version: 66.11
glider: 108
mission: 21
dive: 374
start: 8 27 112 0 38 48
data:
$ID,108
$MISSION,21
$DIVE,374
$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,-191560.94
$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,62
$R_STBD_OVSHOOT,45
$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
$GPS1,270812,003004,6658.079,-5915.812,35,0.8,36,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-77.9
$GPS2,270812,003813,6658.066,-5915.795,21,1.2,22,-34.0
$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,250.7,57588,-16.9,-9.167
$D_GRID,1076
$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,-146.6,0.0,0.0,0,58,0.00,0.00,-39.62,0.000,2,0.000,0.000,341,2099,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.75,-146.6,3.1,-2.0,7,119,10.60,2.25,-40.15,0.000,4,0.254,0.065,2875,3517,3882,0,0,0,0,0,0,25.40,26.03,26.65
$GC,349,-0.75,-146.6,42.5,-10.9,61,357,0.00,2.10,0.00,0.000,6,0.000,0.029,2874,2099,3887,0,0,0,0,0,0,28.83,26.27,28.83
$GC,664,-0.75,-146.6,78.9,-11.8,122,671,0.00,2.22,0.00,0.000,4,0.000,0.048,2865,3515,3890,0,0,0,0,0,0,28.83,26.05,28.83
$GC,816,-0.75,-146.6,96.9,-12.0,151,823,0.00,2.10,0.00,0.000,6,0.000,0.029,2865,2100,3890,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1131,-0.75,-146.6,133.8,-10.8,184,1140,0.00,2.17,0.00,0.000,4,0.000,0.049,2854,3500,3889,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1279,-0.75,-146.6,150.8,-11.9,198,1286,0.12,2.03,0.00,0.000,6,0.165,0.031,2885,2126,3888,0,0,0,0,0,0,25.95,26.36,28.83
$GC,1585,-0.75,-146.6,181.7,-9.9,229,1589,0.00,2.15,0.00,0.000,4,0.000,0.049,2877,3513,3888,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1680,-0.75,-146.6,191.4,-10.6,238,1688,0.00,2.03,0.00,0.000,6,0.000,0.030,2877,2140,3888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1987,-0.75,-146.6,223.1,-9.6,269,1991,0.00,2.12,0.00,0.000,4,0.000,0.048,2867,3506,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2070,-0.75,-146.6,231.7,-10.7,277,2074,0.00,2.00,0.00,0.000,6,0.000,0.030,2867,2150,3888,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2382,-0.75,-146.6,264.4,-10.1,308,2391,0.00,2.12,0.00,0.000,4,0.000,0.049,2856,3525,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2464,-0.75,-146.6,273.0,-10.8,316,2469,0.12,2.00,0.00,0.000,6,0.157,0.031,2888,2157,3887,0,0,0,0,0,0,26.01,26.41,28.83
$GC,2778,-0.75,-146.6,298.9,-7.5,347,2787,0.00,2.10,0.00,0.000,4,0.000,0.048,2880,3505,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2844,-0.75,-146.6,304.1,-8.1,353,2852,0.00,1.95,0.00,0.000,6,0.000,0.029,2880,2167,3888,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3151,-0.75,-146.6,327.7,-7.5,384,3160,0.00,2.05,0.00,0.000,4,0.000,0.048,2871,3503,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3226,-0.75,-146.6,333.8,-8.5,391,3233,0.00,1.92,0.00,0.000,6,0.000,0.029,2871,2180,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3534,-0.75,-146.6,359.9,-8.6,422,3543,0.00,2.08,0.00,0.000,4,0.000,0.048,2861,3517,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3609,-0.75,-146.6,366.8,-9.6,429,3617,0.00,1.95,0.00,0.000,6,0.000,0.029,2861,2178,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3916,-0.75,-146.6,396.8,-9.7,460,3925,0.00,2.05,0.00,0.000,4,0.000,0.048,2850,3513,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3999,-0.75,-146.6,405.0,-10.1,468,4009,0.15,1.92,0.00,0.000,6,0.148,0.030,2892,2195,3887,0,0,0,0,0,0,25.96,26.44,28.83
