version: 66.06
glider: 108
mission: 14
dive: 359
start: 8 22 110 3 24 22
data:
$ID,108
$MISSION,14
$DIVE,359
$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,-183493.45
$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,28
$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,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
$GPS1,031637,6701.036,-5947.482,37,1.2,37,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-74.3
$GPS2,032402,6700.945,-5947.310,9,2.0,9,-38.3
$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,260.3,42261,-18.1,-10.000
$D_GRID,976
$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,-4.45,0.000,2,0.000,0.000,339,2281,681,0,0,0,0,0,0
$GC,26,-0.78,-146.1,3.0,-0.0,1,185,10.18,2.38,-140.15,0.000,4,0.229,0.077,2937,839,3656,0,0,0,0,0,0
$GC,295,-0.78,-146.1,23.8,-14.6,51,301,0.00,2.33,0.00,0.000,6,0.000,0.068,2930,2235,3661,0,0,0,0,0,0
$GC,640,-0.78,-146.1,63.9,-10.8,112,646,0.00,2.22,0.00,0.000,4,0.000,0.078,2919,3598,3665,0,0,0,0,0,0
$GC,704,-0.78,-146.1,71.9,-12.4,123,710,0.10,2.15,0.00,0.000,6,0.163,0.054,2946,2249,3665,0,0,0,0,0,0
$GC,1045,-0.78,-146.1,106.6,-10.0,178,1049,0.00,2.22,0.00,0.000,4,0.000,0.077,2938,3601,3665,0,0,0,0,0,0
$GC,1063,-0.78,-146.1,108.5,-9.5,179,1067,0.00,2.17,0.00,0.000,6,0.000,0.055,2939,2239,3665,0,0,0,0,0,0
$GC,1393,-0.78,-146.1,142.2,-10.4,210,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2238,3665,0,0,0,0,0,0
$GC,1715,-0.78,-146.1,171.6,-8.7,240,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2238,3664,0,0,0,0,0,0
$GC,2043,-0.78,-146.1,202.2,-9.8,271,2047,0.00,2.28,0.00,0.000,4,0.000,0.067,2938,831,3664,0,0,0,0,0,0
$GC,2083,-0.78,-146.1,206.4,-10.4,274,2087,0.00,2.38,0.00,0.000,6,0.000,0.071,2929,2253,3663,0,0,0,0,0,0
$GC,2409,-0.78,-146.1,238.0,-9.2,304,2413,0.00,2.20,0.00,0.000,4,0.000,0.081,2919,3605,3663,0,0,0,0,0,0
$GC,2443,-0.78,-146.1,241.3,-9.9,306,2449,0.10,2.17,0.00,0.000,6,0.151,0.057,2947,2246,3663,0,0,0,0,0,0
$GC,2769,-0.78,-146.1,266.1,-7.9,337,2773,0.00,2.28,0.00,0.000,4,0.000,0.067,2947,836,3663,0,0,0,0,0,0
$GC,2814,-0.78,-146.1,270.2,-8.7,340,2819,0.00,2.38,0.00,0.000,6,0.000,0.070,2940,2256,3663,0,0,0,0,0,0
$GC,3140,-0.78,-146.1,297.8,-8.1,371,3143,0.00,2.20,0.00,0.000,4,0.000,0.081,2930,3599,3662,0,0,0,0,0,0
