version: 66.08
glider: 141
mission: 15
dive: 535
start: 5 2 111 7 55 47
data:
$ID,141
$MISSION,15
$DIVE,535
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$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,-45486.27
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$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,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,020511,042734,6703.705,-5906.023,0,7128.1,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.94
$_SM_ANGLEo,-4.7
$GPS2,020511,042734,6703.705,-5906.023,0,7128.1,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$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,275.6,68956,-17.5,-10.000
$D_GRID,1206
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.57,0.000,2,0.000,0.000,2896,865,2998,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.5,-0.0,1,53,0.65,0.38,-16.00,0.000,4,0.105,0.148,2667,1091,3629,0,0,0,0,0,0
$GC,141,-0.57,-146.0,29.2,-19.9,20,147,0.00,2.28,0.00,0.000,6,0.000,0.068,2667,2488,3631,0,0,0,0,0,0
$GC,487,-0.44,-146.0,90.1,-17.3,81,495,0.20,2.35,0.00,0.000,4,0.219,0.080,2715,3899,3631,0,0,0,0,0,0
$GC,621,-0.49,-146.0,106.8,-10.9,99,628,0.00,2.22,0.00,0.000,6,0.000,0.051,2715,2485,3631,0,0,0,0,0,0
$GC,947,-0.52,-146.0,140.3,-9.9,130,951,0.00,2.28,0.00,0.000,4,0.000,0.068,2715,1078,3630,0,0,0,0,0,0
$GC,998,-0.58,-146.0,145.4,-9.3,134,1004,0.12,2.30,0.00,0.000,6,0.133,0.066,2674,2497,3630,0,0,0,0,0,0
$GC,1324,-0.51,-146.0,188.7,-13.6,164,1328,0.00,2.33,0.00,0.000,4,0.000,0.083,2674,3899,3630,0,0,0,0,0,0
$GC,1353,-0.46,-146.0,192.5,-13.3,166,1358,0.15,2.25,0.00,0.000,6,0.206,0.054,2708,2485,3629,0,0,0,0,0,0
$GC,1679,-0.50,-146.0,224.9,-9.4,196,1683,0.00,2.28,0.00,0.000,4,0.000,0.069,2708,1079,3629,0,0,0,0,0,0
$GC,1709,-0.55,-146.0,227.7,-10.0,198,1713,0.00,2.30,0.00,0.000,6,0.000,0.067,2708,2496,3629,0,0,0,0,0,0
$GC,2034,-0.60,-146.0,255.6,-8.5,228,2039,0.12,2.35,0.00,0.000,4,0.132,0.083,2664,3899,3628,0,0,0,0,0,0
$GC,2078,-0.58,-146.0,260.7,-12.0,231,2085,0.00,2.25,0.00,0.000,6,0.000,0.054,2664,2486,3628,0,0,0,0,0,0
$GC,2405,-0.52,-146.0,300.6,-12.4,262,2410,0.12,2.30,0.00,0.000,4,0.221,0.068,2692,1078,3628,0,0,0,0,0,0
$GC,2461,-0.58,-146.0,306.7,-9.1,266,2468,0.00,2.30,0.00,0.000,6,0.000,0.066,2692,2496,3628,0,0,0,0,0,0
$GC,2787,-0.61,-146.0,337.5,-8.9,297,2791,0.00,2.35,0.00,0.000,4,0.000,0.083,2692,3905,3628,0,0,0,0,0,0
$GC,2822,-0.65,-146.0,340.7,-9.4,300,2827,0.12,2.25,0.00,0.000,6,0.129,0.053,2651,2488,3628,0,0,0,0,0,0
$GC,3153,-0.58,-146.0,380.9,-12.3,331,3157,0.00,2.25,0.00,0.000,4,0.000,0.068,2651,1082,3628,0,0,0,0,0,0
$GC,3205,-0.55,-146.0,387.2,-11.3,335,3210,0.12,2.30,0.00,0.000,6,0.214,0.067,2678,2497,3629,0,0,0,0,0,0
$GC,3531,-0.55,-146.0,417.0,-9.2,365,3535,0.00,2.35,0.00,0.000,4,0.000,0.083,2679,3898,3629,0,0,0,0,0,0
