version: 66.11
glider: 108
mission: 21
dive: 404
start: 9 1 112 11 31 26
data:
$ID,108
$MISSION,21
$DIVE,404
$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,-191601.47
$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,67
$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
$GPS1,010912,112235,6641.353,-5926.678,34,0.8,34,-33.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-77.0
$GPS2,010912,113054,6641.358,-5926.521,18,0.8,19,-33.7
$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,59.4,121289,-16.9,-9.167
$D_GRID,892
$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,17,-0.75,-146.6,0.0,0.0,0,71,0.00,0.00,-52.55,0.000,2,0.000,0.000,339,2106,2819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.75,-146.6,3.1,-2.0,9,121,10.57,2.25,-29.17,0.000,4,0.252,0.067,2877,3508,3881,0,0,0,0,0,0,25.35,26.06,26.71
$GC,327,-0.75,-146.6,42.1,-11.6,56,334,0.00,2.10,0.00,0.000,6,0.000,0.032,2884,2102,3887,0,0,0,0,0,0,28.83,26.27,28.83
$GC,640,-0.75,-146.6,74.1,-9.4,117,647,0.00,2.20,0.00,0.000,4,0.000,0.050,2876,3503,3889,0,0,0,0,0,0,28.83,26.02,28.83
$GC,740,-0.75,-146.6,86.0,-13.2,136,747,0.00,2.08,0.00,0.000,6,0.000,0.031,2876,2110,3889,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1051,-0.75,-146.6,133.1,-15.6,176,1059,0.00,2.17,0.00,0.000,4,0.000,0.051,2867,3504,3889,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1095,-0.75,-146.6,139.9,-16.3,180,1102,0.00,2.08,0.00,0.000,6,0.000,0.031,2867,2108,3889,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1403,-0.75,-146.6,183.9,-12.6,211,1412,0.00,2.15,0.00,0.000,4,0.000,0.051,2856,3499,3889,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1580,-0.75,-146.6,206.8,-13.3,228,1588,0.12,2.03,0.00,0.000,6,0.165,0.032,2887,2140,3889,0,0,0,0,0,0,25.94,26.35,28.83
$GC,1888,-0.75,-146.6,238.1,-9.4,259,1898,0.00,2.12,0.00,0.000,4,0.000,0.051,2879,3504,3888,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1931,-0.75,-146.6,242.5,-10.3,263,1941,0.00,2.00,0.00,0.000,6,0.000,0.031,2879,2135,3887,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2241,-0.75,-146.6,274.5,-10.0,294,2250,0.00,2.12,0.00,0.000,4,0.000,0.050,2869,3502,3887,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2345,-0.75,-146.6,285.2,-10.4,304,2354,0.00,2.00,0.00,0.000,6,0.000,0.031,2869,2145,3887,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2654,-0.75,-146.6,314.6,-9.7,335,2664,0.00,2.10,0.00,0.000,4,0.000,0.050,2859,3501,3887,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2738,-0.75,-146.6,323.1,-10.4,343,2743,0.08,1.98,0.00,0.000,6,0.140,0.032,2884,2163,3887,0,0,0,0,0,0,26.01,26.37,28.83
$GC,3051,-0.75,-146.6,353.8,-10.1,374,3060,0.00,2.10,0.00,0.000,4,0.000,0.050,2876,3513,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3138,-0.75,-146.6,362.9,-10.9,382,3145,0.00,1.98,0.00,0.000,6,0.000,0.031,2876,2174,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3445,-0.75,-146.6,395.5,-10.6,413,3453,0.00,2.08,0.00,0.000,4,0.000,0.050,2866,3513,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3509,-0.75,-146.6,402.3,-11.1,419,3518,0.00,1.98,0.00,0.000,6,0.000,0.031,2866,2180,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3817,-0.75,-146.6,436.2,-11.1,450,3825,0.00,2.05,0.00,0.000,4,0.000,0.050,2855,3504,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3909,-0.75,-146.6,446.7,-11.4,459,3919,0.10,1.92,0.00,0.000,6,0.161,0.031,2885,2203,3886,0,0,0,0,0,0,26.02,26.39,28.83
