version: 66.11
glider: 108
mission: 21
dive: 378
start: 8 28 112 0 0 4
data:
$ID,108
$MISSION,21
$DIVE,378
$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,-191566.22
$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,55
$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
$GPS1,270812,235105,6656.061,-5934.400,31,0.9,31,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-78.1
$GPS2,270812,235929,6656.061,-5934.167,17,1.2,18,-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,244.5,44009,-16.9,-9.167
$D_GRID,969
$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,-146.6,0.0,0.0,0,53,0.00,0.00,-34.40,0.000,2,0.000,0.000,339,2102,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.75,-146.6,3.1,-2.2,6,131,10.40,2.28,-58.08,0.000,4,0.249,0.065,2877,3507,3880,0,0,0,0,0,0,25.41,26.03,26.70
$GC,362,-0.75,-146.6,40.2,-14.5,63,368,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,2088,3888,0,0,0,0,0,0,28.83,26.27,28.83
$GC,674,-0.75,-146.6,81.1,-13.1,124,682,0.00,2.22,0.00,0.000,4,0.000,0.049,2867,3504,3890,0,0,0,0,0,0,28.83,26.01,28.83
$GC,859,-0.75,-146.6,105.8,-13.2,156,869,0.00,2.10,0.00,0.000,6,0.000,0.031,2867,2097,3890,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1170,-0.75,-146.6,144.7,-12.1,187,1178,0.00,2.17,0.00,0.000,4,0.000,0.051,2856,3493,3891,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1315,-0.75,-146.6,163.0,-13.1,201,1324,0.10,2.03,0.00,0.000,6,0.148,0.031,2887,2122,3891,0,0,0,0,0,0,25.86,26.34,28.83
$GC,1623,-0.75,-146.6,197.8,-10.9,232,1633,0.00,2.15,0.00,0.000,4,0.000,0.050,2879,3503,3890,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1686,-0.75,-146.6,204.9,-11.3,238,1694,0.00,2.05,0.00,0.000,6,0.000,0.031,2879,2129,3889,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1997,-0.75,-146.6,235.9,-9.5,269,2005,0.00,2.15,0.00,0.000,4,0.000,0.050,2869,3506,3888,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2122,-0.75,-146.6,248.3,-10.1,281,2128,0.00,2.03,0.00,0.000,6,0.000,0.031,2869,2135,3887,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2429,-0.75,-146.6,279.2,-10.4,312,2439,0.00,2.15,0.00,0.000,4,0.000,0.050,2860,3506,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2567,-0.75,-146.6,294.1,-11.4,325,2576,0.08,2.03,0.00,0.000,6,0.142,0.031,2884,2129,3887,0,0,0,0,0,0,26.01,26.37,28.83
$GC,2874,-0.75,-146.6,325.0,-9.6,356,2884,0.00,2.12,0.00,0.000,4,0.000,0.050,2876,3507,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2970,-0.75,-146.6,335.1,-10.9,365,2976,0.00,2.00,0.00,0.000,6,0.000,0.031,2876,2146,3887,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3277,-0.75,-146.6,367.2,-10.7,396,3287,0.00,2.12,0.00,0.000,4,0.000,0.050,2866,3503,3887,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3372,-0.75,-146.6,377.7,-11.3,405,3376,0.00,1.98,0.00,0.000,6,0.000,0.030,2866,2176,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3684,-0.75,-146.6,411.2,-10.7,436,3693,0.00,2.08,0.00,0.000,4,0.000,0.050,2856,3507,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3749,-0.75,-146.6,418.0,-11.1,442,3756,0.12,1.98,0.00,0.000,6,0.155,0.030,2887,2163,3887,0,0,0,0,0,0,25.98,26.39,28.83
