version: 66.11
glider: 108
mission: 21
dive: 408
start: 9 2 112 8 39 19
data:
$ID,108
$MISSION,21
$DIVE,408
$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,-191606.56
$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,63
$R_STBD_OVSHOOT,46
$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
$GPS1,020912,083028,6642.110,-5906.442,42,0.7,42,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-78.4
$GPS2,020912,083847,6642.082,-5906.370,14,1.2,15,-33.6
$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,59.0,107170,-16.9,-9.167
$D_GRID,900
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.75,-146.6,0.0,0.0,0,73,0.00,0.00,-51.05,0.000,2,0.000,0.000,337,2100,2782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.75,-146.6,3.0,-1.6,9,128,10.57,2.22,-31.23,0.000,4,0.252,0.067,2876,3502,3881,0,0,0,0,0,0,25.35,26.06,26.72
$GC,360,-0.75,-146.6,41.0,-13.7,62,367,0.00,2.10,0.00,0.000,6,0.000,0.031,2882,2103,3887,0,0,0,0,0,0,28.83,26.27,28.83
$GC,673,-0.75,-146.6,79.2,-11.6,123,681,0.00,2.20,0.00,0.000,4,0.000,0.050,2874,3512,3888,0,0,0,0,0,0,28.83,26.03,28.83
$GC,873,-0.75,-146.6,103.0,-12.0,159,881,0.00,2.10,0.00,0.000,6,0.000,0.031,2874,2111,3888,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1181,-0.75,-146.6,139.6,-11.4,190,1190,0.00,2.17,0.00,0.000,4,0.000,0.050,2864,3505,3888,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1253,-0.75,-146.6,148.7,-12.6,197,1262,0.00,2.08,0.00,0.000,6,0.000,0.031,2864,2118,3888,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1563,-0.75,-146.6,187.4,-11.8,228,1572,0.00,2.15,0.00,0.000,4,0.000,0.051,2853,3505,3888,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1708,-0.75,-146.6,204.7,-12.3,242,1717,0.10,2.05,0.00,0.000,6,0.144,0.032,2885,2135,3888,0,0,0,0,0,0,25.92,26.36,28.83
$GC,2016,-0.75,-146.6,235.9,-10.2,273,2024,0.00,2.15,0.00,0.000,4,0.000,0.050,2877,3501,3887,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2142,-0.75,-146.6,249.1,-10.6,285,2149,0.00,2.00,0.00,0.000,6,0.000,0.032,2877,2150,3887,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2450,-0.75,-146.6,280.6,-9.7,316,2458,0.00,2.08,0.00,0.000,4,0.000,0.050,2868,3500,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2511,-0.75,-146.6,286.9,-10.4,322,2515,0.00,2.00,0.00,0.000,6,0.000,0.032,2868,2152,3886,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2824,-0.75,-146.6,319.5,-10.2,353,2828,0.00,2.12,0.00,0.000,4,0.000,0.050,2857,3504,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2936,-0.75,-146.6,331.6,-10.7,364,2945,0.12,1.98,0.00,0.000,6,0.158,0.031,2889,2171,3886,0,0,0,0,0,0,25.98,26.37,28.83
$GC,3247,-0.75,-146.6,358.2,-8.5,395,3256,0.00,2.05,0.00,0.000,4,0.000,0.050,2881,3505,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3300,-0.75,-146.6,363.0,-9.4,400,3304,0.00,1.92,0.00,0.000,6,0.000,0.031,2881,2194,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3613,-0.75,-146.6,390.5,-9.1,431,3623,0.00,2.05,0.00,0.000,4,0.000,0.050,2871,3512,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3706,-0.75,-146.6,399.5,-9.7,440,3716,0.00,1.95,0.00,0.000,6,0.000,0.031,2871,2191,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4016,-0.75,-146.6,427