version: 66.11
glider: 108
mission: 21
dive: 405
start: 9 1 112 16 43 50
data:
$ID,108
$MISSION,21
$DIVE,405
$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,0.0038399999
$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,-191602.72
$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,65
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,010912,163535,6644.382,-5923.027,36,0.7,36,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-77.5
$GPS2,010912,164317,6644.358,-5922.947,16,1.0,17,-33.7
$SPEED_LIMITS,0.159,0.252
$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,135.2,117100,-16.9,-9.167
$D_GRID,913
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,74,0.00,0.00,-55.90,0.000,2,0.000,0.000,344,2113,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.75,-146.6,3.1,-1.3,10,122,10.57,2.15,-24.65,0.000,4,0.253,0.066,2873,3500,3881,0,0,0,0,0,0,25.32,26.01,26.64
$GC,193,-0.75,-146.6,19.0,-9.5,30,199,0.00,2.10,0.00,0.000,6,0.000,0.031,2873,2105,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,505,-0.75,-146.6,60.3,-14.2,91,512,0.00,2.20,0.00,0.000,4,0.000,0.050,2865,3501,3888,0,0,0,0,0,0,28.83,26.01,28.83
$GC,625,-0.75,-146.6,76.7,-13.1,114,631,0.00,2.10,0.00,0.000,6,0.000,0.032,2866,2104,3888,0,0,0,0,0,0,28.83,26.29,28.83
$GC,938,-0.75,-146.6,114.0,-11.0,163,946,0.00,2.15,0.00,0.000,4,0.000,0.050,2855,3496,3889,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1022,-0.75,-146.6,123.7,-12.0,171,1030,0.12,2.08,0.00,0.000,6,0.174,0.032,2886,2106,3889,0,0,0,0,0,0,25.90,26.33,28.83
$GC,1329,-0.75,-146.6,156.6,-10.7,202,1338,0.00,2.20,0.00,0.000,4,0.000,0.051,2878,3503,3889,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1525,-0.75,-146.6,179.1,-11.9,221,1533,0.00,2.05,0.00,0.000,6,0.000,0.032,2878,2131,3888,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1834,-0.75,-146.6,214.0,-10.9,252,1843,0.00,2.12,0.00,0.000,4,0.000,0.052,2868,3498,3888,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1968,-0.75,-146.6,228.6,-11.1,265,1976,0.00,2.00,0.00,0.000,6,0.000,0.032,2868,2156,3887,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2277,-0.75,-146.6,261.4,-10.9,296,2286,0.00,2.12,0.00,0.000,4,0.000,0.051,2857,3511,3887,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2393,-0.75,-146.6,274.8,-11.9,307,2401,0.12,2.00,0.00,0.000,6,0.159,0.032,2888,2157,3886,0,0,0,0,0,0,25.98,26.38,28.83
$GC,2699,-0.75,-146.6,304.8,-9.2,338,2708,0.00,2.10,0.00,0.000,4,0.000,0.050,2881,3511,3887,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2772,-0.75,-146.6,311.9,-9.8,345,2776,0.00,1.98,0.00,0.000,6,0.000,0.031,2881,2173,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3084,-0.75,-146.6,341.7,-9.5,376,3094,0.00,2.08,0.00,0.000,4,0.000,0.050,2871,3508,3885,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3181,-0.75,-146.6,351.6,-10.8,385,3187,0.00,1.95,0.00,0.000,6,0.000,0.031,2871,2183,3885,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3488,-0.75,-146.6,384.7,-10.3,416,3497,0.00,2.05,0.00,0.000,4,0.000,0.050,2861,3507,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3571,-0.75,-146.6,393.5,-10.6,424,3580,0.00,1.92,0.00,0.000,6,0.000,0.031,2861,2189,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3880,-0.75,-146.6,425.7,-10.4,455,3889,0.00,2.03,0.00,0.000,4,0.000,0.050,2851,3499,3885,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3986,-0.75,-146.6,436.7,-10.7,465,3993,0.15,1.92,0.00,0.000,6,0.148,0.031,2890,2192,3886,0,0,0,0,0,0,25.94,26.39,28.83
