version: 66.06
glider: 108
mission: 14
dive: 141
start: 7 4 110 22 3 25
data:
$ID,108
$MISSION,14
$DIVE,141
$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,-180348.62
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,214333,6659.138,-5750.243,39,1.8,47,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-76.6
$GPS2,220306,6658.878,-5750.475,14,1.4,30,-37.7
$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,118.1,45757,-18.1,-10.000
$D_GRID,886
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,47,0.00,0.00,-29.52,0.000,2,0.000,0.000,338,2271,2055,0,0,0,0,0,0
$GC,51,-0.78,-146.1,3.1,-0.8,6,155,10.32,2.40,-83.18,0.000,4,0.242,0.078,2935,850,3657,0,0,0,0,0,0
$GC,258,-0.78,-146.1,22.4,-16.4,44,263,0.00,2.35,0.00,0.000,6,0.000,0.068,2927,2251,3660,0,0,0,0,0,0
$GC,601,-0.78,-146.1,61.2,-11.4,105,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2250,3662,0,0,0,0,0,0
$GC,944,-0.78,-146.1,98.5,-9.7,166,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2251,3663,0,0,0,0,0,0
$GC,1272,-0.78,-146.1,128.7,-8.1,198,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2251,3662,0,0,0,0,0,0
$GC,1599,-0.78,-146.1,155.7,-8.1,229,1603,0.00,2.28,0.00,0.000,4,0.000,0.065,2927,846,3662,0,0,0,0,0,0
$GC,1622,-0.78,-146.1,158.0,-9.1,230,1628,0.10,2.33,0.00,0.000,6,0.163,0.071,2945,2261,3662,0,0,0,0,0,0
$GC,1947,-0.78,-146.1,180.5,-6.6,261,1951,0.00,2.15,0.00,0.000,4,0.000,0.079,2937,3597,3661,0,0,0,0,0,0
$GC,2003,-0.78,-146.1,184.8,-7.8,265,2009,0.00,2.15,0.00,0.000,6,0.000,0.055,2937,2242,3661,0,0,0,0,0,0
$GC,2328,-0.78,-146.1,209.7,-7.9,296,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2241,3661,0,0,0,0,0,0
$GC,2649,-0.78,-146.1,235.8,-8.3,326,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2241,3662,0,0,0,0,0,0
$GC,2977,-0.78,-146.1,263.4,-8.5,357,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2241,3662,0,0,0,0,0,0
$GC,3295,-0.78,-146.1,290.3,-7.9,387,3299,0.00,2.22,0.00,0.000,4,0.000,0.065,2937,830,3662,0,0,0,0,0,0
$GC,3329,-0.78,-146.1,293.4,-8.6,389,3334,0.00,2.33,0.00,0.000,6,0.000,0.067,2927,2267,3662,0,0,0,0,0,0
$GC,3654,-0.78,-146.1,319.5,-8.1,420,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2267,3662,0,0,0,0,0,0
$GC,3975,-0.78,-146.1,344.3,-7.7,450,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2267,3663,0,0,0,0,0,0
$GC,4293,-0.78,-146.1,367.2,-7.4,480,4297,0.00,2.12,0.00,0.000,4,0.000,0.078,2917,3596,3663,0,0,0,0,0,0
$GC,4322,-0.78,-146.1,369.5,-8.2,482,4326,0.10,2.12,0.00,0.000,6,0.162,0.052,2945,2239,3663,0,0,0,0,0,0
$GC,4647,-0.78,-146.1,389.5,-5.8,512,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2239,3664,0,0,0,0,0,0
