version: 66.11
glider: 108
mission: 21
dive: 376
start: 8 27 112 12 18 27
data:
$ID,108
$MISSION,21
$DIVE,376
$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,-191563.62
$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,64
$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
$GPS1,270812,120930,6655.525,-5923.620,40,0.9,40,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-77.2
$GPS2,270812,121753,6655.499,-5923.533,18,1.0,19,-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,285.9,50417,-16.9,-9.167
$D_GRID,1016
$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,-146.6,0.0,0.0,0,53,0.00,0.00,-34.00,0.000,2,0.000,0.000,337,2107,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.75,-146.6,3.1,-2.1,6,130,10.48,2.20,-53.50,0.000,4,0.247,0.065,2876,3503,3882,0,0,0,0,0,0,25.35,26.03,26.68
$GC,260,-0.75,-146.6,31.7,-14.6,43,266,0.00,2.10,0.00,0.000,6,0.000,0.030,2876,2091,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,572,-0.75,-146.6,71.3,-11.4,104,580,0.00,2.22,0.00,0.000,4,0.000,0.047,2866,3506,3888,0,0,0,0,0,0,28.83,26.01,28.83
$GC,744,-0.75,-146.6,92.4,-12.4,137,751,0.00,2.08,0.00,0.000,6,0.000,0.029,2866,2102,3888,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1061,-0.75,-146.6,131.8,-12.4,174,1069,0.00,2.17,0.00,0.000,4,0.000,0.048,2855,3521,3888,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1166,-0.75,-146.6,145.1,-13.1,184,1174,0.12,2.05,0.00,0.000,6,0.166,0.031,2886,2129,3888,0,0,0,0,0,0,25.91,26.34,28.83
$GC,1473,-0.75,-146.6,179.1,-10.5,215,1481,0.00,2.15,0.00,0.000,4,0.000,0.049,2878,3517,3888,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1576,-0.75,-146.6,190.4,-11.2,225,1579,0.00,2.05,0.00,0.000,6,0.000,0.030,2878,2132,3888,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1887,-0.75,-146.6,223.1,-10.3,256,1897,0.00,2.15,0.00,0.000,4,0.000,0.049,2868,3503,3887,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1971,-0.75,-146.6,232.0,-10.7,264,1980,0.00,2.00,0.00,0.000,6,0.000,0.030,2868,2136,3887,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2280,-0.75,-146.6,265.2,-10.8,295,2289,0.00,2.15,0.00,0.000,4,0.000,0.048,2858,3515,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2376,-0.75,-146.6,276.0,-12.4,304,2384,0.12,2.00,0.00,0.000,6,0.158,0.030,2889,2144,3886,0,0,0,0,0,0,25.98,26.39,28.83
$GC,2682,-0.75,-146.6,307.7,-10.2,335,2691,0.00,2.12,0.00,0.000,4,0.000,0.048,2882,3507,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2768,-0.75,-146.6,316.2,-10.4,343,2774,0.00,1.95,0.00,0.000,6,0.000,0.029,2882,2172,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3074,-0.75,-146.6,346.2,-9.3,374,3083,0.00,2.05,0.00,0.000,4,0.000,0.049,2872,3503,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3170,-0.75,-146.6,355.3,-10.2,383,3177,0.00,1.92,0.00,0.000,6,0.000,0.029,2872,2183,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3477,-0.75,-146.6,384.4,-8.9,414,3486,0.00,2.08,0.00,0.000,4,0.000,0.048,2862,3528,3886,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3562,-0.75,-146.6,392.4,-9.6,422,3569,0.00,1.95,0.00,0.000,6,0.000,0.029,2862,2191,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3870,-0.75,-146.6,421.8,-9.5,453,3879,0.00,2.05,0.00,0.000,4,0.000,0.047,2852,3507,3886,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3975,-0.75,-146.6,432.5,-10.3,463,3982,0.12,1.92,0.00,0.000,6,0.150,0.029,2885,2188,3886,0,0,0,0,0,0,26.03,26.42,28.83
