0.00,0.000,4,0.000,0.050,2883,3506,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4554,-0.75,-146.6,498.4,-8.8,521,4564,0.00,1.90,0.00,0.000,6,0.000,0.030,2883,2209,3883,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4864,-0.75,-146.6,523.4,-7.9,552,4868,0.00,2.00,0.00,0.000,4,0.000,0.050,2874,3499,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4948,-0.75,-146.6,530.3,-8.6,560,4952,0.00,1.90,0.00,0.000,6,0.000,0.031,2874,2207,3883,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5260,-0.75,-146.6,556.2,-8.1,591,5269,0.00,2.03,0.00,0.000,4,0.000,0.049,2864,3506,3883,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5342,-0.75,-146.6,563.5,-9.0,599,5346,0.00,1.90,0.00,0.000,6,0.000,0.030,2864,2215,3883,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5655,-0.75,-146.6,591.6,-9.1,630,5664,0.00,2.00,0.00,0.000,4,0.000,0.050,2854,3500,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5748,-0.75,-146.6,601.3,-10.2,639,5752,0.05,1.88,0.00,0.000,6,0.142,0.031,2885,2240,3883,0,0,0,0,0,0,26.10,26.50,28.83
$GC,6082,-0.75,-146.6,628.1,-8.0,650,6087,0.00,1.95,0.00,0.000,4,0.000,0.050,2878,3509,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6145,-0.75,-146.6,633.3,-8.4,652,6148,0.00,1.83,0.00,0.000,6,0.000,0.030,2878,2248,3883,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6472,-0.75,-146.6,662.4,-8.7,663,6476,0.00,1.95,0.00,0.000,4,0.000,0.050,2869,3506,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6528,-0.75,-146.6,665.5,-8.9,664,6535,0.00,1.83,0.00,0.000,6,0.000,0.031,2869,2255,3883,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6834,-0.75,-146.6,697.1,-9.5,675,6839,0.00,1.95,0.00,0.000,4,0.000,0.049,2859,3509,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6908,-0.75,-146.6,703.1,-9.9,677,6913,0.12,1.80,0.00,0.000,6,0.151,0.031,2891,2257,3883,0,0,0,0,0,0,26.13,26.51,28.83
$GC,7221,-0.75,-146.6,729.7,-7.8,688,7227,0.00,1.95,0.00,0.000,4,0.000,0.049,2884,3511,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7264,-0.75,-146.6,732.2,-7.8,689,7268,0.00,1.77,0.00,0.000,6,0.000,0.031,2883,2279,3883,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7582,-0.75,-146.6,759.5,-8.3,700,7587,0.00,1.90,0.00,0.000,4,0.000,0.049,2874,3510,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7644,-0.75,-146.6,764.9,-8.7,702,7647,0.00,1.77,0.00,0.000,6,0.000,0.031,2874,2279,3883,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7972,-0.75,-146.6,794.6,-8.8,713,7977,0.00,1.90,0.00,0.000,4,0.000,0.050,2866,3510,3883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8019,-0.75,-146.6,797.4,-8.9,714,8023,0.00,1.75,0.00,0.000,6,0.000,0.031,2865,2295,3883,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8331,-0.75,-146.6,828.3,-9.4,725,8335,0.00,1.90,0.00,0.000,4,0.000,0.050,2856,3494,3883,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8383,-0.75,-146.6,831.6,-9.5,726,8387,0.12,1.73,0.00,0.000,6,0.150,0.031,2888,2298,3883,0,0,0,0,0,0,26.13,26.50,28.83