$GC,3190,-0.78,-146.1,302.5,-8.8,375,3195,0.00,2.15,0.00,0.000,6,0.000,0.056,2930,2249,3662,0,0,0,0,0,0
$GC,3515,-0.78,-146.1,329.4,-7.8,406,3519,0.00,2.28,0.00,0.000,4,0.000,0.066,2930,836,3663,0,0,0,0,0,0
$GC,3556,-0.78,-146.1,332.5,-8.3,409,3560,0.00,2.38,0.00,0.000,6,0.000,0.069,2921,2258,3662,0,0,0,0,0,0
$GC,3881,-0.78,-146.1,357.5,-7.4,439,3885,0.10,2.22,0.00,0.000,4,0.158,0.079,2942,3605,3662,0,0,0,0,0,0
$GC,3933,-0.78,-146.1,360.8,-6.6,443,3937,0.00,2.15,0.00,0.000,6,0.000,0.054,2941,2240,3662,0,0,0,0,0,0
$GC,4259,-0.78,-146.1,379.8,-5.7,473,4263,0.00,2.25,0.00,0.000,4,0.000,0.065,2941,834,3663,0,0,0,0,0,0
$GC,4293,-0.78,-146.1,382.3,-6.8,476,4297,0.00,2.38,0.00,0.000,6,0.000,0.068,2932,2261,3663,0,0,0,0,0,0
$GC,4619,-0.78,-146.1,405.4,-7.5,506,4623,0.00,2.20,0.00,0.000,4,0.000,0.079,2922,3604,3663,0,0,0,0,0,0
$GC,4659,-0.78,-146.1,408.6,-8.1,509,4663,0.00,2.17,0.00,0.000,6,0.000,0.054,2922,2239,3663,0,0,0,0,0,0
$GC,4986,-0.78,-146.1,434.3,-7.8,539,4990,0.00,2.25,0.00,0.000,4,0.000,0.064,2922,835,3663,0,0,0,0,0,0
$GC,5043,-0.78,-146.1,439.1,-8.8,544,5048,0.12,2.38,0.00,0.000,6,0.140,0.067,2949,2262,3663,0,0,0,0,0,0
$GC,5369,-0.78,-146.1,458.5,-5.8,574,5373,0.00,2.17,0.00,0.000,4,0.000,0.078,2941,3595,3663,0,0,0,0,0,0
$GC,5409,-0.78,-146.1,461.0,-6.4,577,5414,0.00,2.15,0.00,0.000,6,0.000,0.054,2941,2242,3663,0,0,0,0,0,0
$GC,5735,-0.78,-146.1,481.5,-6.0,608,5739,0.00,2.25,0.00,0.000,4,0.000,0.064,2941,843,3663,0,0,0,0,0,0
$GC,5779,-0.78,-146.1,484.7,-6.6,611,5785,0.00,2.35,0.00,0.000,6,0.000,0.067,2932,2257,3663,0,0,0,0,0,0
$GC,6105,-0.78,-146.1,505.4,-6.2,642,6109,0.00,2.20,0.00,0.000,4,0.000,0.077,2922,3606,3663,0,0,0,0,0,0
$GC,6134,-0.78,-146.1,507.5,-7.3,644,6138,0.00,2.17,0.00,0.000,6,0.000,0.053,2922,2237,3663,0,0,0,0,0,0
$GC,6465,-0.78,-146.1,531.5,-7.5,675,6469,0.00,2.25,0.00,0.000,4,0.000,0.064,2922,839,3664,0,0,0,0,0,0
$GC,6500,-0.78,-146.1,534.3,-8.4,677,6506,0.12,2.35,0.00,0.000,6,0.137,0.067,2950,2249,3663,0,0,0,0,0,0
$GC,6825,-0.78,-146.1,555.4,-6.7,708,6829,0.00,2.20,0.00,0.000,4,0.000,0.077,2942,3596,3664,0,0,0,0,0,0
$GC,6856,-0.78,-146.1,557.5,-7.8,710,6861,0.00,2.15,0.00,0.000,6,0.000,0.053,2942,2237,3664,0,0,0,0,0,0
$GC,7181,-0.78,-146.1,581.0,-7.0,741,7185,0.00,2.25,0.00,0.000,4,0.000,0.064,2942,830,3664,0,0,0,0,0,0
