version: 66.11
glider: 108
mission: 21
dive: 87
start: 7 5 112 3 37 3
data:
$ID,108
$MISSION,21
$DIVE,87
$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,-191196.25
$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,69
$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
$GPS1,050712,032334,6650.467,-5914.126,33,0.8,33,-33.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-76.3
$GPS2,050712,033629,6650.488,-5914.511,18,0.9,18,-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,156.4,108310,-16.3,-9.167
$D_GRID,1008
$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,17,-0.72,-146.6,0.0,0.0,0,100,0.00,0.00,-80.75,0.000,2,0.000,0.000,338,2100,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.72,-146.6,3.2,-1.2,14,131,10.02,2.12,-9.52,0.000,4,0.258,0.067,2883,3503,3630,0,0,0,0,0,0,26.29,26.53,26.83
$GC,164,-0.72,-146.6,12.5,-13.2,24,172,0.00,2.08,0.00,0.000,6,0.000,0.031,2891,2097,3633,0,0,0,0,0,0,28.83,26.60,28.83
$GC,478,-0.72,-146.6,51.8,-12.1,85,485,0.00,2.17,0.00,0.000,4,0.000,0.051,2883,3503,3636,0,0,0,0,0,0,28.83,26.56,28.83
$GC,578,-0.72,-146.6,63.2,-10.9,104,586,0.00,2.08,0.00,0.000,6,0.000,0.031,2883,2093,3636,0,0,0,0,0,0,28.83,26.63,28.83
$GC,891,-0.72,-146.6,98.6,-11.6,165,898,0.00,2.15,0.00,0.000,4,0.000,0.050,2873,3501,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,930,-0.72,-146.6,102.9,-12.6,169,936,0.00,2.08,0.00,0.000,6,0.000,0.031,2881,2090,3637,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1236,-0.72,-146.6,137.6,-10.3,200,1245,0.00,2.17,0.00,0.000,4,0.000,0.051,2872,3509,3637,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1289,-0.72,-146.6,143.4,-11.0,205,1298,0.00,2.10,0.00,0.000,6,0.000,0.032,2877,2090,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1599,-0.72,-146.6,175.0,-9.9,236,1608,0.00,2.15,0.00,0.000,4,0.000,0.051,2869,3501,3636,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1625,-0.72,-146.6,177.2,-10.1,238,1632,0.00,2.08,0.00,0.000,6,0.000,0.032,2869,2089,3635,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1932,-0.72,-146.6,209.9,-10.4,269,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2089,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2234,-0.72,-146.6,238.7,-9.0,299,2242,0.00,2.12,0.00,0.000,4,0.000,0.051,2858,3496,3633,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2258,-0.72,-146.6,240.9,-8.6,301,2266,0.12,2.05,0.00,0.000,6,0.181,0.032,2891,2095,3633,0,0,0,0,0,0,26.52,26.71,28.83
$GC,2566,-0.72,-146.6,266.0,-7.9,332,2575,0.00,2.15,0.00,0.000,4,0.000,0.050,2884,3503,3632,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2701,-0.72,-146.6,277.6,-8.8,345,2710,0.00,2.03,0.00,0.000,6,0.000,0.031,2883,2098,3632,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3011,-0.72,-146.6,302.4,-7.9,376,3020,0.00,2.12,0.00,0.000,4,0.000,0.050,2873,3499,3632,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3146,-0.72,-146.6,314.0,-8.5,389,3154,0.00,2.03,0.00,0.000,6,0.000,0.031,2873,2094,3632,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3453,-0.72,-146.6,340.2,-8.4,420,3463,0.00,2.12,0.00,0.000,4,0.000,0.050,2862,3499,3632,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3539,-0.72,-146.6,347.9,-9.4,428,3547,0.12,2.05,0.00,0.000,6,0.174,0.031,2896,2090,3632,0,0,0,0,0,0,26.55,26.74,28.83
