version: 66.11
glider: 108
mission: 21
dive: 157
start: 7 18 112 9 8 12
data:
$ID,108
$MISSION,21
$DIVE,157
$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,-191286.23
$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,66
$R_STBD_OVSHOOT,46
$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
$GPS1,180712,085528,6658.142,-5907.334,36,0.8,36,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-77.2
$GPS2,180712,090737,6658.095,-5906.932,18,1.6,18,-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,316.3,63461,-16.9,-9.167
$D_GRID,1108
$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,-146.6,0.0,0.0,0,75,0.00,0.00,-56.20,0.000,2,0.000,0.000,340,2110,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.75,-146.6,3.0,-1.4,10,124,10.15,2.20,-27.48,0.000,4,0.256,0.070,2876,3501,3880,0,0,0,0,0,0,25.98,26.38,26.75
$GC,171,-0.75,-146.6,15.9,-16.1,26,178,0.00,2.08,0.00,0.000,6,0.000,0.032,2881,2108,3884,0,0,0,0,0,0,28.83,26.48,28.83
$GC,485,-0.75,-146.6,58.6,-12.5,87,491,0.00,2.17,0.00,0.000,4,0.000,0.052,2873,3509,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,595,-0.75,-146.6,73.4,-13.3,108,603,0.00,2.10,0.00,0.000,6,0.000,0.031,2873,2094,3888,0,0,0,0,0,0,28.83,26.54,28.83
$GC,907,-0.75,-146.6,114.0,-12.7,158,916,0.00,2.20,0.00,0.000,4,0.000,0.051,2864,3514,3888,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1020,-0.75,-146.6,128.7,-12.8,169,1024,0.00,2.10,0.00,0.000,6,0.000,0.031,2865,2094,3888,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1332,-0.75,-146.6,167.4,-11.9,200,1341,0.00,2.17,0.00,0.000,4,0.000,0.051,2856,3501,3887,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1496,-0.75,-146.6,188.6,-13.0,216,1507,0.12,2.08,0.00,0.000,6,0.171,0.032,2888,2100,3887,0,0,0,0,0,0,26.32,26.60,28.83
$GC,1806,-0.75,-146.6,220.6,-10.3,247,1815,0.00,2.15,0.00,0.000,4,0.000,0.052,2880,3504,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1891,-0.75,-146.6,229.1,-10.6,255,1898,0.00,2.10,0.00,0.000,6,0.000,0.031,2880,2089,3885,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2198,-0.75,-146.6,260.0,-10.1,286,2207,0.00,2.17,0.00,0.000,4,0.000,0.051,2869,3505,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2321,-0.75,-146.6,273.7,-11.4,298,2329,0.00,2.08,0.00,0.000,6,0.000,0.031,2869,2100,3884,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2631,-0.75,-146.6,307.6,-11.0,329,2640,0.00,2.15,0.00,0.000,4,0.000,0.051,2859,3509,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2733,-0.75,-146.6,319.6,-11.9,339,2738,0.12,2.08,0.00,0.000,6,0.168,0.031,2890,2092,3884,0,0,0,0,0,0,26.38,26.65,28.83
$GC,3047,-0.75,-146.6,350.4,-9.9,370,3051,0.00,2.17,0.00,0.000,4,0.000,0.050,2882,3504,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3141,-0.75,-146.6,359.9,-10.1,379,3148,0.00,2.08,0.00,0.000,6,0.000,0.030,2883,2095,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3449,-0.75,-146.6,391.0,-10.2,410,3452,0.00,2.17,0.00,0.000,4,0.000,0.050,2872,3505,3884,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3583,-0.75,-146.6,405.5,-10.8,423,3592,0.00,2.08,0.00,0.000,6,0.000,0.030,2872,2081,3884,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3891,-0.75,-146.6,438.8,-10.9,454,3900,0.00,2.17,0.00,0.000,4,0.000,0.050,2862,3504,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4005,-0.75,-146.6,451.6,-11.6,465,4014,0.00,2.08,0.00,0.000,6,0.000,0.030,2861,2094,3883,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4313,-0.75,-146.6,485.3,-10.6,496,4317,0.00,2.17,0.00,0.000,4,0.000,0.050,2851,3509,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4451,-0.75,-146.6,500.6,-11.9,509,4460,0.10,2.08,0.00,0.000,6,0.144,0.030,2884,2076,3884,0,0,0,0,0,0,26.41,26.69,28.83
