version: 66.06
glider: 108
mission: 14
dive: 356
start: 8 21 110 7 54 10
data:
$ID,108
$MISSION,14
$DIVE,356
$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,-183453.53
$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,23
$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
$GPS1,074607,6704.924,-5934.585,33,1.1,33,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-73.7
$GPS2,075350,6704.911,-5934.478,13,1.2,13,-38.4
$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,262.6,54042,-18.1,-10.000
$D_GRID,1113
$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,-146.1,0.0,0.0,0,22,0.00,0.00,-4.40,0.000,2,0.000,0.000,338,2239,682,0,0,0,0,0,0
$GC,26,-0.78,-146.1,3.1,-0.0,1,185,9.90,2.35,-142.88,0.000,4,0.215,0.075,2939,836,3656,0,0,0,0,0,0
$GC,302,-0.78,-146.1,22.6,-12.8,52,307,0.00,2.38,0.00,0.000,6,0.000,0.066,2931,2259,3660,0,0,0,0,0,0
$GC,644,-0.78,-146.1,62.1,-12.0,113,650,0.00,2.33,0.00,0.000,4,0.000,0.060,2931,831,3662,0,0,0,0,0,0
$GC,679,-0.78,-146.1,66.1,-12.0,119,685,0.00,2.35,0.00,0.000,6,0.000,0.064,2922,2249,3662,0,0,0,0,0,0
$GC,1028,-0.78,-146.1,103.4,-10.0,178,1032,0.00,2.20,0.00,0.000,4,0.000,0.077,2912,3601,3664,0,0,0,0,0,0
$GC,1078,-0.78,-146.1,108.9,-10.8,182,1083,0.12,2.12,0.00,0.000,6,0.146,0.052,2947,2250,3664,0,0,0,0,0,0
$GC,1409,-0.78,-146.1,134.3,-7.5,213,1413,0.00,2.28,0.00,0.000,4,0.000,0.063,2947,842,3664,0,0,0,0,0,0
$GC,1465,-0.78,-146.1,139.2,-8.2,217,1471,0.00,2.33,0.00,0.000,6,0.000,0.066,2940,2248,3664,0,0,0,0,0,0
$GC,1791,-0.78,-146.1,166.0,-8.2,248,1795,0.00,2.20,0.00,0.000,4,0.000,0.078,2930,3605,3663,0,0,0,0,0,0
$GC,1825,-0.78,-146.1,169.2,-9.5,251,1829,0.00,2.15,0.00,0.000,6,0.000,0.054,2930,2244,3663,0,0,0,0,0,0
$GC,2156,-0.78,-146.1,199.8,-8.9,282,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2243,3663,0,0,0,0,0,0
$GC,2475,-0.78,-146.1,227.8,-8.7,312,2479,0.00,2.25,0.00,0.000,4,0.000,0.065,2930,839,3663,0,0,0,0,0,0
$GC,2499,-0.78,-146.1,229.9,-9.0,314,2503,0.00,2.35,0.00,0.000,6,0.000,0.067,2921,2254,3662,0,0,0,0,0,0
$GC,2827,-0.78,-146.1,259.0,-8.8,344,2832,0.10,2.20,0.00,0.000,4,0.160,0.078,2941,3603,3662,0,0,0,0,0,0
$GC,2906,-0.78,-146.1,265.6,-7.9,350,2911,0.00,2.15,0.00,0.000,6,0.000,0.054,2941,2249,3662,0,0,0,0,0,0
$GC,3231,-0.78,-146.1,289.4,-7.5,381,3235,0.00,2.28,0.00,0.000,4,0.000,0.064,2941,832,3662,0,0,0,0,0,0
$GC,3253,-0.78,-146.1,291.2,-8.0,382,3259,0.00,2.35,0.00,0.000,6,0.000,0.067,2932,2253,3662,0,0,0,0,0,0
$GC,3578,-0.78,-146.1,316.1,-7.5,413,3582,0.00,2.20,0.00,0.000,4,0.000,0.078,2922,3604,3661,0,0,0,0,0,0