$GC,4293,-0.75,-146.6,462.4,-7.9,496,4297,0.00,2.05,0.00,0.000,4,0.000,0.050,2883,3509,3885,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4339,-0.75,-146.6,466.0,-8.5,500,4347,0.00,1.90,0.00,0.000,6,0.000,0.031,2882,2197,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4646,-0.75,-146.6,492.3,-8.4,531,4650,0.00,2.03,0.00,0.000,4,0.000,0.050,2873,3499,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4712,-0.75,-146.6,497.6,-8.6,537,4719,0.00,1.90,0.00,0.000,6,0.000,0.031,2873,2206,3885,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5019,-0.75,-146.6,524.0,-8.7,568,5028,0.00,2.00,0.00,0.000,4,0.000,0.050,2863,3499,3886,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5085,-0.75,-146.6,529.9,-9.5,574,5094,0.00,1.90,0.00,0.000,6,0.000,0.031,2863,2211,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5392,-0.75,-146.6,559.7,-9.8,605,5401,0.00,2.03,0.00,0.000,4,0.000,0.049,2853,3506,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5435,-0.75,-146.6,564.2,-10.7,609,5444,0.12,1.90,0.00,0.000,6,0.150,0.031,2885,2216,3886,0,0,0,0,0,0,26.02,26.40,28.83
$GC,5744,-0.75,-146.6,590.8,-8.4,640,5754,0.00,2.00,0.00,0.000,4,0.000,0.050,2877,3510,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5778,-0.75,-146.6,593.9,-9.1,643,5782,0.00,1.88,0.00,0.000,6,0.000,0.031,2877,2228,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6090,-0.75,-146.6,621.7,-8.7,658,6096,0.00,1.98,0.00,0.000,4,0.000,0.050,2869,3499,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6161,-0.75,-146.6,627.4,-9.0,660,6164,0.00,1.85,0.00,0.000,6,0.000,0.031,2869,2240,3885,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6483,-0.75,-146.6,656.9,-8.8,671,6487,0.00,1.98,0.00,0.000,4,0.000,0.050,2859,3506,3885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6553,-0.75,-146.6,662.6,-8.8,673,6558,0.12,1.88,0.00,0.000,6,0.151,0.031,2890,2232,3886,0,0,0,0,0,0,26.01,26.40,28.83
$GC,6872,-0.75,-146.6,687.4,-7.5,684,6878,0.00,1.98,0.00,0.000,4,0.000,0.049,2883,3514,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6920,-0.75,-146.6,689.8,-7.6,685,6924,0.00,1.85,0.00,0.000,6,0.000,0.030,2883,2253,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7233,-0.75,-146.6,715.3,-7.7,696,7238,0.00,1.95,0.00,0.000,4,0.000,0.050,2874,3506,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7275,-0.75,-146.6,717.6,-7.7,697,7278,0.00,1.83,0.00,0.000,6,0.000,0.030,2874,2247,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7592,-0.75,-146.6,744.2,-8.2,708,7598,0.00,1.98,0.00,0.000,4,0.000,0.050,2865,3503,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7631,-0.75,-146.6,746.7,-8.3,709,7634,0.00,1.83,0.00,0.000,6,0.000,0.030,2864,2261,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7953,-0.75,-146.6,776.5,-9.1,720,7958,0.00,1.92,0.00,0.000,4,0.000,0.049,2855,3503,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8015,-0.75,-146.6,782.4,-9.5,722,8020,0.12,1.83,0.00,0.000,6,0.148,0.030,2886,2259,3886,0,0,0,0,0,0,26.01,26.39,28.83
