version: 66.11
glider: 108
mission: 21
dive: 271
start: 8 7 112 18 2 28
data:
$ID,108
$MISSION,21
$DIVE,271
$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,-191427.64
$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,64
$R_STBD_OVSHOOT,45
$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
$GPS1,070812,175352,6658.501,-5912.950,36,0.7,37,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-77.9
$GPS2,070812,180154,6658.573,-5913.205,14,1.2,14,-34.0
$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,249.9,59703,-16.9,-9.167
$D_GRID,1099
$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,-146.6,0.0,0.0,0,69,0.00,0.00,-50.47,0.000,2,0.000,0.000,338,2100,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.0,-0.9,9,117,10.45,0.00,-28.20,0.000,6,0.254,0.000,2883,2100,3881,0,0,0,0,0,0,25.55,28.83,26.65
$GC,422,-0.75,-146.6,47.0,-11.8,76,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2100,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-0.75,-146.6,85.9,-12.4,137,740,0.00,2.17,0.00,0.000,4,0.000,0.052,2876,3506,3891,0,0,0,0,0,0,28.83,26.17,28.83
$GC,843,-0.75,-146.6,100.0,-13.6,158,850,0.00,2.08,0.00,0.000,6,0.000,0.031,2877,2111,3891,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1149,-0.75,-146.6,137.4,-11.6,189,1157,0.00,2.15,0.00,0.000,4,0.000,0.050,2869,3514,3891,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1233,-0.75,-146.6,147.1,-11.8,197,1240,0.00,2.08,0.00,0.000,6,0.000,0.031,2869,2109,3891,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1541,-0.75,-146.6,182.2,-11.9,228,1550,0.00,2.15,0.00,0.000,4,0.000,0.051,2858,3507,3890,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1616,-0.75,-146.6,191.2,-12.6,235,1624,0.12,2.05,0.00,0.000,6,0.172,0.031,2891,2119,3889,0,0,0,0,0,0,26.06,26.46,28.83
$GC,1923,-0.75,-146.6,223.8,-10.7,266,1932,0.00,2.15,0.00,0.000,4,0.000,0.050,2883,3519,3889,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2047,-0.75,-146.6,237.4,-11.3,278,2056,0.00,2.05,0.00,0.000,6,0.000,0.031,2883,2130,3888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2355,-0.75,-146.6,270.9,-10.5,309,2364,0.00,2.15,0.00,0.000,4,0.000,0.050,2873,3507,3887,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2430,-0.75,-146.6,279.0,-11.4,316,2437,0.00,2.00,0.00,0.000,6,0.000,0.031,2873,2145,3887,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2737,-0.75,-146.6,311.3,-10.4,347,2741,0.00,2.10,0.00,0.000,4,0.000,0.050,2863,3503,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2832,-0.75,-146.6,321.2,-10.9,356,2839,0.00,1.98,0.00,0.000,6,0.000,0.031,2862,2155,3887,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3139,-0.75,-146.6,354.5,-10.4,387,3149,0.00,2.10,0.00,0.000,4,0.000,0.050,2853,3505,3887,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3236,-0.75,-146.6,365.1,-11.4,396,3243,0.12,1.95,0.00,0.000,6,0.159,0.030,2886,2166,3887,0,0,0,0,0,0,26.13,26.52,28.83
$GC,3542,-0.75,-146.6,394.2,-9.0,427,3552,0.00,2.03,0.00,0.000,4,0.000,0.049,2878,3499,3887,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3609,-0.75,-146.6,400.3,-9.8,433,3616,0.00,1.95,0.00,0.000,6,0.000,0.030,2878,2161,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3918,-0.75,-146.6,429.0,-8.9,464,3921,0.00,2.08,0.00,0.000,4,0.000,0.050,2871,3510,3887,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3970,-0.75,-146.6,434.0,-9.8,469,3978,0.00,1.95,0.00,0.000,6,0.000,0.030,2871,2175,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4280,-0.75,-146.6,463.2,-9.5,500,4289,0.00,2.05,0.00,0.000,4,0.000,0.049,2861,3513,3887,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4365,-0.75,-146.6,471.5,-10.2,508,4371,0.00,1.92,0.00,0.000,6,0.000,0.030,2861,2191,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4672,-0.75,-146.6,501.4,-9.3,539,4681,0.00,2.05,0.00,0.000,4,0.000,0.049,2851,3512,3887,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4734,-0.75,-146.6,507.8,-10.5,545,4739,0.12,1.92,0.00,0.000,6,0.156,0.030,2884,2188,3887,0,0,0,0,0,0,26.15,26.54,28.83
