version: 66.11
glider: 108
mission: 21
dive: 380
start: 8 28 112 11 16 53
data:
$ID,108
$MISSION,21
$DIVE,380
$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,-191568.72
$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,73
$R_STBD_OVSHOOT,46
$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
$GPS1,280812,110204,6653.368,-5939.908,41,0.8,42,-34.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-76.8
$GPS2,280812,111618,6653.464,-5939.751,13,0.7,15,-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,287.2,38105,-16.9,-9.167
$D_GRID,929
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.75,-146.6,0.0,0.0,0,53,0.00,0.00,-33.85,0.000,2,0.000,0.000,339,2124,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.75,-146.6,3.0,-1.8,6,131,10.55,2.22,-57.15,0.000,4,0.253,0.065,2875,3511,3881,0,0,0,0,0,0,25.50,26.10,26.75
$GC,361,-0.75,-146.6,42.7,-13.7,63,367,0.00,2.08,0.00,0.000,6,0.000,0.030,2875,2104,3888,0,0,0,0,0,0,28.83,26.33,28.83
$GC,673,-0.75,-146.6,83.8,-12.2,124,680,0.00,2.20,0.00,0.000,4,0.000,0.050,2866,3503,3890,0,0,0,0,0,0,28.83,26.06,28.83
$GC,849,-0.75,-146.6,107.6,-13.3,153,858,0.00,2.08,0.00,0.000,6,0.000,0.031,2866,2105,3890,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1159,-0.75,-146.6,145.9,-11.7,184,1168,0.00,2.17,0.00,0.000,4,0.000,0.050,2855,3512,3891,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1315,-0.75,-146.6,164.8,-12.3,199,1323,0.12,2.05,0.00,0.000,6,0.169,0.031,2886,2127,3890,0,0,0,0,0,0,25.95,26.37,28.83
$GC,1623,-0.75,-146.6,194.5,-9.4,230,1632,0.00,2.15,0.00,0.000,4,0.000,0.050,2879,3510,3889,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1708,-0.75,-146.6,202.7,-10.3,238,1715,0.00,2.03,0.00,0.000,6,0.000,0.031,2878,2136,3888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2015,-0.75,-146.6,234.8,-10.8,269,2024,0.00,2.10,0.00,0.000,4,0.000,0.050,2868,3502,3888,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2118,-0.75,-146.6,246.1,-10.9,279,2122,0.00,2.00,0.00,0.000,6,0.000,0.031,2868,2146,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2430,-0.75,-146.6,279.4,-11.0,310,2439,0.00,2.12,0.00,0.000,4,0.000,0.050,2858,3511,3886,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2513,-0.75,-146.6,288.7,-11.5,318,2522,0.12,2.00,0.00,0.000,6,0.158,0.031,2896,2157,3886,0,0,0,0,0,0,25.93,26.39,28.83
$GC,2823,-0.75,-146.6,318.6,-9.7,349,2831,0.00,2.10,0.00,0.000,4,0.000,0.050,2888,3507,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2907,-0.75,-146.6,326.9,-10.3,357,2914,0.00,1.98,0.00,0.000,6,0.000,0.031,2888,2163,3885,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3214,-0.75,-146.6,355.9,-9.4,388,3224,0.00,2.10,0.00,0.000,4,0.000,0.050,2880,3503,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3318,-0.75,-146.6,365.9,-9.9,398,3321,0.00,1.95,0.00,0.000,6,0.000,0.031,2880,2181,3884,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3630,-0.75,-146.6,396.4,-9.4,429,3638,0.00,2.05,0.00,0.000,4,0.000,0.050,2870,3498,3884,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3676,-0.75,-146.6,400.6,-10.2,433,3682,0.00,1.95,0.00,0.000,6,0.000,0.031,2870,2174,3884,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3982,-0.75,-146.6,431.4,-10.0,464,3987,0.00,2.08,0.00,0.000,4,0.000,0.050,2860,3503,3883,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4065,-0.75,-146.6,440.5,-11.0,472,4075,0.00,1.95,0.00,0.000,6,0.000,0.030,2860,2182,3883,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4375,-0.75,-146.6,474.0,-10.7,503,4383,0.00,2.05,0.00,0.000,4,0.000,0.049,2850,3508,3884,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4479,-0.75,-146.6,485.8,-11.6,513,4483,0.15,1.92,0.00,0.000,6,0.148,0.031,2890,2192,3883,0,0,0,0,0,0,25.94,26.40,28.83