$GC,4309,-0.75,-146.6,429.2,-7.8,499,4318,0.00,2.03,0.00,0.000,4,0.000,0.049,2885,3511,3887,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4351,-0.75,-146.6,432.9,-8.7,503,4355,0.00,1.92,0.00,0.000,6,0.000,0.029,2884,2203,3887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4665,-0.75,-146.6,459.7,-8.4,534,4669,0.00,2.03,0.00,0.000,4,0.000,0.049,2875,3504,3887,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4730,-0.75,-146.6,465.6,-9.4,540,4737,0.00,1.90,0.00,0.000,6,0.000,0.030,2874,2203,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5037,-0.75,-146.6,493.4,-8.9,571,5046,0.00,2.00,0.00,0.000,4,0.000,0.048,2865,3504,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5115,-0.75,-146.6,500.3,-9.6,578,5121,0.00,1.88,0.00,0.000,6,0.000,0.030,2865,2215,3887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5422,-0.75,-146.6,529.7,-9.3,609,5426,0.00,2.00,0.00,0.000,4,0.000,0.049,2855,3504,3887,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5457,-0.75,-146.6,532.9,-9.8,612,5464,0.12,1.88,0.00,0.000,6,0.152,0.029,2887,2216,3887,0,0,0,0,0,0,26.03,26.43,28.83
$GC,5764,-0.75,-146.6,558.5,-8.1,643,5768,0.00,2.00,0.00,0.000,4,0.000,0.049,2880,3510,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5811,-0.75,-146.6,562.3,-8.8,647,5818,0.00,1.88,0.00,0.000,6,0.000,0.030,2880,2222,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6117,-0.75,-146.6,589.3,-8.8,678,6121,0.00,2.00,0.00,0.000,4,0.000,0.049,2870,3511,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6163,-0.75,-146.6,593.3,-9.4,682,6170,0.00,1.88,0.00,0.000,6,0.000,0.030,2870,2223,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6481,-0.75,-146.6,622.2,-9.0,698,6484,0.00,1.98,0.00,0.000,4,0.000,0.049,2861,3504,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6531,-0.75,-146.6,625.4,-9.1,699,6534,0.00,1.85,0.00,0.000,6,0.000,0.029,2861,2238,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6844,-0.75,-146.6,656.5,-9.3,710,6848,0.00,1.98,0.00,0.000,4,0.000,0.049,2851,3507,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6895,-0.75,-146.6,659.8,-9.4,711,6900,0.15,1.85,0.00,0.000,6,0.146,0.030,2891,2236,3886,0,0,0,0,0,0,25.96,26.43,28.83
$GC,7203,-0.75,-146.6,685.6,-8.0,721,7206,0.00,1.98,0.00,0.000,4,0.000,0.049,2884,3503,3886,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7237,-0.75,-146.6,688.4,-8.0,722,7241,0.00,1.83,0.00,0.000,6,0.000,0.029,2884,2253,3886,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7565,-0.75,-146.6,715.4,-8.3,733,7569,0.00,1.95,0.00,0.000,4,0.000,0.050,2874,3513,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7612,-0.75,-146.6,718.4,-8.5,734,7615,0.00,1.85,0.00,0.000,6,0.000,0.030,2874,2263,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7929,-0.75,-146.6,747.6,-9.0,745,7933,0.00,1.95,0.00,0.000,4,0.000,0.049,2865,3508,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7964,-0.75,-146.6,750.5,-8.9,746,7968,0.00,1.83,0.00,0.000,6,0.000,0.030,2865,2259,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8293,-0.75,-146.6,780.8,-9.3,757,8296,0.00,1.95,0.00,0.000,4,0.000,0.049,2855,3511,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8327,-0.75,-146.6,784.1,-9.4,758,8331,0.12,1.83,0.00,0.000,6,0.149,0.030,2887,2261,3884,0,0,0,0,0,0,26.03,26.41,28.83
