version: 66.11
glider: 108
mission: 21
dive: 146
start: 7 15 112 22 40 34
data:
$ID,108
$MISSION,21
$DIVE,146
$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,-191272.39
$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,67
$R_STBD_OVSHOOT,39
$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
$GPS1,150712,223154,6702.044,-5811.692,39,0.9,39,-33.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-75.8
$GPS2,150712,223959,6702.096,-5811.833,20,0.9,20,-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,281.1,103715,-16.9,-9.167
$D_GRID,994
$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,-146.6,0.0,0.0,0,62,0.00,0.00,-43.80,0.000,2,0.000,0.000,339,2103,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.75,-146.6,3.0,-2.5,8,127,10.10,2.20,-41.85,0.000,4,0.251,0.067,2877,3521,3880,0,0,0,0,0,0,25.89,26.23,26.58
$GC,357,-0.75,-146.6,43.7,-13.0,63,364,0.00,2.10,0.00,0.000,6,0.000,0.031,2884,2102,3885,0,0,0,0,0,0,28.83,26.39,28.83
$GC,668,-0.75,-146.6,80.0,-11.5,124,675,0.00,2.17,0.00,0.000,4,0.000,0.050,2876,3507,3886,0,0,0,0,0,0,28.83,26.36,28.83
$GC,848,-0.75,-146.6,100.5,-11.3,158,855,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,2084,3887,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1155,-0.75,-146.6,135.6,-11.3,189,1164,0.00,2.20,0.00,0.000,4,0.000,0.050,2866,3513,3886,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1250,-0.75,-146.6,146.9,-12.3,198,1258,0.00,2.10,0.00,0.000,6,0.000,0.031,2866,2091,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1557,-0.75,-146.6,184.1,-11.4,229,1566,0.00,2.20,0.00,0.000,4,0.000,0.050,2855,3510,3885,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1601,-0.75,-146.6,189.4,-12.6,233,1609,0.12,2.10,0.00,0.000,6,0.171,0.030,2888,2090,3885,0,0,0,0,0,0,26.30,26.57,28.83
$GC,1909,-0.75,-146.6,220.8,-9.9,264,1917,0.00,2.17,0.00,0.000,4,0.000,0.050,2880,3511,3884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1993,-0.75,-146.6,229.3,-10.4,272,2000,0.00,2.08,0.00,0.000,6,0.000,0.030,2880,2095,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2301,-0.75,-146.6,260.0,-10.1,303,2310,0.00,2.15,0.00,0.000,4,0.000,0.049,2870,3504,3884,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2374,-0.75,-146.6,267.6,-10.9,310,2384,0.00,2.05,0.00,0.000,6,0.000,0.030,2870,2094,3884,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2683,-0.75,-146.6,299.6,-10.1,341,2686,0.00,2.17,0.00,0.000,4,0.000,0.049,2859,3509,3884,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2777,-0.75,-146.6,309.6,-10.9,350,2785,0.12,2.08,0.00,0.000,6,0.165,0.030,2892,2090,3884,0,0,0,0,0,0,26.39,26.64,28.83
$GC,3085,-0.75,-146.6,337.0,-8.6,381,3093,0.00,2.17,0.00,0.000,4,0.000,0.049,2885,3514,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3167,-0.75,-146.6,344.5,-9.1,389,3176,0.00,2.08,0.00,0.000,6,0.000,0.030,2885,2095,3884,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3477,-0.75,-146.6,373.5,-9.2,420,3485,0.00,2.17,0.00,0.000,4,0.000,0.049,2874,3524,3885,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3568,-0.75,-146.6,382.6,-10.0,429,3577,0.00,2.10,0.00,0.000,6,0.000,0.030,2874,2087,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3878,-0.75,-146.6,413.9,-10.1,460,3882,0.00,2.20,0.00,0.000,4,0.000,0.049,2863,3520,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3960,-0.75,-146.6,422.6,-11.0,468,3964,0.00,2.08,0.00,0.000,6,0.000,0.030,2863,2089,3884,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4273,-0.75,-146.6,454.6,-10.1,499,4282,0.00,2.15,0.00,0.000,4,0.000,0.049,2852,3514,3884,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4378,-0.75,-146.6,465.8,-11.0,509,4386,0.12,2.08,0.00,0.000,6,0.165,0.030,2885,2091,3884,0,0,0,0,0,0,26.42,26.69,28.83