$GC,4759,-0.75,-146.6,529.9,-9.0,540,4763,0.00,2.17,0.00,0.000,4,0.000,0.049,2876,3503,3884,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4861,-0.75,-146.6,540.0,-10.1,550,4870,0.00,2.05,0.00,0.000,6,0.000,0.030,2876,2101,3884,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5171,-0.75,-146.6,569.5,-9.4,581,5180,0.00,2.12,0.00,0.000,4,0.000,0.049,2866,3509,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5267,-0.75,-146.6,579.0,-10.5,590,5273,0.00,2.08,0.00,0.000,6,0.000,0.030,2866,2093,3884,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5575,-0.75,-146.6,608.5,-9.3,615,5581,0.00,2.12,0.00,0.000,4,0.000,0.049,2856,3499,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5703,-0.75,-146.6,620.5,-10.0,619,5707,0.12,2.08,0.00,0.000,6,0.163,0.030,2888,2087,3884,0,0,0,0,0,0,26.42,26.71,28.83
$GC,6021,-0.75,-146.6,646.4,-7.8,630,6025,0.00,2.17,0.00,0.000,4,0.000,0.050,2880,3504,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6139,-0.75,-146.6,654.6,-8.6,633,6146,0.00,2.08,0.00,0.000,6,0.000,0.030,2881,2089,3884,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6444,-0.75,-146.6,684.0,-9.0,644,6449,0.00,2.15,0.00,0.000,4,0.000,0.050,2870,3508,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6536,-0.75,-146.6,692.7,-9.5,647,6540,0.00,2.08,0.00,0.000,6,0.000,0.030,2870,2092,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6860,-0.75,-146.6,723.4,-9.6,658,6866,0.00,2.12,0.00,0.000,4,0.000,0.050,2859,3498,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6957,-0.75,-146.6,732.6,-10.2,661,6962,0.12,2.05,0.00,0.000,6,0.163,0.030,2891,2095,3884,0,0,0,0,0,0,26.44,26.72,28.83
$GC,7276,-0.75,-146.6,759.1,-7.8,672,7281,0.00,2.12,0.00,0.000,4,0.000,0.050,2883,3501,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7373,-0.75,-146.6,766.8,-8.4,675,7377,0.00,2.03,0.00,0.000,6,0.000,0.030,2883,2100,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7691,-0.75,-146.6,794.4,-8.4,686,7695,0.00,2.15,0.00,0.000,4,0.000,0.050,2873,3506,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7802,-0.75,-146.6,803.3,-9.3,689,7806,0.00,2.08,0.00,0.000,6,0.000,0.030,2873,2091,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8109,-0.75,-146.6,832.6,-9.0,699,8114,0.00,2.15,0.00,0.000,4,0.000,0.050,2863,3509,3884,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8212,-0.75,-146.6,841.3,-9.5,702,8216,0.00,2.08,0.00,0.000,6,0.000,0.031,2863,2096,3883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8525,-0.75,-146.6,871.4,-9.2,713,8529,0.00,2.17,0.00,0.000,4,0.000,0.050,2852,3512,3883,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8640,-0.75,-146.6,880.5,-9.7,716,8649,0.15,2.08,0.00,0.000,6,0.158,0.031,2892,2093,3883,0,0,0,0,0,0,26.41,26.72,28.83
$GC,8947,-0.75,-146.6,905.9,-7.3,727,8953,0.00,2.12,0.00,0.000,4,0.000,0.050,2884,3498,3883,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9051,-0.75,-146.6,913.2,-8.0,730,9055,0.00,2.05,0.00,0.000,6,0.000,0.031,2884,2095,3883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9364,-0.75,-146.6,938.1,-7.6,741,9368,0.00,2.17,0.00,0.000,4,0.000,0.050,2874,3508,3883,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9471,-0.75,-146.6,945.7,-8.2,744,9476,0.00,2.08,0.00,0.000,6,0.000,0.031,2874,2095,3883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9787,-0.75,-146.6,972.2,-8.1,755,9792,0.00,2.12,0.00,0.000,4,0.000,0.050,2864,3497,3883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9864,-0.75,-146.6,977.3,-8.3,757,9868,0.00,2.05,0.00,0.000,6,0.000,0.031,2863,2097,3883,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,10018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10018,begin apogee
$GC,10026,-0.17,0.0,992.5,-8.5,762,10157,0.65,0.00,125.80,1.525,6,0.139,0.000,3071,1878,3279,0,0,0,0,0,0,26.34,28.83,23.56
$STATE,10160,end apogee,CONTROL_FINISHED_OK
$STATE,10160,begin climb
$GC,10163,0.75,146.6,995.6,0.0,766,10305,0.85,2.40,130.88,1.486,4,0.067,0.037,3379,525,2681,0,0,0,0,0,0,24.63,23.57,22.61
