version: 66.11
glider: 108
mission: 21
dive: 56
start: 6 29 112 20 11 43
data:
$ID,108
$MISSION,21
$DIVE,56
$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,0.00275
$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,-191156.75
$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,48
$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
$GPS1,290612,195435,6653.487,-5934.904,24,0.8,24,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-73.8
$GPS2,290612,201107,6653.477,-5934.867,19,1.0,20,-33.9
$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,275.2,41320,-16.3,-9.167
$D_GRID,940
$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,-0.72,-146.6,0.0,0.0,0,104,0.00,0.00,-84.12,0.000,2,0.000,0.000,343,2108,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.72,-146.6,3.3,-1.9,15,134,10.12,2.20,-7.57,0.000,4,0.263,0.077,2880,3513,3631,0,0,0,0,0,0,26.28,26.48,26.79
$GC,359,-0.72,-146.6,41.1,-12.1,63,366,0.00,2.15,0.00,0.000,6,0.000,0.041,2881,2091,3634,0,0,0,0,0,0,28.83,26.56,28.83
$GC,672,-0.72,-146.6,76.3,-11.8,124,679,0.00,2.22,0.00,0.000,4,0.000,0.056,2873,3516,3636,0,0,0,0,0,0,28.83,26.55,28.83
$GC,762,-0.72,-146.6,87.6,-12.9,141,770,0.00,2.15,0.00,0.000,6,0.000,0.041,2873,2088,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1074,-0.72,-146.6,124.2,-11.1,181,1083,0.00,2.22,0.00,0.000,4,0.000,0.057,2863,3512,3637,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1167,-0.72,-146.6,135.0,-11.7,190,1172,0.10,2.12,0.00,0.000,6,0.165,0.042,2894,2097,3637,0,0,0,0,0,0,26.48,26.63,28.83
$GC,1480,-0.72,-146.6,163.7,-9.2,221,1490,0.00,2.20,0.00,0.000,4,0.000,0.057,2886,3506,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1644,-0.72,-146.6,180.5,-10.2,237,1654,0.00,2.12,0.00,0.000,6,0.000,0.041,2887,2092,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1954,-0.72,-146.6,211.4,-10.0,268,1963,0.00,2.20,0.00,0.000,4,0.000,0.057,2876,3519,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2100,-0.72,-146.6,226.9,-11.0,282,2109,0.00,2.12,0.00,0.000,6,0.000,0.041,2876,2094,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2407,-0.72,-146.6,259.0,-10.2,313,2416,0.00,2.20,0.00,0.000,4,0.000,0.057,2866,3509,3634,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2502,-0.72,-146.6,268.8,-10.5,322,2510,0.12,2.12,0.00,0.000,6,0.178,0.041,2897,2092,3634,0,0,0,0,0,0,26.53,26.69,28.83
$GC,2810,-0.72,-146.6,296.3,-8.4,353,2819,0.00,2.17,0.00,0.000,4,0.000,0.056,2888,3505,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2855,-0.72,-146.6,300.2,-9.1,357,2863,0.00,2.12,0.00,0.000,6,0.000,0.040,2888,2086,3633,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3163,-0.72,-146.6,326.8,-8.3,388,3172,0.00,2.17,0.00,0.000,4,0.000,0.056,2878,3503,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3257,-0.72,-146.6,335.2,-9.1,397,3266,0.00,2.08,0.00,0.000,6,0.000,0.039,2877,2100,3633,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3566,-0.72,-146.6,362.4,-8.5,428,3574,0.00,2.15,0.00,0.000,4,0.000,0.057,2867,3501,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3668,-0.72,-146.6,372.4,-9.7,438,3672,0.00,2.10,0.00,0.000,6,0.000,0.041,2867,2091,3634,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3981,-0.72,-146.6,400.6,-9.1,469,3985,0.00,2.20,0.00,0.000,4,0.000,0.056,2856,3511,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4083,-0.72,-146.6,410.8,-10.0,479,4093,0.15,2.12,0.00,0.000,6,0.166,0.041,2896,2089,3634,0,0,0,0,0,0,26.57,26.72,28.83