$GC,4968,-0.78,-146.1,408.4,-5.7,542,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2239,3664,0,0,0,0,0,0
$GC,5286,-0.78,-146.1,428.9,-6.5,572,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2238,3664,0,0,0,0,0,0
$GC,5604,-0.78,-146.1,449.3,-6.5,602,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2238,3664,0,0,0,0,0,0
$GC,5933,-0.78,-146.1,471.1,-6.8,633,5937,0.00,2.20,0.00,0.000,4,0.000,0.064,2945,840,3664,0,0,0,0,0,0
$GC,5973,-0.78,-146.1,474.2,-7.7,636,5977,0.00,2.30,0.00,0.000,6,0.000,0.067,2938,2257,3664,0,0,0,0,0,0
$GC,6298,-0.78,-146.1,498.4,-7.5,666,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2257,3664,0,0,0,0,0,0
$GC,6621,-0.78,-146.1,521.6,-7.1,696,6625,0.00,2.15,0.00,0.000,4,0.000,0.077,2928,3603,3664,0,0,0,0,0,0
$GC,6661,-0.78,-146.1,525.0,-7.9,699,6665,0.00,2.12,0.00,0.000,6,0.000,0.052,2928,2242,3664,0,0,0,0,0,0
$GC,6987,-0.78,-146.1,548.9,-7.5,729,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2241,3664,0,0,0,0,0,0
$GC,7305,-0.78,-146.1,571.6,-6.9,759,7309,0.00,2.20,0.00,0.000,4,0.000,0.064,2928,839,3664,0,0,0,0,0,0
$GC,7323,-0.78,-146.1,572.8,-7.5,760,7328,0.10,2.30,0.00,0.000,6,0.158,0.067,2947,2260,3664,0,0,0,0,0,0
$GC,7653,-0.78,-146.1,592.6,-6.0,791,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2260,3664,0,0,0,0,0,0
$GC,7976,-0.78,-146.1,610.9,-5.6,810,7979,0.00,2.12,0.00,0.000,4,0.000,0.077,2939,3595,3664,0,0,0,0,0,0
$GC,8010,-0.78,-146.1,613.1,-6.3,811,8014,0.00,2.10,0.00,0.000,6,0.000,0.052,2939,2247,3663,0,0,0,0,0,0
$GC,8351,-0.78,-146.1,633.4,-5.9,822,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2247,3664,0,0,0,0,0,0
$GC,8661,-0.78,-146.1,651.4,-5.7,832,8664,0.00,2.20,0.00,0.000,4,0.000,0.064,2939,842,3663,0,0,0,0,0,0
$GC,8672,-0.78,-146.1,652.3,-5.9,832,8676,0.00,2.28,0.00,0.000,6,0.000,0.066,2929,2249,3663,0,0,0,0,0,0
$GC,8994,-0.78,-146.1,671.5,-6.0,843,8998,0.00,2.17,0.00,0.000,4,0.000,0.076,2919,3604,3663,0,0,0,0,0,0
$GC,9016,-0.78,-146.1,673.3,-6.4,843,9022,0.10,2.10,0.00,0.000,6,0.159,0.051,2947,2249,3663,0,0,0,0,0,0
$GC,9329,-0.78,-146.1,689.8,-5.3,854,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2249,3663,0,0,0,0,0,0
$GC,9637,-0.78,-146.1,705.6,-5.2,864,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2249,3663,0,0,0,0,0,0
$GC,9944,-0.78,-146.1,721.4,-5.2,874,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2249,3663,0,0,0,0,0,0
$GC,10247,-0.78,-146.1,737.6,-5.3,884,10251,0.00,2.20,0.00,0.000,4,0.000,0.064,2947,844,3663,0,0,0,0,0,0
$GC,10259,-0.78,-146.1,738.2,-5.2,884,10263,0.00,2.30,0.00,0.000,6,0.000,0.067,2939,2265,3663,0,0,0,0,0,0
$GC,10577,-0.78,-146.1,756.1,-5.6,895,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2265,3663,0,0,0,0,0,0
