version: 66.06
glider: 143
mission: 10
dive: 203
start: 11 27 109 1 21 37
data:
$ID,143
$MISSION,10
$DIVE,203
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_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,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$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,-34139.172
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$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,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,003342,6656.012,-5817.152,0,5090.4,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.03
$_SM_ANGLEo,0.3
$GPS2,003342,6656.012,-5817.152,0,5090.4,0,-37.8
$SPEED_LIMITS,0.159,0.253
$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,294.5,96850,-16.9,-9.167
$D_GRID,957
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-5.57,0.000,2,0.000,0.000,2721,1948,2779,0,0,0,0,0,0
$GC,25,-0.73,-146.0,8.9,-0.0,1,51,0.77,3.60,-17.15,0.000,4,0.105,0.105,2463,3911,3399,0,0,0,0,0,0
$GC,126,-0.67,-146.0,19.8,-12.6,19,132,0.00,2.58,0.00,0.000,6,0.000,0.070,2463,2453,3401,0,0,0,0,0,0
$GC,471,-0.67,-146.0,65.1,-13.1,80,476,0.00,2.70,0.00,0.000,4,0.000,0.097,2463,3912,3401,0,0,0,0,0,0
$GC,646,-0.67,-146.0,87.7,-12.6,111,652,0.00,2.53,0.00,0.000,6,0.000,0.071,2463,2481,3401,0,0,0,0,0,0
$GC,977,-0.67,-146.0,125.5,-10.9,151,981,0.00,2.65,0.00,0.000,4,0.000,0.099,2463,3911,3402,0,0,0,0,0,0
$GC,1027,-0.67,-146.0,130.9,-11.1,155,1031,0.00,2.53,0.00,0.000,6,0.000,0.071,2463,2478,3401,0,0,0,0,0,0
$GC,1351,-0.67,-146.0,162.7,-10.2,185,1355,0.00,2.65,0.00,0.000,4,0.000,0.098,2463,3910,3401,0,0,0,0,0,0
$GC,1416,-0.67,-146.0,169.8,-10.6,190,1423,0.00,2.55,0.00,0.000,6,0.000,0.073,2463,2490,3401,0,0,0,0,0,0
$GC,1742,-0.67,-146.0,200.0,-8.8,221,1746,0.00,2.65,0.00,0.000,4,0.000,0.091,2463,863,3401,0,0,0,0,0,0
$GC,1769,-0.67,-146.0,202.5,-9.3,223,1774,0.00,2.65,0.00,0.000,6,0.000,0.083,2463,2491,3401,0,0,0,0,0,0
$GC,2093,-0.67,-146.0,231.2,-9.2,253,2098,0.00,2.62,0.00,0.000,4,0.000,0.100,2463,3920,3401,0,0,0,0,0,0
$GC,2211,-0.67,-146.0,242.5,-9.3,263,2216,0.00,2.50,0.00,0.000,6,0.000,0.073,2463,2504,3401,0,0,0,0,0,0
$GC,2536,-0.72,-146.0,273.0,-9.3,293,2541,0.00,2.62,0.00,0.000,4,0.000,0.099,2463,3924,3401,0,0,0,0,0,0
$GC,2569,-0.77,-146.0,276.3,-9.9,295,2575,0.00,2.47,0.00,0.000,6,0.000,0.072,2463,2514,3401,0,0,0,0,0,0
$GC,2894,-0.82,-146.0,307.5,-9.5,326,2899,0.12,2.60,0.00,0.000,4,0.130,0.097,2413,3914,3400,0,0,0,0,0,0
$GC,2949,-0.72,-146.0,314.1,-12.2,330,2956,0.17,2.47,0.00,0.000,6,0.220,0.071,2451,2508,3400,0,0,0,0,0,0
$GC,3275,-0.72,-146.0,343.9,-8.3,361,3279,0.00,2.60,0.00,0.000,4,0.000,0.098,2451,3914,3401,0,0,0,0,0,0
