version: 66.11
glider: 108
mission: 21
dive: 151
start: 7 17 112 1 12 4
data:
$ID,108
$MISSION,21
$DIVE,151
$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,-191278.64
$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,45
$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
$GPS1,170712,010322,6702.408,-5836.776,40,0.8,40,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-76.6
$GPS2,170712,011129,6702.430,-5836.991,18,0.8,18,-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,250.1,86744,-16.9,-9.167
$D_GRID,1176
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,69,0.00,0.00,-51.08,0.000,2,0.000,0.000,340,2095,2804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.1,-2.2,9,124,9.98,2.22,-34.53,0.000,4,0.249,0.068,2878,3506,3880,0,0,0,0,0,0,26.02,26.41,26.79
$GC,345,-0.75,-146.6,40.8,-13.2,60,352,0.00,2.08,0.00,0.000,6,0.000,0.031,2884,2098,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,656,-0.75,-146.6,79.9,-12.5,121,663,0.00,2.20,0.00,0.000,4,0.000,0.051,2877,3517,3888,0,0,0,0,0,0,28.83,26.47,28.83
$GC,761,-0.75,-146.6,93.9,-13.4,141,768,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,2091,3888,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1072,-0.75,-146.6,131.7,-11.6,176,1080,0.00,2.17,0.00,0.000,4,0.000,0.051,2866,3507,3889,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1216,-0.75,-146.6,148.5,-11.8,190,1220,0.00,2.08,0.00,0.000,6,0.000,0.032,2866,2093,3888,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1528,-0.75,-146.6,185.7,-12.2,221,1537,0.00,2.20,0.00,0.000,4,0.000,0.052,2855,3510,3887,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1613,-0.75,-146.6,196.1,-12.9,229,1621,0.12,2.10,0.00,0.000,6,0.171,0.031,2888,2084,3888,0,0,0,0,0,0,26.35,26.63,28.83
$GC,1921,-0.75,-146.6,227.8,-10.1,260,1930,0.00,2.17,0.00,0.000,4,0.000,0.052,2880,3500,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2043,-0.75,-146.6,240.7,-10.6,272,2052,0.00,2.08,0.00,0.000,6,0.000,0.032,2881,2093,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2353,-0.75,-146.6,272.2,-9.9,303,2363,0.00,2.20,0.00,0.000,4,0.000,0.050,2870,3517,3885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2468,-0.75,-146.6,284.3,-10.8,314,2475,0.00,2.10,0.00,0.000,6,0.000,0.031,2870,2088,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2776,-0.75,-146.6,315.3,-10.2,345,2784,0.00,2.20,0.00,0.000,4,0.000,0.050,2859,3514,3884,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2890,-0.75,-146.6,327.5,-10.8,356,2898,0.12,2.08,0.00,0.000,6,0.167,0.031,2892,2093,3885,0,0,0,0,0,0,26.39,26.67,28.83
$GC,3198,-0.75,-146.6,355.5,-9.1,387,3208,0.00,2.15,0.00,0.000,4,0.000,0.050,2884,3501,3885,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3321,-0.75,-146.6,367.3,-9.8,399,3331,0.00,2.05,0.00,0.000,6,0.000,0.031,2885,2098,3885,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3631,-0.75,-146.6,396.2,-8.9,430,3640,0.00,2.15,0.00,0.000,4,0.000,0.050,2874,3505,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3734,-0.75,-146.6,406.4,-10.2,440,3738,0.00,2.05,0.00,0.000,6,0.000,0.031,2874,2092,3885,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4046,-0.75,-146.6,436.7,-9.6,471,4056