version: 66.11
glider: 108
mission: 21
dive: 407
start: 9 2 112 3 28 17
data:
$ID,108
$MISSION,21
$DIVE,407
$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,-191605.31
$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,44
$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
$GPS1,020912,031535,6645.205,-5912.665,31,0.8,32,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-79.1
$GPS2,020912,032742,6645.203,-5912.750,18,0.9,19,-33.7
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,146.8,109604,-16.9,-9.167
$D_GRID,950
$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,13,begin dive
$GC,17,-0.75,-146.6,0.0,0.0,0,75,0.00,0.00,-55.83,0.000,2,0.000,0.000,339,2093,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.75,-146.6,3.2,-0.9,10,124,10.52,2.25,-23.58,0.000,4,0.250,0.067,2875,3498,3883,0,0,0,0,0,0,25.37,26.12,26.78
$GC,355,-0.75,-146.6,43.6,-13.5,62,362,0.00,2.10,0.00,0.000,6,0.000,0.031,2881,2091,3888,0,0,0,0,0,0,28.83,26.32,28.83
$GC,669,-0.75,-146.6,82.6,-11.0,123,676,0.00,2.22,0.00,0.000,4,0.000,0.050,2873,3507,3890,0,0,0,0,0,0,28.83,26.04,28.83
$GC,820,-0.75,-146.6,100.1,-11.2,152,828,0.00,2.10,0.00,0.000,6,0.000,0.031,2873,2099,3890,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1126,-0.75,-146.6,139.4,-13.3,183,1135,0.00,2.15,0.00,0.000,4,0.000,0.050,2861,3497,3890,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1208,-0.75,-146.6,151.3,-14.8,191,1217,0.00,2.08,0.00,0.000,6,0.000,0.031,2862,2108,3890,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1518,-0.75,-146.6,193.1,-12.6,222,1527,0.00,2.17,0.00,0.000,4,0.000,0.051,2851,3508,3890,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1675,-0.75,-146.6,212.5,-12.4,237,1683,0.15,2.03,0.00,0.000,6,0.158,0.031,2891,2137,3889,0,0,0,0,0,0,25.88,26.37,28.83
$GC,1983,-0.75,-146.6,242.7,-9.2,268,1992,0.00,2.12,0.00,0.000,4,0.000,0.051,2883,3504,3888,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2076,-0.75,-146.6,251.7,-10.1,277,2084,0.00,2.03,0.00,0.000,6,0.000,0.032,2883,2134,3887,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2386,-0.75,-146.6,281.0,-9.1,308,2395,0.00,2.12,0.00,0.000,4,0.000,0.050,2873,3511,3887,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2490,-0.75,-146.6,291.1,-9.6,318,2494,0.00,2.03,0.00,0.000,6,0.000,0.031,2872,2148,3887,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2802,-0.75,-146.6,320.4,-9.3,349,2806,0.00,2.12,0.00,0.000,4,0.000,0.050,2863,3504,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2908,-0.75,-146.6,330.2,-9.5,359,2915,0.00,1.98,0.00,0.000,6,0.000,0.031,2862,2163,3887,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3215,-0.75,-146.6,359.8,-10.0,390,3223,0.00,2.08,0.00,0.000,4,0.000,0.050,2852,3504,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3300,-0.75,-146.6,368.2,-10.4,398,3308,0.15,1.95,0.00,0.000,6,0.149,0.031,2892,2180,3886,0,0,0,0,0,0,25.91,26.38,28.83
