version: 66.11
glider: 108
mission: 21
dive: 90
start: 7 5 112 20 17 17
data:
$ID,108
$MISSION,21
$DIVE,90
$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,-191200
$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,47
$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
$GPS1,050712,200203,6648.292,-5858.245,37,1.0,41,-33.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-75.9
$GPS2,050712,201642,6648.384,-5858.043,17,1.0,17,-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,94.4,97734,-16.3,-9.167
$D_GRID,953
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-78.97,0.000,2,0.000,0.000,342,2107,3221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.72,-146.6,3.0,-0.7,14,129,10.00,2.20,-11.35,0.000,4,0.258,0.070,2884,3507,3629,0,0,0,0,0,0,26.28,26.53,26.84
$GC,360,-0.72,-146.6,41.0,-13.5,63,366,0.00,2.08,0.00,0.000,6,0.000,0.032,2888,2093,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,673,-0.72,-146.6,74.7,-11.0,124,681,0.00,2.17,0.00,0.000,4,0.000,0.051,2880,3502,3637,0,0,0,0,0,0,28.83,26.58,28.83
$GC,891,-0.72,-146.6,101.7,-12.1,165,895,0.00,2.05,0.00,0.000,6,0.000,0.032,2880,2100,3637,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1203,-0.72,-146.6,135.0,-9.7,196,1213,0.00,2.15,0.00,0.000,4,0.000,0.051,2872,3504,3637,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1318,-0.72,-146.6,146.9,-10.4,207,1322,0.00,2.05,0.00,0.000,6,0.000,0.032,2872,2097,3637,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1630,-0.72,-146.6,178.0,-10.1,238,1634,0.00,2.15,0.00,0.000,4,0.000,0.052,2861,3501,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1716,-0.72,-146.6,186.5,-10.4,246,1723,0.12,2.08,0.00,0.000,6,0.184,0.032,2892,2090,3635,0,0,0,0,0,0,26.51,26.70,28.83
$GC,2023,-0.72,-146.6,211.5,-7.7,277,2032,0.00,2.15,0.00,0.000,4,0.000,0.051,2884,3497,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2160,-0.72,-146.6,223.7,-9.4,290,2167,0.00,2.05,0.00,0.000,6,0.000,0.032,2884,2095,3634,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2466,-0.72,-146.6,252.8,-9.5,321,2474,0.00,2.15,0.00,0.000,4,0.000,0.051,2875,3504,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2531,-0.72,-146.6,259.3,-10.5,327,2538,0.00,2.05,0.00,0.000,6,0.000,0.031,2876,2089,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2838,-0.72,-146.6,288.9,-9.0,358,2847,0.00,2.12,0.00,0.000,4,0.000,0.050,2865,3500,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2974,-0.72,-146.6,301.5,-9.4,371,2984,0.08,2.05,0.00,0.000,6,0.158,0.032,2890,2097,3634,0,0,0,0,0,0,26.54,26.73,28.83
$GC,3282,-0.72,-146.6,324.2,-6.9,402,3286,0.00,2.17,0.00,0.000,4,0.000,0.050,2882,3515,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3446,-0.72,-146.6,336.9,-8.0,418,3455,0.00,2.05,0.00,0.000,6,0.000,0.031,2881,2090,3633,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3757,-0.72,-146.6,360.1,-8.2,449,3766,0.00,2.15,0.00,0.000,4,0.000,0.050,2871,3505,3633,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3839,-0.72,-146.6,367.3,-9.0,457,3848,0.00,2.03,0.00,0.000,6,0.000,0.031,2871,2098,3633,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4149,-0.72,-146.6,393.4,-8.3,488,4158,0.00,2.12,0.00,0.000,4,0.000,0.050,2860,3498,3633,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4242,-0.72,-146.6,402.0,-9.6,497,4252,0.10,2.03,0.00,0.000,6,0.151,0.031,2893,2095,3633,0,0,0,0,0,0,26.56,26.75,28.83