$GC,4283,-0.75,-146.6,457.5,-7.7,494,4286,0.00,2.03,0.00,0.000,4,0.000,0.047,2877,3504,3886,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4345,-0.75,-146.6,462.9,-8.6,500,4348,0.00,1.90,0.00,0.000,6,0.000,0.029,2877,2215,3886,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4657,-0.75,-146.6,488.5,-8.4,531,4665,0.00,2.00,0.00,0.000,4,0.000,0.048,2867,3504,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4711,-0.75,-146.6,492.8,-8.7,536,4719,0.00,1.88,0.00,0.000,6,0.000,0.029,2868,2213,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5019,-0.75,-146.6,520.2,-9.2,567,5028,0.00,2.03,0.00,0.000,4,0.000,0.047,2857,3516,3886,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5103,-0.75,-146.6,528.3,-9.8,575,5110,0.12,1.90,0.00,0.000,6,0.150,0.029,2889,2208,3886,0,0,0,0,0,0,26.03,26.42,28.83
$GC,5411,-0.75,-146.6,553.4,-7.8,606,5420,0.00,2.03,0.00,0.000,4,0.000,0.048,2882,3510,3885,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5466,-0.75,-146.6,557.8,-8.7,611,5473,0.00,1.88,0.00,0.000,6,0.000,0.029,2882,2218,3886,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5773,-0.75,-146.6,583.3,-7.9,642,5782,0.00,2.00,0.00,0.000,4,0.000,0.049,2872,3503,3885,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5839,-0.75,-146.6,588.7,-8.9,648,5846,0.00,1.85,0.00,0.000,6,0.000,0.030,2872,2232,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6146,-0.75,-146.6,616.9,-9.2,667,6151,0.00,2.00,0.00,0.000,4,0.000,0.049,2863,3517,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6213,-0.75,-146.6,622.7,-9.4,669,6217,0.00,1.88,0.00,0.000,6,0.000,0.030,2863,2217,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6535,-0.75,-146.6,654.2,-9.4,680,6541,0.00,2.03,0.00,0.000,4,0.000,0.048,2853,3513,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6639,-0.75,-146.6,663.2,-9.8,683,6643,0.12,1.85,0.00,0.000,6,0.149,0.030,2885,2243,3885,0,0,0,0,0,0,26.02,26.40,28.83
$GC,6952,-0.75,-146.6,689.6,-8.0,694,6956,0.00,1.95,0.00,0.000,4,0.000,0.049,2877,3504,3884,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6987,-0.75,-146.6,692.5,-8.1,695,6991,0.00,1.83,0.00,0.000,6,0.000,0.029,2877,2254,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7316,-0.75,-146.6,720.1,-8.4,706,7322,0.00,1.95,0.00,0.000,4,0.000,0.049,2869,3503,3884,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7358,-0.75,-146.6,722.7,-8.5,707,7362,0.00,1.83,0.00,0.000,6,0.000,0.030,2868,2255,3884,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7679,-0.75,-146.6,750.2,-8.3,718,7684,0.00,1.95,0.00,0.000,4,0.000,0.048,2860,3503,3884,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7731,-0.75,-146.6,753.0,-8.3,719,7738,0.12,1.80,0.00,0.000,6,0.151,0.030,2891,2267,3884,0,0,0,0,0,0,26.01,26.41,28.83
$GC,8038,-0.75,-146.6,777.2,-7.2,730,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2266,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8339,-0.75,-146.6,798.6,-7.1,740,8344,0.00,1.95,0.00,0.000,4,0.000,0.050,2884,3518,3884,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8381,-0.75,-146.6,801.0,-7.4,741,8385,0.00,1.83,0.00,0.000,6,0.000,0.030,2884,2268,3884,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8700,-0.75,-146.6,827.2,-7.9,752,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2262,