$GC,4058,-0.75,-146.6,445.5,-8.5,473,4061,0.00,2.10,0.00,0.000,4,0.000,0.049,2879,3511,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4134,-0.75,-146.6,452.1,-9.3,480,4141,0.00,1.95,0.00,0.000,6,0.000,0.030,2879,2179,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4440,-0.75,-146.6,479.4,-8.6,511,4449,0.00,2.05,0.00,0.000,4,0.000,0.049,2869,3506,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4526,-0.75,-146.6,487.2,-9.6,519,4533,0.00,1.95,0.00,0.000,6,0.000,0.030,2869,2176,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4833,-0.75,-146.6,515.8,-9.1,550,4842,0.00,2.05,0.00,0.000,4,0.000,0.050,2860,3501,3887,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4925,-0.75,-146.6,525.0,-10.2,559,4929,0.00,1.92,0.00,0.000,6,0.000,0.031,2859,2204,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5237,-0.75,-146.6,556.6,-10.1,590,5247,0.12,2.03,0.00,0.000,4,0.168,0.048,2889,3507,3886,0,0,0,0,0,0,26.23,26.01,28.83
$GC,5312,-0.75,-146.6,563.1,-8.7,597,5315,0.00,1.92,0.00,0.000,6,0.000,0.031,2888,2205,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5624,-0.75,-146.6,587.6,-7.5,628,5634,0.00,2.05,0.00,0.000,4,0.000,0.049,2881,3513,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5670,-0.75,-146.6,591.0,-8.0,632,5678,0.00,1.92,0.00,0.000,6,0.000,0.030,2881,2198,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5997,-0.75,-146.6,616.6,-7.7,651,6003,0.00,2.03,0.00,0.000,4,0.000,0.050,2871,3506,3887,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6076,-0.75,-146.6,621.6,-8.0,653,6080,0.00,1.90,0.00,0.000,6,0.000,0.031,2871,2209,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6389,-0.75,-146.6,649.1,-8.3,664,6394,0.00,2.03,0.00,0.000,4,0.000,0.049,2862,3501,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6459,-0.75,-146.6,654.7,-8.6,666,6462,0.00,1.88,0.00,0.000,6,0.000,0.030,2862,2226,3886,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6782,-0.75,-146.6,684.8,-9.2,677,6785,0.00,2.00,0.00,0.000,4,0.000,0.048,2852,3501,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6851,-0.75,-146.6,691.1,-9.6,679,6856,0.15,1.88,0.00,0.000,6,0.146,0.030,2891,2221,3886,0,0,0,0,0,0,25.91,26.39,28.83
$GC,7170,-0.75,-146.6,716.2,-7.6,690,7173,0.00,2.00,0.00,0.000,4,0.000,0.049,2884,3500,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7203,-0.75,-146.6,718.8,-7.7,691,7207,0.00,1.88,0.00,0.000,6,0.000,0.030,2884,2231,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7535,-0.75,-146.6,745.5,-7.9,702,7539,0.00,2.00,0.00,0.000,4,0.000,0.050,2875,3514,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7588,-0.75,-146.6,748.1,-7.9,703,7592,0.00,1.88,0.00,0.000,6,0.000,0.030,2875,2233,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7901,-0.75,-146.6,775.7,-8.4,714,7904,0.00,2.00,0.00,0.000,4,0.000,0.049,2865,3505,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7951,-0.75,-146.6,778.5,-8.5,715,7954,0.00,1.85,0.00,0.000,6,0.000,0.030,2865,2246,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8265,-0.75,-146.6,806.7,-8.4,726,8269,0.00,1.95,0.00,0.000,4,0.000,0.050,2856,3500,3886,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8306,-0.75,-146.6,809.6,-8.4,727,8310,0.12,1.85,0.00,0.000,6,0.150,0.031,2887,2240,3887,0,0,0,0,0,0,25.99,26.38,28.83
