version: 66.06
glider: 108
mission: 14
dive: 180
start: 7 13 110 22 32 21
data:
$ID,108
$MISSION,14
$DIVE,180
$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,-180879.78
$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,21
$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
$GPS1,221208,6702.680,-5904.974,38,1.5,44,-38.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-74.0
$GPS2,223201,6702.779,-5904.313,11,1.6,11,-38.2
$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,278.0,69142,-18.1,-10.000
$D_GRID,1192
$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,18,-0.78,-146.1,0.0,0.0,0,39,0.00,0.00,-18.92,0.000,2,0.000,0.000,335,2267,1819,0,0,0,0,0,0
$GC,43,-0.78,-146.1,3.0,-0.6,4,157,10.05,2.35,-94.57,0.000,4,0.227,0.074,2937,839,3656,0,0,0,0,0,0
$GC,226,-0.78,-146.1,14.5,-17.3,38,232,0.00,2.38,0.00,0.000,6,0.000,0.066,2930,2264,3659,0,0,0,0,0,0
$GC,570,-0.78,-146.1,55.1,-11.8,99,576,0.00,2.33,0.00,0.000,4,0.000,0.059,2930,832,3664,0,0,0,0,0,0
$GC,616,-0.78,-146.1,60.4,-11.1,107,622,0.00,2.35,0.00,0.000,6,0.000,0.064,2920,2254,3664,0,0,0,0,0,0
$GC,960,-0.78,-146.1,99.8,-10.9,168,966,0.10,0.00,0.00,0.000,6,0.170,0.000,2946,2254,3664,0,0,0,0,0,0
$GC,1286,-0.78,-146.1,129.1,-8.6,199,1290,0.00,2.17,0.00,0.000,4,0.000,0.079,2938,3595,3664,0,0,0,0,0,0
$GC,1338,-0.78,-146.1,133.9,-9.9,203,1341,0.00,2.12,0.00,0.000,6,0.000,0.054,2938,2243,3665,0,0,0,0,0,0
$GC,1663,-0.78,-146.1,164.3,-9.7,233,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2243,3663,0,0,0,0,0,0
$GC,1984,-0.78,-146.1,191.2,-7.6,263,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2243,3662,0,0,0,0,0,0
$GC,2311,-0.78,-146.1,214.9,-7.3,294,2315,0.00,2.25,0.00,0.000,4,0.000,0.067,2938,832,3660,0,0,0,0,0,0
$GC,2352,-0.78,-146.1,218.2,-8.3,297,2356,0.00,2.33,0.00,0.000,6,0.000,0.070,2929,2256,3660,0,0,0,0,0,0
$GC,2677,-0.78,-146.1,246.3,-9.0,327,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2257,3660,0,0,0,0,0,0
$GC,2998,-0.78,-146.1,275.2,-8.6,357,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2257,3659,0,0,0,0,0,0
$GC,3326,-0.78,-146.1,302.2,-8.3,388,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2257,3659,0,0,0,0,0,0
$GC,3644,-0.78,-146.1,328.3,-8.0,418,3648,0.00,2.17,0.00,0.000,4,0.000,0.081,2919,3605,3658,0,0,0,0,0,0
$GC,3685,-0.78,-146.1,332.1,-9.6,421,3689,0.10,2.15,0.00,0.000,6,0.162,0.054,2945,2239,3659,0,0,0,0,0,0
$GC,4010,-0.78,-146.1,357.1,-7.7,451,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2239,3658,0,0,0,0,0,0
