version: 66.11
glider: 108
mission: 21
dive: 373
start: 8 26 112 18 54 0
data:
$ID,108
$MISSION,21
$DIVE,373
$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,-191559.69
$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
$GPS1,260812,184534,6657.168,-5909.405,28,1.0,29,-33.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-77.5
$GPS2,260812,185324,6657.167,-5909.389,17,1.7,18,-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,285.7,61120,-16.9,-9.167
$D_GRID,1093
$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,-146.6,0.0,0.0,0,57,0.00,0.00,-38.65,0.000,2,0.000,0.000,347,2111,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.75,-146.6,3.0,-1.9,7,135,10.68,2.20,-53.45,0.000,4,0.256,0.066,2874,3507,3882,0,0,0,0,0,0,25.37,26.03,26.69
$GC,206,-0.75,-146.6,20.4,-16.0,32,212,0.00,2.10,0.00,0.000,6,0.000,0.030,2874,2104,3884,0,0,0,0,0,0,28.83,26.25,28.83
$GC,518,-0.75,-146.6,58.2,-12.4,93,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2104,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,830,-0.75,-146.6,97.6,-12.4,154,836,0.00,2.20,0.00,0.000,4,0.000,0.049,2864,3503,3889,0,0,0,0,0,0,28.83,26.03,28.83
$GC,980,-0.75,-146.6,116.9,-13.1,170,986,0.00,2.08,0.00,0.000,6,0.000,0.030,2864,2100,3889,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1285,-0.75,-146.6,156.2,-11.5,201,1295,0.00,2.17,0.00,0.000,4,0.000,0.049,2853,3500,3888,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1389,-0.75,-146.6,169.3,-12.7,211,1393,0.12,2.05,0.00,0.000,6,0.164,0.030,2885,2112,3888,0,0,0,0,0,0,25.94,26.36,28.83
$GC,1702,-0.75,-146.6,200.5,-9.8,242,1711,0.00,2.12,0.00,0.000,4,0.000,0.048,2878,3500,3887,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1804,-0.75,-146.6,211.2,-10.4,252,1808,0.00,2.00,0.00,0.000,6,0.000,0.030,2878,2134,3888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2116,-0.75,-146.6,241.6,-9.5,283,2124,0.00,2.12,0.00,0.000,4,0.000,0.049,2868,3508,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2218,-0.75,-146.6,252.2,-10.4,293,2227,0.00,2.03,0.00,0.000,6,0.000,0.030,2868,2135,3887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2528,-0.75,-146.6,285.5,-10.6,324,2536,0.00,2.15,0.00,0.000,4,0.000,0.048,2857,3516,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2620,-0.75,-146.6,295.8,-11.3,333,2630,0.12,2.00,0.00,0.000,6,0.156,0.029,2889,2154,3887,0,0,0,0,0,0,26.01,26.41,28.83
$GC,2930,-0.75,-146.6,324.6,-9.4,364,2938,0.00,2.10,0.00,0.000,4,0.000,0.047,2881,3504,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3021,-0.75,-146.6,334.1,-10.4,373,3031,0.00,1.98,0.00,0.000,6,0.000,0.029,2881,2157,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3331,-0.75,-146.6,365.1,-10.2,404,3340,0.00,2.08,0.00,0.000,4,0.000,0.048,2871,3505,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3413,-0.75,-146.6,373.7,-10.6,412,3422,0.00,1.98,0.00,0.000,6,0.000,0.029,2871,2158,3886,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3723,-0.75,-146.6,405.7,-10.4,443,3732,0.00,2.10,0.00,0.000,4,0.000,0.048,2861,3507,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3825,-0.75,-146.6,416.7,-11.0,453,3829,0.00,1.92,0.00,0.000,6,0.000,0.030,2861,2189,3886,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4137,-0.75,-146.6,449.5,-10.5,484,4149,0.00,2.05,0.00,0.000,4,0.000,0.048,2851,3501,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4235,-0.75,-146.6,460.2,-11.3,493,4243,0.15,1.92,0.00,0.000,6,0.147,0.029,2891,2183,3886,0,0,0,0,0,0,25.95,26.42,28.83
