version: 66.11
glider: 108
mission: 21
dive: 362
start: 8 24 112 3 20 14
data:
$ID,108
$MISSION,21
$DIVE,362
$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,-3
$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,-191543.61
$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,47
$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
$GPS1,240812,031134,6659.990,-5813.395,31,0.7,31,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-78.8
$GPS2,240812,031938,6659.838,-5813.466,17,1.4,18,-33.8
$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,301.4,101297,-16.9,-9.167
$D_GRID,995
$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,-146.6,0.0,0.0,0,46,0.00,0.00,-27.83,0.000,2,0.000,0.000,344,2114,2266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-0.75,-146.6,3.0,-2.1,5,130,10.52,2.28,-58.92,0.000,4,0.252,0.054,2892,709,3883,0,0,0,0,0,0,25.43,26.11,26.65
$GC,165,-0.75,-146.6,15.8,-21.9,24,172,0.00,2.17,0.00,0.000,6,0.000,0.041,2885,2095,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,477,-0.75,-146.6,58.6,-13.3,85,484,0.00,2.17,0.00,0.000,4,0.000,0.050,2874,3510,3890,0,0,0,0,0,0,28.83,26.02,28.83
$GC,653,-0.75,-146.6,82.8,-13.6,119,661,0.00,2.10,0.00,0.000,6,0.000,0.031,2874,2095,3891,0,0,0,0,0,0,28.83,26.31,28.83
$GC,970,-0.75,-146.6,120.9,-11.2,163,974,0.00,2.22,0.00,0.000,4,0.000,0.050,2863,3518,3891,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1155,-0.75,-146.6,143.7,-13.0,181,1162,0.00,2.10,0.00,0.000,6,0.000,0.031,2864,2102,3891,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1463,-0.75,-146.6,183.8,-12.0,212,1472,0.00,2.17,0.00,0.000,4,0.000,0.051,2853,3504,3890,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1586,-0.75,-146.6,198.5,-11.7,224,1595,0.12,2.05,0.00,0.000,6,0.171,0.031,2888,2125,3889,0,0,0,0,0,0,25.89,26.36,28.83
$GC,1895,-0.75,-146.6,229.9,-9.5,255,1899,0.00,2.17,0.00,0.000,4,0.000,0.051,2880,3508,3888,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2011,-0.75,-146.6,241.6,-10.2,266,2018,0.00,2.03,0.00,0.000,6,0.000,0.031,2880,2135,3888,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2317,-0.75,-146.6,274.0,-10.5,297,2326,0.00,2.12,0.00,0.000,4,0.000,0.050,2870,3514,3888,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2413,-0.75,-146.6,283.9,-10.9,306,2420,0.00,2.00,0.00,0.000,6,0.000,0.031,2870,2153,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2719,-0.75,-146.6,316.1,-9.9,337,2723,0.00,2.10,0.00,0.000,4,0.000,0.050,2859,3509,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2825,-0.75,-146.6,326.9,-10.9,347,2834,0.12,1.98,0.00,0.000,6,0.159,0.031,2890,2160,3886,0,0,0,0,0,0,26.00,26.40,28.83
