version: 66.06
glider: 108
mission: 14
dive: 173
start: 7 12 110 2 7 28
data:
$ID,108
$MISSION,14
$DIVE,173
$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,22
$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
$GPS1,002725,6702.718,-5825.473,0,7112.3,0,-37.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.92
$_SM_ANGLEo,1.1
$GPS2,002725,6702.718,-5825.473,0,7112.3,0,-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,286.4,94743,-18.1,-10.000
$D_GRID,1169
$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,-146.1,0.0,0.0,0,150,0.00,0.00,-126.60,0.000,6,0.000,0.000,3346,2203,3654,0,0,0,0,0,0
$GC,154,-0.78,-146.1,2.9,-4.0,26,160,1.15,2.22,0.00,0.000,4,0.085,0.065,2936,832,3656,0,0,0,0,0,0
$GC,201,-0.78,-146.1,8.4,-12.3,34,207,0.00,2.38,0.00,0.000,6,0.000,0.070,2928,2260,3658,0,0,0,0,0,0
$GC,546,-0.78,-146.1,53.5,-12.6,95,552,0.00,2.20,0.00,0.000,4,0.000,0.080,2918,3607,3662,0,0,0,0,0,0
$GC,615,-0.78,-146.1,62.0,-12.0,107,621,0.10,2.15,0.00,0.000,6,0.171,0.054,2943,2241,3663,0,0,0,0,0,0
$GC,959,-0.78,-146.1,96.2,-10.1,168,965,0.00,2.25,0.00,0.000,4,0.000,0.067,2943,837,3663,0,0,0,0,0,0
$GC,1054,-0.78,-146.1,106.3,-10.3,180,1060,0.00,2.35,0.00,0.000,6,0.000,0.071,2936,2253,3663,0,0,0,0,0,0
$GC,1380,-0.78,-146.1,136.1,-9.0,211,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2253,3663,0,0,0,0,0,0
$GC,1700,-0.78,-146.1,164.1,-8.8,241,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2253,3662,0,0,0,0,0,0
$GC,2019,-0.78,-146.1,190.9,-8.8,271,2023,0.00,2.30,0.00,0.000,4,0.000,0.067,2936,838,3662,0,0,0,0,0,0
$GC,2058,-0.78,-146.1,194.8,-9.0,274,2063,0.00,2.35,0.00,0.000,6,0.000,0.072,2927,2264,3661,0,0,0,0,0,0
$GC,2383,-0.78,-146.1,225.0,-9.4,305,2387,0.00,2.17,0.00,0.000,4,0.000,0.084,2916,3598,3660,0,0,0,0,0,0
$GC,2478,-0.78,-146.1,234.8,-10.2,313,2484,0.10,2.12,0.00,0.000,6,0.163,0.058,2943,2251,3660,0,0,0,0,0,0
$GC,2803,-0.78,-146.1,259.5,-7.1,344,2807,0.00,2.28,0.00,0.000,4,0.000,0.068,2943,838,3660,0,0,0,0,0,0
$GC,2881,-0.78,-146.1,265.6,-7.8,350,2887,0.00,2.33,0.00,0.000,6,0.000,0.071,2936,2250,3660,0,0,0,0,0,0
$GC,3206,-0.78,-146.1,289.7,-7.4,381,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2250,3659,0,0,0,0,0,0
$GC,3527,-0.78,-146.1,312.4,-6.9,411,3531,0.00,2.17,0.00,0.000,4,0.000,0.081,2926,3597,3659,0,0,0,0,0,0
$GC,3573,-0.78,-146.1,316.0,-8.2,415,3577,0.00,2.15,0.00,0.000,6,0.000,0.056,2926,2241,3659,0,0,0,0,0,0
$GC,3904,-0.78,-146.1,340.0,-7.2,446,3908,0.00,2.20,0.00,0.000,4,0.000,0.067,2926,842,3659,0,0,0,0,0,0
$GC,3993,-0.78,-146.1,347.0,-8.0,453,3999,0.10,2.33,0.00,0.000,6,0.158,0.070,2945,2265,3659,0,0,0,0,0,0
