version: 66.11
glider: 108
mission: 21
dive: 89
start: 7 5 112 14 35 14
data:
$ID,108
$MISSION,21
$DIVE,89
$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,-191198.75
$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,66
$R_STBD_OVSHOOT,48
$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
$GPS1,050712,142635,6648.438,-5904.695,38,0.8,38,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-76.1
$GPS2,050712,143442,6648.439,-5904.853,19,0.8,19,-33.7
$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,106.0,102441,-16.3,-9.167
$D_GRID,982
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-146.6,0.0,0.0,0,99,0.00,0.00,-78.12,0.000,2,0.000,0.000,346,2110,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.72,-146.6,3.0,-1.2,14,136,9.95,2.20,-12.07,0.000,4,0.256,0.070,2882,3510,3631,0,0,0,0,0,0,26.27,26.51,26.82
$GC,291,-0.72,-146.6,30.1,-14.2,49,298,0.00,2.05,0.00,0.000,6,0.000,0.032,2888,2105,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,602,-0.72,-146.6,66.0,-11.2,110,609,0.00,2.17,0.00,0.000,4,0.000,0.052,2881,3506,3637,0,0,0,0,0,0,28.83,26.56,28.83
$GC,632,-0.72,-146.6,69.5,-12.3,115,639,0.00,2.08,0.00,0.000,6,0.000,0.031,2888,2092,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,944,-0.72,-146.6,102.1,-10.4,174,953,0.00,2.20,0.00,0.000,4,0.000,0.051,2879,3507,3637,0,0,0,0,0,0,28.83,26.58,28.83
$GC,986,-0.72,-146.6,106.5,-10.8,178,995,0.00,2.03,0.00,0.000,6,0.000,0.032,2879,2097,3638,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1296,-0.72,-146.6,139.7,-10.9,209,1305,0.00,2.12,0.00,0.000,4,0.000,0.051,2869,3497,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1399,-0.72,-146.6,152.2,-11.9,219,1408,0.00,2.08,0.00,0.000,6,0.000,0.032,2870,2089,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1709,-0.72,-146.6,184.9,-9.3,250,1717,0.00,2.15,0.00,0.000,4,0.000,0.052,2858,3500,3636,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1771,-0.72,-146.6,190.9,-9.8,256,1776,0.15,2.08,0.00,0.000,6,0.178,0.032,2897,2088,3636,0,0,0,0,0,0,26.49,26.69,28.83
$GC,2085,-0.72,-146.6,217.1,-8.0,287,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2087,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2387,-0.72,-146.6,242.4,-8.4,317,2396,0.00,2.17,0.00,0.000,4,0.000,0.052,2889,3504,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2481,-0.72,-146.6,251.1,-9.3,326,2488,0.00,2.08,0.00,0.000,6,0.000,0.031,2891,2092,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2790,-0.72,-146.6,277.2,-8.2,357,2798,0.00,2.15,0.00,0.000,4,0.000,0.051,2882,3499,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2885,-0.72,-146.6,285.5,-8.8,366,2892,0.00,2.05,0.00,0.000,6,0.000,0.031,2881,2094,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3192,-0.72,-146.6,311.3,-8.2,397,3201,0.00,2.15,0.00,0.000,4,0.000,0.050,2871,3502,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3234,-0.72,-146.6,315.2,-9.2,401,3243,0.00,2.05,0.00,0.000,6,0.000,0.031,2871,2084,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3544,-0.72,-146.6,343.4,-9.2,432,3554,0.00,2.15,0.00,0.000,4,0.000,0.050,2861,3495,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3587,-0.72,-146.6,347.5,-9.7,436,3598,0.12,2.05,0.00,0.000,6,0.179,0.031,2893,2089,3634,0,0,0,0,0,0,26.54,26.74,28.83
