version: 66.11
glider: 108
mission: 21
dive: 85
start: 7 4 112 16 57 43
data:
$ID,108
$MISSION,21
$DIVE,85
$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,-191191.84
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,040712,164923,6648.066,-5923.414,41,0.7,41,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-75.7
$GPS2,040712,165711,6648.073,-5923.506,18,0.9,18,-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,132.5,115651,-16.3,-9.167
$D_GRID,944
$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,18,-0.72,-146.6,0.0,0.0,0,101,0.00,0.00,-81.03,0.000,2,0.000,0.000,336,2096,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.72,-146.6,3.2,-1.0,14,132,10.10,2.15,-9.55,0.000,4,0.259,0.069,2886,3510,3630,0,0,0,0,0,0,26.26,26.48,26.80
$GC,185,-0.72,-146.6,16.3,-14.3,28,193,0.00,2.10,0.00,0.000,6,0.000,0.035,2888,2100,3633,0,0,0,0,0,0,28.83,26.55,28.83
$GC,498,-0.72,-146.6,54.9,-10.4,89,505,0.00,2.17,0.00,0.000,4,0.000,0.054,2880,3514,3636,0,0,0,0,0,0,28.83,26.53,28.83
$GC,573,-0.72,-146.6,63.5,-11.8,103,580,0.00,2.10,0.00,0.000,6,0.000,0.035,2880,2100,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,884,-0.72,-146.6,99.4,-11.3,164,892,0.00,2.17,0.00,0.000,4,0.000,0.054,2870,3513,3636,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1000,-0.72,-146.6,113.5,-12.1,176,1010,0.00,2.10,0.00,0.000,6,0.000,0.032,2877,2089,3637,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1310,-0.72,-146.6,147.3,-10.4,207,1318,0.00,2.22,0.00,0.000,4,0.000,0.053,2869,3518,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1424,-0.72,-146.6,159.6,-11.1,218,1431,0.00,2.10,0.00,0.000,6,0.000,0.032,2874,2091,3636,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1732,-0.72,-146.6,191.1,-10.2,249,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2091,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2034,-0.72,-146.6,219.6,-9.6,279,2042,0.00,2.15,0.00,0.000,4,0.000,0.053,2867,3505,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2116,-0.72,-146.6,228.1,-10.1,287,2125,0.12,2.08,0.00,0.000,6,0.182,0.032,2897,2093,3634,0,0,0,0,0,0,26.51,26.69,28.83
$GC,2426,-0.72,-146.6,253.0,-8.1,318,2430,0.00,2.17,0.00,0.000,4,0.000,0.052,2888,3507,3634,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2548,-0.72,-146.6,263.8,-8.7,330,2557,0.00,2.08,0.00,0.000,6,0.000,0.032,2889,2093,3633,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2858,-0.72,-146.6,288.8,-7.6,361,2867,0.00,2.15,0.00,0.000,4,0.000,0.052,2878,3514,3633,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2960,-0.72,-146.6,297.2,-8.2,371,2964,0.00,2.08,0.00,0.000,6,0.000,0.032,2878,2094,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3273,-0.72,-146.6,320.0,-6.8,402,3277,0.00,2.17,0.00,0.000,4,0.000,0.052,2868,3507,3633,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3368,-0.72,-146.6,327.0,-7.7,411,3375,0.00,2.08,0.00,0.000,6,0.000,0.031,2868,2089,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3675,-0.72,-146.6,349.6,-7.4,442,3679,0.00,2.20,0.00,0.000,4,0.000,0.051,2857,3519,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3800,-0.72,-146.6,360.4,-9.0,454,3804,0.15,2.08,0.00,0.000,6,0.171,0.031,2896,2092,3633,0,0,0,0,0,0,26.54,26.73,28.83
