version: 66.11
glider: 108
mission: 21
dive: 154
start: 7 17 112 17 10 50
data:
$ID,108
$MISSION,21
$DIVE,154
$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,-191282.39
$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,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
$GPS1,170712,170134,6700.471,-5851.949,39,0.8,39,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-76.1
$GPS2,170712,170924,6700.517,-5851.946,18,1.0,18,-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,281.2,75300,-16.9,-9.167
$D_GRID,1137
$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,-146.6,0.0,0.0,0,73,0.00,0.00,-55.12,0.000,2,0.000,0.000,344,2101,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.75,-146.6,3.2,-1.6,10,122,10.27,2.22,-28.17,0.000,4,0.260,0.067,2874,3508,3881,0,0,0,0,0,0,25.92,26.30,26.66
$GC,316,-0.75,-146.6,37.9,-12.9,55,323,0.00,2.10,0.00,0.000,6,0.000,0.031,2874,2094,3886,0,0,0,0,0,0,28.83,26.44,28.83
$GC,627,-0.75,-146.6,77.2,-13.4,116,634,0.00,2.20,0.00,0.000,4,0.000,0.050,2863,3513,3889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,784,-0.75,-146.6,98.5,-13.7,146,791,0.00,2.10,0.00,0.000,6,0.000,0.031,2865,2094,3890,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1099,-0.75,-146.6,140.5,-13.0,178,1108,0.00,2.20,0.00,0.000,4,0.000,0.050,2856,3512,3890,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1174,-0.75,-146.6,150.1,-13.5,185,1182,0.12,2.10,0.00,0.000,6,0.177,0.031,2888,2089,3890,0,0,0,0,0,0,26.27,26.55,28.83
$GC,1481,-0.75,-146.6,185.6,-11.5,216,1491,0.00,2.20,0.00,0.000,4,0.000,0.051,2879,3504,3888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1594,-0.75,-146.6,199.0,-12.1,227,1598,0.00,2.08,0.00,0.000,6,0.000,0.031,2880,2090,3888,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1906,-0.75,-146.6,232.7,-10.6,258,1915,0.00,2.17,0.00,0.000,4,0.000,0.050,2869,3508,3887,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2039,-0.75,-146.6,247.3,-11.1,271,2047,0.00,2.05,0.00,0.000,6,0.000,0.031,2869,2102,3887,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2348,-0.75,-146.6,280.1,-10.5,302,2357,0.00,2.17,0.00,0.000,4,0.000,0.050,2859,3506,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2450,-0.75,-146.6,291.6,-11.1,312,2460,0.12,2.08,0.00,0.000,6,0.168,0.031,2890,2092,3886,0,0,0,0,0,0,26.36,26.63,28.83
$GC,2760,-0.75,-146.6,320.1,-9.0,343,2769,0.00,2.15,0.00,0.000,4,0.000,0.050,2882,3508,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2835,-0.75,-146.6,327.3,-10.4,350,2841,0.00,2.08,0.00,0.000,6,0.000,0.031,2881,2094,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3143,-0.75,-146.6,357.7,-9.4,381,3151,0.00,2.15,0.00,0.000,4,0.000,0.049,2871,3502,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3265,-0.75,-146.6,370.4,-10.4,393,3274,0.00,2.05,0.00,0.000,6,0.000,0.031,2871,2089,3886,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3574,-0.75,-146.6,402.7,-10.4,424,3584,0.00,2.17,0.00,0.000,4,0.000,0.050,2861,3515,3886,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3691,-0.75,-146.6,414.5,-10.7,435,3697,0.00,2.08,0.00,0.000,6,0.000,0.030,2861,2099,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3997,-0.75,-146.6,446.4,-10.4,466,4006,0.00,2.17,0.00,0.000,4,0.000,0.050,2850,3511,3886,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4101,-0.75,-146.6,457.9,-10.9,476,4111,0.15,2.08,0.00,0.000,6,0.158,0.030,2890,2089,3885,0,0,0,0,0,0,26.39,26.68,28.83
