version: 66.11
glider: 108
mission: 21
dive: 305
start: 8 13 112 22 29 0
data:
$ID,108
$MISSION,21
$DIVE,305
$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,-191472.27
$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,63
$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
$GPS1,130812,222022,6646.182,-5910.286,40,0.7,41,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-78.6
$GPS2,130812,222825,6646.216,-5910.351,18,1.3,18,-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,121.6,107395,-16.9,-9.167
$D_GRID,964
$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,-44.97,0.000,2,0.000,0.000,334,2114,2681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.75,-146.6,3.2,-1.2,8,117,10.23,2.17,-31.40,0.000,4,0.243,0.064,2878,3510,3881,0,0,0,0,0,0,25.49,26.13,26.70
$GC,253,-0.75,-146.6,30.1,-12.8,42,261,0.00,2.10,0.00,0.000,6,0.000,0.031,2878,2097,3886,0,0,0,0,0,0,28.83,26.32,28.83
$GC,569,-0.75,-146.6,72.0,-13.2,103,575,0.00,2.22,0.00,0.000,4,0.000,0.049,2868,3515,3888,0,0,0,0,0,0,28.83,26.13,28.83
$GC,703,-0.75,-146.6,91.1,-13.3,129,710,0.00,2.10,0.00,0.000,6,0.000,0.031,2868,2107,3888,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1013,-0.75,-146.6,131.7,-12.6,166,1022,0.00,2.17,0.00,0.000,4,0.000,0.050,2857,3503,3888,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1078,-0.75,-146.6,140.0,-13.0,172,1085,0.12,2.08,0.00,0.000,6,0.170,0.031,2887,2108,3888,0,0,0,0,0,0,25.99,26.40,28.83
$GC,1386,-0.75,-146.6,174.0,-10.8,203,1395,0.00,2.15,0.00,0.000,4,0.000,0.051,2879,3502,3888,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1471,-0.75,-146.6,183.5,-12.0,211,1479,0.00,2.05,0.00,0.000,6,0.000,0.031,2879,2120,3887,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1778,-0.75,-146.6,217.5,-10.6,242,1788,0.00,2.15,0.00,0.000,4,0.000,0.050,2869,3505,3887,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1892,-0.75,-146.6,230.1,-11.1,253,1901,0.00,2.05,0.00,0.000,6,0.000,0.031,2869,2115,3886,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2201,-0.75,-146.6,263.4,-10.5,284,2204,0.00,2.15,0.00,0.000,4,0.000,0.050,2859,3503,3886,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2313,-0.75,-146.6,276.0,-11.2,295,2322,0.08,2.03,0.00,0.000,6,0.138,0.031,2883,2136,3885,0,0,0,0,0,0,26.13,26.46,28.83
$GC,2623,-0.75,-146.6,304.0,-9.1,326,2632,0.00,2.10,0.00,0.000,4,0.000,0.050,2875,3506,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2737,-0.75,-146.6,315.2,-9.9,337,2745,0.00,2.00,0.00,0.000,6,0.000,0.031,2875,2150,3885,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3045,-0.75,-146.6,345.3,-9.8,368,3049,0.00,2.10,0.00,0.000,4,0.000,0.050,2865,3508,3885,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3159,-0.75,-146.6,357.4,-10.9,379,3167,0.00,1.98,0.00,0.000,6,0.000,0.030,2865,2165,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3468,-0.75,-146.6,391.2,-11.3,410,3477,0.00,2.08,0.00,0.000,4,0.000,0.050,2855,3513,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3573,-0.75,-146.6,403.4,-11.6,420,3582,0.10,1.98,0.00,0.000,6,0.163,0.030,2883,2168,3885,0,0,0,0,0,0,26.15,26.48,28.83
