version: 66.11
glider: 108
mission: 21
dive: 148
start: 7 16 112 9 15 35
data:
$ID,108
$MISSION,21
$DIVE,148
$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,-191274.89
$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,70
$R_STBD_OVSHOOT,49
$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
$GPS1,160712,090705,6700.337,-5821.368,41,0.8,41,-33.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-76.6
$GPS2,160712,091500,6700.248,-5821.364,16,0.9,16,-33.8
$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,313.8,96016,-16.9,-9.167
$D_GRID,1054
$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,16,-0.75,-146.6,0.0,0.0,0,80,0.00,0.00,-61.75,0.000,2,0.000,0.000,335,2100,3080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.75,-146.6,3.3,-1.6,11,122,10.18,2.12,-20.00,0.000,4,0.257,0.067,2877,3497,3881,0,0,0,0,0,0,26.02,26.44,26.82
$GC,341,-0.75,-146.6,42.2,-13.9,60,348,0.00,2.05,0.00,0.000,6,0.000,0.032,2884,2106,3886,0,0,0,0,0,0,28.83,26.57,28.83
$GC,652,-0.75,-146.6,82.0,-12.5,121,660,0.00,2.15,0.00,0.000,4,0.000,0.051,2876,3503,3887,0,0,0,0,0,0,28.83,26.49,28.83
$GC,747,-0.75,-146.6,95.1,-14.3,139,754,0.00,2.08,0.00,0.000,6,0.000,0.031,2879,2095,3887,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1057,-0.75,-146.6,134.6,-12.3,173,1067,0.00,2.15,0.00,0.000,4,0.000,0.051,2872,3499,3887,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1160,-0.75,-146.6,147.6,-12.8,183,1164,0.00,2.05,0.00,0.000,6,0.000,0.032,2872,2095,3887,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1473,-0.75,-146.6,184.1,-11.5,214,1482,0.00,2.15,0.00,0.000,4,0.000,0.051,2861,3498,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1606,-0.75,-146.6,200.3,-12.5,227,1614,0.00,2.08,0.00,0.000,6,0.000,0.031,2861,2080,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1915,-0.75,-146.6,237.4,-11.6,258,1924,0.00,2.17,0.00,0.000,4,0.000,0.050,2851,3494,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2092,-0.75,-146.6,257.8,-11.6,275,2100,0.15,2.08,0.00,0.000,6,0.163,0.031,2892,2086,3884,0,0,0,0,0,0,26.36,26.66,28.83
$GC,2400,-0.75,-146.6,285.1,-8.6,306,2408,0.00,2.15,0.00,0.000,4,0.000,0.051,2884,3503,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2532,-0.75,-146.6,297.8,-9.8,319,2540,0.00,2.08,0.00,0.000,6,0.000,0.031,2884,2090,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2842,-0.75,-146.6,327.4,-9.6,350,2851,0.00,2.12,0.00,0.000,4,0.000,0.050,2874,3492,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2937,-0.75,-146.6,336.9,-10.4,359,2944,0.00,2.05,0.00,0.000,6,0.000,0.031,2874,2092,3884,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3245,-0.75,-146.6,368.0,-10.0,390,3253,0.00,2.15,0.00,0.000,4,0.000,0.050,2864,3498,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3336,-0.75,-146.6,378.0,-10.8,399,3345,0.00,2.05,0.00,0.000,6,0.000,0.031,2864,2098,3884,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3647,-0.75,-146.6,410.3,-10.2,430,3656,0.00,2.12,0.00,0.000,4,0.000,0.050,2853,3502,3885,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3769,-0.75,-146.6,424.4,-11.8,442,3779,0.10,2.05,0.00,0.000,6,0.144,0.031,2886,2096,3885,0,0,0,0,0,0,26.41,26.70,28.83
$GC,4079,-0.75,-146.6,452.7,-9.0,473,4089,0.00,2.12,0.00,0.000,4,0.000,0.050,2878,3497,3885,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4182,-0.75,-146.6,462.5,-9.7,483,4186,0.00,2.03,0.00,0.000,6,0.000,0.031,2878,2096,3885,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4494,-0.75,-146.6,491.4,-9.0,514,4503,0.00,2.12,0.00,0.000,4,0.000,0.050,2869,3497,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4629,-0.75,-146.6,504.7,-10.2,527,4637,0.00,2.05,0.00,0.000,6,0.000,0.031,2869,2100,3885,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4937,-0.75,-146.6,535.5,-10.1,558,4945,0.00,2.12,0.00,0.000,4,0.000,0.050,2859,3506,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5049,-0.75,-146.6,547.7,-10.7,569,5059,0.08,2.05,0.00,0.000,6,0.142,0.030,2885,2098,3885,0,0,0,0,0,0,26.47,26.72,28.83