$GC,4552,-0.72,-146.6,425.2,-7.4,528,4562,0.00,2.12,0.00,0.000,4,0.000,0.050,2885,3506,3633,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4597,-0.72,-146.6,428.6,-8.2,532,4605,0.00,2.05,0.00,0.000,6,0.000,0.031,2885,2093,3633,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4905,-0.72,-146.6,453.5,-8.0,563,4914,0.00,2.12,0.00,0.000,4,0.000,0.050,2875,3507,3633,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5017,-0.72,-146.6,463.2,-8.7,574,5026,0.00,2.05,0.00,0.000,6,0.000,0.031,2875,2094,3633,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5328,-0.72,-146.6,488.6,-7.8,605,5336,0.00,2.12,0.00,0.000,4,0.000,0.049,2864,3496,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5423,-0.72,-146.6,497.0,-9.1,614,5430,0.12,2.03,0.00,0.000,6,0.171,0.031,2896,2100,3634,0,0,0,0,0,0,26.58,26.77,28.83
$GC,5730,-0.72,-146.6,518.6,-6.6,645,5739,0.00,2.12,0.00,0.000,4,0.000,0.050,2888,3500,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5796,-0.72,-146.6,523.1,-7.4,651,5803,0.00,2.05,0.00,0.000,6,0.000,0.030,2888,2087,3634,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6102,-0.72,-146.6,544.5,-6.9,682,6106,0.00,2.15,0.00,0.000,4,0.000,0.049,2878,3503,3634,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6189,-0.72,-146.6,550.6,-7.7,690,6196,0.00,2.03,0.00,0.000,6,0.000,0.030,2878,2091,3634,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6497,-0.72,-146.6,573.5,-7.3,721,6501,0.00,2.15,0.00,0.000,4,0.000,0.049,2867,3505,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6592,-0.72,-146.6,581.2,-8.4,730,6599,0.00,2.03,0.00,0.000,6,0.000,0.031,2867,2095,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6921,-0.72,-146.6,608.0,-8.2,757,6927,0.00,2.12,0.00,0.000,4,0.000,0.050,2857,3496,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6976,-0.72,-146.6,610.7,-8.3,758,6983,0.15,2.05,0.00,0.000,6,0.161,0.031,2897,2087,3635,0,0,0,0,0,0,26.58,26.78,28.83
$GC,7281,-0.72,-146.6,634.8,-7.1,769,7287,0.00,2.12,0.00,0.000,4,0.000,0.050,2888,3501,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7324,-0.72,-146.6,637.1,-7.1,770,7328,0.00,2.03,0.00,0.000,6,0.000,0.030,2888,2094,3636,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7637,-0.72,-146.6,662.4,-7.8,781,7643,0.00,2.15,0.00,0.000,4,0.000,0.050,2878,3508,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7710,-0.72,-146.6,667.5,-8.1,783,7713,0.00,2.05,0.00,0.000,6,0.000,0.031,2878,2099,3635,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8022,-0.72,-146.6,693.8,-8.0,794,8027,0.00,2.12,0.00,0.000,4,0.000,0.050,2867,3499,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8085,-0.72,-146.6,698.8,-8.0,796,8089,0.00,2.05,0.00,0.000,6,0.000,0.031,2868,2091,3635,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8407,-0.72,-146.6,725.4,-8.1,807,8413,0.00,2.15,0.00,0.000,4,0.000,0.050,2856,3507,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8481,-0.72,-146.6,730.7,-8.5,809,8485,0.15,2.05,0.00,0.000,6,0.161,0.031,2896,2090,3634,0,0,0,0,0,0,26.59,26.79,28.83