$GC,5048,-0.75,-146.6,533.4,-8.4,576,5057,0.00,2.03,0.00,0.000,4,0.000,0.049,2877,3519,3887,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5103,-0.75,-146.6,538.2,-9.6,581,5109,0.00,1.92,0.00,0.000,6,0.000,0.030,2877,2193,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5411,-0.75,-146.6,565.9,-8.8,612,5419,0.00,2.03,0.00,0.000,4,0.000,0.049,2869,3527,3887,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5462,-0.75,-146.6,570.9,-9.9,617,5471,0.00,1.92,0.00,0.000,6,0.000,0.030,2869,2209,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5774,-0.75,-146.6,600.8,-9.6,648,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2208,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6072,-0.75,-146.6,629.8,-9.6,658,6078,0.00,2.00,0.00,0.000,4,0.000,0.050,2859,3515,3886,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6163,-0.75,-146.6,639.2,-10.2,661,6169,0.12,1.90,0.00,0.000,6,0.155,0.030,2891,2210,3886,0,0,0,0,0,0,26.17,26.55,28.83
$GC,6494,-0.75,-146.6,666.3,-8.0,672,6499,0.00,2.00,0.00,0.000,4,0.000,0.049,2884,3517,3886,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6532,-0.75,-146.6,668.7,-8.0,673,6535,0.00,1.90,0.00,0.000,6,0.000,0.030,2884,2211,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6849,-0.75,-146.6,696.3,-8.3,684,6855,0.00,2.00,0.00,0.000,4,0.000,0.049,2874,3511,3886,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6897,-0.75,-146.6,698.9,-8.4,685,6900,0.00,1.88,0.00,0.000,6,0.000,0.030,2874,2222,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7205,-0.75,-146.6,728.2,-9.0,695,7210,0.00,1.98,0.00,0.000,4,0.000,0.050,2864,3520,3886,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7252,-0.75,-146.6,730.9,-8.9,696,7255,0.00,1.88,0.00,0.000,6,0.000,0.030,2864,2230,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7560,-0.75,-146.6,760.7,-9.1,706,7563,0.00,2.00,0.00,0.000,4,0.000,0.050,2854,3517,3887,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7605,-0.75,-146.6,764.0,-9.4,707,7609,0.12,1.88,0.00,0.000,6,0.155,0.030,2886,2222,3886,0,0,0,0,0,0,26.17,26.54,28.83
$GC,7918,-0.75,-146.6,790.2,-7.6,718,7923,0.00,2.00,0.00,0.000,4,0.000,0.050,2879,3526,3887,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7951,-0.75,-146.6,792.7,-7.7,719,7955,0.00,1.88,0.00,0.000,6,0.000,0.030,2878,2234,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8274,-0.75,-146.6,819.6,-8.5,730,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2231,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8577,-0.75,-146.6,844.8,-8.2,740,8582,0.00,1.95,0.00,0.000,4,0.000,0.050,2869,3504,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8639,-0.75,-146.6,850.2,-8.4,742,8643,0.00,1.85,0.00,0.000,6,0.000,0.031,2870,2234,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8963,-0.75,-146.6,878.7,-8.7,753,8968,0.00,1.98,0.00,0.000,4,0.000,0.050,2859,3503,3887,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9005,-0.75,-146.6,881.6,-8.9,754,9009,0.00,1.85,0.00,0.000,6,0.000,0.030,2860,2240,3886,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9322,-0.75,-146.6,913.6,-9.9,765,9326,0.12,1.98,0.00,0.000,4,0.168,0.047,2889,3514,3886,0,0,0,0,0,0,26.30,26.27,28.83
$GC,9357,-0.75,-146.6,916.5,-9.6,766,9361,0.00,1.85,0.00,0.000,6,0.000,0.031,2890,2240,3886,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9681,-0.75,-146.6,941.7,-7.4,777,9685,0.00,1.95,0.00,0.000,4,0.000,0.050,2882,3506,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9715,-0.75,-146.6,944.3,-7.5,778,9719,0.00,1.83,0.00,0.000,6,0.000,0.030,2882,2252,3886,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10039,-0.75,-146.6,971.1,-8.0,789,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2248,3886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10275,begin apogee
