version: 66.11
glider: 108
mission: 21
dive: 91
start: 7 6 112 1 40 37
data:
$ID,108
$MISSION,21
$DIVE,91
$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,-191201.25
$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,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
$GPS1,060712,013234,6649.781,-5852.976,31,0.8,31,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-76.0
$GPS2,060712,014005,6649.750,-5853.030,16,1.0,16,-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,127.5,93565,-16.3,-9.167
$D_GRID,956
$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,19,-0.72,-146.6,0.0,0.0,0,100,0.00,0.00,-78.88,0.000,2,0.000,0.000,340,2112,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.72,-146.6,3.0,-1.2,14,131,9.98,2.20,-11.52,0.000,4,0.256,0.070,2885,3501,3630,0,0,0,0,0,0,26.26,26.51,26.82
$GC,261,-0.72,-146.6,26.4,-14.1,43,268,0.00,2.08,0.00,0.000,6,0.000,0.032,2892,2096,3635,0,0,0,0,0,0,28.83,26.59,28.83
$GC,572,-0.72,-146.6,60.6,-10.4,104,579,0.00,2.15,0.00,0.000,4,0.000,0.051,2885,3500,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,643,-0.72,-146.6,68.8,-12.2,117,650,0.00,2.08,0.00,0.000,6,0.000,0.032,2892,2093,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,955,-0.72,-146.6,103.4,-11.0,175,963,0.00,2.08,0.00,0.000,4,0.000,0.040,2901,707,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,999,-0.72,-146.6,108.1,-11.3,179,1006,0.00,2.15,0.00,0.000,6,0.000,0.041,2894,2100,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1307,-0.72,-146.6,139.7,-9.4,210,1315,0.00,2.12,0.00,0.000,4,0.000,0.053,2883,3511,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1439,-0.72,-146.6,153.0,-10.1,223,1448,0.00,2.08,0.00,0.000,6,0.000,0.033,2883,2097,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1749,-0.72,-146.6,183.4,-10.0,254,1758,0.00,2.20,0.00,0.000,4,0.000,0.052,2872,3515,3636,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1794,-0.72,-146.6,187.9,-10.7,258,1800,0.00,2.08,0.00,0.000,6,0.000,0.032,2872,2098,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2102,-0.72,-146.6,219.2,-9.3,289,2111,0.00,2.12,0.00,0.000,4,0.000,0.051,2862,3497,3636,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2185,-0.72,-146.6,227.4,-9.9,297,2194,0.10,2.08,0.00,0.000,6,0.161,0.032,2894,2088,3635,0,0,0,0,0,0,26.50,26.70,28.83
$GC,2494,-0.72,-146.6,252.2,-7.9,328,2504,0.00,2.15,0.00,0.000,4,0.000,0.051,2886,3507,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2530,-0.72,-146.6,254.7,-8.0,331,2536,0.00,2.08,0.00,0.000,6,0.000,0.032,2885,2092,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2838,-0.72,-146.6,282.2,-9.0,362,2846,0.00,2.15,0.00,0.000,4,0.000,0.051,2875,3501,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2862,-0.72,-146.6,284.5,-9.4,364,2870,0.00,2.08,0.00,0.000,6,0.000,0.031,2875,2089,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3170,-0.72,-146.6,314.5,-9.3,395,3178,0.00,2.17,0.00,0.000,4,0.000,0.051,2865,3503,3635,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3194,-0.72,-146.6,316.7,-9.7,397,3202,0.12,2.08,0.00,0.000,6,0.177,0.031,2896,2088,3635,0,0,0,0,0,0,26.53,26.72,28.83