$GC,4331,-0.78,-146.1,381.9,-7.8,481,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2239,3658,0,0,0,0,0,0
$GC,4658,-0.78,-146.1,406.8,-7.2,512,4662,0.00,2.22,0.00,0.000,4,0.000,0.066,2946,834,3658,0,0,0,0,0,0
$GC,4687,-0.78,-146.1,409.2,-8.4,514,4691,0.00,2.30,0.00,0.000,6,0.000,0.068,2938,2250,3658,0,0,0,0,0,0
$GC,5012,-0.78,-146.1,434.4,-7.5,544,5016,0.00,2.20,0.00,0.000,4,0.000,0.080,2928,3604,3658,0,0,0,0,0,0
$GC,5086,-0.78,-146.1,440.2,-7.6,550,5090,0.00,2.12,0.00,0.000,6,0.000,0.054,2928,2244,3658,0,0,0,0,0,0
$GC,5417,-0.78,-146.1,465.3,-7.7,581,5421,0.00,2.22,0.00,0.000,4,0.000,0.076,2919,3607,3658,0,0,0,0,0,0
$GC,5457,-0.78,-146.1,468.5,-8.6,584,5461,0.10,2.15,0.00,0.000,6,0.160,0.053,2946,2238,3658,0,0,0,0,0,0
$GC,5782,-0.78,-146.1,489.0,-6.3,614,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2237,3658,0,0,0,0,0,0
$GC,6101,-0.78,-146.1,508.7,-6.2,644,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2238,3658,0,0,0,0,0,0
$GC,6419,-0.78,-146.1,528.4,-6.5,674,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2238,3658,0,0,0,0,0,0
$GC,6738,-0.78,-146.1,549.5,-7.0,704,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2237,3658,0,0,0,0,0,0
$GC,7057,-0.78,-146.1,571.2,-6.8,734,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2237,3658,0,0,0,0,0,0
$GC,7375,-0.78,-146.1,593.1,-6.8,764,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2237,3658,0,0,0,0,0,0
$GC,7696,-0.78,-146.1,614.7,-6.7,781,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2237,3658,0,0,0,0,0,0
$GC,8002,-0.78,-146.1,634.1,-6.3,791,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2237,3658,0,0,0,0,0,0
$GC,8308,-0.78,-146.1,652.6,-6.0,801,8312,0.00,2.17,0.00,0.000,4,0.000,0.064,2946,843,3657,0,0,0,0,0,0
$GC,8342,-0.78,-146.1,654.9,-6.8,802,8346,0.00,2.30,0.00,0.000,6,0.000,0.066,2938,2256,3658,0,0,0,0,0,0
$GC,8671,-0.78,-146.1,675.3,-6.1,813,8675,0.00,2.12,0.00,0.000,4,0.000,0.076,2928,3603,3657,0,0,0,0,0,0
$GC,8733,-0.78,-146.1,679.5,-7.1,814,8739,0.00,2.12,0.00,0.000,6,0.000,0.051,2928,2242,3657,0,0,0,0,0,0
$GC,9047,-0.78,-146.1,700.2,-6.6,825,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2242,3658,0,0,0,0,0,0
$GC,9352,-0.78,-146.1,720.5,-6.7,835,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2242,3658,0,0,0,0,0,0
$GC,9658,-0.78,-146.1,741.5,-7.1,845,9662,0.00,2.20,0.00,0.000,4,0.000,0.064,2928,843,3658,0,0,0,0,0,0
$GC,9698,-0.78,-146.1,744.7,-7.3,846,9703,0.10,2.30,0.00,0.000,6,0.159,0.066,2948,2254,3657,0,0,0,0,0,0
