version: 66.11
glider: 108
mission: 21
dive: 377
start: 8 27 112 18 7 18
data:
$ID,108
$MISSION,21
$DIVE,377
$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,-191564.88
$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,61
$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
$GPS1,270812,175853,6653.791,-5928.894,40,0.7,40,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-78.8
$GPS2,270812,180642,6653.743,-5928.931,19,0.9,20,-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,309.4,45482,-16.9,-9.167
$D_GRID,979
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,57,0.00,0.00,-38.75,0.000,2,0.000,0.000,341,2102,2369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.75,-146.6,3.1,-2.1,7,133,10.40,2.22,-52.28,0.000,4,0.247,0.054,2891,709,3882,0,0,0,0,0,0,25.42,26.14,26.70
$GC,344,-0.75,-146.6,35.1,-11.9,60,351,0.00,2.17,0.00,0.000,6,0.000,0.038,2884,2100,3887,0,0,0,0,0,0,28.83,26.13,28.83
$GC,657,-0.75,-146.6,73.3,-12.1,121,664,0.00,2.15,0.00,0.000,4,0.000,0.050,2873,3503,3892,0,0,0,0,0,0,28.83,26.02,28.83
$GC,859,-0.75,-146.6,99.5,-13.0,160,866,0.00,2.10,0.00,0.000,6,0.000,0.031,2873,2094,3892,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1164,-0.75,-146.6,138.1,-12.6,191,1173,0.00,2.20,0.00,0.000,4,0.000,0.050,2863,3503,3891,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1351,-0.75,-146.6,161.6,-12.5,209,1359,0.00,2.05,0.00,0.000,6,0.000,0.031,2863,2125,3891,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1659,-0.75,-146.6,199.0,-11.6,240,1667,0.00,2.17,0.00,0.000,4,0.000,0.050,2852,3517,3889,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1853,-0.75,-146.6,222.5,-12.3,259,1862,0.15,2.05,0.00,0.000,6,0.156,0.031,2892,2134,3888,0,0,0,0,0,0,25.89,26.37,28.83
$GC,2164,-0.75,-146.6,250.2,-8.8,290,2173,0.00,2.10,0.00,0.000,4,0.000,0.050,2884,3502,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2311,-0.75,-146.6,264.2,-9.7,304,2318,0.00,1.98,0.00,0.000,6,0.000,0.031,2884,2158,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2616,-0.75,-146.6,293.8,-9.6,335,2625,0.00,2.10,0.00,0.000,4,0.000,0.050,2873,3515,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2701,-0.75,-146.6,302.4,-10.5,343,2708,0.00,2.00,0.00,0.000,6,0.000,0.031,2873,2150,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3009,-0.75,-146.6,334.2,-10.3,374,3018,0.00,2.08,0.00,0.000,4,0.000,0.050,2863,3504,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3124,-0.75,-146.6,346.7,-11.3,385,3132,0.00,1.95,0.00,0.000,6,0.000,0.030,2864,2174,3887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3431,-0.75,-146.6,380.5,-10.8,416,3440,0.00,2.05,0.00,0.000,4,0.000,0.050,2853,3503,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3545,-0.75,-146.6,393.3,-11.1,427,3552,0.12,1.92,0.00,0.000,6,0.154,0.030,2885,2188,3887,0,0,0,0,0,0,26.01,26.39,28.83
$GC,3854,-0.75,-146.6,420.2,-7.9,458,3858,0.00,2.05,0.00,0.000,4,0.000,0.049,2877,3509,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3937,-0.75,-146.6,427.4,-9.0,466,3940,0.00,1.92,0.00,0.000,6,0.000,0.030,2877,2198,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4249,-0.75,-146.6,454.0,-8.7,497,4258,0.00,2.03,0.00,0.000,4,0.000,0.049,2867,3514,3887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4355,-0.75,-146.6,463.5,-9.3,507,4361,0.00,1.92,0.00,0.000,6,0.000,0.030,2868,2199,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4662,-0.75,-146.6,492.7,-9.3,538,4671,0.00,2.03,0.00,0.000,4,0.000,0.050,2858,3518,3887,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4755,-0.75,-146.6,502.1,-10.3,547,4759,0.12,1.90,0.00,0.000,6,0.151,0.031,2889,2215,3887,0,0,0,0,0,0,26.01,26.40,28.83
