version: 66.11
glider: 108
mission: 21
dive: 412
start: 9 3 112 4 36 54
data:
$ID,108
$MISSION,21
$DIVE,412
$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,-191611.56
$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,63
$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
$GPS1,030912,042504,6646.631,-5846.595,43,0.7,43,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-75.4
$GPS2,030912,043623,6646.717,-5846.800,17,0.8,17,-33.6
$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,146.1,90937,-16.9,-9.167
$D_GRID,851
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.75,-146.6,0.0,0.0,0,80,0.00,0.00,-58.78,0.000,2,0.000,0.000,338,2112,2961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.75,-146.6,3.2,-2.2,10,122,10.55,2.22,-22.00,0.000,4,0.250,0.065,2877,3503,3880,0,0,0,0,0,0,25.39,26.11,26.74
$GC,204,-0.75,-146.6,23.1,-10.6,31,211,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,2091,3886,0,0,0,0,0,0,28.83,26.30,28.83
$GC,516,-0.75,-146.6,61.8,-11.1,92,524,0.00,2.20,0.00,0.000,4,0.000,0.049,2867,3509,3889,0,0,0,0,0,0,28.83,26.08,28.83
$GC,587,-0.75,-146.6,70.4,-12.4,105,594,0.00,2.08,0.00,0.000,6,0.000,0.030,2867,2111,3889,0,0,0,0,0,0,28.83,26.36,28.83
$GC,907,-0.75,-146.6,109.5,-11.7,159,915,0.00,2.15,0.00,0.000,4,0.000,0.049,2856,3500,3890,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1042,-0.75,-146.6,125.3,-12.1,172,1050,0.12,2.03,0.00,0.000,6,0.173,0.031,2887,2131,3890,0,0,0,0,0,0,25.94,26.38,28.83
$GC,1349,-0.75,-146.6,157.8,-10.3,203,1358,0.00,2.15,0.00,0.000,4,0.000,0.050,2879,3517,3890,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1487,-0.75,-146.6,172.5,-11.2,216,1495,0.00,2.03,0.00,0.000,6,0.000,0.031,2878,2138,3889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1793,-0.75,-146.6,205.1,-9.4,247,1802,0.00,2.12,0.00,0.000,4,0.000,0.050,2868,3514,3888,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1838,-0.75,-146.6,209.5,-10.5,251,1845,0.00,2.03,0.00,0.000,6,0.000,0.031,2868,2136,3888,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2145,-0.75,-146.6,240.5,-10.4,282,2155,0.00,2.12,0.00,0.000,4,0.000,0.050,2858,3512,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2229,-0.75,-146.6,249.7,-11.0,290,2238,0.12,2.00,0.00,0.000,6,0.159,0.031,2889,2158,3887,0,0,0,0,0,0,26.01,26.40,28.83
$GC,2539,-0.75,-146.6,278.9,-9.0,321,2547,0.00,2.08,0.00,0.000,4,0.000,0.050,2881,3503,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2592,-0.75,-146.6,283.7,-9.1,326,2596,0.00,1.98,0.00,0.000,6,0.000,0.031,2881,2159,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2905,-0.75,-146.6,311.0,-8.7,357,2908,0.00,2.10,0.00,0.000,4,0.000,0.050,2872,3511,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3017,-0.75,-146.6,321.8,-9.4,368,3027,0.00,1.98,0.00,0.000,6,0.000,0.031,2871,2173,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3327,-0.75,-146.6,349.8,-8.9,399,3337,0.00,2.05,0.00,0.000,4,0.000,0.050,2862,3503,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3352,-0.75,-146.6,352.0,-9.1,401,3360,0.00,1.98,0.00,0.000,6,0.000,0.031,2862,2164,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3660,-0.75,-146.6,383.5,-10.1,432,3670,0.00,2.10,0.00,0.000,4,0.000,0.049,2851,3515,3886,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3785,-0.75,-146.6,396.9,-11.0,444,3795,0.15,1.95,0.00,0.000,6,0.148,0.031,2891,2186,3886,0,0,0,0,0,0,25.95,26.41,28.83
