version: 66.11
glider: 108
mission: 21
dive: 33
start: 6 24 112 17 30 5
data:
$ID,108
$MISSION,21
$DIVE,33
$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,-3
$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,0.00275
$HD_B,0.0115
$HD_C,1.7999999e-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,-191130.41
$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,53
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3029
$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
$GPS1,240612,172129,6702.444,-5747.778,41,0.8,41,-33.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-77.0
$GPS2,240612,172930,6702.553,-5747.677,14,1.5,15,-33.7
$SPEED_LIMITS,0.159,0.240
$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,270.5,120813,-16.3,-9.167
$D_GRID,885
$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,-0.72,-146.6,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,347,2108,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-146.6,3.0,-0.8,12,128,10.10,2.20,-19.55,0.000,4,0.259,0.075,2884,3514,3629,0,0,0,0,0,0,26.14,26.34,26.65
$GC,233,-0.72,-146.6,22.5,-14.2,38,240,0.00,2.15,0.00,0.000,6,0.000,0.043,2889,2102,3632,0,0,0,0,0,0,28.83,26.41,28.83
$GC,546,-0.72,-146.6,60.5,-11.9,99,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2101,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-0.72,-146.6,97.1,-11.4,160,863,0.00,2.22,0.00,0.000,4,0.000,0.062,2881,3505,3632,0,0,0,0,0,0,28.83,26.47,28.83
$GC,963,-0.72,-146.6,110.2,-12.4,172,971,0.00,2.12,0.00,0.000,6,0.000,0.044,2881,2091,3632,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1272,-0.72,-146.6,145.9,-11.6,203,1275,0.00,2.22,0.00,0.000,4,0.000,0.060,2871,3507,3632,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1354,-0.72,-146.6,155.6,-12.0,211,1358,0.00,2.15,0.00,0.000,6,0.000,0.044,2871,2091,3632,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1666,-0.72,-146.6,188.4,-10.1,242,1675,0.00,2.22,0.00,0.000,4,0.000,0.060,2860,3504,3631,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1761,-0.72,-146.6,199.0,-11.5,251,1769,0.12,2.15,0.00,0.000,6,0.178,0.044,2891,2085,3631,0,0,0,0,0,0,26.45,26.60,28.83
$GC,2068,-0.72,-146.6,228.7,-9.4,282,2078,0.00,2.20,0.00,0.000,4,0.000,0.060,2883,3503,3631,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2104,-0.72,-146.6,231.9,-9.4,285,2112,0.00,2.12,0.00,0.000,6,0.000,0.042,2883,2090,3631,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2411,-0.72,-146.6,259.4,-8.2,316,2420,0.00,2.20,0.00,0.000,4,0.000,0.058,2872,3511,3631,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2533,-0.72,-146.6,270.5,-9.2,328,2542,0.00,2.12,0.00,0.000,6,0.000,0.041,2872,2095,3631,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2845,-0.72,-146.6,298.0,-8.7,359,2853,0.00,2.17,0.00,0.000,4,0.000,0.058,2862,3501,3632,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2961,-0.72,-146.6,308.1,-9.0,370,2970,0.12,2.10,0.00,0.000,6,0.171,0.041,2894,2096,3632,0,0,0,0,0,0,26.52,26.66,28.83
$GC,3268,-0.72,-146.6,331.0,-7.5,401,3276,0.00,2.17,0.00,0.000,4,0.000,0.057,2885,3507,3633,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3332,-0.72,-146.6,336.1,-8.4,407,3339,0.00,2.10,0.00,0.000,6,0.000,0.038,2885,2095,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3640,-0.72,-146.6,362.2,-8.5,438,3649,0.00,2.15,0.00,0.000,4,0.000,0.057,2875,3504,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3716,-0.72,-146.6,368.9,-9.1,445,3722,0.00,2.10,0.00,0.000,6,0.000,0.041,2875,2097,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4023,-0.72,-146.6,395.7,-8.4,476,4032,0.00,2.17,0.00,0.000,4,0.000,0.057,2865,3513,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4109,-0.72,-146.6,403.2,-9.1,484,4116,0.12,2.10,0.00,0.000,6,0.168,0.040,2896,2100,3635,0,0,0,0,0,0,26.56,26.70,28.83