$GC,3132,-0.75,-146.6,352.4,-7.7,378,3141,0.00,2.08,0.00,0.000,4,0.000,0.050,2882,3502,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3178,-0.75,-146.6,356.0,-8.5,382,3185,0.00,1.98,0.00,0.000,6,0.000,0.031,2883,2154,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3485,-0.75,-146.6,381.8,-8.1,413,3493,0.00,2.08,0.00,0.000,4,0.000,0.050,2872,3508,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3560,-0.75,-146.6,388.2,-8.9,420,3567,0.00,1.98,0.00,0.000,6,0.000,0.030,2873,2159,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3867,-0.75,-146.6,414.0,-8.5,451,3872,0.00,2.10,0.00,0.000,4,0.000,0.049,2863,3511,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3923,-0.75,-146.6,419.1,-9.5,456,3930,0.00,1.95,0.00,0.000,6,0.000,0.030,2862,2178,3886,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4231,-0.75,-146.6,447.6,-9.5,487,4240,0.00,2.05,0.00,0.000,4,0.000,0.049,2852,3506,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4318,-0.75,-146.6,456.2,-10.3,495,4326,0.15,1.92,0.00,0.000,6,0.149,0.031,2892,2186,3887,0,0,0,0,0,0,25.94,26.41,28.83
$GC,4626,-0.75,-146.6,480.3,-7.5,526,4634,0.00,2.03,0.00,0.000,4,0.000,0.049,2884,3516,3887,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4690,-0.75,-146.6,485.2,-7.8,532,4697,0.00,1.92,0.00,0.000,6,0.000,0.030,2884,2193,3887,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4999,-0.75,-146.6,508.8,-7.4,563,5008,0.00,2.05,0.00,0.000,4,0.000,0.050,2875,3514,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5065,-0.75,-146.6,514.0,-8.4,569,5071,0.00,1.92,0.00,0.000,6,0.000,0.030,2874,2197,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5372,-0.75,-146.6,538.8,-8.2,600,5381,0.00,2.00,0.00,0.000,4,0.000,0.050,2865,3502,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5435,-0.75,-146.6,544.2,-8.9,606,5443,0.00,1.90,0.00,0.000,6,0.000,0.030,2865,2208,3887,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5744,-0.75,-146.6,570.4,-8.0,637,5753,0.00,2.03,0.00,0.000,4,0.000,0.049,2855,3506,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5820,-0.75,-146.6,576.8,-8.7,644,5827,0.12,1.90,0.00,0.000,6,0.151,0.030,2886,2204,3887,0,0,0,0,0,0,26.04,26.42,28.83
$GC,6127,-0.75,-146.6,598.8,-7.2,675,6131,0.00,2.03,0.00,0.000,4,0.000,0.050,2879,3512,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6183,-0.75,-146.6,601.4,-7.6,678,6189,0.00,1.90,0.00,0.000,6,0.000,0.030,2879,2208,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6491,-0.75,-146.6,627.8,-8.1,689,6496,0.00,2.03,0.00,0.000,4,0.000,0.049,2869,3522,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6563,-0.75,-146.6,633.2,-8.5,691,6566,0.00,1.90,0.00,0.000,6,0.000,0.030,2869,2228,3887,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6880,-0.75,-146.6,662.1,-8.9,702,6884,0.00,2.03,0.00,0.000,4,0.000,0.049,2859,3520,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6937,-0.75,-146.6,665.3,-9.0,703,6945,0.12,1.88,0.00,0.000,6,0.151,0.031,2891,2232,3887,0,0,0,0,0,0,26.03,26.41,28.83
$GC,7244,-0.75,-146.6,690.1,-7.3,714,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2232,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7544,-0.75,-146.6,712.5,-7.6,724,7550,0.00,2.00,0.00,0.000,4,0.000,0.050,2884,3516,3887,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7597,-0.75,-146.6,714.8,-7.6,725,7604,0.00,1.90,0.00,0.000,6,0.000,0.031,2883,2229,3887,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7906,-0.75,-146.6,740.3,-7.3,736,