$GC,4411,-0.75,-146.6,484.4,-8.1,507,4420,0.00,2.15,0.00,0.000,4,0.000,0.049,2881,3512,3886,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4513,-0.75,-146.6,493.9,-9.7,517,4517,0.00,2.08,0.00,0.000,6,0.000,0.030,2882,2091,3886,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4826,-0.75,-146.6,521.9,-8.7,548,4835,0.00,2.15,0.00,0.000,4,0.000,0.049,2871,3504,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4928,-0.75,-146.6,531.9,-9.8,558,4937,0.00,2.05,0.00,0.000,6,0.000,0.030,2871,2095,3885,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5238,-0.75,-146.6,561.2,-9.4,589,5247,0.00,2.12,0.00,0.000,4,0.000,0.049,2861,3505,3886,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5363,-0.75,-146.6,573.2,-10.1,601,5371,0.00,2.05,0.00,0.000,6,0.000,0.029,2861,2092,3885,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5670,-0.75,-146.6,603.3,-9.8,630,5674,0.00,2.17,0.00,0.000,4,0.000,0.049,2850,3511,3886,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5786,-0.75,-146.6,612.9,-10.3,633,5793,0.15,2.08,0.00,0.000,6,0.158,0.030,2890,2091,3886,0,0,0,0,0,0,26.41,26.71,28.83
$GC,6092,-0.75,-146.6,640.3,-8.0,644,6098,0.00,2.17,0.00,0.000,4,0.000,0.049,2882,3514,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6185,-0.75,-146.6,648.4,-8.7,647,6190,0.00,2.08,0.00,0.000,6,0.000,0.030,2882,2090,3887,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6510,-0.75,-146.6,676.5,-8.6,658,6515,0.00,2.15,0.00,0.000,4,0.000,0.049,2872,3515,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6612,-0.75,-146.6,685.1,-9.2,661,6616,0.00,2.08,0.00,0.000,6,0.000,0.030,2872,2091,3886,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6924,-0.75,-146.6,715.0,-9.2,672,6929,0.00,2.15,0.00,0.000,4,0.000,0.049,2861,3516,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7027,-0.75,-146.6,723.8,-9.7,675,7031,0.00,2.08,0.00,0.000,6,0.000,0.030,2861,2094,3886,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7341,-0.75,-146.6,755.2,-9.6,686,7346,0.00,2.15,0.00,0.000,4,0.000,0.049,2850,3504,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7453,-0.75,-146.6,764.5,-10.0,689,7460,0.15,2.08,0.00,0.000,6,0.158,0.030,2891,2084,3886,0,0,0,0,0,0,26.41,26.72,28.83
$GC,7760,-0.75,-146.6,790.6,-7.6,700,7766,0.00,2.15,0.00,0.000,4,0.000,0.050,2883,3506,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7859,-0.75,-146.6,798.0,-8.1,703,7863,0.00,2.08,0.00,0.000,6,0.000,0.029,2882,2083,3886,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8177,-0.75,-146.6,824.8,-8.1,714,8182,0.00,2.17,0.00,0.000,4,0.000,0.050,2872,3506,3886,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8285,-0.75,-146.6,832.5,-8.4,717,8289,0.00,2.08,0.00,0.000,6,0.000,0.030,2872,2084,3886,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8592,-0.75,-146.6,860.3,-8.6,727,8597,0.00,2.17,0.00,0.000,4,0.000,0.050,2861,3508,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8690,-0.75,-146.6,868.9,-9.3,730,8694,0.00,2.08,0.00,0.000,6,0.000,0.030,2862,2088,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9009,-0.75,-146.6,899.0,-9.3,741,9014,0.00,2.15,0.00,0.000,4,0.000,0.050,2851,3505,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9123,-0.75,-146.6,908.2,-9.8,744,9131,0.15,2.05,0.00,0.000,6,0.156,0.030,2891,2096,3885,0,0,0,0,0,0,26.42,26.72,28.83
$GC,9430,-0.75,-146.6,934.8,-7.8,755,9435,0.00,2.15,0.00,0.000,4,0.000,0.050,2884,3505,3885,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9513,-0.75,-146.6,939.9,-8.0,757,9519,0.00,2.05,0.00,0.000,6,0.000,0.030,2883,2098,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9820,-0.75,-146.6,966.7,-7.8,768,9826,0.00,2.12,0.00,0.000,4,0.000,0.050,2873,3504,3884,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9928,-0.75,-146.6,974.3,-8.3,771,9932,0.00,2.05,0.00,0.000,6,0.000,0.030,2873,2100,3884,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,10112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10112,begin apogee
$GC,10120,-0.17,0.0,991.0,-8.1,777,10251,0.62,0.00,125.75,1.526,6,0.138,0.000,3074,1879,3279,0,0,0,0,0,0,26.36,28.83,23.55
$STATE,10254,end apogee,CONTROL_FINISHED_OK
$STATE,10254,begin climb
$GC,10257,0.75,146.6,994.4,0.0,781,10399,0.85,2.40,131.55,1.492,4,0.067,0.037,3382,529,2681,0,0,0,0,0,0,24.64,23.57,22.61