$GC,5359,-0.75,-146.6,575.4,-8.8,600,5368,0.00,2.12,0.00,0.000,4,0.000,0.049,2876,3503,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5471,-0.75,-146.6,586.2,-9.7,611,5475,0.00,2.03,0.00,0.000,6,0.000,0.030,2877,2100,3885,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5805,-0.75,-146.6,616.7,-9.1,632,5811,0.00,2.12,0.00,0.000,4,0.000,0.050,2866,3503,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5962,-0.75,-146.6,631.9,-10.2,637,5966,0.00,2.05,0.00,0.000,6,0.000,0.030,2867,2098,3885,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6279,-0.75,-146.6,663.5,-9.6,648,6285,0.00,2.15,0.00,0.000,4,0.000,0.050,2856,3510,3885,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6414,-0.75,-146.6,675.9,-10.4,652,6419,0.12,2.05,0.00,0.000,6,0.160,0.031,2888,2092,3885,0,0,0,0,0,0,26.45,26.72,28.83
$GC,6733,-0.75,-146.6,703.6,-8.0,663,6738,0.00,2.12,0.00,0.000,4,0.000,0.050,2880,3499,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6825,-0.75,-146.6,711.4,-8.6,666,6829,0.00,2.05,0.00,0.000,6,0.000,0.030,2880,2089,3884,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7148,-0.75,-146.6,739.4,-8.7,677,7153,0.00,2.12,0.00,0.000,4,0.000,0.050,2870,3494,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7256,-0.75,-146.6,747.8,-9.2,680,7260,0.00,2.05,0.00,0.000,6,0.000,0.030,2870,2088,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7563,-0.75,-146.6,777.5,-9.1,690,7567,0.00,2.17,0.00,0.000,4,0.000,0.050,2859,3506,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7674,-0.75,-146.6,786.8,-9.8,693,7679,0.12,2.05,0.00,0.000,6,0.159,0.030,2891,2098,3885,0,0,0,0,0,0,26.46,26.73,28.83
$GC,7981,-0.75,-146.6,812.3,-7.6,703,7987,0.00,2.12,0.00,0.000,4,0.000,0.050,2884,3500,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8084,-0.75,-146.6,819.8,-8.1,706,8088,0.00,2.05,0.00,0.000,6,0.000,0.030,2884,2092,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8397,-0.75,-146.6,846.0,-8.0,717,8402,0.00,2.12,0.00,0.000,4,0.000,0.050,2873,3502,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8528,-0.75,-146.6,856.7,-8.8,721,8533,0.00,2.05,0.00,0.000,6,0.000,0.030,2873,2096,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8849,-0.75,-146.6,883.9,-8.4,732,8852,0.00,2.15,0.00,0.000,4,0.000,0.050,2863,3502,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8971,-0.75,-146.6,895.4,-9.4,736,8976,0.00,2.05,0.00,0.000,6,0.000,0.031,2863,2095,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9302,-0.75,-146.6,924.8,-8.7,747,9307,0.00,2.12,0.00,0.000,4,0.000,0.050,2852,3500,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9409,-0.75,-146.6,933.3,-9.2,750,9413,0.15,2.05,0.00,0.000,6,0.155,0.031,2892,2095,3885,0,0,0,0,0,0,26.43,26.73,28.83
$GC,9716,-0.75,-146.6,957.5,-7.3,760,9721,0.00,2.12,0.00,0.000,4,0.000,0.050,2885,3501,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9836,-0.75,-146.6,967.1,-8.1,764,9840,0.00,2.05,0.00,0.000,6,0.000,0.031,2885,2093,3885,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,10137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10138,begin apogee
$GC,10145,-0.17,0.0,990.3,-7.4,774,10275,0.57,0.00,125.70,1.523,6,0.134,0.000,3070,1891,3280,0,0,0,0,0,0,26.38,28.83,23.57
$STATE,10278,end apogee,CONTROL_FINISHED_OK
$STATE,10278,begin climb
$GC,10281,0.75,146.6,993.4,0.0,778,10423,0.85,2.42,131.12,1.486,4,0.067,0.037,3380,526,2680,0,0,0,0,0,0,24.64,23.58,22.65
$GC,10549,0.75,146.6,969.5,13.4,787,10553,0.00,2.28,0.00,0.000,6,0.000,0.037,3380,1893,2672,0,0,0,0,0,0,28.83,24.86,28.83