$GC,4094,-0.75,-146.6,422.3,-7.4,475,4103,0.00,2.03,0.00,0.000,4,0.000,0.049,2883,3504,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4157,-0.75,-146.6,427.2,-7.9,481,4161,0.00,1.95,0.00,0.000,6,0.000,0.031,2883,2199,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4471,-0.75,-146.6,451.8,-8.1,512,4474,0.00,2.05,0.00,0.000,4,0.000,0.050,2874,3508,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4535,-0.75,-146.6,457.5,-9.1,518,4542,0.00,1.92,0.00,0.000,6,0.000,0.030,2873,2192,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4844,-0.75,-146.6,484.7,-8.6,549,4853,0.00,2.03,0.00,0.000,4,0.000,0.049,2864,3504,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4909,-0.75,-146.6,490.8,-9.7,555,4916,0.00,1.90,0.00,0.000,6,0.000,0.030,2864,2206,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5217,-0.75,-146.6,521.0,-9.5,586,5221,0.00,2.03,0.00,0.000,4,0.000,0.049,2853,3510,3885,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5252,-0.75,-146.6,524.3,-9.8,589,5259,0.12,1.90,0.00,0.000,6,0.151,0.030,2885,2209,3886,0,0,0,0,0,0,26.03,26.41,28.83
$GC,5560,-0.75,-146.6,548.9,-7.6,620,5569,0.00,2.00,0.00,0.000,4,0.000,0.049,2878,3506,3885,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5604,-0.75,-146.6,552.3,-7.7,624,5608,0.00,1.90,0.00,0.000,6,0.000,0.030,2878,2204,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5916,-0.75,-146.6,577.2,-8.0,655,5925,0.00,2.03,0.00,0.000,4,0.000,0.049,2869,3509,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5980,-0.75,-146.6,582.7,-9.0,661,5983,0.00,1.90,0.00,0.000,6,0.000,0.030,2868,2222,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6304,-0.75,-146.6,610.5,-8.6,685,6310,0.00,2.03,0.00,0.000,4,0.000,0.049,2859,3515,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6367,-0.75,-146.6,616.2,-8.8,687,6372,0.12,1.88,0.00,0.000,6,0.149,0.029,2890,2228,3885,0,0,0,0,0,0,26.03,26.41,28.83
$GC,6691,-0.75,-146.6,639.7,-7.0,698,6696,0.00,1.98,0.00,0.000,4,0.000,0.049,2883,3510,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6739,-0.75,-146.6,641.9,-7.1,699,6743,0.00,1.88,0.00,0.000,6,0.000,0.030,2883,2229,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7052,-0.75,-146.6,667.3,-7.5,710,7058,0.00,1.98,0.00,0.000,4,0.000,0.049,2873,3504,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7105,-0.75,-146.6,669.7,-7.5,711,7112,0.00,1.85,0.00,0.000,6,0.000,0.030,2873,2234,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7412,-0.75,-146.6,696.6,-8.3,722,7416,0.00,1.98,0.00,0.000,4,0.000,0.049,2864,3507,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7453,-0.75,-146.6,699.4,-8.5,723,7457,0.00,1.88,0.00,0.000,6,0.000,0.030,2864,2242,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7776,-0.75,-146.6,727.4,-8.4,734,7779,0.00,1.95,0.00,0.000,4,0.000,0.049,2854,3501,3885,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7858,-0.75,-146.6,733.0,-8.7,736,7862,0.12,1.83,0.00,0.000,6,0.147,0.030,2886,2253,3885,0,0,0,0,0,0,26.03,26.40,28.83