$GC,7216,-0.78,-146.1,583.5,-8.2,744,7220,0.00,2.38,0.00,0.000,6,0.000,0.067,2933,2261,3664,0,0,0,0,0,0
$GC,7565,-0.78,-146.1,609.2,-7.4,769,7569,0.00,2.15,0.00,0.000,4,0.000,0.077,2923,3596,3664,0,0,0,0,0,0
$GC,7616,-0.78,-146.1,613.4,-8.3,770,7619,0.00,2.12,0.00,0.000,6,0.000,0.052,2923,2248,3664,0,0,0,0,0,0
$GC,7940,-0.78,-146.1,638.9,-7.8,781,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2248,3664,0,0,0,0,0,0
$GC,8246,-0.78,-146.1,662.2,-7.5,791,8250,0.00,2.25,0.00,0.000,4,0.000,0.063,2923,844,3664,0,0,0,0,0,0
$GC,8274,-0.78,-146.1,664.5,-8.3,792,8279,0.10,2.33,0.00,0.000,6,0.149,0.067,2942,2255,3664,0,0,0,0,0,0
$GC,8616,-0.78,-146.1,685.4,-6.1,803,8620,0.00,2.20,0.00,0.000,4,0.000,0.077,2934,3604,3664,0,0,0,0,0,0
$GC,8656,-0.78,-146.1,688.0,-6.7,804,8659,0.00,2.12,0.00,0.000,6,0.000,0.051,2934,2247,3664,0,0,0,0,0,0
$GC,8986,-0.78,-146.1,709.5,-6.4,815,8990,0.00,2.25,0.00,0.000,4,0.000,0.062,2934,843,3664,0,0,0,0,0,0
$GC,9025,-0.78,-146.1,712.4,-6.8,816,9029,0.00,2.35,0.00,0.000,6,0.000,0.066,2927,2260,3664,0,0,0,0,0,0
$GC,9349,-0.78,-146.1,734.6,-6.9,827,9352,0.00,2.17,0.00,0.000,4,0.000,0.075,2917,3596,3664,0,0,0,0,0,0
$GC,9389,-0.78,-146.1,737.6,-6.9,828,9393,0.10,2.12,0.00,0.000,6,0.145,0.051,2946,2241,3664,0,0,0,0,0,0
$GC,9718,-0.78,-146.1,756.6,-5.7,839,9722,0.00,2.25,0.00,0.000,4,0.000,0.063,2946,838,3665,0,0,0,0,0,0
$GC,9753,-0.78,-146.1,758.9,-6.5,840,9757,0.00,2.35,0.00,0.000,6,0.000,0.065,2939,2254,3665,0,0,0,0,0,0
$GC,10083,-0.78,-146.1,779.3,-6.3,851,10086,0.00,2.20,0.00,0.000,4,0.000,0.076,2931,3602,3665,0,0,0,0,0,0
$GC,10133,-0.78,-146.1,782.8,-7.0,852,10137,0.00,2.15,0.00,0.000,6,0.000,0.050,2930,2242,3665,0,0,0,0,0,0
$GC,10457,-0.78,-146.1,804.4,-6.7,863,10461,0.00,2.25,0.00,0.000,4,0.000,0.063,2930,842,3665,0,0,0,0,0,0
$GC,10486,-0.78,-146.1,806.5,-8.1,864,10490,0.00,2.35,0.00,0.000,6,0.000,0.065,2922,2260,3665,0,0,0,0,0,0
$GC,10827,-0.78,-146.1,831.2,-7.2,875,10831,0.00,2.15,0.00,0.000,4,0.000,0.075,2912,3595,3665,0,0,0,0,0,0
$GC,10879,-0.78,-146.1,835.2,-7.8,876,10883,0.12,2.12,0.00,0.000,6,0.136,0.051,2949,2251,3665,0,0,0,0,0,0
$GC,11196,-0.78,-146.1,853.8,-5.8,887,11200,0.00,2.25,0.00,0.000,4,0.000,0.061,2949,845,3665,0,0,0,0,0,0
