version: 66.06
glider: 108
mission: 14
dive: 303
start: 8 8 110 17 53 40
data:
$ID,108
$MISSION,14
$DIVE,303
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,0
$D_SAFE,500
$D_CALL,0
$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,605.89099
$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,-182392.62
$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,32
$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,5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,174601,6652.255,-5912.253,37,1.3,37,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-75.5
$GPS2,175320,6652.151,-5912.203,9,1.2,9,-38.0
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,117.1,106056,-18.1,-10.000
$D_GRID,1031
$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,-146.1,0.0,0.0,0,27,0.00,0.00,-9.25,0.000,2,0.000,0.000,339,2264,791,0,0,0,0,0,0
$GC,31,-0.78,-146.1,3.0,-3.5,2,175,10.23,2.15,-126.22,0.000,4,0.232,0.091,2927,3597,3655,0,0,0,0,0,0
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$GC,548,-0.78,-146.1,58.5,-12.6,96,554,0.00,2.28,0.00,0.000,4,0.000,0.064,2928,836,3664,0,0,0,0,0,0
$GC,628,-0.78,-146.1,68.3,-11.8,110,634,0.10,2.38,0.00,0.000,6,0.163,0.068,2945,2264,3664,0,0,0,0,0,0
$GC,977,-0.78,-146.1,103.5,-9.6,169,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2264,3664,0,0,0,0,0,0
$GC,1297,-0.78,-146.1,135.1,-9.6,199,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2264,3664,0,0,0,0,0,0
$GC,1616,-0.78,-146.1,163.7,-8.8,229,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2264,3664,0,0,0,0,0,0
$GC,1944,-0.78,-146.1,192.2,-8.7,260,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2264,3663,0,0,0,0,0,0
$GC,2264,-0.78,-146.1,217.1,-7.4,290,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2264,3662,0,0,0,0,0,0
$GC,2591,-0.78,-146.1,243.5,-8.0,321,2595,0.00,2.17,0.00,0.000,4,0.000,0.083,2937,3595,3661,0,0,0,0,0,0
$GC,2647,-0.78,-146.1,248.8,-8.5,325,2653,0.00,2.15,0.00,0.000,6,0.000,0.057,2937,2249,3661,0,0,0,0,0,0
$GC,2972,-0.78,-146.1,277.0,-8.5,356,2976,0.00,2.28,0.00,0.000,4,0.000,0.067,2936,835,3661,0,0,0,0,0,0
$GC,3018,-0.78,-146.1,281.0,-8.7,359,3023,0.00,2.35,0.00,0.000,6,0.000,0.070,2927,2250,3661,0,0,0,0,0,0
$GC,3343,-0.78,-146.1,306.8,-7.9,390,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2250,3661,0,0,0,0,0,0
$GC,3666,-0.78,-146.1,332.9,-8.7,420,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2250,3661,0,0,0,0,0,0
$GC,3993,-0.78,-146.1,360.1,-8.3,451,3997,0.00,2.20,0.00,0.000,4,0.000,0.080,2917,3595,3661,0,0,0,0,0,0
$GC,4077,-0.78,-146.1,368.0,-9.0,458,4083,0.10,2.15,0.00,0.000,6,0.153,0.054,2946,2239,3661,0,0,0,0,0,0
