version: 66.06
glider: 108
mission: 14
dive: 170
start: 7 11 110 7 18 16
data:
$ID,108
$MISSION,14
$DIVE,170
$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,-3
$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,-180866.25
$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,29
$R_STBD_OVSHOOT,45
$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
$GPS1,070707,6701.890,-5813.927,31,0.9,31,-37.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-76.9
$GPS2,071756,6701.818,-5813.564,12,0.9,12,-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,289.1,102350,-18.1,-10.000
$D_GRID,1012
$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,-0.78,-146.1,0.0,0.0,0,48,0.00,0.00,-30.10,0.000,2,0.000,0.000,343,2275,1757,0,0,0,0,0,0
$GC,52,-0.78,-146.1,3.0,-0.4,6,171,10.15,2.40,-97.32,0.000,4,0.236,0.077,2935,843,3657,0,0,0,0,0,0
$GC,341,-0.78,-146.1,27.2,-11.3,59,347,0.00,2.30,0.00,0.000,6,0.000,0.067,2928,2228,3662,0,0,0,0,0,0
$GC,685,-0.78,-146.1,70.7,-12.5,120,690,0.00,2.22,0.00,0.000,4,0.000,0.077,2918,3598,3665,0,0,0,0,0,0
$GC,804,-0.78,-146.1,85.3,-12.3,141,810,0.10,2.15,0.00,0.000,6,0.167,0.054,2943,2240,3665,0,0,0,0,0,0
$GC,1143,-0.78,-146.1,119.2,-8.9,184,1147,0.00,2.22,0.00,0.000,4,0.000,0.064,2943,844,3665,0,0,0,0,0,0
$GC,1211,-0.78,-146.1,125.5,-9.4,190,1216,0.00,2.33,0.00,0.000,6,0.000,0.068,2936,2248,3665,0,0,0,0,0,0
$GC,1537,-0.78,-146.1,154.5,-8.5,220,1541,0.00,2.20,0.00,0.000,4,0.000,0.081,2926,3604,3665,0,0,0,0,0,0
$GC,1588,-0.78,-146.1,159.3,-9.1,224,1592,0.00,2.12,0.00,0.000,6,0.000,0.054,2926,2251,3665,0,0,0,0,0,0
$GC,1919,-0.78,-146.1,187.8,-8.4,255,1923,0.00,2.25,0.00,0.000,4,0.000,0.066,2926,840,3664,0,0,0,0,0,0
$GC,2021,-0.78,-146.1,196.9,-8.9,263,2027,0.10,2.33,0.00,0.000,6,0.163,0.069,2944,2250,3663,0,0,0,0,0,0
$GC,2346,-0.78,-146.1,221.8,-7.7,294,2350,0.00,2.20,0.00,0.000,4,0.000,0.081,2935,3597,3662,0,0,0,0,0,0
$GC,2431,-0.78,-146.1,229.0,-8.5,301,2436,0.00,2.15,0.00,0.000,6,0.000,0.056,2935,2240,3662,0,0,0,0,0,0
$GC,2756,-0.78,-146.1,256.5,-8.6,332,2760,0.00,2.22,0.00,0.000,4,0.000,0.067,2935,842,3661,0,0,0,0,0,0
$GC,2841,-0.78,-146.1,264.1,-8.9,339,2845,0.00,2.33,0.00,0.000,6,0.000,0.069,2926,2254,3661,0,0,0,0,0,0
$GC,3167,-0.78,-146.1,293.0,-8.9,369,3171,0.00,2.15,0.00,0.000,4,0.000,0.080,2916,3603,3660,0,0,0,0,0,0