$GC,10856,0.75,146.6,925.5,13.3,797,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1892,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11156,0.75,146.6,884.6,13.8,807,11162,0.00,2.17,0.00,0.000,4,0.000,0.039,3389,523,2667,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11199,0.75,146.6,880.4,13.8,808,11203,0.00,2.20,0.00,0.000,6,0.000,0.037,3389,1913,2666,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11511,0.75,146.6,834.4,13.9,819,11517,0.00,2.17,0.00,0.000,4,0.000,0.039,3397,526,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11549,0.75,146.6,830.1,14.1,820,11553,0.00,2.17,0.00,0.000,6,0.000,0.036,3397,1912,2665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11869,0.75,146.6,782.8,14.6,831,11875,0.00,2.17,0.00,0.000,4,0.000,0.040,3406,526,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11928,0.75,146.6,773.6,14.8,833,11934,0.10,2.12,0.00,0.000,6,0.153,0.037,3376,1902,2664,0,0,0,0,0,0,26.07,26.27,28.83
$GC,12261,0.75,146.6,729.5,13.4,844,12267,0.00,2.15,0.00,0.000,4,0.000,0.039,3382,523,2664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12303,0.75,146.6,725.2,13.4,845,12307,0.00,2.15,0.00,0.000,6,0.000,0.036,3382,1904,2663,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12616,0.75,146.6,680.4,13.8,856,12621,0.00,2.15,0.00,0.000,4,0.000,0.040,3391,525,2663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12683,0.75,146.6,672.2,13.7,858,12687,0.00,2.15,0.00,0.000,6,0.000,0.037,3390,1907,2662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13002,0.75,146.6,627.0,13.5,869,13008,0.00,2.15,0.00,0.000,4,0.000,0.040,3398,519,2663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13049,0.75,146.6,622.8,13.5,870,13053,0.00,2.15,0.00,0.000,6,0.000,0.037,3398,1903,2662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13358,0.75,146.6,577.7,13.9,890,13366,0.00,2.12,0.00,0.000,4,0.000,0.040,3406,520,2663,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13430,0.75,146.6,567.2,14.5,897,13439,0.10,2.12,0.00,0.000,6,0.153,0.037,3375,1909,2662,0,0,0,0,0,0,26.26,26.49,28.83
$GC,13740,0.75,146.6,527.1,12.9,928,13749,0.00,2.15,0.00,0.000,4,0.000,0.040,3382,516,2662,0,0,0,0,0,0,28.83,26.50,28.83
$GC,13765,0.75,146.6,524.4,12.9,930,13772,0.00,2.15,0.00,0.000,6,0.000,0.036,3382,1908,2662,0,0,0,0,0,0,28.83,26.52,28.83
$GC,14072,0.75,146.6,483.8,13.0,961,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1907,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14374,0.75,146.6,443.7,13.8,991,14384,0.00,2.12,0.00,0.000,4,0.000,0.041,3392,519,2662,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14437,0.75,146.6,434.4,14.2,997,14446,0.00,2.12,0.00,0.000,6,0.000,0.037,3391,1900,2662,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14748,0.75,146.6,391.4,13.7,1028,14752,0.00,2.12,0.00,0.000,4,0.000,0.040,3398,518,2662,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14792,0.75,146.6,385.5,14.0,1032,14799,0.00,2.15,0.00,0.000,6,0.000,0.036,3398,1912,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15100,0.75,146.6,342.6,13.4,1063,15101,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1912,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15402,0.75,146.6,302.8,12.9,1093,15410,0.00,2.15,0.00,0.000,4,0.000,0.041,3406,523,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15467,0.75,146.6,294.3,13.6,1099,15475,0.15,2.12,0.00,0.000,6,0.168,0.037,3369,1903,2662,0,0,0,0,0,0,26.36,26.60,28.83
$GC,15774,0.75,146.6,258.3,11.6,1130,15777,0.00,2.15,0.00,0.000,4,0.000,0.041,3375,514,2662,0,0,0,0,0,0,28.83,26.59,28.83