$GC,10033,-0.78,-146.1,766.0,-6.3,857,10037,0.00,2.12,0.00,0.000,4,0.000,0.076,2940,3601,3657,0,0,0,0,0,0
$GC,10089,-0.78,-146.1,769.9,-7.3,858,10093,0.00,2.12,0.00,0.000,6,0.000,0.051,2940,2239,3658,0,0,0,0,0,0
$GC,10409,-0.78,-146.1,790.7,-6.7,869,10413,0.00,2.20,0.00,0.000,4,0.000,0.064,2940,843,3657,0,0,0,0,0,0
$GC,10437,-0.78,-146.1,792.9,-7.2,869,10443,0.00,2.30,0.00,0.000,6,0.000,0.065,2930,2256,3658,0,0,0,0,0,0
$GC,10751,-0.78,-146.1,813.9,-6.8,880,10754,0.00,2.15,0.00,0.000,4,0.000,0.075,2920,3604,3657,0,0,0,0,0,0
$GC,10819,-0.78,-146.1,819.0,-7.7,882,10824,0.10,2.10,0.00,0.000,6,0.156,0.051,2948,2250,3657,0,0,0,0,0,0
$GC,11159,-0.78,-146.1,837.3,-5.3,893,11164,0.00,2.20,0.00,0.000,4,0.000,0.063,2948,836,3657,0,0,0,0,0,0
$GC,11216,-0.78,-146.1,840.6,-6.1,894,11222,0.00,2.28,0.00,0.000,6,0.000,0.065,2941,2249,3657,0,0,0,0,0,0
$GC,11529,-0.78,-146.1,858.6,-5.8,905,11533,0.00,2.15,0.00,0.000,4,0.000,0.076,2930,3596,3657,0,0,0,0,0,0
$GC,11608,-0.78,-146.1,863.9,-6.9,907,11612,0.00,2.10,0.00,0.000,6,0.000,0.051,2930,2249,3657,0,0,0,0,0,0
$GC,11938,-0.78,-146.1,884.9,-6.2,918,11942,0.00,2.22,0.00,0.000,4,0.000,0.063,2930,836,3657,0,0,0,0,0,0
$GC,11994,-0.78,-146.1,888.8,-6.5,919,12000,0.00,2.30,0.00,0.000,6,0.000,0.065,2921,2255,3657,0,0,0,0,0,0
$GC,12307,-0.78,-146.1,909.3,-6.5,930,12311,0.00,2.15,0.00,0.000,4,0.000,0.076,2911,3604,3657,0,0,0,0,0,0
$GC,12380,-0.78,-146.1,914.8,-7.6,932,12385,0.12,2.10,0.00,0.000,6,0.147,0.051,2947,2248,3656,0,0,0,0,0,0
$GC,12716,-0.78,-146.1,932.9,-5.2,943,12720,0.00,2.20,0.00,0.000,4,0.000,0.062,2947,834,3657,0,0,0,0,0,0
$GC,12745,-0.78,-146.1,934.6,-6.0,944,12749,0.00,2.30,0.00,0.000,6,0.000,0.064,2940,2247,3657,0,0,0,0,0,0
$GC,13079,-0.78,-146.1,953.5,-5.7,955,13083,0.00,2.15,0.00,0.000,4,0.000,0.075,2930,3598,3656,0,0,0,0,0,0
$GC,13153,-0.78,-146.1,958.2,-6.2,957,13157,0.00,2.10,0.00,0.000,6,0.000,0.051,2930,2249,3656,0,0,0,0,0,0
$STATE,13209,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13209,begin apogee
$GC,13216,-0.17,0.0,961.8,6.0,959,13345,0.45,0.00,126.10,1.474,6,0.121,0.000,3077,2202,3058,0,0,0,0,0,0
$STATE,13346,end apogee,CONTROL_FINISHED_OK
$STATE,13346,begin climb
$GC,13349,0.78,146.1,963.9,0.0,963,13489,0.62,2.53,130.88,1.394,4,0.074,0.061,3300,799,2462,0,0,0,0,0,0
$GC,13496,0.80,157.4,953.1,9.5,968,13514,0.00,2.58,11.90,1.204,6,0.000,0.061,3300,2206,2416,0,0,0,0,0,0
$GC,13853,0.80,157.4,913.7,11.2,980,13857,0.00,2.33,0.00,0.000,4,0.000,0.073,3300,3595,2412,0,0,0,0,0,0
$GC,13886,0.80,157.4,909.1,13.0,981,13891,0.10,2.30,0.00,0.000,6,0.179,0.049,3286,2191,2410,0,0,0,0,0,0