$GC,10356,0.75,146.6,978.5,12.1,773,10360,0.00,2.30,0.00,0.000,6,0.000,0.035,3379,1898,2675,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10679,0.75,146.6,931.2,14.6,784,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1897,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10978,0.75,146.6,889.4,13.8,794,10984,0.00,2.20,0.00,0.000,4,0.000,0.039,3388,508,2667,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11026,0.75,146.6,885.1,14.2,795,11031,0.00,2.22,0.00,0.000,6,0.000,0.037,3388,1911,2666,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11338,0.75,146.6,838.0,14.4,805,11343,0.00,2.20,0.00,0.000,4,0.000,0.040,3397,508,2665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11354,0.75,146.6,838.0,14.4,805,11358,0.00,2.20,0.00,0.000,6,0.000,0.036,3397,1906,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11661,0.75,146.6,788.7,14.9,815,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1907,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11962,0.75,146.6,743.5,15.1,825,11967,0.00,2.17,0.00,0.000,4,0.000,0.040,3406,516,2665,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12004,0.75,146.6,739.0,15.1,826,12009,0.15,2.17,0.00,0.000,6,0.174,0.037,3370,1913,2664,0,0,0,0,0,0,26.09,26.32,28.83
$GC,12321,0.75,146.6,694.4,13.5,837,12326,0.00,2.15,0.00,0.000,4,0.000,0.040,3377,520,2663,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12363,0.75,146.6,690.0,13.4,838,12367,0.00,2.15,0.00,0.000,6,0.000,0.037,3376,1901,2663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12675,0.75,146.6,645.7,13.6,849,12681,0.00,2.15,0.00,0.000,4,0.000,0.039,3386,512,2663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12699,0.75,146.6,645.7,13.6,849,12706,0.00,2.17,0.00,0.000,6,0.000,0.037,3386,1913,2663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13005,0.75,146.6,599.8,14.1,860,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1912,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13305,0.75,146.6,557.2,14.2,890,13313,0.00,2.17,0.00,0.000,4,0.000,0.040,3394,515,2663,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13337,0.75,146.6,552.6,14.2,893,13346,0.00,2.12,0.00,0.000,6,0.000,0.037,3395,1901,2662,0,0,0,0,0,0,28.83,26.50,28.83
$GC,13647,0.75,146.6,507.8,14.4,924,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1901,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13951,0.75,146.6,463.8,14.7,954,13959,0.00,2.12,0.00,0.000,4,0.000,0.040,3403,508,2662,0,0,0,0,0,0,28.83,26.52,28.83
$GC,13996,0.75,146.6,456.8,15.2,958,14003,0.12,2.15,0.00,0.000,6,0.174,0.037,3373,1902,2662,0,0,0,0,0,0,26.31,26.53,28.83
$GC,14303,0.75,146.6,415.5,12.8,989,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1902,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14605,0.75,146.6,376.6,13.0,1019,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1901,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14917,0.75,146.6,336.9,12.6,1050,14925,0.00,2.12,0.00,0.000,4,0.000,0.040,3380,519,2662,0,0,0,0,0,0,28.83,26.57,28.83
$GC,14938,0.75,146.6,333.7,12.6,1052,14948,0.00,2.12,0.00,0.000,6,0.000,0.036,3380,1899,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15248,0.75,146.6,294.1,12.2,1083,15257,0.00,2.15,0.00,0.000,4,0.000,0.039,3389,512,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15280,0.75,146.6,290.1,12.6,1086,15289,0.00,2.15,0.00,0.000,6,0.000,0.037,3389,1906,2662,0,0,0,0,0,0,28.83,26.59,28.83
$GC,15591,0.75,146.6,250.6,12.5,1117,15600,0.00,2.10,0.00,0.000,4,0.000,0.048,3389,3299,2662,0,0,0,0,0,0,28.83,26.56,28.83
$GC,15613,0.75,146.6,247.5,13.1,1119,15622,0.00,2.08,0.00,0.000,6,0.000,0.031,3398,1890,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,15923,0.75,146.6,207.0,12.7,1150,15932,0.00,2.08,0.00,0.000,4,0.000,0.041,3409,510,2662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16016,0.75,146.6,195.3,12.9,1159,16025,0.10,2.12,0.00,0.000,6,0.149,0.036,3375,1906,2662,0,0,0,0,0,0,26.37,26.62,28.83