$GC,3609,-0.75,-146.6,394.4,-8.4,429,3618,0.00,2.03,0.00,0.000,4,0.000,0.050,2884,3500,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3673,-0.75,-146.6,400.4,-9.3,435,3676,0.00,1.95,0.00,0.000,6,0.000,0.031,2884,2182,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3985,-0.75,-146.6,429.5,-9.1,466,3993,0.00,2.03,0.00,0.000,4,0.000,0.050,2874,3501,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4067,-0.75,-146.6,437.4,-9.7,474,4076,0.00,1.95,0.00,0.000,6,0.000,0.031,2874,2181,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4380,-0.75,-146.6,467.2,-9.6,505,4389,0.00,2.05,0.00,0.000,4,0.000,0.050,2865,3506,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4446,-0.75,-146.6,473.8,-10.3,511,4453,0.00,1.92,0.00,0.000,6,0.000,0.031,2864,2193,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4754,-0.75,-146.6,502.4,-8.7,542,4763,0.00,2.03,0.00,0.000,4,0.000,0.050,2854,3504,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4839,-0.75,-146.6,510.1,-9.3,550,4848,0.12,1.92,0.00,0.000,6,0.151,0.031,2886,2198,3886,0,0,0,0,0,0,26.01,26.39,28.83
$GC,5147,-0.75,-146.6,533.5,-7.9,581,5156,0.00,2.00,0.00,0.000,4,0.000,0.050,2879,3501,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5202,-0.75,-146.6,537.7,-8.6,586,5209,0.00,1.90,0.00,0.000,6,0.000,0.031,2879,2206,3886,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5510,-0.75,-146.6,563.6,-8.4,617,5514,0.00,2.03,0.00,0.000,4,0.000,0.050,2869,3513,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5565,-0.75,-146.6,568.3,-9.1,622,5572,0.00,1.90,0.00,0.000,6,0.000,0.031,2869,2213,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5874,-0.75,-146.6,596.2,-8.9,653,5883,0.00,2.00,0.00,0.000,4,0.000,0.050,2859,3506,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5940,-0.75,-146.6,602.2,-9.6,658,5945,0.12,1.90,0.00,0.000,6,0.150,0.030,2891,2207,3887,0,0,0,0,0,0,26.00,26.39,28.83
$GC,6264,-0.75,-146.6,627.1,-7.5,669,6269,0.00,2.03,0.00,0.000,4,0.000,0.049,2883,3518,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6302,-0.75,-146.6,629.4,-7.5,670,6306,0.00,1.90,0.00,0.000,6,0.000,0.030,2884,2224,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6625,-0.75,-146.6,655.4,-7.8,681,6630,0.00,2.00,0.00,0.000,4,0.000,0.050,2874,3509,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6672,-0.75,-146.6,657.8,-7.9,682,6676,0.00,1.88,0.00,0.000,6,0.000,0.031,2874,2229,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6986,-0.75,-146.6,685.4,-8.4,693,6991,0.00,1.98,0.00,0.000,4,0.000,0.050,2864,3504,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7034,-0.75,-146.6,688.1,-8.5,694,7037,0.00,1.88,0.00,0.000,6,0.000,0.031,2865,2228,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7346,-0.75,-146.6,719.6,-9.7,705,7352,0.00,2.00,0.00,0.000,4,0.000,0.050,2855,3504,3887,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7414,-0.75,-146.6,725.6,-9.8,707,7419,0.12,1.85,0.00,0.000,6,0.148,0.030,2887,2238,3886,0,0,0,0,0,0,26.01,26.38,28.83
$GC,7733,-0.75,-146.6,751.7,-7.6,718,7739,0.00,1.98,0.00,0.000,4,0.000,0.050,2879,3516,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7766,-0.75,-146.6,754.1,-7.7,719,7770,0.00,1.85,0.00,0.000,6,0.000,0.030,2879,2251,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8093,-0.75,-146.6,779.6,-7.4,730,8097,0.00,1.98,0.00,0.000,4,0.000,0.050,2870,3516,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8134,-0.75,-146.6,782.1,-7.5,731,8138,0.00,1.88,0.00,0.000,6,0.000,0.030,2870,2252,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8457,-0.75,-146.6,808.6,-7.9,742,8461,0.00,1.95,0.00,0.000,4,0.000,0.049,2861,3508,3887,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8497,-0.75,-146.6,811.3,-7.8,743,8501,0.00,1.85,0.00,0.000,6,0.000,0.030,2861,2247,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8820,-0.75,-146.6,838.1,-8.5,754,8823,0.00,1.98,0.00,0.000,4,0.000,0.050,2851,3518,3886,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8885,-0.75,-146.6,844.0,-9.0,756,8890,0.15,1.85,0.00,0.000,6,0.142,0.031,2890,2253,3886,0,0,0,0,0,0,25.92,26.38,28.83