,0.00,2.17,0.00,0.000,4,0.000,0.050,2864,3504,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4151,-0.75,-146.6,447.5,-10.7,481,4158,0.00,2.05,0.00,0.000,6,0.000,0.030,2864,2098,3885,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4459,-0.75,-146.6,479.2,-10.1,512,4468,0.00,2.15,0.00,0.000,4,0.000,0.050,2853,3503,3885,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4583,-0.75,-146.6,492.8,-11.4,524,4593,0.10,2.05,0.00,0.000,6,0.173,0.030,2884,2098,3885,0,0,0,0,0,0,26.43,26.70,28.83
$GC,4891,-0.75,-146.6,522.5,-9.5,555,4900,0.00,2.17,0.00,0.000,4,0.000,0.050,2876,3511,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4996,-0.75,-146.6,532.9,-10.3,565,5003,0.00,2.08,0.00,0.000,6,0.000,0.030,2876,2089,3885,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5304,-0.75,-146.6,563.9,-10.1,596,5313,0.00,2.15,0.00,0.000,4,0.000,0.049,2866,3500,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5436,-0.75,-146.6,577.9,-10.8,609,5445,0.00,2.05,0.00,0.000,6,0.000,0.031,2866,2095,3885,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5748,-0.75,-146.6,609.5,-10.1,634,5754,0.00,2.15,0.00,0.000,4,0.000,0.050,2855,3504,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5850,-0.75,-146.6,619.3,-10.6,637,5855,0.12,2.05,0.00,0.000,6,0.163,0.030,2886,2091,3885,0,0,0,0,0,0,26.43,26.72,28.83
$GC,6169,-0.75,-146.6,648.9,-8.7,648,6175,0.00,2.15,0.00,0.000,4,0.000,0.050,2879,3503,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6273,-0.75,-146.6,657.6,-9.3,651,6277,0.00,2.05,0.00,0.000,6,0.000,0.030,2879,2097,3885,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6586,-0.75,-146.6,686.9,-8.8,662,6591,0.00,2.15,0.00,0.000,4,0.000,0.050,2869,3506,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6694,-0.75,-146.6,695.0,-9.0,665,6698,0.00,2.05,0.00,0.000,6,0.000,0.030,2869,2099,3885,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7001,-0.75,-146.6,723.4,-8.5,675,7005,0.00,2.15,0.00,0.000,4,0.000,0.050,2858,3503,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7131,-0.75,-146.6,734.8,-9.3,679,7136,0.12,2.05,0.00,0.000,6,0.160,0.030,2890,2097,3885,0,0,0,0,0,0,26.44,26.72,28.83
$GC,7450,-0.75,-146.6,758.6,-7.2,690,7454,0.00,2.17,0.00,0.000,4,0.000,0.050,2882,3514,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7588,-0.75,-146.6,768.5,-8.1,694,7594,0.00,2.08,0.00,0.000,6,0.000,0.031,2882,2090,3885,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7903,-0.75,-146.6,793.6,-7.6,705,7907,0.00,2.17,0.00,0.000,4,0.000,0.050,2872,3508,3885,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8000,-0.75,-146.6,801.5,-8.3,708,8004,0.00,2.05,0.00,0.000,6,0.000,0.030,2871,2100,3885,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8323,-0.75,-146.6,828.6,-8.3,719,8328,0.00,2.15,0.00,0.000,4,0.000,0.050,2861,3506,3885,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8447,-0.75,-146.6,839.4,-9.0,723,8452,0.00,2.05,0.00,0.000,6,0.000,0.030,2861,2099,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8773,-0.75,-146.6,869.0,-9.1,734,8776,0.00,2.17,0.00,0.000,4,0.000,0.050,2850,3516,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8865,-0.75,-146.6,878.3,-9.7,737,8871,0.15,2.08,0.00,0.000,6,0.155,0.031,2891,2089,3885,0,0,0,0,0,0,26.41,26.73,28.83
