version: 66.11
glider: 108
mission: 21
dive: 156
start: 7 18 112 3 49 57
data:
$ID,108
$MISSION,21
$DIVE,156
$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,-191284.89
$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,43
$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
$GPS1,180712,034105,6701.448,-5904.990,35,0.9,35,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-75.6
$GPS2,180712,034923,6701.519,-5905.151,15,1.7,15,-34.0
$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,230.3,67460,-16.9,-9.167
$D_GRID,1170
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.75,-146.6,0.0,0.0,0,69,0.00,0.00,-50.25,0.000,2,0.000,0.000,336,2104,2793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.0,-1.9,9,130,10.07,2.20,-36.90,0.000,4,0.252,0.068,2873,3500,3880,0,0,0,0,0,0,25.96,26.36,26.72
$GC,358,-0.75,-146.6,42.0,-12.8,63,366,0.00,2.08,0.00,0.000,6,0.000,0.031,2878,2098,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,674,-0.75,-146.6,81.0,-12.8,124,681,0.00,2.20,0.00,0.000,4,0.000,0.050,2870,3512,3888,0,0,0,0,0,0,28.83,26.44,28.83
$GC,834,-0.75,-146.6,103.4,-13.9,152,841,0.00,2.10,0.00,0.000,6,0.000,0.031,2870,2092,3888,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1140,-0.75,-146.6,145.2,-12.4,183,1151,0.00,2.15,0.00,0.000,4,0.000,0.051,2860,3504,3888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1224,-0.75,-146.6,156.0,-12.9,191,1233,0.00,2.08,0.00,0.000,6,0.000,0.031,2859,2099,3888,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1534,-0.75,-146.6,192.8,-11.4,222,1544,0.12,2.17,0.00,0.000,4,0.184,0.050,2887,3509,3887,0,0,0,0,0,0,26.34,26.51,28.83
$GC,1650,-0.75,-146.6,204.5,-9.8,233,1658,0.00,2.08,0.00,0.000,6,0.000,0.031,2887,2092,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1958,-0.75,-146.6,235.1,-9.8,264,1967,0.00,2.17,0.00,0.000,4,0.000,0.050,2877,3505,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2034,-0.75,-146.6,242.7,-10.5,271,2042,0.00,2.08,0.00,0.000,6,0.000,0.031,2877,2094,3885,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2341,-0.75,-146.6,274.0,-9.7,302,2350,0.00,2.17,0.00,0.000,4,0.000,0.050,2866,3505,3885,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2473,-0.75,-146.6,287.9,-10.5,315,2477,0.00,2.05,0.00,0.000,6,0.000,0.031,2866,2102,3884,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2785,-0.75,-146.6,319.5,-10.1,346,2794,0.00,2.15,0.00,0.000,4,0.000,0.050,2856,3508,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2900,-0.75,-146.6,332.0,-11.3,357,2908,0.12,2.08,0.00,0.000,6,0.171,0.031,2887,2094,3884,0,0,0,0,0,0,26.37,26.66,28.83
$GC,3208,-0.75,-146.6,360.3,-8.8,388,3216,0.00,2.12,0.00,0.000,4,0.000,0.050,2879,3501,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3323,-0.75,-146.6,371.1,-9.8,399,3330,0.00,2.05,0.00,0.000,6,0.000,0.031,2879,2100,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3629,-0.75,-146.6,400.0,-9.3,430,3639,0.00,2.17,0.00,0.000,4,0.000,0.050,2869,3519,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3726,-0.75,-146.6,409.5,-10.3,439,3733,0.00,2.08,0.00,0.000,6,0.000,0.030,2869,2097,3884,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4032,-0.75,-146.6,440.2,-9.8,470,4041,0.00,2.17,0.00,0.000,4,0.000,0.050,2858,3509,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4125,-0.75,-146.6,449.9,-10.4,479,4136,0.08,2.08,0.00,0.000,6,0.150,0.030,2884,2084,3884,0,0,0,0,0,0,26.43,26.70,28.83
$GC,4435,-0.75,-146.6,478.0,-9.1,510,4439,0.00,2.17,0.00,0.000,4,0.000,0.050,2875,3508,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4612,-0.75,-146.6,495.3,-9.9,527,4620,0.00,2.05,0.00,0.000,6,0.000,0.030,2875,2100,3884,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4919,-0.75,-146.6,524.0,-9.0,558,4923,0.00,2.15,0.00,0.000,4,0.000,0.050,2865,3512,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5086,-0.75,-146.6,540.6,-10.7,574,5093,0.00,2.08,0.00,0.000,6,0.000,0.030,2865,2093,3884,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5393,-0.75,-146.6,570.6,-9.5,605,5402,0.00,2.17,0.00,0.000,4,0.000,0.049,2854,3507,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5557,-0.75,-146.6,587.7,-10.5,621,5567,0.12,2.08,0.00,0.000,6,0.168,0.030,2886,2082,3884,0,0,0,0,0,0,26.42,26.71,28.83