$GC,4220,-0.75,-146.6,474.3,-8.2,490,4228,0.00,2.00,0.00,0.000,4,0.000,0.050,2878,3505,3886,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4305,-0.75,-146.6,481.4,-8.5,498,4311,0.00,1.90,0.00,0.000,6,0.000,0.030,2878,2208,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4613,-0.75,-146.6,507.2,-8.2,529,4622,0.00,2.00,0.00,0.000,4,0.000,0.049,2869,3502,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4668,-0.75,-146.6,511.8,-9.1,534,4674,0.00,1.90,0.00,0.000,6,0.000,0.031,2868,2208,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4975,-0.75,-146.6,537.8,-8.4,565,4979,0.00,2.03,0.00,0.000,4,0.000,0.049,2858,3507,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5021,-0.75,-146.6,541.5,-9.0,569,5030,0.12,1.88,0.00,0.000,6,0.151,0.031,2890,2220,3886,0,0,0,0,0,0,26.01,26.40,28.83
$GC,5330,-0.75,-146.6,564.1,-7.2,600,5338,0.00,1.98,0.00,0.000,4,0.000,0.050,2883,3502,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5392,-0.75,-146.6,569.0,-8.1,606,5395,0.00,1.88,0.00,0.000,6,0.000,0.031,2882,2233,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5704,-0.75,-146.6,593.9,-8.0,637,5712,0.00,1.98,0.00,0.000,4,0.000,0.049,2873,3508,3886,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5736,-0.75,-146.6,596.6,-8.3,640,5740,0.00,1.88,0.00,0.000,6,0.000,0.030,2873,2238,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6050,-0.75,-146.6,622.4,-8.3,653,6056,0.00,1.98,0.00,0.000,4,0.000,0.050,2865,3509,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6098,-0.75,-146.6,625.0,-8.3,654,6101,0.00,1.85,0.00,0.000,6,0.000,0.031,2864,2247,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6410,-0.75,-146.6,654.1,-8.8,665,6416,0.00,1.95,0.00,0.000,4,0.000,0.050,2855,3501,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6448,-0.75,-146.6,657.0,-9.0,666,6452,0.12,1.85,0.00,0.000,6,0.149,0.031,2887,2238,3886,0,0,0,0,0,0,26.01,26.39,28.83
$GC,6767,-0.75,-146.6,680.5,-7.0,677,6771,0.00,1.98,0.00,0.000,4,0.000,0.050,2880,3502,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6803,-0.75,-146.6,683.0,-7.1,678,6806,0.00,1.83,0.00,0.000,6,0.000,0.031,2879,2258,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7131,-0.75,-146.6,708.5,-7.7,689,7136,0.00,1.95,0.00,0.000,4,0.000,0.049,2870,3516,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7173,-0.75,-146.6,710.9,-7.9,690,7177,0.00,1.85,0.00,0.000,6,0.000,0.030,2870,2254,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7490,-0.75,-146.6,737.7,-8.1,701,7496,0.00,1.98,0.00,0.000,4,0.000,0.050,2861,3513,3886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7544,-0.75,-146.6,740.3,-8.1,702,7551,0.00,1.83,0.00,0.000,6,0.000,0.030,2861,2265,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7850,-0.75,-146.6,768.2,-8.4,713,7854,0.00,1.95,0.00,0.000,4,0.000,0.050,2851,3525,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7891,-0.75,-146.6,771.0,-8.5,714,7896,0.15,1.85,0.00,0.000,6,0.145,0.031,2892,2279,3886,0,0,0,0,0,0,25.94,26.39,28.83