$GC,3374,-0.72,-146.0,352.6,-8.3,369,3380,0.00,2.45,0.00,0.000,6,0.000,0.071,2452,2521,3400,0,0,0,0,0,0
$GC,3699,-0.72,-146.0,377.2,-7.5,400,3703,0.00,2.58,0.00,0.000,4,0.000,0.097,2452,3914,3400,0,0,0,0,0,0
$GC,3772,-0.77,-146.0,382.7,-7.6,406,3776,0.00,2.42,0.00,0.000,6,0.000,0.071,2452,2535,3400,0,0,0,0,0,0
$GC,4098,-0.81,-146.0,406.6,-7.3,436,4103,0.00,2.55,0.00,0.000,4,0.000,0.097,2451,3914,3401,0,0,0,0,0,0
$GC,4138,-0.81,-146.0,409.6,-7.4,439,4142,0.00,2.42,0.00,0.000,6,0.000,0.071,2452,2534,3401,0,0,0,0,0,0
$GC,4462,-0.81,-146.0,434.1,-7.6,469,4466,0.00,2.55,0.00,0.000,4,0.000,0.097,2452,3914,3401,0,0,0,0,0,0
$GC,4512,-0.86,-146.0,438.0,-7.9,473,4517,0.12,2.40,0.00,0.000,6,0.128,0.070,2414,2548,3401,0,0,0,0,0,0
$GC,4837,-0.78,-146.0,468.6,-9.0,503,4842,0.00,2.53,0.00,0.000,4,0.000,0.096,2413,3915,3401,0,0,0,0,0,0
$GC,4870,-0.67,-146.0,471.8,-9.4,505,4876,0.25,2.38,0.00,0.000,6,0.209,0.069,2471,2560,3401,0,0,0,0,0,0
$GC,5195,-0.79,-146.0,494.3,-6.8,536,5200,0.12,2.75,0.00,0.000,4,0.132,0.088,2432,872,3402,0,0,0,0,0,0
$GC,5227,-0.79,-146.0,497.4,-9.8,538,5234,0.00,2.72,0.00,0.000,6,0.000,0.080,2432,2562,3402,0,0,0,0,0,0
$GC,5554,-0.79,-146.0,525.8,-9.0,569,5558,0.00,2.47,0.00,0.000,4,0.000,0.096,2432,3917,3402,0,0,0,0,0,0
$GC,5660,-0.79,-146.0,535.8,-9.4,578,5664,0.00,2.38,0.00,0.000,6,0.000,0.069,2432,2563,3402,0,0,0,0,0,0
$GC,5984,-0.79,-146.0,564.6,-9.2,608,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2564,3402,0,0,0,0,0,0
$GC,6304,-0.79,-146.0,591.9,-8.3,638,6308,0.00,2.50,0.00,0.000,4,0.000,0.095,2432,3918,3402,0,0,0,0,0,0
$GC,6343,-0.79,-146.0,595.3,-8.6,641,6349,0.00,2.35,0.00,0.000,6,0.000,0.068,2432,2571,3402,0,0,0,0,0,0
$GC,6678,-0.79,-146.0,621.9,-7.9,656,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2573,3403,0,0,0,0,0,0
$GC,6984,-0.79,-146.0,644.7,-7.3,666,6989,0.00,2.47,0.00,0.000,4,0.000,0.095,2432,3917,3403,0,0,0,0,0,0
$GC,7023,-0.79,-146.0,647.7,-7.8,667,7027,0.00,2.35,0.00,0.000,6,0.000,0.067,2432,2574,3403,0,0,0,0,0,0
$GC,7347,-0.79,-146.0,672.4,-7.7,678,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2575,3403,0,0,0,0,0,0
$GC,7653,-0.79,-146.0,695.9,-7.8,688,7657,0.00,2.47,0.00,0.000,4,0.000,0.094,2432,3921,3403,0,0,0,0,0,0
$GC,7685,-0.79,-146.0,698.6,-8.4,689,7689,0.00,2.33,0.00,0.000,6,0.000,0.067,2432,2586,3403,0,0,0,0,0,0
$GC,8020,-0.79,-146.0,724.9,-7.8,700,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2587,3403,0,0,0,0,0,0
$GC,8326,-0.79,-146.0,749.4,-8.2,710,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2587,3403,0,0,0,0,0,0
$GC,8632,-0.79,-146.0,775.1,-8.5,720,8636,0.00,2.45,0.00,0.000,4,0.000,0.094,2432,3921,3404,0,0,0,0,0,0