$GC,4416,-0.72,-146.6,425.8,-7.1,515,4424,0.00,2.15,0.00,0.000,4,0.000,0.057,2888,3510,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4521,-0.72,-146.6,433.7,-7.8,525,4527,0.00,2.10,0.00,0.000,6,0.000,0.040,2888,2099,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4828,-0.72,-146.6,457.5,-7.8,556,4836,0.00,2.17,0.00,0.000,4,0.000,0.057,2878,3513,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4913,-0.72,-146.6,464.5,-8.9,564,4920,0.00,2.10,0.00,0.000,6,0.000,0.040,2878,2100,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5220,-0.72,-146.6,491.2,-8.9,595,5229,0.00,2.17,0.00,0.000,4,0.000,0.057,2868,3514,3637,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5305,-0.72,-146.6,499.2,-9.9,603,5315,0.00,2.10,0.00,0.000,6,0.000,0.040,2868,2100,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5613,-0.72,-146.6,528.0,-8.9,634,5623,0.00,2.12,0.00,0.000,4,0.000,0.057,2857,3504,3637,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5686,-0.72,-146.6,534.8,-9.4,641,5695,0.10,2.10,0.00,0.000,6,0.145,0.040,2891,2094,3638,0,0,0,0,0,0,26.60,26.74,28.83
$GC,5996,-0.72,-146.6,557.7,-7.9,672,6005,0.00,2.17,0.00,0.000,4,0.000,0.057,2883,3509,3638,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6052,-0.72,-146.6,562.0,-8.6,677,6058,0.00,2.10,0.00,0.000,6,0.000,0.039,2883,2095,3638,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6358,-0.72,-146.6,586.8,-8.0,708,6367,0.00,2.15,0.00,0.000,4,0.000,0.057,2872,3499,3638,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6444,-0.72,-146.6,594.0,-8.7,716,6450,0.00,2.10,0.00,0.000,6,0.000,0.040,2872,2088,3638,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6751,-0.72,-146.6,621.5,-8.8,731,6756,0.00,2.17,0.00,0.000,4,0.000,0.057,2862,3508,3638,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6873,-0.72,-146.6,632.8,-9.4,735,6878,0.12,2.10,0.00,0.000,6,0.166,0.040,2893,2098,3638,0,0,0,0,0,0,26.61,26.75,28.83
$GC,7196,-0.72,-146.6,659.3,-8.2,746,7202,0.00,2.15,0.00,0.000,4,0.000,0.057,2886,3499,3639,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7287,-0.72,-146.6,667.4,-9.0,749,7292,0.00,2.08,0.00,0.000,6,0.000,0.040,2885,2102,3639,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7618,-0.72,-146.6,695.7,-8.4,760,7623,0.00,2.15,0.00,0.000,4,0.000,0.057,2875,3499,3639,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7726,-0.72,-146.6,703.5,-8.6,763,7729,0.00,2.10,0.00,0.000,6,0.000,0.040,2875,2093,3639,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8032,-0.72,-146.6,730.9,-8.4,773,8038,0.00,2.15,0.00,0.000,4,0.000,0.057,2865,3503,3639,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8075,-0.72,-146.6,733.5,-8.4,774,8080,0.12,2.10,0.00,0.000,6,0.168,0.040,2896,2094,3639,0,0,0,0,0,0,26.63,26.77,28.83
$GC,8389,-0.72,-146.6,757.5,-6.9,785,8394,0.00,2.17,0.00,0.000,4,0.000,0.057,2889,3506,3639,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8456,-0.72,-146.6,761.8,-7.1,787,8460,0.00,2.10,0.00,0.000,6,0.000,0.041,2888,2099,3639,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8776,-0.72,-146.6,785.9,-7.4,798,8781,0.00,2.17,0.00,0.000,4,0.000,0.058,2878,3511,3639,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8835,-0.72,-146.6,790.7,-7.7,800,8840,0.00,2.12,0.00,0.000,6,0.000,0.041,2878,2088,3639,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9165,-0.72,-146.6,817.2,-8.1,811,9171,0.00,2.20,0.00,0.000,4,0.000,0.058,2868,3513,3639,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9255,-0.72,-146.6,825.2,-8.7,814,9260,0.00,2.10,0.00,0.000,6,0.000,0.041,2867,2100,3639,0,0,0,0,0,0,28.83,26.78,28.83