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9002,-0.75,-146.6,850.7,-7.8,762,9007,0.00,1.95,0.00,0.000,4,0.000,0.050,2875,3510,3883,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9039,-0.75,-146.6,853.2,-7.7,763,9042,0.00,1.80,0.00,0.000,6,0.000,0.030,2874,2280,3882,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9362,-0.75,-146.6,879.8,-8.0,774,9365,0.00,1.92,0.00,0.000,4,0.000,0.049,2866,3507,3883,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9396,-0.75,-146.6,882.5,-8.0,775,9400,0.00,1.80,0.00,0.000,6,0.000,0.030,2865,2279,3883,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9724,-0.75,-146.6,909.2,-8.0,786,9727,0.00,1.92,0.00,0.000,4,0.000,0.049,2856,3506,3883,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9779,-0.75,-146.6,911.7,-8.0,787,9787,0.12,1.80,0.00,0.000,6,0.146,0.030,2888,2275,3882,0,0,0,0,0,0,26.02,26.40,28.83
$GC,10086,-0.75,-146.6,934.1,-6.6,798,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2275,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10386,-0.75,-146.6,955.0,-6.9,808,10389,0.00,1.92,0.00,0.000,4,0.000,0.049,2881,3505,3882,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10441,-0.75,-146.6,957.5,-7.1,809,10448,0.00,1.77,0.00,0.000,6,0.000,0.030,2881,2287,3882,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10749,-0.75,-146.6,982.3,-7.5,820,10753,0.00,1.90,0.00,0.000,4,0.000,0.050,2872,3503,3882,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10783,-0.75,-146.6,985.1,-7.6,821,10787,0.00,1.80,0.00,0.000,6,0.000,0.030,2872,2290,3882,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,10838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10838,begin apogee
$GC,10846,-0.17,0.0,990.1,-8.0,823,10977,0.62,0.00,125.88,1.393,4,0.132,0.000,3069,1901,3278,0,0,0,0,0,0,25.46,28.83,23.12
$STATE,10980,end apogee,CONTROL_FINISHED_OK
$STATE,10980,begin climb
$GC,10983,0.75,146.6,994.6,0.0,827,11125,0.85,2.33,129.73,1.310,4,0.060,0.037,3375,513,2681,0,0,0,0,0,0,24.44,24.48,22.39
$GC,11354,0.75,146.6,963.0,12.0,840,11359,0.00,2.25,0.00,0.000,6,0.000,0.035,3375,1901,2671,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11683,0.75,146.6,924.1,11.9,851,11687,0.00,2.22,0.00,0.000,4,0.000,0.047,3375,3316,2667,0,0,0,0,0,0,28.83,25.71,28.83
$GC,11867,0.75,146.6,899.4,13.6,857,11872,0.00,2.15,0.00,0.000,6,0.000,0.031,3384,1901,2666,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12197,0.75,146.6,858.9,12.1,868,12202,0.00,2.15,0.00,0.000,4,0.000,0.040,3395,501,2665,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12364,0.75,146.6,840.6,12.1,873,12368,0.00,2.17,0.00,0.000,6,0.000,0.035,3395,1884,2665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12671,0.75,146.6,799.9,12.6,883,12676,0.00,2.17,0.00,0.000,4,0.000,0.040,3404,504,2665,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12744,0.75,146.6,792.1,12.9,885,12749,0.12,2.15,0.00,0.000,6,0.172,0.036,3375,1875,2664,0,0,0,0,0,0,25.79,26.16,28.83