$GC,8655,-0.75,-146.6,810.7,-7.9,769,8659,0.00,1.92,0.00,0.000,4,0.000,0.049,2880,3508,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8706,-0.75,-146.6,813.4,-7.9,770,8710,0.00,1.80,0.00,0.000,6,0.000,0.030,2880,2272,3884,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9018,-0.75,-146.6,841.4,-8.5,781,9022,0.00,1.92,0.00,0.000,4,0.000,0.049,2871,3504,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9051,-0.75,-146.6,844.3,-8.5,782,9055,0.00,1.80,0.00,0.000,6,0.000,0.030,2871,2277,3884,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9384,-0.75,-146.6,873.0,-8.7,793,9388,0.00,1.92,0.00,0.000,4,0.000,0.049,2862,3507,3884,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9429,-0.75,-146.6,875.9,-8.7,794,9433,0.00,1.80,0.00,0.000,6,0.000,0.030,2862,2276,3884,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9747,-0.75,-146.6,904.4,-8.4,805,9751,0.00,1.92,0.00,0.000,4,0.000,0.049,2853,3506,3884,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9780,-0.75,-146.6,907.2,-8.5,806,9784,0.15,1.80,0.00,0.000,6,0.145,0.031,2892,2280,3884,0,0,0,0,0,0,25.94,26.41,28.83
$GC,10114,-0.75,-146.6,930.3,-6.8,817,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2279,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10415,-0.75,-146.6,950.8,-6.8,827,10418,0.00,1.92,0.00,0.000,4,0.000,0.050,2885,3512,3883,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10460,-0.75,-146.6,953.2,-6.9,828,10464,0.00,1.80,0.00,0.000,6,0.000,0.031,2886,2281,3883,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10778,-0.75,-146.6,976.4,-7.1,839,10782,0.00,1.92,0.00,0.000,4,0.000,0.050,2876,3518,3883,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10810,-0.75,-146.6,979.0,-7.2,840,10814,0.00,1.80,0.00,0.000,6,0.000,0.031,2877,2293,3883,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,10959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10960,begin apogee
$GC,10967,-0.17,0.0,990.9,-7.8,845,11099,0.60,0.00,125.97,1.389,4,0.129,0.000,3068,1889,3278,0,0,0,0,0,0,25.46,28.83,23.14
$STATE,11103,end apogee,CONTROL_FINISHED_OK
$STATE,11103,begin climb
$GC,11106,0.75,146.6,995.4,0.0,849,11246,0.85,2.35,130.00,1.313,4,0.066,0.038,3368,501,2681,0,0,0,0,0,0,24.46,24.49,22.42
$GC,11475,0.75,146.6,963.9,11.9,862,11481,0.00,2.28,0.00,0.000,6,0.000,0.035,3368,1907,2670,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11805,0.75,146.6,925.8,11.7,873,11811,0.00,2.15,0.00,0.000,4,0.000,0.047,3368,3303,2667,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12003,0.75,146.6,902.2,13.2,879,12007,0.00,2.15,0.00,0.000,6,0.000,0.031,3378,1890,2665,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12311,0.75,146.6,863.4,11.8,889,12315,0.00,2.15,0.00,0.000,4,0.000,0.041,3388,507,2665,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12448,0.75,146.6,848.3,12.3,893,12454,0.00,2.17,0.00,0.000,6,0.000,0.036,3388,1892,2664,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12764,0.75,146.6,808.1,12.2,904,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1893,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13063,0.75,146.6,771.3,12.2,914,13069,0.00,2.20,0.00,0.000,4,0.000,0.040,3397,498,2664,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13126,0.75,146.6,764.0,12.2,916,13130,0.00,2.17,0.00,0.000,6,0.000,0.036,3397,1891,2664,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13451,0.75,146.6,724.1,12.4,927,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1891,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13748,0.75,146.6,686.4,12.6,937,13752,0.00,2.20,0.00,0.000,4,0.000,0.041,3406,494,2664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13793,0.75,146.6,682.3,12.6,938,13798,0.15,2.15,0.00,0.000,6,0.166,0.036,3369,1883,2662,0,0,0,0,0,0,25.78,26.22,28.83
