version: 66.11
glider: 108
mission: 21
dive: 153
start: 7 17 112 11 54 46
data:
$ID,108
$MISSION,21
$DIVE,153
$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,-3
$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,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-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,-191281.14
$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,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,3279
$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
$GPS1,170712,114605,6700.249,-5846.274,38,0.9,38,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-75.8
$GPS2,170712,115412,6700.181,-5846.418,16,1.0,16,-33.9
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,294.9,78773,-16.9,-9.167
$D_GRID,1106
$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,-0.75,-146.6,0.0,0.0,0,64,0.00,0.00,-44.75,0.000,2,0.000,0.000,343,2095,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.75,-146.6,3.0,-2.3,8,129,10.20,2.25,-43.58,0.000,4,0.256,0.067,2872,3512,3880,0,0,0,0,0,0,25.84,26.22,26.58
$GC,332,-0.75,-146.6,38.8,-13.6,58,340,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,2099,3885,0,0,0,0,0,0,28.83,26.37,28.83
$GC,646,-0.75,-146.6,77.7,-12.9,119,652,0.00,2.17,0.00,0.000,4,0.000,0.050,2869,3505,3888,0,0,0,0,0,0,28.83,26.34,28.83
$GC,762,-0.75,-146.6,93.5,-13.2,141,769,0.00,2.10,0.00,0.000,6,0.000,0.031,2869,2086,3888,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1072,-0.75,-146.6,134.1,-13.2,176,1081,0.00,2.17,0.00,0.000,4,0.000,0.052,2861,3502,3888,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1239,-0.75,-146.6,157.3,-14.1,192,1246,0.00,2.08,0.00,0.000,6,0.000,0.031,2862,2102,3888,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1547,-0.75,-146.6,197.5,-12.1,223,1555,0.00,2.20,0.00,0.000,4,0.000,0.052,2854,3517,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1629,-0.75,-146.6,208.0,-12.9,231,1639,0.12,2.08,0.00,0.000,6,0.176,0.031,2889,2094,3886,0,0,0,0,0,0,26.28,26.55,28.83
$GC,1938,-0.75,-146.6,238.4,-9.5,262,1948,0.00,2.17,0.00,0.000,4,0.000,0.051,2881,3511,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2054,-0.75,-146.6,249.9,-10.3,273,2061,0.00,2.08,0.00,0.000,6,0.000,0.031,2881,2102,3885,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2361,-0.75,-146.6,280.7,-10.0,304,2369,0.00,2.15,0.00,0.000,4,0.000,0.050,2870,3506,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2475,-0.75,-146.6,292.5,-10.7,315,2482,0.00,2.08,0.00,0.000,6,0.000,0.031,2870,2099,3884,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2786,-0.75,-146.6,324.6,-10.3,346,2795,0.00,2.15,0.00,0.000,4,0.000,0.050,2860,3511,3884,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2933,-0.75,-146.6,340.8,-10.7,360,2940,0.00,2.08,0.00,0.000,6,0.000,0.031,2860,2101,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3239,-0.75,-146.6,374.1,-10.6,391,3248,0.12,2.12,0.00,0.000,4,0.178,0.048,2888,3503,3884,0,0,0,0,0,0,26.39,26.55,28.83
$GC,3375,-0.75,-146.6,386.9,-9.6,404,3382,0.00,2.08,0.00,0.000,6,0.000,0.030,2887,2087,3884,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3683,-0.75,-146.6,416.5,-9.8,435,3691,0.00,2.15,0.00,0.000,4,0.000,0.050,2877,3505,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3788,-0.75,-146.6,427.2,-11.1,445,3795,0.00,2.08,0.00,0.000,6,0.000,0.030,2877,2083,3883,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4095,-0.75,-146.6,457.8,-10.0,476,4103,0.00,2.17,0.00,0.000,4,0.000,0.050,2867,3505,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4187,-0.75,-146.6,467.3,-10.4,485,4195,0.00,2.08,0.00,0.000,6,0.000,0.030,2867,2091,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4496,-0.75,-146.6,497.9,-9.6,516,4505,0.00,2.17,0.00,0.000,4,0.000,0.050,2856,3520,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4591,-0.75,-146.6,507.7,-10.3,525,4600,0.10,2.05,0.00,0.000,6,0.145,0.030,2889,2098,3884,0,0,0,0,0,0,26.39,26.68,28.83