$GC,8660,-0.79,-146.0,777.4,-8.6,721,8664,0.00,2.33,0.00,0.000,6,0.000,0.067,2432,2585,3403,0,0,0,0,0,0
$GC,8995,-0.79,-146.0,804.5,-8.1,732,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2586,3403,0,0,0,0,0,0
$GC,9300,-0.79,-146.0,829.4,-8.0,742,9305,0.00,2.78,0.00,0.000,4,0.000,0.087,2432,871,3404,0,0,0,0,0,0
$GC,9327,-0.79,-146.0,831.7,-9.0,743,9332,0.00,2.80,0.00,0.000,6,0.000,0.079,2432,2596,3403,0,0,0,0,0,0
$GC,9662,-0.79,-146.0,858.1,-7.9,754,9666,0.00,2.40,0.00,0.000,4,0.000,0.094,2432,3913,3403,0,0,0,0,0,0
$GC,9699,-0.79,-146.0,861.4,-8.0,755,9703,0.00,2.33,0.00,0.000,6,0.000,0.067,2432,2583,3403,0,0,0,0,0,0
$GC,10029,-0.79,-146.0,887.6,-8.0,766,10033,0.00,2.45,0.00,0.000,4,0.000,0.094,2431,3913,3403,0,0,0,0,0,0
$GC,10057,-0.79,-146.0,890.0,-8.4,767,10061,0.00,2.30,0.00,0.000,6,0.000,0.067,2432,2595,3403,0,0,0,0,0,0
$GC,10391,-0.79,-146.0,915.5,-7.5,778,10395,0.00,2.80,0.00,0.000,4,0.000,0.087,2432,870,3404,0,0,0,0,0,0
$GC,10420,-0.79,-146.0,917.9,-8.3,779,10424,0.00,2.80,0.00,0.000,6,0.000,0.080,2432,2597,3404,0,0,0,0,0,0
$GC,10755,-0.79,-146.0,943.6,-7.7,790,10759,0.00,2.42,0.00,0.000,4,0.000,0.096,2432,3921,3404,0,0,0,0,0,0
$GC,10798,-0.79,-146.0,947.2,-7.6,791,10802,0.00,2.33,0.00,0.000,6,0.000,0.067,2432,2591,3403,0,0,0,0,0,0
$STATE,10936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10936,begin apogee
$GC,10942,-0.16,0.0,958.1,7.7,796,11073,0.75,0.00,127.40,1.392,6,0.193,0.000,2633,1944,2800,0,0,0,0,0,0
$STATE,11074,end apogee,CONTROL_FINISHED_OK
$STATE,11074,begin climb
$GC,11075,0.73,146.0,961.0,0.0,800,11216,0.98,0.00,134.25,1.329,6,0.137,0.000,2912,1944,2204,0,0,0,0,0,0
$GC,11505,0.73,146.0,923.1,10.0,814,11510,0.00,3.00,0.00,0.000,4,0.000,0.086,2912,3549,2195,0,0,0,0,0,0
$GC,11567,0.61,146.0,916.0,11.7,816,11572,0.15,2.90,0.00,0.000,6,0.200,0.074,2893,1959,2194,0,0,0,0,0,0
$GC,11903,0.61,146.0,884.2,9.5,827,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1960,2193,0,0,0,0,0,0
$GC,12207,0.61,146.0,855.0,9.4,837,12212,0.00,2.85,0.00,0.000,4,0.000,0.087,2893,3541,2192,0,0,0,0,0,0
$GC,12284,0.61,146.0,847.0,10.4,839,12289,0.00,2.80,0.00,0.000,6,0.000,0.076,2903,1968,2190,0,0,0,0,0,0
$GC,12602,0.61,146.0,815.0,10.0,850,12607,0.00,2.83,0.00,0.000,4,0.000,0.087,2903,3541,2190,0,0,0,0,0,0
$GC,12629,0.61,146.0,812.1,10.1,851,12634,0.00,2.75,0.00,0.000,6,0.000,0.076,2915,1988,2189,0,0,0,0,0,0
$GC,12963,0.61,146.0,777.2,10.3,862,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1989,2189,0,0,0,0,0,0
$GC,13268,0.61,146.0,746.3,10.2,872,13273,0.00,2.80,0.00,0.000,4,0.000,0.088,2915,3544,2189,0,0,0,0,0,0
$GC,13306,0.52,146.0,742.0,11.3,873,13312,0.28,2.75,0.00,0.000,6,0.194,0.076,2859,1990,2189,0,0,0,0,0,0