$GC,14215,0.80,157.4,874.0,10.5,992,14219,0.00,2.28,0.00,0.000,4,0.000,0.061,3295,789,2410,0,0,0,0,0,0
$GC,14278,0.80,157.4,867.6,10.7,994,14282,0.00,2.35,0.00,0.000,6,0.000,0.063,3295,2203,2410,0,0,0,0,0,0
$GC,14618,0.80,157.4,831.0,10.7,1005,14622,0.00,2.28,0.00,0.000,4,0.000,0.073,3295,3606,2409,0,0,0,0,0,0
$GC,14662,0.80,157.4,825.4,12.1,1006,14666,0.00,2.25,0.00,0.000,6,0.000,0.050,3305,2189,2409,0,0,0,0,0,0
$GC,14981,0.80,157.4,789.8,11.1,1017,14986,0.00,2.22,0.00,0.000,4,0.000,0.061,3315,795,2409,0,0,0,0,0,0
$GC,15032,0.80,157.4,783.9,10.9,1018,15036,0.12,2.33,0.00,0.000,6,0.166,0.063,3282,2206,2409,0,0,0,0,0,0
$GC,15344,0.82,173.9,754.5,9.2,1028,15364,0.00,2.30,14.15,1.256,4,0.000,0.074,3282,3591,2348,0,0,0,0,0,0
$GC,15392,0.82,173.9,749.5,10.5,1029,15396,0.00,2.22,0.00,0.000,6,0.000,0.049,3289,2195,2347,0,0,0,0,0,0
$GC,15710,0.82,174.7,717.1,10.0,1040,15714,0.00,2.25,0.00,0.000,4,0.000,0.061,3300,784,2347,0,0,0,0,0,0
$GC,15760,0.83,183.3,712.0,9.6,1041,15774,0.00,2.35,9.30,1.152,6,0.000,0.062,3299,2211,2310,0,0,0,0,0,0
$GC,16110,0.83,183.3,674.8,10.6,1053,16114,0.00,2.22,0.00,0.000,4,0.000,0.074,3300,3602,2309,0,0,0,0,0,0
$GC,16138,0.83,183.3,671.6,12.3,1054,16142,0.00,2.22,0.00,0.000,6,0.000,0.051,3309,2194,2308,0,0,0,0,0,0
$GC,16474,0.83,183.3,632.9,11.7,1065,16478,0.00,2.22,0.00,0.000,4,0.000,0.061,3320,787,2307,0,0,0,0,0,0
$GC,16518,0.83,183.3,627.6,10.1,1066,16523,0.12,2.33,0.00,0.000,6,0.163,0.063,3287,2213,2308,0,0,0,0,0,0
$GC,16838,0.85,198.2,597.5,9.3,1078,16859,0.00,2.28,13.77,1.170,4,0.000,0.075,3287,3586,2248,0,0,0,0,0,0
$GC,16894,0.85,198.2,591.7,11.4,1083,16898,0.00,2.20,0.00,0.000,6,0.000,0.050,3293,2201,2246,0,0,0,0,0,0
$GC,17219,0.85,198.2,559.1,10.0,1113,17223,0.00,2.28,0.00,0.000,4,0.000,0.061,3304,788,2246,0,0,0,0,0,0
$GC,17274,0.85,202.7,553.6,9.8,1117,17284,0.00,2.30,4.95,0.880,6,0.000,0.063,3304,2201,2231,0,0,0,0,0,0
$GC,17610,0.85,202.7,517.8,11.4,1149,17614,0.00,2.25,0.00,0.000,4,0.000,0.074,3304,3599,2230,0,0,0,0,0,0
$GC,17649,0.85,202.7,512.9,11.7,1152,17654,0.00,2.22,0.00,0.000,6,0.000,0.051,3314,2189,2229,0,0,0,0,0,0
$GC,17975,0.85,202.7,475.1,10.9,1182,17979,0.00,2.20,0.00,0.000,4,0.000,0.061,3325,787,2229,0,0,0,0,0,0
$GC,18025,0.85,202.7,469.0,11.5,1186,18030,0.12,2.33,0.00,0.000,6,0.163,0.063,3291,2211,2230,0,0,0,0,0,0
$GC,18351,0.85,205.1,436.5,9.9,1216,18362,0.00,2.25,3.65,0.691,4,0.000,0.074,3291,3587,2221,0,0,0,0,0,0
$GC,18390,0.85,205.1,432.0,11.7,1219,18396,0.00,2.20,0.00,0.000,6,0.000,0.051,3298,2190,2221,0,0,0,0,0,0