$GC,8629,-0.75,-146.6,833.3,-7.2,738,8632,0.00,1.98,0.00,0.000,4,0.000,0.050,2880,3500,3886,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8675,-0.75,-146.6,835.7,-7.4,739,8678,0.00,1.83,0.00,0.000,6,0.000,0.031,2880,2257,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8993,-0.75,-146.6,860.8,-7.5,750,8997,0.00,1.95,0.00,0.000,4,0.000,0.050,2871,3500,3886,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9034,-0.75,-146.6,863.4,-7.4,751,9037,0.00,1.83,0.00,0.000,6,0.000,0.031,2871,2257,3886,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9357,-0.75,-146.6,889.3,-7.7,762,9360,0.00,1.95,0.00,0.000,4,0.000,0.049,2862,3501,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9392,-0.75,-146.6,891.9,-7.8,763,9395,0.00,1.83,0.00,0.000,6,0.000,0.030,2861,2256,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9720,-0.75,-146.6,918.0,-7.9,774,9724,0.00,1.95,0.00,0.000,4,0.000,0.049,2852,3501,3886,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9761,-0.75,-146.6,920.9,-8.1,775,9765,0.15,1.80,0.00,0.000,6,0.145,0.031,2892,2271,3886,0,0,0,0,0,0,25.91,26.39,28.83
$GC,10084,-0.75,-146.6,943.6,-6.4,786,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2268,3886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10381,begin apogee
$GC,10389,-0.17,0.0,963.8,-6.9,796,10519,0.55,0.00,125.70,1.364,4,0.125,0.000,3072,1901,3279,0,0,0,0,0,0,25.50,28.83,23.14
$STATE,10523,end apogee,CONTROL_FINISHED_OK
$STATE,10523,begin climb
$GC,10525,0.75,146.6,968.6,0.0,800,10667,0.85,2.35,129.55,1.291,4,0.065,0.037,3371,500,2681,0,0,0,0,0,0,24.44,24.48,22.39
$GC,10895,0.75,146.6,936.7,12.0,813,10901,0.00,2.28,0.00,0.000,6,0.000,0.035,3370,1906,2671,0,0,0,0,0,0,28.83,25.13,28.83
$GC,11226,0.75,146.6,896.3,11.9,824,11231,0.00,2.15,0.00,0.000,4,0.000,0.047,3371,3303,2668,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11459,0.75,146.6,867.8,13.9,831,11465,0.00,2.12,0.00,0.000,6,0.000,0.031,3380,1898,2666,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11766,0.75,146.6,826.6,12.2,842,11772,0.00,2.15,0.00,0.000,4,0.000,0.040,3391,504,2666,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11845,0.75,146.6,819.0,12.5,844,11854,0.00,2.20,0.00,0.000,6,0.000,0.035,3390,1903,2666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12156,0.75,146.6,778.1,12.3,855,12162,0.00,2.20,0.00,0.000,4,0.000,0.039,3400,504,2665,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12224,0.75,146.6,770.4,12.6,857,12228,0.00,2.17,0.00,0.000,6,0.000,0.036,3400,1890,2665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12543,0.75,146.6,728.6,12.9,868,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1890,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12843,0.75,146.6,689.5,13.0,878,12849,0.00,2.15,0.00,0.000,4,0.000,0.040,3409,514,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12895,0.75,146.6,685.5,13.1,879,12903,0.15,2.15,0.00,0.000,6,0.168,0.036,3372,1892,2664,0,0,0,0,0,0,25.75,26.20,28.83
$GC,13203,0.75,146.6,647.1,11.4,890,13209,0.00,2.17,0.00,0.000,4,0.000,0.040,3379,505,2664,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13235,0.75,146.6,643.6,11.3,891,13239,0.00,2.15,0.00,0.000,6,0.000,0.035,3379,1881,2664,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13558,0.75,146.6,606.9,11.0,902,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1881,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13859,0.75,146.6,573.0,11.8,926,13867,0.00,2.12,0.00,0.000,4,0.000,0.039,3387,515,2664,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13891,0.75,146.6,569.1,11.8,929,13900,0.00,2.15,0.00,0.000,6,0.000,0.036,3387,1885,2664,0,0,0,0,0,0,28.83,26.24,28.83