$GC,4402,-0.78,-146.1,390.9,-7.0,489,4406,0.00,2.22,0.00,0.000,4,0.000,0.065,2946,837,3661,0,0,0,0,0,0
$GC,4459,-0.78,-146.1,395.1,-7.2,493,4465,0.00,2.35,0.00,0.000,6,0.000,0.068,2939,2256,3661,0,0,0,0,0,0
$GC,4784,-0.78,-146.1,418.1,-7.0,524,4788,0.00,2.17,0.00,0.000,4,0.000,0.078,2929,3607,3661,0,0,0,0,0,0
$GC,4824,-0.78,-146.1,421.3,-8.1,527,4829,0.00,2.15,0.00,0.000,6,0.000,0.054,2929,2247,3661,0,0,0,0,0,0
$GC,5149,-0.78,-146.1,446.9,-8.1,558,5153,0.00,2.25,0.00,0.000,4,0.000,0.064,2929,841,3661,0,0,0,0,0,0
$GC,5183,-0.78,-146.1,449.8,-8.8,560,5193,0.10,2.35,0.00,0.000,6,0.155,0.067,2948,2262,3661,0,0,0,0,0,0
$GC,5508,-0.78,-146.1,472.1,-7.0,591,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2262,3662,0,0,0,0,0,0
$GC,5829,-0.78,-146.1,493.5,-6.1,621,5833,0.00,2.15,0.00,0.000,4,0.000,0.078,2940,3601,3662,0,0,0,0,0,0
$GC,5858,-0.78,-146.1,495.7,-7.2,623,5863,0.00,2.15,0.00,0.000,6,0.000,0.053,2940,2241,3662,0,0,0,0,0,0
$GC,6184,-0.78,-146.1,517.9,-6.9,653,6188,0.00,2.22,0.00,0.000,4,0.000,0.065,2940,841,3662,0,0,0,0,0,0
$GC,6224,-0.78,-146.1,520.7,-7.4,656,6228,0.00,2.35,0.00,0.000,6,0.000,0.067,2931,2264,3662,0,0,0,0,0,0
$GC,6549,-0.78,-146.1,544.3,-7.3,686,6553,0.00,2.17,0.00,0.000,4,0.000,0.077,2921,3606,3662,0,0,0,0,0,0
$GC,6582,-0.78,-146.1,547.0,-8.3,688,6588,0.00,2.15,0.00,0.000,6,0.000,0.052,2921,2246,3662,0,0,0,0,0,0
$GC,6908,-0.78,-146.1,573.3,-8.3,719,6912,0.00,2.25,0.00,0.000,4,0.000,0.064,2921,840,3661,0,0,0,0,0,0
$GC,6941,-0.78,-146.1,576.2,-8.4,721,6947,0.12,2.35,0.00,0.000,6,0.144,0.067,2948,2262,3662,0,0,0,0,0,0
$GC,7267,-0.78,-146.1,597.6,-6.3,752,7271,0.00,2.15,0.00,0.000,4,0.000,0.077,2940,3602,3662,0,0,0,0,0,0
$GC,7300,-0.78,-146.1,599.8,-7.2,754,7307,0.00,2.12,0.00,0.000,6,0.000,0.052,2940,2240,3662,0,0,0,0,0,0
$GC,7613,-0.78,-146.1,620.1,-6.5,765,7617,0.00,2.22,0.00,0.000,4,0.000,0.064,2939,836,3663,0,0,0,0,0,0
$GC,7664,-0.78,-146.1,623.8,-7.2,766,7668,0.00,2.35,0.00,0.000,6,0.000,0.066,2931,2258,3662,0,0,0,0,0,0
$GC,7976,-0.78,-146.1,645.6,-7.1,776,7980,0.00,2.17,0.00,0.000,4,0.000,0.077,2920,3600,3662,0,0,0,0,0,0
$GC,8010,-0.78,-146.1,648.3,-8.7,777,8014,0.00,2.12,0.00,0.000,6,0.000,0.052,2921,2250,3662,0,0,0,0,0,0
$GC,8345,-0.78,-146.1,673.3,-7.4,788,8350,0.10,2.28,0.00,0.000,4,0.154,0.064,2950,840,3663,0,0,0,0,0,0
$GC,8384,-0.78,-146.1,676.2,-7.4,789,8388,0.00,2.33,0.00,0.000,6,0.000,0.067,2944,2251,3663,0,0,0,0,0,0
$GC,8708,-0.78,-146.1,696.6,-6.4,800,8712,0.00,2.17,0.00,0.000,4,0.000,0.077,2933,3594,3663,0,0,0,0,0,0
$GC,8752,-0.78,-146.1,699.8,-7.4,801,8760,0.00,2.12,0.00,0.000,6,0.000,0.051,2933,2247,3663,0,0,0,0,0,0