$GC,4319,-0.78,-146.1,366.7,-6.1,484,4322,0.00,2.15,0.00,0.000,4,0.000,0.080,2937,3601,3659,0,0,0,0,0,0
$GC,4364,-0.78,-146.1,369.7,-6.9,488,4368,0.00,2.15,0.00,0.000,6,0.000,0.054,2937,2237,3659,0,0,0,0,0,0
$GC,4696,-0.78,-146.1,391.4,-6.7,519,4699,0.00,2.20,0.00,0.000,4,0.000,0.066,2937,844,3659,0,0,0,0,0,0
$GC,4769,-0.78,-146.1,396.5,-6.5,525,4774,0.00,2.28,0.00,0.000,6,0.000,0.068,2927,2248,3659,0,0,0,0,0,0
$GC,5094,-0.78,-146.1,419.4,-6.5,556,5098,0.00,2.17,0.00,0.000,4,0.000,0.079,2917,3603,3660,0,0,0,0,0,0
$GC,5133,-0.78,-146.1,422.3,-7.6,559,5140,0.10,2.12,0.00,0.000,6,0.156,0.053,2945,2247,3660,0,0,0,0,0,0
$GC,5459,-0.78,-146.1,442.4,-6.3,590,5463,0.00,2.22,0.00,0.000,4,0.000,0.065,2945,839,3661,0,0,0,0,0,0
$GC,5537,-0.78,-146.1,448.0,-7.2,596,5543,0.00,2.33,0.00,0.000,6,0.000,0.067,2938,2266,3661,0,0,0,0,0,0
$GC,5863,-0.78,-146.1,470.3,-7.3,627,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2265,3660,0,0,0,0,0,0
$GC,6183,-0.78,-146.1,492.9,-7.4,657,6187,0.00,2.15,0.00,0.000,4,0.000,0.078,2928,3606,3661,0,0,0,0,0,0
$GC,6233,-0.78,-146.1,497.0,-8.1,661,6239,0.00,2.12,0.00,0.000,6,0.000,0.052,2927,2247,3661,0,0,0,0,0,0
$GC,6558,-0.78,-146.1,521.0,-7.6,692,6562,0.00,2.20,0.00,0.000,4,0.000,0.065,2928,841,3661,0,0,0,0,0,0
$GC,6638,-0.78,-146.1,527.2,-7.7,699,6643,0.10,2.30,0.00,0.000,6,0.156,0.067,2947,2248,3661,0,0,0,0,0,0
$GC,6963,-0.78,-146.1,547.4,-6.1,729,6967,0.00,2.15,0.00,0.000,4,0.000,0.078,2939,3597,3661,0,0,0,0,0,0
$GC,7024,-0.78,-146.1,551.6,-6.9,734,7030,0.00,2.12,0.00,0.000,6,0.000,0.053,2939,2240,3661,0,0,0,0,0,0
$GC,7350,-0.78,-146.1,572.9,-6.5,765,7354,0.00,2.20,0.00,0.000,4,0.000,0.065,2939,843,3661,0,0,0,0,0,0
$GC,7428,-0.78,-146.1,578.5,-7.4,771,7434,0.00,2.30,0.00,0.000,6,0.000,0.067,2930,2255,3661,0,0,0,0,0,0
$GC,7774,-0.78,-146.1,602.5,-6.8,802,7779,0.00,2.15,0.00,0.000,4,0.000,0.077,2920,3597,3661,0,0,0,0,0,0
$GC,7830,-0.78,-146.1,606.6,-7.7,803,7835,0.10,2.10,0.00,0.000,6,0.155,0.053,2948,2243,3661,0,0,0,0,0,0
$GC,8143,-0.78,-146.1,624.9,-5.8,813,8147,0.00,2.17,0.00,0.000,4,0.000,0.064,2948,850,3661,0,0,0,0,0,0
$GC,8212,-0.78,-146.1,629.4,-7.4,815,8216,0.00,2.30,0.00,0.000,6,0.000,0.067,2941,2263,3661,0,0,0,0,0,0
$GC,8547,-0.78,-146.1,649.9,-5.9,826,8552,0.00,2.12,0.00,0.000,4,0.000,0.077,2930,3604,3661,0,0,0,0,0,0
$GC,8616,-0.78,-146.1,654.2,-6.2,828,8620,0.00,2.12,0.00,0.000,6,0.000,0.051,2930,2245,3661,0,0,0,0,0,0
$GC,8952,-0.78,-146.1,674.3,-5.9,839,8956,0.00,2.22,0.00,0.000,4,0.000,0.065,2931,834,3661,0,0,0,0,0,0
$GC,9036,-0.78,-146.1,679.8,-6.5,841,9040,0.00,2.28,0.00,0.000,6,0.000,0.067,2921,2248,3661,0,0,0,0,0,0
