version: 66.11
glider: 108
mission: 21
dive: 83
start: 7 4 112 6 55 55
data:
$ID,108
$MISSION,21
$DIVE,83
$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,-191189.34
$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,58
$R_STBD_OVSHOOT,46
$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
$GPS1,040712,064629,6646.197,-5932.696,41,0.8,41,-33.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-75.9
$GPS2,040712,065523,6646.113,-5932.625,19,0.8,19,-33.8
$SPEED_LIMITS,0.159,0.240
$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,78.5,122928,-16.3,-9.167
$D_GRID,887
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.72,-146.6,0.0,0.0,0,101,0.00,0.00,-78.75,0.000,2,0.000,0.000,344,2097,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.72,-146.6,3.0,-1.1,14,137,10.15,2.22,-11.95,0.000,4,0.263,0.071,2884,3502,3632,0,0,0,0,0,0,26.26,26.49,26.79
$GC,367,-0.72,-146.6,40.1,-12.7,64,375,0.00,2.10,0.00,0.000,6,0.000,0.034,2891,2090,3636,0,0,0,0,0,0,28.83,26.58,28.83
$GC,681,-0.72,-146.6,73.1,-10.9,125,688,0.00,2.20,0.00,0.000,4,0.000,0.053,2883,3511,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,726,-0.72,-146.6,78.2,-11.6,133,733,0.00,2.08,0.00,0.000,6,0.000,0.035,2890,2097,3638,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1043,-0.72,-146.6,112.3,-10.7,184,1052,0.00,2.17,0.00,0.000,4,0.000,0.054,2882,3500,3638,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1155,-0.72,-146.6,125.0,-11.0,195,1159,0.00,2.08,0.00,0.000,6,0.000,0.036,2882,2100,3638,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1467,-0.72,-146.6,157.3,-10.4,226,1476,0.00,2.17,0.00,0.000,4,0.000,0.054,2872,3500,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1542,-0.72,-146.6,165.6,-11.7,233,1549,0.00,2.10,0.00,0.000,6,0.000,0.035,2875,2094,3637,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1849,-0.72,-146.6,197.3,-9.6,264,1859,0.00,2.20,0.00,0.000,4,0.000,0.053,2867,3513,3637,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1972,-0.72,-146.6,210.4,-11.2,276,1982,0.00,2.12,0.00,0.000,6,0.000,0.036,2867,2088,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2282,-0.72,-146.6,240.9,-9.9,307,2291,0.00,2.20,0.00,0.000,4,0.000,0.054,2858,3506,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2450,-0.72,-146.6,257.9,-10.4,323,2457,0.15,2.08,0.00,0.000,6,0.174,0.035,2899,2092,3635,0,0,0,0,0,0,26.51,26.69,28.83
$GC,2756,-0.72,-146.6,282.6,-7.5,354,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2091,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-0.72,-146.6,305.6,-7.4,384,3067,0.00,2.15,0.00,0.000,4,0.000,0.053,2891,3499,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3171,-0.72,-146.6,315.2,-8.3,395,3179,0.00,2.05,0.00,0.000,6,0.000,0.035,2891,2095,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3481,-0.72,-146.6,338.3,-7.1,426,3489,0.00,2.12,0.00,0.000,4,0.000,0.052,2880,3501,3635,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3525,-0.72,-146.6,341.6,-7.9,430,3532,0.00,2.08,0.00,0.000,6,0.000,0.034,2880,2092,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3833,-0.72,-146.6,366.0,-7.9,461,3842,0.00,2.15,0.00,0.000,4,0.000,0.052,2870,3500,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3908,-0.72,-146.6,372.2,-8.7,468,3917,0.00,2.08,0.00,0.000,6,0.000,0.034,2870,2092,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4216,-0.72,-146.6,397.6,-8.2,499,4224,0.00,2.12,0.00,0.000,4,0.000,0.051,2859,3500,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4268,-0.72,-146.6,402.2,-8.9,504,4279,0.10,2.05,0.00,0.000,6,0.182,0.034,2891,2095,3635,0,0,0,0,0,0,26.56,26.73,28.83