$GC,9587,-0.72,-146.6,852.5,-7.9,825,9592,0.00,2.17,0.00,0.000,4,0.000,0.059,2857,3510,3639,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9654,-0.72,-146.6,857.1,-7.7,827,9659,0.15,2.12,0.00,0.000,6,0.165,0.041,2896,2084,3639,0,0,0,0,0,0,26.63,26.77,28.83
$STATE,9670,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9670,begin apogee
$GC,9677,-0.17,0.0,859.0,-7.5,828,9809,0.52,0.00,125.75,1.398,6,0.139,0.000,3070,1880,3028,0,0,0,0,0,0,26.64,28.83,23.63
$STATE,9812,end apogee,CONTROL_FINISHED_OK
$STATE,9812,begin climb
$GC,9815,0.72,146.6,860.6,0.0,832,9955,0.85,2.42,128.98,1.363,4,0.086,0.049,3367,521,2430,0,0,0,0,0,0,24.71,24.18,23.26
$GC,9997,0.72,146.6,844.1,12.0,838,10005,0.00,2.35,0.00,0.000,6,0.000,0.042,3367,1908,2426,0,0,0,0,0,0,28.83,24.76,28.83
$GC,10304,0.72,146.6,798.5,13.0,849,10309,0.00,2.28,0.00,0.000,4,0.000,0.049,3376,521,2420,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10364,0.72,146.6,790.4,13.2,851,10370,0.00,2.25,0.00,0.000,6,0.000,0.043,3376,1907,2419,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10695,0.72,146.6,743.6,14.7,862,10701,0.00,2.25,0.00,0.000,4,0.000,0.049,3385,519,2418,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10754,0.72,146.6,734.5,15.0,864,10759,0.00,2.22,0.00,0.000,6,0.000,0.044,3385,1902,2417,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11084,0.72,146.6,685.7,14.2,875,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1902,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11386,0.72,146.6,642.4,14.6,885,11391,0.00,2.17,0.00,0.000,4,0.000,0.057,3385,3301,2416,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11407,0.72,146.6,642.4,14.6,885,11415,0.12,2.15,0.00,0.000,6,0.186,0.042,3365,1908,2415,0,0,0,0,0,0,26.14,26.27,28.83
$GC,11714,0.72,146.6,595.1,14.3,898,11724,0.00,2.22,0.00,0.000,4,0.000,0.050,3374,496,2415,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11790,0.72,146.6,584.6,14.5,905,11797,0.00,2.25,0.00,0.000,6,0.000,0.044,3374,1913,2415,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12097,0.72,146.6,539.0,14.4,936,12106,0.00,2.25,0.00,0.000,4,0.000,0.050,3383,500,2414,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12123,0.72,146.6,535.9,14.5,938,12131,0.00,2.22,0.00,0.000,6,0.000,0.044,3383,1907,2415,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12429,0.72,146.6,490.3,14.7,969,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1907,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12732,0.72,146.6,446.1,14.3,999,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1907,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13043,0.72,146.6,400.3,14.6,1030,13052,0.00,2.22,0.00,0.000,4,0.000,0.049,3392,493,2414,0,0,0,0,0,0,28.83,26.52,28.83
$GC,13068,0.72,146.6,396.3,15.0,1032,13075,0.00,2.22,0.00,0.000,6,0.000,0.044,3392,1908,2414,0,0,0,0,0,0,28.83,26.53,28.83
$GC,13376,0.72,146.6,348.6,15.3,1063,13377,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1908,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13678,0.72,146.6,304.0,14.3,1093,13686,0.00,2.22,0.00,0.000,4,0.000,0.049,3401,491,2414,0,0,0,0,0,0,28.83,26.57,28.83
$GC,13719,0.72,146.6,297.5,14.7,1097,13729,0.15,2.22,0.00,0.000,6,0.169,0.044,3363,1913,2414,0,0,0,0,0,0,26.45,26.58,28.83
$GC,14029,0.72,146.6,256.8,13.0,1128,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1912,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14331,0.72,146.6,218.5,13.0,1158,14338,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1912,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14642,0.72,146.6,178.5,12.6,1189,14650,0.00,2.12,0.00,0.000,4,0.000,0.054,3364,3301,2414,0,0,0,0,0,0,28.83,26.62,28.83