$GC,11232,-0.78,-146.1,856.0,-6.2,888,11236,0.00,2.35,0.00,0.000,6,0.000,0.065,2944,2258,3665,0,0,0,0,0,0
$GC,11562,-0.78,-146.1,875.4,-6.0,899,11566,0.00,2.17,0.00,0.000,4,0.000,0.075,2934,3594,3665,0,0,0,0,0,0
$GC,11606,-0.78,-146.1,878.2,-6.8,900,11610,0.00,2.12,0.00,0.000,6,0.000,0.050,2934,2249,3665,0,0,0,0,0,0
$GC,11937,-0.78,-146.1,898.0,-5.9,911,11941,0.00,2.25,0.00,0.000,4,0.000,0.061,2934,843,3665,0,0,0,0,0,0
$GC,11975,-0.78,-146.1,900.2,-6.2,912,11979,0.00,2.33,0.00,0.000,6,0.000,0.064,2926,2256,3665,0,0,0,0,0,0
$GC,12305,-0.78,-146.1,920.9,-6.4,923,12309,0.00,2.17,0.00,0.000,4,0.000,0.074,2916,3595,3665,0,0,0,0,0,0
$GC,12379,-0.78,-146.1,926.0,-7.4,925,12384,0.10,2.12,0.00,0.000,6,0.143,0.050,2946,2250,3665,0,0,0,0,0,0
$GC,12708,-0.78,-146.1,944.3,-5.4,936,12712,0.00,2.25,0.00,0.000,4,0.000,0.061,2946,846,3665,0,0,0,0,0,0
$GC,12743,-0.78,-146.1,946.4,-6.7,937,12747,0.00,2.35,0.00,0.000,6,0.000,0.065,2940,2257,3665,0,0,0,0,0,0
$STATE,12794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12794,begin apogee
$GC,12801,-0.17,0.0,949.9,6.6,939,12933,0.43,0.00,129.00,1.417,6,0.104,0.000,3083,2182,3058,0,0,0,0,0,0
$STATE,12934,end apogee,CONTROL_FINISHED_OK
$STATE,12934,begin climb
$GC,12937,0.78,146.1,954.1,0.0,943,13080,0.57,2.50,135.43,1.345,4,0.060,0.060,3300,814,2462,0,0,0,0,0,0
$GC,13114,0.83,184.1,946.9,8.3,948,13159,0.00,2.53,37.10,1.285,6,0.000,0.063,3300,2197,2308,0,0,0,0,0,0
$GC,13488,0.83,184.1,909.3,10.0,961,13492,0.00,2.35,0.00,0.000,4,0.000,0.074,3300,3605,2305,0,0,0,0,0,0
$GC,13538,0.83,184.1,903.3,12.2,962,13543,0.00,2.25,0.00,0.000,6,0.000,0.049,3309,2220,2304,0,0,0,0,0,0
$GC,13852,0.83,184.1,869.3,10.7,972,13856,0.00,2.30,0.00,0.000,4,0.000,0.061,3320,794,2304,0,0,0,0,0,0
$GC,13891,0.83,184.1,864.8,11.4,973,13896,0.12,2.35,0.00,0.000,6,0.160,0.062,3287,2208,2304,0,0,0,0,0,0
$GC,14215,0.86,206.4,835.3,9.0,984,14239,0.00,2.30,19.25,1.269,4,0.000,0.074,3287,3588,2216,0,0,0,0,0,0
$GC,14308,0.86,206.4,825.6,11.3,986,14313,0.00,2.22,0.00,0.000,6,0.000,0.049,3295,2194,2215,0,0,0,0,0,0
$GC,14620,0.86,206.4,792.2,10.6,997,14624,0.00,2.22,0.00,0.000,4,0.000,0.060,3305,789,2215,0,0,0,0,0,0
$GC,14653,0.86,206.4,788.5,10.8,998,14657,0.00,2.33,0.00,0.000,6,0.000,0.061,3305,2197,2216,0,0,0,0,0,0