$GC,9078,-0.78,-146.1,721.9,-6.9,812,9084,0.00,2.22,0.00,0.000,4,0.000,0.064,2933,845,3663,0,0,0,0,0,0
$GC,9130,-0.78,-146.1,725.6,-7.0,813,9134,0.00,2.33,0.00,0.000,6,0.000,0.067,2925,2250,3663,0,0,0,0,0,0
$GC,9449,-0.78,-146.1,748.1,-7.0,824,9454,0.00,2.20,0.00,0.000,4,0.000,0.077,2915,3602,3663,0,0,0,0,0,0
$GC,9484,-0.78,-146.1,750.9,-8.0,825,9489,0.10,2.15,0.00,0.000,6,0.150,0.051,2943,2240,3663,0,0,0,0,0,0
$GC,9820,-0.78,-146.1,771.3,-6.0,836,9824,0.00,2.22,0.00,0.000,4,0.000,0.064,2943,835,3662,0,0,0,0,0,0
$GC,9864,-0.78,-146.1,774.3,-6.8,837,9869,0.00,2.35,0.00,0.000,6,0.000,0.065,2938,2259,3663,0,0,0,0,0,0
$GC,10184,-0.78,-146.1,794.9,-6.6,848,10187,0.00,2.17,0.00,0.000,4,0.000,0.076,2928,3602,3663,0,0,0,0,0,0
$GC,10240,-0.78,-146.1,798.9,-7.3,849,10245,0.00,2.12,0.00,0.000,6,0.000,0.051,2928,2237,3663,0,0,0,0,0,0
$GC,10556,-0.78,-146.1,820.0,-6.8,860,10560,0.00,2.22,0.00,0.000,4,0.000,0.063,2928,845,3663,0,0,0,0,0,0
$GC,10601,-0.78,-146.1,823.7,-7.7,861,10606,0.10,2.33,0.00,0.000,6,0.153,0.066,2948,2249,3663,0,0,0,0,0,0
$GC,10922,-0.78,-146.1,842.8,-6.0,872,10926,0.00,2.17,0.00,0.000,4,0.000,0.077,2940,3604,3663,0,0,0,0,0,0
$GC,10962,-0.78,-146.1,845.7,-6.9,873,10966,0.00,2.15,0.00,0.000,6,0.000,0.051,2940,2237,3663,0,0,0,0,0,0
$GC,11286,-0.78,-146.1,865.8,-6.1,884,11290,0.00,2.20,0.00,0.000,4,0.000,0.063,2940,845,3663,0,0,0,0,0,0
$GC,11319,-0.78,-146.1,868.1,-6.7,885,11323,0.00,2.33,0.00,0.000,6,0.000,0.066,2931,2257,3663,0,0,0,0,0,0
$GC,11655,-0.78,-146.1,890.0,-6.5,896,11658,0.00,2.17,0.00,0.000,4,0.000,0.076,2921,3599,3663,0,0,0,0,0,0
$GC,11717,-0.78,-146.1,894.6,-7.8,898,11721,0.00,2.12,0.00,0.000,6,0.000,0.051,2922,2238,3663,0,0,0,0,0,0
$GC,12059,-0.78,-146.1,918.1,-7.0,909,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2239,3663,0,0,0,0,0,0
$GC,12364,-0.78,-146.1,939.3,-6.9,919,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2238,3663,0,0,0,0,0,0
$GC,12671,-0.78,-146.1,960.4,-6.7,929,12675,0.00,2.22,0.00,0.000,4,0.000,0.064,2921,841,3663,0,0,0,0,0,0
$GC,12710,-0.78,-146.1,963.3,-7.1,930,12715,0.12,2.33,0.00,0.000,6,0.140,0.065,2949,2259,3663,0,0,0,0,0,0
$GC,13039,-0.78,-146.1,981.8,-5.5,941,13043,0.00,2.17,0.00,0.000,4,0.000,0.076,2941,3601,3663,0,0,0,0,0,0
$GC,13079,-0.78,-146.1,984.2,-6.6,942,13083,0.00,2.12,0.00,0.000,6,0.000,0.050,2941,2250,3663,0,0,0,0,0,0
$STATE,13185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13185,begin apogee
$GC,13193,-0.17,0.0,990.7,6.1,946,13323,0.43,0.00,126.62,1.469,6,0.107,0.000,3083,2202,3058,0,0,0,0,0,0
$STATE,13324,end apogee,CONTROL_FINISHED_OK