$GC,14201,0.75,146.6,532.3,11.7,960,14210,0.00,2.15,0.00,0.000,4,0.000,0.040,3397,501,2664,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14243,0.75,146.6,527.2,12.1,964,14252,0.00,2.15,0.00,0.000,6,0.000,0.036,3396,1876,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14553,0.75,146.6,489.4,12.0,995,14554,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1876,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14853,0.75,146.6,452.7,12.2,1025,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1875,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15153,0.75,146.6,416.0,12.6,1055,15161,0.00,2.17,0.00,0.000,4,0.000,0.040,3405,498,2664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15194,0.75,146.6,410.7,12.5,1059,15204,0.15,2.17,0.00,0.000,6,0.165,0.035,3368,1891,2664,0,0,0,0,0,0,25.79,26.26,28.83
$GC,15505,0.75,146.6,377.4,10.5,1090,15514,0.00,2.15,0.00,0.000,4,0.000,0.045,3368,3301,2663,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15547,0.75,146.6,372.6,11.4,1094,15556,0.00,2.12,0.00,0.000,6,0.000,0.031,3374,1874,2664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15857,0.75,146.6,339.9,10.5,1125,15868,0.00,2.12,0.00,0.000,4,0.000,0.040,3385,504,2664,0,0,0,0,0,0,28.83,26.16,28.83
$GC,15932,0.75,146.6,331.8,10.9,1132,15941,0.00,2.15,0.00,0.000,6,0.000,0.035,3385,1876,2663,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16242,0.75,146.6,297.4,11.4,1163,16251,0.00,2.15,0.00,0.000,4,0.000,0.038,3394,511,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16288,0.75,146.6,292.7,10.9,1167,16295,0.00,2.10,0.00,0.000,6,0.000,0.035,3394,1861,2663,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16596,0.75,146.6,257.7,11.6,1198,16604,0.00,2.20,0.00,0.000,4,0.000,0.046,3394,3301,2664,0,0,0,0,0,0,28.83,26.08,28.83
$GC,16687,0.75,146.6,246.2,12.6,1207,16697,0.12,2.15,0.00,0.000,6,0.183,0.031,3374,1866,2663,0,0,0,0,0,0,25.87,26.32,28.83
$GC,16998,0.75,146.6,215.8,9.6,1238,17002,0.00,2.08,0.00,0.000,4,0.000,0.040,3382,509,2664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,17084,0.75,146.6,207.6,9.8,1246,17091,0.00,2.12,0.00,0.000,6,0.000,0.035,3382,1874,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,17390,0.76,157.6,178.3,8.7,1277,17403,0.00,2.22,7.85,0.891,4,0.000,0.047,3382,3303,2636,0,0,0,0,0,0,28.83,26.36,24.81
$GC,17465,0.76,157.6,171.4,9.7,1284,17471,0.00,2.15,0.00,0.000,6,0.000,0.031,3392,1861,2635,0,0,0,0,0,0,28.83,26.32,28.83
$GC,17772,0.78,177.0,143.1,8.4,1315,17792,0.00,0.00,18.02,0.955,6,0.000,0.000,3392,1861,2557,0,0,0,0,0,0,28.83,28.83,24.87
$GC,18092,0.79,182.4,114.3,8.9,1347,18104,0.00,2.12,5.72,0.783,4,0.000,0.041,3402,513,2535,0,0,0,0,0,0,28.83,26.16,24.68
$GC,18133,0.79,186.6,110.5,9.0,1351,18145,0.00,2.12,5.47,0.769,6,0.000,0.035,3402,1868,2517,0,0,0,0,0,0,28.83,26.10,24.65
$GC,18450,0.80,188.2,79.6,9.1,1403,18457,0.00,2.20,0.00,0.000,4,0.000,0.046,3402,3301,2515,0,0,0,0,0,0,28.83,25.98,28.83
$GC,18547,0.80,188.2,69.8,9.4,1421,18555,0.00,2.15,0.00,0.000,6,0.000,0.031,3411,1872,2514,0,0,0,0,0,0,28.83,26.17,28.83
$GC,18861,0.81,195.4,43.8,8.9,1482,18875,0.00,2.17,8.45,0.855,4,0.000,0.041,3422,508,2481,0,0,0,0,0,0,28.83,26.20,24.86
$GC,18953,0.81,197.6,35.2,9.1,1499,18960,0.12,2.15,0.00,0.000,6,0.172,0.036,3391,1872,2479,0,0,0,0,0,0,25.79,26.13,28.83
$GC,19267,0.97,329.3,12.1,3.7,1560,19336,0.12,0.00,64.10,0.092,6,0.107,0.000,3443,1871,1935,0,0,0,0,0,0,26.31,28.83,25.75
$FREEZE,8.97,5.612,-1.626,0,1,0
$FREEZE,8.90,5.709,-1.629,0,1,0
$FREEZE,8.54,5.747,-1.636,0,1,0
$FREEZE,8.36,5.852,-1.637,0,1,0
$FREEZE,8.17,5.996,-1.638,0,1,0
$FREEZE,7.93,6.149,-1.639,0,1,0
$FREEZE,7.72,6.172,-1.646,0,1,0
$FREEZE,7.50,6.194,-1.650,0,1,0