$GC,4543,-0.75,-146.6,488.2,-9.0,524,4552,0.00,2.00,0.00,0.000,4,0.000,0.048,2883,3495,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4607,-0.75,-146.6,494.2,-9.8,530,4615,0.00,1.90,0.00,0.000,6,0.000,0.029,2883,2200,3885,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4915,-0.75,-146.6,523.7,-9.4,561,4924,0.00,2.03,0.00,0.000,4,0.000,0.049,2874,3511,3885,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4971,-0.75,-146.6,529.0,-10.1,566,4977,0.00,1.90,0.00,0.000,6,0.000,0.029,2874,2211,3886,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5278,-0.75,-146.6,558.8,-9.6,597,5288,0.00,2.00,0.00,0.000,4,0.000,0.049,2864,3505,3886,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5344,-0.75,-146.6,565.0,-10.1,603,5350,0.00,1.90,0.00,0.000,6,0.000,0.029,2864,2205,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5651,-0.75,-146.6,596.2,-10.3,634,5660,0.00,2.00,0.00,0.000,4,0.000,0.049,2854,3496,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5739,-0.75,-146.6,603.2,-10.8,639,5747,0.12,1.88,0.00,0.000,6,0.151,0.030,2886,2210,3885,0,0,0,0,0,0,26.03,26.41,28.83
$GC,6048,-0.75,-146.6,632.8,-8.6,650,6053,0.00,2.00,0.00,0.000,4,0.000,0.049,2879,3504,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6095,-0.75,-146.6,635.5,-8.7,651,6099,0.00,1.85,0.00,0.000,6,0.000,0.029,2878,2218,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6404,-0.75,-146.6,665.0,-8.9,661,6410,0.00,2.03,0.00,0.000,4,0.000,0.049,2869,3513,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6456,-0.75,-146.6,667.9,-8.9,662,6463,0.00,1.88,0.00,0.000,6,0.000,0.030,2869,2225,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6764,-0.75,-146.6,697.9,-9.0,673,6767,0.00,1.98,0.00,0.000,4,0.000,0.050,2859,3501,3885,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6832,-0.75,-146.6,704.1,-9.4,675,6836,0.12,1.85,0.00,0.000,6,0.151,0.030,2891,2232,3884,0,0,0,0,0,0,26.02,26.41,28.83
$GC,7156,-0.75,-146.6,729.0,-7.4,686,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2232,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7457,-0.75,-146.6,751.1,-7.4,696,7463,0.00,1.98,0.00,0.000,4,0.000,0.049,2884,3501,3884,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7504,-0.75,-146.6,753.4,-7.4,697,7508,0.00,1.83,0.00,0.000,6,0.000,0.030,2883,2252,3883,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7819,-0.75,-146.6,778.8,-7.7,708,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2247,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8120,-0.75,-146.6,801.8,-7.8,718,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2247,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8418,-0.75,-146.6,824.0,-7.3,728,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2247,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8718,-0.75,-146.6,846.5,-7.5,738,8724,0.00,1.98,0.00,0.000,4,0.000,0.050,2874,3511,3882,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8771,-0.75,-146.6,849.1,-7.6,739,8779,0.00,1.85,0.00,0.000,6,0.000,0.031,2874,2242,3883,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9078,-0.75,-146.6,874.4,-7.6,750,9083,0.00,1.98,0.00,0.000,4,0.000,0.050