version: 66.11
glider: 108
mission: 21
dive: 420
start: 9 4 112 16 40 20
data:
$ID,108
$MISSION,21
$DIVE,420
$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,-191621.56
$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,65
$R_STBD_OVSHOOT,43
$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
$GPS1,040912,163134,6649.514,-5813.583,31,0.8,31,-33.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-76.7
$GPS2,040912,163947,6649.507,-5813.800,15,0.9,16,-33.6
$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,146.6,66809,-16.9,-9.167
$D_GRID,760
$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,-146.6,0.0,0.0,0,60,0.00,0.00,-41.17,0.000,2,0.000,0.000,345,2109,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.75,-146.6,3.0,-2.4,7,124,10.40,2.20,-41.88,0.000,4,0.247,0.055,2885,707,3885,0,0,0,0,0,0,25.39,26.17,26.74
$GC,258,-0.75,-146.6,26.8,-11.3,43,265,0.00,2.20,0.00,0.000,6,0.000,0.040,2879,2106,3890,0,0,0,0,0,0,28.83,26.17,28.83
$GC,573,-0.75,-146.6,68.9,-14.0,104,580,0.00,2.15,0.00,0.000,4,0.000,0.050,2868,3517,3894,0,0,0,0,0,0,28.83,26.07,28.83
$GC,618,-0.75,-146.6,75.2,-13.6,112,625,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,2087,3894,0,0,0,0,0,0,28.83,26.35,28.83
$GC,931,-0.75,-146.6,117.9,-13.1,160,939,0.00,2.17,0.00,0.000,4,0.000,0.050,2857,3502,3895,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1002,-0.75,-146.6,127.6,-13.4,167,1012,0.12,2.10,0.00,0.000,6,0.177,0.031,2887,2095,3895,0,0,0,0,0,0,25.92,26.37,28.83
$GC,1313,-0.75,-146.6,159.0,-9.3,198,1322,0.00,2.22,0.00,0.000,4,0.000,0.050,2879,3519,3894,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1385,-0.75,-146.6,166.3,-10.1,205,1395,0.00,2.10,0.00,0.000,6,0.000,0.031,2879,2107,3894,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1695,-0.75,-146.6,196.9,-9.4,236,1704,0.00,2.17,0.00,0.000,4,0.000,0.050,2868,3525,3893,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1780,-0.75,-146.6,205.3,-10.3,244,1787,0.00,2.08,0.00,0.000,6,0.000,0.031,2868,2123,3892,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2087,-0.75,-146.6,236.1,-9.5,275,2096,0.00,2.15,0.00,0.000,4,0.000,0.050,2858,3509,3891,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2152,-0.75,-146.6,242.7,-10.8,281,2160,0.12,2.03,0.00,0.000,6,0.159,0.031,2889,2139,3891,0,0,0,0,0,0,25.99,26.39,28.83
$GC,2460,-0.75,-146.6,270.6,-8.8,312,2463,0.00,2.12,0.00,0.000,4,0.000,0.050,2881,3505,3891,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2514,-0.75,-146.6,275.3,-9.2,317,2522,0.00,2.03,0.00,0.000,6,0.000,0.031,2881,2132,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2822,-0.75,-146.6,302.0,-8.6,348,2830,0.00,2.10,0.00,0.000,4,0.000,0.049,2871,3502,3890,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2896,-0.75,-146.6,308.6,-9.5,355,2904,0.00,2.00,0.00,0.000,6,0.000,0.031,2871,2143,3890,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3204,-0.75,-146.6,338.0,-9.6,386,3213,0.00,2.08,0.00,0.000,4,0.000,0.049,2861,3500,3890,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3259,-0.75,-146.6,343.2,-10.3,391,3266,0.00,1.98,0.00,0.000,6,0.000,0.031,2861,2158,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3566,-0.75,-146.6,374.1,-9.9,422,3575,0.00,2.05,0.00,0.000,4,0.000,0.049,2850,3501,3890,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3638,-0.75,-146.6,381.7,-10.8,429,3648,0.15,1.98,0.00,0.000,6,0.148,0.031,2890,2163,3890,0,0,0,0,0,0,25.94,26.41,28.83