$GC,3849,-0.72,-146.6,372.5,-8.2,459,3858,0.00,2.12,0.00,0.000,4,0.000,0.050,2888,3503,3633,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3925,-0.72,-146.6,378.9,-8.7,466,3932,0.00,2.05,0.00,0.000,6,0.000,0.030,2888,2091,3633,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4232,-0.72,-146.6,405.0,-8.5,497,4240,0.00,2.12,0.00,0.000,4,0.000,0.049,2877,3503,3633,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4294,-0.72,-146.6,410.6,-8.9,503,4303,0.00,2.05,0.00,0.000,6,0.000,0.030,2878,2089,3633,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4604,-0.72,-146.6,436.2,-8.1,534,4612,0.00,2.12,0.00,0.000,4,0.000,0.049,2867,3505,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4677,-0.72,-146.6,442.5,-8.9,541,4681,0.00,2.05,0.00,0.000,6,0.000,0.031,2867,2094,3633,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4989,-0.72,-146.6,469.4,-8.7,572,4993,0.00,2.15,0.00,0.000,4,0.000,0.049,2856,3510,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5093,-0.72,-146.6,479.3,-9.5,582,5102,0.15,2.05,0.00,0.000,6,0.164,0.030,2897,2096,3633,0,0,0,0,0,0,26.57,26.77,28.83
$GC,5404,-0.72,-146.6,501.9,-7.0,613,5412,0.00,2.12,0.00,0.000,4,0.000,0.049,2888,3506,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5456,-0.72,-146.6,505.9,-7.8,618,5460,0.00,2.03,0.00,0.000,6,0.000,0.030,2888,2095,3633,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5769,-0.72,-146.6,528.0,-6.7,649,5778,0.00,2.12,0.00,0.000,4,0.000,0.049,2878,3504,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5862,-0.72,-146.6,534.9,-7.6,658,5870,0.00,2.05,0.00,0.000,6,0.000,0.030,2878,2088,3634,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6173,-0.72,-146.6,555.5,-6.2,689,6181,0.00,2.15,0.00,0.000,4,0.000,0.049,2867,3509,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6307,-0.72,-146.6,564.8,-7.0,702,6311,0.00,2.05,0.00,0.000,6,0.000,0.031,2867,2097,3634,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6620,-0.72,-146.6,585.5,-6.8,733,6629,0.00,2.12,0.00,0.000,4,0.000,0.049,2857,3508,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6732,-0.72,-146.6,594.0,-8.0,744,6742,0.10,2.05,0.00,0.000,6,0.145,0.030,2890,2091,3635,0,0,0,0,0,0,26.59,26.78,28.83
$GC,7045,-0.72,-146.6,613.3,-6.2,761,7051,0.00,2.15,0.00,0.000,4,0.000,0.049,2882,3506,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7123,-0.72,-146.6,617.7,-6.8,763,7127,0.00,2.05,0.00,0.000,6,0.000,0.030,2882,2091,3634,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7430,-0.72,-146.6,641.1,-7.3,773,7436,0.00,2.12,0.00,0.000,4,0.000,0.049,2872,3502,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7554,-0.72,-146.6,651.1,-8.3,777,7558,0.00,2.05,0.00,0.000,6,0.000,0.030,2872,2090,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7886,-0.72,-146.6,677.8,-7.9,788,7892,0.00,2.12,0.00,0.000,4,0.000,0.049,2861,3502,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8000,-0.72,-146.6,685.5,-8.4,791,8007,0.12,2.05,0.00,0.000,6,0.168,0.030,2893,2089,3635,0,0,0,0,0,0,26.60,26.79,28.83