$GC,3636,-0.78,-146.1,320.8,-8.2,418,3640,0.00,2.15,0.00,0.000,6,0.000,0.053,2922,2251,3661,0,0,0,0,0,0
$GC,3961,-0.78,-146.1,347.6,-8.5,448,3965,0.00,2.28,0.00,0.000,4,0.000,0.064,2922,843,3662,0,0,0,0,0,0
$GC,4002,-0.78,-146.1,351.1,-9.0,451,4007,0.12,2.35,0.00,0.000,6,0.140,0.067,2949,2257,3661,0,0,0,0,0,0
$GC,4327,-0.78,-146.1,372.5,-6.3,481,4331,0.00,2.20,0.00,0.000,4,0.000,0.077,2941,3606,3661,0,0,0,0,0,0
$GC,4379,-0.78,-146.1,376.1,-7.6,485,4383,0.00,2.15,0.00,0.000,6,0.000,0.053,2941,2238,3661,0,0,0,0,0,0
$GC,4705,-0.78,-146.1,398.7,-6.7,515,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2238,3661,0,0,0,0,0,0
$GC,5026,-0.78,-146.1,419.5,-6.6,545,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2238,3661,0,0,0,0,0,0
$GC,5353,-0.78,-146.1,440.5,-6.4,576,5357,0.00,2.25,0.00,0.000,4,0.000,0.064,2941,831,3661,0,0,0,0,0,0
$GC,5378,-0.78,-146.1,442.4,-7.5,578,5382,0.00,2.38,0.00,0.000,6,0.000,0.066,2931,2261,3661,0,0,0,0,0,0
$GC,5703,-0.78,-146.1,465.7,-7.3,608,5706,0.00,2.17,0.00,0.000,4,0.000,0.077,2922,3597,3661,0,0,0,0,0,0
$GC,5749,-0.78,-146.1,469.3,-7.9,612,5753,0.00,2.15,0.00,0.000,6,0.000,0.052,2922,2242,3661,0,0,0,0,0,0
$GC,6080,-0.78,-146.1,494.2,-7.3,643,6084,0.00,2.25,0.00,0.000,4,0.000,0.064,2922,843,3661,0,0,0,0,0,0
$GC,6124,-0.78,-146.1,497.5,-7.3,646,6131,0.12,2.35,0.00,0.000,6,0.137,0.067,2949,2265,3661,0,0,0,0,0,0
$GC,6450,-0.78,-146.1,516.3,-5.6,677,6453,0.00,2.17,0.00,0.000,4,0.000,0.077,2942,3602,3661,0,0,0,0,0,0
$GC,6489,-0.78,-146.1,518.9,-6.8,680,6495,0.00,2.15,0.00,0.000,6,0.000,0.051,2941,2240,3661,0,0,0,0,0,0
$GC,6814,-0.78,-146.1,538.5,-6.2,711,6818,0.00,2.25,0.00,0.000,4,0.000,0.063,2941,840,3661,0,0,0,0,0,0
$GC,6843,-0.78,-146.1,540.3,-6.9,713,6847,0.00,2.35,0.00,0.000,6,0.000,0.065,2933,2255,3661,0,0,0,0,0,0
$GC,7168,-0.78,-146.1,562.2,-7.0,743,7171,0.00,2.17,0.00,0.000,4,0.000,0.076,2923,3596,3661,0,0,0,0,0,0
$GC,7236,-0.78,-146.1,567.1,-7.6,749,7240,0.00,2.15,0.00,0.000,6,0.000,0.052,2922,2239,3661,0,0,0,0,0,0
$GC,7567,-0.78,-146.1,590.4,-6.7,780,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2239,3661,0,0,0,0,0,0
$GC,7889,-0.78,-146.1,612.9,-6.9,799,7893,0.00,2.22,0.00,0.000,4,0.000,0.064,2922,845,3661,0,0,0,0,0,0
$GC,7928,-0.78,-146.1,615.9,-7.7,800,7933,0.10,2.33,0.00,0.000,6,0.148,0.066,2942,2251,3661,0,0,0,0,0,0
$GC,8263,-0.78,-146.1,635.5,-5.8,811,8267,0.00,2.22,0.00,0.000,4,0.000,0.077,2934,3603,3661,0,0,0,0,0,0
$GC,8313,-0.78,-146.1,638.7,-6.6,812,8316,0.00,2.15,0.00,0.000,6,0.000,0.050,2934,2240,3661,0,0,0,0,0,0
