version: 66.11
glider: 108
mission: 21
dive: 45
start: 6 27 112 7 26 45
data:
$ID,108
$MISSION,21
$DIVE,45
$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,-191143
$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,43
$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
$GPS1,270612,071823,6658.237,-5846.244,38,0.7,39,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-75.8
$GPS2,270612,072612,6658.272,-5846.329,15,0.8,16,-33.8
$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,263.1,77559,-16.3,-9.167
$D_GRID,1054
$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,15,begin dive
$GC,18,-0.72,-146.6,0.0,0.0,0,82,0.00,0.00,-61.83,0.000,2,0.000,0.000,345,2116,2817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.72,-146.6,3.0,-2.5,11,131,10.02,2.28,-28.35,0.000,4,0.260,0.067,2902,706,3630,0,0,0,0,0,0,26.32,26.53,26.83
$GC,164,-0.72,-146.6,9.6,-13.2,24,171,0.00,2.20,0.00,0.000,6,0.000,0.048,2895,2100,3633,0,0,0,0,0,0,28.83,26.54,28.83
$GC,475,-0.72,-146.6,49.2,-11.8,85,483,0.00,2.17,0.00,0.000,4,0.000,0.060,2884,3516,3634,0,0,0,0,0,0,28.83,26.55,28.83
$GC,541,-0.72,-146.6,57.9,-13.3,97,549,0.00,2.15,0.00,0.000,6,0.000,0.043,2886,2090,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,854,-0.72,-146.6,95.8,-11.1,158,861,0.00,2.22,0.00,0.000,4,0.000,0.060,2878,3510,3634,0,0,0,0,0,0,28.83,26.58,28.83
$GC,939,-0.72,-146.6,106.2,-12.3,169,949,0.00,2.12,0.00,0.000,6,0.000,0.043,2877,2100,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1249,-0.72,-146.6,141.7,-11.1,200,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2100,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,-0.72,-146.6,174.6,-10.8,230,1560,0.00,2.17,0.00,0.000,4,0.000,0.061,2867,3500,3634,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1695,-0.72,-146.6,192.0,-12.5,244,1704,0.00,2.10,0.00,0.000,6,0.000,0.044,2867,2098,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2003,-0.72,-146.6,227.3,-10.8,275,2012,0.00,2.22,0.00,0.000,4,0.000,0.060,2856,3518,3633,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2069,-0.72,-146.6,234.3,-11.3,281,2079,0.10,2.12,0.00,0.000,6,0.162,0.044,2889,2097,3633,0,0,0,0,0,0,26.53,26.68,28.83
$GC,2377,-0.72,-146.6,262.2,-8.6,312,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2097,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2678,-0.72,-146.6,288.3,-8.6,342,2681,0.00,2.20,0.00,0.000,4,0.000,0.060,2881,3516,3633,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2730,-0.72,-146.6,293.3,-9.8,347,2738,0.00,2.12,0.00,0.000,6,0.000,0.042,2881,2090,3633,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3040,-0.72,-146.6,320.7,-8.3,378,3049,0.00,2.20,0.00,0.000,4,0.000,0.058,2871,3512,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3095,-0.72,-146.6,325.6,-9.6,383,3102,0.00,2.12,0.00,0.000,6,0.000,0.041,2870,2086,3633,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3403,-0.72,-146.6,353.5,-9.0,414,3406,0.00,2.20,0.00,0.000,4,0.000,0.058,2860,3508,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3487,-0.72,-146.6,361.2,-9.7,422,3495,0.12,2.12,0.00,0.000,6,0.177,0.041,2892,2092,3633,0,0,0,0,0,0,26.57,26.72,28.83