$GC,8308,-0.72,-146.6,708.2,-6.5,802,8313,0.00,2.12,0.00,0.000,4,0.000,0.049,2885,3510,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8350,-0.72,-146.6,710.4,-6.6,803,8354,0.00,2.05,0.00,0.000,6,0.000,0.030,2885,2095,3635,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8663,-0.72,-146.6,733.4,-7.0,814,8668,0.00,2.12,0.00,0.000,4,0.000,0.049,2874,3507,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8723,-0.72,-146.6,737.9,-7.2,816,8728,0.00,2.05,0.00,0.000,6,0.000,0.030,2874,2097,3635,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9053,-0.72,-146.6,761.1,-7.1,827,9059,0.00,2.10,0.00,0.000,4,0.000,0.049,2864,3497,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9096,-0.72,-146.6,763.4,-7.3,828,9100,0.12,2.03,0.00,0.000,6,0.168,0.030,2896,2100,3635,0,0,0,0,0,0,26.60,26.79,28.83
$GC,9409,-0.72,-146.6,783.8,-5.9,839,9415,0.00,2.10,0.00,0.000,4,0.000,0.048,2888,3502,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9462,-0.72,-146.6,785.8,-6.0,840,9470,0.00,2.05,0.00,0.000,6,0.000,0.030,2888,2087,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9769,-0.72,-146.6,807.3,-6.6,851,9773,0.00,2.15,0.00,0.000,4,0.000,0.049,2878,3503,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9865,-0.72,-146.6,814.0,-7.1,854,9869,0.00,2.03,0.00,0.000,6,0.000,0.030,2877,2099,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10193,-0.72,-146.6,837.6,-7.2,865,10199,0.00,2.12,0.00,0.000,4,0.000,0.048,2867,3503,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10355,-0.72,-146.6,849.5,-8.0,870,10359,0.00,2.05,0.00,0.000,6,0.000,0.030,2867,2092,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10670,-0.72,-146.6,874.0,-7.2,881,10675,0.00,2.15,0.00,0.000,4,0.000,0.049,2857,3506,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10783,-0.72,-146.6,881.2,-7.7,884,10791,0.15,2.05,0.00,0.000,6,0.160,0.031,2897,2094,3634,0,0,0,0,0,0,26.60,26.80,28.83
$GC,11090,-0.72,-146.6,900.7,-5.4,895,11094,0.00,2.15,0.00,0.000,4,0.000,0.049,2889,3507,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11171,-0.72,-146.6,904.4,-5.6,897,11175,0.00,2.05,0.00,0.000,6,0.000,0.030,2889,2096,3634,0,0,0,0,0,0,28.83,26.80,28.83
$GC,11478,-0.72,-146.6,922.4,-6.0,907,11483,0.00,2.12,0.00,0.000,4,0.000,0.049,2878,3509,3634,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11571,-0.72,-146.6,929.1,-7.3,910,11574,0.00,2.05,0.00,0.000,6,0.000,0.031,2878,2097,3633,0,0,0,0,0,0,28.83,26.80,28.83
$GC,11894,-0.72,-146.6,953.6,-7.8,921,11900,0.00,2.12,0.00,0.000,4,0.000,0.050,2868,3507,3633,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11941,-0.72,-146.6,956.2,-8.0,922,11945,0.00,2.05,0.00,0.000,6,0.000,0.030,2868,2096,3633,0,0,0,0,0,0,28.83,26.80,28.83
$GC,12249,-0.72,-146.6,979.0,-6.9,932,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3633,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12425,begin apogee
$GC,12432,-0.17,0.0,991.7,-7.4,938,12564,0.62,0.00,127.32,1.493,6,0.147,0.000,3067,1895,3029,0,0,0,0,0,0,26.60,28.83,23.58
$STATE,12568,end apogee,CONTROL_FINISHED_OK
$STATE,12568,begin climb
$GC,12570,0.72,146.6,992.2,0.0,942,12707,0.88,0.00,131.70,1.457,6,0.090,0.000,3359,1895,2431,0,0,0,0,0,0,24.66,28.83,22.81
$GC,12998,0.72,146.6,929.2,16.0,957,13004,0.00,2.22,0.00,0.000,4,0.000,0.038,3368,519,2419,0,0,0,0,0,0,28.83,25.32,28.83
$GC,13036,0.72,146.6,924.5,16.0,958,13040,0.00,2.25,0.00,0.000,6,0.000,0.035,3368,1908,2418,0,0,0,0,0,0,28.83,25.40,28.83
$GC,13354,0.72,146.6,870.6,16.6,969,13358,0.00,2.17,0.00,0.000,4,0.000,0.047,3368,3310,2416,0,0,0,0,0,0,28.83,25.80,28.83
$GC,13386,0.72,146.6,864.9,16.8,970,13392,0.00,2.12,0.00,0.000,6,0.000,0.031,3377,1904,2415,0,0,0,0,0,0,28.83,25.87,28.83