$GC,5890,-0.75,-146.6,614.7,-7.9,642,5896,0.00,2.17,0.00,0.000,4,0.000,0.050,2878,3504,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6044,-0.75,-146.6,628.0,-8.8,647,6048,0.00,2.05,0.00,0.000,6,0.000,0.030,2878,2097,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6366,-0.75,-146.6,655.5,-8.4,658,6372,0.00,2.15,0.00,0.000,4,0.000,0.050,2868,3502,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6536,-0.75,-146.6,669.3,-9.3,663,6540,0.00,2.05,0.00,0.000,6,0.000,0.030,2867,2097,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6842,-0.75,-146.6,699.8,-9.4,673,6846,0.00,2.15,0.00,0.000,4,0.000,0.050,2857,3505,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6965,-0.75,-146.6,712.6,-10.4,677,6971,0.12,2.05,0.00,0.000,6,0.162,0.030,2888,2097,3884,0,0,0,0,0,0,26.44,26.72,28.83
$GC,7298,-0.75,-146.6,740.9,-8.4,688,7303,0.00,2.12,0.00,0.000,4,0.000,0.049,2881,3503,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7395,-0.75,-146.6,749.4,-9.1,691,7399,0.00,2.05,0.00,0.000,6,0.000,0.030,2881,2095,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7713,-0.75,-146.6,777.5,-8.6,702,7719,0.00,2.15,0.00,0.000,4,0.000,0.049,2870,3503,3885,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7832,-0.75,-146.6,788.7,-9.4,706,7836,0.00,2.05,0.00,0.000,6,0.000,0.031,2870,2089,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8165,-0.75,-146.6,819.2,-9.2,717,8170,0.00,2.17,0.00,0.000,4,0.000,0.050,2860,3508,3884,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8299,-0.75,-146.6,831.0,-9.8,721,8306,0.12,2.08,0.00,0.000,6,0.161,0.031,2891,2086,3884,0,0,0,0,0,0,26.45,26.73,28.83
$GC,8616,-0.75,-146.6,856.6,-7.4,732,8620,0.00,2.20,0.00,0.000,4,0.000,0.050,2884,3515,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8708,-0.75,-146.6,864.0,-7.9,735,8714,0.00,2.08,0.00,0.000,6,0.000,0.031,2884,2091,3884,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9038,-0.75,-146.6,890.1,-7.9,746,9044,0.00,2.15,0.00,0.000,4,0.000,0.050,2873,3503,3883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9147,-0.75,-146.6,897.8,-8.5,749,9151,0.00,2.05,0.00,0.000,6,0.000,0.030,2873,2099,3883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9453,-0.75,-146.6,925.4,-8.4,759,9457,0.00,2.17,0.00,0.000,4,0.000,0.050,2863,3510,3883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9565,-0.75,-146.6,933.8,-8.9,762,9574,0.00,2.08,0.00,0.000,6,0.000,0.031,2863,2089,3883,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9876,-0.75,-146.6,962.1,-8.5,773,9881,0.00,2.15,0.00,0.000,4,0.000,0.050,2853,3506,3883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10011,-0.75,-146.6,973.3,-9.4,777,10017,0.10,2.08,0.00,0.000,6,0.138,0.030,2886,2084,3883,0,0,0,0,0,0,26.44,26.73,28.83
$STATE,10233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10233,begin apogee
$GC,10240,-0.17,0.0,991.4,-7.3,785,10371,0.55,0.00,125.43,1.507,6,0.135,0.000,3069,1882,3279,0,0,0,0,0,0,26.39,28.83,23.58
$STATE,10375,end apogee,CONTROL_FINISHED_OK
$STATE,10375,begin climb
$GC,10378,0.75,146.6,994.7,0.0,789,10520,0.85,2.40,131.55,1.484,4,0.067,0.038,3378,529,2681,0,0,0,0,0,0,24.68,23.58,22.62
$GC,10616,0.75,146.6,973.6,13.5,797,10621,0.00,2.30,0.00,0.000,6,0.000,0.035,3379,1906,2673,0,0,0,0,0,0,28.83,24.72,28.83
