version: 66.06
glider: 108
mission: 14
dive: 105
start: 6 26 110 22 26 50
data:
$ID,108
$MISSION,14
$DIVE,105
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_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,440
$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,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51740
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$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,-180253.64
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3112
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3058
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,2
$PRESSURE_YINT,-21.817678
$PRESSURE_SLOPE,0.0001161151
$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,2.5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387706
$SEABIRD_T_H,0.00063929392
$SEABIRD_T_I,2.2459495e-05
$SEABIRD_T_J,2.0328812e-06
$SEABIRD_C_G,-10.121161
$SEABIRD_C_H,1.1529624
$SEABIRD_C_I,-0.002153415
$SEABIRD_C_J,0.0002365096
$GPS1,202734,6653.425,-5944.429,0,7079.6,0,-37.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,10.49
$_SM_ANGLEo,-12.2
$GPS2,202734,6653.425,-5944.429,0,7079.6,0,-37.9
$SPEED_LIMITS,0.173,0.263
$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,278.0,35066,-18.1,-10.000
$D_GRID,905
$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,17,-0.78,-146.1,0.0,0.0,0,23,0.00,0.00,-4.47,0.000,2,0.000,0.000,3133,3599,2739,0,0,0,0,0,0
$GC,27,-0.78,-146.1,11.3,-0.0,1,53,0.52,0.00,-21.27,0.000,4,0.054,0.000,2916,3599,3659,0,0,0,0,0,0
$GC,170,-0.78,-146.1,28.7,-14.1,26,176,0.10,2.20,0.00,0.000,6,0.168,0.059,2944,2250,3666,0,0,0,0,0,0
$GC,514,-0.78,-146.1,67.6,-9.5,87,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2249,3666,0,0,0,0,0,0
$GC,857,-0.78,-146.1,98.9,-8.4,148,862,0.00,2.28,0.00,0.000,4,0.000,0.071,2944,830,3667,0,0,0,0,0,0
$GC,919,-0.78,-146.1,104.4,-8.7,155,925,0.00,2.38,0.00,0.000,6,0.000,0.075,2937,2255,3667,0,0,0,0,0,0
$GC,1245,-0.78,-146.1,134.6,-8.9,186,1249,0.00,2.20,0.00,0.000,4,0.000,0.087,2927,3597,3667,0,0,0,0,0,0
$GC,1295,-0.78,-146.1,139.6,-10.0,190,1301,0.00,2.17,0.00,0.000,6,0.000,0.061,2927,2246,3667,0,0,0,0,0,0
$GC,1620,-0.78,-146.1,170.1,-9.8,221,1624,0.00,2.25,0.00,0.000,4,0.000,0.073,2926,839,3666,0,0,0,0,0,0
$GC,1688,-0.78,-146.1,177.1,-10.1,226,1694,0.10,2.35,0.00,0.000,6,0.163,0.076,2944,2248,3666,0,0,0,0,0,0
$GC,2013,-0.78,-146.1,204.2,-7.9,257,2017,0.00,2.22,0.00,0.000,4,0.000,0.087,2936,3606,3665,0,0,0,0,0,0
$GC,2069,-0.78,-146.1,209.0,-8.5,261,2075,0.00,2.17,0.00,0.000,6,0.000,0.061,2936,2247,3665,0,0,0,0,0,0