$GC,3949,-0.75,-146.6,407.3,-7.9,460,3957,0.00,2.05,0.00,0.000,4,0.000,0.049,2883,3503,3890,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4001,-0.75,-146.6,411.8,-8.9,465,4010,0.00,1.98,0.00,0.000,6,0.000,0.030,2883,2164,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4311,-0.75,-146.6,438.1,-8.7,496,4319,0.00,2.05,0.00,0.000,4,0.000,0.048,2873,3505,3890,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4345,-0.75,-146.6,440.9,-8.8,499,4352,0.00,1.95,0.00,0.000,6,0.000,0.030,2873,2173,3890,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4653,-0.75,-146.6,469.7,-9.3,530,4662,0.00,2.05,0.00,0.000,4,0.000,0.049,2863,3512,3890,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4695,-0.75,-146.6,473.9,-10.1,534,4704,0.00,1.95,0.00,0.000,6,0.000,0.031,2863,2186,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5006,-0.75,-146.6,504.3,-9.8,565,5015,0.00,2.03,0.00,0.000,4,0.000,0.048,2853,3511,3890,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5059,-0.75,-146.6,509.7,-10.3,570,5063,0.15,1.92,0.00,0.000,6,0.146,0.031,2892,2193,3890,0,0,0,0,0,0,25.94,26.40,28.83
$GC,5372,-0.75,-146.6,534.5,-7.8,601,5382,0.00,2.03,0.00,0.000,4,0.000,0.048,2885,3518,3891,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5395,-0.75,-146.6,536.4,-7.8,603,5404,0.00,1.95,0.00,0.000,6,0.000,0.030,2884,2190,3891,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5706,-0.75,-146.6,561.7,-8.0,634,5715,0.00,2.05,0.00,0.000,4,0.000,0.048,2875,3519,3890,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5759,-0.75,-146.6,566.1,-8.8,639,5763,0.00,1.92,0.00,0.000,6,0.000,0.031,2875,2199,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6072,-0.75,-146.6,591.5,-8.3,670,6080,0.00,2.03,0.00,0.000,4,0.000,0.049,2865,3505,3890,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6125,-0.75,-146.6,596.1,-9.1,675,6129,0.00,1.92,0.00,0.000,6,0.000,0.030,2865,2199,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6447,-0.75,-146.6,624.0,-8.6,689,6453,0.00,2.03,0.00,0.000,4,0.000,0.049,2855,3516,3890,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6508,-0.75,-146.6,629.5,-8.8,691,6512,0.12,1.92,0.00,0.000,6,0.150,0.031,2887,2197,3890,0,0,0,0,0,0,26.03,26.40,28.83
$GC,6842,-0.75,-146.6,653.7,-6.9,702,6848,0.00,2.03,0.00,0.000,4,0.000,0.050,2880,3517,3891,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6875,-0.75,-146.6,655.7,-6.9,703,6878,0.00,1.92,0.00,0.000,6,0.000,0.031,2879,2207,3890,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7198,-0.75,-146.6,679.7,-7.5,714,7202,0.00,2.03,0.00,0.000,4,0.000,0.049,2870,3505,3890,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7231,-0.75,-146.6,682.3,-7.6,715,7234,0.00,1.90,0.00,0.000,6,0.000,0.030,2870,2222,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7564,-0.75,-146.6,708.7,-7.9,726,7570,0.00,2.00,0.00,0.000,4,0.000,0.049,2860,3506,3890,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7626,-0.75,-146.6,714.1,-8.6,728,7630,0.00,1.88,0.00,0.000,6,0.000,0.030,2860,2233,3891,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7954,-0.75,-146.6,742.0,-8.3,739,7959,0.00,2.00,0.00,0.000,4,0.000,0.049,2850,3520,3890,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7997,-0.75,-146.6,745.0,-8.5,740,8003,0.15,1.90,0.00,0.000,6,0.140,0.030,2890,2218,3890,0,0,0,0,0,0,25.95,26.39,28.83
$STATE,8192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8192,begin apogee
$GC,8199,-0.17,0.0,761.8,-7.5,747,8329,0.55,0.00,124.12,1.242,4,0.123,0.000,3071,1886,3278,0,0,0,0,0,0,25.51,28.83,23.34
$STATE,8333,end apogee,CONTROL_FINISHED_OK
$STATE,8333,begin climb
$GC,8336,0.75,146.6,767.4,0.0,751,8472,0.82,2.25,125.95,1.147,4,0.065,0.038,3369,523,2680,0,0,0,0,0,0,24.63,24.67,22.49
$GC,8699,0.75,146.6,742.0,11.5,763,8705,0.00,2.25,0.00,0.000,6,0.000,0.036,3369,1899,2670,0,0,0,0,0,0,28.83,25.21,28.83