$GC,8340,-0.75,-146.6,808.2,-7.7,733,8345,0.00,1.92,0.00,0.000,4,0.000,0.049,2879,3505,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8369,-0.75,-146.6,810.7,-7.8,734,8373,0.00,1.85,0.00,0.000,6,0.000,0.030,2879,2266,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8702,-0.75,-146.6,837.0,-7.7,745,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2262,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9001,-0.75,-146.6,859.6,-7.7,755,9007,0.00,1.92,0.00,0.000,4,0.000,0.050,2870,3506,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9044,-0.75,-146.6,862.1,-8.0,756,9048,0.00,1.77,0.00,0.000,6,0.000,0.031,2870,2277,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9362,-0.75,-146.6,891.2,-9.1,767,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2275,3886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9630,begin apogee
$GC,9637,-0.17,0.0,913.3,-8.1,776,9767,0.62,0.00,125.05,1.328,4,0.131,0.000,3067,1893,3278,0,0,0,0,0,0,25.35,28.83,23.15
$STATE,9771,end apogee,CONTROL_FINISHED_OK
$STATE,9771,begin climb
$GC,9774,0.75,146.6,918.1,0.0,780,9908,0.85,0.00,129.57,1.261,6,0.061,0.000,3373,1893,2681,0,0,0,0,0,0,24.46,28.83,22.36
$GC,10230,0.75,146.6,878.4,11.5,796,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1893,2671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10531,0.75,146.6,844.4,11.3,806,10537,0.00,2.17,0.00,0.000,4,0.000,0.041,3382,511,2670,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10578,0.75,146.6,840.9,11.2,807,10582,0.00,2.17,0.00,0.000,6,0.000,0.036,3382,1901,2669,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10885,0.75,146.6,802.8,12.0,817,10891,0.00,2.20,0.00,0.000,4,0.000,0.040,3391,512,2668,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10929,0.75,146.6,799.0,12.2,818,10933,0.00,2.17,0.00,0.000,6,0.000,0.036,3391,1895,2667,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11241,0.75,146.6,757.9,12.6,829,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1895,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11541,0.75,146.6,720.9,12.4,839,11547,0.00,2.20,0.00,0.000,4,0.000,0.041,3400,502,2667,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11580,0.75,146.6,717.1,12.5,840,11584,0.00,2.17,0.00,0.000,6,0.000,0.036,3400,1894,2666,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11897,0.75,146.6,675.6,12.9,851,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1894,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12197,0.75,146.6,638.0,12.4,861,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1894,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12499,0.75,146.6,602.6,11.7,871,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1894,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12800,0.75,146.6,566.3,12.5,899,12808,0.00,2.15,0.00,0.000,4,0.000,0.041,3409,507,2665,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12852,0.75,146.6,559.4,12.6,904,12861,0.10,2.15,0.00,0.000,6,0.148,0.037,3377,1889,2665,0,0,0,0,0,0,25.84,26.26,28.83