$GC,13717,0.72,146.6,806.2,18.0,981,13722,0.00,2.15,0.00,0.000,4,0.000,0.040,3388,506,2414,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13794,0.72,146.6,795.4,17.9,983,13798,0.00,2.17,0.00,0.000,6,0.000,0.036,3388,1901,2414,0,0,0,0,0,0,28.83,26.12,28.83
$GC,14106,0.72,146.6,733.0,19.2,994,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1901,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14408,0.72,146.6,677.1,18.4,1004,14414,0.00,2.17,0.00,0.000,4,0.000,0.039,3397,500,2413,0,0,0,0,0,0,28.83,26.32,28.83
$GC,14438,0.72,146.6,671.6,18.1,1005,14445,0.12,2.17,0.00,0.000,6,0.174,0.036,3367,1905,2413,0,0,0,0,0,0,26.19,26.33,28.83
$GC,14768,0.72,146.6,617.6,16.4,1016,14774,0.00,2.15,0.00,0.000,4,0.000,0.048,3367,3310,2412,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14816,0.72,146.6,612.4,16.5,1017,14821,0.00,2.10,0.00,0.000,6,0.000,0.031,3374,1885,2412,0,0,0,0,0,0,28.83,26.42,28.83
$GC,15123,0.72,146.6,557.9,16.5,1043,15132,0.00,2.10,0.00,0.000,4,0.000,0.040,3384,511,2411,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15218,0.72,146.6,542.9,16.2,1052,15226,0.00,2.15,0.00,0.000,6,0.000,0.037,3385,1898,2412,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15525,0.72,146.6,488.8,17.4,1083,15534,0.00,2.15,0.00,0.000,4,0.000,0.048,3384,3310,2411,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15570,0.72,146.6,481.1,18.5,1087,15577,0.00,2.08,0.00,0.000,6,0.000,0.031,3393,1893,2411,0,0,0,0,0,0,28.83,26.53,28.83
$GC,15877,0.72,146.6,423.4,18.1,1118,15885,0.00,2.10,0.00,0.000,4,0.000,0.039,3404,512,2411,0,0,0,0,0,0,28.83,26.53,28.83
$GC,15991,0.72,146.6,403.8,17.1,1129,16000,0.10,2.12,0.00,0.000,6,0.152,0.037,3368,1905,2411,0,0,0,0,0,0,26.40,26.54,28.83
$GC,16299,0.72,146.6,356.1,15.0,1160,16309,0.00,2.08,0.00,0.000,4,0.000,0.048,3368,3295,2411,0,0,0,0,0,0,28.83,26.54,28.83
$GC,16382,0.72,146.6,342.0,16.9,1168,16392,0.00,2.05,0.00,0.000,6,0.000,0.031,3375,1890,2410,0,0,0,0,0,0,28.83,26.59,28.83
$GC,16694,0.72,146.6,290.1,17.2,1199,16703,0.00,2.10,0.00,0.000,4,0.000,0.040,3386,505,2410,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16789,0.72,146.6,274.3,16.9,1208,16797,0.00,2.15,0.00,0.000,6,0.000,0.036,3385,1901,2410,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17096,0.72,146.6,220.5,16.8,1239,17097,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1901,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17397,0.72,146.6,171.7,15.5,1269,17405,0.00,2.10,0.00,0.000,4,0.000,0.047,3385,3300,2410,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17429,0.72,146.6,166.4,16.2,1272,17439,0.08,2.03,0.00,0.000,6,0.160,0.031,3370,1905,2410,0,0,0,0,0,0,26.48,26.65,28.83
$GC,17738,0.72,146.6,127.4,11.6,1303,17747,0.00,2.12,0.00,0.000,4,0.000,0.039,3378,505,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17791,0.72,146.6,121.6,11.2,1308,17800,0.00,2.12,0.00,0.000,6,0.000,0.036,3378,1898,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18101,0.72,146.6,88.4,9.6,1350,18109,0.00,2.15,0.00,0.000,4,0.000,0.047,3378,3313,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,18144,0.72,146.6,83.8,11.7,1357,18150,0.00,2.10,0.00,0.000,6,0.000,0.031,3387,1880,2411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,18455,0.72,146.6,49.3,12.4,1418,18462,0.00,2.08,0.00,0.000,4,0.000,0.040,3397,510,2411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,18490,0.72,146.6,44.8,13.1,1424,18498,0.12,2.15,0.00,0.000,6,0.166,0.037,3366,1915,2411,0,0,0,0,0,0,26.53,26.67,28.83