$GC,3502,-0.72,-146.6,343.4,-8.3,428,3512,0.00,2.17,0.00,0.000,4,0.000,0.050,2888,3508,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3545,-0.72,-146.6,347.2,-8.9,432,3555,0.00,2.08,0.00,0.000,6,0.000,0.031,2888,2088,3635,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3855,-0.72,-146.6,374.2,-8.6,463,3864,0.00,2.15,0.00,0.000,4,0.000,0.050,2877,3501,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3920,-0.72,-146.6,379.6,-8.8,469,3927,0.00,2.05,0.00,0.000,6,0.000,0.031,2877,2097,3634,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4227,-0.72,-146.6,406.7,-8.7,500,4237,0.00,2.12,0.00,0.000,4,0.000,0.050,2867,3508,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4293,-0.72,-146.6,412.7,-9.6,506,4300,0.00,2.08,0.00,0.000,6,0.000,0.031,2866,2088,3635,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4601,-0.72,-146.6,440.3,-9.0,537,4611,0.12,2.15,0.00,0.000,4,0.175,0.048,2894,3514,3634,0,0,0,0,0,0,26.56,26.68,28.83
$GC,4685,-0.72,-146.6,447.2,-8.3,545,4694,0.00,2.08,0.00,0.000,6,0.000,0.031,2894,2084,3634,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4994,-0.72,-146.6,471.3,-7.5,576,5004,0.00,2.15,0.00,0.000,4,0.000,0.049,2884,3503,3635,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5067,-0.72,-146.6,477.3,-8.2,583,5076,0.00,2.05,0.00,0.000,6,0.000,0.030,2883,2089,3635,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5378,-0.72,-146.6,500.4,-7.4,614,5387,0.00,2.12,0.00,0.000,4,0.000,0.049,2873,3502,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5424,-0.72,-146.6,503.8,-8.0,618,5431,0.00,2.05,0.00,0.000,6,0.000,0.030,2873,2090,3635,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5731,-0.72,-146.6,527.4,-7.5,649,5740,0.00,2.12,0.00,0.000,4,0.000,0.048,2863,3504,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5807,-0.72,-146.6,533.5,-8.4,656,5815,0.12,2.05,0.00,0.000,6,0.170,0.030,2895,2093,3636,0,0,0,0,0,0,26.57,26.76,28.83
$GC,6114,-0.72,-146.6,555.1,-6.7,687,6122,0.00,2.12,0.00,0.000,4,0.000,0.048,2887,3506,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6196,-0.72,-146.6,561.4,-8.0,695,6205,0.00,2.05,0.00,0.000,6,0.000,0.029,2887,2088,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6506,-0.72,-146.6,583.9,-7.0,726,6515,0.00,2.15,0.00,0.000,4,0.000,0.048,2877,3505,3637,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6591,-0.72,-146.6,590.2,-8.0,734,6598,0.00,2.05,0.00,0.000,6,0.000,0.030,2876,2090,3637,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6899,-0.72,-146.6,613.6,-7.4,753,6903,0.00,2.15,0.00,0.000,4,0.000,0.049,2866,3506,3638,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6965,-0.72,-146.6,618.8,-7.8,755,6969,0.12,2.05,0.00,0.000,6,0.169,0.030,2898,2092,3638,0,0,0,0,0,0,26.58,26.77,28.83
$GC,7288,-0.72,-146.6,639.2,-6.1,766,7292,0.00,2.17,0.00,0.000,4,0.000,0.049,2890,3520,3638,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7344,-0.72,-146.6,641.1,-6.1,767,7351,0.00,2.08,0.00,0.000,6,0.000,0.030,2890,2086,3638,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7651,-0.72,-146.6,661.9,-6.2,778,7656,0.00,2.15,0.00,0.000,4,0.000,0.049,2879,3507,3638,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7711,-0.72,-146.6,666.0,-6.4,780,7717,0.00,2.05,0.00,0.000,6,0.000,0.030,2879,2091,3638,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8041,-0.72,-146.6,687.9,-6.5,791,8046,0.00,2.12,0.00,0.000,4,0.000,0.049,2869,3509,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8121,-0.72,-146.6,692.2,-6.8,793,8130,0.00,2.05,0.00,0.000,6,0.000,0.030,2869,2095,3638,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8434,-0.72,-146.6,715.2,-6.9,804,8439,0.00,2.10,0.00,0.000,4,0.000,0.049,2858,3501,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8523,-0.72,-146.6,722.3,-7.6,807,8529,0.15,2.05,0.00,0.000,6,0.162,0.031,2898,2091,3638,0,0,0,0,0,0,26.58,26.79,28.83