$GC,3881,-0.75,-146.6,434.2,-9.7,451,3890,0.00,2.05,0.00,0.000,4,0.000,0.050,2875,3511,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3953,-0.75,-146.6,441.7,-10.5,458,3957,0.00,1.95,0.00,0.000,6,0.000,0.030,2875,2176,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4265,-0.75,-146.6,472.3,-9.6,489,4274,0.00,2.05,0.00,0.000,4,0.000,0.050,2866,3503,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4368,-0.75,-146.6,482.8,-10.6,499,4377,0.00,1.95,0.00,0.000,6,0.000,0.030,2866,2178,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4677,-0.75,-146.6,513.9,-9.9,530,4686,0.00,2.05,0.00,0.000,4,0.000,0.049,2855,3510,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4763,-0.75,-146.6,522.7,-10.8,538,4771,0.12,1.92,0.00,0.000,6,0.152,0.030,2887,2192,3885,0,0,0,0,0,0,26.12,26.50,28.83
$GC,5070,-0.75,-146.6,549.9,-8.5,569,5082,0.00,2.03,0.00,0.000,4,0.000,0.049,2879,3517,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5146,-0.75,-146.6,556.9,-9.4,576,5154,0.00,1.92,0.00,0.000,6,0.000,0.030,2879,2206,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5456,-0.75,-146.6,585.9,-9.2,607,5464,0.00,2.03,0.00,0.000,4,0.000,0.050,2870,3505,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5531,-0.75,-146.6,593.2,-10.3,614,5541,0.00,1.90,0.00,0.000,6,0.000,0.030,2870,2209,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5839,-0.75,-146.6,623.4,-9.5,629,5845,0.00,1.98,0.00,0.000,4,0.000,0.050,2860,3503,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5919,-0.75,-146.6,629.5,-9.7,631,5922,0.00,1.88,0.00,0.000,6,0.000,0.030,2859,2223,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6231,-0.75,-146.6,661.7,-9.5,642,6236,0.00,1.98,0.00,0.000,4,0.000,0.050,2850,3504,3886,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6303,-0.75,-146.6,667.9,-10.0,644,6308,0.15,1.85,0.00,0.000,6,0.148,0.030,2889,2232,3886,0,0,0,0,0,0,26.04,26.50,28.83
$GC,6618,-0.75,-146.6,695.0,-8.2,655,6623,0.00,1.98,0.00,0.000,4,0.000,0.050,2882,3531,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6690,-0.75,-146.6,700.2,-8.3,657,6694,0.00,1.90,0.00,0.000,6,0.000,0.030,2882,2235,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7003,-0.75,-146.6,728.1,-8.5,668,7009,0.00,1.98,0.00,0.000,4,0.000,0.050,2873,3527,3886,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7076,-0.75,-146.6,733.7,-9.0,670,7080,0.00,1.88,0.00,0.000,6,0.000,0.030,2873,2243,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7389,-0.75,-146.6,762.6,-8.6,681,7392,0.00,1.95,0.00,0.000,4,0.000,0.050,2863,3506,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7451,-0.75,-146.6,768.4,-9.0,683,7455,0.00,1.83,0.00,0.000,6,0.000,0.031,2863,2263,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7783,-0.75,-146.6,799.3,-9.4,694,7787,0.00,1.92,0.00,0.000,4,0.000,0.050,2853,3507,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7851,-0.75,-146.6,805.7,-9.7,696,7855,0.12,1.80,0.00,0.000,6,0.148,0.031,2885,2267,3885,0,0,0,0,0,0,26.13,26.50,28.83