$GC,8799,-0.72,-146.6,754.5,-6.9,820,8804,0.00,2.12,0.00,0.000,4,0.000,0.049,2888,3505,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8842,-0.72,-146.6,756.6,-6.9,821,8846,0.00,2.03,0.00,0.000,6,0.000,0.030,2889,2096,3635,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9155,-0.72,-146.6,779.8,-7.1,832,9160,0.00,2.10,0.00,0.000,4,0.000,0.049,2878,3499,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9237,-0.72,-146.6,784.4,-7.4,834,9244,0.00,2.05,0.00,0.000,6,0.000,0.031,2878,2088,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9545,-0.72,-146.6,809.5,-7.2,845,9549,0.00,2.15,0.00,0.000,4,0.000,0.050,2869,3506,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9616,-0.72,-146.6,814.3,-7.3,847,9620,0.00,2.03,0.00,0.000,6,0.000,0.030,2868,2099,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9933,-0.72,-146.6,838.6,-7.2,858,9937,0.00,2.15,0.00,0.000,4,0.000,0.049,2857,3503,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10004,-0.72,-146.6,843.5,-7.4,860,10009,0.15,2.05,0.00,0.000,6,0.161,0.030,2897,2094,3634,0,0,0,0,0,0,26.59,26.79,28.83
$GC,10322,-0.72,-146.6,862.7,-5.4,871,10326,0.00,2.15,0.00,0.000,4,0.000,0.049,2889,3506,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10355,-0.72,-146.6,864.5,-5.5,872,10360,0.00,2.03,0.00,0.000,6,0.000,0.031,2889,2102,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10685,-0.72,-146.6,883.3,-5.8,883,10690,0.00,2.10,0.00,0.000,4,0.000,0.050,2879,3501,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10733,-0.72,-146.6,885.1,-5.9,884,10737,0.00,2.05,0.00,0.000,6,0.000,0.030,2879,2090,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11040,-0.72,-146.6,904.6,-5.6,894,11046,0.00,2.15,0.00,0.000,4,0.000,0.050,2868,3506,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11113,-0.72,-146.6,908.4,-5.9,896,11117,0.00,2.03,0.00,0.000,6,0.000,0.031,2868,2099,3634,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11426,-0.72,-146.6,930.8,-6.9,907,11431,0.00,2.12,0.00,0.000,4,0.000,0.049,2858,3497,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11547,-0.72,-146.6,939.1,-7.0,911,11552,0.15,2.03,0.00,0.000,6,0.159,0.031,2898,2095,3633,0,0,0,0,0,0,26.60,26.79,28.83
$STATE,11817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11817,begin apogee
$GC,11825,-0.17,0.0,954.2,-5.3,920,11957,0.52,0.00,126.93,1.467,6,0.138,0.000,3073,1894,3029,0,0,0,0,0,0,26.60,28.83,23.61
$STATE,11960,end apogee,CONTROL_FINISHED_OK
$STATE,11960,begin climb
$GC,11963,0.72,146.6,954.6,0.0,924,12104,0.85,2.40,130.65,1.434,4,0.090,0.038,3366,530,2430,0,0,0,0,0,0,24.68,23.80,22.84
$GC,12125,0.72,146.6,936.6,12.0,930,12129,0.00,2.33,0.00,0.000,6,0.000,0.036,3366,1893,2426,0,0,1,0,0,0,28.83,24.20,28.83
$GC,12448,0.72,146.6,883.1,16.1,941,12453,0.00,2.25,0.00,0.000,4,0.000,0.048,3366,3316,2418,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12480,0.72,146.6,877.9,16.1,942,12485,0.00,2.15,0.00,0.000,6,0.000,0.031,3375,1908,2417,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12803,0.72,146.6,820.4,17.7,953,12806,0.00,2.20,0.00,0.000,4,0.000,0.039,3386,510,2415,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12888,0.72,146.6,809.7,17.2,955,12894,0.00,2.22,0.00,0.000,6,0.000,0.037,3386,1911,2415,0,0,0,0,0,0,28.83,25.94,28.83