$GC,14107,0.75,146.6,646.5,10.7,949,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1883,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14408,0.75,146.6,614.3,10.8,959,14414,0.00,2.15,0.00,0.000,4,0.000,0.040,3376,513,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14450,0.75,146.6,610.9,10.8,960,14454,0.00,2.12,0.00,0.000,6,0.000,0.036,3376,1874,2662,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14767,0.75,146.6,574.9,11.1,985,14773,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1874,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15073,0.75,146.6,539.9,11.4,1016,15081,0.00,2.12,0.00,0.000,4,0.000,0.040,3384,511,2662,0,0,0,0,0,0,28.83,26.18,28.83
$GC,15127,0.75,146.6,533.8,11.6,1021,15134,0.00,2.12,0.00,0.000,6,0.000,0.036,3384,1875,2662,0,0,0,0,0,0,28.83,26.26,28.83
$GC,15436,0.75,146.6,496.5,11.9,1052,15437,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1875,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15737,0.75,146.6,459.8,12.3,1082,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1874,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16048,0.75,146.6,422.0,12.0,1113,16056,0.00,2.15,0.00,0.000,4,0.000,0.039,3393,497,2661,0,0,0,0,0,0,28.83,26.18,28.83
$GC,16099,0.75,146.6,415.5,12.1,1118,16109,0.00,2.15,0.00,0.000,6,0.000,0.035,3393,1874,2661,0,0,0,0,0,0,28.83,26.27,28.83
$GC,16410,0.75,146.6,378.8,11.6,1149,16411,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1874,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16712,0.75,146.6,344.5,11.5,1179,16721,0.00,2.17,0.00,0.000,4,0.000,0.046,3393,3306,2661,0,0,0,0,0,0,28.83,26.11,28.83
$GC,16765,0.75,146.6,337.6,12.4,1184,16774,0.10,2.15,0.00,0.000,6,0.155,0.031,3372,1863,2661,0,0,0,0,0,0,25.84,26.32,28.83
$GC,17075,0.75,146.6,304.9,10.6,1215,17083,0.00,2.10,0.00,0.000,4,0.000,0.041,3380,489,2661,0,0,0,0,0,0,28.83,26.17,28.83
$GC,17147,0.75,146.6,297.1,10.7,1222,17157,0.00,2.12,0.00,0.000,6,0.000,0.035,3380,1858,2662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,17457,0.75,146.6,264.2,10.6,1253,17465,0.00,2.20,0.00,0.000,4,0.000,0.046,3380,3307,2661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17502,0.75,146.6,259.5,11.2,1257,17509,0.00,2.17,0.00,0.000,6,0.000,0.031,3390,1846,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,17809,0.75,146.6,226.9,10.6,1288,17818,0.00,2.08,0.00,0.000,4,0.000,0.040,3400,497,2661,0,0,0,0,0,0,28.83,26.17,28.83
$GC,17861,0.75,146.6,221.3,10.4,1293,17865,0.00,2.12,0.00,0.000,6,0.000,0.034,3400,1861,2661,0,0,0,0,0,0,28.83,26.28,28.83
$GC,18173,0.75,146.6,187.0,11.1,1324,18182,0.00,2.20,0.00,0.000,4,0.000,0.046,3400,3304,2661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,18238,0.75,146.6,179.2,12.6,1330,18247,0.15,2.17,0.00,0.000,6,0.174,0.031,3373,1845,2661,0,0,0,0,0,0,25.79,26.33,28.83
$GC,18545,0.75,146.6,146.8,10.2,1361,18549,0.00,2.08,0.00,0.000,4,0.000,0.040,3381,494,2661,0,0,0,0,0,0,28.83,26.16,28.83
$GC,18587,0.75,146.6,142.8,9.6,1365,18591,0.00,2.10,0.00,0.000,6,0.000,0.034,3381,1854,2661,0,0,0,0,0,0,28.83,26.28,28.83