$GC,8180,-0.75,-146.6,832.8,-8.0,707,8186,0.00,1.92,0.00,0.000,4,0.000,0.050,2878,3503,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8233,-0.75,-146.6,835.4,-8.0,708,8239,0.00,1.80,0.00,0.000,6,0.000,0.031,2878,2270,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8540,-0.75,-146.6,863.2,-8.3,719,8545,0.00,1.92,0.00,0.000,4,0.000,0.050,2869,3507,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8592,-0.75,-146.6,865.9,-8.5,720,8599,0.00,1.80,0.00,0.000,6,0.000,0.031,2869,2275,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8901,-0.75,-146.6,895.6,-8.9,731,8904,0.00,1.95,0.00,0.000,4,0.000,0.050,2859,3529,3886,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8953,-0.75,-146.6,898.7,-9.0,732,8956,0.00,1.80,0.00,0.000,6,0.000,0.030,2859,2289,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9265,-0.75,-146.6,929.3,-9.2,743,9271,0.12,1.90,0.00,0.000,4,0.164,0.048,2889,3517,3886,0,0,0,0,0,0,26.28,26.20,28.83
$GC,9314,-0.75,-146.6,931.6,-8.8,744,9317,0.00,1.77,0.00,0.000,6,0.000,0.031,2889,2294,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9626,-0.75,-146.6,956.2,-7.5,755,9630,0.00,1.90,0.00,0.000,4,0.000,0.050,2881,3509,3886,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9652,-0.75,-146.6,956.2,-7.5,755,9659,0.00,1.77,0.00,0.000,6,0.000,0.031,2881,2287,3885,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,9746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9746,begin apogee
$GC,9753,-0.17,0.0,966.4,-8.3,759,9884,0.60,0.00,124.90,1.390,4,0.129,0.000,3073,1882,3279,0,0,0,0,0,0,25.67,28.83,23.35
$STATE,9887,end apogee,CONTROL_FINISHED_OK
$STATE,9887,begin climb
$GC,9891,0.75,146.6,971.3,0.0,763,10031,0.82,2.30,129.43,1.292,4,0.063,0.038,3371,500,2681,0,0,0,0,0,0,24.56,24.57,22.61
$GC,10260,0.75,146.6,941.0,12.0,776,10266,0.00,2.30,0.00,0.000,6,0.000,0.036,3371,1903,2671,0,0,0,0,0,0,28.83,25.16,28.83
$GC,10590,0.75,146.6,900.3,12.6,787,10596,0.00,2.17,0.00,0.000,4,0.000,0.047,3371,3300,2669,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10825,0.75,146.6,870.4,14.2,794,10833,0.00,2.15,0.00,0.000,6,0.000,0.031,3381,1882,2667,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11132,0.75,146.6,828.1,12.4,805,11138,0.00,2.15,0.00,0.000,4,0.000,0.040,3391,492,2667,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11176,0.75,146.6,824.3,12.4,806,11180,0.00,2.22,0.00,0.000,6,0.000,0.036,3391,1911,2666,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11488,0.75,146.6,782.8,12.6,817,11494,0.00,2.20,0.00,0.000,4,0.000,0.039,3399,511,2667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11526,0.75,146.6,779.2,12.5,818,11530,0.00,2.17,0.00,0.000,6,0.000,0.036,3399,1901,2666,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11846,0.75,146.6,737.3,12.8,829,11851,0.00,2.17,0.00,0.000,4,0.000,0.039,3408,507,2665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11892,0.75,146.6,733.2,12.9,830,11897,0.15,2.15,0.00,0.000,6,0.174,0.036,3370,1889,2665,0,0,0,0,0,0,25.79,26.22,28.83