$GC,3233,-0.78,-146.1,299.6,-10.2,374,3240,0.10,2.15,0.00,0.000,6,0.164,0.054,2943,2238,3660,0,0,0,0,0,0
$GC,3559,-0.78,-146.1,325.2,-7.7,405,3563,0.00,2.22,0.00,0.000,4,0.000,0.066,2943,836,3660,0,0,0,0,0,0
$GC,3622,-0.78,-146.1,330.2,-8.0,410,3626,0.00,2.33,0.00,0.000,6,0.000,0.069,2936,2252,3660,0,0,0,0,0,0
$GC,3947,-0.78,-146.1,355.5,-7.9,440,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2252,3660,0,0,0,0,0,0
$GC,4268,-0.78,-146.1,378.3,-6.5,470,4272,0.00,2.17,0.00,0.000,4,0.000,0.079,2926,3605,3660,0,0,0,0,0,0
$GC,4324,-0.78,-146.1,382.7,-7.9,474,4330,0.00,2.12,0.00,0.000,6,0.000,0.052,2926,2248,3660,0,0,0,0,0,0
$GC,4649,-0.78,-146.1,405.5,-6.7,505,4653,0.00,2.22,0.00,0.000,4,0.000,0.064,2926,836,3660,0,0,0,0,0,0
$GC,4724,-0.78,-146.1,410.7,-7.2,511,4729,0.10,2.33,0.00,0.000,6,0.158,0.066,2944,2263,3660,0,0,0,0,0,0
$GC,5050,-0.78,-146.1,428.5,-5.3,541,5054,0.00,2.12,0.00,0.000,4,0.000,0.077,2936,3596,3660,0,0,0,0,0,0
$GC,5107,-0.78,-146.1,431.9,-6.3,545,5113,0.00,2.10,0.00,0.000,6,0.000,0.051,2936,2245,3660,0,0,0,0,0,0
$GC,5432,-0.78,-146.1,450.8,-5.8,576,5436,0.00,2.20,0.00,0.000,4,0.000,0.063,2936,845,3660,0,0,0,0,0,0
$GC,5505,-0.78,-146.1,455.6,-6.3,582,5510,0.00,2.30,0.00,0.000,6,0.000,0.066,2927,2260,3661,0,0,0,0,0,0
$GC,5831,-0.78,-146.1,476.3,-6.3,612,5835,0.00,2.12,0.00,0.000,4,0.000,0.075,2917,3597,3661,0,0,0,0,0,0
$GC,5892,-0.78,-146.1,480.8,-7.8,617,5898,0.10,2.10,0.00,0.000,6,0.159,0.051,2945,2249,3661,0,0,0,0,0,0
$GC,6218,-0.78,-146.1,499.4,-5.9,648,6222,0.00,2.20,0.00,0.000,4,0.000,0.061,2944,844,3661,0,0,0,0,0,0
$GC,6285,-0.78,-146.1,503.7,-6.0,653,6290,0.00,2.28,0.00,0.000,6,0.000,0.064,2937,2249,3661,0,0,0,0,0,0
$GC,6610,-0.78,-146.1,524.3,-6.4,684,6614,0.00,2.15,0.00,0.000,4,0.000,0.075,2927,3604,3662,0,0,0,0,0,0
$GC,6669,-0.78,-146.1,528.2,-7.2,689,6673,0.00,2.10,0.00,0.000,6,0.000,0.050,2927,2250,3662,0,0,0,0,0,0
$GC,7000,-0.78,-146.1,549.9,-6.2,720,7005,0.00,2.20,0.00,0.000,4,0.000,0.062,2927,838,3662,0,0,0,0,0,0
$GC,7084,-0.78,-146.1,555.6,-6.5,727,7091,0.10,2.30,0.00,0.000,6,0.160,0.065,2947,2256,3662,0,0,0,0,0,0
$GC,7410,-0.78,-146.1,572.0,-4.8,758,7414,0.00,2.15,0.00,0.000,4,0.000,0.075,2938,3605,3662,0,0,0,0,0,0