$GC,13058,0.75,146.6,754.2,11.5,896,13063,0.00,2.15,0.00,0.000,4,0.000,0.039,3381,508,2664,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13089,0.75,146.6,750.6,11.7,897,13094,0.00,2.12,0.00,0.000,6,0.000,0.035,3381,1867,2664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13413,0.75,146.6,711.7,12.1,908,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1868,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13712,0.75,146.6,675.6,12.1,918,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1868,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14012,0.75,146.6,640.0,11.7,928,14016,0.00,2.15,0.00,0.000,4,0.000,0.040,3390,505,2664,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14047,0.75,146.6,636.2,11.6,929,14051,0.00,2.12,0.00,0.000,6,0.000,0.036,3390,1869,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14370,0.75,146.6,597.7,11.8,940,14371,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1868,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14672,0.75,146.6,562.7,11.8,970,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1868,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14980,0.75,146.6,526.8,11.4,1001,14988,0.00,2.12,0.00,0.000,4,0.000,0.041,3399,508,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15011,0.75,146.6,523.0,11.6,1004,15021,0.00,2.12,0.00,0.000,6,0.000,0.036,3399,1861,2662,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15321,0.75,146.6,485.8,12.1,1035,15322,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1861,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15626,0.75,146.6,449.6,12.0,1065,15634,0.00,2.12,0.00,0.000,4,0.000,0.040,3407,498,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15677,0.75,146.6,442.6,12.2,1070,15687,0.15,2.15,0.00,0.000,6,0.164,0.036,3371,1872,2662,0,0,0,0,0,0,25.80,26.26,28.83
$GC,15988,0.75,146.6,409.2,10.9,1101,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1872,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16287,0.75,146.6,375.6,11.4,1131,16289,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1872,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16591,0.75,146.6,341.1,11.4,1161,16596,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1872,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16897,0.75,146.6,307.2,10.8,1192,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1872,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17200,0.75,146.6,276.8,10.1,1222,17206,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1872,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17511,0.75,146.6,246.0,9.9,1253,17519,0.00,2.17,0.00,0.000,4,0.000,0.045,3370,3300,2662,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17532,0.75,146.6,243.3,10.1,1255,17541,0.00,2.17,0.00,0.000,6,0.000,0.031,3378,1847,2662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,17843,0.75,146.6,212.5,9.4,1286,17844,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1847,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18145,0.75,146.6,185.2,9.3,1316,18155,0.00,2.05,0.00,0.000,4,0.000,0.040,3388,505,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,18180,0.75,149.9,182.0,9.0,1319,18187,0.00,2.12,0.00,0.000,6,0.000,0.034,3388,1874,2662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,18488,0.75,149.9,151.5,10.4,1350,18497,0.00,2.17,0.00,0.000,4,0.000,0.044,3388,3302,2662,0,0,0,0,0,0,28.83,26.10,28.83
$GC,18641,0.75,149.9,134.6,10.9,1365,18650,0.00,2.12,0.00,0.000,6,0.000,0.030,3397,1866,2662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,18951,0.80,193.9,106.8,7.3,1396,18995,0.00,2.30,37.22,0.938,4,0.000,0.044,3397,3293,2487,0,0,0,0,0,0,28.83,25.89,24.72
$GC,19014,0.83,218.3,101.9,8.1,1402,19044,0.00,2.12,20.92,0.793,6,0.000,0.030,3406,1895,2387,0,0,0,0,0,0,28.83,25.94,24.69