$GC,8632,-0.78,-146.1,658.0,-6.1,823,8636,0.00,2.25,0.00,0.000,4,0.000,0.063,2934,838,3661,0,0,0,0,0,0
$GC,8665,-0.78,-146.1,660.2,-6.4,824,8670,0.00,2.33,0.00,0.000,6,0.000,0.065,2925,2253,3661,0,0,0,0,0,0
$GC,8996,-0.78,-146.1,680.8,-6.2,835,9000,0.00,2.20,0.00,0.000,4,0.000,0.075,2915,3606,3661,0,0,0,0,0,0
$GC,9064,-0.78,-146.1,685.6,-7.6,837,9069,0.10,2.15,0.00,0.000,6,0.148,0.051,2944,2238,3661,0,0,0,0,0,0
$GC,9393,-0.78,-146.1,703.5,-5.4,848,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2238,3662,0,0,0,0,0,0
$GC,9700,-0.78,-146.1,720.3,-5.4,858,9704,0.00,2.22,0.00,0.000,4,0.000,0.062,2944,841,3661,0,0,0,0,0,0
$GC,9727,-0.78,-146.1,722.2,-6.7,858,9733,0.00,2.33,0.00,0.000,6,0.000,0.064,2938,2251,3661,0,0,0,0,0,0
$GC,10040,-0.78,-146.1,740.4,-5.9,869,10044,0.00,2.20,0.00,0.000,4,0.000,0.076,2928,3600,3661,0,0,0,0,0,0
$GC,10103,-0.78,-146.1,744.6,-7.0,870,10108,0.00,2.15,0.00,0.000,6,0.000,0.051,2928,2239,3661,0,0,0,0,0,0
$GC,10416,-0.78,-146.1,765.2,-6.4,881,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2239,3661,0,0,0,0,0,0
$GC,10722,-0.78,-146.1,784.8,-6.4,891,10726,0.00,2.25,0.00,0.000,4,0.000,0.062,2928,836,3661,0,0,0,0,0,0
$GC,10745,-0.78,-146.1,786.3,-6.7,891,10751,0.10,2.35,0.00,0.000,6,0.148,0.065,2949,2252,3661,0,0,0,0,0,0
$GC,11058,-0.78,-146.1,803.3,-5.2,902,11062,0.00,2.20,0.00,0.000,4,0.000,0.075,2941,3604,3661,0,0,0,0,0,0
$GC,11103,-0.78,-146.1,806.0,-6.4,903,11107,0.00,2.15,0.00,0.000,6,0.000,0.049,2941,2238,3661,0,0,0,0,0,0
$GC,11428,-0.78,-146.1,824.8,-5.9,914,11432,0.00,2.22,0.00,0.000,4,0.000,0.061,2941,847,3661,0,0,0,0,0,0
$GC,11456,-0.78,-146.1,826.6,-6.7,915,11460,0.00,2.33,0.00,0.000,6,0.000,0.064,2932,2251,3661,0,0,0,0,0,0
$GC,11798,-0.78,-146.1,847.6,-6.1,926,11801,0.00,2.22,0.00,0.000,4,0.000,0.075,2922,3604,3661,0,0,0,0,0,0
$GC,11860,-0.78,-146.1,851.9,-7.5,927,11865,0.00,2.15,0.00,0.000,6,0.000,0.049,2922,2239,3662,0,0,0,0,0,0
$GC,12173,-0.78,-146.1,872.3,-6.5,938,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2239,3662,0,0,0,0,0,0
$GC,12480,-0.78,-146.1,892.9,-6.9,948,12484,0.00,2.25,0.00,0.000,4,0.000,0.061,2922,836,3661,0,0,0,0,0,0
$GC,12508,-0.78,-146.1,894.9,-7.4,949,12513,0.10,2.35,0.00,0.000,6,0.147,0.064,2942,2256,3661,0,0,0,0,0,0
$GC,12846,-0.78,-146.1,914.2,-5.8,960,12850,0.00,2.17,0.00,0.000,4,0.000,0.074,2934,3605,3661,0,0,0,0,0,0
$GC,12885,-0.78,-146.1,917.0,-6.8,961,12888,0.00,2.12,0.00,0.000,6,0.000,0.049,2934,2242,3661,0,0,0,0,0,0
$STATE,13217,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13217,begin apogee
$GC,13224,-0.17,0.0,938.7,6.7,972,13355,0.45,0.00,128.18,1.414,6,0.109,0.000,3082,2242,3058,0,0,0,0,0,0