$GC,9355,-0.78,-146.1,699.2,-6.1,852,9359,0.00,2.15,0.00,0.000,4,0.000,0.077,2911,3607,3661,0,0,0,0,0,0
$GC,9417,-0.78,-146.1,703.5,-7.2,854,9422,0.12,2.12,0.00,0.000,6,0.146,0.052,2947,2249,3661,0,0,0,0,0,0
$GC,9754,-0.78,-146.1,720.4,-4.9,865,9758,0.00,2.22,0.00,0.000,4,0.000,0.064,2947,836,3661,0,0,0,0,0,0
$GC,9816,-0.78,-146.1,723.7,-5.0,867,9821,0.00,2.33,0.00,0.000,6,0.000,0.067,2940,2266,3660,0,0,0,0,0,0
$GC,10152,-0.78,-146.1,741.3,-5.3,878,10155,0.00,2.12,0.00,0.000,4,0.000,0.077,2930,3595,3661,0,0,0,0,0,0
$GC,10221,-0.78,-146.1,745.3,-5.9,880,10224,0.00,2.10,0.00,0.000,6,0.000,0.051,2930,2248,3661,0,0,0,0,0,0
$GC,10562,-0.78,-146.1,764.8,-5.8,891,10566,0.00,2.22,0.00,0.000,4,0.000,0.064,2930,835,3661,0,0,0,0,0,0
$GC,10641,-0.78,-146.1,769.9,-7.0,893,10645,0.00,2.30,0.00,0.000,6,0.000,0.067,2921,2247,3661,0,0,0,0,0,0
$GC,10959,-0.78,-146.1,790.3,-6.5,904,10962,0.00,2.15,0.00,0.000,4,0.000,0.077,2910,3607,3661,0,0,0,0,0,0
$GC,11033,-0.78,-146.1,795.6,-7.2,906,11038,0.12,2.12,0.00,0.000,6,0.146,0.051,2947,2247,3661,0,0,0,0,0,0
$GC,11363,-0.78,-146.1,814.2,-5.6,917,11366,0.00,2.20,0.00,0.000,4,0.000,0.064,2947,846,3661,0,0,0,0,0,0
$GC,11402,-0.78,-146.1,816.7,-6.2,918,11406,0.00,2.28,0.00,0.000,6,0.000,0.066,2940,2257,3661,0,0,0,0,0,0
$GC,11732,-0.78,-146.1,836.3,-5.9,929,11736,0.00,2.15,0.00,0.000,4,0.000,0.076,2930,3603,3661,0,0,0,0,0,0
$GC,11777,-0.78,-146.1,839.5,-6.8,930,11780,0.00,2.12,0.00,0.000,6,0.000,0.051,2930,2241,3661,0,0,0,0,0,0
$GC,12106,-0.78,-146.1,860.4,-6.3,941,12110,0.00,2.20,0.00,0.000,4,0.000,0.063,2930,841,3661,0,0,0,0,0,0
$GC,12180,-0.78,-146.1,865.5,-7.2,943,12184,0.00,2.30,0.00,0.000,6,0.000,0.065,2921,2259,3661,0,0,0,0,0,0
$GC,12510,-0.78,-146.1,887.6,-6.7,954,12514,0.00,2.15,0.00,0.000,4,0.000,0.076,2910,3607,3660,0,0,0,0,0,0
$GC,12580,-0.78,-146.1,892.5,-7.2,956,12584,0.12,2.10,0.00,0.000,6,0.145,0.051,2947,2244,3660,0,0,0,0,0,0
$GC,12915,-0.78,-146.1,910.8,-5.4,967,12919,0.00,2.20,0.00,0.000,4,0.000,0.064,2947,846,3660,0,0,0,0,0,0
$GC,12967,-0.78,-146.1,914.0,-5.5,968,12971,0.00,2.30,0.00,0.000,6,0.000,0.066,2940,2258,3660,0,0,0,0,0,0
$STATE,13221,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13221,begin apogee
$GC,13228,-0.17,0.0,929.1,5.8,977,13358,0.43,0.00,126.80,1.447,6,0.120,0.000,3080,2182,3058,0,0,0,0,0,0
$STATE,13359,end apogee,CONTROL_FINISHED_OK
$STATE,13359,begin climb
$GC,13362,0.78,146.1,931.8,0.0,981,13500,0.57,2.47,129.82,1.376,4,0.068,0.061,3295,815,2461,0,0,0,0,0,0
$GC,13584,0.78,146.1,913.7,10.4,988,13588,0.00,2.47,0.00,0.000,6,0.000,0.063,3296,2206,2459,0,0,0,0,0,0