,2865,3505,3882,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9110,-0.75,-146.6,877.0,-7.7,751,9114,0.00,1.83,0.00,0.000,6,0.000,0.031,2865,2259,3882,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9440,-0.75,-146.6,904.5,-8.7,762,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2256,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9739,-0.75,-146.6,930.3,-8.7,772,9744,0.00,1.95,0.00,0.000,4,0.000,0.050,2855,3504,3882,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9781,-0.75,-146.6,933.1,-8.8,773,9785,0.12,1.83,0.00,0.000,6,0.148,0.031,2887,2254,3882,0,0,0,0,0,0,26.01,26.39,28.83
$GC,10095,-0.75,-146.6,958.2,-7.6,784,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2254,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10395,-0.75,-146.6,980.6,-7.5,794,10400,0.00,1.95,0.00,0.000,4,0.000,0.050,2880,3501,3881,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10427,-0.75,-146.6,982.9,-7.6,795,10431,0.00,1.83,0.00,0.000,6,0.000,0.031,2880,2256,3882,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,10512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10512,begin apogee
$GC,10519,-0.17,0.0,990.1,-8.0,798,10650,0.60,0.00,126.18,1.409,4,0.129,0.000,3071,1883,3278,0,0,0,0,0,0,25.46,28.83,23.14
$STATE,10654,end apogee,CONTROL_FINISHED_OK
$STATE,10654,begin climb
$GC,10657,0.75,146.6,995.0,0.0,802,10798,0.85,2.30,129.82,1.310,4,0.063,0.038,3373,512,2681,0,0,0,0,0,0,24.43,24.46,22.42
$GC,11026,0.75,146.6,963.0,12.1,815,11032,0.00,2.28,0.00,0.000,6,0.000,0.036,3373,1905,2670,0,0,0,0,0,0,28.83,25.16,28.83
$GC,11356,0.75,146.6,923.1,12.1,826,11362,0.00,2.17,0.00,0.000,4,0.000,0.047,3373,3304,2667,0,0,0,0,0,0,28.83,25.71,28.83
$GC,11589,0.75,146.6,893.9,14.1,833,11596,0.00,2.12,0.00,0.000,6,0.000,0.031,3383,1903,2665,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11897,0.75,146.6,853.3,11.8,844,11902,0.00,2.17,0.00,0.000,4,0.000,0.041,3393,502,2664,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11980,0.75,146.6,846.1,11.8,846,11987,0.00,2.20,0.00,0.000,6,0.000,0.035,3393,1896,2664,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12287,0.75,146.6,805.9,12.1,857,12292,0.00,2.17,0.00,0.000,4,0.000,0.039,3402,508,2664,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12367,0.75,146.6,798.6,12.1,859,12377,0.12,2.15,0.00,0.000,6,0.174,0.036,3369,1886,2664,0,0,0,0,0,0,25.75,26.15,28.83
$GC,12677,0.75,146.6,764.4,10.1,870,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1886,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12977,0.75,146.6,734.6,9.8,880,12978,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1885,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13279,0.75,146.6,703.8,10.4,890,13284,0.00,2.17,0.00,0.000,4,0.000,0.041,3376,501,2664,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13355,0.75,146.6,697.2,10.6,892,13360,0.00,2.15,0.00,0.000,6,0.000,0.036,3376,1877,2663,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13662,0.75,146.6,660.2,11.7,902,13668,0.00,2.17,0.00,0.000,4,0.000,0.040,3384,498,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13686,0.75,146.6,660.2,11.7,902,13693,0.00,2.15,0.00,0.000,6,0.000,0.035,3383,1877,2663,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13992,0.75,146.6,621.3,11.8,913,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