$GC,8696,-0.75,-146.6,859.1,-7.9,737,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2297,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8996,-0.75,-146.6,884.0,-8.3,747,8999,0.00,1.88,0.00,0.000,4,0.000,0.050,2881,3500,3883,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9042,-0.75,-146.6,886.7,-8.3,748,9045,0.00,1.73,0.00,0.000,6,0.000,0.031,2881,2307,3883,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9359,-0.75,-146.6,914.1,-8.1,759,9362,0.00,1.85,0.00,0.000,4,0.000,0.050,2872,3503,3883,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9393,-0.75,-146.6,916.7,-8.1,760,9397,0.00,1.73,0.00,0.000,6,0.000,0.031,2872,2310,3883,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,9627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9627,begin apogee
$GC,9635,-0.17,0.0,937.3,-8.7,768,9763,0.62,0.00,123.35,1.357,4,0.132,0.000,3070,1903,3279,0,0,0,0,0,0,25.63,28.83,23.43
$STATE,9766,end apogee,CONTROL_FINISHED_OK
$STATE,9766,begin climb
$GC,9769,0.75,146.6,942.4,0.0,772,9910,0.85,2.33,128.70,1.273,4,0.064,0.038,3376,504,2681,0,0,0,0,0,0,24.59,24.60,22.65
$GC,10138,0.75,146.6,913.6,11.8,785,10144,0.00,2.25,0.00,0.000,6,0.000,0.035,3376,1889,2670,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10468,0.75,146.6,873.6,12.2,796,10474,0.00,2.22,0.00,0.000,4,0.000,0.047,3376,3315,2668,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10701,0.75,146.6,845.1,13.6,803,10708,0.00,2.17,0.00,0.000,6,0.000,0.031,3385,1887,2666,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11009,0.75,146.6,803.8,12.2,814,11014,0.00,2.12,0.00,0.000,4,0.000,0.041,3395,512,2666,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11071,0.75,146.6,796.5,12.1,816,11075,0.00,2.15,0.00,0.000,6,0.000,0.036,3396,1895,2666,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11395,0.75,146.6,756.5,12.1,827,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1895,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11693,0.75,146.6,720.1,12.1,837,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1895,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11994,0.75,146.6,683.4,12.3,847,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1895,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12293,0.75,146.6,646.2,12.4,857,12299,0.00,2.20,0.00,0.000,4,0.000,0.040,3404,497,2665,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12326,0.75,146.6,642.5,12.4,858,12331,0.15,2.15,0.00,0.000,6,0.171,0.036,3368,1890,2664,0,0,0,0,0,0,25.86,26.27,28.83
$GC,12651,0.75,146.6,605.9,11.1,869,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1889,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12951,0.75,146.6,572.6,11.1,895,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1889,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13262,0.75,146.6,538.1,11.0,926,13270,0.00,2.15,0.00,0.000,4,0.000,0.041,3375,509,2664,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13313,0.75,146.6,532.1,11.0,931,13322,0.00,2.15,0.00,0.000,6,0.000,0.037,3375,1882,2664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13624,0.75,146.6,497.2,10.9,962,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1882,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13923,0.75,146.6,464.7,10.5,992,13932,0.00,2.17,0.00,0.000,4,0.000,0.048,3374,3304,2663,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13948,0.75,146.6,462.2,11.4,994,13955,0.00,2.15,0.00,0.000,6,0.000,0.031,3384,1862,2663,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14256,0.75,146.6,427.8,11.1,1025,14265,0.00,2.05,0.00,0.000,4,0.000,0.041,3394,516,2663,0,0,0,0,0,0,28.83,26.30,28.83