$GC,3897,-0.72,-146.6,369.2,-6.4,467,3906,0.00,2.15,0.00,0.000,4,0.000,0.050,2885,3498,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3952,-0.72,-146.6,372.9,-7.6,472,3960,0.00,2.05,0.00,0.000,6,0.000,0.031,2885,2089,3634,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4259,-0.72,-146.6,395.5,-7.6,503,4268,0.00,2.15,0.00,0.000,4,0.000,0.050,2874,3501,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4352,-0.72,-146.6,403.5,-8.9,512,4356,0.00,2.03,0.00,0.000,6,0.000,0.031,2874,2099,3634,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4664,-0.72,-146.6,429.3,-8.4,543,4673,0.00,2.12,0.00,0.000,4,0.000,0.050,2864,3498,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4747,-0.72,-146.6,436.6,-9.1,551,4756,0.08,2.05,0.00,0.000,6,0.153,0.030,2889,2088,3635,0,0,0,0,0,0,26.57,26.76,28.83
$GC,5057,-0.72,-146.6,460.1,-7.7,582,5065,0.00,2.15,0.00,0.000,4,0.000,0.049,2881,3501,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5162,-0.72,-146.6,468.8,-8.5,592,5169,0.00,2.05,0.00,0.000,6,0.000,0.030,2881,2090,3635,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5469,-0.72,-146.6,493.2,-7.6,623,5477,0.00,2.15,0.00,0.000,4,0.000,0.050,2871,3503,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5534,-0.72,-146.6,498.4,-8.2,629,5541,0.00,2.05,0.00,0.000,6,0.000,0.030,2870,2091,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5841,-0.72,-146.6,522.9,-8.1,660,5851,0.00,2.05,0.00,0.000,4,0.000,0.037,2871,713,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5874,-0.72,-146.6,525.6,-8.1,663,5884,0.10,2.10,0.00,0.000,6,0.151,0.037,2894,2115,3636,0,0,0,0,0,0,26.57,26.73,28.83
$GC,6184,-0.72,-146.6,546.8,-6.7,694,6188,0.00,2.08,0.00,0.000,4,0.000,0.050,2885,3505,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6259,-0.72,-146.6,552.0,-7.5,701,6266,0.00,2.05,0.00,0.000,6,0.000,0.030,2885,2090,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6567,-0.72,-146.6,573.0,-6.7,732,6576,0.00,2.15,0.00,0.000,4,0.000,0.049,2874,3504,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6603,-0.72,-146.6,575.4,-7.1,735,6609,0.00,2.05,0.00,0.000,6,0.000,0.030,2875,2090,3636,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6909,-0.72,-146.6,597.8,-7.2,766,6913,0.00,2.15,0.00,0.000,4,0.000,0.049,2865,3503,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6996,-0.72,-146.6,603.0,-8.1,770,7004,0.12,2.05,0.00,0.000,6,0.170,0.030,2896,2093,3636,0,0,0,0,0,0,26.58,26.77,28.83
$GC,7303,-0.72,-146.6,625.7,-6.6,781,7309,0.00,2.15,0.00,0.000,4,0.000,0.050,2888,3506,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7371,-0.72,-146.6,629.9,-7.0,783,7375,0.00,2.05,0.00,0.000,6,0.000,0.030,2888,2094,3636,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7689,-0.72,-146.6,652.4,-6.7,794,7692,0.00,2.15,0.00,0.000,4,0.000,0.050,2877,3503,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7764,-0.72,-146.6,656.8,-6.8,796,7768,0.00,2.05,0.00,0.000,6,0.000,0.030,2877,2094,3636,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8077,-0.72,-146.6,679.8,-7.0,807,8082,0.00,2.12,0.00,0.000,4,0.000,0.049,2867,3507,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8144,-0.72,-146.6,684.4,-7.2,809,8149,0.12,2.05,0.00,0.000,6,0.168,0.030,2898,2096,3636,0,0,0,0,0,0,26.59,26.78,28.83