$GC,2394,-0.78,-146.1,236.7,-8.1,292,2398,0.00,2.25,0.00,0.000,4,0.000,0.071,2936,842,3664,0,0,0,0,0,0
$GC,2446,-0.78,-146.1,241.2,-8.9,296,2450,0.00,2.35,0.00,0.000,6,0.000,0.075,2927,2261,3664,0,0,0,0,0,0
$GC,2776,-0.78,-146.1,268.1,-8.3,327,2780,0.00,2.17,0.00,0.000,4,0.000,0.087,2917,3595,3664,0,0,0,0,0,0
$GC,2838,-0.78,-146.1,273.8,-9.2,332,2843,0.10,2.15,0.00,0.000,6,0.166,0.061,2943,2249,3664,0,0,0,0,0,0
$GC,3164,-0.78,-146.1,295.8,-6.5,362,3168,0.00,2.28,0.00,0.000,4,0.000,0.071,2943,831,3664,0,0,0,0,0,0
$GC,3221,-0.78,-146.1,299.8,-7.3,367,3226,0.00,2.33,0.00,0.000,6,0.000,0.074,2936,2248,3664,0,0,0,0,0,0
$GC,3551,-0.78,-146.1,323.4,-7.1,398,3555,0.00,2.20,0.00,0.000,4,0.000,0.086,2926,3602,3664,0,0,0,0,0,0
$GC,3637,-0.78,-146.1,330.0,-7.7,405,3641,0.00,2.15,0.00,0.000,6,0.000,0.058,2926,2247,3665,0,0,0,0,0,0
$GC,3962,-0.78,-146.1,355.2,-7.9,435,3966,0.00,2.25,0.00,0.000,4,0.000,0.071,2926,836,3665,0,0,0,0,0,0
$GC,4058,-0.78,-146.1,363.1,-7.9,443,4063,0.10,2.35,0.00,0.000,6,0.159,0.074,2944,2264,3665,0,0,0,0,0,0
$GC,4383,-0.78,-146.1,384.4,-6.5,473,4387,0.00,2.17,0.00,0.000,4,0.000,0.085,2936,3603,3665,0,0,0,0,0,0
$GC,4424,-0.78,-146.1,387.1,-7.0,476,4428,0.00,2.15,0.00,0.000,6,0.000,0.058,2936,2246,3665,0,0,0,0,0,0
$GC,4749,-0.78,-146.1,408.7,-6.4,506,4753,0.00,2.22,0.00,0.000,4,0.000,0.069,2936,843,3665,0,0,0,0,0,0
$GC,4845,-0.78,-146.1,415.6,-7.4,514,4849,0.00,2.30,0.00,0.000,6,0.000,0.073,2927,2256,3665,0,0,0,0,0,0
$GC,5170,-0.78,-146.1,440.3,-7.6,544,5174,0.00,2.15,0.00,0.000,4,0.000,0.084,2917,3600,3666,0,0,0,0,0,0
$GC,5211,-0.78,-146.1,443.6,-8.6,547,5216,0.10,2.15,0.00,0.000,6,0.160,0.057,2944,2239,3666,0,0,0,0,0,0
$GC,5536,-0.78,-146.1,465.1,-6.4,577,5540,0.00,2.22,0.00,0.000,4,0.000,0.069,2944,837,3666,0,0,0,0,0,0
$GC,5592,-0.78,-146.1,469.1,-7.3,581,5597,0.00,2.33,0.00,0.000,6,0.000,0.072,2937,2260,3666,0,0,0,0,0,0
$GC,5917,-0.78,-146.1,490.6,-6.4,612,5921,0.00,2.15,0.00,0.000,4,0.000,0.083,2927,3595,3667,0,0,0,0,0,0
$GC,5973,-0.78,-146.1,494.7,-7.5,616,5979,0.00,2.12,0.00,0.000,6,0.000,0.057,2927,2248,3667,0,0,0,0,0,0
$GC,6298,-0.78,-146.1,517.4,-6.5,647,6302,0.00,2.20,0.00,0.000,4,0.000,0.068,2927,842,3667,0,0,0,0,0,0
$GC,6339,-0.78,-146.1,520.3,-7.4,650,6344,0.10,2.33,0.00,0.000,6,0.159,0.071,2946,2261,3667,0,0,0,0,0,0
$GC,6664,-0.78,-146.1,538.7,-5.8,680,6668,0.00,2.15,0.00,0.000,4,0.000,0.082,2938,3597,3667,0,0,0,0,0,0
$GC,6708,-0.78,-146.1,541.6,-6.8,683,6714,0.00,2.12,0.00,0.000,6,0.000,0.056,2938,2245,3668,0,0,0,0,0,0
$GC,7034,-0.78,-146.1,560.9,-5.9,714,7038,0.00,2.22,0.00,0.000,4,0.000,0.068,2938,840,3668,0,0,0,0,0,0