$GC,7456,-0.78,-146.1,574.4,-6.0,762,7460,0.00,2.10,0.00,0.000,6,0.000,0.050,2938,2250,3662,0,0,0,0,0,0
$GC,7787,-0.78,-146.1,592.0,-5.4,793,7791,0.00,2.17,0.00,0.000,4,0.000,0.061,2938,844,3662,0,0,0,0,0,0
$GC,7866,-0.78,-146.1,596.8,-6.5,799,7871,0.00,2.28,0.00,0.000,6,0.000,0.065,2929,2252,3662,0,0,0,0,0,0
$GC,8201,-0.78,-146.1,618.3,-6.8,814,8205,0.00,2.15,0.00,0.000,4,0.000,0.076,2919,3603,3662,0,0,0,0,0,0
$GC,8246,-0.78,-146.1,621.6,-7.7,815,8251,0.10,2.10,0.00,0.000,6,0.159,0.050,2946,2250,3662,0,0,0,0,0,0
$GC,8570,-0.78,-146.1,641.6,-6.0,826,8574,0.00,2.20,0.00,0.000,4,0.000,0.062,2947,844,3662,0,0,0,0,0,0
$GC,8643,-0.78,-146.1,646.5,-6.8,828,8647,0.00,2.28,0.00,0.000,6,0.000,0.065,2939,2253,3662,0,0,0,0,0,0
$GC,8967,-0.78,-146.1,667.9,-6.7,839,8971,0.00,2.15,0.00,0.000,4,0.000,0.074,2929,3605,3662,0,0,0,0,0,0
$GC,9023,-0.78,-146.1,672.1,-7.4,840,9027,0.00,2.10,0.00,0.000,6,0.000,0.050,2929,2249,3662,0,0,0,0,0,0
$GC,9342,-0.78,-146.1,694.6,-7.1,851,9346,0.00,2.20,0.00,0.000,4,0.000,0.062,2929,845,3662,0,0,0,0,0,0
$GC,9421,-0.78,-146.1,700.6,-7.8,853,9425,0.00,2.30,0.00,0.000,6,0.000,0.065,2921,2261,3662,0,0,0,0,0,0
$GC,9745,-0.78,-146.1,724.0,-7.2,864,9749,0.10,2.15,0.00,0.000,4,0.164,0.075,2941,3603,3662,0,0,0,0,0,0
$GC,9801,-0.78,-146.1,727.8,-7.0,865,9806,0.00,2.10,0.00,0.000,6,0.000,0.050,2941,2249,3662,0,0,0,0,0,0
$GC,10113,-0.78,-146.1,746.7,-5.9,876,10117,0.00,2.20,0.00,0.000,4,0.000,0.062,2940,844,3661,0,0,0,0,0,0
$GC,10177,-0.78,-146.1,750.8,-7.0,878,10181,0.00,2.28,0.00,0.000,6,0.000,0.065,2932,2248,3662,0,0,0,0,0,0
$GC,10511,-0.78,-146.1,771.9,-6.3,889,10515,0.00,2.12,0.00,0.000,4,0.000,0.074,2922,3598,3661,0,0,0,0,0,0
$GC,10568,-0.78,-146.1,776.0,-8.0,890,10572,0.00,2.10,0.00,0.000,6,0.000,0.051,2921,2248,3661,0,0,0,0,0,0
$GC,10887,-0.78,-146.1,797.6,-6.7,901,10891,0.00,2.20,0.00,0.000,4,0.000,0.062,2921,846,3661,0,0,0,0,0,0
$GC,10959,-0.78,-146.1,802.7,-7.1,903,10964,0.12,2.30,0.00,0.000,6,0.146,0.065,2949,2260,3661,0,0,0,0,0,0
$GC,11283,-0.78,-146.1,819.7,-5.2,914,11287,0.00,2.12,0.00,0.000,4,0.000,0.074,2941,3596,3661,0,0,0,0,0,0
$GC,11357,-0.78,-146.1,823.9,-5.6,916,11360,0.00,2.08,0.00,0.000,6,0.000,0.051,2941,2249,3660,0,0,0,0,0,0
$GC,11692,-0.78,-146.1,842.5,-5.7,927,11696,0.00,2.20,0.00,0.000,4,0.000,0.062,2941,844,3661,0,0,0,0,0,0