$GC,4792,-0.75,-146.6,514.4,-8.8,544,4802,0.00,2.03,0.00,0.000,4,0.000,0.049,2882,3500,3883,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4838,-0.75,-146.6,518.5,-9.4,548,4845,0.00,1.90,0.00,0.000,6,0.000,0.031,2882,2201,3884,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5146,-0.75,-146.6,548.1,-9.8,579,5154,0.00,2.00,0.00,0.000,4,0.000,0.048,2873,3496,3884,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5191,-0.75,-146.6,552.3,-10.0,583,5198,0.00,1.88,0.00,0.000,6,0.000,0.030,2872,2211,3883,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5498,-0.75,-146.6,582.1,-9.6,614,5507,0.00,2.03,0.00,0.000,4,0.000,0.049,2864,3508,3883,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5554,-0.75,-146.6,587.4,-10.8,619,5560,0.00,1.90,0.00,0.000,6,0.000,0.030,2864,2209,3883,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5860,-0.75,-146.6,617.3,-9.5,638,5864,0.00,2.00,0.00,0.000,4,0.000,0.048,2854,3503,3883,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5941,-0.75,-146.6,623.6,-9.7,640,5945,0.12,1.88,0.00,0.000,6,0.152,0.030,2886,2219,3883,0,0,0,0,0,0,26.01,26.40,28.83
$GC,6250,-0.75,-146.6,650.3,-8.1,650,6256,0.00,2.00,0.00,0.000,4,0.000,0.049,2879,3501,3883,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6312,-0.75,-146.6,655.8,-8.6,652,6316,0.00,1.85,0.00,0.000,6,0.000,0.030,2878,2238,3883,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6640,-0.75,-146.6,683.9,-8.4,663,6645,0.00,1.98,0.00,0.000,4,0.000,0.049,2869,3503,3883,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6677,-0.75,-146.6,686.7,-8.6,664,6681,0.00,1.83,0.00,0.000,6,0.000,0.030,2869,2241,3883,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7000,-0.75,-146.6,716.4,-9.1,675,7006,0.00,1.98,0.00,0.000,4,0.000,0.049,2860,3503,3883,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7043,-0.75,-146.6,719.4,-9.2,676,7047,0.12,1.83,0.00,0.000,6,0.152,0.030,2891,2237,3882,0,0,0,0,0,0,26.01,26.40,28.83
$GC,7358,-0.75,-146.6,745.3,-7.8,687,7363,0.00,1.98,0.00,0.000,4,0.000,0.048,2884,3502,3882,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7396,-0.75,-146.6,747.7,-7.9,688,7399,0.00,1.83,0.00,0.000,6,0.000,0.030,2884,2253,3883,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7718,-0.75,-146.6,774.8,-8.0,699,7723,0.00,1.95,0.00,0.000,4,0.000,0.049,2874,3503,3883,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7760,-0.75,-146.6,777.5,-8.1,700,7764,0.00,1.83,0.00,0.000,6,0.000,0.030,2874,2254,3883,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8078,-0.75,-146.6,805.7,-8.5,711,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2251,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8378,-0.75,-146.6,830.8,-8.3,721,8381,0.00,1.95,0.00,0.000,4,0.000,0.048,2865,3499,3883,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8448,-0.75,-146.6,836.3,-8.6,723,8452,0.00,1.83,0.00,0.000,6,0.000,0.031,2865,2256,3882,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8771,-0.75,-146.6,866.1,-8.8,734,8776,0.00,1.95,0.00,0.000,4,0.000,0.049,2856,3502,3882,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8804,-0.75,-146.6,868.9,-8.9,735,8808,0.12,1.80,0.00,0.000,6,0.150,0.031,2888,2257,3882,0,0,0,0,0,0,26.00,26.39,28.83