$STATE,13356,end apogee,CONTROL_FINISHED_OK
$STATE,13356,begin climb
$GC,13359,0.78,146.1,943.2,0.0,976,13505,0.60,2.58,135.52,1.337,4,0.061,0.069,3293,3590,2462,0,0,0,0,0,0
$GC,13517,0.85,198.2,936.9,7.6,981,13572,0.00,2.45,49.78,1.289,6,0.000,0.048,3302,2200,2250,0,0,0,0,0,0
$GC,13885,0.85,198.2,897.2,10.9,994,13889,0.00,2.35,0.00,0.000,4,0.000,0.060,3313,784,2247,0,0,0,0,0,0
$GC,13952,0.85,198.2,889.6,11.3,996,13956,0.00,2.40,0.00,0.000,6,0.000,0.061,3313,2200,2248,0,0,0,0,0,0
$GC,14282,0.85,198.2,850.4,12.0,1007,14287,0.00,2.30,0.00,0.000,4,0.000,0.073,3313,3600,2246,0,0,0,0,0,0
$GC,14333,0.85,198.2,843.3,13.8,1008,14338,0.12,2.25,0.00,0.000,6,0.167,0.049,3290,2185,2245,0,0,0,0,0,0
$GC,14645,0.85,198.2,810.5,10.3,1018,14649,0.00,2.22,0.00,0.000,4,0.000,0.061,3298,783,2245,0,0,0,0,0,0
$GC,14678,0.85,198.2,807.1,10.5,1019,14682,0.00,2.35,0.00,0.000,6,0.000,0.061,3298,2208,2246,0,0,0,0,0,0
$GC,15007,0.85,198.2,770.9,11.1,1030,15011,0.00,2.25,0.00,0.000,4,0.000,0.073,3298,3603,2244,0,0,0,0,0,0
$GC,15058,0.85,198.2,764.5,13.2,1031,15062,0.00,2.20,0.00,0.000,6,0.000,0.049,3309,2194,2243,0,0,0,0,0,0
$GC,15370,0.85,198.2,727.5,11.7,1041,15374,0.00,2.22,0.00,0.000,4,0.000,0.060,3319,785,2243,0,0,0,0,0,0
$GC,15409,0.85,198.2,723.0,11.7,1042,15414,0.10,2.33,0.00,0.000,6,0.170,0.061,3294,2200,2244,0,0,0,0,0,0
$GC,15733,0.85,199.4,690.3,9.9,1053,15737,0.00,2.28,0.00,0.000,4,0.000,0.074,3293,3603,2243,0,0,0,0,0,0
$GC,15784,0.85,199.4,684.3,11.5,1054,15788,0.00,2.22,0.00,0.000,6,0.000,0.050,3301,2190,2243,0,0,0,0,0,0
$GC,16102,0.85,199.4,649.1,11.1,1065,16106,0.00,2.20,0.00,0.000,4,0.000,0.061,3312,797,2244,0,0,0,0,0,0
$GC,16157,0.85,199.4,642.7,11.0,1066,16163,0.00,2.33,0.00,0.000,6,0.000,0.061,3311,2210,2244,0,0,0,0,0,0
$GC,16470,0.85,199.4,606.3,11.5,1077,16474,0.00,2.25,0.00,0.000,4,0.000,0.074,3312,3605,2244,0,0,0,0,0,0
$GC,16526,0.85,199.4,598.8,13.6,1078,16532,0.10,2.22,0.00,0.000,6,0.176,0.050,3296,2190,2243,0,0,0,0,0,0
$GC,16851,0.85,199.4,563.2,10.8,1109,16855,0.00,2.20,0.00,0.000,4,0.000,0.060,3304,796,2243,0,0,0,0,0,0
$GC,16914,0.87,216.5,556.7,9.2,1114,16935,0.00,2.30,15.62,1.118,6,0.000,0.062,3305,2200,2175,0,0,0,0,0,0
$GC,17254,0.87,216.5,520.1,10.3,1146,17258,0.00,2.25,0.00,0.000,4,0.000,0.073,3304,3593,2175,0,0,0,0,0,0
$GC,17310,0.87,216.5,513.3,12.6,1150,17315,0.00,2.20,0.00,0.000,6,0.000,0.049,3314,2200,2174,0,0,0,0,0,0
$GC,17635,0.87,216.5,476.2,11.4,1181,17639,0.00,2.25,0.00,0.000,4,0.000,0.060,3324,790,2174,0,0,0,0,0,0