$GC,3795,-0.72,-146.6,385.1,-7.8,453,3804,0.00,2.17,0.00,0.000,4,0.000,0.058,2884,3500,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3878,-0.72,-146.6,392.3,-8.9,461,3887,0.00,2.10,0.00,0.000,6,0.000,0.041,2883,2089,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4188,-0.72,-146.6,419.6,-8.6,492,4197,0.00,2.20,0.00,0.000,4,0.000,0.057,2873,3512,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4252,-0.72,-146.6,425.6,-9.9,498,4259,0.00,2.12,0.00,0.000,6,0.000,0.041,2873,2088,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4560,-0.72,-146.6,454.5,-9.6,529,4569,0.00,2.15,0.00,0.000,4,0.000,0.057,2863,3501,3635,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4624,-0.72,-146.6,460.8,-10.3,535,4633,0.10,2.10,0.00,0.000,6,0.152,0.041,2895,2094,3635,0,0,0,0,0,0,26.60,26.74,28.83
$GC,4934,-0.72,-146.6,486.0,-7.7,566,4939,0.00,2.20,0.00,0.000,4,0.000,0.057,2887,3519,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4971,-0.72,-146.6,489.0,-8.4,569,4978,0.00,2.12,0.00,0.000,6,0.000,0.040,2886,2094,3635,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5278,-0.72,-146.6,514.2,-7.9,600,5286,0.00,2.17,0.00,0.000,4,0.000,0.056,2876,3513,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5343,-0.72,-146.6,519.7,-8.5,606,5350,0.00,2.12,0.00,0.000,6,0.000,0.040,2876,2088,3636,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5651,-0.72,-146.6,545.5,-8.4,637,5660,0.00,2.20,0.00,0.000,4,0.000,0.057,2866,3515,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5707,-0.72,-146.6,550.0,-8.8,642,5715,0.12,2.12,0.00,0.000,6,0.171,0.040,2897,2087,3636,0,0,0,0,0,0,26.60,26.75,28.83
$GC,6015,-0.72,-146.6,572.7,-6.9,673,6024,0.00,2.17,0.00,0.000,4,0.000,0.057,2889,3513,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6070,-0.72,-146.6,576.7,-7.5,678,6077,0.00,2.10,0.00,0.000,6,0.000,0.040,2889,2099,3636,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6379,-0.72,-146.6,600.0,-7.7,709,6385,0.00,2.17,0.00,0.000,4,0.000,0.057,2878,3511,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6416,-0.72,-146.6,602.6,-8.1,710,6421,0.00,2.10,0.00,0.000,6,0.000,0.040,2878,2102,3637,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6734,-0.72,-146.6,629.8,-8.4,721,6739,0.00,2.17,0.00,0.000,4,0.000,0.057,2868,3508,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6794,-0.72,-146.6,635.3,-8.8,723,6800,0.00,2.08,0.00,0.000,6,0.000,0.041,2868,2102,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7124,-0.72,-146.6,664.4,-8.7,734,7130,0.00,2.15,0.00,0.000,4,0.000,0.057,2857,3508,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7184,-0.72,-146.6,669.9,-8.8,736,7190,0.10,2.08,0.00,0.000,6,0.151,0.040,2890,2101,3637,0,0,0,0,0,0,26.61,26.77,28.83
$GC,7514,-0.72,-146.6,694.2,-7.1,747,7520,0.00,2.17,0.00,0.000,4,0.000,0.057,2882,3510,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7576,-0.72,-146.6,698.6,-7.3,749,7580,0.00,2.10,0.00,0.000,6,0.000,0.040,2882,2099,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7899,-0.72,-146.6,722.7,-7.4,760,7905,0.00,2.17,0.00,0.000,4,0.000,0.057,2873,3509,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7942,-0.72,-146.6,725.1,-7.6,761,7946,0.00,2.10,0.00,0.000,6,0.000,0.040,2873,2099,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8255,-0.72,-146.6,750.7,-7.9,772,8261,0.00,2.15,0.00,0.000,4,0.000,0.057,2862,3511,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8318,-0.72,-146.6,755.7,-8.3,774,8325,0.12,2.10,0.00,0.000,6,0.170,0.040,2894,2099,3637,0,0,0,0,0,0,26.63,26.77,28.83