$GC,4685,-0.75,-146.6,493.4,-9.0,540,4689,0.00,2.17,0.00,0.000,4,0.000,0.049,2877,3522,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4771,-0.75,-146.6,501.3,-9.4,548,4778,0.00,2.05,0.00,0.000,6,0.000,0.030,2876,2098,3884,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5078,-0.75,-146.6,530.6,-9.8,579,5087,0.00,2.15,0.00,0.000,4,0.000,0.049,2866,3513,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5163,-0.75,-146.6,539.2,-10.6,587,5170,0.00,2.08,0.00,0.000,6,0.000,0.030,2867,2092,3884,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5470,-0.75,-146.6,569.8,-10.4,618,5479,0.00,2.17,0.00,0.000,4,0.000,0.049,2855,3510,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5575,-0.75,-146.6,581.0,-11.1,628,5583,0.12,2.08,0.00,0.000,6,0.161,0.030,2889,2085,3884,0,0,0,0,0,0,26.45,26.71,28.83
$GC,5893,-0.75,-146.6,608.6,-8.6,654,5897,0.00,2.20,0.00,0.000,4,0.000,0.050,2880,3525,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5973,-0.75,-146.6,614.5,-9.0,656,5977,0.00,2.08,0.00,0.000,6,0.000,0.030,2879,2096,3884,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6284,-0.75,-146.6,645.1,-9.4,666,6289,0.00,2.15,0.00,0.000,4,0.000,0.049,2869,3509,3884,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6360,-0.75,-146.6,651.4,-9.8,668,6364,0.00,2.05,0.00,0.000,6,0.000,0.030,2869,2091,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6676,-0.75,-146.6,684.6,-9.9,679,6682,0.00,2.15,0.00,0.000,4,0.000,0.049,2859,3504,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6773,-0.75,-146.6,694.6,-10.6,682,6778,0.12,2.05,0.00,0.000,6,0.161,0.030,2891,2095,3883,0,0,0,0,0,0,26.46,26.72,28.83
$GC,7092,-0.75,-146.6,722.5,-8.3,693,7096,0.00,2.15,0.00,0.000,4,0.000,0.049,2883,3510,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7144,-0.75,-146.6,725.6,-8.7,694,7148,0.00,2.03,0.00,0.000,6,0.000,0.030,2883,2099,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7451,-0.75,-146.6,754.2,-8.7,704,7456,0.00,2.12,0.00,0.000,4,0.000,0.049,2873,3511,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7542,-0.75,-146.6,762.6,-9.2,707,7547,0.00,2.05,0.00,0.000,6,0.000,0.030,2873,2098,3884,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7870,-0.75,-146.6,794.3,-9.8,718,7874,0.00,2.17,0.00,0.000,4,0.000,0.049,2862,3518,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7951,-0.75,-146.6,800.9,-10.3,720,7955,0.00,2.08,0.00,0.000,6,0.000,0.030,2862,2093,3883,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8258,-0.75,-146.6,835.1,-10.5,730,8262,0.00,2.17,0.00,0.000,4,0.000,0.049,2851,3518,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8343,-0.75,-146.6,842.0,-10.8,732,8351,0.15,2.08,0.00,0.000,6,0.155,0.030,2891,2090,3883,0,0,0,0,0,0,26.44,26.73,28.83
$GC,8651,-0.75,-146.6,871.0,-8.3,743,8655,0.00,2.17,0.00,0.000,4,0.000,0.049,2883,3522,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8727,-0.75,-146.6,877.0,-9.0,745,8731,0.00,2.08,0.00,0.000,6,0.000,0.030,2883,2094,3884,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9042,-0.75,-146.6,906.2,-8.9,756,9047,0.00,2.12,0.00,0.000,4,0.000,0.049,2873,3507,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9138,-0.75,-146.6,914.9,-9.5,759,9142,0.00,2.05,0.00,0.000,6,0.000,0.030,2873,2099,3883,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9456,-0.75,-146.6,945.4,-9.1,770,9462,0.00,2.15,0.00,0.000,4,0.000,0.049,2863,3507,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9555,-0.75,-146.6,954.5,-9.7,773,9559,0.00,2.05,0.00,0.000,6,0.000,0.030,2863,2100,3883,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9873,-0.75,-146.6,986.1,-9.9,784,9878,0.00,2.15,0.00,0.000,4,0.000,0.050,2852,3506,3882,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9930,begin apogee
$GC,9939,-0.17,0.0,992.5,-10.3,786,10069,0.68,0.00,124.55,1.487,6,0.143,0.000,3068,1880,3278,0,0,0,0,0,0,26.38,28.83,23.70
$STATE,10072,end apogee,CONTROL_FINISHED_OK
$STATE,10072,begin climb