$GC,14380,0.75,146.6,413.8,11.3,1037,14389,0.00,2.08,0.00,0.000,6,0.000,0.036,3394,1871,2664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14688,0.75,146.6,378.6,11.1,1068,14690,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1871,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14991,0.75,146.6,345.0,11.1,1098,15000,0.00,2.12,0.00,0.000,4,0.000,0.041,3402,505,2663,0,0,0,0,0,0,28.83,26.31,28.83
$GC,15033,0.75,146.6,340.0,11.1,1102,15043,0.10,2.10,0.00,0.000,6,0.154,0.036,3372,1870,2663,0,0,0,0,0,0,25.96,26.38,28.83
$GC,15343,0.75,146.6,309.8,9.7,1133,15352,0.00,2.20,0.00,0.000,4,0.000,0.046,3372,3299,2663,0,0,0,0,0,0,28.83,26.26,28.83
$GC,15385,0.75,146.6,305.4,10.3,1137,15395,0.00,2.15,0.00,0.000,6,0.000,0.031,3379,1861,2663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,15696,0.75,146.6,274.1,9.7,1168,15704,0.00,2.08,0.00,0.000,4,0.000,0.041,3389,508,2663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15777,0.75,146.6,265.9,10.4,1176,15786,0.00,2.12,0.00,0.000,6,0.000,0.036,3389,1874,2664,0,0,0,0,0,0,28.83,26.38,28.83
$GC,16088,0.75,146.6,232.9,10.3,1207,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1875,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16390,0.75,146.6,200.7,10.5,1237,16393,0.00,2.17,0.00,0.000,4,0.000,0.047,3389,3305,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16415,0.75,146.6,198.0,10.8,1239,16421,0.00,2.15,0.00,0.000,6,0.000,0.031,3399,1860,2663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,16722,0.75,146.6,166.6,9.5,1270,16731,0.00,2.05,0.00,0.000,4,0.000,0.040,3409,507,2664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,16919,0.75,146.6,147.6,9.9,1289,16927,0.15,2.10,0.00,0.000,6,0.168,0.035,3370,1870,2663,0,0,0,0,0,0,25.95,26.39,28.83
$GC,17227,0.80,190.3,123.6,7.3,1320,17266,0.00,2.22,34.20,0.943,4,0.000,0.041,3377,509,2502,0,0,0,0,0,0,28.83,25.96,24.94
$GC,17394,0.81,196.9,109.8,8.9,1336,17411,0.00,2.10,6.55,0.792,6,0.000,0.036,3377,1840,2475,0,0,0,0,0,0,28.83,25.98,24.74
$GC,17714,0.82,206.6,80.6,8.8,1389,17728,0.00,2.33,9.55,0.851,4,0.000,0.048,3377,3293,2436,0,0,0,0,0,0,28.83,26.00,24.87
$GC,17776,0.82,206.6,74.4,10.8,1400,17782,0.00,2.17,0.00,0.000,6,0.000,0.031,3386,1853,2433,0,0,0,0,0,0,28.83,26.05,28.83
$GC,18088,0.82,206.6,44.2,9.9,1461,18095,0.00,2.28,0.00,0.000,4,0.000,0.047,3386,3293,2432,0,0,0,0,0,0,28.83,26.02,28.83
$GC,18113,0.82,206.6,41.5,9.9,1465,18121,0.00,2.20,0.00,0.000,6,0.000,0.032,3396,1848,2432,0,0,0,0,0,0,28.83,26.16,28.83
$GC,18429,0.91,281.8,15.2,6.0,1526,18471,0.00,0.00,36.80,0.099,6,0.000,0.000,3396,1848,2129,0,0,0,0,0,0,28.83,28.83,25.81
$FREEZE,8.90,5.072,-1.672,0,1,0
$FREEZE,8.55,5.086,-1.672,0,1,0
$FREEZE,8.38,5.098,-1.673,0,1,0
$FREEZE,8.14,5.119,-1.673,0,1,0
$FREEZE,7.95,5.132,-1.673,0,1,0
$FREEZE,7.71,5.143,-1.673,0,1,0
$FREEZE,7.54,5.151,-1.673,0,1,0