$GC,10883,-0.78,-146.1,774.3,-6.0,905,10887,0.00,2.10,0.00,0.000,4,0.000,0.076,2929,3601,3663,0,0,0,0,0,0
$GC,10922,-0.78,-146.1,776.9,-6.9,906,10926,0.00,2.10,0.00,0.000,6,0.000,0.051,2929,2249,3663,0,0,0,0,0,0
$GC,11258,-0.78,-146.1,799.1,-6.5,917,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2249,3663,0,0,0,0,0,0
$GC,11565,-0.78,-146.1,819.5,-6.7,927,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2249,3663,0,0,0,0,0,0
$GC,11870,-0.78,-146.1,839.8,-6.7,937,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2249,3663,0,0,0,0,0,0
$GC,12176,-0.78,-146.1,860.5,-7.0,947,12180,0.00,2.17,0.00,0.000,4,0.000,0.063,2929,842,3662,0,0,0,0,0,0
$GC,12193,-0.78,-146.1,861.9,-7.3,947,12198,0.10,2.25,0.00,0.000,6,0.158,0.065,2948,2248,3662,0,0,0,0,0,0
$GC,12512,-0.78,-146.1,881.2,-5.9,958,12516,0.00,2.12,0.00,0.000,4,0.000,0.076,2941,3603,3662,0,0,0,0,0,0
$GC,12534,-0.78,-146.1,882.6,-6.7,958,12538,0.00,2.10,0.00,0.000,6,0.000,0.049,2940,2247,3662,0,0,0,0,0,0
$STATE,12606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12606,begin apogee
$GC,12613,-0.17,0.0,886.8,6.0,961,12743,0.43,0.00,126.22,1.433,6,0.118,0.000,3081,2202,3058,0,0,0,0,0,0
$STATE,12743,end apogee,CONTROL_FINISHED_OK
$STATE,12744,begin climb
$GC,12747,0.78,146.1,889.3,0.0,965,12883,0.57,2.58,128.18,1.358,4,0.071,0.069,3285,3595,2462,0,0,0,0,0,0
$GC,12911,0.78,146.1,876.7,11.3,970,12915,0.00,2.42,0.00,0.000,6,0.000,0.048,3295,2199,2460,0,0,0,0,0,0
$GC,13234,0.78,146.1,841.0,11.0,981,13238,0.00,2.33,0.00,0.000,4,0.000,0.061,3306,784,2457,0,0,0,0,0,0
$GC,13312,0.78,146.1,832.2,11.0,983,13317,0.10,2.38,0.00,0.000,6,0.176,0.062,3282,2204,2457,0,0,0,0,0,0
$GC,13637,0.78,147.2,800.1,9.9,994,13641,0.00,2.28,0.00,0.000,4,0.000,0.072,3283,3595,2456,0,0,0,0,0,0
$GC,13682,0.78,147.2,794.5,12.1,995,13686,0.00,2.25,0.00,0.000,6,0.000,0.049,3290,2189,2456,0,0,0,0,0,0
$GC,14000,0.78,147.2,760.0,10.6,1006,14004,0.00,2.22,0.00,0.000,4,0.000,0.061,3300,785,2456,0,0,0,0,0,0
$GC,14055,0.78,147.2,754.0,10.4,1007,14061,0.00,2.33,0.00,0.000,6,0.000,0.061,3300,2200,2456,0,0,0,0,0,0
$GC,14368,0.78,147.2,719.5,11.0,1018,14372,0.00,2.25,0.00,0.000,4,0.000,0.072,3301,3597,2456,0,0,0,0,0,0
$GC,14418,0.78,147.2,712.9,12.9,1019,14423,0.12,2.22,0.00,0.000,6,0.176,0.050,3278,2187,2455,0,0,0,0,0,0
$GC,14731,0.80,159.7,682.6,9.4,1029,14747,0.00,2.22,11.43,1.197,4,0.000,0.059,3286,792,2407,0,0,0,0,0,0
$GC,14821,0.81,165.0,674.0,9.8,1031,14832,0.00,2.33,6.30,1.019,6,0.000,0.061,3286,2204,2385,0,0,0,0,0,0
$GC,15162,0.81,165.0,639.2,10.2,1043,15166,0.00,2.25,0.00,0.000,4,0.000,0.073,3286,3598,2385,0,0,0,0,0,0