$GC,14982,0.86,206.4,753.1,10.8,1009,14986,0.00,2.25,0.00,0.000,4,0.000,0.074,3305,3599,2215,0,0,0,0,0,0
$GC,15050,0.86,206.4,744.5,12.9,1011,15054,0.00,2.20,0.00,0.000,6,0.000,0.050,3315,2200,2214,0,0,0,0,0,0
$GC,15385,0.86,206.4,706.8,10.8,1022,15389,0.00,2.25,0.00,0.000,4,0.000,0.061,3326,792,2214,0,0,0,0,0,0
$GC,15453,0.86,206.4,699.7,10.5,1024,15458,0.12,2.33,0.00,0.000,6,0.162,0.062,3292,2208,2215,0,0,0,0,0,0
$GC,15790,0.88,225.1,669.5,9.1,1035,15814,0.00,2.33,17.12,1.188,4,0.000,0.075,3292,3600,2140,0,0,0,0,0,0
$GC,15871,0.88,225.1,660.8,11.6,1037,15876,0.00,2.22,0.00,0.000,6,0.000,0.051,3299,2201,2139,0,0,0,0,0,0
$GC,16195,0.88,225.1,627.5,10.2,1048,16199,0.00,2.28,0.00,0.000,4,0.000,0.061,3310,795,2139,0,0,0,0,0,0
$GC,16235,0.88,225.1,623.4,10.4,1049,16239,0.00,2.33,0.00,0.000,6,0.000,0.062,3310,2205,2139,0,0,0,0,0,0
$GC,16551,0.88,225.1,588.0,11.3,1065,16555,0.00,2.25,0.00,0.000,4,0.000,0.074,3310,3597,2140,0,0,0,0,0,0
$GC,16635,0.88,225.1,576.9,12.6,1072,16640,0.00,2.20,0.00,0.000,6,0.000,0.051,3319,2202,2138,0,0,0,0,0,0
$GC,16960,0.88,225.1,537.5,11.7,1102,16964,0.00,2.25,0.00,0.000,4,0.000,0.061,3330,790,2138,0,0,0,0,0,0
$GC,17005,0.88,225.1,532.0,12.4,1105,17011,0.12,2.33,0.00,0.000,6,0.158,0.063,3296,2203,2139,0,0,0,0,0,0
$GC,17330,0.90,240.4,500.1,9.3,1136,17351,0.00,2.30,14.07,1.069,4,0.000,0.075,3296,3596,2078,0,0,0,0,0,0
$GC,17398,0.90,240.4,492.9,12.6,1142,17402,0.00,2.22,0.00,0.000,6,0.000,0.051,3304,2194,2077,0,0,0,0,0,0
$GC,17728,0.90,240.4,457.9,10.4,1173,17732,0.00,2.25,0.00,0.000,4,0.000,0.061,3314,787,2078,0,0,0,0,0,0
$GC,17779,0.90,240.4,452.6,10.4,1177,17783,0.00,2.33,0.00,0.000,6,0.000,0.063,3315,2200,2078,0,0,0,0,0,0
$GC,18104,0.90,240.4,417.4,10.8,1207,18108,0.00,2.28,0.00,0.000,4,0.000,0.074,3314,3594,2078,0,0,0,0,0,0
$GC,18190,0.90,240.4,407.1,12.8,1214,18194,0.00,2.17,0.00,0.000,6,0.000,0.051,3324,2199,2077,0,0,0,0,0,0
$GC,18515,0.90,240.4,372.0,11.2,1244,18519,0.00,2.25,0.00,0.000,4,0.000,0.061,3334,787,2077,0,0,0,0,0,0
$GC,18579,0.90,240.4,365.2,11.0,1249,18584,0.12,2.33,0.00,0.000,6,0.157,0.063,3301,2200,2078,0,0,0,0,0,0
$GC,18904,0.95,282.6,337.2,8.1,1279,18948,0.00,2.35,37.00,1.038,4,0.000,0.075,3300,3593,1905,0,0,0,0,0,0
$GC,18992,0.96,293.0,329.4,9.5,1287,19007,0.00,2.25,10.05,0.900,6,0.000,0.051,3307,2193,1862,0,0,0,0,0,0