$GC,8215,-0.75,-146.6,794.5,-7.1,725,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2279,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8514,-0.75,-146.6,815.6,-7.6,735,8518,0.00,1.90,0.00,0.000,4,0.000,0.050,2885,3506,3886,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8548,-0.75,-146.6,818.2,-7.7,736,8552,0.00,1.80,0.00,0.000,6,0.000,0.031,2885,2281,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8877,-0.75,-146.6,844.6,-7.7,747,8880,0.00,1.90,0.00,0.000,4,0.000,0.050,2876,3505,3886,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8911,-0.75,-146.6,847.3,-7.8,748,8915,0.00,1.80,0.00,0.000,6,0.000,0.031,2876,2279,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9240,-0.75,-146.6,873.6,-7.9,759,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2276,3886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9476,begin apogee
$GC,9483,-0.17,0.0,893.2,-8.0,767,9614,0.62,0.00,124.95,1.328,4,0.132,0.000,3073,1897,3279,0,0,0,0,0,0,25.37,28.83,23.17
$STATE,9617,end apogee,CONTROL_FINISHED_OK
$STATE,9617,begin climb
$GC,9620,0.75,146.6,896.7,0.0,771,9760,0.85,2.30,129.60,1.237,4,0.065,0.038,3375,519,2681,0,0,0,0,0,0,24.48,24.51,22.39
$GC,9988,0.75,146.6,865.0,11.8,784,9994,0.00,2.25,0.00,0.000,6,0.000,0.036,3375,1901,2671,0,0,0,0,0,0,28.83,25.15,28.83
$GC,10319,0.75,146.6,826.6,11.1,795,10324,0.00,2.20,0.00,0.000,4,0.000,0.047,3375,3307,2669,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10552,0.75,146.6,799.5,13.2,802,10559,0.00,2.12,0.00,0.000,6,0.000,0.031,3384,1904,2667,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10859,0.75,146.6,760.1,12.2,813,10865,0.00,2.15,0.00,0.000,4,0.000,0.041,3395,514,2666,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10957,0.75,146.6,748.5,12.6,816,10961,0.00,2.15,0.00,0.000,6,0.000,0.036,3395,1887,2667,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11275,0.75,146.6,706.5,13.0,827,11280,0.00,2.15,0.00,0.000,4,0.000,0.047,3395,3298,2666,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11298,0.75,146.6,706.5,13.0,827,11305,0.15,2.12,0.00,0.000,6,0.181,0.031,3369,1883,2666,0,0,0,0,0,0,25.72,26.22,28.83
$GC,11605,0.75,146.6,667.0,11.6,838,11611,0.00,2.12,0.00,0.000,4,0.000,0.041,3377,516,2665,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11688,0.75,146.6,660.0,11.6,840,11695,0.00,2.15,0.00,0.000,6,0.000,0.036,3377,1892,2665,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11995,0.75,146.6,622.2,11.2,851,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1892,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12295,0.75,146.6,590.3,10.2,867,12299,0.00,2.17,0.00,0.000,4,0.000,0.041,3386,509,2665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12360,0.75,146.6,583.7,10.7,873,12367,0.00,2.15,0.00,0.000,6,0.000,0.037,3385,1886,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12667,0.75,146.6,550.9,10.5,904,12668,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1886,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