$GC,13915,0.78,146.1,878.0,10.9,999,13919,0.00,2.33,0.00,0.000,4,0.000,0.074,3295,3599,2456,0,0,0,0,0,0
$GC,13931,0.78,146.1,875.7,11.3,999,13936,0.10,2.22,0.00,0.000,6,0.179,0.049,3282,2219,2455,0,0,0,0,0,0
$GC,14243,0.78,146.1,842.7,10.5,1009,14247,0.00,2.33,0.00,0.000,4,0.000,0.061,3290,784,2455,0,0,0,0,0,0
$GC,14288,0.78,146.1,837.9,10.1,1010,14293,0.00,2.38,0.00,0.000,6,0.000,0.063,3290,2205,2455,0,0,0,0,0,0
$GC,14607,0.78,146.1,803.3,11.1,1021,14611,0.00,2.28,0.00,0.000,4,0.000,0.074,3290,3604,2455,0,0,0,0,0,0
$GC,14641,0.78,146.1,799.2,11.6,1022,14645,0.00,2.25,0.00,0.000,6,0.000,0.050,3300,2186,2455,0,0,0,0,0,0
$GC,14970,0.78,146.1,760.7,11.6,1033,14974,0.00,2.22,0.00,0.000,4,0.000,0.061,3311,794,2455,0,0,0,0,0,0
$GC,15009,0.78,146.1,756.1,12.7,1034,15014,0.12,2.33,0.00,0.000,6,0.165,0.062,3278,2208,2455,0,0,0,0,0,0
$GC,15339,0.79,149.4,723.4,9.8,1045,15343,0.00,2.22,0.00,0.000,4,0.000,0.074,3278,3602,2454,0,0,0,0,0,0
$GC,15350,0.79,152.1,722.2,9.9,1045,15360,0.00,2.22,5.38,0.992,6,0.000,0.050,3286,2192,2437,0,0,0,0,0,0
$GC,15667,0.79,152.1,689.1,10.5,1055,15671,0.00,2.20,0.00,0.000,4,0.000,0.061,3296,792,2437,0,0,0,0,0,0
$GC,15712,0.79,152.1,684.1,10.7,1056,15716,0.00,2.33,0.00,0.000,6,0.000,0.063,3296,2206,2438,0,0,0,0,0,0
$GC,16031,0.79,152.1,650.9,10.3,1067,16032,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2207,2437,0,0,0,0,0,0
$GC,16336,0.80,158.0,620.3,9.7,1077,16349,0.00,2.30,6.57,1.030,4,0.000,0.074,3296,3596,2413,0,0,0,0,0,0
$GC,16368,0.80,158.0,616.9,10.3,1078,16372,0.00,2.20,0.00,0.000,6,0.000,0.050,3306,2201,2412,0,0,0,0,0,0
$GC,16690,0.80,158.0,582.6,11.1,1097,16694,0.00,2.22,0.00,0.000,4,0.000,0.061,3316,797,2412,0,0,0,0,0,0
$GC,16723,0.80,158.0,578.8,10.9,1099,16729,0.12,2.30,0.00,0.000,6,0.165,0.064,3283,2201,2413,0,0,0,0,0,0
$GC,17048,0.82,180.1,548.4,9.0,1130,17072,0.00,2.30,19.60,1.179,4,0.000,0.075,3283,3599,2323,0,0,0,0,0,0
$GC,17101,0.82,180.1,542.8,10.5,1135,17105,0.00,2.22,0.00,0.000,6,0.000,0.050,3291,2201,2321,0,0,0,0,0,0
$GC,17426,0.82,180.1,508.4,10.6,1165,17430,0.00,2.25,0.00,0.000,4,0.000,0.061,3301,793,2320,0,0,0,0,0,0
$GC,17459,0.82,180.1,504.8,10.5,1167,17465,0.00,2.33,0.00,0.000,6,0.000,0.064,3301,2202,2320,0,0,0,0,0,0
$GC,17784,0.82,180.1,469.8,10.8,1198,17788,0.00,2.25,0.00,0.000,4,0.000,0.074,3301,3598,2320,0,0,0,0,0,0
$GC,17817,0.82,180.1,465.8,12.6,1200,17823,0.00,2.20,0.00,0.000,6,0.000,0.051,3311,2201,2320,0,0,0,0,0,0
$GC,18142,0.82,180.1,427.8,11.5,1231,18146,0.00,2.25,0.00,0.000,4,0.000,0.062,3321,797,2320,0,0,0,0,0,0