$GC,4901,-0.75,-146.6,533.6,-8.2,556,4910,0.00,2.12,0.00,0.000,4,0.000,0.049,2880,3506,3884,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5014,-0.75,-146.6,543.5,-8.7,567,5023,0.00,2.03,0.00,0.000,6,0.000,0.030,2881,2099,3884,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5323,-0.75,-146.6,569.8,-8.3,598,5333,0.00,2.12,0.00,0.000,4,0.000,0.049,2870,3505,3884,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5419,-0.75,-146.6,578.2,-9.1,607,5425,0.00,2.05,0.00,0.000,6,0.000,0.029,2870,2099,3884,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5730,-0.75,-146.6,605.8,-9.0,634,5736,0.00,2.12,0.00,0.000,4,0.000,0.049,2859,3505,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5832,-0.75,-146.6,614.9,-9.5,637,5836,0.00,2.05,0.00,0.000,6,0.000,0.029,2860,2099,3884,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6144,-0.75,-146.6,647.4,-10.2,648,6149,0.00,2.15,0.00,0.000,4,0.000,0.049,2849,3510,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6254,-0.75,-146.6,657.4,-10.9,651,6264,0.15,2.08,0.00,0.000,6,0.161,0.030,2889,2089,3884,0,0,0,0,0,0,26.41,26.71,28.83
$GC,6564,-0.75,-146.6,685.5,-8.2,662,6570,0.00,2.15,0.00,0.000,4,0.000,0.049,2881,3509,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6691,-0.75,-146.6,696.3,-9.0,666,6697,0.00,2.05,0.00,0.000,6,0.000,0.030,2881,2079,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7015,-0.75,-146.6,724.5,-8.5,677,7019,0.00,2.20,0.00,0.000,4,0.000,0.049,2871,3522,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7126,-0.75,-146.6,733.2,-9.2,680,7130,0.00,2.08,0.00,0.000,6,0.000,0.030,2871,2086,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7433,-0.75,-146.6,762.1,-8.9,690,7438,0.00,2.17,0.00,0.000,4,0.000,0.050,2859,3507,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7512,-0.75,-146.6,767.8,-9.1,692,7520,0.00,2.08,0.00,0.000,6,0.000,0.030,2860,2088,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7823,-0.75,-146.6,798.0,-9.2,703,7828,0.00,2.15,0.00,0.000,4,0.000,0.049,2850,3501,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7913,-0.75,-146.6,806.9,-9.7,706,7919,0.15,2.05,0.00,0.000,6,0.160,0.031,2889,2096,3884,0,0,0,0,0,0,26.41,26.72,28.83
$GC,8245,-0.75,-146.6,831.3,-7.1,717,8251,0.00,2.15,0.00,0.000,4,0.000,0.049,2882,3505,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8337,-0.75,-146.6,838.4,-7.7,720,8341,0.00,2.05,0.00,0.000,6,0.000,0.030,2882,2085,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8661,-0.75,-146.6,863.9,-7.9,731,8666,0.00,2.15,0.00,0.000,4,0.000,0.050,2871,3505,3883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8768,-0.75,-146.6,871.6,-8.4,734,8771,0.00,2.05,0.00,0.000,6,0.000,0.030,2871,2086,3883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9075,-0.75,-146.6,899.1,-8.6,744,9079,0.00,2.17,0.00,0.000,4,0.000,0.050,2861,3507,3883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9176,-0.75,-146.6,907.7,-9.0,747,9180,0.00,2.08,0.00,0.000,6,0.000,0.030,2861,2087,3883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9494,-0.75,-146.6,936.9,-8.9,758,9499,0.00,2.15,0.00,0.000,4,0.000,0.050,2850,3506,3883,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9602,-0.75,-146.6,945.8,-9.6,761,9607,0.15,2.08,0.00,0.000,6,0.157,0.030,2890,2083,3883,0,0,0,0,0,0,26.42,26.72,28.83
$GC,9909,-0.75,-146.6,971.3,-7.6,771,9913,0.00,2.20,0.00,0.000,4,0.000,0.050,2882,3521,3883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10021,-0.75,-146.6,978.9,-8.0,774,10031,0.00,2.08,0.00,0.000,6,0.000,0.030,2882,2095,3883,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,10149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10149,begin apogee
$GC,10157,-0.17,0.0,991.2,-8.1,779,10284,0.57,0.00,123.57,1.439,6,0.135,0.000,3069,1895,3279,0,0,0,0,0,0,26.38,28.83,23.70
$STATE,10288,end apogee,CONTROL_FINISHED_OK
$STATE,10288,begin climb