$GC,18808,0.73,154.0,13.1,8.9,1485,18816,0.00,2.15,1.48,0.106,4,0.000,0.048,3365,3300,2400,0,0,0,0,0,0,28.83,26.65,26.57
$FREEZE,8.89,2.196,-1.772,2,1,0
$FREEZE,8.33,2.662,-1.768,2,1,0
$FREEZE,7.94,3.015,-1.765,2,1,0
$FREEZE,7.50,3.152,-1.765,2,1,0
$GC,18871,0.74,155.5,7.5,9.1,1496,18879,0.00,2.05,0.00,0.000,6,0.000,0.031,3373,1889,2400,0,0,0,0,0,0,28.83,26.70,28.83
$FREEZE,6.23,3.205,-1.770,2,1,0
$FREEZE,5.72,3.213,-1.770,2,1,0
$FREEZE,5.42,3.217,-1.771,2,1,0
$FREEZE,5.04,3.218,-1.772,2,1,0
$FREEZE,4.70,3.257,-1.771,2,1,0
$FREEZE,4.28,3.241,-1.770,2,1,0
$FREEZE,3.87,3.222,-1.770,2,1,0
$STATE,18915,end climb,SURFACE_DEPTH_REACHED
$STATE,18915,begin surface coast
$FREEZE,3.47,3.172,-1.769,2,1,0
$FREEZE,3.11,3.167,-1.769,2,1,0
$FREEZE,2.65,3.165,-1.769,2,1,0
$FREEZE,2.38,3.166,-1.769,2,1,0
$FREEZE,1.90,3.164,-1.768,2,1,0
$FREEZE,1.46,3.166,-1.768,2,1,0
$FREEZE,1.36,3.146,-1.514,2,1,0
$FREEZE,1.27,3.093,-0.864,2,1,0
$FREEZE,1.39,3.143,-1.372,2,1,0
$FREEZE,1.34,3.122,-1.770,2,1,0
$FREEZE,1.31,2.712,-0.864,2,1,0
$FINISH,1.3,1.012726
$STATE,18976,end surface coast,CONTROL_FINISHED_OK
$STATE,18976,begin surface
$SM_CCo,18995,108.35,0.071,0,0,1398,400.08
$SM_GC,2.28,8.02,0.32,108.35,0.054,0.059,0.071,344,2099,1398,-8.65,-1.53,400.08,0,0,0,0,0,0,26.63,26.67,26.45
$RAFOS_CLK,981
$RAFOS,5,1341477663,8.700000,8.684167,47,44,44,43,41,40,879,242,628,1569,423,880
$RAFOS,4,1341477184,8.566667,8.551111,71,48,45,45,43,41,539,1425,61,1224,1525,1610
$RAFOS,3,1341476706,8.433333,8.418333,43,43,42,41,41,40,1,775,1170,1616,1885,232
$RAFOS,2,1341476227,8.300000,8.285277,47,45,43,42,41,41,407,920,991,1571,1265,104
$RAFOS,1,1341475742,8.166667,8.150556,52,46,43,41,39,38,510,254,298,678,623,1439
$RAFOS,0,1341475267,8.033334,8.018611,46,46,45,45,44,41,1270,922,1637,1868,1256,1216
$RAFOS,6,1341463745,4.833333,4.818056,46,46,46,43,42,41,61,1915,1925,1057,1520,1729
$RAFOS,5,1341463266,4.700000,4.685000,45,44,44,43,43,43,162,108,1802,226,710,1386
$RAFOS,4,1341462783,4.566667,4.550833,42,41,41,41,39,38,1397,228,1387,1659,1246,733
$RAFOS,3,1341462309,4.433333,4.419167,45,43,41,41,39,39,376,1548,169,1432,831,1040
$RAFOS,2,1341461826,4.300000,4.285000,46,46,45,45,43,41,1814,1688,462,1323,515,1517
$RAFOS,1,1341461342,4.166667,4.150556,49,46,46,43,42,41,1411,387,769,568,377,1858
$RAFOS,0,1341460869,4.033333,4.019166,43,39,39,38,37,37,151,302,1903,1,294,1342
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5911.55,050712,030351
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.48
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,951.2,66.4
$24V_AH,22.8,12.876
$10V_AH,10.1,14.928
$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,20.875,189.925,260.500,108.350,0.000,0.000,0.000,572.750,4.000,0.000,21.069,4068.549,11229.062,645.296,3465.594,464.996,0.000,2790.625,0.000,2867.401,5040.000,32.249,0.000
$DEVICE_MAMPS,257.805,67.320,1493.280,71.145,0.000,0.000,0.000,261.417,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.890,1209.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151572
$DATA_FILE_SIZE,69983,1515
$CAP_FILE_SIZE,214740,0
$CFSIZE,260165632,238571520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.7
$CURRENT,0.220,164.9,1
$GPS,050712,085658,6646.814,-5908.899,37,0.8,37,-33.7