$GC,4394,-0.72,-146.6,434.8,-7.8,510,4402,0.00,2.17,0.00,0.000,4,0.000,0.055,2888,3504,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4448,-0.72,-146.6,439.2,-8.9,515,4455,0.00,2.10,0.00,0.000,6,0.000,0.039,2887,2097,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4756,-0.72,-146.6,464.3,-7.9,546,4765,0.00,2.15,0.00,0.000,4,0.000,0.056,2877,3506,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4851,-0.72,-146.6,472.5,-9.0,555,4858,0.00,2.10,0.00,0.000,6,0.000,0.040,2877,2097,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5159,-0.72,-146.6,497.7,-7.8,586,5167,0.00,2.17,0.00,0.000,4,0.000,0.056,2867,3511,3635,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5231,-0.72,-146.6,504.2,-9.2,593,5240,0.00,2.10,0.00,0.000,6,0.000,0.040,2867,2097,3635,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5541,-0.72,-146.6,530.6,-8.7,624,5550,0.12,2.17,0.00,0.000,4,0.174,0.054,2894,3513,3635,0,0,0,0,0,0,26.60,26.70,28.83
$GC,5614,-0.72,-146.6,536.1,-7.4,631,5622,0.00,2.10,0.00,0.000,6,0.000,0.039,2894,2084,3635,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5924,-0.72,-146.6,558.2,-7.4,662,5933,0.00,2.17,0.00,0.000,4,0.000,0.055,2884,3506,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6007,-0.72,-146.6,564.9,-8.2,670,6015,0.00,2.08,0.00,0.000,6,0.000,0.039,2884,2097,3635,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6316,-0.72,-146.6,588.5,-7.2,701,6326,0.00,2.15,0.00,0.000,4,0.000,0.055,2873,3505,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6379,-0.72,-146.6,593.7,-8.5,707,6388,0.00,2.08,0.00,0.000,6,0.000,0.039,2873,2097,3636,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6699,-0.72,-146.6,619.5,-8.0,723,6703,0.00,2.17,0.00,0.000,4,0.000,0.055,2863,3509,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6761,-0.72,-146.6,624.9,-8.2,725,6768,0.10,2.12,0.00,0.000,6,0.146,0.039,2895,2084,3636,0,0,0,0,0,0,26.61,26.76,28.83
$GC,7092,-0.72,-146.6,648.0,-6.8,736,7097,0.00,2.17,0.00,0.000,4,0.000,0.056,2886,3510,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7154,-0.72,-146.6,652.4,-7.1,738,7158,0.00,2.12,0.00,0.000,6,0.000,0.039,2887,2085,3635,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7477,-0.72,-146.6,675.5,-7.0,749,7482,0.00,2.17,0.00,0.000,4,0.000,0.056,2876,3503,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7541,-0.72,-146.6,680.3,-7.5,751,7547,0.00,2.10,0.00,0.000,6,0.000,0.039,2876,2095,3636,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7867,-0.72,-146.6,705.1,-7.4,762,7873,0.00,2.17,0.00,0.000,4,0.000,0.055,2867,3513,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7945,-0.72,-146.6,710.1,-7.8,764,7949,0.00,2.12,0.00,0.000,6,0.000,0.040,2867,2089,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8252,-0.72,-146.6,736.6,-8.3,774,8258,0.00,2.17,0.00,0.000,4,0.000,0.056,2856,3505,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8295,-0.72,-146.6,739.3,-8.4,775,8300,0.15,2.08,0.00,0.000,6,0.161,0.039,2896,2098,3636,0,0,0,0,0,0,26.62,26.77,28.83
$GC,8609,-0.72,-146.6,763.0,-7.0,786,8615,0.00,2.17,0.00,0.000,4,0.000,0.054,2888,3518,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8668,-0.72,-146.6,767.4,-7.1,788,8674,0.00,2.12,0.00,0.000,6,0.000,0.039,2888,2083,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8998,-0.72,-146.6,791.1,-7.3,799,9004,0.00,2.20,0.00,0.000,4,0.000,0.056,2877,3514,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9061,-0.72,-146.6,795.8,-7.6,801,9065,0.00,2.12,0.00,0.000,6,0.000,0.040,2877,2089,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9384,-0.72,-146.6,820.8,-7.6,812,9389,0.00,2.17,0.00,0.000,4,0.000,0.055,2867,3507,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9448,-0.72,-146.6,825.8,-7.9,814,9454,0.12,2.10,0.00,0.000,6,0.169,0.039,2899,2096,3636,0,0,0,0,0,0,26.63,26.77,28.83
$GC,9774,-0.72,-146.6,848.8,-6.9,825,9779,0.00,2.17,0.00,0.000,4,0.000,0.054,2890,3516,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9813,-0.72,-146.6,850.8,-6.8,826,9816,0.00,2.10,0.00,0.000,6,0.000,0.037,2890,2100,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10132,-0.72,-146.6,872.4,-6.6,837,10137,0.00,2.15,0.00,0.000,4,0.000,0.055,2879,3502,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10178,-0.72,-146.6,874.5,-6.7,838,10182,0.00,2.10,0.00,0.000,6,0.000,0.039,2880,2092,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10486,-0.72,-146.6,897.2,-7.0,848,10491,0.00,2.17,0.00,0.000,4,0.000,0.055,2869,3512,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10547,-0.72,-146.6,901.7,-7.3,850,10551,0.00,2.12,0.00,0.000,6,0.000,0.039,2869,2089,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10879,-0.72,-146.6,926.9,-7.6,861,10885,0.00,2.17,0.00,0.000,4,0.000,0.055,2858,3506,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10959,-0.72,-146.6,932.2,-8.1,863,10969,0.15,2.10,0.00,0.000,6,0.163,0.040,2898,2096,3635,0,0,0,0,0,0,26.63,26.77,28.83