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2228,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8203,-0.75,-146.6,762.3,-7.2,746,8209,0.00,2.00,0.00,0.000,4,0.000,0.050,2874,3510,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8252,-0.75,-146.6,764.6,-7.2,747,8256,0.00,1.85,0.00,0.000,6,0.000,0.031,2874,2242,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8565,-0.75,-146.6,789.0,-7.4,758,8570,0.00,1.98,0.00,0.000,4,0.000,0.050,2865,3518,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8603,-0.75,-146.6,791.3,-7.4,759,8607,0.00,1.88,0.00,0.000,6,0.000,0.030,2865,2234,3887,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8925,-0.75,-146.6,819.1,-8.6,770,8931,0.00,1.98,0.00,0.000,4,0.000,0.049,2855,3509,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8958,-0.75,-146.6,821.9,-8.8,771,8963,0.12,1.85,0.00,0.000,6,0.148,0.030,2887,2239,3887,0,0,0,0,0,0,26.03,26.41,28.83
$GC,9282,-0.75,-146.6,847.5,-7.9,782,9288,0.00,2.00,0.00,0.000,4,0.000,0.050,2879,3519,3887,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9320,-0.75,-146.6,849.9,-7.9,783,9323,0.00,1.85,0.00,0.000,6,0.000,0.031,2879,2251,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9643,-0.75,-146.6,876.2,-8.1,794,9647,0.00,1.98,0.00,0.000,4,0.000,0.050,2870,3512,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9685,-0.75,-146.6,879.1,-8.2,795,9688,0.00,1.83,0.00,0.000,6,0.000,0.030,2870,2261,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10007,-0.75,-146.6,907.2,-8.2,806,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2257,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10307,-0.75,-146.6,931.7,-8.2,816,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2256,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10608,-0.75,-146.6,956.2,-8.2,826,10611,0.00,1.98,0.00,0.000,4,0.000,0.050,2861,3516,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10663,-0.75,-146.6,959.2,-8.4,827,10670,0.00,1.85,0.00,0.000,6,0.000,0.031,2861,2252,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10971,-0.75,-146.6,987.1,-8.3,838,10974,0.00,1.98,0.00,0.000,4,0.000,0.050,2851,3514,3886,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,11000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11000,begin apogee
$GC,11009,-0.17,0.0,990.0,-8.3,839,11142,0.70,0.00,126.25,1.390,4,0.137,0.000,3069,1881,3279,0,0,0,0,0,0,25.43,28.83,23.15
$STATE,11143,end apogee,CONTROL_FINISHED_OK
$STATE,11143,begin climb
$GC,11147,0.75,146.6,994.1,0.0,843,11287,0.88,2.30,129.88,1.307,4,0.064,0.037,3374,516,2681,0,0,0,0,0,0,24.43,24.46,22.45
$GC,11480,0.75,146.6,964.8,12.5,855,11486,0.00,2.33,0.00,0.000,6,0.000,0.035,3374,1915,2671,0,0,0,0,0,0,28.83,25.01,28.83