$GC,5068,-0.75,-146.6,526.7,-7.6,578,5077,0.00,2.03,0.00,0.000,4,0.000,0.049,2882,3511,3887,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5141,-0.75,-146.6,532.7,-8.2,585,5145,0.00,1.90,0.00,0.000,6,0.000,0.030,2881,2225,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5453,-0.75,-146.6,558.5,-8.2,616,5462,0.00,2.00,0.00,0.000,4,0.000,0.049,2872,3508,3887,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5526,-0.75,-146.6,565.0,-9.2,623,5530,0.00,1.88,0.00,0.000,6,0.000,0.029,2872,2236,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5839,-0.75,-146.6,593.1,-8.8,654,5843,0.00,2.00,0.00,0.000,4,0.000,0.049,2862,3514,3887,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5902,-0.75,-146.6,599.1,-9.6,660,5905,0.00,1.88,0.00,0.000,6,0.000,0.030,2862,2241,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6213,-0.75,-146.6,628.2,-9.4,671,6217,0.00,1.98,0.00,0.000,4,0.000,0.049,2852,3511,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6278,-0.75,-146.6,634.3,-9.6,673,6283,0.12,1.85,0.00,0.000,6,0.148,0.030,2885,2242,3887,0,0,0,0,0,0,26.02,26.40,28.83
$GC,6602,-0.75,-146.6,660.8,-8.2,684,6606,0.00,1.95,0.00,0.000,4,0.000,0.050,2877,3503,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6654,-0.75,-146.6,663.7,-8.2,685,6657,0.00,1.83,0.00,0.000,6,0.000,0.030,2877,2254,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6967,-0.75,-146.6,691.1,-8.2,696,6972,0.00,1.98,0.00,0.000,4,0.000,0.049,2868,3518,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6998,-0.75,-146.6,693.6,-8.1,697,7002,0.00,1.85,0.00,0.000,6,0.000,0.030,2868,2250,3887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7324,-0.75,-146.6,721.5,-8.6,708,7330,0.00,1.98,0.00,0.000,4,0.000,0.048,2858,3512,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7373,-0.75,-146.6,724.4,-8.6,709,7377,0.12,1.83,0.00,0.000,6,0.147,0.030,2890,2263,3886,0,0,0,0,0,0,26.02,26.40,28.83
$GC,7679,-0.75,-146.6,748.3,-7.3,719,7684,0.00,1.95,0.00,0.000,4,0.000,0.049,2883,3510,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7712,-0.75,-146.6,750.4,-7.2,720,7715,0.00,1.83,0.00,0.000,6,0.000,0.030,2883,2261,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8040,-0.75,-146.6,776.0,-7.7,731,8045,0.00,1.95,0.00,0.000,4,0.000,0.048,2874,3504,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8077,-0.75,-146.6,778.4,-7.7,732,8081,0.00,1.80,0.00,0.000,6,0.000,0.029,2873,2273,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8400,-0.75,-146.6,805.2,-8.3,743,8404,0.00,1.92,0.00,0.000,4,0.000,0.049,2864,3506,3885,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8435,-0.75,-146.6,807.9,-8.3,744,8439,0.00,1.80,0.00,0.000,6,0.000,0.030,2864,2275,3885,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8766,-0.75,-146.6,836.8,-8.9,755,8771,0.00,1.92,0.00,0.000,4,0.000,0.049,2855,3503,3885,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8825,-0.75,-146.6,842.8,-9.2,757,8831,0.12,1.80,0.00,0.000,6,0.146,0.030,2887,2277,3886,0,0,0,0,0,0,26.02,26.39,28.83