$GC,18181,0.82,180.1,423.2,11.5,1234,18187,0.12,2.30,0.00,0.000,6,0.164,0.064,3288,2201,2320,0,0,0,0,0,0
$GC,18507,0.83,188.0,391.1,9.6,1265,18521,0.00,2.33,7.40,0.948,4,0.000,0.075,3288,3605,2291,0,0,0,0,0,0
$GC,18539,0.83,188.0,387.7,10.2,1268,18543,0.00,2.22,0.00,0.000,6,0.000,0.051,3295,2197,2290,0,0,0,0,0,0
$GC,18864,0.83,188.0,354.3,10.0,1298,18868,0.00,2.22,0.00,0.000,4,0.000,0.061,3306,793,2290,0,0,0,0,0,0
$GC,18882,0.83,188.0,352.6,10.1,1299,18886,0.00,2.33,0.00,0.000,6,0.000,0.064,3306,2211,2290,0,0,0,0,0,0
$GC,19207,0.83,188.9,319.4,10.0,1329,19211,0.00,2.22,0.00,0.000,4,0.000,0.076,3306,3594,2289,0,0,0,0,0,0
$GC,19247,0.83,188.9,314.6,11.7,1332,19251,0.00,2.20,0.00,0.000,6,0.000,0.051,3315,2196,2289,0,0,0,0,0,0
$GC,19572,0.83,188.9,278.5,11.0,1362,19576,0.00,2.22,0.00,0.000,4,0.000,0.061,3326,787,2288,0,0,0,0,0,0
$GC,19601,0.83,188.9,275.3,10.1,1364,19606,0.12,2.33,0.00,0.000,6,0.163,0.064,3292,2211,2290,0,0,0,0,0,0
$GC,19926,0.84,195.4,244.5,9.7,1394,19940,0.00,2.30,7.65,0.878,4,0.000,0.076,3292,3602,2261,0,0,0,0,0,0
$GC,19963,0.84,195.4,240.5,10.7,1397,19969,0.00,2.22,0.00,0.000,6,0.000,0.051,3299,2189,2260,0,0,0,0,0,0
$GC,20288,0.84,195.4,207.2,10.2,1428,20292,0.00,2.22,0.00,0.000,4,0.000,0.062,3310,784,2260,0,0,0,0,0,0
$GC,20339,0.84,195.4,201.8,11.3,1432,20343,0.00,2.33,0.00,0.000,6,0.000,0.064,3309,2205,2261,0,0,0,0,0,0
$GC,20664,0.84,195.4,168.9,10.0,1462,20668,0.00,2.22,0.00,0.000,4,0.000,0.077,3310,3604,2261,0,0,0,0,0,0
$GC,20693,0.84,195.4,166.0,11.3,1464,20697,0.10,2.22,0.00,0.000,6,0.175,0.051,3294,2187,2261,0,0,0,0,0,0
$GC,21018,0.92,261.7,139.2,7.0,1494,21079,0.00,2.30,55.08,0.950,4,0.000,0.061,3301,784,1990,0,0,0,0,0,0
$GC,21114,0.96,290.4,131.9,8.7,1503,21146,0.00,2.40,25.42,0.891,6,0.000,0.064,3300,2204,1873,0,0,0,0,0,0
$GC,21466,0.99,317.4,100.9,8.8,1536,21492,0.10,0.00,22.10,0.884,6,0.106,0.000,3350,2204,1763,0,0,0,0,0,0
$GC,21831,0.99,317.4,59.6,10.1,1600,21837,0.10,2.30,0.00,0.000,4,0.161,0.080,3324,3596,1755,0,0,0,0,0,0
$GC,21849,1.01,332.9,57.9,9.3,1603,21870,0.00,2.25,13.80,0.848,6,0.000,0.054,3330,2198,1699,0,0,0,0,0,0
$GC,22210,1.10,406.8,28.3,6.6,1667,22282,0.08,2.40,62.95,0.881,4,0.127,0.067,3381,797,1398,0,0,0,0,0,0
$GC,22336,1.10,406.8,15.0,10.4,1690,22342,0.12,2.40,0.00,0.000,6,0.147,0.068,3348,2196,1394,0,0,0,0,0,0
$FREEZE,8.73,2.319,-1.721,1,4,0
$FREEZE,8.24,2.323,-1.722,1,4,0
$FREEZE,7.85,2.305,-1.723,1,4,0
$FREEZE,7.51,2.321,-1.723,1,4,0
$FREEZE,7.11,2.324,-1.723,1,4,0
$FREEZE,6.74,2.360,-1.722,1,4,0
$FREEZE,6.35,2.414,-1.722,1,4,0
$FREEZE,6.03,2.542,-1.716,1,4,0
$FREEZE,5.71,2.613,-1.708,1,4,0
$FREEZE,5.40,4.544,-1.684,1,4,0
$FREEZE,5.17,4.978,-1.679,1,4,0