$STATE,13324,begin climb
$GC,13327,0.78,146.1,995.0,0.0,950,13467,0.60,2.60,134.20,1.389,4,0.060,0.070,3293,3601,2462,0,0,0,0,0,0
$GC,13480,0.87,214.8,988.8,6.9,955,13549,0.00,2.47,64.22,1.341,6,0.000,0.048,3303,2195,2183,0,0,0,0,0,0
$GC,13885,0.87,214.8,945.3,10.8,969,13889,0.00,2.35,0.00,0.000,4,0.000,0.061,3313,782,2177,0,0,0,0,0,0
$GC,13929,0.87,214.8,940.5,12.0,970,13934,0.00,2.42,0.00,0.000,6,0.000,0.063,3313,2202,2178,0,0,0,0,0,0
$GC,14249,0.87,214.8,905.5,11.0,981,14253,0.00,2.25,0.00,0.000,4,0.000,0.073,3313,3595,2176,0,0,0,0,0,0
$GC,14304,0.87,214.8,898.0,12.9,982,14310,0.10,2.25,0.00,0.000,6,0.183,0.050,3299,2184,2175,0,0,0,0,0,0
$GC,14617,0.87,214.8,864.7,10.4,993,14621,0.00,2.22,0.00,0.000,4,0.000,0.061,3307,784,2175,0,0,0,0,0,0
$GC,14655,0.87,214.8,860.5,10.3,994,14659,0.00,2.35,0.00,0.000,6,0.000,0.061,3307,2204,2176,0,0,0,0,0,0
$GC,14981,0.87,214.8,826.7,10.3,1005,14985,0.00,2.25,0.00,0.000,4,0.000,0.074,3307,3596,2176,0,0,0,0,0,0
$GC,15020,0.87,214.8,821.9,11.5,1006,15024,0.00,2.22,0.00,0.000,6,0.000,0.050,3316,2189,2175,0,0,0,0,0,0
$GC,15343,0.87,214.8,785.8,11.2,1017,15347,0.00,2.22,0.00,0.000,4,0.000,0.061,3328,797,2175,0,0,0,0,0,0
$GC,15388,0.87,214.8,780.7,12.0,1018,15393,0.12,2.33,0.00,0.000,6,0.166,0.063,3294,2205,2176,0,0,0,0,0,0
$GC,15706,0.87,214.8,748.3,10.4,1029,15710,0.00,2.22,0.00,0.000,4,0.000,0.074,3294,3596,2175,0,0,0,0,0,0
$GC,15758,0.87,214.8,742.3,12.1,1030,15762,0.00,2.20,0.00,0.000,6,0.000,0.050,3302,2201,2174,0,0,0,0,0,0
$GC,16076,0.87,214.8,706.3,11.2,1041,16080,0.00,2.25,0.00,0.000,4,0.000,0.061,3312,790,2175,0,0,0,0,0,0
$GC,16125,0.87,214.8,700.4,11.3,1042,16130,0.00,2.33,0.00,0.000,6,0.000,0.063,3312,2203,2175,0,0,0,0,0,0
$GC,16438,0.87,214.8,663.1,12.1,1052,16442,0.00,2.25,0.00,0.000,4,0.000,0.074,3312,3599,2175,0,0,0,0,0,0
$GC,16488,0.87,214.8,656.4,14.1,1053,16492,0.00,2.20,0.00,0.000,6,0.000,0.051,3322,2201,2175,0,0,0,0,0,0
$GC,16800,0.87,214.8,616.4,12.6,1063,16804,0.00,2.25,0.00,0.000,4,0.000,0.061,3332,787,2175,0,0,0,0,0,0
$GC,16845,0.87,214.8,610.7,13.4,1064,16850,0.12,2.33,0.00,0.000,6,0.163,0.062,3299,2201,2176,0,0,0,0,0,0
$GC,17171,0.87,214.8,575.3,10.8,1089,17175,0.00,2.25,0.00,0.000,4,0.000,0.074,3299,3597,2175,0,0,0,0,0,0
$GC,17216,0.87,214.8,569.7,12.1,1092,17221,0.00,2.20,0.00,0.000,6,0.000,0.051,3306,2201,2175,0,0,0,0,0,0
$GC,17541,0.87,214.8,533.5,10.9,1123,17545,0.00,2.25,0.00,0.000,4,0.000,0.061,3316,784,2175,0,0,0,0,0,0
$GC,17585,0.87,214.8,528.5,10.6,1126,17590,0.00,2.33,0.00,0.000,6,0.000,0.063,3316,2202,2175,0,0,0,0,0,0