$GC,9127,-0.75,-146.6,893.6,-7.4,746,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2255,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9427,-0.75,-146.6,914.8,-7.1,756,9430,0.00,1.92,0.00,0.000,4,0.000,0.050,2880,3501,3882,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9478,-0.75,-146.6,917.2,-7.1,757,9482,0.00,1.83,0.00,0.000,6,0.000,0.031,2880,2257,3882,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,9637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9637,begin apogee
$GC,9645,-0.17,0.0,931.2,-7.7,763,9775,0.60,0.00,124.47,1.353,4,0.128,0.000,3071,1889,3278,0,0,0,0,0,0,25.42,28.83,23.18
$STATE,9778,end apogee,CONTROL_FINISHED_OK
$STATE,9778,begin climb
$GC,9781,0.75,146.6,935.8,0.0,767,9920,0.85,2.30,128.68,1.269,4,0.064,0.038,3374,507,2681,0,0,0,0,0,0,24.49,24.52,22.43
$GC,10137,0.75,146.6,908.0,11.8,779,10141,0.00,2.28,0.00,0.000,6,0.000,0.035,3375,1909,2671,0,0,0,0,0,0,28.83,25.10,28.83
$GC,10446,0.75,146.6,869.8,11.6,789,10451,0.00,2.17,0.00,0.000,4,0.000,0.047,3375,3307,2668,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10678,0.75,146.6,841.2,13.6,796,10685,0.00,2.15,0.00,0.000,6,0.000,0.031,3384,1886,2666,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10985,0.75,146.6,801.3,11.9,807,10990,0.00,2.15,0.00,0.000,4,0.000,0.040,3395,499,2666,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11083,0.75,146.6,790.3,12.1,810,11088,0.00,2.17,0.00,0.000,6,0.000,0.035,3395,1890,2666,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11403,0.75,146.6,750.7,12.2,821,11408,0.00,2.17,0.00,0.000,4,0.000,0.039,3404,508,2665,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11431,0.75,146.6,746.9,12.3,822,11438,0.12,2.15,0.00,0.000,6,0.172,0.036,3374,1888,2665,0,0,0,0,0,0,25.79,26.15,28.83
$GC,11763,0.75,146.6,710.0,11.2,833,11768,0.00,2.17,0.00,0.000,4,0.000,0.039,3382,505,2665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11814,0.75,146.6,706.6,11.1,834,11821,0.00,2.15,0.00,0.000,6,0.000,0.036,3381,1878,2664,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12122,0.75,146.6,667.9,11.8,845,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1878,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12422,0.75,146.6,633.2,11.5,855,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1878,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12722,0.75,146.6,598.8,11.4,865,12731,0.00,2.15,0.00,0.000,4,0.000,0.040,3390,511,2664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12754,0.75,146.6,595.3,11.2,868,12763,0.00,2.15,0.00,0.000,6,0.000,0.036,3390,1879,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13064,0.75,146.6,560.0,11.6,899,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1879,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13366,0.75,146.6,526.8,11.2,929,13370,0.00,2.15,0.00,0.000,4,0.000,0.040,3399,500,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13392,0.75,146.6,524.1,11.0,931,13399,0.00,2.15,0.00,0.000,6,0.000,0.035,3399,1878,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13698,0.75,146.6,489.9,11.2,962,13707,0.00,2.15,0.00,0.000,4,0.000,0.039,3408,507,2663,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13731,0.75,146.6,486.3,11.0,965,13741,0.10,2.10,0.00,0.000,6,0.146,0.035,3376,1867,2663,0,0,0,0,0,0,25.84,26.27,28.83