$FREEZE,4.87,5.053,-1.679,1,4,0
$FREEZE,4.60,5.288,-1.676,1,4,0
$FREEZE,4.33,5.324,-1.677,1,4,0
$FREEZE,4.10,5.363,-1.678,1,4,0
$FREEZE,3.81,5.426,-1.677,1,4,0
$FREEZE,3.56,5.394,-1.679,1,4,0
$FREEZE,3.35,5.433,-1.678,1,4,0
$FREEZE,3.09,5.392,-1.682,1,4,0
$FREEZE,2.81,5.440,-1.680,1,4,0
$STATE,22507,end climb,SURFACE_DEPTH_REACHED
$STATE,22507,begin surface coast
$FREEZE,2.52,5.440,-1.680,1,4,0
$FREEZE,2.19,5.434,-1.680,1,4,0
$FREEZE,1.93,5.375,-0.855,1,4,0
$FREEZE,2.02,4.899,-1.704,1,4,0
$FREEZE,1.88,5.325,-1.609,1,4,0
$FREEZE,1.94,5.178,-1.614,1,4,0
$FREEZE,1.96,4.858,-1.020,1,4,0
$FREEZE,1.83,5.293,-0.114,1,4,0
$FREEZE,1.86,5.330,-1.683,1,4,0
$FREEZE,1.98,5.257,-0.957,1,4,0
$FREEZE,1.89,5.099,-1.678,1,4,0
$FREEZE,1.90,4.890,-1.708,1,4,0
$FREEZE,2.02,5.002,-1.363,1,4,0
$FREEZE,1.94,5.150,-1.694,1,4,0
$FINISH,1.9,1.024464
$STATE,22586,end surface coast,CONTROL_FINISHED_OK
$STATE,22586,begin surface
$RAFOS_CLK,977
$RAFOS,2,1278922622,8.300000,8.283889,63,61,45,43,39,38,857,851,187,984,50,1453
$RAFOS,1,1278922147,8.166667,8.151944,107,88,51,45,39,37,776,777,398,1021,399,1249
$RAFOS,0,1278921665,8.033334,8.018056,104,93,43,41,38,38,909,910,1635,1272,111,1344
$RAFOS,6,1278910166,4.833333,4.823889,128,125,50,44,42,40,484,485,1666,985,984,1060
$RAFOS,5,1278909677,4.700000,4.688056,93,92,53,42,41,40,591,590,863,1571,1623,61
$RAFOS,4,1278909182,4.566667,4.550556,140,111,47,41,41,41,651,652,216,1919,235,1741
$RAFOS,3,1278908716,4.433333,4.421111,123,110,46,45,44,42,784,785,1509,1600,200,1108
$RAFOS,2,1278908226,4.300000,4.285000,172,126,47,43,43,42,844,844,975,1566,453,279
$RAFOS,1,1278907743,4.166667,4.150833,120,118,45,43,42,41,805,804,327,1635,228,177
$RAFOS,0,1278907270,4.033333,4.019444,76,68,46,45,44,43,896,895,418,1318,140,753
$RAFOS_FIX,6703.659180,-5831.498535,120710,040434,7,122,0.33
$IRIDIUM_FIX,6641.98,-6020.12,051099,070759
$TT8_MAMPS,0.026845
$HUMID,42.12
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,17.2
$24V_AH,22.6,28.634
$10V_AH,10.1,16.251
$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,4.225,237.575,482.575,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,3142.353,15489.374,640.854,3101.973,428.972,0.000,2313.446,0.000,3063.637,3600.000,25.570,0.000
$DEVICE_MAMPS,179.478,94.341,1446.562,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1252.190,1246.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135732
$DATA_FILE_SIZE,69289,1734
$CAP_FILE_SIZE,230550,0
$CFSIZE,260165632,234049536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.4
$GPS,120710,042734,6703.659,-5831.499,0,7121.7,0,-37.9