12969,0.75,146.6,519.4,10.7,934,12978,0.00,2.15,0.00,0.000,4,0.000,0.041,3394,506,2664,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13012,0.75,146.6,514.7,10.9,938,13016,0.00,2.12,0.00,0.000,6,0.000,0.037,3395,1876,2664,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13324,0.75,146.6,480.4,11.1,969,13333,0.00,2.15,0.00,0.000,4,0.000,0.047,3395,3304,2664,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13367,0.75,146.6,475.3,12.3,973,13376,0.10,2.12,0.00,0.000,6,0.164,0.031,3374,1879,2664,0,0,0,0,0,0,25.84,26.33,28.83
$GC,13676,0.75,146.6,443.0,10.3,1004,13686,0.00,2.12,0.00,0.000,4,0.000,0.041,3382,504,2664,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13781,0.75,146.6,432.0,10.6,1014,13785,0.00,2.12,0.00,0.000,6,0.000,0.036,3382,1872,2664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14093,0.75,146.6,397.5,11.1,1045,14094,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1872,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14395,0.75,146.6,363.2,11.6,1075,14401,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1872,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14705,0.75,146.6,328.1,11.1,1106,14709,0.00,2.17,0.00,0.000,4,0.000,0.047,3382,3302,2664,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14727,0.75,146.6,325.2,11.4,1108,14737,0.00,2.15,0.00,0.000,6,0.000,0.031,3391,1858,2664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15037,0.75,146.6,290.5,11.4,1139,15046,0.00,2.08,0.00,0.000,4,0.000,0.041,3402,510,2664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15140,0.75,146.6,279.0,11.2,1149,15150,0.12,2.12,0.00,0.000,6,0.173,0.036,3372,1879,2664,0,0,0,0,0,0,25.89,26.27,28.83
$GC,15449,0.75,146.6,249.4,9.2,1180,15458,0.00,2.17,0.00,0.000,4,0.000,0.047,3372,3296,2664,0,0,0,0,0,0,28.83,26.11,28.83
$GC,15525,0.75,146.6,242.0,10.4,1187,15532,0.00,2.12,0.00,0.000,6,0.000,0.031,3379,1869,2664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15832,0.76,158.2,214.5,8.7,1218,15845,0.00,2.22,8.43,0.897,4,0.000,0.044,3379,3312,2633,0,0,0,0,0,0,28.83,26.33,24.72
$GC,15870,0.76,158.2,211.1,9.2,1221,15878,0.00,2.12,0.00,0.000,6,0.000,0.031,3388,1873,2633,0,0,0,0,0,0,28.83,26.34,28.83
$GC,16182,0.78,173.4,183.4,8.5,1252,16202,0.00,2.15,14.68,0.940,4,0.000,0.042,3398,512,2571,0,0,0,0,0,0,28.83,26.17,24.82
$GC,16393,0.81,196.5,164.9,8.2,1273,16422,0.00,2.12,20.52,0.941,6,0.000,0.036,3398,1863,2475,0,0,0,0,0,0,28.83,26.13,24.66
$GC,16722,0.81,196.5,130.7,11.0,1306,16731,0.00,2.25,0.00,0.000,4,0.000,0.047,3398,3314,2470,0,0,0,0,0,0,28.83,25.92,28.83
$GC,16777,0.81,196.5,124.6,12.1,1311,16784,0.00,2.17,0.00,0.000,6,0.000,0.031,3407,1874,2470,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17088,0.81,196.5,88.0,11.2,1352,17095,0.00,2.12,0.00,0.000,4,0.000,0.041,3418,502,2469,0,0,0,0,0,0,28.83,26.05,28.83
$GC,17119,0.81,196.5,84.7,10.8,1357,17126,0.00,2.17,0.00,0.000,6,0.000,0.036,3419,1881,2469,0,0,0,0,0,0,28.83,26.14,28.83
$GC,17432,0.81,196.5,52.4,10.1,1418,17438,0.00,2.17,0.00,0.000,4,0.000,0.041,3427,510,2469,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17528,0.82,206.2,43.6,8.8,1436,17543,0.12,2.15,8.35,0.832,6,0.177,0.037,3397,1882,2438,0,0,0,0,0,0,25.81,26.19,24.81