$GC,10282,-0.17,0.0,990.8,-8.2,797,10417,0.60,0.00,126.00,1.457,4,0.132,0.000,3073,1877,3279,0,0,0,0,0,0,25.75,28.83,23.37
$STATE,10418,end apogee,CONTROL_FINISHED_OK
$STATE,10418,begin climb
$GC,10421,0.75,146.6,995.0,0.0,801,10561,0.85,2.28,129.43,1.320,4,0.063,0.038,3374,510,2681,0,0,0,0,0,0,24.53,24.56,22.66
$GC,10580,0.77,169.5,985.9,8.2,807,10610,0.00,2.35,21.52,1.235,6,0.000,0.034,3375,1892,2586,0,0,0,0,0,0,28.83,24.13,22.91
$GC,10910,0.77,169.5,940.2,13.9,818,10916,0.00,2.25,0.00,0.000,4,0.000,0.047,3374,3314,2577,0,0,0,0,0,0,28.83,25.32,28.83
$GC,10932,0.77,169.5,940.2,13.9,818,10939,0.00,2.20,0.00,0.000,6,0.000,0.030,3384,1891,2576,0,0,0,0,0,0,28.83,25.47,28.83
$GC,11240,0.77,169.5,889.1,15.2,829,11245,0.00,2.17,0.00,0.000,4,0.000,0.040,3394,505,2575,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11353,0.77,169.5,875.6,15.0,832,11360,0.00,2.20,0.00,0.000,6,0.000,0.036,3395,1896,2574,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11660,0.77,169.5,824.8,15.4,843,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1896,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11960,0.77,169.5,779.6,14.9,853,11966,0.00,2.17,0.00,0.000,4,0.000,0.039,3403,510,2573,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12003,0.77,169.5,775.2,14.8,854,12007,0.00,2.15,0.00,0.000,6,0.000,0.036,3403,1882,2573,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12315,0.77,169.5,725.8,15.4,865,12319,0.00,2.15,0.00,0.000,4,0.000,0.039,3412,504,2573,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12360,0.77,169.5,720.8,15.5,866,12365,0.12,2.15,0.00,0.000,6,0.179,0.036,3382,1881,2572,0,0,0,0,0,0,25.89,26.23,28.83
$GC,12678,0.77,169.5,673.6,14.3,877,12679,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1882,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12980,0.77,169.5,630.3,14.5,887,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1881,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13279,0.77,169.5,588.8,13.5,901,13280,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1881,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13582,0.77,169.5,549.0,13.8,931,13591,0.00,2.12,0.00,0.000,4,0.000,0.039,3388,508,2571,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13616,0.77,169.5,544.2,13.4,934,13624,0.00,2.10,0.00,0.000,6,0.000,0.036,3388,1865,2571,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13924,0.77,169.5,499.8,14.4,965,13926,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1865,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14227,0.77,169.5,458.0,13.2,995,14236,0.00,2.10,0.00,0.000,4,0.000,0.040,3397,510,2571,0,0,0,0,0,0,28.83,26.33,28.83
$GC,14270,0.77,169.5,451.9,13.5,999,14279,0.00,2.12,0.00,0.000,6,0.000,0.036,3397,1873,2570,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14580,0.77,169.5,408.6,13.8,1030,14581,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1873,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14882,0.77,169.5,368.1,14.0,1060,14888,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1873,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15192,0.77,169.5,325.5,13.2,1091,15199,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1873,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15503,0.77,169.5,284.0,13.1,1122,15511,0.00,2.10,0.00,0.000,4,0.000,0.040,3406,514,2570,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15555,0.77,169.5,276.7,13.3,1127,15564,0.00,2.10,0.00,0.000,6,0.000,0.035,3406,1872,2570,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15864,0.77,169.5,235.8,13.2,1158,15866,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1872,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16169,0.77,169.5,198.2,12.1,1188,16175,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1872,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16476,0.77,169.5,161.2,11.8,1219,16486,0.00,2.17,0.00,0.000,4,0.000,0.047,3406,3309,2570,0,0,0,0,0,0,28.83,26.32,28.83