$GC,9196,-0.75,-146.6,903.6,-7.5,748,9201,0.00,2.15,0.00,0.000,4,0.000,0.049,2883,3499,3885,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9316,-0.75,-146.6,913.3,-8.1,752,9320,0.00,2.05,0.00,0.000,6,0.000,0.031,2883,2087,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9648,-0.75,-146.6,938.3,-7.4,763,9654,0.00,2.12,0.00,0.000,4,0.000,0.049,2873,3497,3885,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9757,-0.75,-146.6,945.9,-8.3,766,9761,0.00,2.05,0.00,0.000,6,0.000,0.031,2873,2092,3884,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10064,-0.75,-146.6,973.2,-8.5,776,10068,0.00,2.17,0.00,0.000,4,0.000,0.050,2862,3506,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10182,-0.75,-146.6,981.8,-9.0,779,10190,0.00,2.05,0.00,0.000,6,0.000,0.031,2862,2099,3884,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,10273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10274,begin apogee
$GC,10281,-0.17,0.0,992.6,-9.0,783,10413,0.65,0.00,125.90,1.521,6,0.142,0.000,3068,1878,3279,0,0,0,0,0,0,26.34,28.83,23.56
$STATE,10416,end apogee,CONTROL_FINISHED_OK
$STATE,10417,begin climb
$GC,10419,0.75,146.6,996.0,0.0,787,10560,0.85,2.38,131.70,1.497,4,0.067,0.038,3378,525,2681,0,0,0,0,0,0,24.66,23.56,22.61
$GC,10647,0.75,146.6,976.6,12.3,795,10652,0.00,2.30,0.00,0.000,6,0.000,0.036,3378,1899,2673,0,0,0,0,0,0,28.83,24.65,28.83
$GC,10965,0.75,146.6,931.4,13.9,806,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1898,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11265,0.75,146.6,889.6,13.8,816,11270,0.00,2.20,0.00,0.000,4,0.000,0.039,3388,519,2667,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11297,0.75,146.6,885.6,13.8,817,11302,0.00,2.20,0.00,0.000,6,0.000,0.037,3387,1903,2666,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11620,0.75,146.6,840.0,14.1,828,11625,0.00,2.20,0.00,0.000,4,0.000,0.039,3397,519,2665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11688,0.75,146.6,831.5,14.0,830,11692,0.00,2.17,0.00,0.000,6,0.000,0.037,3396,1901,2665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12005,0.75,146.6,785.8,14.0,841,12009,0.00,2.17,0.00,0.000,4,0.000,0.040,3404,513,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12064,0.75,146.6,781.1,14.1,842,12071,0.12,2.17,0.00,0.000,6,0.177,0.036,3373,1906,2664,0,0,0,0,0,0,26.06,26.27,28.83
$GC,12368,0.75,146.6,738.3,12.8,853,12374,0.00,2.15,0.00,0.000,4,0.000,0.040,3379,526,2664,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12435,0.75,146.6,730.5,12.8,855,12439,0.00,2.12,0.00,0.000,6,0.000,0.037,3380,1898,2664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12757,0.75,146.6,686.9,13.2,866,12763,0.00,2.17,0.00,0.000,4,0.000,0.040,3388,513,2663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12820,0.75,146.6,678.8,13.4,868,12824,0.00,2.17,0.00,0.000,6,0.000,0.036,3389,1912,2663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13143,0.75,146.6,634.7,13.5,879,13148,0.00,2.17,0.00,0.000,4,0.000,0.039,3398,516,2663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13175,0.75,146.6,630.7,13.6,880,13180,0.00,2.15,0.00,0.000,6,0.000,0.036,3398,1903,2663,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13490,0.75,146.6,587.3,13.8,896,13499,0.00,2.12,0.00,0.000,4,0.000,0.040,3407,524,2663,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13532,0.75,146.6,580.9,14.0,900,13542,0.12,2.12,0.00,0.000,6,0.179,0.037,3372,1901,2662,0,0,0,0,0,0,26.26,26.48,28.83