.3,-8.8,471,4020,0.00,2.05,0.00,0.000,4,0.000,0.050,2862,3502,3885,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4110,-0.75,-146.6,436.1,-9.6,480,4114,0.00,1.90,0.00,0.000,6,0.000,0.031,2861,2220,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4422,-0.75,-146.6,464.9,-9.5,511,4431,0.00,2.03,0.00,0.000,4,0.000,0.049,2851,3508,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4497,-0.75,-146.6,472.0,-10.0,518,4504,0.15,1.90,0.00,0.000,6,0.147,0.031,2891,2210,3886,0,0,0,0,0,0,25.92,26.39,28.83
$GC,4805,-0.75,-146.6,495.3,-7.1,549,4814,0.00,2.03,0.00,0.000,4,0.000,0.049,2884,3505,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4850,-0.75,-146.6,498.6,-7.9,553,4857,0.00,1.88,0.00,0.000,6,0.000,0.030,2883,2224,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5158,-0.75,-146.6,522.5,-7.9,584,5167,0.00,1.98,0.00,0.000,4,0.000,0.049,2874,3501,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5210,-0.75,-146.6,526.7,-8.1,589,5214,0.00,1.88,0.00,0.000,6,0.000,0.031,2874,2219,3885,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5524,-0.75,-146.6,553.1,-8.6,620,5527,0.00,2.00,0.00,0.000,4,0.000,0.049,2865,3508,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5588,-0.75,-146.6,558.9,-9.1,626,5595,0.00,1.85,0.00,0.000,6,0.000,0.030,2864,2241,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5897,-0.75,-146.6,586.8,-9.1,657,5906,0.00,1.95,0.00,0.000,4,0.000,0.050,2855,3502,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5951,-0.75,-146.6,591.9,-10.1,662,5958,0.12,1.85,0.00,0.000,6,0.148,0.031,2886,2238,3886,0,0,0,0,0,0,26.01,26.39,28.83
$GC,6272,-0.75,-146.6,617.0,-7.8,680,6276,0.00,1.98,0.00,0.000,4,0.000,0.050,2879,3514,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6313,-0.75,-146.6,619.9,-7.8,681,6317,0.00,1.85,0.00,0.000,6,0.000,0.030,2879,2236,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6636,-0.75,-146.6,647.3,-8.4,692,6641,0.00,1.98,0.00,0.000,4,0.000,0.049,2870,3511,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6688,-0.75,-146.6,649.8,-8.5,693,6699,0.00,1.83,0.00,0.000,6,0.000,0.030,2870,2259,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6997,-0.75,-146.6,679.2,-8.9,704,7001,0.00,1.92,0.00,0.000,4,0.000,0.050,2861,3504,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7048,-0.75,-146.6,682.5,-9.1,705,7052,0.00,1.83,0.00,0.000,6,0.000,0.030,2860,2259,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7360,-0.75,-146.6,713.5,-9.4,716,7364,0.00,1.95,0.00,0.000,4,0.000,0.049,2851,3508,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7400,-0.75,-146.6,716.7,-9.5,717,7405,0.15,1.83,0.00,0.000,6,0.144,0.030,2891,2258,3886,0,0,0,0,0,0,25.94,26.39,28.83
$GC,7721,-0.75,-146.6,742.0,-7.7,728,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2258,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8019,-0.75,-146.6,764.5,-7.3,738,8023,0.00,1.92,0.00,0.000,4,0.000,0.049,2884,3504,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8069,-0.75,-146.6,767.1,-7.5,739,8073,0.00,1.80,0.00,0.000,6,0.000,0.030,2884,2275,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8381,-0.75,-146.6,792.9,-7.8,750,8385,0.00,1.90,0.00,0.000,4,0.000,0.049,2874,3501,