$GC,16509,0.77,169.5,156.6,12.9,1222,16519,0.10,2.15,0.00,0.000,6,0.163,0.031,3385,1861,2570,0,0,0,0,0,0,26.01,26.48,28.83
$GC,16819,0.77,169.5,120.8,10.4,1253,16828,0.00,2.08,0.00,0.000,4,0.000,0.040,3393,501,2570,0,0,0,0,0,0,28.83,26.36,28.83
$GC,16934,0.77,169.5,109.0,10.2,1264,16942,0.00,2.08,0.00,0.000,6,0.000,0.035,3393,1850,2570,0,0,0,0,0,0,28.83,26.44,28.83
$GC,17243,0.78,175.6,79.0,8.9,1317,17249,0.00,2.22,0.00,0.000,4,0.000,0.047,3393,3306,2570,0,0,0,0,0,0,28.83,26.31,28.83
$GC,17297,0.78,175.6,73.1,11.3,1327,17305,0.00,2.17,0.00,0.000,6,0.000,0.031,3402,1836,2570,0,0,0,0,0,0,28.83,26.48,28.83
$GC,17610,0.78,175.6,43.0,9.7,1388,17616,0.00,2.05,0.00,0.000,4,0.000,0.041,3413,500,2570,0,0,0,0,0,0,28.83,26.36,28.83
$GC,17639,0.78,175.6,40.0,9.2,1393,17646,0.12,2.10,0.00,0.000,6,0.171,0.035,3383,1863,2570,0,0,0,0,0,0,26.08,26.43,28.83
$GC,17952,0.97,328.1,17.3,2.8,1454,18038,0.15,2.20,76.28,0.104,4,0.096,0.046,3444,3304,1937,0,0,0,0,0,0,26.52,26.24,25.95
$FREEZE,8.64,6.179,-1.684,0,1,0
$FREEZE,8.12,6.188,-1.684,0,1,0
$FREEZE,7.62,6.192,-1.684,0,1,0
$FREEZE,7.10,6.201,-1.683,0,1,0
$FREEZE,6.57,6.164,-1.683,0,1,0
$FREEZE,6.10,6.108,-1.682,0,1,0
$FREEZE,5.54,6.131,-1.682,0,1,0
$FREEZE,5.11,6.142,-1.681,0,1,0
$FREEZE,4.62,6.146,-1.681,0,1,0
$FREEZE,4.06,6.183,-1.680,0,1,0
$FREEZE,3.69,6.270,-1.682,0,1,0
$STATE,18147,end climb,SURFACE_DEPTH_REACHED
$STATE,18147,begin surface coast
$FREEZE,2.93,6.474,-1.679,0,1,0
$FREEZE,2.51,6.656,-1.681,0,1,0
$FREEZE,2.06,6.870,-1.678,0,1,0
$FREEZE,1.62,6.995,-1.677,0,1,0
$FREEZE,1.42,7.070,-1.676,0,1,0
$FREEZE,1.36,6.146,-0.668,0,1,0
$FREEZE,1.35,6.801,-0.206,0,1,0
$FREEZE,1.42,6.608,-0.775,0,1,0
$FINISH,1.4,1.011196
$STATE,18191,end surface coast,CONTROL_FINISHED_OK
$STATE,18191,begin surface
$SM_CCo,18213,30.83,0.073,0,0,1647,400.08
$SM_GC,3.08,8.45,1.85,30.83,0.057,0.031,0.073,341,2086,1647,-8.66,1.72,400.08,0,0,0,0,0,0,26.12,26.38,26.03
$RAFOS_CLK,952
$RAFOS,6,1344372553,20.833334,20.820278,58,45,43,41,39,38,1517,274,1688,61,760,1629
$RAFOS,5,1344372075,20.700001,20.687500,45,43,43,43,42,42,413,676,282,1571,1796,1858
$RAFOS,4,1344371597,20.566668,20.554722,44,43,42,41,41,41,413,228,833,269,1656,1813
$RAFOS,3,1344371118,20.433332,20.421667,46,44,41,40,39,39,1262,1456,408,1637,240,142
$RAFOS,2,1344370638,20.299999,20.288334,47,43,43,43,42,42,429,189,1674,594,736,1525
$RAFOS,1,1344370146,20.166666,20.151667,46,45,45,44,44,40,1477,1470,1652,117,1752,620
$RAFOS,0,1344369689,20.033333,20.024723,46,44,44,44,42,38,1677,1695,674,1736,627,299
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5905.94,070812,121222
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.79
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.60
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.9,18.9
$24V_AH,22.7,31.997
$10V_AH,9.9,35.938
$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,21.600,147.775,353.225,30.825,0.000,0.000,0.000,337.475,7.750,0.000,16.187,3874.924,10854.028,582.748,2992.347,413.483,0.000,2356.485,0.000,2615.381,2520.000,27.363,0.000
$DEVICE_MAMPS,253.980,52.020,1456.560,73.440,0.000,0.000,0.000,284.636,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.323,1042.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,70053,1497
$CAP_FILE_SIZE,186009,0
$CFSIZE,260165632,223571968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.4
$CURRENT,0.081,131.0,1
$GPS,070812,230804,6656.304,-5916.233,40,0.7,40,-33.9