$GC,17910,0.87,214.8,491.7,11.2,1157,17914,0.00,2.25,0.00,0.000,4,0.000,0.074,3316,3599,2175,0,0,0,0,0,0
$GC,17960,0.87,214.8,485.3,13.1,1161,17965,0.10,2.20,0.00,0.000,6,0.183,0.051,3301,2201,2175,0,0,0,0,0,0
$GC,18285,0.87,214.8,452.0,10.1,1191,18289,0.00,2.28,0.00,0.000,4,0.000,0.061,3310,786,2175,0,0,0,0,0,0
$GC,18341,0.88,229.6,446.5,9.3,1195,18360,0.00,2.33,12.23,1.042,6,0.000,0.062,3310,2202,2123,0,0,0,0,0,0
$GC,18686,0.88,229.6,409.1,10.9,1228,18690,0.00,2.25,0.00,0.000,4,0.000,0.074,3310,3592,2123,0,0,0,0,0,0
$GC,18752,0.88,229.6,400.9,12.4,1233,18758,0.00,2.20,0.00,0.000,6,0.000,0.051,3319,2200,2122,0,0,0,0,0,0
$GC,19077,0.88,229.6,363.7,11.3,1264,19081,0.00,2.22,0.00,0.000,4,0.000,0.061,3330,792,2122,0,0,0,0,0,0
$GC,19143,0.88,229.6,355.8,13.7,1269,19150,0.10,2.33,0.00,0.000,6,0.171,0.064,3305,2201,2123,0,0,0,0,0,0
$GC,19468,0.88,229.6,321.9,10.6,1300,19472,0.00,2.25,0.00,0.000,4,0.000,0.074,3305,3596,2123,0,0,0,0,0,0
$GC,19501,0.88,229.6,318.0,13.4,1302,19506,0.00,2.20,0.00,0.000,6,0.000,0.051,3311,2201,2122,0,0,0,0,0,0
$GC,19826,0.88,229.6,281.3,11.9,1333,19830,0.00,2.28,0.00,0.000,4,0.000,0.062,3322,790,2122,0,0,0,0,0,0
$GC,19881,0.88,229.6,275.0,10.3,1337,19887,0.00,2.33,0.00,0.000,6,0.000,0.064,3322,2201,2123,0,0,0,0,0,0
$GC,20206,0.88,229.6,238.0,10.9,1368,20207,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2200,2123,0,0,0,0,0,0
$GC,20527,0.88,229.6,205.0,10.2,1398,20528,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2200,2123,0,0,0,0,0,0
$GC,20846,0.91,246.6,174.0,9.2,1428,20864,0.00,0.00,15.68,0.913,6,0.000,0.000,3322,2200,2052,0,0,0,0,0,0
$GC,21183,0.93,268.1,143.6,9.0,1460,21207,0.00,2.30,18.85,0.907,4,0.000,0.077,3322,3591,1965,0,0,0,0,0,0
$GC,21237,0.94,275.9,138.5,9.6,1465,21251,0.00,2.22,8.10,0.795,6,0.000,0.052,3332,2201,1933,0,0,0,0,0,0
$GC,21577,0.96,290.1,108.0,9.4,1497,21598,0.00,2.33,13.25,0.861,4,0.000,0.064,3343,793,1875,0,0,0,0,0,0
$GC,21667,0.98,307.9,99.5,9.2,1505,21688,0.00,2.33,16.42,0.866,6,0.000,0.064,3343,2200,1802,0,0,0,0,0,0
$GC,22027,1.03,346.8,64.9,8.2,1569,22068,0.00,2.35,33.12,0.887,4,0.000,0.077,3343,3595,1644,0,0,0,0,0,0
$GC,22092,1.03,346.8,58.7,10.1,1581,22098,0.00,2.25,0.00,0.000,6,0.000,0.054,3352,2200,1641,0,0,0,0,0,0
$GC,22439,1.06,371.4,25.8,8.9,1642,22465,0.00,2.33,21.10,0.854,4,0.000,0.065,3361,789,1544,0,0,0,0,0,0
$GC,22525,1.11,414.1,18.4,8.0,1657,22567,0.00,2.35,37.00,0.850,6,0.000,0.068,3361,2191,1369,0,0,0,0,0,0
$FREEZE,8.92,3.887,-1.668,0,1,0
$FREEZE,8.63,3.971,-1.666,0,1,0
$FREEZE,8.26,4.127,-1.662,0,1,0
$FREEZE,7.95,4.409,-1.659,0,1,0
$FREEZE,7.67,4.601,-1.656,0,1,0
$FREEZE,7.34,4.878,-1.652,0,1,0