$GC,9158,-0.75,-146.6,868.8,-7.8,768,9164,0.00,1.92,0.00,0.000,4,0.000,0.049,2880,3510,3885,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9196,-0.75,-146.6,871.4,-7.8,769,9199,0.00,1.80,0.00,0.000,6,0.000,0.030,2880,2278,3885,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9518,-0.75,-146.6,897.6,-7.8,780,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2274,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9818,-0.75,-146.6,920.4,-7.6,790,9824,0.00,1.90,0.00,0.000,4,0.000,0.049,2871,3503,3885,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9872,-0.75,-146.6,922.6,-7.6,791,9878,0.00,1.77,0.00,0.000,6,0.000,0.030,2871,2286,3884,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10178,-0.75,-146.6,948.6,-7.4,802,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2285,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10479,-0.75,-146.6,973.3,-8.4,812,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2286,3884,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10565,begin apogee
$GC,10572,-0.17,0.0,980.9,-8.5,815,10704,0.62,0.00,125.85,1.385,4,0.131,0.000,3068,1888,3278,0,0,0,0,0,0,25.38,28.83,23.12
$STATE,10707,end apogee,CONTROL_FINISHED_OK
$STATE,10707,begin climb
$GC,10711,0.75,146.6,986.4,0.0,819,10847,0.85,0.00,129.50,1.302,6,0.060,0.000,3373,1888,2681,0,0,0,0,0,0,24.44,28.83,22.40
$GC,11166,0.75,146.6,944.0,11.2,835,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1887,2670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11466,0.75,146.6,910.3,11.2,845,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1887,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11767,0.75,146.6,877.5,11.0,855,11772,0.00,2.15,0.00,0.000,4,0.000,0.040,3382,516,2668,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11795,0.75,146.6,874.0,11.1,856,11799,0.00,2.17,0.00,0.000,6,0.000,0.037,3383,1901,2667,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12128,0.75,146.6,836.3,11.2,867,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1900,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12427,0.75,146.6,801.6,11.5,877,12433,0.00,2.17,0.00,0.000,4,0.000,0.040,3392,513,2666,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12487,0.75,146.6,794.7,11.6,879,12493,0.00,2.17,0.00,0.000,6,0.000,0.036,3391,1894,2665,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12819,0.75,146.6,755.4,12.0,890,12824,0.00,2.15,0.00,0.000,4,0.000,0.040,3401,524,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12865,0.75,146.6,751.7,12.1,891,12870,0.12,2.12,0.00,0.000,6,0.168,0.036,3371,1890,2665,0,0,0,0,0,0,25.84,26.19,28.83
$GC,13172,0.75,146.6,715.6,11.0,901,13178,0.00,2.15,0.00,0.000,4,0.000,0.040,3378,516,2664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13211,0.75,146.6,712.3,11.0,902,13215,0.00,2.15,0.00,0.000,6,0.000,0.035,3378,1892,2664,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13529,0.75,146.6,676.8,10.8,913,13530,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1891,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13828,0.75,146.6,645.3,10.3,923,13834,0.00,2.15,0.00,0.000,4,0.000,0.040,3387,511,2664,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13889,0.75,146.6,639.0,10.4,925,13893,0.00,2.15,0.00,0.000,6,0.000,0.036,3386,1882,2664,0,0,0,0,0,0,28.83,26.23,28.83