$GC,9209,-0.75,-146.6,867.0,-6.9,767,9212,0.00,1.95,0.00,0.000,4,0.000,0.050,2883,3507,3886,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9242,-0.75,-146.6,869.6,-7.2,768,9245,0.00,1.83,0.00,0.000,6,0.000,0.031,2883,2270,3886,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9574,-0.75,-146.6,895.7,-7.6,779,9577,0.00,1.95,0.00,0.000,4,0.000,0.050,2874,3514,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9599,-0.75,-146.6,895.7,-7.6,779,9605,0.00,1.83,0.00,0.000,6,0.000,0.031,2874,2265,3886,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9907,-0.75,-146.6,923.0,-8.2,790,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2265,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10206,-0.75,-146.6,946.6,-7.9,800,10209,0.00,1.95,0.00,0.000,4,0.000,0.050,2865,3506,3886,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10238,-0.75,-146.6,949.2,-8.2,801,10242,0.00,1.85,0.00,0.000,6,0.000,0.031,2865,2272,3886,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,10272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10272,begin apogee
$GC,10280,-0.17,0.0,952.1,-8.4,802,10412,0.65,0.00,126.47,1.381,4,0.129,0.000,3070,1884,3278,0,0,0,0,0,0,25.39,28.83,23.02
$STATE,10415,end apogee,CONTROL_FINISHED_OK
$STATE,10415,begin climb
$GC,10418,0.75,146.6,957.0,0.0,806,10560,0.88,2.28,130.93,1.279,4,0.058,0.038,3380,522,2680,0,0,0,0,0,0,24.37,24.39,22.30
$GC,10577,0.81,201.9,949.2,6.9,812,10634,0.00,2.38,50.40,1.244,6,0.000,0.034,3380,1898,2455,0,0,0,0,0,0,28.83,23.99,22.37
$GC,10936,0.81,201.9,898.9,14.7,824,10942,0.00,2.20,0.00,0.000,4,0.000,0.039,3389,523,2445,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10998,0.81,201.9,890.4,14.2,826,11003,0.00,2.22,0.00,0.000,6,0.000,0.035,3389,1907,2445,0,0,0,0,0,0,28.83,25.55,28.83
$GC,11321,0.81,201.9,842.2,15.1,837,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1906,2443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11621,0.81,201.9,800.3,13.7,847,11627,0.00,2.17,0.00,0.000,4,0.000,0.041,3398,520,2443,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11674,0.81,201.9,796.2,13.7,848,11682,0.00,2.15,0.00,0.000,6,0.000,0.036,3398,1892,2441,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11981,0.81,201.9,748.9,13.9,859,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1892,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12282,0.81,201.9,706.7,14.1,869,12288,0.00,2.12,0.00,0.000,4,0.000,0.041,3407,518,2441,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12319,0.81,201.9,702.4,14.2,870,12323,0.00,2.15,0.00,0.000,6,0.000,0.036,3407,1893,2440,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12637,0.81,201.9,653.9,14.7,881,12640,0.00,2.17,0.00,0.000,4,0.000,0.041,3416,511,2440,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12682,0.81,201.9,649.3,14.5,882,12686,0.00,2.12,0.00,0.000,6,0.000,0.037,3416,1880,2440,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13000,0.81,201.9,599.2,14.7,893,13009,0.00,2.10,0.00,0.000,4,0.000,0.041,3425,523,2440,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13042,0.81,201.9,592.5,15.5,897,13052,0.10,2.12,0.00,0.000,6,0.162,0.036,3395,1897,2440,0,0,0,0,0,0,25.82,26.26,28.83