$GC,10923,0.75,146.6,925.4,14.9,807,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1906,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11223,0.75,146.6,881.1,14.8,817,11229,0.00,2.22,0.00,0.000,4,0.000,0.039,3388,509,2666,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11306,0.75,146.6,872.3,14.8,819,11314,0.00,2.22,0.00,0.000,6,0.000,0.037,3388,1914,2666,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11613,0.75,146.6,822.5,15.0,830,11619,0.00,2.20,0.00,0.000,4,0.000,0.039,3397,520,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11646,0.75,146.6,817.8,15.0,831,11650,0.00,2.17,0.00,0.000,6,0.000,0.036,3397,1905,2665,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11968,0.75,146.6,766.3,16.0,842,11974,0.00,2.15,0.00,0.000,4,0.000,0.039,3406,522,2665,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12006,0.75,146.6,761.4,16.1,843,12011,0.15,2.17,0.00,0.000,6,0.170,0.036,3369,1914,2664,0,0,0,0,0,0,26.06,26.27,28.83
$GC,12326,0.75,146.6,715.8,13.7,854,12332,0.00,2.17,0.00,0.000,4,0.000,0.040,3375,519,2664,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12359,0.75,146.6,711.6,13.7,855,12365,0.00,2.15,0.00,0.000,6,0.000,0.036,3376,1901,2664,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12685,0.75,146.6,666.3,13.5,866,12691,0.00,2.17,0.00,0.000,4,0.000,0.040,3384,507,2663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12738,0.75,146.6,662.1,13.6,867,12746,0.00,2.17,0.00,0.000,6,0.000,0.036,3385,1905,2663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13045,0.75,146.6,616.7,13.6,878,13051,0.00,2.17,0.00,0.000,4,0.000,0.040,3394,510,2663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13088,0.75,146.6,612.6,13.6,879,13092,0.00,2.17,0.00,0.000,6,0.000,0.036,3394,1912,2662,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13403,0.75,146.6,566.4,14.3,904,13412,0.00,2.15,0.00,0.000,4,0.000,0.040,3402,525,2662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13438,0.75,146.6,561.4,14.2,907,13447,0.12,2.15,0.00,0.000,6,0.176,0.036,3372,1918,2662,0,0,0,0,0,0,26.25,26.48,28.83
$GC,13745,0.75,146.6,520.2,13.4,938,13754,0.00,2.17,0.00,0.000,4,0.000,0.040,3379,517,2662,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13787,0.75,146.6,514.5,13.3,942,13791,0.00,2.12,0.00,0.000,6,0.000,0.036,3379,1907,2662,0,0,0,0,0,0,28.83,26.51,28.83
$GC,14099,0.75,146.6,471.3,13.6,973,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1907,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14401,0.75,146.6,430.9,13.4,1003,14411,0.00,2.12,0.00,0.000,4,0.000,0.040,3388,523,2662,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14437,0.75,146.6,426.2,13.5,1006,14444,0.00,2.12,0.00,0.000,6,0.000,0.036,3389,1902,2662,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14744,0.75,146.6,383.8,13.6,1037,14745,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1901,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15047,0.75,146.6,343.9,13.3,1067,15054,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1901,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15358,0.75,146.6,304.4,13.0,1098,15366,0.00,2.12,0.00,0.000,4,0.000,0.040,3397,518,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15420,0.75,146.6,295.7,13.6,1104,15429,0.00,2.10,0.00,0.000,6,0.000,0.036,3397,1899,2662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,15729,0.75,146.6,253.9,13.6,1135,15731,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1898,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16033,0.75,146.6,213.0,13.7,1165,16041,0.00,2.08,0.00,0.000,4,0.000,0.047,3397,3294,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16107,0.75,146.6,201.9,15.2,1172,16114,0.15,2.05,0.00,0.000,6,0.176,0.031,3368,1906,2662,0,0,0,0,0,0,26.36,26.64,28.83