$GC,4578,-0.72,-146.6,424.0,-7.2,535,4586,0.00,2.12,0.00,0.000,4,0.000,0.051,2882,3504,3636,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4630,-0.72,-146.6,428.2,-8.1,540,4634,0.00,2.05,0.00,0.000,6,0.000,0.034,2882,2095,3636,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4942,-0.72,-146.6,452.4,-7.6,571,4951,0.00,2.15,0.00,0.000,4,0.000,0.051,2871,3503,3636,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5054,-0.72,-146.6,462.0,-8.7,582,5058,0.00,2.05,0.00,0.000,6,0.000,0.034,2872,2102,3636,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5367,-0.72,-146.6,487.7,-7.9,613,5375,0.00,2.15,0.00,0.000,4,0.000,0.052,2861,3506,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5442,-0.72,-146.6,494.2,-8.9,620,5450,0.12,2.05,0.00,0.000,6,0.171,0.034,2893,2095,3636,0,0,0,0,0,0,26.58,26.74,28.83
$GC,5749,-0.72,-146.6,515.5,-6.5,651,5757,0.00,2.12,0.00,0.000,4,0.000,0.051,2885,3500,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5801,-0.72,-146.6,519.3,-7.5,656,5811,0.00,2.05,0.00,0.000,6,0.000,0.034,2885,2088,3636,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6111,-0.72,-146.6,541.3,-7.2,687,6120,0.00,2.15,0.00,0.000,4,0.000,0.051,2874,3502,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6207,-0.72,-146.6,548.6,-7.9,696,6214,0.00,2.08,0.00,0.000,6,0.000,0.034,2874,2090,3636,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6514,-0.72,-146.6,570.5,-6.8,727,6522,0.00,2.17,0.00,0.000,4,0.000,0.051,2864,3513,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6556,-0.72,-146.6,573.8,-7.7,731,6565,0.10,2.03,0.00,0.000,6,0.148,0.034,2896,2100,3636,0,0,0,0,0,0,26.58,26.76,28.83
$GC,6866,-0.72,-146.6,592.4,-6.4,762,6870,0.00,2.12,0.00,0.000,4,0.000,0.051,2888,3503,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6901,-0.72,-146.6,594.6,-6.8,765,6908,0.00,2.08,0.00,0.000,6,0.000,0.033,2888,2087,3636,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7218,-0.72,-146.6,616.1,-6.6,781,7222,0.00,2.15,0.00,0.000,4,0.000,0.051,2878,3501,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7281,-0.72,-146.6,620.7,-6.9,783,7287,0.00,2.05,0.00,0.000,6,0.000,0.034,2878,2081,3636,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7612,-0.72,-146.6,643.9,-6.9,794,7615,0.00,2.17,0.00,0.000,4,0.000,0.052,2867,3502,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7687,-0.72,-146.6,648.8,-7.3,796,7691,0.00,2.08,0.00,0.000,6,0.000,0.034,2867,2093,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8000,-0.72,-146.6,673.1,-7.2,807,8004,0.00,2.17,0.00,0.000,4,0.000,0.052,2856,3512,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8070,-0.72,-146.6,678.1,-7.6,809,8075,0.15,2.08,0.00,0.000,6,0.164,0.034,2896,2085,3636,0,0,0,0,0,0,26.59,26.77,28.83
$GC,8388,-0.72,-146.6,698.4,-6.1,820,8394,0.00,2.15,0.00,0.000,4,0.000,0.052,2888,3500,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8479,-0.72,-146.6,704.6,-6.6,823,8485,0.00,2.08,0.00,0.000,6,0.000,0.034,2888,2081,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8809,-0.72,-146.6,726.0,-6.6,834,8815,0.00,2.15,0.00,0.000,4,0.000,0.052,2877,3500,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8883,-0.72,-146.6,730.3,-6.8,836,8886,0.00,2.08,0.00,0.000,6,0.000,0.034,2877,2093,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9195,-0.72,-146.6,752.3,-6.6,847,9200,0.00,2.15,0.00,0.000,4,0.000,0.052,2867,3501,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9243,-0.72,-146.6,754.5,-6.7,848,9247,0.00,2.05,0.00,0.000,6,0.000,0.034,2867,2095,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9550,-0.72,-146.6,778.4,-7.3,858,9556,0.00,2.15,0.00,0.000,4,0.000,0.051,2856,3499,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9598,-0.72,-146.6,780.8,-7.5,859,9603,0.15,2.08,0.00,0.000,6,0.162,0.034,2896,2092,3636,0,0,0,0,0,0,26.60,26.77,28.83