$GC,13352,0.81,201.9,549.0,13.4,928,13353,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1897,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13656,0.81,201.9,508.6,13.2,958,13665,0.00,2.12,0.00,0.000,4,0.000,0.041,3401,523,2440,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13690,0.81,201.9,503.8,13.2,961,13699,0.00,2.10,0.00,0.000,6,0.000,0.036,3401,1872,2440,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13998,0.81,201.9,460.3,14.3,992,13999,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1872,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14301,0.81,201.9,417.1,14.0,1022,14310,0.00,2.08,0.00,0.000,4,0.000,0.041,3410,523,2440,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14346,0.81,201.9,410.6,14.2,1026,14353,0.00,2.10,0.00,0.000,6,0.000,0.036,3410,1875,2440,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14654,0.81,201.9,364.7,14.4,1057,14662,0.00,2.12,0.00,0.000,4,0.000,0.041,3419,514,2440,0,0,0,0,0,0,28.83,26.21,28.83
$GC,14688,0.81,201.9,359.8,15.3,1060,14695,0.00,2.10,0.00,0.000,6,0.000,0.036,3419,1866,2440,0,0,0,0,0,0,28.83,26.28,28.83
$GC,14996,0.81,201.9,312.6,15.3,1091,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1865,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15298,0.81,201.9,268.3,14.4,1121,15302,0.00,2.12,0.00,0.000,4,0.000,0.041,3428,510,2440,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15334,0.81,201.9,263.3,14.1,1124,15342,0.15,2.10,0.00,0.000,6,0.175,0.036,3390,1864,2440,0,0,0,0,0,0,25.80,26.27,28.83
$GC,15641,0.81,201.9,224.0,12.6,1155,15645,0.00,2.20,0.00,0.000,4,0.000,0.047,3390,3300,2440,0,0,0,0,0,0,28.83,26.15,28.83
$GC,15714,0.81,201.9,214.1,13.7,1162,15722,0.00,2.12,0.00,0.000,6,0.000,0.031,3397,1873,2439,0,0,0,0,0,0,28.83,26.36,28.83
$GC,16024,0.81,201.9,176.9,11.0,1193,16032,0.00,2.10,0.00,0.000,4,0.000,0.041,3407,500,2440,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16126,0.81,201.9,165.3,11.6,1203,16130,0.00,2.10,0.00,0.000,6,0.000,0.037,3407,1850,2440,0,0,0,0,0,0,28.83,26.27,28.83
$GC,16438,0.81,201.9,133.6,10.0,1234,16447,0.00,2.22,0.00,0.000,4,0.000,0.047,3407,3310,2440,0,0,0,0,0,0,28.83,26.13,28.83
$GC,16473,0.81,201.9,130.0,10.8,1237,16480,0.00,2.20,0.00,0.000,6,0.000,0.031,3417,1840,2440,0,0,0,0,0,0,28.83,26.33,28.83
$GC,16783,0.81,201.9,95.0,11.3,1272,16791,0.00,2.05,0.00,0.000,4,0.000,0.042,3428,499,2440,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16855,0.81,201.9,86.6,11.1,1285,16863,0.15,2.10,0.00,0.000,6,0.168,0.036,3389,1852,2440,0,0,0,0,0,0,25.82,26.27,28.83
$GC,17171,0.88,255.9,63.6,6.9,1346,17221,0.00,2.28,43.80,0.842,4,0.000,0.047,3389,3303,2234,0,0,0,0,0,0,28.83,25.83,24.79
$GC,17282,0.88,255.9,52.2,13.0,1365,17289,0.00,2.20,0.00,0.000,6,0.000,0.032,3396,1848,2231,0,0,0,0,0,0,28.83,25.89,28.83
$GC,17599,0.88,255.9,19.7,10.3,1426,17605,0.00,2.10,0.00,0.000,4,0.000,0.042,3407,511,2229,0,0,0,0,0,0,28.83,25.94,28.83
$GC,17654,0.89,260.5,14.6,9.0,1436,17663,0.00,2.12,1.30,0.109,6,0.000,0.036,3406,1849,2217,0,0,0,0,0,0,28.83,26.06,25.50
$FREEZE,8.89,4.189,-1.718,0,1,0