$GC,8645,-0.72,-146.6,778.7,-6.8,785,8650,0.00,2.15,0.00,0.000,4,0.000,0.057,2886,3506,3638,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8705,-0.72,-146.6,782.9,-6.9,787,8708,0.00,2.10,0.00,0.000,6,0.000,0.041,2886,2092,3638,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9038,-0.72,-146.6,806.5,-7.1,798,9043,0.00,2.17,0.00,0.000,4,0.000,0.057,2875,3516,3638,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9097,-0.72,-146.6,811.2,-7.4,800,9101,0.00,2.10,0.00,0.000,6,0.000,0.041,2875,2101,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9429,-0.72,-146.6,835.4,-7.2,811,9435,0.00,2.15,0.00,0.000,4,0.000,0.057,2867,3507,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9477,-0.72,-146.6,837.8,-7.2,812,9482,0.12,2.10,0.00,0.000,6,0.169,0.041,2898,2099,3637,0,0,0,0,0,0,26.63,26.77,28.83
$GC,9785,-0.72,-146.6,858.4,-6.3,822,9789,0.00,2.17,0.00,0.000,4,0.000,0.057,2890,3509,3638,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9820,-0.72,-146.6,860.7,-6.5,823,9824,0.00,2.10,0.00,0.000,6,0.000,0.041,2891,2100,3638,0,0,0,0,0,0,28.83,26.78,28.83
$GC,10145,-0.72,-146.6,882.5,-6.9,834,10150,0.00,2.17,0.00,0.000,4,0.000,0.057,2881,3509,3637,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10217,-0.72,-146.6,886.8,-7.0,836,10221,0.00,2.10,0.00,0.000,6,0.000,0.041,2881,2101,3638,0,0,0,0,0,0,28.83,26.78,28.83
$GC,10531,-0.72,-146.6,909.9,-6.9,847,10536,0.00,2.17,0.00,0.000,4,0.000,0.058,2871,3511,3638,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10583,-0.72,-146.6,912.1,-7.0,848,10590,0.00,2.12,0.00,0.000,6,0.000,0.041,2870,2086,3638,0,0,0,0,0,0,28.83,26.78,28.83
$GC,10890,-0.72,-146.6,936.2,-7.2,859,10895,0.00,2.15,0.00,0.000,4,0.000,0.057,2860,3501,3638,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10920,-0.72,-146.6,938.4,-7.3,860,10926,0.10,2.10,0.00,0.000,6,0.149,0.041,2893,2101,3638,0,0,0,0,0,0,26.64,26.78,28.83
$GC,11250,-0.72,-146.6,958.6,-6.1,871,11256,0.00,2.15,0.00,0.000,4,0.000,0.058,2885,3508,3638,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11298,-0.72,-146.6,960.5,-6.2,872,11302,0.00,2.10,0.00,0.000,6,0.000,0.041,2885,2101,3637,0,0,0,0,0,0,28.83,26.78,28.83
$GC,11605,-0.72,-146.6,982.2,-6.5,882,11611,0.00,2.15,0.00,0.000,4,0.000,0.058,2875,3511,3637,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11638,-0.72,-146.6,984.4,-6.6,883,11642,0.00,2.12,0.00,0.000,6,0.000,0.041,2875,2088,3637,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,11717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11718,begin apogee
$GC,11725,-0.17,0.0,990.2,-7.0,886,11856,0.60,0.00,127.22,1.468,6,0.145,0.000,3068,1886,3029,0,0,0,0,0,0,26.63,28.83,23.56
$STATE,11860,end apogee,CONTROL_FINISHED_OK
$STATE,11860,begin climb
$GC,11862,0.72,146.6,991.5,0.0,890,12004,0.88,2.45,130.82,1.436,4,0.089,0.047,3370,514,2430,0,0,0,0,0,0,24.63,24.01,23.05
$GC,12030,0.72,146.6,973.5,12.4,896,12034,0.00,2.38,0.00,0.000,6,0.000,0.042,3369,1897,2427,0,0,0,0,0,0,28.83,24.46,28.83