$GC,14040,0.75,146.6,453.4,10.9,996,14050,0.00,2.20,0.00,0.000,4,0.000,0.046,3376,3315,2664,0,0,0,0,0,0,28.83,26.11,28.83
$GC,14067,0.75,146.6,450.8,11.0,998,14074,0.00,2.17,0.00,0.000,6,0.000,0.031,3383,1857,2663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,14374,0.75,146.6,415.3,11.3,1029,14383,0.00,2.10,0.00,0.000,4,0.000,0.041,3394,490,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14437,0.75,146.6,407.9,11.5,1035,14445,0.00,2.12,0.00,0.000,6,0.000,0.035,3394,1862,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14746,0.75,146.6,371.2,11.7,1066,14755,0.00,2.12,0.00,0.000,4,0.000,0.040,3402,507,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14791,0.75,146.6,366.1,12.0,1070,14798,0.12,2.12,0.00,0.000,6,0.171,0.036,3373,1874,2662,0,0,0,0,0,0,25.88,26.27,28.83
$GC,15099,0.75,146.6,333.2,10.3,1101,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1874,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15401,0.75,146.6,301.8,10.3,1131,15407,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1874,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15710,0.75,146.6,270.6,10.1,1162,15718,0.00,2.12,0.00,0.000,4,0.000,0.040,3380,508,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15785,0.75,146.6,262.9,10.5,1169,15792,0.00,2.10,0.00,0.000,6,0.000,0.035,3380,1859,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,16092,0.75,146.6,232.5,10.2,1200,16101,0.00,2.22,0.00,0.000,4,0.000,0.046,3380,3306,2663,0,0,0,0,0,0,28.83,26.10,28.83
$GC,16128,0.75,146.6,229.0,10.7,1203,16135,0.00,2.17,0.00,0.000,6,0.000,0.031,3389,1848,2663,0,0,0,0,0,0,28.83,26.33,28.83
$GC,16434,0.75,146.6,195.8,10.5,1234,16443,0.00,2.08,0.00,0.000,4,0.000,0.041,3400,501,2663,0,0,0,0,0,0,28.83,26.15,28.83
$GC,16537,0.75,146.6,185.5,9.7,1244,16547,0.08,2.10,0.00,0.000,6,0.150,0.035,3376,1865,2663,0,0,0,0,0,0,25.91,26.27,28.83
$GC,16847,0.80,192.8,160.5,7.2,1275,16889,0.00,2.28,36.17,0.936,4,0.000,0.047,3376,3302,2491,0,0,0,0,0,0,28.83,25.89,24.89
$GC,16940,0.80,192.8,152.3,10.0,1284,16948,0.00,2.20,0.00,0.000,6,0.000,0.031,3383,1853,2488,0,0,0,0,0,0,28.83,25.93,28.83
$GC,17247,0.80,192.8,123.2,9.5,1315,17255,0.00,2.10,0.00,0.000,4,0.000,0.041,3393,506,2484,0,0,0,0,0,0,28.83,25.93,28.83
$GC,17385,0.80,192.8,109.7,10.6,1328,17393,0.00,2.08,0.00,0.000,6,0.000,0.037,3393,1824,2484,0,0,0,0,0,0,28.83,26.05,28.83
$GC,17694,0.80,192.8,79.1,9.3,1380,17700,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1824,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18008,0.81,197.4,51.4,9.0,1441,18017,0.00,2.28,3.97,0.667,4,0.000,0.047,3393,3295,2473,0,0,0,0,0,0,28.83,26.25,24.72
$GC,18097,0.81,197.4,42.4,10.1,1457,18104,0.00,2.22,0.00,0.000,6,0.000,0.032,3403,1823,2473,0,0,0,0,0,0,28.83,26.22,28.83
$GC,18412,0.87,247.9,17.7,7.1,1518,18443,0.00,2.12,25.48,0.107,4,0.000,0.042,3413,503,2267,0,0,0,0,0,0,28.83,26.10,25.71
$GC,18452,0.97,328.7,15.3,5.8,1524,18497,0.00,2.08,39.42,0.101,6,0.000,0.036,3413,1822,1937,0,0,0,0,0,0,28.83,26.20,25.72