$GC,16414,0.75,146.6,164.8,11.7,1203,16418,0.00,2.12,0.00,0.000,4,0.000,0.041,3376,497,2662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16469,0.75,146.6,158.9,11.3,1208,16475,0.00,2.15,0.00,0.000,6,0.000,0.035,3376,1901,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16776,0.75,146.6,124.9,10.0,1239,16786,0.00,2.12,0.00,0.000,4,0.000,0.047,3376,3306,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16829,0.75,146.6,119.5,10.5,1244,16838,0.00,2.05,0.00,0.000,6,0.000,0.031,3385,1901,2662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17141,0.78,173.0,90.4,8.1,1286,17166,0.00,2.20,20.08,0.912,4,0.000,0.041,3396,510,2572,0,0,0,0,0,0,28.83,26.28,25.44
$GC,17316,0.78,173.0,74.1,9.8,1319,17324,0.00,2.17,0.00,0.000,6,0.000,0.036,3396,1908,2567,0,0,0,0,0,0,28.83,26.34,28.83
$GC,17634,0.78,173.0,42.5,9.5,1380,17641,0.00,2.15,0.00,0.000,4,0.000,0.049,3396,3312,2567,0,0,0,0,0,0,28.83,26.36,28.83
$GC,17664,0.78,173.0,38.9,10.6,1385,17670,0.00,2.10,0.00,0.000,6,0.000,0.031,3405,1898,2566,0,0,0,0,0,0,28.83,26.44,28.83
$GC,17982,0.80,192.1,11.0,8.4,1446,17996,0.00,2.20,8.57,0.090,4,0.000,0.041,3416,501,2495,0,0,0,0,0,0,28.83,26.42,26.30
$FREEZE,8.97,4.533,-1.741,2,1,0
$FREEZE,8.68,4.535,-1.742,2,1,0
$FREEZE,8.27,4.529,-1.743,2,1,0
$FREEZE,7.94,4.535,-1.744,2,1,0
$FREEZE,7.58,4.535,-1.744,2,1,0
$FREEZE,7.19,4.535,-1.745,2,1,0
$FREEZE,6.97,4.535,-1.746,2,1,0
$FREEZE,6.56,4.536,-1.746,2,1,0
$FREEZE,6.21,4.535,-1.746,2,1,0
$FREEZE,5.93,4.536,-1.746,2,1,0
$FREEZE,5.47,4.537,-1.746,2,1,0
$FREEZE,5.12,4.537,-1.746,2,1,0
$FREEZE,4.74,4.537,-1.746,2,1,0
$FREEZE,4.43,4.537,-1.746,2,1,0
$FREEZE,4.07,4.538,-1.746,2,1,0
$FREEZE,3.81,4.537,-1.746,2,1,0
$STATE,18085,end climb,SURFACE_DEPTH_REACHED
$STATE,18085,begin surface coast
$FREEZE,3.41,4.537,-1.746,2,1,0
$FREEZE,3.09,4.533,-1.746,2,1,0
$FREEZE,2.85,4.537,-1.746,2,1,0
$FREEZE,2.42,4.515,-1.747,2,1,0
$FREEZE,2.20,4.520,-1.747,2,1,0
$FREEZE,1.82,4.511,-1.747,2,1,0
$FREEZE,1.47,4.430,-1.749,2,1,0
$FINISH,1.5,1.025316
$STATE,18124,end surface coast,CONTROL_FINISHED_OK
$STATE,18126,begin surface
$SM_CCo,18147,92.10,0.073,0,0,1646,400.08
$SM_GC,2.66,8.27,2.55,92.10,0.058,0.041,0.073,341,2110,1646,-8.66,-1.16,400.08,0,0,0,0,0,0,26.39,26.46,26.23
$RAFOS_CLK,945
$RAFOS,5,1342600863,8.700000,8.684167,49,48,41,41,39,38,242,395,61,684,1521,821
$RAFOS,4,1342600383,8.566667,8.550834,48,43,43,42,41,40,1697,1,1257,1859,303,765
$RAFOS,3,1342599911,8.433333,8.419723,45,43,43,42,41,41,1112,1278,1374,902,801,1389
$RAFOS,2,1342599424,8.300000,8.284445,42,42,42,40,39,38,672,1014,1334,1176,1004,112
$RAFOS,1,1342598944,8.166667,8.151111,43,42,41,41,39,38,505,803,603,952,249,1829
$RAFOS,0,1342598469,8.033334,8.019167,56,46,44,43,41,40,1377,498,1535,1906,645,460
$RAFOS,6,1342586944,4.833333,4.817778,45,43,42,41,40,40,1927,1798,1515,405,1,1038
$RAFOS,5,1342586461,4.700000,4.683611,45,43,43,40,39,39,687,716,1198,1166,309,1705
$RAFOS,4,1342585990,4.566667,4.552778,48,48,46,44,43,40,225,1018,1933,1306,275,699
$RAFOS,3,1342585505,4.433333,4.418056,47,43,42,42,42,41,1482,1925,532,1207,1666,941
$RAFOS,2,1342585021,4.300000,4.283611,46,45,43,42,38,38,470,784,1289,327,809,1392
$RAFOS,1,1342584544,4.166667,4.151111,47,45,44,43,42,39,778,816,493,796,1253,1739
$RAFOS,0,1342584065,4.033333,4.018055,44,41,40,40,39,39,185,851,1511,1889,498,1213
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5902.17,170712,222212
$TT8_MAMPS,0.029211,0.029211
$HUMID,41.57
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,22.6,19.973
$10V_AH,10.0,23.066
$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,20.975,171.450,285.625,92.100,0.000,0.000,0.000,357.125,4.750,0.000,16.183,3953.306,10460.319,609.684,3274.244,435.274,0.000,2513.716,0.000,2875.765,5040.000,27.339,0.000
$DEVICE_MAMPS,252.450,68.085,1507.050,72.675,0.000,0.000,0.000,277.146,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.901,1099.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151520
$DATA_FILE_SIZE,69946,1472
$CAP_FILE_SIZE,196914,0
$CFSIZE,260165632,232820736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.0
$CURRENT,0.152,162.1,1
$GPS,180712,085528,6658.142,-5907.334,36,0.8,36,-33.9