$FREEZE,7.06,4.897,-1.655,0,1,0
$FREEZE,6.59,4.911,-1.655,0,1,0
$FREEZE,6.25,4.929,-1.655,0,1,0
$FREEZE,5.94,4.938,-1.655,0,1,0
$FREEZE,5.66,4.942,-1.655,0,1,0
$FREEZE,5.33,4.940,-1.656,0,1,0
$FREEZE,4.92,4.942,-1.657,0,1,0
$FREEZE,4.66,4.945,-1.656,0,1,0
$FREEZE,4.30,4.951,-1.655,0,1,0
$FREEZE,3.87,4.964,-1.655,0,1,0
$STATE,22759,end climb,SURFACE_DEPTH_REACHED
$STATE,22759,begin surface coast
$FREEZE,3.48,4.963,-1.655,0,1,0
$FREEZE,3.11,5.034,-1.652,0,1,0
$FREEZE,2.76,5.030,-1.652,0,1,0
$FREEZE,2.47,5.039,-1.653,0,1,0
$FREEZE,2.07,5.041,-1.655,0,1,0
$FREEZE,2.07,5.099,-1.444,0,1,0
$FREEZE,1.99,5.062,-0.807,0,1,0
$FREEZE,2.05,5.054,-0.870,0,1,0
$FREEZE,2.06,5.065,-1.478,0,1,0
$FREEZE,2.03,4.867,-1.617,0,1,0
$FREEZE,2.05,5.058,-0.878,0,1,0
$FREEZE,1.90,4.993,-0.530,0,1,0
$FREEZE,2.07,5.072,-1.637,0,1,0
$FREEZE,1.98,5.083,-1.206,0,1,0
$FINISH,2.0,1.017552
$STATE,22838,end surface coast,CONTROL_FINISHED_OK
$STATE,22838,begin surface
$SM_CCo,22858,149.57,0.813,0,0,588,605.89
$SM_GC,3.09,0.00,0.00,149.57,0.000,0.000,0.813,340,2255,588,-12.75,0.14,605.89
$RAFOS_CLK,961
$RAFOS,0,1281312066,0.033333,0.018333,67,58,42,40,39,38,801,802,208,1580,209,1555
$RAFOS,6,1281300569,20.833334,20.824722,99,95,42,41,41,40,534,535,1007,1267,1842,1
$RAFOS,5,1281300077,20.700001,20.688055,83,79,41,40,39,38,686,687,270,1549,1685,402
$RAFOS,4,1281299591,20.566668,20.553055,128,113,43,43,42,41,495,496,1498,1803,248,1439
$RAFOS,3,1281299102,20.433332,20.417223,114,108,52,45,45,44,761,761,1243,880,1415,90
$RAFOS,2,1281298633,20.299999,20.286945,51,47,46,43,43,43,676,1027,688,673,693,1273
$RAFOS,1,1281298147,20.166666,20.151945,105,90,50,47,44,44,661,662,1182,1453,1220,238
$RAFOS,0,1281297664,20.033333,20.017778,58,56,45,42,38,37,801,803,1351,1075,456,1560
$RAFOS_FIX,6652.652344,-5908.496094,080810,202055,5,106,0.30
$IRIDIUM_FIX,6620.33,-5923.75,021199,111121
$TT8_MAMPS,0.027612
$HUMID,41.29
$INTERNAL_PRESSURE,10.1273
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,22.2,52.938
$10V_AH,10.0,28.419
$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,20.800,220.650,500.800,149.575,0.000,25.350,34.443,210.291,3.750,0.000,12.735,2961.073,15866.987,855.788,2966.353,787.039,0.000,2446.314,0.000,2920.396,3240.000,27.361,0.000
$DEVICE_MAMPS,232.401,163.371,1468.805,813.020,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1237.683,1237.415,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135616
$DATA_FILE_SIZE,69333,1713
$CAP_FILE_SIZE,228744,0
$CFSIZE,260165632,222535680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$GPS,090810,001855,6654.040,-5905.693,39,1.2,39,-38.0