$GC,12199,0.75,146.6,695.2,11.5,840,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1889,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12500,0.75,146.6,660.3,11.7,850,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1889,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12801,0.75,146.6,625.4,11.4,860,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1889,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13099,0.75,146.6,592.1,10.7,874,13109,0.00,2.17,0.00,0.000,4,0.000,0.041,3378,503,2665,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13126,0.75,146.6,589.6,11.0,876,13133,0.00,2.15,0.00,0.000,6,0.000,0.036,3378,1885,2664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13433,0.75,146.6,554.9,11.2,907,13443,0.00,2.12,0.00,0.000,4,0.000,0.040,3386,516,2664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13469,0.75,146.6,551.1,11.2,910,13477,0.00,2.12,0.00,0.000,6,0.000,0.036,3386,1883,2664,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13776,0.75,146.6,515.9,11.4,941,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1882,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14080,0.75,146.6,482.0,11.1,971,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1882,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14388,0.75,146.6,446.8,11.1,1002,14398,0.00,2.17,0.00,0.000,4,0.000,0.041,3395,493,2664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14465,0.75,146.6,438.0,11.8,1009,14472,0.00,2.17,0.00,0.000,6,0.000,0.037,3395,1890,2664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14771,0.75,146.6,401.5,11.7,1040,14780,0.00,2.15,0.00,0.000,4,0.000,0.041,3404,510,2664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14806,0.75,146.6,397.8,11.7,1043,14813,0.12,2.12,0.00,0.000,6,0.174,0.037,3374,1879,2663,0,0,0,0,0,0,25.98,26.35,28.83
$GC,15113,0.75,146.6,363.8,10.8,1074,15117,0.00,2.17,0.00,0.000,4,0.000,0.047,3374,3304,2663,0,0,0,0,0,0,28.83,26.23,28.83
$GC,15148,0.75,146.6,360.0,11.2,1077,15155,0.00,2.12,0.00,0.000,6,0.000,0.031,3381,1878,2664,0,0,0,0,0,0,28.83,26.42,28.83
$GC,15456,0.75,146.6,324.9,11.5,1108,15464,0.00,2.12,0.00,0.000,4,0.000,0.041,3392,500,2663,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15528,0.75,146.6,316.6,11.7,1115,15538,0.00,2.15,0.00,0.000,6,0.000,0.036,3392,1879,2664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15838,0.75,146.6,281.9,10.8,1146,15847,0.00,2.15,0.00,0.000,4,0.000,0.039,3401,489,2664,0,0,0,0,0,0,28.83,26.31,28.83
$GC,15901,0.75,146.6,274.9,11.2,1152,15905,0.12,2.15,0.00,0.000,6,0.174,0.037,3371,1880,2663,0,0,0,0,0,0,26.00,26.36,28.83
$GC,16214,0.75,149.0,244.9,9.1,1183,16218,0.00,2.17,0.00,0.000,4,0.000,0.048,3371,3311,2663,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16279,0.75,149.0,238.5,10.3,1189,16286,0.00,2.15,0.00,0.000,6,0.000,0.031,3379,1863,2664,0,0,0,0,0,0,28.83,26.44,28.83
$GC,16587,0.75,149.0,209.0,9.2,1220,16596,0.00,2.08,0.00,0.000,4,0.000,0.040,3389,509,2663,0,0,0,0,0,0,28.83,26.31,28.83
$GC,16629,0.75,149.0,205.1,9.3,1224,16637,0.00,2.12,0.00,0.000,6,0.000,0.036,3389,1875,2664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,16941,0.76,155.0,176.2,8.9,1255,16951,0.00,2.25,5.35,0.780,4,0.000,0.048,3388,3306,2647,0,0,0,0,0,0,28.83,26.42,24.99
$GC,16994,0.76,155.0,170.7,9.7,1260,16998,0.00,2.15,0.00,0.000,6,0.000,0.031,3398,1870,2647,0,0,0,0,0,0,28.83,26.42,28.83
$GC,17307,0.76,155.0,140.0,9.8,1291,17316,0.00,2.08,0.00,0.000,4,0.000,0.041,3408,503,2647,0,0,0,0,0,0,28.83,26.30,28.83