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8417,-0.75,-146.6,795.4,-7.8,751,8421,0.00,1.80,0.00,0.000,6,0.000,0.030,2874,2273,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8746,-0.75,-146.6,822.8,-8.4,762,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2269,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9046,-0.75,-146.6,847.8,-8.2,772,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2269,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9345,-0.75,-146.6,874.2,-9.3,782,9348,0.00,1.92,0.00,0.000,4,0.000,0.050,2865,3514,3885,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9399,-0.75,-146.6,877.3,-9.5,783,9407,0.00,1.80,0.00,0.000,6,0.000,0.031,2865,2283,3886,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,9618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9618,begin apogee
$GC,9625,-0.17,0.0,900.4,-9.1,791,9755,0.65,0.00,125.10,1.318,4,0.129,0.000,3070,1884,3279,0,0,0,0,0,0,25.37,28.83,23.15
$STATE,9759,end apogee,CONTROL_FINISHED_OK
$STATE,9759,begin climb
$GC,9762,0.75,146.6,905.8,0.0,795,9902,0.88,2.30,129.55,1.243,4,0.065,0.038,3374,511,2681,0,0,0,0,0,0,24.48,24.51,22.36
$GC,10129,0.75,146.6,878.1,12.6,808,10134,0.00,2.28,0.00,0.000,6,0.000,0.035,3374,1907,2671,0,0,0,0,0,0,28.83,25.16,28.83
$GC,10448,0.75,146.6,841.0,11.0,819,10453,0.00,2.17,0.00,0.000,4,0.000,0.047,3374,3303,2669,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10657,0.75,146.6,814.7,12.8,826,10663,0.00,2.12,0.00,0.000,6,0.000,0.031,3384,1898,2667,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10988,0.75,146.6,777.5,11.3,837,10994,0.00,2.15,0.00,0.000,4,0.000,0.041,3394,500,2667,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11079,0.75,146.6,766.9,11.6,840,11083,0.00,2.20,0.00,0.000,6,0.000,0.035,3394,1905,2666,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11403,0.75,146.6,728.6,11.8,851,11408,0.00,2.20,0.00,0.000,4,0.000,0.040,3403,505,2666,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11450,0.75,146.6,724.8,12.0,852,11455,0.12,2.17,0.00,0.000,6,0.176,0.036,3374,1897,2666,0,0,0,0,0,0,25.82,26.18,28.83
$GC,11757,0.75,146.6,687.8,11.2,862,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1896,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12058,0.75,146.6,654.6,11.0,872,12063,0.00,2.15,0.00,0.000,4,0.000,0.040,3381,508,2665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12089,0.75,146.6,651.2,11.0,873,12093,0.00,2.15,0.00,0.000,6,0.000,0.036,3381,1886,2665,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12412,0.75,146.6,614.6,11.2,884,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1886,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12713,0.75,146.6,581.1,11.2,904,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1886,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13012,0.75,146.6,547.3,11.3,934,13021,0.00,2.12,0.00,0.000,4,0.000,0.041,3390,508,2665,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13058,0.75,146.6,542.4,11.8,938,13066,0.00,2.15,0.00,0.000,6,0.000,0.037,3390,1888,2665,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13364,0.75,146.6,506.3,11.7,969,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