$GC,3573,-0.59,-146.0,420.6,-8.8,368,3577,0.00,2.25,0.00,0.000,6,0.000,0.052,2679,2484,3629,0,0,0,0,0,0
$GC,3900,-0.59,-146.0,448.8,-9.1,398,3904,0.00,2.25,0.00,0.000,4,0.000,0.067,2679,1077,3629,0,0,0,0,0,0
$GC,3934,-0.61,-146.0,452.2,-9.5,400,3941,0.00,2.33,0.00,0.000,6,0.000,0.065,2679,2497,3629,0,0,0,0,0,0
$GC,4260,-0.61,-146.0,480.8,-9.0,431,4264,0.00,2.35,0.00,0.000,4,0.000,0.082,2679,3907,3629,0,0,0,0,0,0
$GC,4310,-0.66,-146.0,485.4,-9.1,435,4317,0.00,2.22,0.00,0.000,6,0.000,0.051,2679,2489,3630,0,0,0,0,0,0
$GC,4637,-0.66,-146.0,513.9,-8.9,466,4641,0.00,2.25,0.00,0.000,4,0.000,0.066,2679,1079,3630,0,0,0,0,0,0
$GC,4666,-0.68,-146.0,516.6,-9.5,468,4670,0.00,2.30,0.00,0.000,6,0.000,0.065,2679,2496,3630,0,0,0,0,0,0
$GC,4996,-0.68,-146.0,543.9,-8.0,499,5000,0.00,2.38,0.00,0.000,4,0.000,0.082,2679,3909,3630,0,0,0,0,0,0
$GC,5030,-0.71,-146.0,546.8,-8.4,501,5037,0.15,2.28,0.00,0.000,6,0.117,0.051,2628,2479,3630,0,0,0,0,0,0
$GC,5355,-0.59,-146.0,586.7,-12.8,532,5360,0.17,2.28,0.00,0.000,4,0.207,0.067,2669,1075,3630,0,0,0,0,0,0
$GC,5388,-0.57,-146.0,590.7,-11.4,534,5395,0.00,2.33,0.00,0.000,6,0.000,0.066,2669,2496,3630,0,0,0,0,0,0
$GC,5716,-0.57,-146.0,620.2,-9.3,552,5720,0.00,2.35,0.00,0.000,4,0.000,0.083,2669,3905,3630,0,0,0,0,0,0
$GC,5754,-0.57,-146.0,624.1,-9.7,553,5758,0.00,2.22,0.00,0.000,6,0.000,0.051,2669,2488,3630,0,0,0,0,0,0
$GC,6090,-0.57,-146.0,654.3,-9.2,564,6094,0.00,2.28,0.00,0.000,4,0.000,0.067,2670,1078,3631,0,0,0,0,0,0
$GC,6141,-0.59,-146.0,659.1,-9.1,565,6145,0.00,2.30,0.00,0.000,6,0.000,0.065,2669,2495,3631,0,0,0,0,0,0
$GC,6459,-0.59,-146.0,687.6,-9.0,576,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2495,3631,0,0,0,0,0,0
$GC,6766,-0.59,-146.0,717.0,-9.6,586,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2496,3631,0,0,0,0,0,0
$GC,7071,-0.59,-146.0,744.9,-9.1,596,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2496,3631,0,0,0,0,0,0
$GC,7378,-0.59,-146.0,772.4,-9.0,606,7382,0.00,2.35,0.00,0.000,4,0.000,0.082,2669,3899,3631,0,0,0,0,0,0
$GC,7412,-0.62,-146.0,775.5,-9.2,607,7416,0.00,2.22,0.00,0.000,6,0.000,0.052,2669,2488,3631,0,0,0,0,0,0
$GC,7741,-0.62,-146.0,805.8,-9.5,618,7745,0.00,2.28,0.00,0.000,4,0.000,0.067,2669,1082,3631,0,0,0,0,0,0
$GC,7768,-0.62,-146.0,808.8,-10.2,618,7776,0.00,2.30,0.00,0.000,6,0.000,0.066,2670,2488,3631,0,0,0,0,0,0
$GC,8083,-0.62,-146.0,838.3,-9.4,629,8087,0.00,2.38,0.00,0.000,4,0.000,0.082,2669,3909,3631,0,0,0,0,0,0
$GC,8104,-0.62,-146.0,840.5,-9.7,629,8108,0.00,2.25,0.00,0.000,6,0.000,0.051,2669,2481,3631,0,0,0,0,0,0
$GC,8417,-0.62,-146.0,868.4,-9.0,639,8421,0.00,2.28,0.00,0.000,4,0.000,0.068,2669,1078,3631,0,0,0,0,0,0
$GC,8446,-0.62,-146.0,871.2,-10.4,640,8450,0.00,2.33,0.00,0.000,6,0.000,0.066,2669,2500,3631,0,0,0,0,0,0