$GC,7085,-0.78,-146.1,564.2,-6.6,718,7089,0.00,2.33,0.00,0.000,6,0.000,0.072,2928,2263,3668,0,0,0,0,0,0
$GC,7415,-0.78,-146.1,586.0,-6.8,749,7419,0.00,2.15,0.00,0.000,4,0.000,0.082,2918,3599,3668,0,0,0,0,0,0
$GC,7478,-0.78,-146.1,590.5,-7.3,754,7483,0.10,2.12,0.00,0.000,6,0.158,0.056,2946,2240,3668,0,0,0,0,0,0
$GC,7824,-0.78,-146.1,610.6,-5.9,775,7828,0.00,2.20,0.00,0.000,4,0.000,0.067,2946,844,3669,0,0,0,0,0,0
$GC,7869,-0.78,-146.1,613.7,-6.3,776,7874,0.00,2.30,0.00,0.000,6,0.000,0.071,2938,2249,3668,0,0,0,0,0,0
$GC,8188,-0.78,-146.1,633.1,-6.0,787,8192,0.00,2.17,0.00,0.000,4,0.000,0.081,2928,3606,3668,0,0,0,0,0,0
$GC,8238,-0.78,-146.1,636.6,-7.5,788,8242,0.00,2.12,0.00,0.000,6,0.000,0.054,2928,2244,3668,0,0,0,0,0,0
$GC,8554,-0.78,-146.1,657.4,-6.7,798,8558,0.00,2.22,0.00,0.000,4,0.000,0.067,2929,834,3668,0,0,0,0,0,0
$GC,8617,-0.78,-146.1,662.0,-7.1,800,8622,0.10,2.33,0.00,0.000,6,0.157,0.071,2947,2258,3669,0,0,0,0,0,0
$GC,8952,-0.78,-146.1,680.6,-5.4,811,8956,0.00,2.15,0.00,0.000,4,0.000,0.081,2939,3599,3668,0,0,0,0,0,0
$GC,9003,-0.78,-146.1,683.6,-6.2,812,9006,0.00,2.12,0.00,0.000,6,0.000,0.054,2939,2242,3668,0,0,0,0,0,0
$GC,9329,-0.78,-146.1,702.8,-6.1,823,9332,0.00,2.20,0.00,0.000,4,0.000,0.067,2939,844,3668,0,0,0,0,0,0
$GC,9373,-0.78,-146.1,705.7,-6.6,824,9378,0.00,2.28,0.00,0.000,6,0.000,0.071,2930,2257,3668,0,0,0,0,0,0
$GC,9697,-0.78,-146.1,726.5,-6.5,835,9701,0.00,2.12,0.00,0.000,4,0.000,0.081,2920,3598,3668,0,0,0,0,0,0
$GC,9748,-0.78,-146.1,730.2,-7.3,836,9753,0.10,2.12,0.00,0.000,6,0.156,0.054,2948,2239,3668,0,0,0,0,0,0
$GC,10067,-0.78,-146.1,749.0,-6.0,847,10071,0.00,2.20,0.00,0.000,4,0.000,0.067,2948,842,3668,0,0,0,0,0,0
$GC,10102,-0.78,-146.1,751.3,-6.6,848,10106,0.00,2.30,0.00,0.000,6,0.000,0.071,2941,2251,3668,0,0,0,0,0,0
$GC,10437,-0.78,-146.1,772.3,-6.3,859,10441,0.00,2.15,0.00,0.000,4,0.000,0.081,2931,3602,3669,0,0,0,0,0,0
$GC,10489,-0.78,-146.1,775.8,-7.4,860,10493,0.00,2.12,0.00,0.000,6,0.000,0.054,2930,2241,3669,0,0,0,0,0,0
$GC,10814,-0.78,-146.1,797.5,-6.7,871,10817,0.00,2.20,0.00,0.000,4,0.000,0.067,2930,842,3669,0,0,0,0,0,0
$GC,10842,-0.78,-146.1,799.7,-7.4,871,10847,0.00,2.30,0.00,0.000,6,0.000,0.070,2922,2251,3669,0,0,0,0,0,0
$GC,11155,-0.78,-146.1,822.2,-7.4,882,11158,0.00,2.12,0.00,0.000,4,0.000,0.080,2911,3598,3669,0,0,0,0,0,0
$GC,11239,-0.78,-146.1,828.9,-7.9,884,11244,0.12,2.12,0.00,0.000,6,0.150,0.054,2947,2238,3669,0,0,0,0,0,0
$GC,11557,-0.78,-146.1,849.1,-6.2,895,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2237,3669,0,0,0,0,0,0
$GC,11863,-0.78,-146.1,865.3,-5.0,905,11867,0.00,2.20,0.00,0.000,4,0.000,0.067,2947,840,3668,0,0,0,0,0,0