$GC,18715,0.85,205.1,398.3,10.2,1250,18719,0.00,2.20,0.00,0.000,4,0.000,0.061,3308,787,2221,0,0,0,0,0,0
$GC,18754,0.87,217.6,394.5,9.4,1253,18775,0.00,2.30,12.00,1.039,6,0.000,0.063,3308,2209,2170,0,0,0,0,0,0
$GC,19094,0.87,217.6,356.4,11.4,1285,19098,0.00,2.22,0.00,0.000,4,0.000,0.075,3308,3590,2169,0,0,0,0,0,0
$GC,19139,0.87,217.6,350.5,13.3,1288,19144,0.00,2.20,0.00,0.000,6,0.000,0.051,3318,2199,2168,0,0,0,0,0,0
$GC,19464,0.87,217.6,310.2,12.7,1319,19468,0.00,2.22,0.00,0.000,4,0.000,0.062,3329,794,2168,0,0,0,0,0,0
$GC,19515,0.87,217.6,304.1,11.9,1323,19520,0.12,2.30,0.00,0.000,6,0.162,0.064,3295,2197,2168,0,0,0,0,0,0
$GC,19841,0.87,217.6,270.0,10.4,1353,19845,0.00,2.25,0.00,0.000,4,0.000,0.076,3294,3600,2168,0,0,0,0,0,0
$GC,19885,0.87,217.6,264.7,12.5,1356,19890,0.00,2.20,0.00,0.000,6,0.000,0.051,3302,2199,2167,0,0,0,0,0,0
$GC,20213,0.87,217.6,228.3,11.0,1387,20217,0.00,2.20,0.00,0.000,4,0.000,0.061,3312,790,2168,0,0,0,0,0,0
$GC,20235,0.87,217.6,225.4,11.9,1388,20241,0.00,2.30,0.00,0.000,6,0.000,0.064,3313,2200,2168,0,0,0,0,0,0
$GC,20560,0.87,217.6,189.6,10.4,1419,20564,0.00,2.28,0.00,0.000,4,0.000,0.077,3313,3605,2168,0,0,0,0,0,0
$GC,20604,0.87,217.6,184.1,13.0,1422,20610,0.00,2.22,0.00,0.000,6,0.000,0.052,3322,2189,2167,0,0,0,0,0,0
$GC,20929,0.87,217.6,147.5,10.6,1453,20933,0.00,2.20,0.00,0.000,4,0.000,0.062,3333,794,2168,0,0,0,0,0,0
$GC,20997,0.87,217.6,140.1,10.3,1458,21003,0.12,2.30,0.00,0.000,6,0.163,0.065,3298,2203,2169,0,0,0,0,0,0
$GC,21322,0.90,239.7,110.3,9.0,1489,21343,0.00,0.00,19.45,0.929,6,0.000,0.000,3298,2203,2080,0,0,0,0,0,0
$GC,21673,0.95,281.2,80.4,8.1,1542,21714,0.00,2.35,35.47,0.921,4,0.000,0.061,3305,787,1910,0,0,0,0,0,0
$GC,21744,1.01,335.0,75.1,7.5,1555,21797,0.10,2.40,46.05,0.889,6,0.106,0.065,3358,2209,1692,0,0,0,0,0,0
$GC,22133,1.01,335.0,29.4,11.1,1625,22139,0.10,2.30,0.00,0.000,4,0.170,0.079,3333,3599,1679,0,0,0,0,0,0
$GC,22158,1.01,335.0,26.8,11.5,1629,22163,0.00,2.25,0.00,0.000,6,0.000,0.055,3340,2195,1678,0,0,0,0,0,0
$FREEZE,8.88,4.441,-1.706,2,1,0
$FREEZE,8.58,4.444,-1.706,2,1,0
$FREEZE,8.29,4.442,-1.705,2,1,0
$FREEZE,8.00,4.445,-1.705,2,1,0
$FREEZE,7.59,4.449,-1.705,2,1,0
$FREEZE,7.32,4.458,-1.704,2,1,0
$FREEZE,6.93,4.454,-1.704,2,1,0
$FREEZE,6.72,4.455,-1.704,2,1,0
$FREEZE,6.40,4.458,-1.704,2,1,0
$FREEZE,6.21,4.458,-1.704,2,1,0
$FREEZE,5.92,4.455,-1.703,2,1,0
$FREEZE,5.81,4.457,-1.703,2,1,0
$FREEZE,5.50,4.456,-1.703,2,1,0
$FREEZE,5.15,4.455,-1.703,2,1,0
$FREEZE,4.85,4.456,-1.703,2,1,0