$GC,4113,-0.72,-146.6,381.7,-6.7,485,4122,0.00,2.15,0.00,0.000,4,0.000,0.051,2888,3514,3632,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4218,-0.72,-146.6,388.9,-7.1,495,4225,0.00,2.08,0.00,0.000,6,0.000,0.031,2888,2088,3632,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4525,-0.72,-146.6,410.1,-6.7,526,4534,0.00,2.12,0.00,0.000,4,0.000,0.050,2878,3501,3633,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4627,-0.72,-146.6,417.8,-7.4,536,4631,0.00,2.05,0.00,0.000,6,0.000,0.031,2878,2092,3633,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4940,-0.72,-146.6,439.3,-6.8,567,4948,0.00,2.12,0.00,0.000,4,0.000,0.050,2868,3503,3633,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5053,-0.72,-146.6,447.5,-7.5,578,5061,0.00,2.03,0.00,0.000,6,0.000,0.031,2867,2094,3633,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5363,-0.72,-146.6,469.7,-7.3,609,5372,0.00,2.12,0.00,0.000,4,0.000,0.050,2856,3507,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5477,-0.72,-146.6,478.7,-7.9,620,5486,0.15,2.05,0.00,0.000,6,0.166,0.031,2896,2094,3634,0,0,0,0,0,0,26.57,26.76,28.83
$GC,5786,-0.72,-146.6,497.7,-6.2,651,5789,0.00,2.17,0.00,0.000,4,0.000,0.050,2888,3518,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5870,-0.72,-146.6,503.4,-7.0,659,5874,0.00,2.05,0.00,0.000,6,0.000,0.031,2888,2090,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6182,-0.72,-146.6,524.7,-7.3,690,6191,0.00,2.15,0.00,0.000,4,0.000,0.050,2877,3504,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6266,-0.72,-146.6,531.2,-8.2,698,6273,0.00,2.05,0.00,0.000,6,0.000,0.030,2877,2089,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6574,-0.72,-146.6,555.0,-7.6,729,6583,0.00,2.12,0.00,0.000,4,0.000,0.050,2867,3507,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6711,-0.72,-146.6,566.3,-8.7,742,6718,0.00,2.05,0.00,0.000,6,0.000,0.031,2867,2094,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7017,-0.72,-146.6,591.2,-7.9,773,7026,0.00,2.12,0.00,0.000,4,0.000,0.050,2856,3511,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7143,-0.72,-146.6,602.0,-8.7,784,7149,0.10,2.05,0.00,0.000,6,0.146,0.031,2889,2094,3635,0,0,0,0,0,0,26.59,26.78,28.83
$GC,7473,-0.72,-146.6,625.1,-6.9,795,7478,0.00,2.12,0.00,0.000,4,0.000,0.050,2881,3504,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7533,-0.72,-146.6,629.7,-7.3,797,7539,0.00,2.08,0.00,0.000,6,0.000,0.031,2881,2084,3635,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7863,-0.72,-146.6,654.5,-7.3,808,7869,0.00,2.15,0.00,0.000,4,0.000,0.051,2871,3508,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7956,-0.72,-146.6,661.7,-7.9,811,7960,0.00,2.05,0.00,0.000,6,0.000,0.031,2871,2098,3635,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8279,-0.72,-146.6,686.3,-7.4,822,8282,0.00,2.17,0.00,0.000,4,0.000,0.050,2861,3521,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8379,-0.72,-146.6,694.0,-8.3,825,8384,0.12,2.05,0.00,0.000,6,0.170,0.031,2891,2098,3635,0,0,0,0,0,0,26.60,26.79,28.83