$GC,11755,-0.78,-146.1,846.2,-6.9,929,11759,0.00,2.30,0.00,0.000,6,0.000,0.065,2932,2265,3661,0,0,0,0,0,0
$GC,12095,-0.78,-146.1,867.0,-6.3,940,12099,0.00,2.12,0.00,0.000,4,0.000,0.075,2922,3601,3660,0,0,0,0,0,0
$GC,12169,-0.78,-146.1,872.1,-6.5,942,12172,0.00,2.10,0.00,0.000,6,0.000,0.051,2922,2249,3660,0,0,0,0,0,0
$GC,12504,-0.78,-146.1,894.8,-6.7,953,12508,0.00,2.20,0.00,0.000,4,0.000,0.062,2922,845,3660,0,0,0,0,0,0
$GC,12583,-0.78,-146.1,900.3,-6.9,955,12588,0.12,2.28,0.00,0.000,6,0.146,0.064,2949,2247,3660,0,0,0,0,0,0
$GC,12902,-0.78,-146.1,917.5,-5.4,966,12906,0.00,2.15,0.00,0.000,4,0.000,0.075,2941,3602,3660,0,0,0,0,0,0
$GC,12970,-0.78,-146.1,921.5,-5.9,968,12974,0.00,2.08,0.00,0.000,6,0.000,0.050,2941,2247,3660,0,0,0,0,0,0
$STATE,13216,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13216,begin apogee
$GC,13223,-0.17,0.0,935.6,5.7,976,13353,0.43,0.00,126.57,1.459,6,0.114,0.000,3083,2202,3058,0,0,0,0,0,0
$STATE,13354,end apogee,CONTROL_FINISHED_OK
$STATE,13354,begin climb
$GC,13357,0.78,146.1,938.3,0.0,980,13494,0.57,2.55,129.77,1.379,4,0.067,0.060,3299,795,2461,0,0,0,0,0,0
$GC,13528,0.78,146.1,925.5,10.1,985,13532,0.00,2.53,0.00,0.000,6,0.000,0.062,3299,2208,2461,0,0,1,0,0,0
$GC,13840,0.78,146.1,890.7,11.2,995,13844,0.00,2.33,0.00,0.000,4,0.000,0.072,3299,3600,2456,0,0,0,0,0,0
$GC,13862,0.78,146.1,888.1,11.4,995,13868,0.12,2.30,0.00,0.000,6,0.171,0.048,3278,2191,2455,0,0,0,0,0,0
$GC,14175,0.80,156.6,856.8,9.5,1006,14189,0.00,2.33,9.40,1.186,4,0.000,0.061,3286,790,2419,0,0,0,0,0,0
$GC,14207,0.82,175.9,853.6,9.1,1007,14232,0.00,2.38,18.30,1.286,6,0.000,0.061,3286,2205,2340,0,0,0,0,0,0
$GC,14546,0.82,175.9,819.1,10.5,1018,14550,0.00,2.28,0.00,0.000,4,0.000,0.072,3286,3599,2337,0,0,0,0,0,0
$GC,14590,0.82,175.9,813.4,13.1,1019,14594,0.00,2.25,0.00,0.000,6,0.000,0.048,3297,2189,2336,0,0,0,0,0,0
$GC,14908,0.82,175.9,778.4,10.8,1030,14909,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2189,2336,0,0,0,0,0,0
$GC,15214,0.82,175.9,745.4,10.9,1040,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2189,2336,0,0,0,0,0,0
$GC,15520,0.82,175.9,712.7,10.4,1050,15524,0.00,2.22,0.00,0.000,4,0.000,0.061,3307,788,2336,0,0,0,0,0,0
$GC,15530,0.82,175.9,711.6,10.2,1050,15534,0.00,2.33,0.00,0.000,6,0.000,0.061,3306,2209,2336,0,0,0,0,0,0