$GC,8463,-0.72,-146.6,704.4,-5.9,820,8468,0.00,2.15,0.00,0.000,4,0.000,0.049,2890,3511,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8530,-0.72,-146.6,708.3,-6.3,822,8534,0.00,2.03,0.00,0.000,6,0.000,0.030,2890,2099,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8850,-0.72,-146.6,729.2,-6.5,833,8855,0.00,2.12,0.00,0.000,4,0.000,0.049,2880,3500,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8912,-0.72,-146.6,733.7,-7.0,835,8916,0.00,2.05,0.00,0.000,6,0.000,0.030,2880,2092,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9234,-0.72,-146.6,756.5,-6.9,846,9240,0.00,2.15,0.00,0.000,4,0.000,0.049,2869,3505,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9338,-0.72,-146.6,763.5,-7.6,849,9342,0.00,2.05,0.00,0.000,6,0.000,0.030,2869,2097,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9650,-0.72,-146.6,788.4,-7.7,860,9656,0.00,2.15,0.00,0.000,4,0.000,0.050,2859,3511,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9710,-0.72,-146.6,793.5,-8.2,862,9715,0.15,2.05,0.00,0.000,6,0.163,0.031,2899,2090,3636,0,0,0,0,0,0,26.59,26.79,28.83
$GC,10044,-0.72,-146.6,816.9,-7.1,873,10050,0.00,2.15,0.00,0.000,4,0.000,0.049,2891,3501,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10096,-0.72,-146.6,819.2,-7.2,874,10103,0.00,2.05,0.00,0.000,6,0.000,0.030,2891,2089,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10404,-0.72,-146.6,842.8,-6.7,885,10410,0.00,2.12,0.00,0.000,4,0.000,0.049,2882,3504,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10528,-0.72,-146.6,851.5,-7.3,889,10534,0.00,2.05,0.00,0.000,6,0.000,0.031,2882,2087,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10857,-0.72,-146.6,874.1,-6.0,900,10863,0.00,2.15,0.00,0.000,4,0.000,0.049,2871,3504,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10949,-0.72,-146.6,879.9,-6.4,903,10954,0.00,2.05,0.00,0.000,6,0.000,0.030,2871,2095,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11274,-0.72,-146.6,902.4,-7.1,914,11279,0.00,2.12,0.00,0.000,4,0.000,0.050,2861,3497,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11381,-0.72,-146.6,909.5,-7.6,917,11386,0.12,2.05,0.00,0.000,6,0.166,0.031,2893,2092,3636,0,0,0,0,0,0,26.60,26.79,28.83
$GC,11688,-0.72,-146.6,930.0,-6.2,927,11693,0.00,2.12,0.00,0.000,4,0.000,0.050,2885,3506,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11741,-0.72,-146.6,932.0,-6.5,928,11749,0.00,2.05,0.00,0.000,6,0.000,0.031,2885,2093,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,12048,-0.72,-146.6,954.1,-6.6,939,12053,0.00,2.10,0.00,0.000,4,0.000,0.050,2875,3497,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,12116,-0.72,-146.6,958.3,-6.7,941,12120,0.00,2.05,0.00,0.000,6,0.000,0.031,2875,2090,3636,0,0,0,0,0,0,28.83,26.79,28.83
$GC,12435,-0.72,-146.6,979.4,-6.6,952,12441,0.00,2.12,0.00,0.000,4,0.000,0.050,2865,3501,3635,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,12491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12491,begin apogee
$GC,12500,-0.17,0.0,983.7,-6.8,954,12634,0.65,0.00,127.72,1.489,6,0.147,0.000,3073,1878,3029,0,0,0,0,0,0,26.59,28.83,23.58
$STATE,12637,end apogee,CONTROL_FINISHED_OK
$STATE,12638,begin climb
$GC,12640,0.72,146.6,985.1,0.0,958,12777,0.85,0.00,132.32,1.454,6,0.094,0.000,3355,1878,2430,0,0,0,0,0,0,24.68,28.83,22.80