$GC,18900,0.75,149.0,114.4,9.1,1396,18908,0.00,2.20,0.00,0.000,4,0.000,0.045,3381,3304,2661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,18954,0.75,149.0,109.4,9.8,1401,18961,0.00,2.17,0.00,0.000,6,0.000,0.030,3390,1841,2661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,19265,0.77,165.6,80.9,8.5,1453,19285,0.00,2.12,14.40,0.897,4,0.000,0.041,3401,499,2603,0,0,0,0,0,0,28.83,26.29,24.93
$GC,19401,0.77,165.6,68.0,9.6,1478,19408,0.00,2.15,0.00,0.000,6,0.000,0.034,3400,1871,2601,0,0,0,0,0,0,28.83,26.18,28.83
$GC,19715,0.78,177.5,40.5,8.7,1539,19733,0.00,0.00,11.48,0.858,6,0.000,0.000,3400,1871,2553,0,0,0,0,0,0,28.83,28.83,24.92
$GC,20042,1.08,418.4,20.3,-0.9,1602,20177,0.20,2.30,123.65,0.682,4,0.089,0.040,3495,509,1571,0,0,0,0,0,0,26.20,25.20,24.38
$FREEZE,8.89,5.639,-1.683,0,1,0
$FREEZE,8.37,5.638,-1.683,0,1,0
$FREEZE,7.69,5.643,-1.683,0,1,0
$FREEZE,7.13,5.642,-1.682,0,1,0
$FREEZE,6.51,5.644,-1.682,0,1,0
$FREEZE,5.80,5.640,-1.682,0,1,0
$FREEZE,5.19,5.638,-1.681,0,1,0
$FREEZE,4.49,5.638,-1.681,0,1,0
$FREEZE,3.92,5.640,-1.681,0,1,0
$STATE,20250,end climb,SURFACE_DEPTH_REACHED
$STATE,20250,begin surface coast
$FREEZE,2.92,5.647,-1.680,0,1,0
$FREEZE,2.37,5.648,-1.679,0,1,0
$FREEZE,1.60,5.589,-1.682,0,1,0
$FREEZE,1.58,5.607,-0.812,0,1,0
$FREEZE,1.61,5.629,-0.178,0,1,0
$FREEZE,1.58,5.609,-0.732,0,1,0
$FINISH,1.6,1.010639
$STATE,20286,end surface coast,CONTROL_FINISHED_OK
$STATE,20286,begin surface
$SM_CCo,20368,0.00,0.000,0,0,1554,422.90
$SM_GC,2.64,8.70,2.60,0.00,0.051,0.037,0.000,343,2091,1554,-8.65,-1.53,422.90,0,0,0,0,0,0,25.49,25.56,28.83
$RAFOS_CLK,1057
$RAFOS,6,1346042948,4.833333,4.818889,49,47,44,42,39,38,227,755,61,1443,811,910
$RAFOS,5,1346042478,4.700000,4.688334,48,46,40,39,39,38,1451,594,1048,1280,1879,1490
$RAFOS,4,1346042002,4.566667,4.556111,45,42,42,41,41,40,1644,297,1443,164,1269,1806
$RAFOS,3,1346041523,4.433333,4.423056,48,44,43,41,41,41,1577,1560,151,61,234,1140
$RAFOS,2,1346041022,4.300000,4.283889,47,44,42,41,40,40,742,162,247,512,708,1579
$RAFOS,1,1346040568,4.166667,4.157778,49,46,43,42,41,40,1014,621,205,1763,1294,1942
$RAFOS,0,1346040085,4.033333,4.023611,47,45,44,41,41,38,1527,999,1446,845,1015,1
$RAFOS,6,1346028543,0.833333,0.817500,43,42,42,42,40,40,285,247,1023,1330,391,598
$RAFOS,5,1346028062,0.700000,0.683889,46,44,42,42,41,41,739,1638,165,293,844,1567
$RAFOS,3,1346027104,0.433333,0.417778,46,44,43,39,38,38,1827,212,1264,1228,88,1542
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5915.36,260812,181803
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.67
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,16.20
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,22.4,42.848
$10V_AH,9.9,48.086
$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,22.300,184.400,405.500,0.000,0.000,0.000,0.000,333.175,9.500,0.000,22.970,4351.980,12019.985,594.460,3375.623,501.615,0.000,2564.382,0.000,3002.785,3240.000,27.355,0.000
$DEVICE_MAMPS,253.980,65.025,1389.240,0.000,0.000,0.000,0.000,287.632,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1180.737,1168.277,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151540
$DATA_FILE_SIZE,76737,1643
$CAP_FILE_SIZE,212242,0
$CFSIZE,260165632,214904832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1462.0
$CURRENT,0.153,172.9,1
$GPS,270812,061934,6654.729,-5919.543,28,1.0,29,-33.9