$FREEZE,8.77,6.154,-1.660,0,1,0
$FREEZE,8.56,6.295,-1.657,0,1,0
$FREEZE,8.39,6.365,-1.655,0,1,0
$FREEZE,8.03,6.388,-1.656,0,1,0
$FREEZE,7.83,6.405,-1.657,0,1,0
$FREEZE,7.61,6.423,-1.657,0,1,0
$FREEZE,7.42,6.515,-1.655,0,1,0
$FREEZE,7.21,6.569,-1.654,0,1,0
$FREEZE,6.97,6.582,-1.654,0,1,0
$FREEZE,6.79,6.580,-1.654,0,1,0
$FREEZE,6.34,6.588,-1.655,0,1,0
$FREEZE,6.20,6.586,-1.655,0,1,0
$FREEZE,5.88,6.583,-1.655,0,1,0
$FREEZE,5.64,6.590,-1.655,0,1,0
$FREEZE,5.39,6.596,-1.655,0,1,0
$FREEZE,5.15,6.593,-1.655,0,1,0
$FREEZE,4.78,6.592,-1.655,0,1,0
$FREEZE,4.57,6.598,-1.655,0,1,0
$FREEZE,4.36,6.602,-1.655,0,1,0
$FREEZE,3.97,6.603,-1.655,0,1,0
$STATE,18657,end climb,SURFACE_DEPTH_REACHED
$STATE,18657,begin surface coast
$FREEZE,3.79,6.607,-1.655,0,1,0
$FREEZE,3.42,6.555,-1.657,0,1,0
$FREEZE,3.13,6.608,-1.654,0,1,0
$FREEZE,2.86,6.608,-1.654,0,1,0
$FREEZE,2.51,6.607,-1.654,0,1,0
$FREEZE,2.32,6.609,-1.654,0,1,0
$FREEZE,2.06,6.591,-1.655,0,1,0
$FREEZE,1.79,6.604,-1.654,0,1,0
$FREEZE,1.46,6.515,-1.656,0,1,0
$FREEZE,1.53,6.372,-0.223,0,1,0
$FREEZE,1.55,6.385,-0.475,0,1,0
$FREEZE,1.53,6.322,-0.813,0,1,0
$FREEZE,1.50,6.347,-0.847,0,1,0
$FREEZE,1.56,6.106,-1.004,0,1,0
$FREEZE,1.44,6.447,-0.488,0,1,0
$FREEZE,1.36,6.325,-1.591,0,1,0
$FINISH,1.4,1.022889
$STATE,18744,end surface coast,CONTROL_FINISHED_OK
$STATE,18744,begin surface
$SM_CCo,18763,30.80,0.075,0,0,1647,400.08
$SM_GC,2.59,8.43,0.40,30.80,0.057,0.054,0.075,339,2097,1647,-8.67,-1.53,400.08,0,0,0,0,0,0,25.87,26.19,25.81
$RAFOS_CLK,981
$RAFOS,2,1346170626,16.299999,16.285000,45,44,43,39,39,39,180,233,203,444,1297,1707
$RAFOS,1,1346170146,16.166666,16.151667,52,48,46,43,41,41,649,1707,193,1167,50,1367
$RAFOS,0,1346169667,16.033333,16.018612,53,46,45,44,41,38,1894,1477,1571,1124,222,1
$RAFOS,6,1346158144,12.833333,12.817778,44,43,42,42,41,40,742,1110,293,1420,218,1843
$RAFOS,5,1346157665,12.700000,12.684722,47,44,43,43,42,42,442,671,224,904,650,856
$RAFOS,4,1346157182,12.566667,12.550555,44,43,43,42,41,39,1769,811,287,1771,620,1928
$RAFOS,3,1346156705,12.433333,12.418056,44,43,42,41,41,41,709,1576,89,89,708,924
$RAFOS,2,1346156230,12.300000,12.286111,44,44,42,41,39,39,202,761,645,1831,199,669
$RAFOS,1,1346155745,12.166667,12.151389,44,43,43,42,42,41,1924,203,1011,71,1150,1771
$RAFOS,0,1346155263,12.033333,12.017500,49,43,42,42,39,39,1478,1428,1592,1836,825,1596
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5933.18,280812,111126
$TT8_MAMPS,0.028462,0.028462
$HUMID,44.52
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.60
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,900.3,45.6
$24V_AH,22.4,43.529
$10V_AH,9.8,48.896
$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,21.625,169.825,358.200,30.800,0.000,0.000,0.000,643.500,7.000,0.000,16.378,4136.404,10856.664,616.498,3569.530,461.573,0.000,2833.557,0.000,2890.211,3960.000,28.374,0.000
$DEVICE_MAMPS,253.215,65.025,1353.285,74.970,0.000,0.000,0.000,292.126,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.294,1106.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151516
$DATA_FILE_SIZE,73343,1578
$CAP_FILE_SIZE,205449,0
$CFSIZE,260165632,214343680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1457.1
$CURRENT,0.106,136.0,1
$GPS,280812,163134,6652.426,-5943.413,31,0.8,31,-33.9