$GC,9006,0.75,146.6,704.7,11.3,774,9012,0.00,2.15,0.00,0.000,4,0.000,0.047,3369,3302,2668,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9229,0.75,146.6,677.4,13.1,781,9233,0.00,2.10,0.00,0.000,6,0.000,0.031,3379,1908,2667,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9542,0.75,146.6,638.4,11.9,792,9548,0.00,2.15,0.00,0.000,4,0.000,0.040,3389,514,2666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9650,0.75,146.6,627.4,12.1,795,9654,0.00,2.17,0.00,0.000,6,0.000,0.036,3389,1901,2666,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9956,0.75,146.6,587.9,12.0,811,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1902,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10259,0.75,146.6,552.2,12.1,841,10268,0.00,2.15,0.00,0.000,4,0.000,0.047,3389,3308,2665,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10291,0.75,146.6,547.7,12.4,844,10300,0.00,2.15,0.00,0.000,6,0.000,0.031,3398,1879,2665,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10602,0.75,146.6,508.7,12.3,875,10610,0.00,2.10,0.00,0.000,4,0.000,0.041,3409,505,2665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10715,0.75,146.6,494.1,13.2,886,10725,0.10,2.15,0.00,0.000,6,0.153,0.036,3378,1889,2665,0,0,0,0,0,0,25.84,26.26,28.83
$GC,11024,0.75,146.6,457.8,11.6,917,11027,0.00,2.15,0.00,0.000,4,0.000,0.046,3377,3306,2665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11078,0.75,146.6,451.3,12.6,922,11085,0.00,2.12,0.00,0.000,6,0.000,0.031,3384,1883,2665,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11386,0.75,146.6,413.7,11.8,953,11395,0.00,2.12,0.00,0.000,4,0.000,0.041,3395,504,2665,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11491,0.75,146.6,401.1,12.5,963,11498,0.00,2.15,0.00,0.000,6,0.000,0.035,3395,1886,2664,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11799,0.75,146.6,362.5,12.3,994,11808,0.00,2.12,0.00,0.000,4,0.000,0.047,3395,3299,2664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11831,0.75,146.6,358.2,13.2,997,11841,0.12,2.12,0.00,0.000,6,0.186,0.031,3376,1885,2664,0,0,0,0,0,0,25.89,26.34,28.83
$GC,12141,0.75,146.6,323.1,11.0,1028,12150,0.00,2.12,0.00,0.000,4,0.000,0.041,3383,502,2663,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12243,0.75,146.6,311.4,11.7,1038,12252,0.00,2.10,0.00,0.000,6,0.000,0.035,3383,1876,2664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12553,0.75,146.6,277.1,10.9,1069,12562,0.00,2.20,0.00,0.000,4,0.000,0.045,3383,3304,2664,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12578,0.75,146.6,274.5,11.1,1071,12585,0.00,2.15,0.00,0.000,6,0.000,0.031,3393,1865,2664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12886,0.75,146.6,240.1,10.6,1102,12890,0.00,2.10,0.00,0.000,4,0.000,0.041,3403,504,2664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13003,0.75,146.6,228.0,10.7,1113,13013,0.12,2.12,0.00,0.000,6,0.173,0.035,3373,1876,2663,0,0,0,0,0,0,25.91,26.29,28.83
$GC,13312,0.76,157.6,199.1,8.7,1144,13325,0.00,2.17,7.95,0.874,4,0.000,0.044,3373,3297,2636,0,0,0,0,0,0,28.83,26.32,24.68
$GC,13368,0.76,157.6,193.6,9.8,1149,13372,0.00,2.12,0.00,0.000,6,0.000,0.031,3380,1872,2634,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13680,0.76,160.3,164.7,9.1,1180,13690,0.00,2.15,3.78,0.646,4,0.000,0.041,3391,511,2625,0,0,0,0,0,0,28.83,26.34,24.63
$GC,13714,0.77,168.7,161.8,8.8,1183,13733,0.00,2.12,9.10,0.871,6,0.000,0.035,3391,1879,2591,0,0,0,0,0,0,28.83,26.30,24.76