$GC,8703,-0.72,-146.6,715.1,-6.4,836,8708,0.00,2.12,0.00,0.000,4,0.000,0.050,2884,3507,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8795,-0.72,-146.6,721.4,-6.9,839,8799,0.00,2.05,0.00,0.000,6,0.000,0.031,2883,2098,3635,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9117,-0.72,-146.6,743.1,-6.8,850,9121,0.00,2.15,0.00,0.000,4,0.000,0.049,2873,3516,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9203,-0.72,-146.6,747.7,-7.2,852,9214,0.00,2.08,0.00,0.000,6,0.000,0.031,2873,2086,3635,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9511,-0.72,-146.6,771.5,-7.1,863,9517,0.00,2.15,0.00,0.000,4,0.000,0.050,2863,3503,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9603,-0.72,-146.6,778.8,-7.8,866,9608,0.12,2.05,0.00,0.000,6,0.171,0.030,2893,2092,3635,0,0,0,0,0,0,26.60,26.79,28.83
$GC,9928,-0.72,-146.6,800.0,-6.4,877,9932,0.00,2.17,0.00,0.000,4,0.000,0.050,2886,3521,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10039,-0.72,-146.6,807.0,-7.2,880,10043,0.00,2.08,0.00,0.000,6,0.000,0.031,2885,2094,3635,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10346,-0.72,-146.6,826.5,-6.0,890,10351,0.00,2.12,0.00,0.000,4,0.000,0.050,2876,3504,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10409,-0.72,-146.6,830.7,-6.7,892,10413,0.00,2.05,0.00,0.000,6,0.000,0.031,2876,2096,3635,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10732,-0.72,-146.6,853.7,-7.1,903,10737,0.00,2.15,0.00,0.000,4,0.000,0.050,2865,3513,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10792,-0.72,-146.6,857.9,-6.8,905,10798,0.08,2.05,0.00,0.000,6,0.151,0.031,2890,2090,3635,0,0,0,0,0,0,26.60,26.79,28.83
$GC,11122,-0.72,-146.6,880.5,-6.3,916,11127,0.00,2.12,0.00,0.000,4,0.000,0.050,2882,3502,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11164,-0.72,-146.6,882.3,-6.1,917,11168,0.00,2.05,0.00,0.000,6,0.000,0.031,2882,2093,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11477,-0.72,-146.6,905.1,-7.2,928,11482,0.00,2.15,0.00,0.000,4,0.000,0.050,2872,3504,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11524,-0.72,-146.6,907.7,-7.5,929,11528,0.00,2.05,0.00,0.000,6,0.000,0.031,2871,2096,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11836,-0.72,-146.6,933.5,-8.0,940,11840,0.00,2.15,0.00,0.000,4,0.000,0.050,2861,3511,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11913,-0.72,-146.6,938.3,-7.9,942,11918,0.12,2.08,0.00,0.000,6,0.168,0.031,2892,2082,3633,0,0,0,0,0,0,26.60,26.79,28.83
$STATE,12013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12013,begin apogee
$GC,12020,-0.17,0.0,945.2,-5.9,946,12152,0.55,0.00,126.80,1.449,6,0.141,0.000,3073,1895,3029,0,0,0,0,0,0,26.60,28.83,23.61
$STATE,12155,end apogee,CONTROL_FINISHED_OK
$STATE,12156,begin climb
$GC,12158,0.72,146.6,945.4,0.0,950,12294,0.88,0.00,131.82,1.419,6,0.096,0.000,3360,1895,2431,0,0,0,0,0,0,24.68,28.83,22.84
$GC,12588,0.72,146.6,882.1,15.8,965,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1895,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12886,0.72,146.6,834.1,15.7,975,12891,0.00,2.17,0.00,0.000,4,0.000,0.038,3370,519,2416,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12909,0.72,146.6,834.1,15.7,975,12915,0.00,2.22,0.00,0.000,6,0.000,0.037,3370,1909,2416,0,0,0,0,0,0,28.83,25.77,28.83