$GC,14221,0.75,146.6,604.2,10.8,936,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1881,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14522,0.75,146.6,571.4,11.0,962,14531,0.00,2.12,0.00,0.000,4,0.000,0.039,3395,520,2664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14567,0.75,146.6,566.7,10.8,966,14574,0.00,2.12,0.00,0.000,6,0.000,0.036,3395,1883,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14875,0.75,146.6,533.2,10.6,997,14876,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1883,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15176,0.75,146.6,500.9,10.8,1027,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1883,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15487,0.75,146.6,467.8,10.7,1058,15496,0.00,2.15,0.00,0.000,4,0.000,0.040,3404,511,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15519,0.75,146.6,464.0,10.8,1061,15529,0.12,2.15,0.00,0.000,6,0.164,0.035,3375,1887,2664,0,0,0,0,0,0,25.89,26.26,28.83
$GC,15830,0.75,146.6,433.4,9.7,1092,15831,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1886,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16132,0.75,146.6,404.9,9.6,1122,16135,0.00,2.15,0.00,0.000,4,0.000,0.040,3381,514,2664,0,0,0,0,0,0,28.83,26.16,28.83
$GC,16174,0.75,146.6,400.5,10.1,1126,16178,0.00,2.12,0.00,0.000,6,0.000,0.035,3381,1880,2663,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16486,0.75,146.6,366.9,11.4,1157,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1879,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16789,0.75,146.6,334.3,11.1,1187,16795,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1879,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17099,0.75,146.6,299.9,10.9,1218,17105,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1879,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17409,0.75,146.6,268.4,9.8,1249,17418,0.00,2.17,0.00,0.000,4,0.000,0.047,3381,3300,2664,0,0,0,0,0,0,28.83,26.09,28.83
$GC,17464,0.75,146.6,262.5,11.0,1254,17471,0.00,2.12,0.00,0.000,6,0.000,0.031,3390,1873,2663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,17772,0.75,146.6,231.5,9.8,1285,17781,0.00,2.10,0.00,0.000,4,0.000,0.041,3401,504,2663,0,0,0,0,0,0,28.83,26.15,28.83
$GC,17945,0.75,146.6,214.6,9.6,1302,17954,0.08,2.10,0.00,0.000,6,0.149,0.035,3377,1859,2663,0,0,0,0,0,0,25.89,26.26,28.83
$GC,18255,0.76,162.4,188.0,8.5,1333,18274,0.00,2.20,11.93,0.946,4,0.000,0.044,3377,3313,2615,0,0,0,0,0,0,28.83,26.30,24.87
$GC,18309,0.76,162.4,183.1,9.3,1338,18316,0.00,2.17,0.00,0.000,6,0.000,0.031,3384,1860,2614,0,0,0,0,0,0,28.83,26.27,28.83
$GC,18617,0.78,177.7,155.5,8.5,1369,18637,0.00,2.15,14.38,0.939,4,0.000,0.040,3394,508,2553,0,0,0,0,0,0,28.83,26.15,24.87
$GC,18733,0.78,177.7,145.0,9.5,1380,18737,0.00,2.12,0.00,0.000,6,0.000,0.035,3394,1858,2550,0,0,0,0,0,0,28.83,26.07,28.83
$GC,19046,0.78,177.7,116.7,9.3,1411,19054,0.00,2.20,0.00,0.000,4,0.000,0.046,3395,3294,2550,0,0,0,0,0,0,28.83,26.00,28.83
$GC,19091,0.78,177.7,112.2,10.6,1415,19098,0.00,2.17,0.00,0.000,6,0.000,0.031,3403,1848,2549,0,0,0,0,0,0,28.83,26.18,28.83
$GC,19398,0.78,177.7,81.9,9.3,1464,19405,0.00,2.08,0.00,0.000,4,0.000,0.041,3413,512,2549,0,0,0,0,0,0,28.83,26.08,28.83
$GC,19494,0.78,177.7,72.5,9.5,1482,19502,0.12,2.12,0.00,0.000,6,0.162,0.037,3383,1864,2550,0,0,0,0,0,0,25.83,26.17,28.83