$GC,19350,0.83,218.3,66.6,11.4,1465,19356,0.00,2.17,0.00,0.000,4,0.000,0.040,3417,507,2381,0,0,0,0,0,0,28.83,25.87,28.83
$GC,19450,0.83,218.3,55.6,10.2,1484,19457,0.00,2.17,0.00,0.000,6,0.000,0.035,3416,1887,2380,0,0,0,0,0,0,28.83,26.00,28.83
$GC,19763,0.85,232.9,26.1,8.6,1545,19776,0.00,0.00,7.32,0.783,6,0.000,0.000,3417,1886,2329,0,0,0,0,0,0,28.83,28.83,24.79
$FREEZE,8.99,6.012,-1.665,0,1,0
$FREEZE,8.43,6.012,-1.666,0,1,0
$FREEZE,7.88,6.019,-1.666,0,1,0
$FREEZE,7.29,6.036,-1.666,0,1,0
$FREEZE,6.47,6.044,-1.666,0,1,0
$GC,20085,1.10,438.7,11.5,0.6,1607,20192,0.17,2.25,97.00,0.090,4,0.089,0.041,3502,507,1488,0,0,0,0,0,0,26.22,25.96,25.72
$FREEZE,4.72,6.050,-1.666,0,1,0
$FREEZE,4.19,6.056,-1.665,0,1,0
$FREEZE,3.71,6.066,-1.665,0,1,0
$STATE,20211,end climb,SURFACE_DEPTH_REACHED
$STATE,20211,begin surface coast
$FREEZE,3.09,6.085,-1.664,0,1,0
$FREEZE,2.55,6.109,-1.664,0,1,0
$FREEZE,1.94,6.133,-1.664,0,1,0
$FREEZE,1.55,6.183,-0.804,0,1,0
$FREEZE,1.65,5.970,-0.845,0,1,0
$FREEZE,1.65,6.038,-0.830,0,1,0
$FREEZE,1.57,5.175,-0.856,0,1,0
$FREEZE,1.58,6.049,-0.102,0,1,0
$FINISH,1.6,1.001384
$STATE,20253,end surface coast,CONTROL_FINISHED_OK
$STATE,20253,begin surface
$SM_CCo,20336,0.00,0.000,0,0,1473,442.77
$SM_GC,2.74,8.62,2.55,0.00,0.054,0.037,0.000,342,2102,1473,-8.66,-1.36,442.77,0,0,1,0,0,0,25.89,26.00,28.83
$RAFOS_CLK,1046
$RAFOS,6,1346086142,16.833334,16.817223,47,42,41,41,41,40,753,556,949,1300,1671,323
$RAFOS,5,1346085672,16.700001,16.686666,52,43,43,43,43,40,1908,61,789,826,1495,480
$RAFOS,4,1346085186,16.566668,16.551666,49,47,43,42,41,41,61,1648,663,1901,299,1365
$RAFOS,3,1346084703,16.433332,16.417500,44,41,40,40,39,39,239,204,1930,1330,341,1164
$RAFOS,2,1346084243,16.299999,16.289722,46,44,44,42,42,42,792,425,1859,1493,1808,657
$RAFOS,1,1346083766,16.166666,16.157223,53,52,44,43,42,42,1126,1527,1839,1916,842,1708
$RAFOS,0,1346083286,16.033333,16.023890,45,44,42,41,41,41,1828,434,1383,287,488,1541
$RAFOS,6,1346071742,12.833333,12.817223,42,42,41,40,40,38,88,731,301,392,352,812
$RAFOS,5,1346071267,12.700000,12.685278,54,45,44,43,43,42,1859,261,1422,1903,1868,637
$RAFOS,4,1346070785,12.566667,12.551389,54,51,51,46,42,41,565,1073,1816,373,970,448
$RAFOS,3,1346070304,12.433333,12.417778,48,44,42,41,41,39,339,208,1060,1060,1859,88
$RAFOS,0,1346068861,12.033333,12.016945,43,42,41,40,39,39,371,548,961,523,1032,1092
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5915.36,270812,060602
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.66
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,15.80
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,22.4,43.081
$10V_AH,9.8,48.349
$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,21.900,163.850,418.075,0.000,0.000,0.000,0.000,346.775,9.250,0.000,20.279,4257.366,12094.012,620.817,3396.774,457.174,0.000,2594.215,0.000,2992.847,3960.000,27.361,0.000
$DEVICE_MAMPS,247.095,65.025,1393.065,0.000,0.000,0.000,0.000,288.381,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.780,1151.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151584
$DATA_FILE_SIZE,76765,1634
$CAP_FILE_SIZE,208436,0
$CFSIZE,260165632,214716416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$SOUNDSPEED,1461.0
$CURRENT,0.123,165.6,1
$GPS,270812,175853,6653.791,-5928.894,40,0.7,40,-33.9