$GC,8855,-0.72,-146.6,742.3,-6.0,818,8861,0.00,2.12,0.00,0.000,4,0.000,0.049,2890,3506,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8911,-0.72,-146.6,744.3,-6.2,819,8917,0.00,2.05,0.00,0.000,6,0.000,0.030,2890,2090,3638,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9215,-0.72,-146.6,765.9,-6.6,830,9220,0.00,2.12,0.00,0.000,4,0.000,0.050,2879,3508,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9292,-0.72,-146.6,770.0,-6.8,832,9297,0.00,2.05,0.00,0.000,6,0.000,0.031,2879,2099,3638,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9600,-0.72,-146.6,792.4,-6.9,842,9605,0.00,2.15,0.00,0.000,4,0.000,0.049,2869,3513,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9659,-0.72,-146.6,796.7,-7.1,844,9665,0.00,2.08,0.00,0.000,6,0.000,0.030,2869,2091,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9990,-0.72,-146.6,820.9,-7.6,855,9995,0.00,2.15,0.00,0.000,4,0.000,0.050,2858,3508,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10038,-0.72,-146.6,823.1,-7.7,856,10043,0.15,2.05,0.00,0.000,6,0.162,0.031,2898,2097,3638,0,0,0,0,0,0,26.58,26.79,28.83
$GC,10345,-0.72,-146.6,843.7,-6.2,866,10351,0.00,2.17,0.00,0.000,4,0.000,0.050,2890,3519,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10432,-0.72,-146.6,847.9,-6.3,868,10440,0.00,2.08,0.00,0.000,6,0.000,0.031,2890,2090,3638,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10741,-0.72,-146.6,867.6,-5.5,879,10746,0.00,2.12,0.00,0.000,4,0.000,0.050,2879,3504,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10793,-0.72,-146.6,869.4,-5.5,880,10800,0.00,2.05,0.00,0.000,6,0.000,0.030,2879,2093,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11100,-0.72,-146.6,888.7,-5.7,891,11105,0.00,2.12,0.00,0.000,4,0.000,0.050,2868,3506,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11193,-0.72,-146.6,894.7,-6.4,894,11197,0.00,2.03,0.00,0.000,6,0.000,0.031,2869,2102,3637,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11521,-0.72,-146.6,914.9,-5.7,905,11527,0.00,2.12,0.00,0.000,4,0.000,0.050,2858,3510,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11610,-0.72,-146.6,921.5,-7.1,908,11616,0.10,2.05,0.00,0.000,6,0.145,0.031,2891,2094,3637,0,0,0,0,0,0,26.60,26.79,28.83
$GC,11943,-0.72,-146.6,941.2,-6.0,919,11947,0.00,2.17,0.00,0.000,4,0.000,0.050,2883,3520,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11983,-0.72,-146.6,943.4,-6.1,920,11987,0.00,2.08,0.00,0.000,6,0.000,0.030,2883,2088,3637,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,12213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12213,begin apogee
$GC,12220,-0.17,0.0,957.8,-6.4,928,12354,0.57,0.00,127.38,1.473,6,0.141,0.000,3068,1882,3029,0,0,0,0,0,0,26.59,28.83,23.60
$STATE,12355,end apogee,CONTROL_FINISHED_OK
$STATE,12355,begin climb