$GC,8788,-0.62,-146.0,902.2,-9.1,651,8792,0.00,2.35,0.00,0.000,4,0.000,0.082,2669,3906,3631,0,0,0,0,0,0
$GC,8834,-0.67,-146.0,906.4,-8.9,652,8838,0.00,2.25,0.00,0.000,6,0.000,0.053,2669,2485,3631,0,0,0,0,0,0
$GC,9159,-0.70,-146.0,935.7,-9.3,663,9163,0.00,2.28,0.00,0.000,4,0.000,0.068,2669,1082,3631,0,0,0,0,0,0
$GC,9188,-0.74,-146.0,938.7,-10.0,664,9193,0.15,2.30,0.00,0.000,6,0.116,0.067,2618,2495,3631,0,0,0,0,0,0
$GC,9524,-0.65,-146.0,981.4,-12.7,675,9529,0.12,2.40,0.00,0.000,4,0.216,0.082,2645,3905,3631,0,0,0,0,0,0
$GC,9596,-0.65,-146.0,989.5,-10.0,677,9600,0.00,2.28,0.00,0.000,6,0.000,0.054,2645,2480,3631,0,0,0,0,0,0
$STATE,9604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9604,begin apogee
$GC,9610,-0.12,0.0,990.6,9.8,677,9749,0.60,0.00,132.30,1.562,6,0.193,0.000,2811,2269,3029,0,0,0,0,0,0
$STATE,9750,end apogee,CONTROL_FINISHED_OK
$STATE,9750,begin climb
$GC,9753,0.62,146.0,994.4,0.0,682,9902,0.82,2.65,141.60,1.512,4,0.132,0.073,3064,878,2432,0,0,0,0,0,0
$GC,9969,0.55,146.0,976.0,12.5,689,9974,0.00,2.47,0.00,0.000,6,0.000,0.062,3064,2275,2428,0,0,0,0,0,0
$GC,10300,0.46,146.0,934.6,12.3,700,10305,0.17,2.40,0.00,0.000,4,0.185,0.077,3020,3697,2426,0,0,0,0,0,0
$GC,10367,0.42,146.0,926.5,12.3,702,10371,0.00,2.35,0.00,0.000,6,0.000,0.061,3028,2274,2425,0,0,0,0,0,0
$GC,10696,0.42,146.0,892.7,10.5,713,10701,0.00,2.35,0.00,0.000,4,0.000,0.076,3028,3690,2424,0,0,0,0,0,0
$GC,10730,0.36,146.0,888.6,11.6,714,10735,0.22,2.30,0.00,0.000,6,0.193,0.060,2983,2274,2424,0,0,0,0,0,0
$GC,11060,0.52,209.3,864.2,7.1,725,11121,0.15,0.00,57.55,1.434,6,0.096,0.000,3047,2274,2175,0,0,0,0,0,0
$GC,11429,0.48,209.3,819.1,12.7,737,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2274,2168,0,0,0,0,0,0
$GC,11733,0.45,209.3,781.0,12.2,747,11738,0.15,2.38,0.00,0.000,4,0.190,0.076,3010,3694,2167,0,0,0,0,0,0
$GC,11762,0.45,209.3,777.6,11.1,748,11766,0.00,2.30,0.00,0.000,6,0.000,0.060,3018,2268,2166,0,0,0,0,0,0
$GC,12098,0.50,216.2,745.1,9.7,759,12109,0.00,2.30,6.18,1.079,4,0.000,0.073,3028,863,2148,0,0,0,0,0,0
$GC,12132,0.57,225.3,741.6,9.6,760,12147,0.00,2.30,10.20,1.233,6,0.000,0.063,3028,2285,2111,0,0,0,0,0,0
$GC,12461,0.60,225.3,707.7,10.3,771,12465,0.00,2.33,0.00,0.000,4,0.000,0.076,3028,3692,2108,0,0,0,0,0,0
$GC,12510,0.60,225.3,701.8,11.4,772,12514,0.00,2.30,0.00,0.000,6,0.000,0.059,3039,2272,2107,0,0,0,0,0,0
$GC,12829,0.60,225.3,666.6,11.0,783,12834,0.00,2.30,0.00,0.000,4,0.000,0.074,3049,860,2107,0,0,0,0,0,0
$GC,12868,0.63,225.3,662.1,10.6,784,12872,0.00,2.28,0.00,0.000,6,0.000,0.062,3049,2276,2106,0,0,0,0,0,0
$GC,13203,0.63,225.3,624.5,11.4,795,13207,0.00,2.33,0.00,0.000,4,0.000,0.076,3049,3691,2106,0,0,0,0,0,0
$GC,13259,0.60,225.3,617.3,13.5,796,13266,0.00,2.30,0.00,0.000,6,0.000,0.060,3059,2265,2106,0,0,0,0,0,0