$GC,19333,0.96,293.0,294.2,10.6,1319,19337,0.00,2.25,0.00,0.000,4,0.000,0.061,3317,780,1859,0,0,0,0,0,0
$GC,19384,0.96,293.0,288.5,12.5,1323,19388,0.00,2.35,0.00,0.000,6,0.000,0.064,3318,2201,1859,0,0,0,0,0,0
$GC,19715,0.96,293.0,248.2,12.5,1354,19719,0.00,2.28,0.00,0.000,4,0.000,0.076,3318,3602,1858,0,0,0,0,0,0
$GC,19770,0.96,293.0,240.5,13.9,1358,19775,0.00,2.22,0.00,0.000,6,0.000,0.052,3327,2199,1856,0,0,0,0,0,0
$GC,20096,0.96,293.0,202.1,10.4,1389,20100,0.00,2.25,0.00,0.000,4,0.000,0.062,3338,791,1856,0,0,0,0,0,0
$GC,20147,0.96,293.0,196.4,11.6,1393,20151,0.00,2.33,0.00,0.000,6,0.000,0.064,3338,2198,1857,0,0,0,0,0,0
$GC,20473,0.97,301.6,162.7,9.6,1423,20487,0.00,2.33,7.38,0.799,4,0.000,0.076,3338,3599,1828,0,0,0,0,0,0
$GC,20540,0.97,301.6,155.6,11.9,1429,20545,0.10,2.22,0.00,0.000,6,0.173,0.053,3321,2199,1827,0,0,0,0,0,0
$GC,20865,1.03,350.6,128.4,7.8,1459,20917,0.00,2.35,43.05,0.913,4,0.000,0.064,3329,790,1628,0,0,0,0,0,0
$GC,20974,1.08,389.9,119.8,8.2,1469,21015,0.00,2.38,34.80,0.876,6,0.000,0.065,3329,2201,1468,0,0,0,0,0,0
$GC,21342,1.16,456.0,89.8,7.0,1514,21404,0.12,2.35,55.50,0.868,4,0.094,0.077,3387,3593,1198,0,0,0,0,0,0
$GC,21439,1.16,456.0,77.4,14.5,1532,21445,0.12,2.30,0.00,0.000,6,0.163,0.054,3365,2194,1195,0,0,0,0,0,0
$GC,21786,1.16,456.4,38.5,10.0,1593,21791,0.00,2.35,0.00,0.000,4,0.000,0.077,3365,3594,1188,0,0,0,0,0,0
$GC,21900,1.17,459.7,24.8,9.9,1613,21905,0.00,2.25,0.00,0.000,6,0.000,0.056,3372,2198,1186,0,0,0,0,0,0
$FREEZE,8.94,2.496,-1.657,0,1,0
$FREEZE,8.63,2.497,-1.657,0,1,0
$FREEZE,8.12,2.500,-1.656,0,1,0
$FREEZE,7.67,2.508,-1.656,0,1,0
$FREEZE,7.25,2.517,-1.655,0,1,0
$FREEZE,6.73,2.518,-1.655,0,1,0
$FREEZE,6.30,2.521,-1.655,0,1,0
$FREEZE,5.75,2.522,-1.654,0,1,0
$FREEZE,5.22,2.525,-1.654,0,1,0
$FREEZE,4.66,2.525,-1.654,0,1,0
$FREEZE,4.11,2.525,-1.653,0,1,0
$FREEZE,3.58,2.527,-1.653,0,1,0
$GC,22246,1.34,598.4,10.9,3.7,1674,22347,0.12,0.00,94.28,0.835,2,0.094,0.000,3438,2196,717,0,0,0,0,0,0
$STATE,22348,end climb,SURFACE_DEPTH_REACHED
$STATE,22348,begin surface coast
$FREEZE,2.44,2.543,-1.652,0,1,0
$FREEZE,2.24,2.588,-0.116,0,1,0
$FREEZE,2.24,2.559,-0.470,0,1,0
$FREEZE,2.23,2.642,-0.642,0,1,0
$FREEZE,2.20,2.629,-0.383,0,1,0
$FREEZE,2.23,2.481,-0.131,0,1,0
$FREEZE,2.29,2.518,-0.083,0,1,0