$GC,13064,0.72,146.6,928.3,14.6,973,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1878,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13364,0.72,146.6,884.5,14.5,983,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1877,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13664,0.72,146.6,840.9,14.5,993,13670,0.00,2.22,0.00,0.000,4,0.000,0.048,3355,3301,2415,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13696,0.72,146.6,836.2,14.5,994,13701,0.00,2.12,0.00,0.000,6,0.000,0.031,3364,1899,2414,0,0,0,0,0,0,28.83,26.05,28.83
$GC,14019,0.72,146.6,785.3,15.7,1005,14023,0.00,2.17,0.00,0.000,4,0.000,0.040,3375,497,2413,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14104,0.72,146.6,775.4,15.8,1007,14111,0.00,2.20,0.00,0.000,6,0.000,0.037,3375,1901,2413,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14412,0.72,146.6,720.0,17.1,1018,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1901,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14711,0.72,146.6,669.7,16.8,1028,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1901,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15011,0.72,146.6,619.6,16.7,1038,15012,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1901,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15312,0.72,146.6,569.5,16.5,1060,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1901,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15613,0.72,146.6,520.2,16.4,1090,15619,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1901,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15925,0.72,146.6,469.7,16.3,1121,15934,0.00,2.10,0.00,0.000,4,0.000,0.049,3375,3298,2412,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15947,0.72,146.6,465.1,17.0,1123,15956,0.00,2.08,0.00,0.000,6,0.000,0.032,3384,1895,2411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16257,0.72,146.6,412.2,16.7,1154,16266,0.00,2.10,0.00,0.000,4,0.000,0.040,3394,500,2411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16372,0.72,146.6,393.6,16.9,1165,16379,0.12,2.17,0.00,0.000,6,0.172,0.037,3364,1911,2411,0,0,0,0,0,0,26.43,26.57,28.83
$GC,16679,0.72,146.6,346.6,15.3,1196,16683,0.00,2.12,0.00,0.000,4,0.000,0.048,3364,3313,2411,0,0,0,0,0,0,28.83,26.56,28.83
$GC,16714,0.72,146.6,341.5,15.9,1199,16721,0.00,2.10,0.00,0.000,6,0.000,0.031,3371,1891,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17021,0.72,146.6,292.1,16.0,1230,17030,0.00,2.10,0.00,0.000,4,0.000,0.041,3382,508,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17115,0.72,146.6,277.8,15.5,1239,17122,0.00,2.15,0.00,0.000,6,0.000,0.036,3382,1903,2411,0,0,0,0,0,0,28.83,26.62,28.83
$GC,17423,0.72,146.6,228.0,16.2,1270,17431,0.00,2.10,0.00,0.000,4,0.000,0.047,3382,3305,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17457,0.72,146.6,222.7,16.2,1273,17464,0.00,2.08,0.00,0.000,6,0.000,0.031,3391,1892,2411,0,0,0,0,0,0,28.83,26.64,28.83
$GC,17764,0.72,146.6,173.7,15.6,1304,17774,0.00,2.10,0.00,0.000,4,0.000,0.040,3402,507,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17828,0.72,146.6,164.6,14.6,1310,17837,0.10,2.12,0.00,0.000,6,0.145,0.037,3368,1905,2410,0,0,0,0,0,0,26.50,26.65,28.83