$GC,10291,0.75,146.6,994.9,0.0,783,10430,0.85,2.42,126.97,1.340,4,0.069,0.037,3378,529,2680,0,0,0,0,0,0,24.71,23.72,22.83
$GC,10512,0.75,146.6,975.3,12.8,791,10516,0.00,2.30,0.00,0.000,6,0.000,0.036,3378,1900,2673,0,0,0,0,0,0,28.83,24.67,28.83
$GC,10834,0.75,146.6,930.5,13.7,802,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1900,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11134,0.75,146.6,888.8,14.1,812,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1900,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11434,0.75,146.6,846.3,13.9,822,11440,0.00,2.17,0.00,0.000,4,0.000,0.040,3387,519,2665,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11502,0.75,146.6,837.8,14.0,824,11506,0.00,2.17,0.00,0.000,6,0.000,0.036,3387,1918,2665,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11820,0.75,146.6,790.6,14.3,835,11825,0.00,2.20,0.00,0.000,4,0.000,0.040,3396,512,2664,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11863,0.75,146.6,786.2,14.3,836,11867,0.00,2.15,0.00,0.000,6,0.000,0.037,3396,1902,2664,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12175,0.75,146.6,737.8,14.8,847,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1902,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12476,0.75,146.6,693.1,15.1,857,12481,0.00,2.15,0.00,0.000,4,0.000,0.040,3405,524,2663,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12536,0.75,146.6,684.2,14.9,859,12542,0.12,2.12,0.00,0.000,6,0.180,0.037,3373,1904,2663,0,0,0,0,0,0,26.17,26.39,28.83
$GC,12866,0.75,146.6,640.5,13.0,870,12871,0.00,2.15,0.00,0.000,4,0.000,0.047,3373,3304,2663,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12883,0.75,146.6,640.5,13.0,870,12887,0.00,2.08,0.00,0.000,6,0.000,0.031,3381,1910,2662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13191,0.75,146.6,595.6,13.5,882,13200,0.00,2.12,0.00,0.000,4,0.000,0.041,3390,511,2662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13263,0.75,146.6,585.4,14.3,889,13272,0.00,2.12,0.00,0.000,6,0.000,0.037,3391,1895,2663,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13573,0.75,146.6,541.3,14.0,920,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1895,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13875,0.75,146.6,500.0,13.5,950,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1894,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14185,0.75,146.6,457.8,13.5,981,14191,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1894,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14496,0.75,146.6,416.2,13.5,1012,14506,0.00,2.12,0.00,0.000,4,0.000,0.041,3399,519,2662,0,0,0,0,0,0,28.83,26.54,28.83
$GC,14532,0.75,146.6,411.1,13.6,1015,14539,0.00,2.15,0.00,0.000,6,0.000,0.036,3399,1911,2662,0,0,0,0,0,0,28.83,26.56,28.83
$GC,14839,0.75,146.6,366.7,14.3,1046,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1911,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15142,0.75,146.6,323.7,14.2,1076,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1911,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15450,0.75,146.6,281.6,13.6,1107,15458,0.00,2.15,0.00,0.000,4,0.000,0.041,3409,515,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15504,0.75,146.6,274.6,12.9,1112,15512,0.15,2.15,0.00,0.000,6,0.172,0.036,3369,1915,2662,0,0,0,0,0,0,26.35,26.60,28.83
$GC,15812,0.75,146.6,237.5,11.7,1143,15815,0.00,2.17,0.00,0.000,4,0.000,0.040,3377,508,2662,0,0,0,0,0,0,28.83,26.59,28.83
$GC,15846,0.75,146.6,233.7,11.9,1146,15853,0.00,2.12,0.00,0.000,6,0.000,0.035,3377,1903,2662,0,0,1,0,0,0,28.83,26.61,28.83
$GC,16155,0.75,146.6,197.3,10.9,1177,16163,0.00,2.08,0.00,0.000,4,0.000,0.047,3376,3307,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16176,0.75,146.6,194.7,11.3,1179,16185,0.00,2.08,0.00,0.000,6,0.000,0.031,3385,1899,2662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16486,0.75,146.6,161.1,10.6,1210,16495,0.00,2.10,0.00,0.000,4,0.000,0.041,3396,508,2662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16632,0.75,146.6,145.4,11.1,1224,16639,0.00,2.12,0.00,0.000,6,0.000,0.036,3396,1900,2662,0,0,1,0,0,0,28.83,26.63,28.83