$GC,17691,0.87,216.5,469.9,10.8,1185,17699,0.08,2.33,0.00,0.000,6,0.132,0.061,3299,2214,2175,0,0,0,0,0,0
$GC,18016,0.87,220.4,438.2,9.8,1216,18027,0.00,2.25,4.75,0.789,4,0.000,0.073,3299,3606,2159,0,0,0,0,0,0
$GC,18074,0.87,220.4,431.5,12.8,1221,18078,0.00,2.20,0.00,0.000,6,0.000,0.050,3306,2202,2160,0,0,0,0,0,0
$GC,18404,0.87,220.4,396.2,10.5,1252,18408,0.00,2.22,0.00,0.000,4,0.000,0.060,3316,794,2161,0,0,0,0,0,0
$GC,18489,0.87,220.4,387.0,12.6,1259,18493,0.00,2.33,0.00,0.000,6,0.000,0.062,3316,2209,2162,0,0,0,0,0,0
$GC,18814,0.87,220.4,351.4,10.5,1289,18818,0.00,2.22,0.00,0.000,4,0.000,0.074,3317,3600,2162,0,0,0,0,0,0
$GC,18876,0.87,220.4,343.6,13.1,1294,18881,0.10,2.20,0.00,0.000,6,0.175,0.051,3301,2190,2160,0,0,0,0,0,0
$GC,19207,0.89,231.9,311.5,9.5,1325,19223,0.00,2.25,11.27,0.943,4,0.000,0.060,3309,787,2111,0,0,0,0,0,0
$GC,19286,0.92,257.4,304.1,8.8,1331,19315,0.00,2.35,23.27,0.996,6,0.000,0.062,3309,2212,2007,0,0,0,0,0,0
$GC,19642,0.92,260.4,267.6,9.9,1365,19646,0.00,2.22,0.00,0.000,4,0.000,0.074,3309,3596,2004,0,0,0,0,0,0
$GC,19663,0.92,260.4,265.0,10.7,1366,19669,0.00,2.22,0.00,0.000,6,0.000,0.050,3318,2197,2002,0,0,0,0,0,0
$GC,19988,0.92,260.4,229.2,10.9,1397,19992,0.00,2.25,0.00,0.000,4,0.000,0.061,3329,791,2002,0,0,0,0,0,0
$GC,20032,0.92,260.4,224.1,10.4,1400,20038,0.00,2.33,0.00,0.000,6,0.000,0.062,3329,2199,2002,0,0,0,0,0,0
$GC,20358,0.92,260.4,188.8,10.7,1431,20362,0.00,2.28,0.00,0.000,4,0.000,0.074,3329,3603,2002,0,0,0,0,0,0
$GC,20387,0.92,260.4,185.5,10.9,1433,20392,0.12,2.22,0.00,0.000,6,0.163,0.051,3305,2198,2001,0,0,0,0,0,0
$GC,20713,0.96,292.5,156.5,8.5,1463,20747,0.00,2.30,29.58,0.928,4,0.000,0.063,3312,790,1865,0,0,0,0,0,0
$GC,20801,1.02,340.7,149.1,7.8,1471,20852,0.08,2.35,41.95,0.905,6,0.127,0.062,3355,2200,1669,0,0,0,0,0,0
$GC,21170,1.02,340.7,100.0,13.0,1506,21174,0.00,2.30,0.00,0.000,4,0.000,0.077,3356,3603,1660,0,0,0,0,0,0
$GC,21210,1.02,340.7,94.5,14.6,1512,21217,0.12,2.22,0.00,0.000,6,0.163,0.053,3332,2202,1658,0,0,0,0,0,0
$GC,21558,1.03,349.2,60.0,9.6,1573,21569,0.00,2.30,6.18,0.722,4,0.000,0.062,3340,781,1634,0,0,0,0,0,0
$GC,21685,1.09,398.4,48.8,7.7,1595,21737,0.00,2.38,43.58,0.869,6,0.000,0.065,3340,2208,1432,0,0,0,0,0,0
$GC,22075,1.20,488.9,18.1,5.9,1665,22160,0.12,2.45,73.55,0.843,4,0.097,0.064,3394,794,1064,0,0,0,0,0,0
$FREEZE,8.98,2.833,-1.695,0,1,0
$FREEZE,8.53,2.795,-1.696,0,1,0
$FREEZE,7.99,2.737,-1.698,0,1,0
$FREEZE,7.41,2.712,-1.698,0,1,0
$FREEZE,6.92,2.696,-1.696,0,1,0
$FREEZE,6.36,2.662,-1.696,0,1,0
$FREEZE,5.84,2.647,-1.698,0,1,0
$FREEZE,5.17,2.642,-1.696,0,1,0
$FREEZE,4.62,2.640,-1.693,0,1,0