$GC,11892,-0.78,-146.1,867.0,-5.9,905,11897,0.00,2.30,0.00,0.000,6,0.000,0.069,2940,2250,3669,0,0,0,0,0,0
$GC,12204,-0.78,-146.1,885.3,-6.4,916,12208,0.00,2.17,0.00,0.000,4,0.000,0.080,2930,3598,3669,0,0,0,0,0,0
$GC,12266,-0.78,-146.1,889.6,-6.7,917,12272,0.00,2.12,0.00,0.000,6,0.000,0.054,2930,2237,3668,0,0,0,0,0,0
$STATE,12545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12545,begin apogee
$GC,12552,-0.17,0.0,906.7,5.9,927,12684,0.45,0.00,128.80,1.437,6,0.124,0.000,3077,2235,3058,0,0,0,0,0,0
$STATE,12685,end apogee,CONTROL_FINISHED_OK
$STATE,12685,begin climb
$GC,12688,0.78,146.1,909.3,0.0,931,12824,0.60,2.60,128.90,1.368,4,0.074,0.064,3297,797,2462,0,0,0,0,0,0
$GC,12870,0.78,146.1,894.2,10.7,937,12874,0.00,2.50,0.00,0.000,6,0.000,0.067,3297,2199,2460,0,0,1,0,0,0
$GC,13204,0.78,146.1,856.2,11.4,948,13209,0.00,2.38,0.00,0.000,4,0.000,0.076,3297,3606,2456,0,0,0,0,0,0
$GC,13238,0.78,146.1,851.8,13.0,949,13243,0.10,2.30,0.00,0.000,6,0.188,0.051,3284,2204,2456,0,0,0,0,0,0
$GC,13567,0.78,146.1,817.7,10.4,960,13571,0.00,2.30,0.00,0.000,4,0.000,0.062,3293,790,2456,0,0,0,0,0,0
$GC,13617,0.78,146.1,812.4,10.2,961,13621,0.00,2.35,0.00,0.000,6,0.000,0.064,3293,2204,2456,0,0,0,0,0,0
$GC,13930,0.78,146.1,778.0,11.3,971,13931,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2204,2456,0,0,0,0,0,0
$GC,14236,0.78,146.1,744.5,10.8,981,14240,0.00,2.25,0.00,0.000,4,0.000,0.077,3293,3600,2455,0,0,0,0,0,0
$GC,14252,0.78,146.1,742.6,10.9,981,14256,0.00,2.25,0.00,0.000,6,0.000,0.051,3302,2183,2455,0,0,0,0,0,0
$GC,14564,0.78,146.1,705.0,12.1,991,14568,0.00,2.22,0.00,0.000,4,0.000,0.061,3313,784,2455,0,0,0,0,0,0
$GC,14586,0.78,146.1,702.4,11.0,991,14593,0.12,2.35,0.00,0.000,6,0.168,0.064,3281,2210,2455,0,0,0,0,0,0
$GC,14899,0.78,146.1,670.4,10.3,1002,14903,0.00,2.25,0.00,0.000,4,0.000,0.078,3281,3599,2454,0,0,0,0,0,0
$GC,14962,0.78,146.1,663.1,12.0,1004,14966,0.00,2.20,0.00,0.000,6,0.000,0.052,3288,2196,2454,0,0,0,0,0,0
$GC,15302,0.78,146.1,626.0,10.4,1015,15306,0.00,2.22,0.00,0.000,4,0.000,0.062,3299,790,2454,0,0,0,0,0,0
$GC,15335,0.78,146.4,622.6,10.0,1016,15339,0.00,2.33,0.00,0.000,6,0.000,0.065,3298,2210,2454,0,0,0,0,0,0
$GC,15658,0.78,146.4,587.8,10.7,1032,15662,0.00,2.25,0.00,0.000,4,0.000,0.078,3298,3606,2454,0,0,0,0,0,0
$GC,15702,0.78,146.4,582.2,12.9,1035,15708,0.12,2.22,0.00,0.000,6,0.179,0.052,3277,2192,2454,0,0,0,0,0,0
$GC,16027,0.79,151.0,550.7,9.8,1066,16038,0.00,2.25,4.38,0.836,4,0.000,0.064,3285,783,2442,0,0,0,0,0,0
$GC,16073,0.82,173.8,546.4,9.0,1070,16098,0.00,2.30,20.52,1.182,6,0.000,0.066,3285,2200,2349,0,0,0,0,0,0