1887,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13664,0.75,146.6,470.4,11.8,999,13673,0.00,2.17,0.00,0.000,4,0.000,0.041,3398,503,2665,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13728,0.75,146.6,463.0,12.1,1005,13735,0.00,2.15,0.00,0.000,6,0.000,0.036,3399,1883,2665,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14036,0.75,146.6,426.2,11.6,1036,14045,0.00,2.17,0.00,0.000,4,0.000,0.041,3408,501,2664,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14071,0.75,146.6,422.3,11.7,1039,14079,0.15,2.15,0.00,0.000,6,0.168,0.036,3371,1885,2664,0,0,0,0,0,0,25.82,26.27,28.83
$GC,14379,0.75,146.6,390.2,10.1,1070,14387,0.00,2.17,0.00,0.000,4,0.000,0.041,3378,494,2664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14411,0.75,146.6,386.8,10.2,1073,14415,0.00,2.15,0.00,0.000,6,0.000,0.036,3378,1883,2664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14723,0.75,146.6,354.3,10.7,1104,14733,0.00,2.15,0.00,0.000,4,0.000,0.041,3386,500,2664,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14776,0.75,146.6,348.5,10.8,1109,14785,0.00,2.12,0.00,0.000,6,0.000,0.035,3387,1873,2664,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15086,0.75,146.6,314.0,10.7,1140,15095,0.00,2.15,0.00,0.000,4,0.000,0.040,3396,502,2664,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15111,0.75,146.6,311.7,10.6,1142,15118,0.00,2.12,0.00,0.000,6,0.000,0.035,3396,1873,2664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15419,0.75,146.6,277.3,11.1,1173,15428,0.00,2.10,0.00,0.000,4,0.000,0.040,3404,505,2664,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15443,0.75,146.6,274.7,11.4,1175,15451,0.12,2.12,0.00,0.000,6,0.174,0.035,3375,1875,2664,0,0,0,0,0,0,25.88,26.27,28.83
$GC,15752,0.75,146.6,244.4,9.4,1206,15755,0.00,2.15,0.00,0.000,4,0.000,0.040,3382,497,2664,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15824,0.75,146.6,237.1,10.1,1213,15833,0.00,2.10,0.00,0.000,6,0.000,0.035,3382,1851,2664,0,0,0,0,0,0,28.83,26.28,28.83
$GC,16134,0.75,146.6,206.7,9.5,1244,16143,0.00,2.17,0.00,0.000,4,0.000,0.046,3382,3296,2664,0,0,0,0,0,0,28.83,26.12,28.83
$GC,16179,0.75,146.6,202.0,11.1,1248,16187,0.00,2.17,0.00,0.000,6,0.000,0.032,3391,1844,2664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,16487,0.75,146.6,171.6,9.8,1279,16496,0.00,2.08,0.00,0.000,4,0.000,0.041,3401,491,2664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16649,0.75,146.6,154.9,10.5,1295,16659,0.12,2.12,0.00,0.000,6,0.171,0.036,3372,1852,2664,0,0,0,0,0,0,25.89,26.27,28.83
$GC,16959,0.76,160.4,127.5,8.6,1326,16978,0.00,2.25,10.20,0.888,4,0.000,0.047,3372,3299,2624,0,0,0,0,0,0,28.83,26.31,24.74
$GC,17116,0.76,160.4,112.8,9.9,1341,17123,0.00,2.15,0.00,0.000,6,0.000,0.032,3379,1863,2623,0,0,0,0,0,0,28.83,26.28,28.83
$GC,17426,0.84,221.5,89.1,6.6,1387,17487,0.00,2.17,50.28,0.811,4,0.000,0.041,3389,516,2375,0,0,0,0,0,0,28.83,25.70,24.69
$GC,17553,0.85,230.2,79.1,8.8,1409,17567,0.00,2.15,8.50,0.667,6,0.000,0.036,3389,1856,2340,0,0,0,0,0,0,28.83,25.77,24.46
$GC,17875,0.87,247.7,50.3,8.4,1471,17894,0.00,0.00,15.38,0.745,6,0.000,0.000,3389,1856,2268,0,0,0,0,0,0,28.83,28.83,24.73
$GC,18201,0.91,284.0,18.9,7.7,1534,18227,0.10,2.25,18.58,0.111,4,0.119,0.047,3427,3311,2119,0,0,0,0,0,0,26.22,25.91,25.56