$GC,8171,-0.75,-146.6,756.8,-7.0,747,8175,0.00,1.92,0.00,0.000,4,0.000,0.049,2879,3503,3885,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8212,-0.75,-146.6,759.3,-7.1,748,8216,0.00,1.83,0.00,0.000,6,0.000,0.030,2879,2257,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8536,-0.75,-146.6,784.6,-8.4,759,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2252,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8835,-0.75,-146.6,808.9,-8.3,769,8838,0.00,1.95,0.00,0.000,4,0.000,0.050,2870,3514,3884,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8891,-0.75,-146.6,811.7,-8.4,770,8898,0.00,1.85,0.00,0.000,6,0.000,0.031,2870,2251,3885,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,9104,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9104,begin apogee
$GC,9111,-0.17,0.0,834.2,-9.1,778,9239,0.65,0.00,123.75,1.291,4,0.134,0.000,3073,1885,3279,0,0,0,0,0,0,25.33,28.83,23.25
$STATE,9243,end apogee,CONTROL_FINISHED_OK
$STATE,9244,begin climb
$GC,9246,0.75,146.6,839.6,0.0,782,9386,0.82,2.28,128.23,1.196,4,0.066,0.038,3368,515,2680,0,0,0,0,0,0,24.56,24.60,22.44
$GC,9614,0.75,146.6,810.9,12.1,795,9620,0.00,2.25,0.00,0.000,6,0.000,0.035,3369,1911,2670,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9944,0.75,146.6,773.8,10.4,806,9950,0.00,2.15,0.00,0.000,4,0.000,0.046,3369,3313,2667,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10144,0.75,146.6,749.2,14.0,812,10148,0.00,2.12,0.00,0.000,6,0.000,0.031,3378,1908,2667,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10451,0.75,146.6,706.8,12.5,822,10455,0.00,2.17,0.00,0.000,4,0.000,0.041,3388,500,2666,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10552,0.75,146.6,694.6,13.2,825,10556,0.00,2.15,0.00,0.000,6,0.000,0.035,3388,1889,2666,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10874,0.75,146.6,651.2,13.0,836,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1889,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11175,0.75,146.6,612.9,12.5,846,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1889,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11475,0.75,146.6,576.2,12.1,868,11485,0.00,2.15,0.00,0.000,4,0.000,0.041,3397,511,2665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11518,0.75,146.6,570.7,12.3,872,11528,0.00,2.17,0.00,0.000,6,0.000,0.036,3397,1895,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11828,0.75,146.6,532.7,12.0,903,11837,0.00,2.15,0.00,0.000,4,0.000,0.042,3406,510,2664,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11883,0.75,146.6,526.4,12.3,908,11891,0.15,2.15,0.00,0.000,6,0.171,0.037,3370,1890,2664,0,0,0,0,0,0,25.81,26.26,28.83