$GC,11810,0.75,146.6,923.3,12.7,866,11816,0.00,2.15,0.00,0.000,4,0.000,0.047,3374,3301,2668,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12043,0.75,146.6,893.3,14.5,873,12050,0.00,2.12,0.00,0.000,6,0.000,0.031,3383,1901,2666,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12350,0.75,146.6,851.2,12.6,884,12356,0.00,2.15,0.00,0.000,4,0.000,0.040,3394,509,2665,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12394,0.75,146.6,847.5,12.6,885,12398,0.00,2.20,0.00,0.000,6,0.000,0.036,3394,1903,2665,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12706,0.75,146.6,805.5,12.9,896,12710,0.00,2.20,0.00,0.000,4,0.000,0.039,3403,509,2665,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12739,0.75,146.6,801.2,13.1,897,12745,0.10,2.15,0.00,0.000,6,0.157,0.035,3373,1889,2665,0,0,0,0,0,0,25.71,26.13,28.83
$GC,13070,0.75,146.6,761.0,11.9,908,13075,0.00,2.17,0.00,0.000,4,0.000,0.040,3380,505,2665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13117,0.75,146.6,757.4,12.0,909,13121,0.00,2.15,0.00,0.000,6,0.000,0.036,3380,1877,2664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13424,0.75,146.6,717.4,12.3,919,13429,0.00,2.15,0.00,0.000,4,0.000,0.039,3389,510,2665,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13462,0.75,146.6,713.8,12.3,920,13466,0.00,2.15,0.00,0.000,6,0.000,0.036,3389,1883,2664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13780,0.75,146.6,672.4,12.6,931,13786,0.00,2.15,0.00,0.000,4,0.000,0.040,3398,513,2664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13823,0.75,146.6,668.6,12.5,932,13827,0.00,2.12,0.00,0.000,6,0.000,0.036,3397,1871,2664,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14138,0.75,146.6,628.1,12.2,943,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1870,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14436,0.75,146.6,592.1,11.9,957,14445,0.00,2.17,0.00,0.000,4,0.000,0.047,3398,3301,2664,0,0,0,0,0,0,28.83,26.11,28.83
$GC,14461,0.75,146.6,589.2,12.3,959,14469,0.15,2.15,0.00,0.000,6,0.181,0.031,3371,1859,2664,0,0,0,0,0,0,25.77,26.31,28.83
$GC,14768,0.75,146.6,554.9,10.6,990,14772,0.00,2.10,0.00,0.000,4,0.000,0.041,3379,498,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14803,0.75,146.6,551.5,10.8,993,14809,0.00,2.12,0.00,0.000,6,0.000,0.035,3379,1863,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15110,0.75,146.6,516.5,11.4,1024,15120,0.00,2.15,0.00,0.000,4,0.000,0.040,3388,501,2663,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15166,0.75,146.6,510.3,11.7,1029,15172,0.00,2.12,0.00,0.000,6,0.000,0.035,3388,1863,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15473,0.75,146.6,473.9,11.8,1060,15483,0.00,2.12,0.00,0.000,4,0.000,0.039,3397,509,2663,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15499,0.75,146.6,471.3,11.6,1062,15506,0.00,2.10,0.00,0.000,6,0.000,0.036,3397,1853,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15807,0.75,146.6,434.7,11.6,1093,15815,0.00,2.10,0.00,0.000,4,0.000,0.040,3405,502,2663,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15841,0.75,146.6,430.9,11.9,1096,15849,0.15,2.10,0.00,0.000,6,0.167,0.035,3369,1849,2663,0,0,0,0,0,0,25.81,26.27,28.83
$GC,16149,0.75,146.6,397.6,10.9,1127,16153,0.00,2.25,0.00,0.000,4,0.000,0.046,3369,3309,2663,0,0,0,0,0,0,28.83,26.12,28.83
$GC,16191,0.75,146.6,392.7,11.9,1131,16195,0.00,2.17,0.00,0.000,6,0.000,0.031,3376,1849,2663,0,0,0,0,0,0,28.83,26.34,28.83