$FREEZE,7.37,5.161,-1.673,0,1,0
$FREEZE,7.13,5.170,-1.673,0,1,0
$FREEZE,6.88,5.174,-1.674,0,1,0
$FREEZE,6.66,5.180,-1.674,0,1,0
$FREEZE,6.47,5.186,-1.674,0,1,0
$FREEZE,6.17,5.192,-1.674,0,1,0
$FREEZE,5.97,5.199,-1.674,0,1,0
$FREEZE,5.84,5.205,-1.674,0,1,0
$FREEZE,5.54,5.211,-1.673,0,1,0
$FREEZE,5.31,5.216,-1.673,0,1,0
$FREEZE,5.15,5.221,-1.673,0,1,0
$FREEZE,4.91,5.222,-1.673,0,1,0
$FREEZE,4.74,5.228,-1.673,0,1,0
$FREEZE,4.51,5.232,-1.672,0,1,0
$FREEZE,4.27,5.243,-1.672,0,1,0
$FREEZE,4.13,5.252,-1.672,0,1,0
$FREEZE,3.89,5.255,-1.672,0,1,0
$STATE,18683,end climb,SURFACE_DEPTH_REACHED
$STATE,18684,begin surface coast
$FREEZE,3.42,5.269,-1.671,0,1,0
$FREEZE,3.27,5.275,-1.671,0,1,0
$FREEZE,3.05,5.285,-1.672,0,1,0
$FREEZE,2.82,5.324,-1.671,0,1,0
$FREEZE,2.65,5.353,-1.670,0,1,0
$FREEZE,2.41,5.386,-1.670,0,1,0
$FREEZE,2.24,5.403,-1.669,0,1,0
$FREEZE,2.07,5.405,-1.670,0,1,0
$FREEZE,1.83,5.415,-1.670,0,1,0
$FREEZE,1.55,5.422,-1.669,0,1,0
$FREEZE,1.44,5.082,-1.449,0,1,0
$FREEZE,1.36,5.151,-0.777,0,1,0
$FREEZE,1.55,5.204,-0.901,0,1,0
$FREEZE,1.48,5.185,-0.228,0,1,0
$FREEZE,1.57,5.033,-0.243,0,1,0
$FREEZE,1.39,5.164,-1.073,0,1,0
$FREEZE,1.57,4.971,-1.674,0,1,0
$FREEZE,1.51,5.208,-0.871,0,1,0
$FREEZE,1.40,5.201,-0.883,0,1,0
$FREEZE,1.42,5.283,-0.975,0,1,0
$FINISH,1.4,1.014209
$STATE,18791,end surface coast,CONTROL_FINISHED_OK
$STATE,18791,begin surface
$SM_CCo,18812,52.00,0.075,0,0,1648,400.08
$SM_GC,3.07,8.35,0.40,52.00,0.058,0.056,0.075,336,2101,1648,-8.67,-1.36,400.08,0,0,0,0,0,0,26.08,26.20,25.91
$RAFOS_CLK,979
$RAFOS,6,1344890944,20.833334,20.817778,54,46,43,43,41,39,1526,1804,61,403,413,1111
$RAFOS,5,1344890469,20.700001,20.685833,47,45,42,41,41,41,669,1824,1134,1561,1400,1642
$RAFOS,4,1344889989,20.566668,20.552500,49,44,41,41,40,40,1500,665,452,903,1115,1614
$RAFOS,3,1344889514,20.433332,20.420555,42,42,41,41,40,39,791,1707,156,320,464,1320
$RAFOS,2,1344889034,20.299999,20.287222,57,48,46,46,43,41,1318,804,1442,1788,436,1589
$RAFOS,1,1344888542,20.166666,20.150555,47,46,46,41,41,41,768,478,1032,142,233,830
$RAFOS,0,1344888062,20.033333,20.017221,48,44,43,43,42,40,182,441,912,1089,1697,61
$RAFOS,6,1344876541,16.833334,16.816944,48,43,43,42,40,40,873,1676,488,1156,1,61
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5917.14,130812,111151
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.01
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.70
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,22.7,35.487
$10V_AH,9.8,39.749
$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,21.075,155.550,339.150,52.000,0.000,0.000,0.000,316.525,5.250,0.000,18.040,4158.502,10810.566,597.569,3304.376,449.393,0.000,2492.342,0.000,2944.202,2520.000,25.590,0.000
$DEVICE_MAMPS,243.270,62.730,1357.110,74.970,0.000,0.000,0.000,287.632,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1149.550,1111.038,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151656
$DATA_FILE_SIZE,73383,1594
$CAP_FILE_SIZE,198617,0
$CFSIZE,260165632,220848128
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.0
$CURRENT,0.064,341.4,1
$GPS,130812,222022,6646.182,-5910.286,40,0.7,41,-33.7