$GC,16939,0.75,146.6,112.9,10.7,1255,16941,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1900,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17242,0.75,149.9,84.3,9.0,1301,17248,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1900,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17554,0.75,149.9,56.1,9.9,1362,17560,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1900,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17866,0.81,197.4,28.9,7.2,1423,17903,0.00,2.22,27.62,0.881,4,0.000,0.041,3405,514,2472,0,0,0,0,0,0,28.83,26.18,25.37
$FREEZE,8.73,5.557,-1.745,1,1,0
$FREEZE,8.27,5.562,-1.745,1,1,0
$FREEZE,7.96,5.571,-1.745,1,1,0
$FREEZE,7.59,5.577,-1.745,1,1,0
$FREEZE,7.21,5.575,-1.746,1,1,0
$FREEZE,6.66,5.597,-1.745,1,1,0
$FREEZE,6.14,5.586,-1.745,1,1,0
$GC,18126,0.96,319.4,9.1,4.1,1472,18188,0.00,2.17,55.85,0.082,6,0.000,0.037,3405,1906,1975,0,0,0,0,0,0,28.83,26.29,26.10
$FREEZE,5.23,5.589,-1.745,1,1,0
$FREEZE,4.77,5.594,-1.745,1,1,0
$FREEZE,4.27,5.595,-1.744,1,1,0
$FREEZE,3.90,5.597,-1.744,1,1,0
$STATE,18212,end climb,SURFACE_DEPTH_REACHED
$STATE,18212,begin surface coast
$FREEZE,3.16,5.606,-1.743,1,1,0
$FREEZE,2.66,5.618,-1.743,1,1,0
$FREEZE,2.30,5.622,-1.742,1,1,0
$FREEZE,1.78,5.626,-1.742,1,1,0
$FREEZE,1.46,5.479,-1.751,1,1,0
$FREEZE,1.51,5.294,-1.602,1,1,0
$FREEZE,1.52,5.555,-1.727,1,1,0
$FREEZE,1.57,5.533,-0.120,1,1,0
$FREEZE,1.55,5.369,-0.571,1,1,0
$FINISH,1.5,1.008292
$STATE,18260,end surface coast,CONTROL_FINISHED_OK
$STATE,18260,begin surface
$SM_CCo,18279,34.38,0.072,0,0,1647,400.08
$SM_GC,2.17,8.27,0.28,34.38,0.054,0.065,0.072,344,2101,1647,-8.65,-1.30,400.08,0,0,0,0,0,0,26.17,26.24,26.11
$RAFOS_CLK,954
$RAFOS,6,1342543741,16.833334,16.816944,45,45,45,41,39,38,265,594,1813,1219,135,297
$RAFOS,5,1342543264,16.700001,16.684444,45,44,44,41,41,40,151,538,709,61,297,627
$RAFOS,4,1342542783,16.566668,16.550833,48,47,46,44,44,43,1004,1308,522,1890,509,1036
$RAFOS,3,1342542310,16.433332,16.419445,46,44,43,43,42,41,1461,597,500,632,1180,1799
$RAFOS,2,1342541825,16.299999,16.284721,52,46,45,43,41,40,1111,1226,104,284,1371,376
$RAFOS,1,1342541343,16.166666,16.150833,47,45,44,44,42,41,1927,957,479,1473,422,1865
$RAFOS,0,1342540863,16.033333,16.017500,54,49,48,47,47,46,853,1556,480,713,1390,985
$RAFOS,6,1342529345,12.833333,12.818055,43,42,42,41,41,41,1365,201,1298,1,247,1672
$RAFOS,5,1342528866,12.700000,12.685000,47,44,44,43,43,41,428,854,1366,1535,159,1716
$RAFOS,4,1342528387,12.566667,12.551945,46,41,41,40,40,39,1131,1045,1059,247,1808,579
$RAFOS,3,1342527902,12.433333,12.417222,48,46,44,42,41,41,501,1529,248,787,487,1394
$RAFOS,2,1342527429,12.300000,12.285833,47,44,42,40,40,38,880,537,441,859,1634,949
$RAFOS,1,1342526945,12.166667,12.151389,43,43,41,39,39,38,933,1776,1897,1679,1923,201
$RAFOS,0,1342526462,12.033333,12.017222,49,46,43,41,40,40,610,1475,61,673,228,1635
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5842.33,170712,060629
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,22.8,19.613
$10V_AH,10.1,22.688
$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,20.975,153.875,334.025,34.375,0.000,0.000,0.000,343.625,4.500,0.000,17.548,3922.995,10651.353,589.178,3216.664,415.352,0.000,2462.656,0.000,2832.360,5040.000,29.811,0.000
$DEVICE_MAMPS,256.275,67.320,1438.965,71.910,0.000,0.000,0.000,277.146,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.256,1119.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70076,1493
$CAP_FILE_SIZE,193287,0
$CFSIZE,260165632,233095168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$SOUNDSPEED,1459.0
$CURRENT,0.027, 77.1,1
$GPS,170712,170134,6700.471,-5851.949,39,0.8,39,-33.9