$GC,16503,0.75,146.6,358.0,11.2,1162,16511,0.00,2.05,0.00,0.000,4,0.000,0.041,3386,509,2663,0,0,0,0,0,0,28.83,26.18,28.83
$GC,16577,0.75,146.6,350.2,11.1,1169,16584,0.00,2.10,0.00,0.000,6,0.000,0.035,3386,1856,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,16885,0.75,146.6,316.3,11.1,1200,16894,0.00,2.10,0.00,0.000,4,0.000,0.039,3395,509,2663,0,0,0,0,0,0,28.83,26.20,28.83
$GC,16949,0.75,146.6,309.1,11.5,1206,16957,0.00,2.08,0.00,0.000,6,0.000,0.036,3394,1845,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,17258,0.75,146.6,273.6,11.0,1237,17262,0.00,2.10,0.00,0.000,4,0.000,0.040,3403,500,2663,0,0,0,0,0,0,28.83,26.18,28.83
$GC,17283,0.75,146.6,271.2,10.8,1239,17290,0.12,2.10,0.00,0.000,6,0.171,0.035,3374,1849,2663,0,0,0,0,0,0,25.89,26.27,28.83
$GC,17591,0.75,146.6,240.6,9.9,1270,17592,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1849,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17890,0.75,146.6,211.1,10.3,1300,17891,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1849,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18190,0.75,153.1,182.4,8.9,1330,18194,0.00,2.10,0.00,0.000,4,0.000,0.039,3380,509,2663,0,0,0,0,0,0,28.83,26.20,28.83
$GC,18296,0.76,162.6,173.4,8.8,1340,18313,0.00,2.08,11.80,0.931,6,0.000,0.036,3380,1842,2616,0,0,0,0,0,0,28.83,26.27,24.95
$GC,18613,0.76,162.6,141.9,10.3,1372,18623,0.00,2.08,0.00,0.000,4,0.000,0.039,3389,509,2614,0,0,0,0,0,0,28.83,26.15,28.83
$GC,18679,0.76,162.6,135.6,10.1,1378,18686,0.00,2.05,0.00,0.000,6,0.000,0.035,3389,1823,2614,0,0,0,0,0,0,28.83,26.22,28.83
$GC,18987,0.77,167.2,105.4,9.0,1409,18995,0.00,0.00,5.65,0.780,6,0.000,0.000,3389,1823,2597,0,0,0,0,0,0,28.83,28.83,24.90
$GC,19300,0.77,169.7,77.1,9.1,1464,19309,0.00,2.10,3.85,0.646,4,0.000,0.041,3397,506,2587,0,0,1,0,0,0,28.83,26.29,24.82
$GC,19398,0.79,184.9,68.4,8.5,1482,19418,0.00,2.08,14.50,0.895,6,0.000,0.036,3397,1830,2525,0,0,0,0,0,0,28.83,26.23,24.95
$GC,19727,0.81,200.8,38.5,8.5,1545,19746,0.00,0.00,14.18,0.881,6,0.000,0.000,3397,1830,2459,0,0,0,0,0,0,28.83,28.83,24.86
$GC,20053,0.92,288.3,11.7,5.5,1608,20104,0.00,2.10,42.17,0.089,4,0.000,0.039,3406,499,2101,0,0,0,0,0,0,28.83,25.99,25.72
$FREEZE,8.85,4.347,-1.635,0,1,0
$FREEZE,8.67,4.411,-1.630,0,1,0
$FREEZE,8.55,4.623,-1.618,0,1,0
$FREEZE,8.37,4.711,-1.615,0,1,0
$FREEZE,8.21,4.809,-1.612,0,1,0
$FREEZE,8.04,4.855,-1.611,0,1,0
$FREEZE,7.91,4.877,-1.614,0,1,0
$FREEZE,7.67,4.893,-1.622,0,1,0
$FREEZE,7.42,4.935,-1.625,0,1,0
$FREEZE,7.23,4.976,-1.630,0,1,0
$FREEZE,7.07,5.056,-1.633,0,1,0
$FREEZE,6.91,5.139,-1.639,0,1,0
$FREEZE,6.66,5.263,-1.639,0,1,0
$FREEZE,6.52,5.394,-1.639,0,1,0
$FREEZE,6.27,5.527,-1.639,0,1,0
$FREEZE,6.12,5.559,-1.643,0,1,0
$FREEZE,5.97,5.585,-1.647,0,1,0
$FREEZE,5.74,5.635,-1.649,0,1,0
$FREEZE,5.43,5.646,-1.653,0,1,0
$FREEZE,5.29,5.648,-1.656,0,1,0
$FREEZE,5.14,5.654,-1.659,0,1,0
$FREEZE,4.89,5.690,-1.661,0,1,0
$FREEZE,4.68,5.711,-1.661,0,1,0
$FREEZE,4.44,5.716,-1.663,0,1,0
$FREEZE,4.28,5.724,-1.663,0,1,0
$FREEZE,4.11,5.742,-1.664,0,1,0
$FREEZE,3.86,5.746,-1.665,0,1,0
$STATE,20250,end climb,SURFACE_DEPTH_REACHED