$GC,17454,0.76,155.0,126.2,9.8,1305,17462,0.15,2.12,0.00,0.000,6,0.165,0.037,3370,1876,2647,0,0,0,0,0,0,25.94,26.35,28.83
$GC,17762,0.81,196.0,101.8,7.5,1336,17804,0.00,2.30,35.45,0.932,4,0.000,0.048,3370,3308,2478,0,0,0,0,0,0,28.83,25.88,24.90
$GC,17828,0.81,196.0,96.2,9.5,1345,17835,0.00,2.17,0.00,0.000,6,0.000,0.031,3377,1878,2476,0,0,0,0,0,0,28.83,25.96,28.83
$GC,18141,0.82,207.1,67.7,8.7,1406,18156,0.00,2.20,9.85,0.847,4,0.000,0.041,3387,507,2434,0,0,0,0,0,0,28.83,26.00,24.85
$GC,18179,0.82,207.1,64.1,9.4,1412,18186,0.00,2.17,0.00,0.000,6,0.000,0.036,3387,1877,2432,0,0,0,0,0,0,28.83,26.00,28.83
$GC,18491,0.82,207.1,34.8,9.7,1473,18498,0.00,2.22,0.00,0.000,4,0.000,0.049,3387,3304,2430,0,0,0,0,0,0,28.83,25.96,28.83
$GC,18593,0.82,211.0,26.2,9.0,1492,18601,0.00,2.15,2.38,0.340,6,0.000,0.032,3397,1886,2418,0,0,0,0,0,0,28.83,26.15,24.61
$FREEZE,8.74,5.344,-1.683,0,1,0
$GC,18910,1.12,454.4,15.1,-1.0,1553,19033,0.25,0.00,116.53,0.099,6,0.080,0.000,3498,1886,1425,0,0,0,0,0,0,26.15,28.83,25.74
$FREEZE,7.00,5.346,-1.679,0,1,0
$FREEZE,6.39,5.348,-1.678,0,1,0
$FREEZE,5.33,5.354,-1.677,0,1,0
$FREEZE,4.62,5.362,-1.677,0,1,0
$FREEZE,3.99,5.403,-1.676,0,1,0
$STATE,19061,end climb,SURFACE_DEPTH_REACHED
$STATE,19061,begin surface coast
$FREEZE,3.20,5.403,-1.676,0,1,0
$FREEZE,2.46,5.410,-1.675,0,1,0
$FREEZE,1.84,5.409,-1.675,0,1,0
$FREEZE,1.55,5.412,-0.858,0,1,0
$FREEZE,1.53,5.412,-1.663,0,1,0
$FREEZE,1.52,5.410,-1.524,0,1,0
$FINISH,1.5,1.022051
$STATE,19093,end surface coast,CONTROL_FINISHED_OK
$STATE,19093,begin surface
$SM_CCo,19173,0.00,0.000,0,0,1409,458.47
$SM_GC,2.64,8.55,0.35,0.00,0.050,0.061,0.000,338,2101,1409,-8.66,-1.24,458.47,0,0,0,0,0,0,25.92,26.03,28.83
$RAFOS_CLK,1006
$RAFOS,6,1344905356,0.833333,0.821111,49,42,42,41,39,39,1227,302,1902,891,551,1750
$RAFOS,5,1344904876,0.700000,0.687778,43,42,42,42,41,41,1226,628,1293,1808,1,1712
$RAFOS,4,1344904382,0.566667,0.550556,73,57,43,43,43,42,544,545,1765,107,1653,1886
$RAFOS,3,1344903909,0.433333,0.419167,43,42,42,41,41,40,573,180,1001,1406,372,1174
$RAFOS,2,1344903433,0.300000,0.286944,42,42,42,42,42,40,162,948,1744,992,1557,1861
$RAFOS,1,1344902958,0.166667,0.155000,48,47,44,43,43,40,1107,1630,1707,154,1488,1938
$RAFOS,0,1344902465,0.033333,0.018056,46,43,42,41,39,39,137,594,61,1374,818,1537
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5918.02,130812,161629
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.70
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,951.6,36.5
$24V_AH,22.6,35.601
$10V_AH,9.9,39.878
$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,21.825,182.250,423.875,0.000,0.000,0.000,0.000,333.050,7.250,0.000,20.203,4145.005,11077.835,641.675,3319.165,461.781,0.000,2592.736,0.000,2943.238,2520.000,30.109,0.000
$DEVICE_MAMPS,243.270,64.260,1390.005,0.000,0.000,0.000,0.000,286.134,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.640,1107.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151604
$DATA_FILE_SIZE,73359,1584
$CAP_FILE_SIZE,205702,0
$CFSIZE,260165632,220749824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.7
$CURRENT,0.020,  1.8,1
$GPS,140812,035000,6645.982,-5904.223,37,0.8,37,-33.7