$GC,10075,0.75,146.6,997.4,0.0,790,10212,0.85,2.38,127.12,1.337,4,0.068,0.037,3377,523,2681,0,0,0,0,0,0,24.70,23.75,22.87
$GC,10288,0.75,146.6,983.8,10.4,797,10295,0.00,2.33,0.00,0.000,6,0.000,0.035,3377,1909,2673,0,0,0,0,0,0,28.83,24.65,28.83
$GC,10596,0.75,146.6,942.4,12.6,808,10602,0.00,2.20,0.00,0.000,4,0.000,0.047,3377,3312,2669,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10613,0.75,146.6,942.4,12.6,808,10617,0.00,2.17,0.00,0.000,6,0.000,0.030,3386,1902,2668,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10920,0.75,146.6,898.9,13.4,818,10926,0.00,2.17,0.00,0.000,4,0.000,0.039,3397,508,2666,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11010,0.75,146.6,886.5,13.7,821,11016,0.00,2.20,0.00,0.000,6,0.000,0.037,3397,1906,2666,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11341,0.75,146.6,840.3,14.3,832,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1905,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11640,0.75,146.6,798.4,14.0,842,11646,0.00,2.22,0.00,0.000,4,0.000,0.039,3406,497,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11670,0.75,146.6,794.0,14.1,843,11677,0.10,2.17,0.00,0.000,6,0.157,0.037,3376,1907,2664,0,0,0,0,0,0,26.06,26.27,28.83
$GC,12002,0.75,146.6,750.3,13.3,854,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1906,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12302,0.75,146.6,710.9,13.2,864,12308,0.00,2.12,0.00,0.000,4,0.000,0.048,3376,3315,2663,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12340,0.75,146.6,706.6,13.3,865,12344,0.00,2.12,0.00,0.000,6,0.000,0.031,3383,1891,2663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12657,0.75,146.6,661.4,13.7,876,12663,0.00,2.12,0.00,0.000,4,0.000,0.041,3394,509,2663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12747,0.75,146.6,649.0,13.7,879,12753,0.00,2.15,0.00,0.000,6,0.000,0.037,3393,1897,2662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13077,0.75,146.6,603.6,13.7,890,13083,0.00,2.15,0.00,0.000,4,0.000,0.048,3393,3316,2662,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13100,0.75,146.6,603.6,13.7,890,13107,0.12,2.12,0.00,0.000,6,0.190,0.031,3374,1884,2662,0,0,0,0,0,0,26.26,26.52,28.83
$GC,13407,0.75,146.6,560.4,13.1,921,13411,0.00,2.10,0.00,0.000,4,0.000,0.041,3382,503,2662,0,0,0,0,0,0,28.83,26.50,28.83
$GC,13461,0.75,146.6,553.5,13.5,926,13468,0.00,2.17,0.00,0.000,6,0.000,0.036,3382,1912,2662,0,0,0,0,0,0,28.83,26.52,28.83
$GC,13769,0.75,146.6,511.8,13.3,957,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1912,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14071,0.75,146.6,470.9,13.7,987,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1912,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14381,0.75,146.6,429.3,13.5,1018,14390,0.00,2.12,0.00,0.000,4,0.000,0.047,3382,3323,2662,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14413,0.75,146.6,424.4,13.9,1021,14422,0.00,2.12,0.00,0.000,6,0.000,0.031,3391,1887,2662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,14724,0.75,146.6,383.1,13.1,1052,14732,0.00,2.10,0.00,0.000,4,0.000,0.040,3401,504,2662,0,0,0,0,0,0,28.83,26.57,28.83
$GC,14808,0.75,146.6,371.8,13.9,1060,14816,0.12,2.15,0.00,0.000,6,0.179,0.036,3372,1905,2662,0,0,0,0,0,0,26.36,26.59,28.83
$GC,15115,0.75,146.6,335.0,11.6,1091,15117,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1904,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15417,0.75,146.6,300.2,11.4,1121,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1904,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15728,0.75,146.6,265.6,11.1,1152,15737,0.00,2.12,0.00,0.000,4,0.000,0.049,3372,3313,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15763,0.75,146.6,261.4,11.9,1155,15771,0.00,2.10,0.00,0.000,6,0.000,0.031,3379,1890,2662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16070,0.75,146.6,224.1,11.9,1186,16079,0.00,2.10,0.00,0.000,4,0.000,0.040,3389,506,2662,0,0,0,0,0,0,28.83,26.62,28.83