$GC,15854,0.82,175.9,676.2,11.2,1061,15858,0.00,2.22,0.00,0.000,4,0.000,0.074,3306,3597,2336,0,0,0,0,0,0
$GC,15887,0.82,175.9,671.9,12.4,1062,15892,0.10,2.20,0.00,0.000,6,0.184,0.050,3292,2196,2335,0,0,0,0,0,0
$GC,16216,0.83,182.8,638.7,9.7,1073,16228,0.00,2.30,6.50,1.021,4,0.000,0.061,3300,785,2311,0,0,0,0,0,0
$GC,16251,0.86,212.6,635.5,8.6,1074,16282,0.00,2.33,26.20,1.239,6,0.000,0.062,3300,2201,2191,0,0,0,0,0,0
$GC,16594,0.86,212.6,597.9,11.5,1086,16599,0.00,2.28,0.00,0.000,4,0.000,0.073,3300,3603,2186,0,0,0,0,0,0
$GC,16639,0.86,212.6,592.0,14.0,1089,16644,0.00,2.22,0.00,0.000,6,0.000,0.050,3309,2200,2185,0,0,0,0,0,0
$GC,16964,0.86,212.6,552.1,12.1,1120,16969,0.00,2.22,0.00,0.000,4,0.000,0.061,3320,795,2185,0,0,0,0,0,0
$GC,17010,0.86,212.6,546.6,11.2,1124,17014,0.00,2.33,0.00,0.000,6,0.000,0.063,3320,2208,2185,0,0,0,0,0,0
$GC,17334,0.86,212.6,503.4,13.2,1154,17339,0.00,2.20,0.00,0.000,4,0.000,0.074,3320,3589,2185,0,0,0,0,0,0
$GC,17373,0.86,212.6,497.7,15.2,1157,17380,0.10,2.20,0.00,0.000,6,0.189,0.050,3302,2191,2184,0,0,0,0,0,0
$GC,17698,0.86,212.6,460.4,11.5,1188,17702,0.00,2.20,0.00,0.000,4,0.000,0.061,3310,784,2184,0,0,0,0,0,0
$GC,17726,0.86,212.6,457.2,11.3,1190,17731,0.00,2.33,0.00,0.000,6,0.000,0.063,3310,2208,2184,0,0,0,0,0,0
$GC,18051,0.86,212.6,418.0,12.2,1220,18055,0.00,2.22,0.00,0.000,4,0.000,0.074,3310,3600,2184,0,0,0,0,0,0
$GC,18080,0.86,212.6,414.3,12.9,1222,18084,0.00,2.20,0.00,0.000,6,0.000,0.051,3320,2195,2184,0,0,0,0,0,0
$GC,18404,0.86,212.6,371.7,13.2,1252,18410,0.00,2.20,0.00,0.000,4,0.000,0.061,3331,787,2184,0,0,0,0,0,0
$GC,18432,0.86,212.6,368.1,12.7,1254,18439,0.12,2.30,0.00,0.000,6,0.163,0.063,3297,2199,2184,0,0,0,0,0,0
$GC,18757,0.86,212.6,332.2,10.2,1285,18761,0.00,2.22,0.00,0.000,4,0.000,0.073,3297,3597,2184,0,0,0,0,0,0
$GC,18775,0.86,212.6,330.1,11.3,1286,18780,0.00,2.17,0.00,0.000,6,0.000,0.050,3303,2190,2184,0,0,0,0,0,0
$GC,19106,0.86,212.6,291.9,11.4,1317,19110,0.00,2.20,0.00,0.000,4,0.000,0.061,3315,787,2184,0,0,0,0,0,0
$GC,19122,0.86,212.6,290.0,12.2,1318,19127,0.00,2.30,0.00,0.000,6,0.000,0.062,3315,2206,2185,0,0,0,0,0,0
$GC,19446,0.86,212.6,252.9,11.4,1349,19450,0.00,2.20,0.00,0.000,4,0.000,0.074,3315,3596,2184,0,0,0,0,0,0