$GC,19811,0.83,212.7,45.6,7.7,1543,19848,0.00,2.25,28.80,0.845,4,0.000,0.048,3383,3301,2411,0,0,0,0,0,0,28.83,25.96,25.00
$GC,19978,0.83,212.7,29.9,9.4,1574,19985,0.00,2.20,0.00,0.000,6,0.000,0.032,3390,1860,2407,0,0,0,0,0,0,28.83,26.00,28.83
$FREEZE,8.95,1.943,-1.730,0,1,0
$FREEZE,8.73,2.532,-1.709,0,1,0
$FREEZE,8.55,3.273,-1.679,0,1,0
$FREEZE,8.51,3.899,-1.651,0,1,0
$FREEZE,8.43,4.042,-1.641,0,1,0
$FREEZE,8.39,4.140,-1.633,0,1,0
$FREEZE,8.36,4.176,-1.628,0,1,0
$FREEZE,8.15,4.415,-1.618,0,1,0
$FREEZE,8.17,4.763,-1.598,0,1,0
$FREEZE,8.15,4.986,-1.586,0,1,0
$FREEZE,8.19,5.104,-1.578,0,1,0
$FREEZE,8.18,5.122,-1.576,0,1,0
$FREEZE,8.25,5.046,-1.583,0,1,0
$FREEZE,8.14,4.995,-1.594,0,1,0
$FREEZE,8.15,5.001,-1.603,0,1,0
$FREEZE,8.19,5.314,-1.598,0,1,0
$FREEZE,8.09,5.731,-1.587,0,1,0
$FREEZE,7.93,5.834,-1.591,0,1,0
$FREEZE,7.77,5.937,-1.596,0,1,0
$FREEZE,7.46,6.057,-1.607,0,1,0
$FREEZE,7.25,6.150,-1.624,0,1,0
$FREEZE,6.82,6.233,-1.638,0,1,0
$FREEZE,6.44,6.293,-1.649,0,1,0
$FREEZE,5.86,6.342,-1.654,0,1,0
$FREEZE,5.32,6.350,-1.657,0,1,0
$FREEZE,4.74,6.344,-1.658,0,1,0
$GC,20295,1.10,435.3,8.2,-0.1,1635,20412,0.25,2.35,103.47,0.083,4,0.077,0.047,3495,3304,1499,0,0,0,0,0,0,26.09,25.89,25.69
$FREEZE,3.06,6.379,-1.659,0,1,0
$STATE,20419,end climb,SURFACE_DEPTH_REACHED
$STATE,20419,begin surface coast
$FREEZE,2.67,6.377,-1.659,0,1,0
$FREEZE,2.05,6.373,-1.659,0,1,0
$FREEZE,1.50,6.366,-1.659,0,1,0
$FREEZE,1.51,6.039,-0.856,0,1,0
$FREEZE,1.44,6.021,-0.929,0,1,0
$FREEZE,1.43,6.114,-0.867,0,1,0
$FREEZE,1.48,5.187,-0.749,0,1,0
$FREEZE,1.50,6.236,-0.801,0,1,0
$FREEZE,1.47,6.046,-0.872,0,1,0
$FINISH,1.5,1.012643
$STATE,20465,end surface coast,CONTROL_FINISHED_OK
$STATE,20465,begin surface
$SM_CCo,20548,0.00,0.000,0,0,1485,440.07
$SM_GC,2.63,8.70,1.88,0.00,0.057,0.033,0.000,339,2107,1485,-8.67,1.92,440.07,0,0,0,0,0,0,25.80,26.02,28.83
$RAFOS_CLK,1068
$RAFOS,6,1346100563,20.833334,20.823055,50,44,43,43,42,42,1552,1392,1322,1424,1226,1010
$RAFOS,5,1346100083,20.700001,20.689722,46,42,42,42,41,40,997,1036,226,942,254,1535
$RAFOS,4,1346099597,20.566668,20.554722,44,43,43,42,41,41,880,594,671,1563,279,319
$RAFOS,3,1346099114,20.433332,20.420555,49,46,45,45,43,41,1550,1472,112,725,214,1603
$RAFOS,2,1346098634,20.299999,20.287222,47,46,43,41,41,40,1204,1399,378,600,609,1941
$RAFOS,1,1346098156,20.166666,20.154444,46,45,43,43,41,39,1035,645,1056,621,1465,1859
$RAFOS,0,1346097681,20.033333,20.022499,51,48,42,41,40,39,1011,1064,1488,1726,817,1781
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5925.68,270812,121258
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.34
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.40
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,22.4,43.196
$10V_AH,9.8,48.479
$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,22.050,163.725,413.925,0.000,0.000,0.000,0.000,314.300,7.500,0.000,20.963,4303.052,12298.198,603.786,3320.320,479.145,0.000,2525.949,0.000,2957.962,2520.000,32.291,0.000
$DEVICE_MAMPS,247.095,53.550,1385.415,0.000,0.000,0.000,0.000,292.875,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1188.290,1177.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151580
$DATA_FILE_SIZE,76663,1660
$CAP_FILE_SIZE,206748,0
$CFSIZE,260165632,214622208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1458.1
$CURRENT,0.153,  6.6,1
$GPS,270812,235105,6656.061,-5934.400,31,0.9,31,-34.0