$GC,18240,0.91,284.0,15.0,9.7,1540,18248,0.00,2.20,0.00,0.000,6,0.000,0.032,3437,1856,2117,0,0,0,0,0,0,28.83,26.06,28.83
$FREEZE,8.87,4.605,-1.708,0,1,0
$FREEZE,8.54,4.665,-1.706,0,1,0
$FREEZE,8.17,4.722,-1.706,0,1,0
$FREEZE,7.70,4.807,-1.704,0,1,0
$FREEZE,7.37,4.917,-1.702,0,1,0
$FREEZE,7.08,4.925,-1.702,0,1,0
$FREEZE,6.63,4.925,-1.702,0,1,0
$FREEZE,6.09,4.937,-1.701,0,1,0
$FREEZE,5.69,4.945,-1.701,0,1,0
$FREEZE,5.30,4.953,-1.701,0,1,0
$FREEZE,4.97,4.962,-1.701,0,1,0
$FREEZE,4.63,4.960,-1.701,0,1,0
$FREEZE,4.39,4.965,-1.701,0,1,0
$FREEZE,4.10,4.966,-1.701,0,1,0
$FREEZE,3.91,4.960,-1.701,0,1,0
$STATE,18397,end climb,SURFACE_DEPTH_REACHED
$STATE,18397,begin surface coast
$FREEZE,3.46,4.960,-1.700,0,1,0
$FREEZE,3.18,4.961,-1.700,0,1,0
$FREEZE,2.80,4.962,-1.700,0,1,0
$FREEZE,2.27,4.960,-1.700,0,1,0
$FREEZE,1.92,4.958,-1.699,0,1,0
$FREEZE,1.62,4.962,-1.699,0,1,0
$FREEZE,1.25,4.957,-1.699,0,1,0
$FREEZE,1.29,4.526,-1.010,0,1,0
$FREEZE,1.34,4.724,-0.769,0,1,0
$FREEZE,1.31,4.790,-0.607,0,1,0
$FREEZE,1.28,4.835,-0.833,0,1,0
$FREEZE,1.33,4.689,-0.312,0,1,0
$FREEZE,1.36,4.839,-0.817,0,1,0
$FREEZE,1.36,4.661,-0.821,0,1,0
$FREEZE,1.45,4.806,-0.918,0,1,0
$FREEZE,1.33,4.517,-0.090,0,1,0
$FINISH,1.3,1.001248
$STATE,18481,end surface coast,CONTROL_FINISHED_OK
$STATE,18481,begin surface
$SM_CCo,18501,52.10,0.072,0,0,1647,400.08
$SM_GC,2.34,8.43,0.40,52.10,0.054,0.059,0.072,339,2104,1647,-8.65,-1.22,400.08,0,0,0,0,0,0,25.93,26.10,25.79
$RAFOS_CLK,973
$RAFOS,6,1346590142,12.833333,12.817223,47,45,40,40,40,39,1605,961,61,896,969,729
$RAFOS,5,1346589670,12.700000,12.686111,46,43,41,40,40,39,648,1365,1214,61,1508,1930
$RAFOS,4,1346589182,12.566667,12.550555,46,45,43,43,43,40,1701,556,416,1442,427,1737
$RAFOS,3,1346588701,12.433333,12.416945,46,44,42,42,41,38,672,329,249,1650,1819,1894
$RAFOS,2,1346588222,12.300000,12.283889,50,48,47,45,42,41,300,211,854,1871,1139,1706
$RAFOS,1,1346587748,12.166667,12.152223,52,52,46,42,41,39,438,1475,1122,713,647,102
$RAFOS,0,1346587262,12.033333,12.017222,47,46,43,42,41,39,233,1870,588,921,1394,635
$RAFOS,6,1346575744,8.833333,8.817778,48,46,45,44,42,41,483,1111,585,963,242,718
$RAFOS,5,1346575265,8.700000,8.684722,49,42,42,42,40,40,975,1,337,764,567,1921
$RAFOS,3,1346574304,8.433333,8.417778,43,42,42,42,41,40,221,1,669,1443,819,88
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5909.66,020912,030305
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.60
$XPDR_PINGS,18
$ALTIM_TOP_PING,20.0,19.2
$24V_AH,22.4,46.509
$10V_AH,9.8,52.130
$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,21.800,165.775,357.575,52.100,0.000,0.000,0.000,352.500,8.250,0.000,15.635,4139.133,10550.565,625.774,3253.789,473.155,0.000,2535.096,0.000,2867.946,3240.000,28.192,0.000
$DEVICE_MAMPS,251.685,67.320,1318.095,71.910,0.000,0.000,0.000,286.134,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1133.076,1126.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,73203,1586
$CAP_FILE_SIZE,198740,0
$CFSIZE,260165632,212094976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.1
$CURRENT,0.023,132.1,1
$GPS,020912,135005,6643.666,-5902.714,39,0.9,39,-33.6