$GC,16143,0.75,146.6,215.5,11.8,1193,16151,0.00,2.12,0.00,0.000,6,0.000,0.036,3389,1897,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16453,0.75,146.6,178.1,11.9,1224,16454,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1897,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16755,0.75,146.6,145.6,10.0,1254,16764,0.00,2.12,0.00,0.000,4,0.000,0.039,3398,505,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16800,0.75,146.6,141.1,10.0,1258,16807,0.00,2.15,0.00,0.000,6,0.000,0.036,3399,1906,2662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17107,0.75,146.6,109.4,10.3,1289,17108,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1906,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17409,0.75,146.6,78.2,10.1,1339,17417,0.00,2.12,0.00,0.000,4,0.000,0.049,3398,3308,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,17500,0.75,146.6,67.7,11.5,1356,17508,0.15,2.08,0.00,0.000,6,0.178,0.031,3368,1900,2662,0,0,0,0,0,0,26.41,26.68,28.83
$GC,17814,0.75,153.0,39.6,8.9,1417,17820,0.00,2.10,0.00,0.000,4,0.000,0.040,3376,507,2662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17895,0.78,171.1,32.3,8.4,1432,17920,0.00,2.15,18.45,0.874,6,0.000,0.036,3376,1910,2580,0,0,0,0,0,0,28.83,26.67,25.50
$FREEZE,8.96,3.574,-1.715,1,1,0
$FREEZE,8.95,3.720,-1.712,1,1,0
$FREEZE,8.55,3.861,-1.713,1,1,0
$FREEZE,8.21,3.927,-1.717,1,1,0
$FREEZE,7.89,3.998,-1.721,1,1,0
$FREEZE,7.50,4.076,-1.725,1,1,0
$FREEZE,7.08,4.366,-1.725,1,1,0
$FREEZE,6.58,4.744,-1.723,1,1,0
$FREEZE,6.09,4.845,-1.726,1,1,0
$GC,18230,0.92,288.5,9.0,4.3,1496,18293,0.12,2.12,54.10,0.080,4,0.103,0.047,3432,3305,2098,0,0,0,0,0,0,26.42,26.31,26.25
$FREEZE,4.47,4.890,-1.731,1,1,0
$FREEZE,3.98,4.904,-1.730,1,1,0
$STATE,18306,end climb,SURFACE_DEPTH_REACHED
$STATE,18307,begin surface coast
$FREEZE,3.08,4.896,-1.731,1,1,0
$FREEZE,2.39,4.902,-1.731,1,1,0
$FREEZE,1.93,4.876,-1.732,1,1,0
$FREEZE,1.45,4.848,-1.734,1,1,0
$FREEZE,1.43,4.093,-1.181,1,1,0
$FREEZE,1.41,4.622,-0.844,1,1,0
$FREEZE,1.33,4.523,-0.860,1,1,0
$FREEZE,1.33,4.463,-0.933,1,1,0
$FREEZE,1.34,4.655,-1.027,1,1,0
$FINISH,1.3,1.015009
$STATE,18354,end surface coast,CONTROL_FINISHED_OK
$STATE,18355,begin surface
$SM_CCo,18376,47.50,0.072,0,0,1647,400.08
$SM_GC,2.46,8.18,1.85,47.50,0.044,0.032,0.072,338,2097,1647,-8.66,1.78,400.08,0,0,0,0,0,0,26.31,26.40,26.21
$RAFOS_CLK,951
$RAFOS,6,1342399752,0.833333,0.820000,47,42,41,40,40,38,883,1522,1701,286,761,1924
$RAFOS,5,1342399272,0.700000,0.686667,44,43,43,42,42,41,210,859,1120,914,237,1044
$RAFOS,4,1342398786,0.566667,0.551667,44,43,43,42,42,42,1843,1086,1357,207,872,764
$RAFOS,3,1342398311,0.433333,0.419722,45,43,43,42,42,41,1098,1261,112,1050,1858,726
$RAFOS,2,1342397827,0.300000,0.285278,50,48,47,46,45,42,1012,851,1602,1556,1209,1048
$RAFOS,1,1342397341,0.166667,0.150278,46,45,44,43,43,40,988,1580,1515,1346,1875,1880
$RAFOS,0,1342396869,0.033333,0.019167,49,44,43,43,41,41,195,142,959,1507,159,726
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5805.51,150712,171731
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.02
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,22.9,18.791
$10V_AH,10.1,21.794
$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,21.200,174.875,324.225,47.500,0.000,0.000,0.000,339.500,4.750,0.000,21.703,3996.688,10713.364,591.603,3178.141,423.267,0.000,2450.036,0.000,2795.017,2520.000,27.357,0.000
$DEVICE_MAMPS,250.920,67.320,1487.160,71.910,0.000,0.000,0.000,287.632,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1054.519,1155.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151580
$DATA_FILE_SIZE,69968,1515
$CAP_FILE_SIZE,196016,0
$CFSIZE,260165632,233725952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.4
$CURRENT,0.077,346.3,1
$GPS,160712,034904,6702.416,-5818.342,36,0.9,36,-33.8