$GC,9906,-0.72,-146.6,803.9,-7.2,869,9910,0.00,2.15,0.00,0.000,4,0.000,0.051,2888,3502,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9962,-0.72,-146.6,806.9,-7.8,870,9969,0.00,2.05,0.00,0.000,6,0.000,0.034,2888,2101,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10269,-0.72,-146.6,828.8,-6.4,881,10274,0.00,2.10,0.00,0.000,4,0.000,0.052,2878,3498,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10421,-0.72,-146.6,839.7,-7.4,886,10425,0.00,2.08,0.00,0.000,6,0.000,0.034,2878,2091,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10744,-0.72,-146.6,865.2,-8.3,897,10750,0.00,2.12,0.00,0.000,4,0.000,0.051,2868,3500,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10807,-0.72,-146.6,870.8,-9.2,899,10811,0.00,2.05,0.00,0.000,6,0.000,0.034,2867,2095,3636,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,11006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11006,begin apogee
$GC,11013,-0.17,0.0,889.7,-8.9,906,11145,0.65,0.00,126.85,1.427,6,0.154,0.000,3071,1885,3028,0,0,0,0,0,0,26.58,28.83,23.61
$STATE,11149,end apogee,CONTROL_FINISHED_OK
$STATE,11149,begin climb
$GC,11152,0.72,146.6,891.9,0.0,910,11291,0.88,2.50,130.38,1.402,4,0.096,0.049,3358,3293,2430,0,0,0,0,0,0,24.68,23.82,22.88
$GC,11319,0.72,146.6,874.9,12.4,916,11323,0.00,2.30,0.00,0.000,6,0.000,0.033,3368,1895,2424,0,0,0,0,0,0,28.83,24.30,28.83
$GC,11637,0.72,146.6,818.8,16.9,927,11642,0.00,2.22,0.00,0.000,4,0.000,0.041,3379,507,2417,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11697,0.72,146.6,808.6,17.0,929,11701,0.00,2.25,0.00,0.000,6,0.000,0.037,3379,1901,2417,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12029,0.72,146.6,748.7,18.0,940,12035,0.00,2.20,0.00,0.000,4,0.000,0.050,3379,3315,2415,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12072,0.72,146.6,742.9,18.2,941,12076,0.00,2.17,0.00,0.000,6,0.000,0.034,3388,1898,2415,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12384,0.72,146.6,683.1,18.1,952,12388,0.00,2.15,0.00,0.000,4,0.000,0.043,3399,505,2414,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12465,0.72,146.6,672.0,18.0,954,12470,0.12,2.20,0.00,0.000,6,0.174,0.038,3364,1912,2414,0,0,0,0,0,0,26.00,26.13,28.83
$GC,12771,0.72,146.6,620.0,15.6,964,12772,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1912,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13071,0.72,146.6,573.8,15.5,984,13075,0.00,2.12,0.00,0.000,4,0.000,0.050,3365,3303,2413,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13104,0.72,146.6,568.6,16.1,987,13112,0.00,2.10,0.00,0.000,6,0.000,0.034,3372,1883,2412,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13413,0.72,146.6,519.3,15.6,1018,13422,0.00,2.12,0.00,0.000,4,0.000,0.043,3382,505,2412,0,0,0,0,0,0,28.83,26.38,28.83
$GC,13456,0.72,146.6,512.7,15.3,1022,13464,0.00,2.17,0.00,0.000,6,0.000,0.038,3382,1905,2412,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13766,0.72,146.6,461.4,16.9,1053,13775,0.00,2.12,0.00,0.000,4,0.000,0.050,3382,3303,2412,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13798,0.72,146.6,455.6,17.5,1056,13808,0.00,2.08,0.00,0.000,6,0.000,0.034,3391,1903,2412,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14108,0.72,146.6,400.2,18.0,1087,14117,0.00,2.15,0.00,0.000,4,0.000,0.042,3402,508,2412,0,0,0,0,0,0,28.83,26.47,28.83
$GC,14223,0.72,146.6,380.1,17.9,1098,14231,0.15,2.17,0.00,0.000,6,0.170,0.038,3362,1907,2412,0,0,0,0,0,0,26.35,26.50,28.83
$GC,14530,0.72,146.6,334.4,14.1,1129,14534,0.00,2.12,0.00,0.000,4,0.000,0.050,3361,3300,2411,0,0,0,0,0,0,28.83,26.50,28.83
$GC,14562,0.72,146.6,329.4,14.7,1132,14572,0.00,2.08,0.00,0.000,6,0.000,0.034,3368,1893,2411,0,0,0,0,0,0,28.83,26.54,28.83
$GC,14872,0.72,146.6,281.6,15.7,1163,14881,0.00,2.12,0.00,0.000,4,0.000,0.043,3379,505,2412,0,0,0,0,0,0,28.83,26.54,28.83
$GC,14944,0.72,146.6,270.5,15.1,1170,14953,0.00,2.15,0.00,0.000,6,0.000,0.038,3379,1907,2411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,15255,0.72,146.6,222.6,15.5,1201,15264,0.00,2.15,0.00,0.000,4,0.000,0.042,3388,516,2411,0,0,0,0,0,0,28.83,26.57,28.83