$GC,13579,0.57,225.3,578.3,12.2,817,13583,0.00,2.30,0.00,0.000,4,0.000,0.073,3069,855,2105,0,0,0,0,0,0
$GC,13611,0.57,225.3,574.3,11.6,819,13618,0.00,2.30,0.00,0.000,6,0.000,0.062,3070,2276,2105,0,0,0,0,0,0
$GC,13938,0.51,225.3,533.1,12.8,850,13943,0.15,2.35,0.00,0.000,4,0.183,0.076,3030,3693,2104,0,0,0,0,0,0
$GC,13993,0.51,225.3,526.3,10.8,854,14000,0.00,2.28,0.00,0.000,6,0.000,0.058,3038,2274,2104,0,0,0,0,0,0
$GC,14320,0.51,225.3,492.6,10.4,885,14324,0.00,2.28,0.00,0.000,4,0.000,0.072,3048,860,2104,0,0,0,0,0,0
$GC,14354,0.55,225.3,488.7,10.3,887,14360,0.00,2.30,0.00,0.000,6,0.000,0.060,3048,2282,2104,0,0,0,0,0,0
$GC,14679,0.55,225.3,452.4,11.4,918,14683,0.00,2.30,0.00,0.000,4,0.000,0.076,3048,3687,2104,0,0,0,0,0,0
$GC,14729,0.53,225.3,446.1,12.0,922,14734,0.00,2.28,0.00,0.000,6,0.000,0.058,3058,2272,2104,0,0,0,0,0,0
$GC,15054,0.53,225.3,406.2,12.1,952,15058,0.00,2.30,0.00,0.000,4,0.000,0.070,3069,857,2104,0,0,0,0,0,0
$GC,15094,0.53,225.3,401.6,10.9,955,15099,0.12,2.28,0.00,0.000,6,0.181,0.060,3038,2279,2104,0,0,0,0,0,0
$GC,15420,0.56,226.0,367.9,10.0,985,15424,0.00,2.30,0.00,0.000,4,0.000,0.076,3038,3692,2104,0,0,0,0,0,0
$GC,15448,0.56,226.0,364.8,10.5,987,15453,0.00,2.28,0.00,0.000,6,0.000,0.058,3046,2275,2104,0,0,0,0,0,0
$GC,15774,0.59,226.0,330.0,10.7,1017,15778,0.00,2.30,0.00,0.000,4,0.000,0.070,3056,859,2103,0,0,0,0,0,0
$GC,15795,0.61,226.0,327.6,10.7,1018,15802,0.00,2.28,0.00,0.000,6,0.000,0.060,3056,2282,2103,0,0,0,0,0,0
$GC,16120,0.61,226.0,291.3,11.1,1049,16125,0.00,2.30,0.00,0.000,4,0.000,0.075,3056,3694,2103,0,0,0,0,0,0
$GC,16153,0.61,226.0,287.1,13.0,1051,16162,0.00,2.25,0.00,0.000,6,0.000,0.057,3066,2276,2104,0,0,0,0,0,0
$GC,16479,0.61,226.0,249.7,11.3,1082,16480,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2276,2104,0,0,0,0,0,0
$GC,16797,0.61,226.0,215.2,10.6,1112,16798,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2276,2104,0,0,0,0,0,0
$GC,17116,0.61,226.0,179.7,10.9,1142,17121,0.00,2.25,0.00,0.000,4,0.000,0.070,3077,865,2104,0,0,0,0,0,0
$GC,17139,0.61,226.0,177.3,11.0,1144,17143,0.00,2.28,0.00,0.000,6,0.000,0.059,3077,2277,2104,0,0,0,0,0,0
$GC,17464,0.63,240.3,146.1,9.3,1174,17487,0.00,2.38,14.23,0.984,4,0.000,0.076,3077,3688,2049,0,0,0,0,0,0
$GC,17538,0.60,240.3,137.6,12.7,1180,17545,0.00,2.30,0.00,0.000,6,0.000,0.057,3086,2265,2049,0,0,0,0,0,0
$GC,17865,0.61,244.1,104.7,9.8,1211,17873,0.00,0.00,5.05,0.767,6,0.000,0.000,3086,2265,2033,0,0,0,0,0,0
$GC,18209,0.64,253.3,70.6,9.6,1268,18228,0.00,2.33,9.88,0.919,4,0.000,0.070,3097,863,1997,0,0,0,0,0,0
$GC,18253,0.73,287.5,66.7,8.4,1275,18295,0.00,2.28,33.33,0.977,6,0.000,0.060,3097,2279,1857,0,0,0,0,0,0
$GC,18633,0.84,330.6,33.1,8.0,1342,18663,0.10,0.00,24.98,1.019,6,0.118,0.000,3141,2279,1681,0,0,0,0,0,0
$FREEZE,8.92,-1.731,-1.782,2,70,2