$GC,19497,0.86,212.6,246.4,14.0,1353,19503,0.10,2.17,0.00,0.000,6,0.181,0.051,3299,2201,2184,0,0,0,0,0,0
$GC,19823,0.87,218.6,214.4,9.7,1384,19835,0.00,2.20,5.80,0.798,4,0.000,0.060,3307,797,2166,0,0,0,0,0,0
$GC,19874,0.89,232.5,209.4,9.4,1388,19894,0.00,2.28,12.85,0.931,6,0.000,0.064,3307,2204,2109,0,0,0,0,0,0
$GC,20222,0.89,233.1,174.6,10.0,1421,20226,0.00,2.22,0.00,0.000,4,0.000,0.075,3307,3601,2107,0,0,0,0,0,0
$GC,20255,0.89,233.1,170.8,10.9,1423,20260,0.00,2.22,0.00,0.000,6,0.000,0.051,3317,2190,2107,0,0,0,0,0,0
$GC,20580,0.89,233.1,136.7,10.1,1454,20584,0.00,2.22,0.00,0.000,4,0.000,0.061,3327,784,2107,0,0,0,0,0,0
$GC,20613,0.89,233.1,133.2,10.3,1456,20619,0.10,2.33,0.00,0.000,6,0.166,0.064,3300,2205,2107,0,0,0,0,0,0
$GC,20938,0.91,253.7,104.1,9.1,1487,20962,0.00,2.30,18.62,0.913,4,0.000,0.077,3301,3589,2023,0,0,0,0,0,0
$GC,20992,0.93,268.0,98.9,9.3,1492,21014,0.00,2.20,13.32,0.866,6,0.000,0.052,3307,2201,1965,0,0,0,0,0,0
$GC,21351,1.00,325.2,67.5,7.4,1556,21408,0.08,2.38,48.58,0.905,4,0.127,0.064,3358,792,1732,0,0,0,0,0,0
$GC,21454,1.00,325.2,57.6,11.5,1575,21460,0.12,2.40,0.00,0.000,6,0.152,0.065,3325,2205,1727,0,0,0,0,0,0
$GC,21801,1.07,381.2,31.1,7.4,1636,21857,0.00,2.42,47.22,0.881,4,0.000,0.080,3325,3599,1501,0,0,0,0,0,0
$GC,21872,1.13,426.8,25.7,7.9,1649,21919,0.10,2.30,39.33,0.843,6,0.102,0.054,3379,2205,1316,0,0,0,0,0,0
$FREEZE,8.76,5.081,-1.662,1,1,0
$FREEZE,8.43,5.167,-1.664,1,1,0
$FREEZE,7.98,5.280,-1.665,1,1,0
$FREEZE,7.71,5.282,-1.667,1,1,0
$FREEZE,7.38,5.300,-1.667,1,1,0
$FREEZE,7.04,5.308,-1.668,1,1,0
$FREEZE,6.77,5.323,-1.669,1,1,0
$FREEZE,6.36,5.333,-1.670,1,1,0
$FREEZE,5.97,5.349,-1.669,1,1,0
$FREEZE,5.66,5.356,-1.669,1,1,0
$FREEZE,5.24,5.370,-1.670,1,1,0
$FREEZE,4.92,5.369,-1.670,1,1,0
$FREEZE,4.62,5.381,-1.669,1,1,0
$FREEZE,4.21,5.376,-1.669,1,1,0
$FREEZE,4.02,5.373,-1.669,1,1,0
$FREEZE,3.61,5.376,-1.669,1,1,0
$FREEZE,3.26,5.376,-1.669,1,1,0
$FREEZE,2.94,5.377,-1.669,1,1,0
$STATE,22131,end climb,SURFACE_DEPTH_REACHED
$STATE,22132,begin surface coast
$FREEZE,2.70,5.372,-1.669,1,1,0
$FREEZE,2.28,5.366,-1.669,1,1,0
$FREEZE,1.85,5.371,-1.669,1,1,0
$FREEZE,1.80,5.192,-0.262,1,1,0
$FREEZE,1.87,5.201,-0.221,1,1,0
$FREEZE,1.93,4.768,-1.660,1,1,0
$FREEZE,1.89,5.114,-0.844,1,1,0
$FREEZE,1.83,5.102,-1.023,1,1,0