$GC,12190,0.75,146.6,494.9,9.6,939,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1889,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12492,0.75,146.6,464.2,10.6,969,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1889,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12800,0.75,146.6,430.5,10.8,1000,12804,0.00,2.20,0.00,0.000,4,0.000,0.043,3377,512,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12832,0.75,146.6,427.0,11.0,1003,12841,0.00,2.17,0.00,0.000,6,0.000,0.036,3377,1889,2663,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13142,0.75,146.6,392.9,11.1,1034,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1888,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13442,0.75,146.6,360.4,10.9,1064,13451,0.00,2.20,0.00,0.000,4,0.000,0.042,3386,505,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13468,0.75,146.6,357.9,11.1,1066,13476,0.00,2.15,0.00,0.000,6,0.000,0.036,3386,1880,2663,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13775,0.75,146.6,322.4,11.6,1097,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1880,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14075,0.75,146.6,288.3,11.2,1127,14084,0.00,2.15,0.00,0.000,4,0.000,0.041,3395,504,2663,0,0,0,0,0,0,28.83,26.18,28.83
$GC,14157,0.75,146.6,278.8,11.9,1135,14166,0.00,2.15,0.00,0.000,6,0.000,0.037,3395,1874,2663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14467,0.75,146.6,242.8,11.4,1166,14476,0.00,2.20,0.00,0.000,4,0.000,0.047,3395,3314,2663,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14509,0.75,146.6,237.7,12.1,1170,14519,0.12,2.17,0.00,0.000,6,0.183,0.031,3375,1864,2663,0,0,0,0,0,0,25.91,26.35,28.83
$GC,14819,0.75,146.6,206.9,9.7,1201,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1864,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15119,0.75,146.6,175.1,10.8,1231,15123,0.00,2.10,0.00,0.000,4,0.000,0.041,3383,504,2663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15222,0.75,146.6,164.2,10.3,1241,15226,0.00,2.12,0.00,0.000,6,0.000,0.036,3383,1874,2663,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15534,0.75,149.4,133.1,9.1,1272,15535,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1873,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15836,0.83,214.7,110.1,6.4,1302,15896,0.00,2.28,53.55,0.887,4,0.000,0.047,3383,3292,2402,0,0,0,0,0,0,28.83,25.67,24.67
$GC,15940,0.83,214.7,101.1,11.0,1312,15948,0.00,2.20,0.00,0.000,6,0.000,0.031,3392,1859,2399,0,0,0,0,0,0,28.83,25.78,28.83
$GC,16255,0.83,214.7,66.5,10.4,1373,16261,0.00,2.12,0.00,0.000,4,0.000,0.041,3403,504,2395,0,0,0,0,0,0,28.83,25.93,28.83
$GC,16374,0.83,214.7,54.3,10.7,1396,16382,0.00,2.12,0.00,0.000,6,0.000,0.035,3403,1854,2394,0,0,0,0,0,0,28.83,26.06,28.83
$GC,16690,0.86,237.2,24.8,8.2,1457,16709,0.00,2.12,11.68,0.802,4,0.000,0.040,3411,508,2309,0,0,0,0,0,0,28.83,26.12,24.94
$GC,16750,0.86,237.2,19.4,9.7,1467,16757,0.00,2.12,0.00,0.000,6,0.000,0.036,3411,1848,2307,0,0,0,0,0,0,28.83,26.08,28.83
$FREEZE,8.85,4.502,-1.691,0,1,0
$FREEZE,8.65,4.506,-1.694,0,1,0
$FREEZE,8.68,4.510,-1.696,0,1,0
$FREEZE,8.45,4.513,-1.700,0,1,0
$FREEZE,8.22,4.516,-1.702,0,1,0
$FREEZE,8.03,4.515,-1.703,0,1,0
$FREEZE,7.77,4.515,-1.704,0,1,0
$FREEZE,7.64,4.519,-1.705,0,1,0
$FREEZE,7.52,4.519,-1.706,0,1,0
$FREEZE,7.36,4.519,-1.707,0,1,0
$FREEZE,7.14,4.520,-1.708,0,1,0
$FREEZE,6.99,4.520,-1.708,0,1,0
$FREEZE,6.79,4.522,-1.709,0,1,0
$FREEZE,6.60,4.523,-1.709,0,1,0
$FREEZE,6.33,4.524,-1.709,0,1,0
$FREEZE,6.20,4.528,-1.709,0,1,0
$FREEZE,5.99,4.528,-1.709,0,1,0
$FREEZE,5.83,4.528,-1.709,0,1,0
$FREEZE,5.63,4.530,-1.709,0,1,0
$FREEZE,5.46,4.530,-1.709,0,1,0