$GC,13842,0.75,146.6,542.2,12.2,931,13851,0.00,2.15,0.00,0.000,4,0.000,0.040,3378,523,2662,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13866,0.75,146.6,539.5,12.5,933,13873,0.00,2.12,0.00,0.000,6,0.000,0.036,3379,1900,2663,0,0,0,0,0,0,28.83,26.51,28.83
$GC,14174,0.75,146.6,500.8,12.4,964,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1900,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14476,0.75,146.6,463.2,12.4,994,14485,0.00,2.12,0.00,0.000,4,0.000,0.040,3386,522,2662,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14511,0.75,146.6,458.9,12.6,997,14518,0.00,2.12,0.00,0.000,6,0.000,0.036,3386,1900,2663,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14818,0.75,146.6,419.4,12.7,1028,14827,0.00,2.12,0.00,0.000,4,0.000,0.048,3386,3300,2662,0,0,0,0,0,0,28.83,26.52,28.83
$GC,14851,0.75,146.6,415.0,13.6,1031,14860,0.00,2.05,0.00,0.000,6,0.000,0.031,3395,1907,2662,0,0,0,0,0,0,28.83,26.59,28.83
$GC,15161,0.75,146.6,373.0,13.5,1062,15169,0.00,2.12,0.00,0.000,4,0.000,0.041,3405,514,2662,0,0,0,0,0,0,28.83,26.55,28.83
$GC,15266,0.75,146.6,358.7,14.2,1072,15274,0.12,2.15,0.00,0.000,6,0.177,0.037,3372,1911,2662,0,0,0,0,0,0,26.34,26.58,28.83
$GC,15573,0.75,146.6,320.8,11.8,1103,15574,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1911,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15876,0.75,146.6,285.2,11.3,1133,15884,0.00,2.10,0.00,0.000,4,0.000,0.047,3372,3312,2662,0,0,0,0,0,0,28.83,26.56,28.83
$GC,15900,0.75,146.6,282.2,11.7,1135,15907,0.00,2.10,0.00,0.000,6,0.000,0.031,3379,1892,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16207,0.75,146.6,245.8,11.7,1166,16211,0.00,2.10,0.00,0.000,4,0.000,0.041,3390,504,2661,0,0,0,0,0,0,28.83,26.59,28.83
$GC,16334,0.75,146.6,230.9,12.3,1178,16340,0.00,2.15,0.00,0.000,6,0.000,0.036,3389,1900,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,16640,0.75,146.6,193.9,11.8,1209,16641,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1900,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16942,0.75,146.6,157.5,12.0,1239,16950,0.00,2.10,0.00,0.000,4,0.000,0.047,3389,3301,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16974,0.75,146.6,153.2,12.5,1242,16983,0.00,2.08,0.00,0.000,6,0.000,0.031,3398,1891,2662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17284,0.75,146.6,116.9,11.2,1273,17293,0.00,2.10,0.00,0.000,4,0.000,0.041,3409,496,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,17428,0.75,146.6,101.3,10.6,1287,17438,0.10,2.12,0.00,0.000,6,0.147,0.037,3374,1898,2662,0,0,0,0,0,0,26.40,26.64,28.83
$GC,17740,0.77,167.9,75.3,8.3,1347,17765,0.00,2.17,16.05,0.896,4,0.000,0.048,3374,3295,2593,0,0,0,0,0,0,28.83,26.35,25.51
$GC,17799,0.77,167.9,69.5,10.6,1357,17806,0.00,2.08,0.00,0.000,6,0.000,0.031,3381,1902,2591,0,0,0,0,0,0,28.83,26.41,28.83
$GC,18110,0.77,167.9,39.7,9.7,1418,18117,0.00,2.15,0.00,0.000,4,0.000,0.041,3392,499,2590,0,0,0,0,0,0,28.83,26.42,28.83