$GC,12358,0.72,146.6,958.2,0.0,932,12500,0.88,2.38,131.02,1.432,4,0.096,0.038,3365,537,2430,0,0,0,0,0,0,24.65,23.80,22.82
$GC,12536,0.72,146.6,938.6,13.4,938,12543,0.00,2.30,0.00,0.000,6,0.000,0.034,3365,1897,2425,0,0,0,0,0,0,28.83,24.36,28.83
$GC,12843,0.72,146.6,883.7,16.4,949,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1896,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13144,0.72,146.6,835.7,16.2,959,13149,0.00,2.17,0.00,0.000,4,0.000,0.047,3365,3302,2415,0,0,0,0,0,0,28.83,25.81,28.83
$GC,13166,0.72,146.6,835.7,16.2,959,13173,0.00,2.12,0.00,0.000,6,0.000,0.031,3373,1905,2415,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13474,0.72,146.6,779.4,16.9,970,13480,0.00,2.15,0.00,0.000,4,0.000,0.040,3383,512,2415,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13587,0.72,146.6,763.7,17.5,973,13595,0.00,2.20,0.00,0.000,6,0.000,0.037,3383,1910,2414,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13893,0.72,146.6,706.0,17.3,984,13899,0.00,2.15,0.00,0.000,4,0.000,0.047,3384,3304,2414,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13916,0.72,146.6,706.0,17.3,984,13923,0.00,2.10,0.00,0.000,6,0.000,0.031,3393,1899,2413,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14224,0.72,146.6,645.8,18.0,995,14229,0.00,2.12,0.00,0.000,4,0.000,0.040,3403,510,2413,0,0,0,0,0,0,28.83,26.32,28.83
$GC,14344,0.72,146.6,624.0,18.2,999,14351,0.10,2.15,0.00,0.000,6,0.151,0.037,3369,1904,2412,0,0,0,0,0,0,26.22,26.36,28.83
$GC,14654,0.72,146.6,575.2,15.2,1020,14663,0.00,2.12,0.00,0.000,4,0.000,0.048,3369,3307,2412,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14689,0.72,146.6,570.3,15.1,1023,14696,0.00,2.10,0.00,0.000,6,0.000,0.031,3376,1897,2411,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14996,0.72,146.6,518.5,17.2,1054,15005,0.00,2.08,0.00,0.000,4,0.000,0.040,3386,512,2412,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15091,0.72,146.6,502.4,17.2,1063,15098,0.00,2.15,0.00,0.000,6,0.000,0.037,3386,1901,2412,0,0,0,0,0,0,28.83,26.48,28.83
$GC,15399,0.72,146.6,446.3,17.8,1094,15400,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1900,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15700,0.72,146.6,392.4,18.0,1124,15706,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1900,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16011,0.72,146.6,336.9,17.3,1155,16017,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1901,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16320,0.72,146.6,284.1,16.6,1186,16326,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1900,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16632,0.72,146.6,232.1,16.1,1217,16641,0.00,2.10,0.00,0.000,4,0.000,0.048,3387,3306,2412,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16667,0.72,146.6,226.0,16.4,1220,16675,0.12,2.08,0.00,0.000,6,0.180,0.031,3365,1898,2411,0,0,0,0,0,0,26.46,26.63,28.83
$GC,16975,0.72,146.6,181.9,14.0,1251,16983,0.00,2.10,0.00,0.000,4,0.000,0.041,3373,514,2411,0,0,0,0,0,0,28.83,26.61,28.83
$GC,17089,0.72,146.6,166.4,13.8,1262,17096,0.00,2.15,0.00,0.000,6,0.000,0.036,3374,1916,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17397,0.72,146.6,124.9,13.2,1293,17406,0.00,2.10,0.00,0.000,4,0.000,0.048,3373,3303,2411,0,0,0,0,0,0,28.83,26.61,28.83