$FREEZE,5.19,4.528,-1.709,0,1,0
$FREEZE,4.91,4.528,-1.709,0,1,0
$FREEZE,4.80,4.529,-1.709,0,1,0
$FREEZE,4.53,4.528,-1.708,0,1,0
$FREEZE,4.39,4.524,-1.708,0,1,0
$FREEZE,4.14,4.524,-1.708,0,1,0
$FREEZE,4.02,4.525,-1.708,0,1,0
$FREEZE,3.76,4.526,-1.708,0,1,0
$STATE,17066,end climb,SURFACE_DEPTH_REACHED
$STATE,17066,begin surface coast
$FREEZE,3.66,4.524,-1.708,0,1,0
$FREEZE,3.47,4.523,-1.708,0,1,0
$FREEZE,3.37,4.523,-1.708,0,1,0
$FREEZE,3.05,4.522,-1.708,0,1,0
$FREEZE,2.96,4.514,-1.708,0,1,0
$FREEZE,2.61,4.509,-1.708,0,1,0
$FREEZE,2.40,4.488,-1.709,0,1,0
$FREEZE,2.25,4.520,-1.707,0,1,0
$FREEZE,2.00,4.519,-1.707,0,1,0
$FREEZE,1.88,4.516,-1.707,0,1,0
$FREEZE,1.54,4.514,-1.707,0,1,0
$FREEZE,1.37,4.270,-1.720,0,1,0
$FREEZE,1.35,4.440,-0.879,0,1,0
$FREEZE,1.21,4.368,-1.707,0,1,0
$FREEZE,1.22,4.414,-1.678,0,1,0
$FREEZE,1.28,4.314,-0.319,0,1,0
$FREEZE,1.31,4.433,-0.814,0,1,0
$FREEZE,1.28,4.365,-0.866,0,1,0
$FREEZE,1.33,4.390,-0.815,0,1,0
$FREEZE,1.24,4.399,-1.709,0,1,0
$FREEZE,1.46,4.333,-1.714,0,1,0
$FREEZE,1.31,4.193,-1.723,0,1,0
$FREEZE,1.49,4.334,-1.715,0,1,0
$FREEZE,1.34,4.466,-0.553,0,1,0
$FINISH,1.3,1.008067
$STATE,17191,end surface coast,CONTROL_FINISHED_OK
$STATE,17191,begin surface
$SM_CCo,17211,73.38,0.073,0,0,1647,400.08
$SM_GC,2.72,8.40,0.38,73.38,0.058,0.059,0.073,345,2107,1647,-8.65,-1.16,400.08,0,0,0,0,0,0,25.94,26.17,25.82
$RAFOS_CLK,898
$RAFOS,6,1346662142,8.833333,8.817223,49,45,45,45,41,40,1079,1814,1202,1932,1105,1942
$RAFOS,5,1346661670,8.700000,8.686111,50,49,48,46,45,44,1716,705,1774,1556,430,509
$RAFOS,4,1346661188,8.566667,8.552222,52,48,46,45,43,43,556,380,742,151,61,1585
$RAFOS,3,1346660708,8.433333,8.418889,48,44,43,43,40,40,836,1770,1787,1934,252,953
$RAFOS,2,1346660223,8.300000,8.284166,55,46,45,44,41,41,850,1652,1001,755,254,480
$RAFOS,1,1346659751,8.166667,8.153055,47,45,44,42,41,41,847,1041,1577,1249,1366,1798
$RAFOS,0,1346659271,8.033334,8.019722,47,44,41,40,39,38,1819,375,565,1437,1333,1
$RAFOS,6,1346647742,4.833333,4.817222,46,46,45,44,43,41,631,1343,1852,414,1866,1
$RAFOS,5,1346647265,4.700000,4.684722,46,45,45,44,41,40,717,150,209,1477,1660,1
$RAFOS,2,1346645823,4.300000,4.284167,46,46,46,45,42,41,303,601,1484,1766,965,1723
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5845.34,030912,040431
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.66
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,15.80
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.4,18.7
$ALTIM_BOTTOM_PING,801.4,47.2
$24V_AH,22.4,46.968
$10V_AH,9.8,52.641
$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,21.475,149.000,317.200,73.375,0.000,0.000,0.000,467.800,8.000,0.000,18.145,4094.692,9551.399,591.560,3251.395,464.236,0.000,2545.070,0.000,2765.234,3240.000,24.839,0.000
$DEVICE_MAMPS,250.155,65.025,1290.555,72.675,0.000,0.000,0.000,287.632,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.029,1108.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,70009,1552
$CAP_FILE_SIZE,191504,0
$CFSIZE,260165632,211755008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.4
$CURRENT,0.194,144.7,1
$GPS,030912,092635,6644.142,-5839.839,40,0.9,41,-33.6