$GC,13216,0.72,146.6,780.5,16.5,986,13221,0.00,2.17,0.00,0.000,4,0.000,0.048,3370,3305,2415,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13239,0.72,146.6,780.5,16.5,986,13246,0.00,2.12,0.00,0.000,6,0.000,0.031,3379,1900,2414,0,0,0,0,0,0,28.83,26.04,28.83
$GC,13546,0.72,146.6,723.8,17.1,997,13547,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1890,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13846,0.72,146.6,672.8,16.7,1007,13851,0.00,2.15,0.00,0.000,4,0.000,0.039,3390,510,2413,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13876,0.72,146.6,667.8,16.7,1008,13881,0.00,2.15,0.00,0.000,6,0.000,0.037,3389,1897,2413,0,0,0,0,0,0,28.83,26.28,28.83
$GC,14209,0.72,146.6,608.7,17.9,1019,14215,0.00,2.17,0.00,0.000,4,0.000,0.048,3390,3305,2413,0,0,0,0,0,0,28.83,26.33,28.83
$GC,14234,0.72,146.6,608.7,17.9,1019,14241,0.15,2.10,0.00,0.000,6,0.177,0.031,3361,1895,2412,0,0,0,0,0,0,26.22,26.38,28.83
$GC,14539,0.72,146.6,557.9,14.9,1048,14549,0.00,2.12,0.00,0.000,4,0.000,0.039,3369,502,2412,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14575,0.72,146.6,553.0,14.8,1051,14582,0.00,2.17,0.00,0.000,6,0.000,0.036,3368,1901,2412,0,0,0,0,0,0,28.83,26.42,28.83
$GC,14882,0.72,146.6,505.8,15.7,1082,14891,0.00,2.15,0.00,0.000,4,0.000,0.049,3368,3308,2412,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14904,0.72,146.6,502.2,16.0,1084,14914,0.00,2.10,0.00,0.000,6,0.000,0.031,3375,1887,2411,0,0,0,0,0,0,28.83,26.48,28.83
$GC,15214,0.72,146.6,451.1,16.2,1115,15222,0.00,2.10,0.00,0.000,4,0.000,0.039,3385,507,2411,0,0,0,0,0,0,28.83,26.49,28.83
$GC,15255,0.72,146.6,444.3,16.4,1119,15264,0.00,2.17,0.00,0.000,6,0.000,0.037,3385,1911,2411,0,0,0,0,0,0,28.83,26.50,28.83
$GC,15566,0.72,146.6,391.1,17.1,1150,15574,0.00,2.10,0.00,0.000,4,0.000,0.048,3385,3303,2411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15590,0.72,146.6,387.2,17.4,1152,15599,0.12,2.08,0.00,0.000,6,0.184,0.031,3364,1901,2411,0,0,0,0,0,0,26.38,26.54,28.83
$GC,15898,0.72,146.6,336.9,15.8,1183,15902,0.00,2.10,0.00,0.000,4,0.000,0.040,3373,512,2411,0,0,0,0,0,0,28.83,26.54,28.83
$GC,15950,0.72,146.6,328.9,15.3,1188,15960,0.00,2.15,0.00,0.000,6,0.000,0.036,3373,1905,2410,0,0,0,0,0,0,28.83,26.56,28.83
$GC,16260,0.72,146.6,279.0,15.7,1219,16269,0.00,2.12,0.00,0.000,4,0.000,0.047,3373,3305,2411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16305,0.72,146.6,272.1,16.2,1223,16311,0.00,2.08,0.00,0.000,6,0.000,0.030,3382,1893,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16612,0.72,146.6,223.4,15.2,1254,16620,0.00,2.10,0.00,0.000,4,0.000,0.038,3392,507,2411,0,0,0,0,0,0,28.83,26.59,28.83
$GC,16664,0.72,146.6,215.6,14.7,1259,16672,0.00,2.12,0.00,0.000,6,0.000,0.036,3393,1901,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16973,0.72,146.6,169.5,15.3,1290,16982,0.00,2.12,0.00,0.000,4,0.000,0.048,3393,3303,2410,0,0,0,0,0,0,28.83,26.59,28.83
$GC,17019,0.72,146.6,162.8,16.0,1294,17026,0.15,2.08,0.00,0.000,6,0.173,0.031,3363,1893,2411,0,0,0,0,0,0,26.47,26.63,28.83
$GC,17326,0.72,146.6,126.4,10.9,1325,17334,0.00,2.08,0.00,0.000,4,0.000,0.040,3371,511,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17368,0.72,146.6,121.8,11.1,1329,17377,0.00,2.12,0.00,0.000,6,0.000,0.036,3371,1902,2411,0,0,0,0,0,0,28.83,26.64,28.83