$GC,15297,0.72,146.6,216.3,14.9,1205,15306,0.00,2.10,0.00,0.000,6,0.000,0.038,3388,1898,2411,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15607,0.72,146.6,169.5,14.6,1236,15608,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1898,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15909,0.72,146.6,129.5,12.3,1266,15913,0.00,2.15,0.00,0.000,4,0.000,0.050,3388,3314,2411,0,0,0,0,0,0,28.83,26.59,28.83
$GC,15942,0.72,146.6,125.1,12.8,1269,15951,0.10,2.10,0.00,0.000,6,0.157,0.034,3365,1900,2411,0,0,0,0,0,0,26.47,26.63,28.83
$GC,16251,0.72,146.6,94.0,9.4,1306,16258,0.00,2.15,0.00,0.000,4,0.000,0.044,3373,496,2411,0,0,0,0,0,0,28.83,26.61,28.83
$GC,16316,0.72,146.6,87.3,10.4,1318,16323,0.00,2.15,0.00,0.000,6,0.000,0.037,3373,1905,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16628,0.72,146.6,52.8,11.5,1379,16635,0.00,2.12,0.00,0.000,4,0.000,0.050,3373,3302,2411,0,0,0,0,0,0,28.83,26.61,28.83
$GC,16667,0.72,146.6,48.1,12.9,1386,16674,0.00,2.10,0.00,0.000,6,0.000,0.035,3382,1891,2411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,16981,0.72,146.6,19.5,9.2,1447,16988,0.00,2.12,0.00,0.000,4,0.000,0.044,3393,504,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17021,0.75,164.6,15.6,8.4,1454,17035,0.00,2.15,6.88,0.106,6,0.000,0.038,3393,1902,2358,0,0,0,0,0,0,28.83,26.65,26.53
$FREEZE,8.77,1.959,-1.779,2,1,0
$FREEZE,8.35,2.016,-1.779,2,1,0
$FREEZE,7.91,2.062,-1.778,2,1,0
$FREEZE,7.44,2.155,-1.779,2,1,0
$FREEZE,7.00,2.486,-1.774,2,1,0
$FREEZE,6.31,2.977,-1.769,2,1,0
$FREEZE,5.71,3.103,-1.766,2,1,0
$FREEZE,5.16,3.102,-1.766,2,1,0
$FREEZE,4.68,3.103,-1.767,2,1,0
$FREEZE,4.33,3.110,-1.767,2,1,0
$FREEZE,3.87,3.113,-1.767,2,1,0
$STATE,17154,end climb,SURFACE_DEPTH_REACHED
$STATE,17154,begin surface coast
$FREEZE,3.50,3.113,-1.768,2,1,0
$FREEZE,3.00,3.110,-1.768,2,1,0
$FREEZE,2.47,3.111,-1.767,2,1,0
$FREEZE,2.07,3.111,-1.767,2,1,0
$FREEZE,1.68,3.109,-1.767,2,1,0
$FREEZE,1.35,2.823,-1.156,2,1,0
$FREEZE,1.38,3.081,-1.765,2,1,0
$FREEZE,1.48,2.919,-0.954,2,1,0
$FINISH,1.5,1.014025
$STATE,17200,end surface coast,CONTROL_FINISHED_OK
$STATE,17200,begin surface
$SM_CCo,17219,103.57,0.073,0,0,1398,400.08
$SM_GC,2.19,7.95,0.28,103.57,0.042,0.063,0.073,337,2104,1398,-8.67,-1.27,400.08,0,0,0,0,0,0,26.60,26.65,26.43
$RAFOS_CLK,904
$RAFOS,6,1341391748,8.833333,8.818889,44,42,42,41,41,40,1481,824,1519,165,1763,265
$RAFOS,5,1341391266,8.700000,8.685000,48,45,42,42,42,42,1017,800,302,441,875,932
$RAFOS,4,1341390783,8.566667,8.550834,67,47,42,41,41,40,595,1859,767,211,1803,375
$RAFOS,3,1341390308,8.433333,8.418889,49,46,41,41,40,40,451,1082,1522,1635,203,1202
$RAFOS,2,1341389824,8.300000,8.284445,44,44,43,43,42,40,830,1526,243,376,1801,917
$RAFOS,1,1341389350,8.166667,8.152778,48,47,46,44,43,43,343,313,210,1257,423,1772
$RAFOS,0,1341388869,8.033334,8.019167,52,44,44,42,42,40,615,231,205,404,1920,993
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5936.77,040712,010119
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.70
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,22.9,12.446
$10V_AH,10.2,14.409
$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,20.775,179.375,264.100,103.575,0.000,0.000,0.000,390.025,3.500,0.000,20.468,3924.063,9745.439,629.288,3141.697,408.012,0.000,2502.248,0.000,2711.418,2520.000,26.739,0.000
$DEVICE_MAMPS,263.160,71.145,1427.490,72.675,0.000,0.000,0.000,286.134,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.755,1152.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151512
$DATA_FILE_SIZE,66701,1487
$CAP_FILE_SIZE,194770,0
$CFSIZE,260165632,238956544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.0
$CURRENT,0.200,163.0,1
$GPS,040712,114605,6645.472,-5927.067,35,0.8,35,-33.8