$GC,12348,0.72,146.6,921.1,15.9,907,12349,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1897,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12647,0.72,146.6,873.4,15.8,917,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1897,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12947,0.72,146.6,826.7,15.3,927,12949,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1897,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13248,0.72,146.6,779.1,15.6,937,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1897,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13547,0.72,146.6,733.1,15.4,947,13553,0.00,2.22,0.00,0.000,4,0.000,0.057,3370,3312,2414,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13571,0.72,146.6,733.1,15.4,947,13578,0.00,2.15,0.00,0.000,6,0.000,0.042,3379,1914,2414,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13878,0.72,146.6,680.3,15.9,958,13884,0.00,2.20,0.00,0.000,4,0.000,0.050,3390,503,2414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13937,0.72,146.6,670.8,15.9,960,13944,0.00,2.22,0.00,0.000,6,0.000,0.044,3390,1908,2414,0,0,0,0,0,0,28.83,26.35,28.83
$GC,14267,0.72,146.6,616.6,16.6,971,14268,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1907,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14568,0.72,146.6,567.3,16.4,993,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1907,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14869,0.72,146.6,517.2,15.9,1023,14875,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1907,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15180,0.72,146.6,467.1,16.4,1054,15186,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1907,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15489,0.72,146.6,417.8,15.9,1085,15499,0.00,2.22,0.00,0.000,4,0.000,0.049,3399,496,2413,0,0,0,0,0,0,28.83,26.54,28.83
$GC,15532,0.72,146.6,410.7,15.8,1089,15542,0.10,2.17,0.00,0.000,6,0.158,0.044,3368,1899,2413,0,0,0,0,0,0,26.42,26.55,28.83
$GC,15842,0.72,146.6,365.8,13.8,1120,15843,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1899,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16145,0.72,146.6,326.8,13.1,1150,16153,0.00,2.20,0.00,0.000,4,0.000,0.049,3375,500,2413,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16176,0.72,146.6,322.5,12.9,1153,16186,0.00,2.20,0.00,0.000,6,0.000,0.042,3375,1907,2413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16486,0.72,146.6,280.8,13.5,1184,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1906,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16789,0.72,146.6,241.1,13.1,1214,16798,0.00,2.12,0.00,0.000,4,0.000,0.054,3375,3306,2413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16821,0.72,146.6,236.3,13.4,1217,16831,0.00,2.12,0.00,0.000,6,0.000,0.041,3384,1897,2413,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17131,0.72,146.6,194.8,13.0,1248,17139,0.00,2.17,0.00,0.000,4,0.000,0.050,3395,495,2413,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17203,0.72,146.6,185.2,13.4,1255,17212,0.10,2.17,0.00,0.000,6,0.151,0.042,3363,1900,2413,0,0,0,0,0,0,26.52,26.64,28.83
$GC,17513,0.72,146.6,147.5,11.9,1286,17522,0.00,2.12,0.00,0.000,4,0.000,0.054,3363,3302,2413,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17547,0.72,146.6,143.4,12.2,1289,17555,0.00,2.12,0.00,0.000,6,0.000,0.041,3370,1898,2412,0,0,0,0,0,0,28.83,26.66,28.83
$GC,17855,0.72,146.6,105.5,11.9,1320,17864,0.00,2.15,0.00,0.000,4,0.000,0.049,3381,496,2413,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17966,0.72,146.6,91.7,12.3,1337,17974,0.00,2.20,0.00,0.000,6,0.000,0.043,3380,1907,2413,0,0,0,0,0,0,28.83,26.67,28.83