$GC,13631,0.73,190.3,717.7,7.3,884,13676,0.20,2.92,36.45,1.233,4,0.105,0.087,2926,3544,2023,0,0,0,0,0,0
$GC,13699,0.64,190.3,710.5,11.7,886,13704,0.17,2.78,0.00,0.000,6,0.195,0.076,2899,2009,2021,0,0,0,0,0,0
$GC,14028,0.69,190.3,677.3,9.9,897,14032,0.00,2.65,0.00,0.000,4,0.000,0.095,2908,363,2019,0,0,0,0,0,0
$GC,14065,0.69,190.3,673.1,10.6,898,14070,0.00,2.58,0.00,0.000,6,0.000,0.071,2909,2012,2019,0,0,0,0,0,0
$GC,14395,0.69,190.3,639.1,10.4,909,14399,0.00,2.75,0.00,0.000,4,0.000,0.088,2908,3545,2018,0,0,0,0,0,0
$GC,14422,0.69,190.3,636.0,10.5,910,14427,0.00,2.75,0.00,0.000,6,0.000,0.077,2920,2001,2017,0,0,0,0,0,0
$GC,14756,0.69,190.3,600.4,10.8,921,14760,0.00,2.62,0.00,0.000,4,0.000,0.096,2932,362,2017,0,0,0,0,0,0
$GC,14799,0.65,190.3,595.5,11.4,923,14806,0.12,2.55,0.00,0.000,6,0.195,0.073,2905,2007,2017,0,0,0,0,0,0
$GC,15125,0.65,190.3,562.7,10.0,954,15129,0.00,2.75,0.00,0.000,4,0.000,0.089,2904,3544,2017,0,0,0,0,0,0
$GC,15152,0.65,190.3,559.6,9.7,956,15157,0.00,2.72,0.00,0.000,6,0.000,0.077,2914,2007,2016,0,0,0,0,0,0
$GC,15476,0.65,190.3,524.5,10.3,986,15481,0.00,2.62,0.00,0.000,4,0.000,0.097,2926,363,2016,0,0,0,0,0,0
$GC,15520,0.65,190.3,519.4,11.3,989,15526,0.00,2.55,0.00,0.000,6,0.000,0.073,2926,2011,2017,0,0,0,0,0,0
$GC,15845,0.65,190.3,482.5,11.6,1020,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2011,2016,0,0,0,0,0,0
$GC,16165,0.65,190.3,446.4,11.5,1050,16169,0.00,2.75,0.00,0.000,4,0.000,0.089,2926,3549,2016,0,0,0,0,0,0
$GC,16197,0.60,190.3,442.3,12.0,1052,16203,0.22,2.75,0.00,0.000,6,0.192,0.077,2884,1989,2016,0,0,0,0,0,0
$GC,16522,0.75,201.5,413.9,8.7,1083,16534,0.15,0.00,9.77,0.967,6,0.117,0.000,2933,1991,1978,0,0,0,0,0,0
$GC,16850,0.75,201.5,377.2,11.4,1114,16854,0.00,2.80,0.00,0.000,4,0.000,0.087,2933,3548,1977,0,0,0,0,0,0
$GC,16882,0.69,201.5,373.3,12.1,1116,16889,0.12,2.72,0.00,0.000,6,0.197,0.077,2918,2009,1976,0,0,0,0,0,0
$GC,17206,0.69,201.5,341.5,9.7,1147,17211,0.00,2.62,0.00,0.000,4,0.000,0.095,2927,363,1976,0,0,0,0,0,0
$GC,17239,0.69,201.5,338.0,10.6,1149,17244,0.00,2.55,0.00,0.000,6,0.000,0.072,2927,2010,1976,0,0,0,0,0,0
$GC,17563,0.69,201.5,303.4,10.7,1180,17567,0.00,2.75,0.00,0.000,4,0.000,0.088,2927,3547,1976,0,0,0,0,0,0
$GC,17584,0.69,201.5,301.0,10.3,1181,17590,0.00,2.72,0.00,0.000,6,0.000,0.077,2939,2006,1976,0,0,0,0,0,0
$GC,17908,0.69,201.5,262.4,11.2,1212,17913,0.00,2.62,0.00,0.000,4,0.000,0.097,2951,363,1975,0,0,0,0,0,0
$GC,17959,0.65,201.5,256.5,12.0,1216,17964,0.20,2.55,0.00,0.000,6,0.186,0.073,2902,2010,1976,0,0,0,0,0,0
$GC,18283,0.78,208.5,227.1,8.9,1246,18298,0.12,2.78,7.25,0.836,4,0.124,0.088,2943,3544,1948,0,0,0,0,0,0
$GC,18338,0.71,208.5,220.9,11.9,1251,18344,0.15,2.75,0.00,0.000,6,0.193,0.077,2921,1990,1948,0,0,0,0,0,0