$FREEZE,8.29,-1.730,-1.781,2,70,2
$FREEZE,7.55,-1.730,-1.781,2,70,2
$FREEZE,6.91,-1.730,-1.780,2,70,2
$FREEZE,6.22,-1.730,-1.780,2,70,2
$FREEZE,5.63,-1.730,-1.779,2,70,2
$FREEZE,4.90,-1.729,-1.779,2,70,2
$FREEZE,4.24,-1.730,-1.778,2,70,2
$FREEZE,3.65,-1.731,-1.778,2,70,2
$FREEZE,3.03,-1.731,-1.777,2,70,2
$FREEZE,2.64,-1.730,-1.777,2,70,2
$STATE,18885,end climb,SURFACE_DEPTH_REACHED
$STATE,18885,begin surface coast
$FREEZE,2.67,-1.733,-1.777,2,70,2
$FREEZE,2.67,-1.734,-1.777,2,70,2
$FREEZE,2.55,-1.732,-1.777,2,70,2
$FREEZE,2.58,-1.732,-1.777,2,70,2
$FREEZE,2.65,-1.733,-1.777,2,70,2
$FINISH,2.6,1.026085
$STATE,18913,end surface coast,CONTROL_FINISHED_OK
$STATE,18913,begin surface
$SM_CCo,19051,102.15,0.074,0,0,750,559.04
$SM_GC,3.58,0.00,0.00,102.15,0.000,0.000,0.074,105,2503,750,-8.62,0.37,559.04
$RAFOS_CLK,1053
$RAFOS,6,1304340542,12.833333,12.817223,97,66,56,53,53,51,611,197,182,225,216,147
$RAFOS,5,1304340067,12.700000,12.685278,102,66,54,54,52,52,763,205,132,182,226,217
$RAFOS,4,1304339583,12.566667,12.550834,141,64,63,59,56,55,618,206,148,174,193,226
$RAFOS,3,1304339106,12.433333,12.418333,121,63,58,51,50,50,813,195,219,167,125,148
$RAFOS,2,1304338623,12.300000,12.284166,85,61,59,58,51,48,778,177,210,191,114,124
$RAFOS,1,1304338152,12.166667,12.153334,124,59,59,55,52,51,645,196,118,211,173,134
$RAFOS,0,1304337663,12.033333,12.017500,150,55,53,52,52,48,816,202,191,170,134,146
$RAFOS,6,1304326143,8.833333,8.817500,148,64,58,58,56,51,597,216,181,204,151,139
$RAFOS,5,1304325667,8.700000,8.685278,121,62,62,57,55,53,752,202,126,174,218,186
$RAFOS,4,1304325190,8.566667,8.552778,91,57,53,53,52,51,573,201,219,178,123,148
$RAFOS,3,1304324702,8.433333,8.417222,130,64,62,58,53,48,837,214,199,147,122,179
$RAFOS,2,1304324226,8.300000,8.285000,97,66,58,52,51,51,765,198,122,159,216,170
$RAFOS,1,1304323742,8.166667,8.150556,132,60,56,51,51,50,711,137,224,117,197,148
$RAFOS,0,1304323264,8.033334,8.017777,59,58,57,55,54,52,217,840,128,197,157,230
$RAFOS_FIX,6702.573730,-5913.443359,020511,121258,7,117,0.20
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.69
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,17.0
$24V_AH,21.2,70.277
$10V_AH,10.0,36.407
$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,13.425,196.975,435.275,102.150,0.000,0.000,0.000,0.000,4.000,0.000,0.000,3599.140,12251.365,626.738,2472.349,304.925,0.000,1983.533,0.000,2435.294,5040.000,28.843,0.000
$DEVICE_MAMPS,221.085,147.645,1562.130,74.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,995.150,1071.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,53252,1392
$CAP_FILE_SIZE,197662,0
$CFSIZE,260165632,218877952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.8
$GPS,020511,122658,6702.574,-5913.443,0,7117.1,0,-37.6