$FREEZE,4.12,2.639,-1.687,0,1,0
$FREEZE,3.46,2.639,-1.686,0,1,0
$STATE,22255,end climb,SURFACE_DEPTH_REACHED
$STATE,22255,begin surface coast
$FREEZE,2.94,2.636,-1.683,0,1,0
$FREEZE,2.32,2.610,-1.683,0,1,0
$FREEZE,2.20,2.622,-1.247,0,1,0
$FREEZE,2.31,2.640,-1.681,0,1,0
$FREEZE,2.21,2.536,-1.091,0,1,0
$FINISH,2.2,1.016042
$STATE,22284,end surface coast,CONTROL_FINISHED_OK
$STATE,22285,begin surface
$SM_CCo,22306,91.82,0.795,0,0,588,605.89
$SM_GC,3.13,0.00,0.00,91.82,0.000,0.000,0.795,335,2251,588,-12.77,0.03,605.89
$RAFOS_CLK,923
$RAFOS,6,1282394945,12.833333,12.818055,147,110,50,45,43,41,663,663,226,1311,1228,1536
$RAFOS,5,1282394469,12.700000,12.685833,78,73,45,43,42,39,814,813,562,736,203,1686
$RAFOS,4,1282393981,12.566667,12.550278,79,70,43,42,42,41,665,664,780,789,1553,1544
$RAFOS,3,1282393503,12.433333,12.417500,113,112,45,44,44,43,844,843,238,658,953,1682
$RAFOS,2,1282393026,12.300000,12.285000,104,91,49,45,44,43,754,755,889,1347,1175,1346
$RAFOS,1,1282392556,12.166667,12.154445,75,59,49,47,44,41,590,589,600,948,1203,790
$RAFOS,0,1282392071,12.033333,12.019722,63,58,52,50,48,43,728,727,1132,737,736,1698
$RAFOS,6,1282380549,8.833333,8.819167,125,122,61,50,48,45,634,635,291,290,756,1257
$RAFOS,5,1282380071,8.700000,8.686389,48,46,45,45,43,41,800,900,799,1483,1588,61
$RAFOS,4,1282379584,8.566667,8.551111,147,125,47,44,43,41,645,646,239,1123,1389,189
$RAFOS,3,1282379106,8.433333,8.418333,92,88,50,46,46,39,831,832,1311,1332,1310,151
$RAFOS,2,1282378624,8.300000,8.284445,98,88,46,44,42,40,772,772,476,204,210,1502
$RAFOS,1,1282378147,8.166667,8.151944,72,72,44,40,38,38,654,653,1818,1758,802,1674
$RAFOS,0,1282377662,8.033334,8.017222,104,86,43,43,42,41,780,781,430,1247,472,554
$RAFOS_FIX,6702.837402,-5935.957031,210810,121234,7,94,0.24
$IRIDIUM_FIX,6636.54,-5933.47,151199,010104
$TT8_MAMPS,0.026078
$HUMID,41.41
$INTERNAL_PRESSURE,10.1176
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.8
$24V_AH,21.9,64.171
$10V_AH,10.0,33.812
$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,21.075,235.200,563.225,91.825,0.000,25.709,38.104,228.676,3.500,0.000,14.571,2989.228,15258.214,830.605,2983.545,812.342,0.000,2443.737,0.000,2930.743,5040.000,25.563,0.000
$DEVICE_MAMPS,214.760,78.234,1413.581,794.612,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1220.513,1232.706,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135616
$DATA_FILE_SIZE,69227,1703
$CAP_FILE_SIZE,230244,0
$CFSIZE,260165632,217411584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$GPS,210810,140937,6703.632,-5938.564,39,1.1,39,-38.4