$GC,18138,0.72,146.6,126.0,12.0,1341,18146,0.00,2.08,0.00,0.000,4,0.000,0.048,3368,3302,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,18189,0.72,146.6,119.3,13.3,1346,18199,0.00,2.08,0.00,0.000,6,0.000,0.031,3375,1890,2411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,18501,0.72,146.6,82.4,11.1,1392,18509,0.00,2.08,0.00,0.000,4,0.000,0.041,3385,509,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18593,0.72,146.6,71.9,11.6,1409,18600,0.00,2.15,0.00,0.000,6,0.000,0.037,3386,1908,2411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,18905,0.72,146.6,38.0,10.3,1470,18911,0.00,2.12,0.00,0.000,4,0.000,0.049,3386,3311,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18929,0.72,146.6,35.3,11.3,1474,18936,0.12,2.08,0.00,0.000,6,0.173,0.031,3363,1899,2411,0,0,0,0,0,0,26.53,26.70,28.83
$GC,19245,0.78,189.7,11.8,7.4,1535,19269,0.00,0.00,18.90,0.093,6,0.000,0.000,3364,1899,2254,0,0,0,0,0,0,28.83,28.83,26.55
$FREEZE,8.75,2.916,-1.780,1,1,0
$FREEZE,8.28,3.032,-1.779,1,1,0
$FREEZE,7.98,3.063,-1.779,1,1,0
$FREEZE,7.50,3.085,-1.779,1,1,0
$FREEZE,7.09,3.120,-1.780,1,1,0
$FREEZE,6.69,3.216,-1.778,1,1,0
$FREEZE,6.40,3.304,-1.777,1,1,0
$FREEZE,5.84,3.331,-1.777,1,1,0
$FREEZE,5.60,3.341,-1.777,1,1,0
$FREEZE,5.14,3.360,-1.777,1,1,0
$FREEZE,4.79,3.389,-1.777,1,1,0
$FREEZE,4.19,3.372,-1.776,1,1,0
$FREEZE,3.92,3.327,-1.775,1,1,0
$STATE,19344,end climb,SURFACE_DEPTH_REACHED
$STATE,19344,begin surface coast
$FREEZE,3.31,3.294,-1.774,1,1,0
$FREEZE,2.90,3.251,-1.773,1,1,0
$FREEZE,2.58,3.283,-1.773,1,1,0
$FREEZE,2.11,3.303,-1.770,1,1,0
$FREEZE,1.66,3.276,-1.771,1,1,0
$FREEZE,1.33,3.309,-0.361,1,1,0
$FREEZE,1.40,3.326,-0.834,1,1,0
$FREEZE,1.46,3.304,-1.682,1,1,0
$FREEZE,1.39,3.310,-0.677,1,1,0
$FREEZE,1.30,3.305,-0.921,1,1,0
$FREEZE,1.42,3.206,-1.505,1,1,0
$FINISH,1.4,1.021976
$STATE,19404,end surface coast,CONTROL_FINISHED_OK
$STATE,19404,begin surface
$SM_CCo,19423,91.85,0.073,0,0,1398,400.08
$SM_GC,2.39,8.02,0.32,91.85,0.056,0.062,0.073,342,2106,1398,-8.65,-1.27,400.08,0,0,0,0,0,0,26.61,26.65,26.45
$RAFOS_CLK,1013
$RAFOS,6,1341506957,16.833334,16.821388,46,45,43,43,41,41,1512,1688,1738,920,683,303
$RAFOS,5,1341506479,16.700001,16.688612,44,42,41,40,39,38,1314,1896,886,1879,1740,1
$RAFOS,4,1341506004,16.566668,16.556667,106,84,45,43,42,42,414,415,1514,922,1229,184
$RAFOS,3,1341505505,16.433332,16.418056,41,40,40,39,38,38,714,606,1560,1199,379,575
$RAFOS,2,1341505025,16.299999,16.284721,55,46,42,40,39,39,851,518,1692,1282,334,563
$RAFOS,1,1341504542,16.166666,16.150555,44,42,41,40,38,38,846,1053,61,451,1302,1761
$RAFOS,0,1341504064,16.033333,16.017778,46,43,42,42,41,40,1681,151,716,1610,837,1252
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5902.17,050712,080816
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.23
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,950.3,60.4
$24V_AH,22.8,13.098
$10V_AH,10.2,15.182
$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,20.800,181.500,278.950,91.850,0.000,0.000,0.000,344.375,4.000,0.000,19.958,4118.877,11549.219,653.165,3246.774,427.112,0.000,2549.806,0.000,2857.213,2520.000,30.189,0.000
$DEVICE_MAMPS,256.275,70.380,1489.455,73.440,0.000,0.000,0.000,273.401,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1086.437,1248.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151548
$DATA_FILE_SIZE,73347,1564
$CAP_FILE_SIZE,206962,0
$CFSIZE,260165632,238395392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.5
$CURRENT,0.059,141.8,1
$GPS,050712,200203,6648.292,-5858.245,37,1.0,41,-33.7