$GC,13161,0.75,146.6,524.3,11.3,935,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1889,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13461,0.75,146.6,491.2,10.7,965,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1889,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13765,0.75,146.6,459.1,10.4,995,13773,0.00,2.15,0.00,0.000,4,0.000,0.047,3377,3304,2665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13800,0.75,146.6,455.0,11.4,998,13806,0.00,2.12,0.00,0.000,6,0.000,0.031,3385,1880,2665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14107,0.75,146.6,420.2,11.6,1029,14116,0.00,2.08,0.00,0.000,4,0.000,0.041,3395,511,2665,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14224,0.75,146.6,407.0,11.4,1040,14228,0.00,2.15,0.00,0.000,6,0.000,0.036,3395,1894,2665,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14536,0.75,146.6,371.9,10.6,1071,14544,0.00,2.15,0.00,0.000,4,0.000,0.040,3403,518,2665,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14577,0.75,146.6,367.4,11.1,1075,14587,0.12,2.12,0.00,0.000,6,0.171,0.036,3372,1883,2665,0,0,0,0,0,0,25.89,26.28,28.83
$GC,14889,0.75,146.6,335.8,10.7,1106,14898,0.00,2.15,0.00,0.000,4,0.000,0.047,3372,3301,2665,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14941,0.75,146.6,329.8,11.3,1111,14945,0.00,2.12,0.00,0.000,6,0.000,0.031,3379,1880,2665,0,0,0,0,0,0,28.83,26.35,28.83
$GC,15253,0.75,146.6,295.4,10.8,1142,15262,0.00,2.08,0.00,0.000,4,0.000,0.041,3390,506,2665,0,0,0,0,0,0,28.83,26.18,28.83
$GC,15318,0.75,146.6,288.4,11.2,1148,15325,0.00,2.12,0.00,0.000,6,0.000,0.035,3389,1877,2665,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15626,0.75,146.6,255.3,10.2,1179,15635,0.00,2.15,0.00,0.000,4,0.000,0.046,3389,3304,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15698,0.75,146.6,247.1,11.7,1186,15707,0.00,2.12,0.00,0.000,6,0.000,0.031,3399,1876,2665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,16009,0.76,158.1,218.3,8.7,1217,16027,0.00,2.10,8.62,0.905,4,0.000,0.040,3409,501,2633,0,0,0,0,0,0,28.83,26.34,24.73
$GC,16090,0.76,158.1,210.6,9.6,1225,16101,0.15,2.17,0.00,0.000,6,0.164,0.036,3372,1894,2633,0,0,0,0,0,0,25.86,26.27,28.83
$GC,16400,0.76,158.1,180.6,10.5,1256,16402,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1894,2632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16703,0.82,205.0,153.5,7.2,1286,16750,0.00,2.20,39.80,0.942,4,0.000,0.045,3371,3299,2442,0,0,0,0,0,0,28.83,25.75,24.78
$GC,16876,0.82,211.3,138.4,8.9,1303,16888,0.00,2.17,6.15,0.646,6,0.000,0.031,3378,1874,2417,0,0,0,0,0,0,28.83,25.91,24.53
$GC,17198,0.85,233.6,113.5,8.2,1335,17227,0.00,2.17,19.67,0.756,4,0.000,0.041,3389,514,2325,0,0,0,0,0,0,28.83,25.89,24.79
$GC,17322,0.85,233.6,102.5,9.6,1347,17326,0.00,2.12,0.00,0.000,6,0.000,0.036,3389,1860,2322,0,0,0,0,0,0,28.83,25.92,28.83
$GC,17633,0.85,233.6,66.8,10.0,1405,17640,0.00,2.22,0.00,0.000,4,0.000,0.047,3389,3308,2320,0,0,0,0,0,0,28.83,25.95,28.83
$GC,17705,0.85,233.6,59.5,9.9,1418,17711,0.00,2.17,0.00,0.000,6,0.000,0.032,3398,1873,2319,0,0,0,0,0,0,28.83,26.13,28.83
$GC,18018,0.85,235.4,32.7,9.1,1479,18025,0.00,2.10,0.00,0.000,4,0.000,0.042,3408,512,2319,0,0,0,0,0,0,28.83,26.06,28.83
$GC,18123,0.85,235.4,20.7,14.7,1499,18131,0.00,2.15,0.00,0.000,6,0.000,0.037,3408,1874,2318,0,0,0,0,0,0,28.83,26.16,28.83