$GC,13195,0.72,146.6,753.2,17.0,966,13201,0.00,2.20,0.00,0.000,4,0.000,0.039,3395,505,2414,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13225,0.72,146.6,748.3,16.8,967,13231,0.12,2.17,0.00,0.000,6,0.175,0.037,3365,1903,2414,0,0,0,0,0,0,25.99,26.14,28.83
$GC,13555,0.72,146.6,697.4,15.0,978,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1903,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13855,0.72,146.6,652.6,14.9,988,13856,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1903,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14155,0.72,146.6,607.7,15.1,998,14161,0.00,2.12,0.00,0.000,4,0.000,0.049,3365,3306,2412,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14179,0.72,146.6,607.7,15.1,998,14186,0.00,2.10,0.00,0.000,6,0.000,0.031,3372,1896,2412,0,0,0,0,0,0,28.83,26.42,28.83
$GC,14485,0.72,146.6,554.4,16.2,1027,14493,0.00,2.10,0.00,0.000,4,0.000,0.041,3383,508,2412,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14590,0.72,146.6,538.4,15.5,1037,14597,0.00,2.15,0.00,0.000,6,0.000,0.037,3382,1906,2412,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14896,0.72,146.6,489.1,16.0,1068,14905,0.00,2.10,0.00,0.000,4,0.000,0.048,3383,3302,2412,0,0,0,0,0,0,28.83,26.47,28.83
$GC,14920,0.72,146.6,485.4,16.3,1070,14930,0.00,2.05,0.00,0.000,6,0.000,0.031,3392,1902,2411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15228,0.72,146.6,431.1,17.6,1101,15232,0.00,2.10,0.00,0.000,4,0.000,0.040,3402,510,2411,0,0,0,0,0,0,28.83,26.52,28.83
$GC,15346,0.72,146.6,411.0,18.1,1112,15355,0.15,2.15,0.00,0.000,6,0.171,0.037,3363,1901,2411,0,0,0,0,0,0,26.39,26.53,28.83
$GC,15653,0.72,146.6,362.3,14.8,1143,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1901,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15953,0.72,146.6,319.5,13.9,1173,15954,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1901,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16253,0.72,146.6,280.9,12.8,1203,16262,0.00,2.15,0.00,0.000,4,0.000,0.040,3370,511,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16278,0.72,146.6,278.3,12.5,1205,16285,0.00,2.15,0.00,0.000,6,0.000,0.036,3370,1905,2411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16585,0.72,146.6,238.0,12.6,1236,16588,0.00,2.15,0.00,0.000,4,0.000,0.040,3379,508,2411,0,0,0,0,0,0,28.83,26.61,28.83
$GC,16627,0.72,146.6,232.4,13.5,1240,16631,0.00,2.15,0.00,0.000,6,0.000,0.037,3380,1912,2411,0,0,0,0,0,0,28.83,26.62,28.83
$GC,16939,0.72,146.6,189.5,13.3,1271,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1912,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17242,0.72,146.6,150.4,11.9,1301,17251,0.00,2.15,0.00,0.000,4,0.000,0.040,3389,513,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17284,0.72,146.6,145.0,11.8,1305,17294,0.00,2.12,0.00,0.000,6,0.000,0.037,3389,1910,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17594,0.72,146.6,109.8,10.7,1336,17596,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1910,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17896,0.72,146.6,77.2,11.5,1386,17903,0.00,2.17,0.00,0.000,4,0.000,0.041,3398,508,2411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,17991,0.72,146.6,65.9,12.6,1404,17999,0.12,2.12,0.00,0.000,6,0.160,0.037,3366,1905,2411,0,0,0,0,0,0,26.54,26.67,28.83