$GC,18280,0.72,146.6,55.1,11.5,1398,18287,0.00,2.15,0.00,0.000,4,0.000,0.054,3381,3309,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18320,0.72,146.6,50.1,12.0,1405,18328,0.00,2.12,0.00,0.000,6,0.000,0.041,3390,1901,2413,0,0,0,0,0,0,28.83,26.68,28.83
$GC,18636,0.73,147.6,17.3,9.1,1466,18643,0.00,2.17,0.00,0.000,4,0.000,0.051,3401,500,2413,0,0,0,0,0,0,28.83,26.67,28.83
$FREEZE,8.48,0.156,-1.765,2,1,0
$GC,18731,0.76,173.7,9.0,8.1,1484,18748,0.00,2.20,11.40,0.085,6,0.000,0.043,3401,1912,2320,0,0,0,0,0,0,28.83,26.69,26.60
$FREEZE,7.16,0.476,-1.764,2,1,0
$FREEZE,6.69,0.750,-1.758,2,1,0
$FREEZE,6.37,0.823,-1.757,2,1,0
$FREEZE,6.05,0.898,-1.757,2,1,0
$FREEZE,5.53,1.103,-1.754,2,1,0
$FREEZE,5.23,1.423,-1.747,2,1,0
$FREEZE,4.76,1.539,-1.746,2,1,0
$FREEZE,4.42,1.629,-1.744,2,1,0
$FREEZE,3.79,1.652,-1.745,2,1,0
$STATE,18797,end climb,SURFACE_DEPTH_REACHED
$STATE,18797,begin surface coast
$FREEZE,3.42,1.645,-1.745,2,1,0
$FREEZE,2.90,1.646,-1.745,2,1,0
$FREEZE,2.40,1.656,-1.745,2,1,0
$FREEZE,2.08,1.662,-1.746,2,1,0
$FREEZE,1.69,1.667,-1.745,2,1,0
$FREEZE,1.47,1.640,-0.445,2,1,0
$FREEZE,1.52,1.463,-0.836,2,1,0
$FREEZE,1.46,1.304,-0.924,2,1,0
$FREEZE,1.46,1.423,-0.862,2,1,0
$FREEZE,1.47,1.561,-0.739,2,1,0
$FREEZE,1.44,1.608,-0.776,2,1,0
$FINISH,1.4,1.011447
$STATE,18857,end surface coast,CONTROL_FINISHED_OK
$STATE,18857,begin surface
$SM_CCo,18877,98.60,0.073,0,0,1397,400.08
$SM_GC,2.36,8.15,0.28,98.60,0.057,0.069,0.073,343,2110,1397,-8.65,-1.02,400.08,0,0,0,0,0,0,26.64,26.67,26.47
$RAFOS_CLK,990
$RAFOS,4,1340800383,12.566667,12.550834,46,43,42,42,41,40,61,1192,865,1432,1924,1633
$RAFOS,3,1340799903,12.433333,12.417500,44,43,43,43,43,42,868,468,983,1694,1797,436
$RAFOS,2,1340799425,12.300000,12.284722,47,43,42,41,39,39,970,957,682,1154,398,815
$RAFOS,1,1340798943,12.166667,12.150833,48,48,47,42,42,40,372,151,532,661,1040,1162
$RAFOS,0,1340798469,12.033333,12.019167,48,44,43,42,41,40,1490,214,439,212,1749,707
$RAFOS,6,1340786943,8.833333,8.817500,47,45,42,41,40,39,400,1852,1295,1479,1157,1406
$RAFOS,5,1340786462,8.700000,8.683888,50,45,44,41,41,39,1557,1326,643,1034,1648,1166
$RAFOS,4,1340785990,8.566667,8.552778,47,47,45,44,43,41,1358,1542,1570,351,1145,112
$RAFOS,3,1340785507,8.433333,8.418612,47,47,46,41,39,39,426,629,254,908,1,416
$RAFOS,2,1340785022,8.300000,8.283889,43,42,41,39,39,39,568,340,1721,1824,650,1065
$RAFOS,1,1340784549,8.166667,8.152500,48,47,47,46,41,41,1533,465,707,886,678,759
$RAFOS,0,1340784068,8.033334,8.018888,45,43,42,41,41,41,1150,1633,1126,931,1897,688
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5838.65,270612,010126
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.84
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,23.0,8.568
$10V_AH,10.3,10.062
$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,20.750,177.575,269.450,98.600,0.000,0.000,0.000,327.825,4.000,0.000,17.283,3999.345,11358.935,619.421,3054.363,404.122,0.000,2430.144,0.000,2684.885,4320.000,27.361,0.000
$DEVICE_MAMPS,260.100,68.850,1468.035,72.675,0.000,0.000,0.000,277.895,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.089,1138.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151484
$DATA_FILE_SIZE,70071,1506
$CAP_FILE_SIZE,199639,0
$CFSIZE,260165632,242028544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.3
$CURRENT,0.132,151.9,1
$GPS,270612,124429,6655.749,-5849.570,36,0.7,36,-33.8