$STATE,20250,begin surface coast
$FREEZE,3.52,5.744,-1.666,0,1,0
$FREEZE,3.33,5.742,-1.667,0,1,0
$FREEZE,3.11,5.741,-1.667,0,1,0
$FREEZE,2.87,5.740,-1.667,0,1,0
$FREEZE,2.67,5.740,-1.667,0,1,0
$FREEZE,2.46,5.739,-1.667,0,1,0
$FREEZE,2.16,5.739,-1.667,0,1,0
$FREEZE,2.01,5.740,-1.667,0,1,0
$FREEZE,1.75,5.740,-1.667,0,1,0
$FREEZE,1.56,5.740,-1.667,0,1,0
$FREEZE,1.40,5.738,-0.776,0,1,0
$FREEZE,1.46,5.583,-0.101,0,1,0
$FREEZE,1.43,5.613,-0.040,0,1,0
$FREEZE,1.46,5.734,-0.826,0,1,0
$FREEZE,1.51,5.728,-1.540,0,1,0
$FREEZE,1.46,5.727,-0.827,0,1,0
$FREEZE,1.50,5.723,-0.167,0,1,0
$FREEZE,1.42,5.722,-0.735,0,1,0
$FREEZE,1.56,5.731,-1.500,0,1,0
$FREEZE,1.47,5.729,-0.784,0,1,0
$FREEZE,1.46,5.733,-1.665,0,1,0
$FREEZE,1.49,5.733,-0.796,0,1,0
$FINISH,1.5,1.011565
$STATE,20364,end surface coast,CONTROL_FINISHED_OK
$STATE,20365,begin surface
$SM_CCo,20387,49.25,0.073,0,0,1647,400.08
$SM_GC,2.95,8.40,2.55,49.25,0.057,0.037,0.073,342,2101,1647,-8.66,-1.41,400.08,0,0,1,0,0,0,25.97,26.08,25.80
$RAFOS_CLK,1062
$RAFOS,6,1345798146,8.833333,8.818334,48,45,42,41,41,38,1375,1681,1,1662,1939,235
$RAFOS,5,1345797666,8.700000,8.685000,52,45,42,41,41,40,349,61,273,700,946,1520
$RAFOS,4,1345797187,8.566667,8.551945,52,44,43,42,41,41,1168,612,1205,1729,61,879
$RAFOS,3,1345796704,8.433333,8.417778,44,42,41,41,39,39,708,895,736,754,251,1762
$RAFOS,2,1345796221,8.300000,8.283611,46,45,43,43,41,41,151,1137,1238,1544,1457,1819
$RAFOS,1,1345795751,8.166667,8.153055,43,42,41,40,40,39,1294,499,1327,210,276,1881
$RAFOS,0,1345795269,8.033334,8.019167,57,50,46,42,42,41,1120,987,305,89,1514,1214
$RAFOS,6,1345783743,4.833333,4.817500,49,48,48,45,41,41,1628,488,590,1816,870,1502
$RAFOS,5,1345783269,4.700000,4.685833,47,47,42,40,40,40,913,706,215,522,1292,1843
$RAFOS,4,1345782786,4.566667,4.551667,51,50,48,46,39,38,210,228,1063,1286,256,1387
$RAFOS,3,1345782301,4.433333,4.416945,50,45,41,41,40,40,1207,1940,719,1485,334,629
$RAFOS,2,1345781825,4.300000,4.284722,52,45,43,43,42,40,1779,1122,61,498,410,1321
$RAFOS,1,1345781343,4.166667,4.150833,49,45,44,41,40,38,1086,312,268,183,39,524
$RAFOS,0,1345780871,4.033333,4.019722,46,42,41,40,39,39,801,797,261,1,864,1700
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5805.51,230812,212123
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.10
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.60
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,22.5,41.437
$10V_AH,9.8,46.489
$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,21.800,190.450,348.275,49.250,0.000,0.000,0.000,331.650,7.500,0.000,19.268,4427.201,11945.649,631.195,3398.320,511.666,0.000,2611.059,0.000,3029.187,5040.000,27.359,0.000
$DEVICE_MAMPS,252.450,54.315,1390.005,72.675,0.000,0.000,0.000,289.130,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1199.477,1185.985,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,76732,1665
$CAP_FILE_SIZE,218512,0
$CFSIZE,260165632,216031232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$SOUNDSPEED,1458.7
$CURRENT,0.071,  5.7,1
$GPS,240812,090228,6700.972,-5819.182,40,0.8,41,-33.8