$GC,17679,0.72,146.6,86.8,10.5,1371,17686,0.00,2.12,0.00,0.000,4,0.000,0.048,3371,3304,2411,0,0,0,0,0,0,28.83,26.62,28.83
$GC,17708,0.72,146.6,83.6,11.0,1376,17716,0.00,2.08,0.00,0.000,6,0.000,0.031,3380,1892,2411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,18021,0.72,146.6,52.6,9.7,1437,18028,0.00,2.08,0.00,0.000,4,0.000,0.041,3391,510,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18101,0.72,146.6,44.6,10.1,1452,18109,0.00,2.15,0.00,0.000,6,0.000,0.037,3391,1912,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18420,0.77,180.6,13.2,7.7,1513,18446,0.00,2.15,14.80,0.096,4,0.000,0.050,3391,3301,2289,0,0,0,0,0,0,28.83,26.61,26.54
$FREEZE,8.60,2.127,-1.777,2,1,0
$FREEZE,7.92,2.450,-1.774,2,1,0
$FREEZE,7.37,2.632,-1.774,2,1,0
$FREEZE,6.80,2.872,-1.774,2,1,0
$FREEZE,6.21,3.003,-1.773,2,1,0
$GC,18485,0.77,180.6,6.2,11.5,1524,18492,0.00,2.08,0.00,0.000,6,0.000,0.031,3400,1892,2286,0,0,0,0,0,0,28.83,26.66,28.83
$FREEZE,4.52,3.263,-1.774,2,1,0
$FREEZE,3.99,3.255,-1.775,2,1,0
$STATE,18503,end climb,SURFACE_DEPTH_REACHED
$STATE,18503,begin surface coast
$FREEZE,3.46,3.259,-1.775,2,1,0
$FREEZE,2.93,3.265,-1.775,2,1,0
$FREEZE,2.40,3.268,-1.775,2,1,0
$FREEZE,1.84,3.266,-1.775,2,1,0
$FREEZE,1.46,3.249,-1.777,2,1,0
$FREEZE,1.40,3.240,-0.552,2,1,0
$FREEZE,1.27,3.276,-0.948,2,1,0
$FINISH,1.3,1.013925
$STATE,18543,end surface coast,CONTROL_FINISHED_OK
$STATE,18543,begin surface
$SM_CCo,18563,95.93,0.073,0,0,1398,400.08
$SM_GC,2.29,8.12,0.32,95.93,0.055,0.059,0.073,346,2103,1398,-8.64,-1.47,400.08,0,0,0,0,0,0,26.59,26.63,26.44
$RAFOS_CLK,973
$RAFOS,6,1341434943,20.833334,20.817499,45,43,43,43,42,41,1287,555,985,1182,1939,1501
$RAFOS,5,1341434486,20.700001,20.690556,46,42,42,42,38,38,439,500,899,1269,219,1918
$RAFOS,4,1341434006,20.566668,20.557222,52,43,43,42,41,40,1933,1879,1623,1036,190,1521
$RAFOS,3,1341433526,20.433332,20.423889,46,44,43,43,42,40,1541,1198,166,858,1182,305
$RAFOS,2,1341433046,20.299999,20.290556,46,45,43,42,41,41,287,889,1225,1093,61,249
$RAFOS,1,1341432544,20.166666,20.151112,47,44,43,41,40,38,278,1367,1024,475,1133,1304
$RAFOS,0,1341432061,20.033333,20.016945,45,44,43,43,41,39,650,1225,231,813,847,1418
$RAFOS,5,1341420066,16.700001,16.684999,45,45,44,41,39,39,145,1427,1515,1750,1,1868
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5919.92,040712,111128
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.68
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,22.8,12.661
$10V_AH,10.2,14.657
$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,21.050,190.825,273.425,95.925,0.000,0.000,0.000,325.125,3.500,0.000,19.302,4042.383,10782.779,664.999,3206.241,423.162,0.000,2525.022,0.000,2833.024,2520.000,25.585,0.000
$DEVICE_MAMPS,259.335,68.850,1448.910,72.675,0.000,0.000,0.000,277.146,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1067.026,1195.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,69952,1534
$CAP_FILE_SIZE,204951,0
$CFSIZE,260165632,238759936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.6
$CURRENT,0.137,166.1,1
$GPS,040712,221004,6646.054,-5917.471,30,0.7,30,-33.7