$GC,16418,0.82,173.8,511.1,10.1,1102,16422,0.00,2.30,0.00,0.000,4,0.000,0.077,3285,3597,2346,0,0,0,0,0,0
$GC,16469,0.82,173.8,505.0,12.3,1106,16473,0.00,2.22,0.00,0.000,6,0.000,0.052,3294,2197,2345,0,0,0,0,0,0
$GC,16794,0.82,173.8,468.4,10.6,1136,16798,0.00,2.22,0.00,0.000,4,0.000,0.063,3305,797,2345,0,0,0,0,0,0
$GC,16833,0.82,173.8,464.1,10.5,1139,16837,0.00,2.33,0.00,0.000,6,0.000,0.066,3305,2209,2346,0,0,0,0,0,0
$GC,17158,0.82,173.8,426.7,11.4,1169,17162,0.00,2.25,0.00,0.000,4,0.000,0.078,3305,3602,2345,0,0,0,0,0,0
$GC,17220,0.82,173.8,418.5,14.0,1174,17224,0.10,2.22,0.00,0.000,6,0.186,0.052,3291,2189,2345,0,0,0,0,0,0
$GC,17545,0.82,173.8,383.9,10.1,1204,17549,0.00,2.22,0.00,0.000,4,0.000,0.063,3299,784,2345,0,0,0,0,0,0
$GC,17585,0.85,198.4,379.8,8.9,1207,17611,0.00,2.33,20.90,1.084,6,0.000,0.066,3299,2206,2249,0,0,0,0,0,0
$GC,17930,0.85,198.4,342.8,10.1,1239,17934,0.00,2.28,0.00,0.000,4,0.000,0.078,3299,3603,2245,0,0,0,0,0,0
$GC,17969,0.85,198.4,338.1,12.3,1242,17973,0.00,2.22,0.00,0.000,6,0.000,0.053,3309,2203,2244,0,0,0,0,0,0
$GC,18294,0.85,198.4,301.9,11.1,1272,18298,0.00,2.25,0.00,0.000,4,0.000,0.063,3319,789,2244,0,0,0,0,0,0
$GC,18312,0.85,198.4,300.0,10.9,1273,18317,0.10,2.33,0.00,0.000,6,0.171,0.067,3294,2200,2244,0,0,0,0,0,0
$GC,18637,0.85,200.4,266.9,9.9,1303,18642,0.00,2.28,0.00,0.000,4,0.000,0.079,3294,3600,2244,0,0,0,0,0,0
$GC,18683,0.85,200.4,261.5,13.9,1307,18687,0.00,2.22,0.00,0.000,6,0.000,0.053,3301,2191,2243,0,0,0,0,0,0
$GC,19008,0.85,200.4,226.6,10.3,1337,19012,0.00,2.20,0.00,0.000,4,0.000,0.064,3312,791,2244,0,0,0,0,0,0
$GC,19075,0.85,200.4,219.4,11.2,1343,19080,0.00,2.33,0.00,0.000,6,0.000,0.067,3312,2210,2244,0,0,0,0,0,0
$GC,19400,0.85,200.4,185.0,10.3,1373,19404,0.00,2.25,0.00,0.000,4,0.000,0.080,3312,3605,2244,0,0,0,0,0,0
$GC,19429,0.85,200.4,181.7,11.7,1375,19434,0.10,2.22,0.00,0.000,6,0.183,0.054,3297,2194,2244,0,0,0,0,0,0
$GC,19756,0.88,224.2,153.2,8.9,1405,19786,0.00,2.33,21.90,0.956,4,0.000,0.065,3305,790,2143,0,0,0,0,0,0
$GC,19815,0.92,261.7,147.9,8.3,1410,19854,0.00,2.35,32.45,0.940,6,0.000,0.067,3305,2199,1990,0,0,0,0,0,0
$GC,20180,0.95,281.9,113.5,9.1,1445,20200,0.00,0.00,17.58,0.894,6,0.000,0.000,3305,2199,1908,0,0,0,0,0,0
$GC,20528,0.99,315.9,82.5,8.4,1494,20561,0.10,0.00,29.12,0.905,6,0.107,0.000,3353,2199,1770,0,0,0,0,0,0
$GC,20900,0.99,315.9,38.4,10.8,1560,20906,0.10,2.30,0.00,0.000,4,0.166,0.084,3327,3599,1760,0,0,0,0,0,0
$GC,20919,0.99,315.9,36.2,10.5,1563,20925,0.00,2.28,0.00,0.000,6,0.000,0.057,3334,2192,1759,0,0,0,0,0,0
$FREEZE,8.90,-0.115,-1.680,2,16,0
$FREEZE,8.53,-0.116,-1.680,2,16,0
$FREEZE,8.18,-0.115,-1.679,2,16,0