$GC,10460,0.75,146.6,977.9,11.8,788,10465,0.00,2.33,0.00,0.000,6,0.000,0.035,3382,1906,2674,0,0,0,0,0,0,28.83,24.51,28.83
$GC,10773,0.75,146.6,932.0,14.3,799,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1906,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11073,0.75,146.6,889.2,14.1,809,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1906,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11375,0.75,146.6,847.6,13.6,819,11380,0.00,2.20,0.00,0.000,4,0.000,0.040,3392,515,2666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11416,0.75,146.6,843.3,13.7,820,11420,0.00,2.17,0.00,0.000,6,0.000,0.037,3392,1909,2665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11729,0.75,146.6,797.8,14.1,831,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1909,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12028,0.75,146.6,755.3,14.0,841,12035,0.00,2.17,0.00,0.000,4,0.000,0.041,3401,522,2664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12067,0.75,146.6,751.0,14.0,842,12072,0.12,2.15,0.00,0.000,6,0.174,0.037,3371,1904,2663,0,0,0,0,0,0,26.11,26.32,28.83
$GC,12385,0.75,146.6,709.5,12.6,853,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1904,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12686,0.75,146.6,672.0,12.5,863,12691,0.00,2.15,0.00,0.000,4,0.000,0.040,3378,523,2663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12729,0.75,146.6,668.2,12.5,864,12733,0.00,2.15,0.00,0.000,6,0.000,0.037,3378,1905,2662,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13041,0.75,146.6,626.4,12.8,875,13042,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1905,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13341,0.75,146.6,588.6,13.1,889,13350,0.00,2.17,0.00,0.000,4,0.000,0.041,3386,516,2663,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13375,0.75,146.6,584.7,12.5,892,13382,0.00,2.15,0.00,0.000,6,0.000,0.037,3386,1903,2662,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13683,0.75,146.6,543.7,13.3,923,13692,0.00,2.12,0.00,0.000,4,0.000,0.040,3395,522,2662,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13726,0.75,146.6,538.0,13.4,927,13734,0.00,2.12,0.00,0.000,6,0.000,0.037,3395,1905,2662,0,0,0,0,0,0,28.83,26.52,28.83
$GC,14035,0.75,146.6,494.2,14.2,958,14036,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1905,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14337,0.75,146.6,452.0,14.1,988,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1905,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14647,0.75,146.6,408.9,13.5,1019,14656,0.00,2.12,0.00,0.000,4,0.000,0.040,3404,522,2661,0,0,0,0,0,0,28.83,26.56,28.83
$GC,14679,0.75,146.6,404.2,13.4,1022,14689,0.10,2.12,0.00,0.000,6,0.153,0.036,3373,1911,2661,0,0,0,0,0,0,26.34,26.58,28.83
$GC,14989,0.75,146.6,365.5,12.4,1053,14997,0.00,2.10,0.00,0.000,4,0.000,0.047,3373,3299,2661,0,0,0,0,0,0,28.83,26.54,28.83
$GC,15013,0.75,146.6,362.6,13.1,1055,15022,0.00,2.05,0.00,0.000,6,0.000,0.031,3380,1904,2661,0,0,0,0,0,0,28.83,26.60,28.83
$GC,15321,0.75,146.6,323.1,12.7,1086,15324,0.00,2.12,0.00,0.000,4,0.000,0.040,3390,500,2661,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15433,0.75,146.6,309.0,12.3,1097,15441,0.00,2.12,0.00,0.000,6,0.000,0.035,3390,1893,2661,0,0,0,0,0,0,28.83,26.60,28.83
$GC,15742,0.75,146.6,268.5,13.1,1128,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1892,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16045,0.75,146.6,229.6,12.2,1158,16049,0.00,2.12,0.00,0.000,4,0.000,0.047,3390,3300,2661,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16090,0.75,146.6,223.6,13.4,1162,16098,0.00,2.08,0.00,0.000,6,0.000,0.031,3399,1891,2661,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16397,0.75,146.6,184.0,12.2,1193,16401,0.00,2.10,0.00,0.000,4,0.000,0.041,3409,507,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,16490,0.75,146.6,172.5,12.3,1202,16500,0.10,2.12,0.00,0.000,6,0.149,0.036,3375,1908,2661,0,0,0,0,0,0,26.39,26.63,28.83