$GC,17850,0.92,287.3,21.9,5.8,1498,17900,0.00,2.28,43.70,0.714,4,0.000,0.042,3403,510,2106,0,0,0,0,0,0,28.83,25.77,24.82
$GC,17919,0.97,327.7,17.0,7.5,1509,17946,0.12,2.17,19.75,0.108,6,0.103,0.036,3452,1867,1941,0,0,0,0,0,0,25.73,25.82,25.51
$FREEZE,8.59,4.287,-1.712,0,1,0
$FREEZE,7.82,4.316,-1.712,0,1,0
$FREEZE,7.30,4.330,-1.711,0,1,0
$FREEZE,6.85,4.356,-1.711,0,1,0
$FREEZE,6.43,4.369,-1.710,0,1,0
$FREEZE,5.89,4.384,-1.710,0,1,0
$FREEZE,5.41,4.388,-1.710,0,1,0
$FREEZE,5.04,4.390,-1.710,0,1,0
$FREEZE,4.45,4.392,-1.709,0,1,0
$FREEZE,4.11,4.392,-1.709,0,1,0
$FREEZE,3.54,4.393,-1.709,0,1,0
$STATE,18062,end climb,SURFACE_DEPTH_REACHED
$STATE,18062,begin surface coast
$FREEZE,3.01,4.396,-1.708,0,1,0
$FREEZE,2.64,4.398,-1.708,0,1,0
$FREEZE,2.21,4.399,-1.708,0,1,0
$FREEZE,1.66,4.396,-1.707,0,1,0
$FREEZE,1.35,4.403,-1.707,0,1,0
$FREEZE,1.42,4.333,-1.710,0,1,0
$FREEZE,1.35,4.000,-1.726,0,1,0
$FREEZE,1.34,4.246,-0.925,0,1,0
$FINISH,1.3,1.013544
$STATE,18107,end surface coast,CONTROL_FINISHED_OK
$STATE,18107,begin surface
$SM_CCo,18127,31.58,0.074,0,0,1647,400.08
$SM_GC,2.76,8.48,0.35,31.58,0.051,0.059,0.074,344,2112,1647,-8.65,-1.16,400.08,0,0,0,0,0,0,25.80,25.94,25.67
$RAFOS_CLK,949
$RAFOS,3,1346516705,16.433332,16.418056,44,43,43,43,42,42,1448,695,691,915,784,1120
$RAFOS,2,1346516222,16.299999,16.283890,51,49,49,44,44,38,269,570,895,1687,1262,1870
$RAFOS,1,1346515745,16.166666,16.151388,45,45,42,41,40,38,61,267,1891,1768,748,1
$RAFOS,0,1346515262,16.033333,16.017221,48,46,44,43,42,42,1794,559,1007,61,1,775
$RAFOS,6,1346503742,12.833333,12.817223,44,44,43,43,42,41,735,770,1113,626,1869,1758
$RAFOS,5,1346503262,12.700000,12.683888,49,45,43,41,41,40,1537,1506,600,1801,1840,204
$RAFOS,4,1346502790,12.566667,12.552778,45,44,43,42,40,40,1542,231,960,1032,973,1564
$RAFOS,3,1346502308,12.433333,12.418889,51,48,48,48,43,41,1339,1292,1497,1687,1649,1928
$RAFOS,2,1346501827,12.300000,12.285277,48,48,46,43,43,43,61,1078,774,1586,1904,1923
$RAFOS,1,1346501346,12.166667,12.151667,50,43,43,42,41,38,707,911,1553,43,1049,422
$RAFOS,0,1346500861,12.033333,12.016945,44,43,41,40,40,39,1045,1902,1635,200,1728,1588
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5934.83,010912,060642
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.89
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.40
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,22.4,46.041
$10V_AH,9.8,51.616
$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,21.850,169.750,369.975,31.575,0.000,0.000,0.000,346.425,7.250,0.000,19.858,4018.468,10359.828,608.389,3214.814,447.744,0.000,2496.836,0.000,2819.783,4320.000,23.823,0.000
$DEVICE_MAMPS,251.685,67.320,1328.040,74.205,0.000,0.000,0.000,295.122,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.108,1097.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,70088,1543
$CAP_FILE_SIZE,197932,0
$CFSIZE,260165632,212455424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.0
$CURRENT,0.132,  6.3,1
$GPS,010912,163535,6644.382,-5923.027,36,0.7,36,-33.7