$GC,15224,0.81,165.0,631.9,11.8,1045,15228,0.00,2.22,0.00,0.000,6,0.000,0.050,3295,2190,2384,0,0,0,0,0,0
$GC,15539,0.81,165.0,597.9,10.6,1056,15543,0.00,2.22,0.00,0.000,4,0.000,0.061,3306,786,2384,0,0,0,0,0,0
$GC,15594,0.81,165.0,591.6,11.0,1060,15600,0.00,2.33,0.00,0.000,6,0.000,0.061,3306,2212,2384,0,0,0,0,0,0
$GC,15919,0.81,165.0,554.7,11.2,1091,15923,0.00,2.22,0.00,0.000,4,0.000,0.074,3306,3600,2384,0,0,0,0,0,0
$GC,15963,0.81,165.0,549.1,12.5,1094,15969,0.12,2.20,0.00,0.000,6,0.175,0.051,3283,2201,2383,0,0,0,0,0,0
$GC,16288,0.81,166.4,516.6,9.9,1125,16292,0.00,2.20,0.00,0.000,4,0.000,0.061,3292,794,2383,0,0,0,0,0,0
$GC,16384,0.81,167.5,507.0,10.0,1133,16388,0.00,2.30,0.00,0.000,6,0.000,0.062,3292,2212,2384,0,0,0,0,0,0
$GC,16709,0.83,184.8,475.0,9.2,1163,16733,0.00,2.30,17.40,1.138,4,0.000,0.074,3292,3592,2304,0,0,0,0,0,0
$GC,16762,0.83,184.8,469.3,12.0,1168,16767,0.00,2.22,0.00,0.000,6,0.000,0.051,3301,2193,2303,0,0,0,0,0,0
$GC,17087,0.83,184.8,435.2,11.0,1198,17091,0.00,2.20,0.00,0.000,4,0.000,0.061,3311,796,2302,0,0,0,0,0,0
$GC,17161,0.83,184.8,427.2,10.8,1204,17165,0.00,2.30,0.00,0.000,6,0.000,0.063,3312,2204,2302,0,0,0,0,0,0
$GC,17486,0.83,184.8,391.3,10.7,1234,17490,0.00,2.22,0.00,0.000,4,0.000,0.074,3311,3597,2302,0,0,0,0,0,0
$GC,17535,0.83,184.8,385.0,13.1,1238,17542,0.12,2.20,0.00,0.000,6,0.175,0.051,3288,2200,2301,0,0,0,0,0,0
$GC,17862,0.83,184.8,353.0,10.0,1269,17865,0.00,2.22,0.00,0.000,4,0.000,0.061,3297,790,2301,0,0,0,0,0,0
$GC,17952,0.84,192.4,343.8,9.6,1277,17966,0.00,2.28,7.45,0.938,6,0.000,0.063,3297,2206,2273,0,0,0,0,0,0
$GC,18292,0.84,192.4,309.0,10.2,1309,18293,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2206,2273,0,0,0,0,0,0
$GC,18614,0.84,192.4,276.8,10.8,1339,18618,0.00,2.22,0.00,0.000,4,0.000,0.075,3297,3595,2272,0,0,0,0,0,0
$GC,18643,0.84,192.4,273.2,11.6,1341,18648,0.00,2.17,0.00,0.000,6,0.000,0.052,3306,2200,2272,0,0,0,0,0,0
$GC,18974,0.84,192.4,236.5,11.3,1372,18978,0.00,2.25,0.00,0.000,4,0.000,0.061,3317,784,2272,0,0,0,0,0,0
$GC,19047,0.84,192.4,228.1,12.9,1378,19053,0.10,2.30,0.00,0.000,6,0.171,0.063,3291,2201,2272,0,0,0,0,0,0
$GC,19372,0.84,194.7,195.7,9.9,1409,19376,0.00,2.22,0.00,0.000,4,0.000,0.074,3291,3594,2272,0,0,0,0,0,0
$GC,19413,0.84,194.7,191.2,11.9,1412,19416,0.00,2.20,0.00,0.000,6,0.000,0.051,3298,2187,2272,0,0,0,0,0,0
$GC,19743,0.88,222.4,158.4,8.7,1443,19775,0.00,2.22,25.38,0.966,4,0.000,0.061,3309,794,2151,0,0,0,0,0,0
$GC,19857,0.90,239.0,148.2,9.2,1453,19879,0.00,2.33,14.88,0.907,6,0.000,0.063,3308,2206,2083,0,0,0,0,0,0
$GC,20198,0.90,243.6,114.8,9.8,1485,20209,0.00,2.33,4.62,0.683,4,0.000,0.061,3318,790,2064,0,0,0,0,0,0