$GC,16799,0.75,146.6,139.9,10.1,1233,16808,0.00,2.10,0.00,0.000,4,0.000,0.047,3375,3299,2661,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16861,0.75,146.6,133.1,11.4,1239,16870,0.00,2.05,0.00,0.000,6,0.000,0.031,3381,1900,2661,0,0,0,0,0,0,28.83,26.67,28.83
$GC,17171,0.75,146.6,102.9,9.4,1270,17180,0.00,2.10,0.00,0.000,4,0.000,0.041,3392,500,2661,0,0,0,0,0,0,28.83,26.62,28.83
$GC,17265,0.75,146.6,93.6,10.5,1285,17271,0.00,2.15,0.00,0.000,6,0.000,0.035,3392,1904,2661,0,0,0,0,0,0,28.83,26.64,28.83
$GC,17576,0.75,146.6,63.6,9.5,1346,17584,0.00,2.12,0.00,0.000,4,0.000,0.048,3392,3307,2661,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17628,0.75,146.6,58.3,10.4,1355,17635,0.12,2.08,0.00,0.000,6,0.183,0.031,3370,1899,2661,0,0,0,0,0,0,26.41,26.67,28.83
$GC,17942,0.79,179.3,31.8,7.8,1416,17973,0.00,2.20,24.92,0.884,4,0.000,0.041,3379,512,2545,0,0,0,0,0,0,28.83,26.22,25.41
$GC,18008,0.84,224.0,27.1,7.3,1427,18039,0.00,2.17,24.92,0.842,6,0.000,0.036,3379,1906,2364,0,0,0,0,0,0,28.83,26.25,25.08
$FREEZE,8.99,5.042,-1.755,1,1,0
$FREEZE,8.62,5.076,-1.755,1,1,0
$FREEZE,8.30,5.057,-1.755,1,1,0
$FREEZE,7.93,5.078,-1.755,1,1,0
$FREEZE,7.42,5.099,-1.755,1,1,0
$FREEZE,6.92,5.105,-1.755,1,1,0
$FREEZE,6.70,5.116,-1.755,1,1,0
$FREEZE,6.37,5.104,-1.755,1,1,0
$FREEZE,6.05,5.121,-1.755,1,1,0
$FREEZE,5.63,5.133,-1.754,1,1,0
$FREEZE,5.28,5.134,-1.755,1,1,0
$FREEZE,4.95,5.134,-1.754,1,1,0
$FREEZE,4.73,5.137,-1.754,1,1,0
$FREEZE,4.43,5.136,-1.754,1,1,0
$FREEZE,4.01,5.137,-1.754,1,1,0
$FREEZE,3.67,5.139,-1.754,1,1,0
$STATE,18340,end climb,SURFACE_DEPTH_REACHED
$STATE,18340,begin surface coast
$FREEZE,3.32,5.134,-1.754,1,1,0
$FREEZE,3.00,5.014,-1.760,1,1,0
$FREEZE,2.66,5.131,-1.753,1,1,0
$FREEZE,2.30,5.135,-1.753,1,1,0
$FREEZE,1.99,5.109,-1.754,1,1,0
$FREEZE,1.44,5.132,-1.753,1,1,0
$FREEZE,1.49,4.792,-0.865,1,1,0
$FREEZE,1.46,4.729,-0.858,1,1,0
$FREEZE,1.42,4.783,-0.341,1,1,0
$FREEZE,1.55,4.996,-0.822,1,1,0
$FREEZE,1.46,4.884,-0.899,1,1,0
$FREEZE,1.50,4.812,-0.438,1,1,0
$FREEZE,1.43,4.567,-0.313,1,1,0
$FINISH,1.4,1.004526
$STATE,18409,end surface coast,CONTROL_FINISHED_OK
$STATE,18409,begin surface
$SM_CCo,18430,77.90,0.072,0,0,1647,400.08
$SM_GC,2.50,8.20,0.28,77.90,0.054,0.062,0.072,346,2103,1647,-8.64,-1.24,400.08,0,0,0,0,0,0,26.10,26.17,26.00
$RAFOS_CLK,962
$RAFOS,6,1342558148,20.833334,20.818890,48,41,41,41,41,40,1056,61,826,1103,1480,1500
$RAFOS,5,1342557672,20.700001,20.686666,54,45,45,44,42,41,107,544,1564,1175,1912,207
$RAFOS,4,1342557192,20.566668,20.553333,49,48,47,46,41,39,1555,61,279,1318,1516,377
$RAFOS,3,1342556716,20.433332,20.421112,48,45,44,42,41,41,61,1905,183,852,112,261
$RAFOS,2,1342556240,20.299999,20.288889,48,46,46,46,43,41,882,61,250,590,432,1279
$RAFOS,1,1342555760,20.166666,20.155556,44,42,41,40,40,40,238,193,1663,463,1283,137
$RAFOS,0,1342555265,20.033333,20.018055,43,42,40,40,39,39,890,1675,1,1236,1827,1868
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5852.74,170712,111131
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.88
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,22.6,19.738
$10V_AH,10.1,22.812
$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,21.250,166.550,307.150,77.900,0.000,0.000,0.000,324.150,4.500,0.000,19.844,3963.970,10810.088,611.312,3182.010,455.932,0.000,2461.415,0.000,2816.965,2520.000,27.356,0.000
$DEVICE_MAMPS,260.100,67.320,1526.175,71.910,0.000,0.000,0.000,280.142,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.550,1126.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152380
$DATA_FILE_SIZE,69918,1504
$CAP_FILE_SIZE,195465,0
$CFSIZE,260165632,233005056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.2
$CURRENT,0.032,114.0,1
$GPS,170712,222052,6659.984,-5857.252,40,0.8,40,-33.9