$GC,15808,0.75,146.6,254.5,11.8,1133,15815,0.00,2.12,0.00,0.000,6,0.000,0.036,3375,1901,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,16116,0.75,146.6,217.2,11.9,1164,16117,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1901,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16418,0.75,146.6,180.7,12.0,1194,16427,0.00,2.12,0.00,0.000,4,0.000,0.040,3385,519,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,16541,0.75,146.6,165.8,12.0,1206,16550,0.00,2.10,0.00,0.000,6,0.000,0.036,3384,1898,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16850,0.75,146.6,130.0,11.0,1237,16851,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1898,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17150,0.75,146.6,97.9,10.4,1268,17157,0.00,2.12,0.00,0.000,4,0.000,0.040,3393,509,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17226,0.75,146.6,89.9,10.9,1282,17232,0.00,2.15,0.00,0.000,6,0.000,0.037,3393,1910,2662,0,0,0,0,0,0,28.83,26.64,28.83
$GC,17537,0.75,146.6,58.6,9.4,1343,17545,0.00,2.12,0.00,0.000,4,0.000,0.050,3393,3311,2662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17569,0.75,146.6,55.5,10.3,1348,17576,0.12,2.08,0.00,0.000,6,0.178,0.031,3372,1902,2662,0,0,0,0,0,0,26.41,26.67,28.83
$GC,17883,0.81,203.2,30.8,6.8,1409,17927,0.00,2.22,37.78,0.893,4,0.000,0.041,3380,513,2449,0,0,0,0,0,0,28.83,25.99,25.22
$GC,18015,0.85,235.7,20.6,7.8,1432,18041,0.00,2.20,15.98,0.114,6,0.000,0.036,3380,1915,2316,0,0,0,0,0,0,28.83,26.09,25.92
$FREEZE,8.71,3.538,-1.733,1,1,0
$FREEZE,8.29,3.867,-1.730,1,1,0
$FREEZE,7.89,4.047,-1.724,1,1,0
$FREEZE,7.50,4.062,-1.725,1,1,0
$FREEZE,7.17,4.210,-1.722,1,1,0
$FREEZE,6.89,4.253,-1.721,1,1,0
$FREEZE,6.60,4.279,-1.721,1,1,0
$FREEZE,6.39,4.401,-1.719,1,1,0
$FREEZE,6.06,4.597,-1.715,1,1,0
$FREEZE,5.86,4.712,-1.714,1,1,0
$FREEZE,5.55,4.704,-1.715,1,1,0
$FREEZE,5.19,4.777,-1.717,1,1,0
$FREEZE,4.90,4.854,-1.715,1,1,0
$FREEZE,4.74,4.854,-1.716,1,1,0
$FREEZE,4.35,4.866,-1.716,1,1,0
$FREEZE,4.06,4.852,-1.717,1,1,0
$FREEZE,3.68,4.727,-1.724,1,1,0
$STATE,18238,end climb,SURFACE_DEPTH_REACHED
$STATE,18238,begin surface coast
$FREEZE,3.40,4.871,-1.717,1,1,0
$FREEZE,3.17,4.869,-1.718,1,1,0
$FREEZE,2.98,4.876,-1.718,1,1,0
$FREEZE,2.72,4.864,-1.718,1,1,0
$FREEZE,2.51,4.859,-1.718,1,1,0
$FREEZE,2.26,4.867,-1.717,1,1,0
$FREEZE,1.99,4.845,-1.719,1,1,0
$FREEZE,1.59,4.834,-1.719,1,1,0
$FREEZE,1.51,4.737,-1.724,1,1,0
$FREEZE,1.42,4.838,-1.674,1,1,0
$FREEZE,1.63,4.409,-1.742,1,1,0
$FREEZE,1.44,4.471,-0.849,1,1,0
$FREEZE,1.46,4.799,-0.817,1,1,0
$FREEZE,1.45,4.749,-1.714,1,1,0
$FINISH,1.5,1.024788
$STATE,18314,end surface coast,CONTROL_FINISHED_OK
$STATE,18314,begin surface
$SM_CCo,18333,72.43,0.072,0,0,1647,400.08
$SM_GC,2.39,8.12,0.25,72.43,0.048,0.067,0.072,344,2094,1647,-8.65,-1.47,400.08,0,0,0,0,0,0,26.16,26.22,26.06
$RAFOS_CLK,961
$RAFOS,6,1342442953,12.833333,12.820278,44,43,42,41,40,40,1596,382,1697,766,1076,771
$RAFOS,5,1342442477,12.700000,12.688056,48,45,44,42,41,41,532,782,514,61,1,1855
$RAFOS,4,1342441999,12.566667,12.555278,44,43,42,40,40,39,601,194,1190,1321,1674,1084
$RAFOS,3,1342441523,12.433333,12.423056,47,46,45,44,43,42,1675,681,1806,1059,1182,1645
$RAFOS,2,1342441048,12.300000,12.291111,46,45,44,43,42,40,427,1174,640,104,1815,1765
$RAFOS,1,1342440545,12.166667,12.151389,47,45,42,41,41,41,1278,603,917,1,57,431
$RAFOS,0,1342440091,12.033333,12.025278,50,46,44,44,43,41,555,965,635,1120,409,216
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5813.09,160712,030324
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.45
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,22.6,19.025
$10V_AH,10.1,22.043
$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,20.925,170.200,310.575,72.425,0.000,0.000,0.000,332.850,4.250,0.000,17.361,3984.641,10617.241,583.065,3281.849,409.681,0.000,2479.652,0.000,2901.530,2520.000,27.355,0.000
$DEVICE_MAMPS,257.040,66.555,1523.115,71.910,0.000,0.000,0.000,281.640,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.602,1128.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151552
$DATA_FILE_SIZE,69922,1488
$CAP_FILE_SIZE,197563,0
$CFSIZE,260165632,233541632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.2
$CURRENT,0.054, 74.6,1
$GPS,160712,142352,6701.508,-5825.695,37,0.7,37,-33.8