$GC,18306,0.72,146.6,32.5,10.4,1465,18314,0.00,2.10,0.00,0.000,4,0.000,0.049,3365,3304,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,18341,0.72,146.6,28.4,10.4,1471,18348,0.00,2.08,0.00,0.000,6,0.000,0.032,3372,1893,2411,0,0,0,0,0,0,28.83,26.70,28.83
$FREEZE,8.78,2.255,-1.776,1,1,0
$FREEZE,8.22,2.619,-1.774,1,1,0
$FREEZE,7.89,3.038,-1.771,1,1,0
$FREEZE,7.41,3.163,-1.768,1,1,0
$FREEZE,7.02,3.205,-1.770,1,1,0
$FREEZE,6.58,3.214,-1.771,1,1,0
$FREEZE,6.26,3.216,-1.773,1,1,0
$FREEZE,5.86,3.219,-1.774,1,1,0
$FREEZE,5.37,3.234,-1.774,1,1,0
$FREEZE,4.86,3.244,-1.774,1,1,0
$FREEZE,4.55,3.287,-1.773,1,1,0
$FREEZE,4.11,3.292,-1.773,1,1,0
$FREEZE,3.78,3.296,-1.773,1,1,0
$STATE,18636,end climb,SURFACE_DEPTH_REACHED
$STATE,18636,begin surface coast
$FREEZE,3.40,3.303,-1.773,1,1,0
$FREEZE,2.99,3.311,-1.773,1,1,0
$FREEZE,2.51,3.321,-1.773,1,1,0
$FREEZE,2.19,3.384,-1.772,1,1,0
$FREEZE,1.87,3.434,-1.772,1,1,0
$FREEZE,1.48,3.445,-1.771,1,1,0
$FREEZE,1.34,3.383,-0.153,1,1,0
$FREEZE,1.45,3.417,-1.774,1,1,0
$FREEZE,1.36,3.188,-0.120,1,1,0
$FREEZE,1.36,3.309,-0.922,1,1,0
$FREEZE,1.34,3.391,-0.135,1,1,0
$FREEZE,1.27,3.044,-0.838,1,1,0
$FINISH,1.3,1.012328
$STATE,18702,end surface coast,CONTROL_FINISHED_OK
$STATE,18702,begin surface
$SM_CCo,18722,109.93,0.072,0,0,1397,400.08
$SM_GC,2.35,8.02,0.32,109.93,0.054,0.060,0.072,342,2103,1397,-8.65,-1.41,400.08,0,0,0,0,0,0,26.63,26.69,26.46
$RAFOS_CLK,985
$RAFOS,6,1341535749,0.833333,0.819167,45,44,43,42,41,40,1913,542,734,750,317,61
$RAFOS,5,1341535267,0.700000,0.685278,49,48,44,43,43,42,1390,970,235,1357,1636,1850
$RAFOS,4,1341534788,0.566667,0.552222,50,48,47,47,46,44,710,512,363,377,1802,1326
$RAFOS,3,1341534311,0.433333,0.419722,45,42,42,41,41,40,1904,276,418,108,348,398
$RAFOS,2,1341533829,0.300000,0.285833,53,48,48,46,42,39,1499,200,1889,720,1068,1630
$RAFOS,1,1341533349,0.166667,0.152500,48,44,42,42,41,41,1035,1285,1573,400,61,200
$RAFOS,0,1341532869,0.033333,0.019167,46,46,43,41,39,39,487,236,1890,1212,154,1622
$RAFOS,6,1341521347,20.833334,20.818611,43,42,41,41,40,39,876,857,1,1815,71,1894
$RAFOS,5,1341520865,20.700001,20.684723,48,42,42,42,38,38,1005,1232,1368,1679,1,1935
$RAFOS,4,1341520388,20.566668,20.552221,48,44,43,40,40,39,1487,699,517,1,828,469
$RAFOS,3,1341519905,20.433332,20.418056,51,44,42,39,39,39,1729,847,769,1029,1182,1497
$RAFOS,2,1341519460,20.299999,20.294445,46,46,45,44,43,42,1713,1508,860,629,1723,1035
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5847.18,050712,202041
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.47
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,17.7
$ALTIM_BOTTOM_PING,951.1,39.1
$24V_AH,22.8,13.208
$10V_AH,10.0,15.332
$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,20.825,178.000,257.575,109.925,0.000,0.000,0.000,612.850,4.250,0.000,17.988,4088.578,11086.138,590.536,3477.830,461.340,0.000,2744.001,0.000,2837.371,4320.000,32.569,0.000
$DEVICE_MAMPS,257.805,69.615,1467.270,71.910,0.000,0.000,0.000,262.915,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.994,1235.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151520
$DATA_FILE_SIZE,70017,1540
$CAP_FILE_SIZE,208263,0
$CFSIZE,260165632,238305280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1458.8
$CURRENT,0.079,354.6,1
$GPS,060712,013234,6649.781,-5852.976,31,0.8,31,-33.7