$STATE,11056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11056,begin apogee
$GC,11063,-0.17,0.0,941.3,-7.6,867,11195,0.52,0.00,127.57,1.463,6,0.136,0.000,3073,1878,3028,0,0,0,0,0,0,26.64,28.83,23.56
$STATE,11199,end apogee,CONTROL_FINISHED_OK
$STATE,11199,begin climb
$GC,11201,0.72,146.6,943.9,0.0,871,11337,0.85,0.00,131.55,1.430,6,0.085,0.000,3360,1878,2431,0,0,0,0,0,0,24.65,28.83,22.97
$GC,11631,0.72,146.6,886.0,15.2,886,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1878,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11929,0.72,146.6,841.6,14.8,896,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1878,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12229,0.72,146.6,797.7,14.8,906,12235,0.00,2.17,0.00,0.000,4,0.000,0.049,3369,520,2415,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12259,0.72,146.6,793.3,14.7,907,12265,0.00,2.22,0.00,0.000,6,0.000,0.041,3369,1914,2415,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12591,0.72,146.6,741.6,16.0,918,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1914,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12890,0.72,146.6,694.5,15.7,928,12891,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1914,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13191,0.72,146.6,648.3,15.2,938,13196,0.00,2.22,0.00,0.000,4,0.000,0.048,3378,514,2414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13238,0.72,146.6,643.6,15.2,939,13242,0.00,2.20,0.00,0.000,6,0.000,0.041,3378,1909,2413,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13544,0.72,146.6,592.8,15.5,951,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1909,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13847,0.72,146.6,547.6,15.3,981,13856,0.00,2.20,0.00,0.000,4,0.000,0.048,3387,517,2413,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13872,0.72,146.6,543.7,15.7,983,13879,0.00,2.17,0.00,0.000,6,0.000,0.041,3387,1904,2413,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14180,0.72,146.6,494.0,15.8,1014,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1903,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14480,0.72,146.6,445.5,16.3,1044,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1903,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14780,0.72,146.6,399.4,14.8,1074,14789,0.00,2.17,0.00,0.000,4,0.000,0.049,3397,519,2412,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14822,0.72,146.6,393.3,14.5,1078,14832,0.12,2.15,0.00,0.000,6,0.173,0.041,3366,1903,2412,0,0,0,0,0,0,26.42,26.54,28.83
$GC,15132,0.72,146.6,351.4,13.4,1109,15133,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1902,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15432,0.72,146.6,312.1,12.9,1139,15440,0.00,2.20,0.00,0.000,4,0.000,0.048,3373,507,2412,0,0,0,0,0,0,28.83,26.57,28.83
$GC,15453,0.72,146.6,309.3,12.6,1141,15463,0.00,2.17,0.00,0.000,6,0.000,0.041,3373,1904,2412,0,0,0,0,0,0,28.83,26.59,28.83
$GC,15763,0.72,146.6,268.3,12.9,1172,15765,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1904,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16064,0.72,146.6,231.6,12.2,1202,16073,0.00,2.17,0.00,0.000,4,0.000,0.048,3382,513,2412,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16108,0.72,146.6,226.6,11.7,1206,16115,0.00,2.17,0.00,0.000,6,0.000,0.041,3382,1909,2412,0,0,0,0,0,0,28.83,26.62,28.83
$GC,16416,0.72,146.6,186.5,12.7,1237,16425,0.00,2.20,0.00,0.000,4,0.000,0.048,3392,513,2412,0,0,0,0,0,0,28.83,26.62,28.83