$GC,18663,0.80,208.5,188.6,9.5,1281,18664,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1991,1948,0,0,0,0,0,0
$GC,18983,0.93,234.3,160.7,8.1,1311,19015,0.20,2.85,23.00,0.886,4,0.104,0.089,2987,3537,1843,0,0,0,0,0,0
$GC,19062,0.77,234.3,151.5,12.2,1318,19067,0.22,2.75,0.00,0.000,6,0.196,0.077,2946,2007,1842,0,0,0,0,0,0
$GC,19386,0.84,234.7,120.6,9.1,1348,19391,0.00,2.80,0.00,0.000,4,0.000,0.088,2946,3548,1840,0,0,0,0,0,0
$GC,19436,0.84,234.7,115.1,10.9,1352,19441,0.00,2.72,0.00,0.000,6,0.000,0.077,2956,2026,1840,0,0,0,0,0,0
$GC,19772,0.89,234.7,80.1,9.4,1399,19778,0.00,2.67,0.00,0.000,4,0.000,0.097,2967,362,1840,0,0,0,0,0,0
$GC,19828,0.89,234.7,74.4,10.0,1409,19834,0.00,2.58,0.00,0.000,6,0.000,0.074,2967,2017,1838,0,0,0,0,0,0
$GC,20173,0.95,245.4,42.3,8.7,1470,20190,0.00,2.67,10.20,0.800,4,0.000,0.097,2978,355,1798,0,0,0,0,0,0
$GC,20207,1.00,245.4,38.7,10.2,1476,20213,0.10,2.58,0.00,0.000,6,0.140,0.074,3009,2018,1797,0,0,0,0,0,0
$FREEZE,8.92,-1.807,-1.807,2,10,0
$STATE,20454,end climb,FINISH_DEPTH_REACHED
$STATE,20454,begin subsurface finish
$FINISH1,8.9,1.026449,51
$GC,20460,0.06,51.0,8.9,-12.1,1520,20497,1.02,2.95,-26.73,0.000,4,0.179,0.100,2721,3545,2595,0,0,0,0,0,0
$FINISH2,7.0
$STATE,20498,end subsurface finish,CONTROL_FINISHED_OK
$STATE,20498,begin surface
$RAFOS_CLK,1400
$RAFOS,6,1259297344,4.833333,4.817778,131,67,61,0,0,0,673,194,181,0,0,0
$RAFOS,5,1259296888,4.700000,4.691111,99,70,64,0,0,0,485,205,216,0,0,0
$RAFOS,4,1259296398,4.566667,4.555000,139,62,61,0,0,0,568,208,167,0,0,0
$RAFOS,3,1259295923,4.433333,4.423056,77,64,62,0,0,0,148,226,217,0,0,0
$RAFOS,2,1259295434,4.300000,4.287222,107,72,59,0,0,0,782,219,201,0,0,0
$RAFOS,1,1259294946,4.166667,4.151667,110,62,52,0,0,0,805,219,163,0,0,0
$RAFOS,0,1259294467,4.033333,4.018611,60,59,59,0,0,0,187,210,919,0,0,0
$RAFOS_FIX,6654.016113,-5823.935547,271109,040438,5,117,0.43
$IRIDIUM_FIX,6631.12,-5808.42,200299,141451
$TT8_MAMPS,0.027612
$HUMID,49.68
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.3,18.4
$24V_AH,22.4,45.134
$10V_AH,10.1,23.229
$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,6.750,235.325,348.325,0.000,0.000,0.000,0.000,0.000,6.000,0.000,0.000,2762.375,14425.760,520.262,2634.889,221.882,0.000,1904.420,0.000,2587.824,2520.000,35.640,0.000
$DEVICE_MAMPS,220.129,111.215,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.957,1081.939,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152508
$DATA_FILE_SIZE,59817,1527
$CAP_FILE_SIZE,200031,0
$CFSIZE,260165632,233979904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.5
$GPS,271109,043238,6654.016,-5823.936,0,5117.2,0,-37.8