$FREEZE,8.67,4.191,-1.719,0,1,0
$FREEZE,8.50,4.195,-1.718,0,1,0
$FREEZE,8.19,4.259,-1.716,0,1,0
$FREEZE,8.01,4.324,-1.714,0,1,0
$FREEZE,7.74,4.341,-1.713,0,1,0
$FREEZE,7.50,4.338,-1.713,0,1,0
$FREEZE,7.38,4.343,-1.713,0,1,0
$FREEZE,7.13,4.341,-1.713,0,1,0
$FREEZE,6.88,4.343,-1.713,0,1,0
$FREEZE,6.68,4.343,-1.713,0,1,0
$FREEZE,6.39,4.343,-1.713,0,1,0
$FREEZE,6.28,4.343,-1.713,0,1,0
$FREEZE,5.99,4.346,-1.712,0,1,0
$FREEZE,5.72,4.344,-1.712,0,1,0
$FREEZE,5.55,4.344,-1.712,0,1,0
$FREEZE,5.25,4.342,-1.712,0,1,0
$FREEZE,5.10,4.340,-1.712,0,1,0
$FREEZE,4.86,4.338,-1.712,0,1,0
$FREEZE,4.53,4.341,-1.712,0,1,0
$FREEZE,4.32,4.338,-1.711,0,1,0
$FREEZE,4.09,4.339,-1.711,0,1,0
$FREEZE,3.76,4.345,-1.711,0,1,0
$STATE,17863,end climb,SURFACE_DEPTH_REACHED
$STATE,17863,begin surface coast
$FREEZE,3.23,4.345,-1.711,0,1,0
$FREEZE,3.03,4.345,-1.711,0,1,0
$FREEZE,2.64,4.345,-1.710,0,1,0
$FREEZE,2.44,4.345,-1.710,0,1,0
$FREEZE,2.11,4.345,-1.710,0,1,0
$FREEZE,1.82,4.343,-1.710,0,1,0
$FREEZE,1.50,4.340,-1.709,0,1,0
$FREEZE,1.22,4.281,-0.531,0,1,0
$FREEZE,1.36,4.276,-0.155,0,1,0
$FREEZE,1.42,4.079,-0.150,0,1,0
$FREEZE,1.32,4.215,-0.110,0,1,0
$FREEZE,1.47,4.149,-0.135,0,1,0
$FREEZE,1.46,4.191,-0.964,0,1,0
$FREEZE,1.34,4.291,-0.568,0,1,0
$FREEZE,1.41,4.204,-0.184,0,1,0
$FREEZE,1.31,4.228,-0.825,0,1,0
$FINISH,1.3,1.012084
$STATE,17949,end surface coast,CONTROL_FINISHED_OK
$STATE,17949,begin surface
$SM_CCo,17969,64.03,0.072,0,0,1648,400.08
$SM_GC,2.73,8.45,0.35,64.03,0.060,0.058,0.072,337,2099,1648,-8.66,-1.55,400.08,0,0,0,0,0,0,25.93,26.17,25.78
$RAFOS_CLK,945
$RAFOS,2,1346573821,8.300000,8.283611,49,46,43,43,42,41,1197,1037,347,1885,1535,1811
$RAFOS,1,1346573343,8.166667,8.150833,43,43,43,42,40,39,875,1459,1734,1562,425,1869
$RAFOS,0,1346572863,8.033334,8.017500,52,43,42,42,41,38,568,700,725,1856,715,454
$RAFOS,6,1346561341,4.833333,4.816945,49,46,43,42,42,41,1838,1689,507,415,1391,154
$RAFOS,5,1346560871,4.700000,4.686389,43,42,41,41,39,38,1001,1344,253,1346,1411,1446
$RAFOS,4,1346560389,4.566667,4.552500,46,45,45,42,41,41,525,210,525,589,26,463
$RAFOS,3,1346559901,4.433333,4.416945,47,46,44,40,40,40,426,201,1061,1887,1029,1279
$RAFOS,2,1346559429,4.300000,4.285833,49,45,42,42,41,41,1038,1274,677,1088,369,1939
$RAFOS,1,1346558943,4.166667,4.150833,49,44,43,42,41,41,239,207,1027,1014,1430,1577
$RAFOS,0,1346558467,4.033333,4.018611,47,45,42,41,41,39,832,1531,1590,1867,971,1284
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5907.78,020912,030300
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.46
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.70
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,22.3,46.395
$10V_AH,9.8,52.001
$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,21.725,172.975,352.900,64.025,0.000,0.000,0.000,515.125,6.500,0.000,20.467,3961.943,10485.758,619.661,3212.306,476.222,0.000,2608.154,0.000,2668.377,3960.000,29.898,0.000
$DEVICE_MAMPS,250.155,67.320,1380.825,71.910,0.000,0.000,0.000,280.142,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.621,1059.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151600
$DATA_FILE_SIZE,70109,1491
$CAP_FILE_SIZE,197934,0
$CFSIZE,260165632,212185088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.1
$CURRENT,0.174,162.2,1
$GPS,020912,083028,6642.110,-5906.442,42,0.7,42,-33.6