$FREEZE,4.50,4.453,-1.703,2,1,0
$FREEZE,4.04,4.451,-1.702,2,1,0
$FREEZE,3.37,4.451,-1.702,2,1,0
$FREEZE,2.88,4.453,-1.701,2,1,0
$GC,22503,1.18,470.2,5.5,3.8,1690,22542,0.10,0.00,36.20,0.870,2,0.107,0.000,3397,2195,1507,0,0,0,0,0,0
$STATE,22543,end climb,SURFACE_DEPTH_REACHED
$STATE,22543,begin surface coast
$FREEZE,2.06,4.384,-1.704,2,1,0
$FREEZE,2.06,4.247,-0.440,2,1,0
$FREEZE,1.98,4.062,-1.712,2,1,0
$FREEZE,1.99,4.384,-1.701,2,1,0
$FREEZE,1.93,4.383,-1.057,2,1,0
$FREEZE,1.93,4.356,-1.701,2,1,0
$FINISH,1.9,1.024647
$STATE,22577,end surface coast,CONTROL_FINISHED_OK
$STATE,22577,begin surface
$RAFOS_CLK,964
$RAFOS,5,1279082467,4.700000,4.685278,82,61,53,43,40,39,769,770,1136,1417,901,1898
$RAFOS,4,1279081983,4.566667,4.550833,82,82,42,42,41,39,632,631,153,1579,755,777
$RAFOS,3,1279081511,4.433333,4.419722,75,72,43,40,40,39,807,806,1253,991,1038,1784
$RAFOS,2,1279081023,4.300000,4.284167,63,63,48,47,46,43,806,805,817,929,1664,935
$RAFOS,1,1279080548,4.166667,4.152222,100,94,45,44,42,40,683,684,1617,389,1559,26
$RAFOS,0,1279080062,4.033333,4.017222,68,61,47,44,44,40,838,837,1757,1776,1567,1112
$RAFOS,6,1279068554,0.833333,0.820556,89,80,46,44,43,43,549,550,1695,1486,300,666
$RAFOS,5,1279068064,0.700000,0.684444,83,80,43,42,42,40,759,760,225,1293,1705,145
$RAFOS,4,1279067586,0.566667,0.551667,146,144,46,43,41,41,600,599,1276,1268,61,1262
$RAFOS,3,1279067108,0.433333,0.418889,82,75,47,46,45,41,812,812,104,1452,1445,938
$RAFOS,2,1279066630,0.300000,0.286111,63,54,47,45,45,44,758,762,894,188,1807,772
$RAFOS,1,1279066141,0.166667,0.150278,117,114,47,43,42,40,731,730,409,237,1465,1284
$RAFOS,0,1279065670,0.033333,0.019444,90,76,50,49,45,41,800,801,1196,1904,1503,1699
$RAFOS_FIX,6702.524902,-5907.338379,140710,000025,7,96,0.32
$IRIDIUM_FIX,6631.12,-5753.26,051099,070706
$TT8_MAMPS,0.026845
$HUMID,42.63
$INTERNAL_PRESSURE,10.2055
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,22.6,29.848
$10V_AH,10.1,16.980
$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,12.775,193.100,463.875,0.000,0.000,28.584,31.265,777.011,4.000,0.000,12.901,3019.375,15822.917,624.552,2921.097,1519.729,0.000,2182.525,0.000,2886.811,4680.000,27.324,0.000
$DEVICE_MAMPS,227.032,159.536,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1234.235,1235.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135868
$DATA_FILE_SIZE,66247,1702
$CAP_FILE_SIZE,234832,0
$CFSIZE,260165632,233340928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.5
$GPS,140710,002725,6702.525,-5907.338,0,7095.7,0,-38.2