$GC,18212,0.80,190.7,30.5,8.2,1437,18237,0.00,2.17,19.50,0.886,6,0.000,0.037,3392,1905,2500,0,0,0,0,0,0,28.83,26.46,25.29
$FREEZE,8.85,4.703,-1.739,1,1,0
$FREEZE,8.50,5.171,-1.723,1,1,0
$FREEZE,8.05,5.178,-1.725,1,1,0
$FREEZE,7.81,5.176,-1.728,1,1,0
$FREEZE,7.44,5.175,-1.729,1,1,0
$FREEZE,7.08,5.167,-1.731,1,1,0
$FREEZE,6.78,5.165,-1.732,1,1,0
$FREEZE,6.50,5.163,-1.733,1,1,0
$FREEZE,6.31,5.161,-1.735,1,1,0
$FREEZE,6.16,5.163,-1.735,1,1,0
$FREEZE,5.78,5.162,-1.736,1,1,0
$FREEZE,5.71,5.161,-1.736,1,1,0
$FREEZE,5.47,5.160,-1.737,1,1,0
$FREEZE,5.23,5.160,-1.737,1,1,0
$FREEZE,4.99,5.159,-1.738,1,1,0
$FREEZE,4.82,5.159,-1.738,1,1,0
$FREEZE,4.47,5.170,-1.738,1,1,0
$FREEZE,3.93,5.110,-1.741,1,1,0
$GC,18547,0.94,301.4,4.8,4.5,1501,18564,0.12,0.00,14.73,0.073,2,0.103,0.000,3450,1905,2366,0,0,0,0,0,0,26.27,28.83,28.83
$STATE,18565,end climb,SURFACE_DEPTH_REACHED
$STATE,18565,begin surface coast
$FREEZE,3.38,5.159,-1.739,1,1,0
$FREEZE,2.89,5.156,-1.739,1,1,0
$FREEZE,2.75,5.157,-1.739,1,1,0
$FREEZE,2.19,5.155,-1.739,1,1,0
$FREEZE,1.97,5.137,-1.740,1,1,0
$FREEZE,1.63,5.150,-1.739,1,1,0
$FREEZE,1.40,4.777,-1.759,1,1,0
$FREEZE,1.55,4.706,-0.965,1,1,0
$FREEZE,1.49,5.056,-0.904,1,1,0
$FREEZE,1.43,4.600,-1.756,1,1,0
$FREEZE,1.45,4.713,-0.861,1,1,0
$FREEZE,1.54,4.842,-0.947,1,1,0
$FREEZE,1.42,4.977,-0.187,1,1,0
$FREEZE,1.43,4.702,-0.488,1,1,0
$FREEZE,1.36,4.997,-0.863,1,1,0
$FREEZE,1.48,4.755,-0.840,1,1,0
$FREEZE,1.51,5.009,-0.871,1,1,0
$FINISH,1.5,1.012709
$STATE,18656,end surface coast,CONTROL_FINISHED_OK
$STATE,18656,begin surface
$SM_CCo,18675,78.30,0.072,0,0,1647,400.08
$SM_GC,2.56,8.32,0.28,78.30,0.050,0.064,0.072,338,2104,1647,-8.66,-1.27,400.08,0,0,0,0,0,0,26.22,26.28,26.10
$RAFOS_CLK,978
$RAFOS,6,1342500544,4.833333,4.817778,50,47,45,42,41,40,1779,1443,1831,1047,1454,691
$RAFOS,5,1342500069,4.700000,4.685833,60,44,44,43,42,40,635,1022,1223,1557,763,841
$RAFOS,4,1342499583,4.566667,4.550833,43,42,41,40,39,38,195,1770,1794,474,151,1763
$RAFOS,3,1342499111,4.433333,4.419722,50,48,45,44,42,41,1468,1864,373,194,1035,630
$RAFOS,2,1342498636,4.300000,4.287778,46,46,44,44,41,41,151,914,61,282,1642,1793
$RAFOS,1,1342498145,4.166667,4.151389,45,43,41,41,40,39,205,329,102,1852,1756,151
$RAFOS,0,1342497662,4.033333,4.017222,41,40,40,39,39,38,520,1284,1900,347,1773,151
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5830.05,160712,191955
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.77
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,22.6,19.380
$10V_AH,10.0,22.426
$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,21.150,179.500,307.875,78.300,0.000,0.000,0.000,341.350,4.500,0.000,19.716,4104.547,10716.836,619.657,3365.933,425.959,0.000,2563.356,0.000,2972.573,2520.000,27.358,0.000
$DEVICE_MAMPS,249.390,68.085,1520.820,71.910,0.000,0.000,0.000,279.393,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.938,1139.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,69989,1520
$CAP_FILE_SIZE,204417,0
$CFSIZE,260165632,233267200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.5
$CURRENT,0.026,166.7,1
$GPS,170712,062604,6700.683,-5841.820,35,0.8,35,-33.9