$GC,16469,0.72,146.6,179.6,13.2,1242,16478,0.00,2.15,0.00,0.000,6,0.000,0.041,3392,1901,2412,0,0,0,0,0,0,28.83,26.64,28.83
$GC,16780,0.72,146.6,139.9,11.9,1273,16787,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1901,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17088,0.72,146.6,101.7,12.3,1304,17097,0.00,2.15,0.00,0.000,4,0.000,0.054,3391,3307,2412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17111,0.72,146.6,99.0,12.2,1306,17118,0.15,2.12,0.00,0.000,6,0.173,0.041,3362,1910,2412,0,0,0,0,0,0,26.53,26.67,28.83
$GC,17426,0.72,146.6,66.2,10.2,1367,17433,0.00,2.17,0.00,0.000,4,0.000,0.050,3370,495,2412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17506,0.72,146.6,57.8,10.2,1382,17513,0.00,2.20,0.00,0.000,6,0.000,0.042,3371,1908,2412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,17819,0.73,150.3,26.1,9.0,1443,17825,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1908,2412,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.95,1.801,-1.786,2,1,0
$FREEZE,8.42,1.801,-1.786,2,1,0
$FREEZE,8.11,1.798,-1.786,2,1,0
$FREEZE,7.67,1.806,-1.786,2,1,0
$FREEZE,7.23,1.811,-1.785,2,1,0
$FREEZE,6.79,1.815,-1.785,2,1,0
$FREEZE,6.50,1.814,-1.785,2,1,0
$FREEZE,6.13,1.817,-1.785,2,1,0
$FREEZE,5.82,1.817,-1.785,2,1,0
$FREEZE,5.50,1.819,-1.784,2,1,0
$FREEZE,5.06,1.816,-1.784,2,1,0
$FREEZE,4.72,1.816,-1.784,2,1,0
$FREEZE,4.04,1.820,-1.783,2,1,0
$FREEZE,3.64,1.820,-1.783,2,1,0
$STATE,18107,end climb,SURFACE_DEPTH_REACHED
$STATE,18107,begin surface coast
$FREEZE,3.22,1.819,-1.783,2,1,0
$FREEZE,2.82,1.820,-1.783,2,1,0
$FREEZE,2.48,1.821,-1.782,2,1,0
$FREEZE,2.07,1.819,-1.782,2,1,0
$FREEZE,1.64,1.820,-1.782,2,1,0
$FREEZE,1.41,1.815,-1.782,2,1,0
$FREEZE,1.40,1.159,-1.820,2,1,0
$FREEZE,1.35,1.634,-0.893,2,1,0
$FREEZE,1.45,1.747,-1.777,2,1,0
$FINISH,1.4,1.025933
$STATE,18154,end surface coast,CONTROL_FINISHED_OK
$STATE,18154,begin surface
$SM_CCo,18173,109.90,0.073,0,0,1398,400.08
$SM_GC,2.39,8.00,0.28,109.90,0.052,0.070,0.073,339,2101,1398,-8.66,-1.22,400.08,0,0,0,0,0,0,26.66,26.68,26.47
$RAFOS_CLK,954
$RAFOS,6,1341017349,0.833333,0.819167,43,41,41,39,39,39,540,1756,1892,789,845,1830
$RAFOS,5,1341016866,0.700000,0.685000,46,46,45,44,43,40,998,464,1663,1528,1593,211
$RAFOS,4,1341016386,0.566667,0.551667,50,44,44,44,44,41,187,208,688,716,1844,1484
$RAFOS,3,1341015902,0.433333,0.417222,45,44,43,43,42,41,1248,269,1351,332,1457,1529
$RAFOS,2,1341015430,0.300000,0.286111,43,42,41,41,40,39,1575,1229,590,138,1594,1880
$RAFOS,1,1341014950,0.166667,0.152778,50,48,46,46,43,43,159,571,1771,521,300,1878
$RAFOS,0,1341014465,0.033333,0.018056,48,44,42,39,39,39,1510,1595,157,311,956,101
$RAFOS,6,1341002947,20.833334,20.818611,42,42,42,41,40,40,26,138,1417,1608,210,1745
$RAFOS,5,1341002465,20.700001,20.684723,51,48,43,39,37,37,1494,1047,567,837,1260,1381
$RAFOS,4,1341001990,20.566668,20.552778,47,46,44,43,42,40,993,466,1831,891,1349,1846
$RAFOS,3,1341001503,20.433332,20.417500,44,44,44,40,39,39,589,867,876,731,1185,1530
$RAFOS,2,1341001025,20.299999,20.284721,46,44,42,42,41,39,478,283,1903,547,910,1338
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5933.18,290612,191905
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.62
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,23.0,9.807
$10V_AH,10.1,11.492
$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,20.800,159.950,259.125,109.900,0.000,0.000,0.000,726.275,3.750,0.000,20.840,3969.603,10822.360,637.820,3432.717,411.007,0.000,2810.526,0.000,2678.862,4320.000,25.596,0.000
$DEVICE_MAMPS,263.160,77.265,1463.445,73.440,0.000,0.000,0.000,298.851,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.027,1143.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,69921,1508
$CAP_FILE_SIZE,198063,0
$CFSIZE,260165632,241041408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.3
$CURRENT,0.140,352.8,1
$GPS,300612,011759,6654.111,-5940.587,38,0.8,38,-34.0