$FREEZE,2.20,2.350,-0.367,0,1,0
$FINISH,2.2,1.005337
$STATE,22393,end surface coast,CONTROL_FINISHED_OK
$STATE,22393,begin surface
$SM_CCo,22413,24.95,0.780,0,0,587,605.89
$SM_GC,3.17,0.00,0.00,24.95,0.000,0.000,0.780,340,2280,587,-12.75,0.85,605.89
$RAFOS_CLK,933
$RAFOS,6,1282466951,8.833333,8.819722,95,83,48,46,44,41,687,688,900,557,1046,1933
$RAFOS,5,1282466463,8.700000,8.684167,88,76,46,43,43,38,883,883,1354,61,165,409
$RAFOS,4,1282465985,8.566667,8.551389,134,97,48,47,42,39,643,644,1727,968,1788,237
$RAFOS,3,1282465510,8.433333,8.419444,63,58,46,45,43,43,769,770,1194,1548,669,1072
$RAFOS,2,1282465028,8.300000,8.285556,104,102,46,42,42,39,693,692,475,1446,92,958
$RAFOS,1,1282464545,8.166667,8.151389,94,84,44,43,41,41,595,594,996,1918,1377,220
$RAFOS,0,1282464067,8.033334,8.018611,78,71,45,45,42,41,692,693,1464,707,1178,1297
$RAFOS,6,1282452551,4.833333,4.819722,98,84,43,42,41,41,669,670,1115,1883,210,1773
$RAFOS,5,1282452067,4.700000,4.685278,101,85,47,45,40,39,852,853,865,387,1103,987
$RAFOS,4,1282451589,4.566667,4.552500,145,144,45,44,43,42,625,624,1851,755,921,922
$RAFOS,3,1282451106,4.433333,4.418334,74,67,47,44,42,41,815,816,1556,197,1442,684
$RAFOS,2,1282450622,4.300000,4.283889,107,95,44,43,42,42,743,744,1344,1632,178,1689
$RAFOS,1,1282450142,4.166667,4.150556,140,117,47,46,45,42,631,630,1641,1349,748,1363
$RAFOS,0,1282449666,4.033333,4.018333,84,74,44,44,42,38,722,723,1034,1411,467,1040
$RAFOS_FIX,6659.694824,-5945.511230,220810,040416,7,107,0.70
$IRIDIUM_FIX,6631.12,-5857.45,151199,212156
$TT8_MAMPS,0.026845
$HUMID,42.75
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,900.2,63.9
$24V_AH,21.9,64.855
$10V_AH,10.0,34.145
$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,21.625,249.000,634.025,24.950,0.000,28.600,31.443,217.130,3.750,0.000,10.665,3028.851,15172.011,796.907,3065.313,829.554,0.000,2487.771,0.000,3018.773,5040.000,30.363,0.000
$DEVICE_MAMPS,228.566,92.807,1416.649,780.039,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1224.654,1232.761,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135576
$DATA_FILE_SIZE,66157,1699
$CAP_FILE_SIZE,238690,0
$CFSIZE,260165632,217088000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,220810,094030,6657.157,-5950.686,37,1.0,42,-38.3