$GC,17442,0.72,146.6,119.0,13.7,1297,17450,0.00,2.08,0.00,0.000,6,0.000,0.031,3382,1894,2411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17751,0.72,146.6,80.3,11.6,1344,17759,0.00,2.08,0.00,0.000,4,0.000,0.041,3393,513,2411,0,0,0,0,0,0,28.83,26.64,28.83
$GC,17859,0.72,146.6,67.5,12.0,1364,17865,0.00,2.12,0.00,0.000,6,0.000,0.037,3393,1902,2411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,18169,0.72,146.6,30.3,11.3,1425,18177,0.00,2.10,0.00,0.000,4,0.000,0.049,3393,3302,2411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,18307,0.72,146.6,14.6,9.8,1451,18314,0.15,2.08,0.00,0.000,6,0.163,0.032,3362,1893,2411,0,0,0,0,0,0,26.53,26.68,28.83
$FREEZE,8.81,3.295,-1.780,1,1,0
$FREEZE,8.44,3.301,-1.780,1,1,0
$FREEZE,8.11,3.344,-1.779,1,1,0
$FREEZE,7.73,3.368,-1.779,1,1,0
$FREEZE,7.38,3.392,-1.779,1,1,0
$FREEZE,7.08,3.414,-1.779,1,1,0
$FREEZE,6.65,3.454,-1.778,1,1,0
$FREEZE,6.27,3.469,-1.778,1,1,0
$FREEZE,5.93,3.471,-1.778,1,1,0
$FREEZE,5.68,3.471,-1.778,1,1,0
$FREEZE,5.41,3.465,-1.778,1,1,0
$FREEZE,4.99,3.469,-1.778,1,1,0
$FREEZE,4.56,3.475,-1.778,1,1,0
$FREEZE,4.23,3.472,-1.778,1,1,0
$FREEZE,3.87,3.472,-1.778,1,1,0
$STATE,18455,end climb,SURFACE_DEPTH_REACHED
$STATE,18455,begin surface coast
$FREEZE,3.55,3.461,-1.778,1,1,0
$FREEZE,3.08,3.472,-1.777,1,1,0
$FREEZE,2.74,3.460,-1.777,1,1,0
$FREEZE,2.47,3.475,-1.777,1,1,0
$FREEZE,2.13,3.359,-1.783,1,1,0
$FREEZE,1.61,3.469,-1.777,1,1,0
$FREEZE,1.43,3.162,-1.794,1,1,0
$FREEZE,1.48,2.749,-0.947,1,1,0
$FREEZE,1.39,2.811,-0.230,1,1,0
$FREEZE,1.37,3.035,-1.695,1,1,0
$FREEZE,1.38,3.214,-0.835,1,1,0
$FINISH,1.4,1.012281
$STATE,18515,end surface coast,CONTROL_FINISHED_OK
$STATE,18515,begin surface
$SM_CCo,18534,109.68,0.071,0,0,1397,400.08
$SM_GC,2.39,7.95,0.32,109.68,0.050,0.060,0.071,339,2103,1397,-8.66,-1.36,400.08,0,0,0,0,0,0,26.63,26.67,26.44
$RAFOS_CLK,965
$RAFOS,6,1341550144,4.833333,4.817778,49,46,45,45,44,42,927,1669,1171,881,1858,1739
$RAFOS,5,1341549664,4.700000,4.684444,47,45,45,41,40,40,690,486,1230,1497,667,818
$RAFOS,4,1341549186,4.566667,4.551667,46,43,43,42,41,40,1516,820,1174,1611,1618,1581
$RAFOS,3,1341548703,4.433333,4.417500,45,43,43,42,41,40,1384,1196,1458,1082,1230,1485
$RAFOS,2,1341548223,4.300000,4.284167,46,45,44,42,42,42,701,555,1204,338,1306,1435
$RAFOS,1,1341547743,4.166667,4.150833,49,44,42,39,39,39,257,336,363,786,1312,1477
$RAFOS,0,1341547265,4.033333,4.018055,45,44,44,43,41,40,1338,861,1227,212,1,1389
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5835.00,050712,202026
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.17
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,22.8,13.318
$10V_AH,10.2,15.455
$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,20.750,186.475,258.400,109.675,0.000,0.000,0.000,307.400,4.000,0.000,16.773,3986.454,10889.025,666.755,3116.424,425.184,0.000,2502.781,0.000,2768.983,2520.000,32.652,0.000
$DEVICE_MAMPS,255.510,70.380,1472.625,71.145,0.000,0.000,0.000,283.138,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.310,1189.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70060,1490
$CAP_FILE_SIZE,201867,0
$CFSIZE,260165632,238219264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.9
$CURRENT,0.132,  1.2,1
$GPS,060712,065252,6650.568,-5847.584,39,0.8,39,-33.7