$GC,20238,0.93,263.3,110.8,9.1,1488,20264,0.00,2.33,18.35,0.903,6,0.000,0.064,3318,2199,1983,0,0,0,0,0,0
$GC,20599,0.94,272.9,73.4,9.6,1543,20609,0.00,0.00,8.73,0.812,6,0.000,0.000,3318,2199,1945,0,0,0,0,0,0
$GC,20950,0.97,296.9,40.3,8.9,1605,20976,0.00,0.00,21.55,0.877,6,0.000,0.000,3318,2199,1847,0,0,0,0,0,0
$FREEZE,8.87,2.366,-1.761,0,1,0
$FREEZE,8.30,2.375,-1.761,0,1,0
$FREEZE,7.73,2.373,-1.761,0,1,0
$FREEZE,7.18,2.401,-1.759,0,1,0
$FREEZE,6.55,2.378,-1.758,0,1,0
$FREEZE,5.90,2.361,-1.757,0,1,0
$GC,21314,1.07,381.4,12.8,6.1,1670,21398,0.10,2.45,71.35,0.869,4,0.104,0.062,3381,798,1502,0,0,0,0,0,0
$FREEZE,4.30,2.294,-1.753,0,1,0
$FREEZE,3.78,2.292,-1.753,0,1,0
$FREEZE,3.23,2.305,-1.752,0,1,0
$FREEZE,2.63,2.294,-1.751,0,1,0
$STATE,21420,end climb,SURFACE_DEPTH_REACHED
$STATE,21420,begin surface coast
$FREEZE,2.20,2.289,-1.751,0,1,0
$FREEZE,2.03,2.262,-0.831,0,1,0
$FREEZE,1.92,2.279,-1.686,0,1,0
$FREEZE,1.92,2.216,-1.741,0,1,0
$FINISH,1.9,1.025390
$STATE,21443,end surface coast,CONTROL_FINISHED_OK
$STATE,21443,begin surface
$SM_CCo,21645,0.00,0.000,0,0,1488,385.12
$SM_GC,2.85,8.27,0.00,0.00,0.045,0.000,0.000,335,2258,1488,-12.69,0.23,385.12
$RAFOS_CLK,914
$RAFOS,6,1278290943,0.833333,0.817500,134,114,43,41,38,38,716,717,494,142,1,952
$RAFOS,5,1278290484,0.700000,0.690000,167,167,52,48,45,44,432,431,1703,1704,1726,1843
$RAFOS,4,1278289992,0.566667,0.553333,78,65,50,45,43,43,690,691,1256,1771,1872,1777
$RAFOS,3,1278289506,0.433333,0.418333,100,100,47,47,46,41,864,863,570,1195,1530,1193
$RAFOS,2,1278289024,0.300000,0.284444,95,90,44,42,41,40,925,924,438,1346,1549,1515
$RAFOS,1,1278288552,0.166667,0.153333,51,48,48,46,45,44,1942,413,946,860,808,624
$RAFOS,0,1278288063,0.033333,0.017500,45,41,40,40,40,40,1761,206,616,1573,861,931
$RAFOS_FIX,6659.539062,-5750.141113,050710,000024,5,115,0.14
$IRIDIUM_FIX,6631.12,-5800.84,280999,151521
$TT8_MAMPS,0.026845
$HUMID,40.98
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,15.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.7
$ALTIM_BOTTOM_PING,852.0,54.1
$24V_AH,22.6,23.280
$10V_AH,10.1,13.087
$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,20.775,157.325,461.825,0.000,0.000,25.645,34.320,748.247,4.000,0.000,31.556,2907.444,15022.024,596.367,2816.620,1462.985,0.000,2085.726,0.000,2769.481,2520.000,26.598,0.000
$DEVICE_MAMPS,242.372,159.536,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1222.825,1233.375,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135708
$DATA_FILE_SIZE,66134,1693
$CAP_FILE_SIZE,217607,0
$CFSIZE,260165632,237051904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.7
$GPS,050710,040537,6658.713,-5744.834,27,1.0,27,-37.7