$GC,14676,0.72,146.6,173.9,13.2,1192,14683,0.00,2.12,0.00,0.000,6,0.000,0.041,3370,1890,2414,0,0,0,0,0,0,28.83,26.64,28.83
$GC,14984,0.72,146.6,134.2,12.0,1223,14992,0.00,2.12,0.00,0.000,4,0.000,0.049,3381,504,2414,0,0,0,0,0,0,28.83,26.64,28.83
$GC,15127,0.72,146.6,115.6,12.5,1237,15136,0.00,2.15,0.00,0.000,6,0.000,0.043,3381,1892,2414,0,0,0,0,0,0,28.83,26.66,28.83
$GC,15437,0.72,146.6,77.2,12.0,1286,15445,0.00,2.20,0.00,0.000,4,0.000,0.048,3390,496,2414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,15463,0.72,146.6,74.0,11.9,1290,15471,0.00,2.20,0.00,0.000,6,0.000,0.042,3390,1908,2414,0,0,0,0,0,0,28.83,26.67,28.83
$GC,15776,0.72,146.6,39.8,9.9,1351,15783,0.00,2.15,0.00,0.000,4,0.000,0.054,3390,3317,2414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,15816,0.72,146.6,35.3,12.2,1358,15824,0.15,2.15,0.00,0.000,6,0.172,0.041,3360,1890,2414,0,0,0,0,0,0,26.55,26.69,28.83
$FREEZE,8.87,-0.569,-1.778,1,1,0
$GC,16132,0.77,185.4,10.0,7.5,1419,16157,0.00,0.00,16.92,0.087,6,0.000,0.000,3360,1890,2271,0,0,0,0,0,0,28.83,28.83,26.59
$FREEZE,7.77,-0.568,-1.778,1,1,0
$FREEZE,7.45,-0.569,-1.778,1,1,0
$FREEZE,7.14,-0.565,-1.778,1,1,0
$FREEZE,6.61,-0.484,-1.776,1,1,0
$FREEZE,6.29,-0.440,-1.775,1,1,0
$FREEZE,5.92,-0.389,-1.772,1,1,0
$FREEZE,5.56,-0.285,-1.771,1,1,0
$FREEZE,5.13,-0.225,-1.767,1,1,0
$FREEZE,4.92,-0.116,-1.760,1,1,0
$FREEZE,4.44,-0.061,-1.755,1,1,0
$FREEZE,4.13,-0.051,-1.752,1,1,0
$FREEZE,3.84,-0.032,-1.750,1,1,0
$STATE,16221,end climb,SURFACE_DEPTH_REACHED
$STATE,16221,begin surface coast
$FREEZE,3.52,-0.022,-1.748,1,1,0
$FREEZE,3.12,-0.014,-1.747,1,1,0
$FREEZE,2.78,-0.007,-1.746,1,1,0
$FREEZE,2.58,0.008,-1.744,1,1,0
$FREEZE,2.22,-0.003,-1.744,1,1,0
$FREEZE,1.97,-0.005,-1.740,1,1,0
$FREEZE,1.68,-0.111,-1.730,1,1,0
$FREEZE,1.58,-1.113,-1.723,1,1,0
$FREEZE,1.51,-1.386,-1.702,1,1,0
$FREEZE,1.56,-1.223,-1.690,1,1,0
$FREEZE,1.59,-1.248,-1.683,1,1,0
$FREEZE,1.60,-1.314,-1.664,1,1,0
$FREEZE,1.63,-1.367,-1.649,1,1,0
$FINISH,1.6,1.024257
$STATE,16292,end surface coast,CONTROL_FINISHED_OK
$STATE,16292,begin surface
$SM_CCo,16312,92.82,0.072,0,0,1397,400.08
$SM_GC,3.03,8.05,0.35,92.82,0.059,0.062,0.072,339,2109,1397,-8.65,-1.10,400.08,0,0,0,0,0,0,26.64,26.65,26.48
$RAFOS_CLK,835
$RAFOS,6,1340570949,20.833334,20.819166,49,48,46,41,38,37,1312,791,1134,432,1713,1
$RAFOS,5,1340570477,20.700001,20.688055,49,42,41,40,38,38,498,363,161,1908,376,389
$RAFOS,4,1340569996,20.566668,20.554445,50,45,43,43,41,40,1373,1472,972,1835,1736,930
$RAFOS,3,1340569516,20.433332,20.421112,54,48,45,43,42,42,1114,1789,1534,61,1882,112
$RAFOS,2,1340569036,20.299999,20.287777,42,41,41,41,41,40,748,1734,466,1499,1801,1
$RAFOS,1,1340568561,20.166666,20.155834,51,44,43,40,38,38,1431,592,189,273,159,219
$RAFOS,0,1340568077,20.033333,20.021389,44,44,43,42,41,39,537,1342,854,385,705,1420
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5745.67,240612,121246
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.73
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,850.2,23.0
$24V_AH,23.3,7.248
$10V_AH,10.3,8.568
$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,20.825,156.675,271.650,92.825,0.000,0.000,0.000,346.525,3.750,0.000,16.042,3781.314,9085.334,616.112,3010.244,390.680,0.000,2392.877,0.000,2629.354,2520.000,26.535,0.000
$DEVICE_MAMPS,258.570,74.970,1397.655,71.910,0.000,0.000,0.000,277.146,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.997,1120.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151592
$DATA_FILE_SIZE,66601,1448
$CAP_FILE_SIZE,184291,0
$CFSIZE,260165632,243097600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.7
$CURRENT,77.168,247.2,1
$GPS,240612,172930,6702.553,-5747.677,14,1.5,15,-33.7