$GC,16325,0.75,146.6,163.4,9.6,1190,16334,0.00,2.10,0.00,0.000,4,0.000,0.047,3375,3302,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,16351,0.75,146.6,161.0,10.1,1192,16358,0.00,2.08,0.00,0.000,6,0.000,0.031,3382,1894,2662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16657,0.75,146.6,130.0,10.1,1223,16661,0.00,2.10,0.00,0.000,4,0.000,0.041,3392,511,2662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16780,0.75,146.6,116.9,10.4,1235,16788,0.00,2.10,0.00,0.000,6,0.000,0.036,3392,1891,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,17093,0.75,146.6,85.1,9.8,1280,17101,0.00,2.15,0.00,0.000,4,0.000,0.040,3401,498,2662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,17128,0.75,146.6,81.3,10.0,1286,17136,0.12,2.15,0.00,0.000,6,0.171,0.036,3371,1907,2662,0,0,0,0,0,0,26.41,26.64,28.83
$GC,17443,0.76,162.2,54.2,8.5,1347,17457,0.00,0.00,11.40,0.864,6,0.000,0.000,3370,1907,2617,0,0,0,0,0,0,28.83,28.83,25.56
$GC,17763,0.81,199.5,28.1,7.6,1409,17793,0.00,2.25,21.48,0.868,4,0.000,0.041,3378,507,2463,0,0,0,0,0,0,28.83,26.13,25.33
$GC,17816,0.86,240.4,24.0,7.5,1418,17847,0.00,2.17,21.62,0.829,6,0.000,0.037,3377,1892,2297,0,0,0,0,0,0,28.83,26.16,25.06
$FREEZE,8.69,5.214,-1.761,2,1,0
$FREEZE,8.37,5.214,-1.761,2,1,0
$FREEZE,8.01,5.232,-1.761,2,1,0
$FREEZE,7.71,5.257,-1.761,2,1,0
$FREEZE,7.32,5.274,-1.761,2,1,0
$FREEZE,6.98,5.277,-1.761,2,1,0
$FREEZE,6.73,5.297,-1.761,2,1,0
$FREEZE,6.23,5.296,-1.761,2,1,0
$FREEZE,5.91,5.302,-1.761,2,1,0
$FREEZE,5.63,5.304,-1.761,2,1,0
$FREEZE,5.24,5.312,-1.761,2,1,0
$FREEZE,4.83,5.364,-1.760,2,1,0
$FREEZE,4.34,5.356,-1.760,2,1,0
$FREEZE,3.92,5.374,-1.760,2,1,0
$STATE,18080,end climb,SURFACE_DEPTH_REACHED
$STATE,18080,begin surface coast
$FREEZE,3.65,5.413,-1.759,2,1,0
$FREEZE,3.31,5.391,-1.759,2,1,0
$FREEZE,2.90,5.406,-1.759,2,1,0
$FREEZE,2.56,5.434,-1.758,2,1,0
$FREEZE,2.21,5.414,-1.758,2,1,0
$FREEZE,1.82,5.422,-1.758,2,1,0
$FREEZE,1.52,5.326,-1.763,2,1,0
$FREEZE,1.54,5.246,-1.763,2,1,0
$FREEZE,1.44,5.222,-1.569,2,1,0
$FREEZE,1.52,5.542,-0.881,2,1,0
$FREEZE,1.60,5.177,-1.220,2,1,0
$FINISH,1.6,1.017750
$STATE,18142,end surface coast,CONTROL_FINISHED_OK
$STATE,18142,begin surface
$SM_CCo,18161,70.47,0.072,0,0,1647,400.08
$SM_GC,2.57,8.25,0.30,70.47,0.056,0.060,0.072,343,2108,1647,-8.66,-1.24,400.08,0,0,0,0,0,0,26.06,26.12,25.96
$RAFOS_CLK,947
$RAFOS,6,1342615744,12.833333,12.817778,49,49,41,41,41,40,509,441,1325,221,1867,1493
$RAFOS,5,1342615284,12.700000,12.690000,47,46,46,46,43,43,1639,217,265,1203,744,1029
$RAFOS,4,1342614806,12.566667,12.557222,44,43,42,41,41,41,292,1538,1832,427,893,1474
$RAFOS,3,1342614330,12.433333,12.425000,50,46,43,43,41,40,532,235,112,943,1383,1059
$RAFOS,2,1342613823,12.300000,12.284166,47,45,44,43,43,41,1771,449,390,357,417,1
$RAFOS,1,1342613348,12.166667,12.152223,54,53,46,44,42,39,1636,1444,800,773,61,347
$RAFOS,0,1342612862,12.033333,12.017222,52,50,43,43,40,38,1486,1929,1582,1710,690,138
$RAFOS,6,1342601342,8.833333,8.817223,52,46,43,43,42,41,1189,1895,1058,1754,176,1824
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5905.01,180712,080846
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,22.6,20.099
$10V_AH,9.9,23.203
$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,21.150,171.200,311.175,70.475,0.000,0.000,0.000,523.150,5.500,0.000,19.063,3943.387,10622.727,594.869,3354.568,440.132,0.000,2644.430,0.000,2803.362,2520.000,27.357,0.000
$DEVICE_MAMPS,256.275,69.615,1525.410,71.910,0.000,0.000,0.000,275.648,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.923,1104.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151596
$DATA_FILE_SIZE,69908,1479
$CAP_FILE_SIZE,200533,0
$CFSIZE,260165632,232730624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.8
$CURRENT,0.048,  5.1,1
$GPS,180712,141335,6659.655,-5912.497,38,0.7,38,-34.0