$GC,14034,0.77,168.7,130.2,10.1,1215,14037,0.00,2.17,0.00,0.000,4,0.000,0.039,3399,504,2589,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14086,0.77,168.7,124.9,9.9,1220,14095,0.00,2.12,0.00,0.000,6,0.000,0.035,3400,1863,2589,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14395,0.79,180.8,96.1,8.7,1255,14415,0.00,2.22,12.12,0.874,4,0.000,0.044,3400,3308,2540,0,0,0,0,0,0,28.83,26.17,24.84
$GC,14452,0.79,180.8,91.1,10.3,1264,14459,0.00,2.17,0.00,0.000,6,0.000,0.031,3409,1852,2539,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14765,0.79,181.1,61.9,9.2,1325,14773,0.00,2.10,0.00,0.000,4,0.000,0.041,3419,502,2537,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14854,0.79,181.1,53.0,10.5,1341,14862,0.15,2.15,0.00,0.000,6,0.164,0.036,3381,1880,2536,0,0,0,0,0,0,25.79,26.19,28.83
$GC,15173,0.86,242.0,28.7,6.6,1402,15214,0.00,2.20,34.50,0.798,4,0.000,0.046,3381,3303,2290,0,0,0,0,0,0,28.83,25.87,24.90
$GC,15341,0.98,335.8,14.8,5.2,1433,15397,0.17,2.17,45.47,0.099,6,0.087,0.031,3457,1864,1907,0,0,0,0,0,0,25.86,26.00,25.58
$FREEZE,8.80,6.318,-1.729,0,1,0
$FREEZE,8.26,6.305,-1.730,0,1,0
$FREEZE,7.85,6.337,-1.729,0,1,0
$FREEZE,7.35,6.336,-1.729,0,1,0
$FREEZE,6.50,6.348,-1.728,0,1,0
$FREEZE,6.03,6.350,-1.728,0,1,0
$FREEZE,5.62,6.352,-1.728,0,1,0
$FREEZE,5.13,6.350,-1.728,0,1,0
$FREEZE,4.69,6.350,-1.728,0,1,0
$FREEZE,4.21,6.353,-1.727,0,1,0
$FREEZE,3.74,6.337,-1.727,0,1,0
$STATE,15476,end climb,SURFACE_DEPTH_REACHED
$STATE,15476,begin surface coast
$FREEZE,3.35,6.345,-1.727,0,1,0
$FREEZE,2.95,6.342,-1.727,0,1,0
$FREEZE,2.38,6.353,-1.726,0,1,0
$FREEZE,2.01,6.347,-1.726,0,1,0
$FREEZE,1.37,6.342,-1.726,0,1,0
$FREEZE,1.36,6.322,-0.806,0,1,0
$FREEZE,1.38,5.957,-1.711,0,1,0
$FREEZE,1.41,6.076,-0.954,0,1,0
$FINISH,1.4,1.013838
$STATE,15522,end surface coast,CONTROL_FINISHED_OK
$STATE,15522,begin surface
$SM_CCo,15542,27.77,0.073,0,0,1648,400.08
$SM_GC,2.94,8.62,0.38,27.77,0.060,0.054,0.073,341,2090,1648,-8.66,-1.47,400.08,0,0,0,0,0,0,25.85,26.05,25.72
$RAFOS_CLK,796
$RAFOS,6,1346791743,20.833334,20.817499,44,43,43,42,42,41,694,1300,1485,493,1386,1664
$RAFOS,5,1346791265,20.700001,20.684723,52,46,42,42,42,42,1622,312,915,1860,214,1732
$RAFOS,4,1346790791,20.566668,20.553055,48,48,45,43,43,42,1745,1877,967,365,1695,1885
$RAFOS,3,1346790307,20.433332,20.418612,45,44,43,42,41,41,425,820,1472,1174,496,1109
$RAFOS,2,1346789828,20.299999,20.285555,44,44,42,41,40,38,1364,1692,1919,603,1587,61
$RAFOS,1,1346789350,20.166666,20.152779,43,42,42,42,41,41,493,1,1753,1827,1557,1780
$RAFOS,0,1346788868,20.033333,20.018888,50,46,42,42,41,40,1032,1336,706,494,614,1075
$RAFOS,6,1346777344,16.833334,16.817778,47,42,40,39,38,38,583,1601,180,1690,315,1036
$RAFOS,5,1346776865,16.700001,16.684723,45,45,42,42,41,41,1179,1815,696,958,1309,1335
$RAFOS,3,1346775906,16.433332,16.418333,50,45,42,41,41,40,330,285,1641,1937,104,915
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5808.92,040912,121246
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.17
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.50
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,750.4,42.9
$24V_AH,22.5,47.789
$10V_AH,9.8,53.590
$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,21.900,163.425,363.000,27.775,0.000,0.000,0.000,348.650,7.750,0.000,16.634,3768.770,8221.391,617.756,3019.909,430.446,0.000,2411.587,0.000,2628.046,3240.000,25.200,0.000
$DEVICE_MAMPS,247.095,55.080,1241.595,73.440,0.000,0.000,0.000,283.138,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.649,1039.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151600
$DATA_FILE_SIZE,66634,1465
$CAP_FILE_SIZE,183723,0
$CFSIZE,260165632,211083264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.8
$CURRENT,0.062,  5.7,1
$GPS,040912,210122,6648.999,-5809.793,38,0.7,38,-33.5