$FREEZE,8.86,4.309,-1.715,0,1,0
$FREEZE,8.63,4.309,-1.714,0,1,0
$FREEZE,8.33,4.310,-1.714,0,1,0
$FREEZE,7.97,4.311,-1.714,0,1,0
$FREEZE,7.82,4.310,-1.714,0,1,0
$FREEZE,7.47,4.309,-1.714,0,1,0
$FREEZE,7.28,4.310,-1.714,0,1,0
$FREEZE,6.94,4.311,-1.713,0,1,0
$FREEZE,6.70,4.315,-1.713,0,1,0
$FREEZE,6.57,4.315,-1.713,0,1,0
$FREEZE,6.13,4.314,-1.713,0,1,0
$FREEZE,5.90,4.316,-1.713,0,1,0
$FREEZE,5.69,4.319,-1.712,0,1,0
$FREEZE,5.31,4.327,-1.712,0,1,0
$FREEZE,5.09,4.355,-1.711,0,1,0
$FREEZE,4.87,4.362,-1.711,0,1,0
$FREEZE,4.55,4.365,-1.711,0,1,0
$FREEZE,4.16,4.375,-1.710,0,1,0
$FREEZE,4.08,4.379,-1.710,0,1,0
$FREEZE,3.79,4.382,-1.710,0,1,0
$STATE,18436,end climb,SURFACE_DEPTH_REACHED
$STATE,18437,begin surface coast
$FREEZE,3.51,4.385,-1.710,0,1,0
$FREEZE,3.24,4.388,-1.710,0,1,0
$FREEZE,2.98,4.393,-1.709,0,1,0
$FREEZE,2.77,4.397,-1.709,0,1,0
$FREEZE,2.47,4.411,-1.709,0,1,0
$FREEZE,2.32,4.444,-1.708,0,1,0
$FREEZE,2.08,4.448,-1.708,0,1,0
$FREEZE,1.82,4.442,-1.708,0,1,0
$FREEZE,1.62,4.489,-1.707,0,1,0
$FREEZE,1.39,4.499,-1.707,0,1,0
$FREEZE,1.42,4.293,-0.136,0,1,0
$FREEZE,1.40,4.371,-0.829,0,1,0
$FREEZE,1.45,4.493,-0.574,0,1,0
$FREEZE,1.38,4.282,-1.041,0,1,0
$FREEZE,1.39,4.456,-0.105,0,1,0
$FREEZE,1.40,4.268,-0.173,0,1,0
$FINISH,1.4,1.002470
$STATE,18522,end surface coast,CONTROL_FINISHED_OK
$STATE,18523,begin surface
$SM_CCo,18542,75.12,0.073,0,0,1647,400.08
$SM_GC,2.83,8.40,0.32,75.12,0.058,0.061,0.073,339,2107,1647,-8.66,-1.24,400.08,0,0,0,0,0,0,25.98,26.28,25.84
$RAFOS_CLK,979
$RAFOS,6,1346532545,20.833334,20.818056,45,45,41,40,40,39,1153,1611,1544,641,137,1779
$RAFOS,5,1346532062,20.700001,20.683889,46,44,44,42,40,38,1019,1740,1149,1709,1673,1563
$RAFOS,4,1346531589,20.566668,20.552500,46,45,45,45,44,42,881,201,1549,91,783,1684
$RAFOS,3,1346531109,20.433332,20.419167,42,41,41,41,40,40,1022,824,1125,138,609,281
$RAFOS,2,1346530624,20.299999,20.284445,51,46,43,43,42,41,1316,374,1270,883,988,1
$RAFOS,1,1346530144,20.166666,20.151112,44,43,42,39,38,38,1420,340,91,595,1,1426
$RAFOS,0,1346529664,20.033333,20.017778,50,50,49,46,45,43,183,1937,1240,1528,274,1008
$RAFOS,6,1346518145,16.833334,16.818056,40,39,39,38,37,36,1342,325,1880,1086,391,104
$RAFOS,4,1346517183,16.566668,16.550833,44,42,41,41,40,40,1525,1381,854,1906,813,931
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-5928.22,010912,111153
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.34
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.80
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,901.1,37.1
$24V_AH,22.4,46.156
$10V_AH,9.8,51.740
$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,21.600,156.525,328.875,75.125,0.000,0.000,0.000,313.950,7.500,0.000,18.074,4101.586,10766.589,609.106,3139.292,455.828,0.000,2437.026,0.000,2785.893,2880.000,28.345,0.000
$DEVICE_MAMPS,253.215,65.790,1328.040,72.675,0.000,0.000,0.000,291.377,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1129.436,1124.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151536
$DATA_FILE_SIZE,73328,1576
$CAP_FILE_SIZE,195496,0
$CFSIZE,260165632,212369408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.3
$CURRENT,0.200,165.5,1
$GPS,010912,215535,6641.521,-5916.316,31,0.8,32,-33.6