1877,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14292,0.75,146.6,586.2,11.5,929,14301,0.00,2.17,0.00,0.000,4,0.000,0.040,3393,501,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14349,0.75,146.6,579.9,11.8,934,14355,0.00,2.15,0.00,0.000,6,0.000,0.036,3392,1877,2662,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14655,0.75,146.6,543.6,11.4,965,14664,0.00,2.17,0.00,0.000,4,0.000,0.040,3401,499,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14689,0.75,146.6,539.7,12.2,968,14697,0.12,2.15,0.00,0.000,6,0.171,0.035,3372,1880,2662,0,0,0,0,0,0,25.88,26.25,28.83
$GC,14997,0.75,146.6,505.8,10.7,999,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1880,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15300,0.75,146.6,474.0,10.7,1029,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1880,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15610,0.75,146.6,440.7,11.2,1060,15615,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1880,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15921,0.75,146.6,406.4,11.1,1091,15928,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1879,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16229,0.75,146.6,371.7,11.3,1122,16237,0.00,2.15,0.00,0.000,4,0.000,0.041,3379,513,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16262,0.75,146.6,368.0,11.3,1125,16270,0.00,2.12,0.00,0.000,6,0.000,0.036,3379,1875,2662,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16571,0.75,146.6,334.0,10.6,1156,16580,0.00,2.15,0.00,0.000,4,0.000,0.040,3387,506,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16637,0.75,146.6,327.2,11.0,1162,16644,0.00,2.12,0.00,0.000,6,0.000,0.036,3387,1872,2662,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16943,0.75,146.6,294.1,10.5,1193,16947,0.00,2.15,0.00,0.000,4,0.000,0.040,3396,499,2661,0,0,0,0,0,0,28.83,26.16,28.83
$GC,17018,0.75,146.6,286.0,11.4,1200,17025,0.00,2.12,0.00,0.000,6,0.000,0.035,3396,1866,2661,0,0,0,0,0,0,28.83,26.26,28.83
$GC,17325,0.75,146.6,251.5,11.5,1231,17335,0.00,2.20,0.00,0.000,4,0.000,0.046,3397,3310,2661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17369,0.75,146.6,246.4,12.0,1235,17379,0.10,2.15,0.00,0.000,6,0.156,0.031,3376,1867,2661,0,0,0,0,0,0,25.84,26.34,28.83
$GC,17678,0.75,146.6,212.9,10.8,1266,17687,0.00,2.10,0.00,0.000,4,0.000,0.040,3384,498,2661,0,0,0,0,0,0,28.83,26.15,28.83
$GC,17835,0.75,146.6,196.1,11.1,1281,17842,0.00,2.12,0.00,0.000,6,0.000,0.034,3384,1867,2662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,18143,0.75,146.6,164.6,10.0,1312,18152,0.00,2.12,0.00,0.000,4,0.000,0.039,3392,512,2661,0,0,0,0,0,0,28.83,26.17,28.83
$GC,18226,0.75,146.6,156.3,10.1,1320,18230,0.00,2.08,0.00,0.000,6,0.000,0.034,3392,1848,2661,0,0,0,0,0,0,28.83,26.27,28.83
$GC,18538,0.75,146.6,125.1,10.1,1351,18548,0.00,2.10,0.00,0.000,4,0.000,0.039,3401,507,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,18575,0.75,146.6,122.0,9.6,1354,18582,0.12,2.08,0.00,0.000,6,0.166,0.034,3371,1845,2661,0,0,0,0,0,0,25.89,26.27,28.83
$GC,18883,0.75,146.6,93.4,9.8,1391,18891,0.00,2.22,0.00,0.000,4,0.000,0.045,3371,3301,2662,0,0,0,0,0,0,28.83,26.09,28.83
$GC,19001,0.75,146.6,81.0,10.3,1413,19007,0.00,2.17,0.00,0.000,6,0.000,0.031,3378,1845,2661,0,0,0,0,0,0,28.83,26.33,28.83