$FREEZE,7.25,6.234,-1.653,0,1,0
$FREEZE,6.97,6.284,-1.655,0,1,0
$FREEZE,6.74,6.290,-1.657,0,1,0
$FREEZE,6.54,6.294,-1.659,0,1,0
$FREEZE,6.17,6.332,-1.659,0,1,0
$FREEZE,5.91,6.340,-1.660,0,1,0
$FREEZE,5.69,6.350,-1.661,0,1,0
$FREEZE,5.40,6.358,-1.661,0,1,0
$FREEZE,5.10,6.366,-1.662,0,1,0
$FREEZE,4.74,6.375,-1.662,0,1,0
$FREEZE,4.53,6.386,-1.662,0,1,0
$FREEZE,4.31,6.387,-1.662,0,1,0
$FREEZE,3.99,6.392,-1.662,0,1,0
$STATE,19468,end climb,SURFACE_DEPTH_REACHED
$STATE,19468,begin surface coast
$FREEZE,3.68,6.395,-1.663,0,1,0
$FREEZE,3.36,6.396,-1.663,0,1,0
$FREEZE,3.13,6.395,-1.663,0,1,0
$FREEZE,2.74,6.398,-1.663,0,1,0
$FREEZE,2.49,6.393,-1.663,0,1,0
$FREEZE,2.10,6.393,-1.663,0,1,0
$FREEZE,1.77,6.388,-1.663,0,1,0
$FREEZE,1.49,6.370,-1.663,0,1,0
$FREEZE,1.54,6.259,-1.668,0,1,0
$FREEZE,1.53,6.116,-1.651,0,1,0
$FREEZE,1.60,6.138,-1.305,0,1,0
$FREEZE,1.65,6.074,-1.266,0,1,0
$FREEZE,1.53,6.166,-0.885,0,1,0
$FREEZE,1.58,6.279,-0.778,0,1,0
$FREEZE,1.38,6.302,-0.779,0,1,0
$FREEZE,1.49,6.288,-0.857,0,1,0
$FREEZE,1.52,6.108,-0.885,0,1,0
$FINISH,1.5,1.012837
$STATE,19559,end surface coast,CONTROL_FINISHED_OK
$STATE,19560,begin surface
$SM_CCo,19580,30.17,0.074,0,0,1648,400.08
$SM_GC,2.58,8.50,0.32,30.17,0.057,0.061,0.074,344,2105,1648,-8.65,-1.41,400.08,0,0,0,0,0,0,25.92,26.19,25.84
$RAFOS_CLK,1029
$RAFOS,6,1346129341,4.833333,4.816945,45,43,42,41,39,39,1351,1194,754,1269,1916,1903
$RAFOS,5,1346128869,4.700000,4.685833,49,46,46,45,44,43,1599,1612,1924,1647,1149,1800
$RAFOS,4,1346128386,4.566667,4.551667,55,53,44,42,42,42,1225,1607,1033,635,1143,577
$RAFOS,3,1346127902,4.433333,4.417222,48,41,41,40,39,38,224,635,1567,1,618,1915
$RAFOS,2,1346127426,4.300000,4.285000,51,44,44,43,42,39,1906,61,1682,513,538,1181
$RAFOS,1,1346126944,4.166667,4.151111,49,44,43,43,42,41,1424,1459,1537,1923,1519,151
$RAFOS,0,1346126464,4.033333,4.017778,43,43,43,42,42,41,61,957,602,1031,342,1833
$RAFOS,6,1346114942,0.833333,0.817222,48,42,42,38,37,37,812,1346,1927,1614,142,1030
$RAFOS,5,1346114463,0.700000,0.684167,46,44,40,39,39,38,1433,807,1808,1444,1521,1675
$RAFOS,4,1346113987,0.566667,0.551944,45,43,42,42,42,41,1757,723,1126,1608,1883,1804
$RAFOS,3,1346113504,0.433333,0.417778,46,43,41,39,39,39,753,955,1794,262,243,1350
$RAFOS,2,1346113021,0.300000,0.283611,46,42,42,41,41,40,61,636,1131,873,1243,344
$RAFOS,1,1346112545,0.166667,0.151389,46,46,46,42,42,41,566,1719,925,1461,578,1684
$RAFOS,0,1346112066,0.033333,0.018333,47,41,41,40,39,39,685,1442,1485,1923,1222,1738
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5928.46,270812,181815
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.29
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,15.50
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,951.7,27.0
$24V_AH,22.4,43.307
$10V_AH,9.8,48.613
$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,21.825,178.525,364.875,30.175,0.000,0.000,0.000,350.025,7.000,0.000,18.742,4302.184,11322.311,616.664,3382.400,483.390,0.000,2590.978,0.000,2992.063,5040.000,30.087,0.000
$DEVICE_MAMPS,248.625,65.025,1363.995,74.205,0.000,0.000,0.000,287.632,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1159.097,1150.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151520
$DATA_FILE_SIZE,73351,1613
$CAP_FILE_SIZE,211763,0
$CFSIZE,260165632,214523904
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1457.3
$CURRENT,0.166,163.2,1
$GPS,280812,052828,6652.604,-5936.662,37,0.9,38,-33.9