$FREEZE,1.90,5.137,-1.678,1,1,0
$FREEZE,1.83,5.243,-1.000,1,1,0
$FREEZE,1.89,5.271,-0.848,1,1,0
$FINISH,1.9,1.012354
$STATE,22194,end surface coast,CONTROL_FINISHED_OK
$STATE,22195,begin surface
$RAFOS_CLK,925
$RAFOS,6,1278852546,12.833333,12.818334,122,120,46,45,43,42,622,623,741,1524,1913,867
$RAFOS,5,1278852066,12.700000,12.685000,117,113,44,42,42,40,607,608,1735,1462,1734,800
$RAFOS,4,1278851587,12.566667,12.551945,82,75,49,45,41,41,651,651,904,903,1506,1566
$RAFOS,3,1278851104,12.433333,12.417778,124,107,42,42,40,39,844,844,434,1465,1523,1639
$RAFOS,2,1278850628,12.300000,12.285556,68,55,44,42,41,41,851,849,61,731,1892,1817
$RAFOS,1,1278850147,12.166667,12.151944,119,101,47,43,42,39,812,813,1147,204,1648,1182
$RAFOS,0,1278849664,12.033333,12.017777,82,79,43,41,41,38,956,956,573,1348,1266,1
$RAFOS,6,1278838142,8.833333,8.817223,154,151,48,46,44,41,656,657,382,423,295,1
$RAFOS,5,1278837668,8.700000,8.685555,97,84,45,44,44,40,589,590,1368,61,1034,1475
$RAFOS,4,1278837183,8.566667,8.550834,90,88,43,43,42,41,683,682,1498,1605,237,104
$RAFOS,3,1278836704,8.433333,8.417778,98,98,44,44,43,41,854,853,26,664,1705,1
$RAFOS,2,1278836231,8.300000,8.286389,84,83,49,48,42,42,846,847,1127,1592,508,1674
$RAFOS,1,1278835742,8.166667,8.150556,47,46,46,43,41,39,854,852,201,151,1471,1488
$RAFOS,0,1278835268,8.033334,8.018888,86,67,41,41,41,38,943,944,1,1088,159,1784
$RAFOS_FIX,6701.963379,-5817.582520,110710,121234,7,102,0.16
$IRIDIUM_FIX,6641.98,-6020.12,051099,070759
$TT8_MAMPS,0.026845
$HUMID,42.59
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,15.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.4
$24V_AH,22.6,28.133
$10V_AH,10.1,15.942
$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,13.150,240.775,502.475,0.000,0.000,45.481,110.896,265.312,3.750,0.000,14.149,3057.993,15258.622,662.367,3075.696,927.331,0.000,2327.892,0.000,3019.592,5040.000,25.580,0.000
$DEVICE_MAMPS,236.236,160.303,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1235.633,1219.088,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135804
$DATA_FILE_SIZE,69313,1707
$CAP_FILE_SIZE,238813,0
$CFSIZE,260165632,234352640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1458.2
$GPS,110710,122734,6701.963,-5817.583,0,7102.0,0,-37.9