$GC,19315,0.80,189.1,53.3,7.4,1474,19355,0.00,2.15,33.17,0.908,4,0.000,0.041,3388,506,2507,0,0,0,0,0,0,28.83,25.98,24.80
$GC,19405,0.83,212.6,46.4,8.2,1489,19430,0.00,2.15,20.12,0.813,6,0.000,0.034,3388,1861,2412,0,0,0,0,0,0,28.83,25.94,24.78
$GC,19738,0.87,251.7,20.2,7.5,1553,19765,0.00,2.17,20.05,0.676,4,0.000,0.038,3397,506,2251,0,0,0,0,0,0,28.83,25.86,24.88
$GC,19778,0.97,329.2,17.7,5.9,1559,19824,0.15,2.15,38.08,0.105,6,0.093,0.034,3457,1853,1936,0,0,0,0,0,0,25.81,25.89,25.52
$FREEZE,8.99,5.720,-1.683,0,1,0
$FREEZE,8.67,5.721,-1.683,0,1,0
$FREEZE,8.27,5.721,-1.683,0,1,0
$FREEZE,7.91,5.721,-1.682,0,1,0
$FREEZE,7.47,5.722,-1.682,0,1,0
$FREEZE,7.06,5.722,-1.682,0,1,0
$FREEZE,6.63,5.735,-1.681,0,1,0
$FREEZE,6.16,5.746,-1.681,0,1,0
$FREEZE,5.83,5.760,-1.680,0,1,0
$FREEZE,5.44,5.738,-1.681,0,1,0
$FREEZE,5.01,5.751,-1.680,0,1,0
$FREEZE,4.69,5.748,-1.680,0,1,0
$FREEZE,4.26,5.762,-1.679,0,1,0
$FREEZE,3.82,5.766,-1.679,0,1,0
$STATE,19963,end climb,SURFACE_DEPTH_REACHED
$STATE,19963,begin surface coast
$FREEZE,3.45,5.761,-1.679,0,1,0
$FREEZE,2.95,5.780,-1.678,0,1,0
$FREEZE,2.67,5.779,-1.678,0,1,0
$FREEZE,2.25,5.769,-1.678,0,1,0
$FREEZE,1.54,5.742,-1.678,0,1,0
$FREEZE,1.50,5.677,-0.271,0,1,0
$FREEZE,1.54,5.604,-0.702,0,1,0
$FREEZE,1.59,5.645,-0.777,0,1,0
$FREEZE,1.57,5.663,-1.666,0,1,0
$FREEZE,1.67,5.428,-1.669,0,1,0
$FREEZE,1.61,5.691,-0.539,0,1,0
$FINISH,1.6,1.007803
$STATE,20023,end surface coast,CONTROL_FINISHED_OK
$STATE,20023,begin surface
$SM_CCo,20043,30.50,0.072,0,0,1647,400.08
$SM_GC,3.05,8.43,0.35,30.50,0.047,0.056,0.072,342,2099,1647,-8.65,-1.44,400.08,0,0,0,0,0,0,25.82,25.99,25.71
$RAFOS_CLK,1038
$RAFOS,2,1346026626,0.300000,0.285000,49,45,43,41,40,40,379,270,1198,494,354,1613
$RAFOS,1,1346026142,0.166667,0.150556,56,47,45,44,42,41,1463,394,1129,698,61,575
$RAFOS,0,1346025666,0.033333,0.018333,48,47,45,44,42,41,299,697,223,1126,1403,1189
$RAFOS,6,1346014152,20.833334,20.820000,44,43,41,41,39,38,226,1456,1361,1414,1732,1
$RAFOS,5,1346013665,20.700001,20.684723,45,44,42,41,41,40,1161,61,1173,1181,924,547
$RAFOS,4,1346013194,20.566668,20.553888,44,43,41,40,38,38,1629,262,1677,1389,665,1255
$RAFOS,3,1346012708,20.433332,20.418888,48,43,42,40,40,39,1001,112,1438,1,1045,1512
$RAFOS,2,1346012226,20.299999,20.285000,45,44,44,41,41,39,1845,61,898,1272,1487,145
$RAFOS,1,1346011750,20.166666,20.152779,46,44,43,43,39,38,1574,154,61,596,1665,92
$RAFOS,0,1346011264,20.033333,20.017778,48,48,46,43,42,41,61,1713,601,1004,766,944
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5900.29,260812,131347
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.42
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,22.4,42.718
$10V_AH,9.8,47.953
$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,21.950,166.000,367.425,30.500,0.000,0.000,0.000,317.475,8.000,0.000,21.520,4171.374,11946.888,648.091,3294.255,474.653,0.000,2566.401,0.000,2929.880,3960.000,27.337,0.000
$DEVICE_MAMPS,256.275,65.790,1409.130,71.910,0.000,0.000,0.000,289.879,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.022,1135.033,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151576
$DATA_FILE_SIZE,73478,1604
$CAP_FILE_SIZE,206056,0
$CFSIZE,260165632,215003136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1462.0
$CURRENT,0.121,355.2,1
$GPS,270812,003004,6658.079,-5915.812,35,0.8,36,-34.0