$FREEZE,7.83,-0.115,-1.679,2,16,0
$FREEZE,7.32,-0.110,-1.678,2,16,0
$FREEZE,6.98,-0.110,-1.678,2,16,0
$FREEZE,6.64,-0.110,-1.677,2,16,0
$FREEZE,6.23,-0.112,-1.677,2,16,0
$FREEZE,5.80,-0.108,-1.677,2,16,0
$FREEZE,5.44,-0.108,-1.676,2,16,0
$GC,21266,1.09,392.8,9.6,6.5,1624,21339,0.00,2.38,64.60,0.884,4,0.000,0.071,3334,793,1455,0,0,0,0,0,0
$FREEZE,4.26,-0.106,-1.675,2,16,0
$FREEZE,3.94,-0.105,-1.675,2,16,0
$FREEZE,3.57,-0.105,-1.674,2,16,0
$FREEZE,3.12,-0.116,-1.675,2,16,0
$FREEZE,2.61,-0.144,-1.676,2,16,0
$STATE,21367,end climb,SURFACE_DEPTH_REACHED
$STATE,21367,begin surface coast
$FREEZE,1.94,-0.086,-0.288,2,16,0
$FREEZE,2.02,-0.083,-0.947,2,16,0
$FREEZE,2.00,-0.097,-0.379,2,16,0
$FREEZE,1.93,-0.112,-0.898,2,16,0
$FREEZE,2.00,-0.095,-1.672,2,16,0
$FREEZE,1.98,-0.090,-1.665,2,16,0
$FREEZE,2.01,-0.205,-1.679,2,16,0
$FINISH,2.0,1.024646
$STATE,21410,end surface coast,CONTROL_FINISHED_OK
$STATE,21410,begin surface
$RAFOS_CLK,935
$RAFOS,2,1277612223,4.300000,4.284167,53,47,43,43,41,41,702,712,703,1084,44,711
$RAFOS,1,1277611742,4.166667,4.150556,95,73,44,44,41,40,587,588,1657,596,1539,879
$RAFOS,0,1277611270,4.033333,4.019444,60,53,52,47,47,42,648,649,662,61,659,1074
$RAFOS,6,1277599758,0.833333,0.821667,77,76,53,52,41,40,651,652,1274,1872,36,836
$RAFOS,5,1277599272,0.700000,0.686667,51,46,43,42,42,41,512,833,1355,983,1376,61
$RAFOS,4,1277598782,0.566667,0.550556,64,51,51,47,39,39,666,201,665,326,382,1072
$RAFOS,3,1277598304,0.433333,0.417778,53,50,48,47,44,41,812,419,992,1427,813,1428
$RAFOS,2,1277597828,0.300000,0.285556,80,62,48,44,43,42,685,686,1293,1686,1273,488
$RAFOS,1,1277597347,0.166667,0.151944,65,51,45,44,41,40,582,583,256,592,1065,1068
$RAFOS,0,1277596869,0.033333,0.019167,55,53,44,44,40,39,677,675,334,367,1008,1908
$RAFOS_FIX,6653.954102,-5946.531738,270610,000048,4,72,0.13
$IRIDIUM_FIX,6636.54,-5755.00,160999,111150
$TT8_MAMPS,0.026845
$HUMID,40.51
$INTERNAL_PRESSURE,10.1371
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,22.6,17.449
$10V_AH,10.1,9.777
$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,3.450,228.800,469.150,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,2960.995,14775.097,548.025,2919.610,405.768,0.000,2112.846,0.000,2881.896,3600.000,32.946,0.000
$DEVICE_MAMPS,187.915,87.438,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.573,1194.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135908
$DATA_FILE_SIZE,66090,1648
$CAP_FILE_SIZE,219468,0
$CFSIZE,260165632,240291840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1455.3
$GPS,270610,002848,6653.954,-5946.532,0,4071.5,0,-37.9