version: 66.06
glider: 108
mission: 14
dive: 143
start: 7 5 110 10 34 4
data:
$ID,108
$MISSION,14
$DIVE,143
$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,-180394.11
$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,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
$GPS1,101041,6659.347,-5740.604,38,1.3,42,-37.7
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,3
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-75.0
$GPS2,103344,6659.124,-5740.605,11,1.0,11,-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,117.0,38661,-18.1,-10.000
$D_GRID,855
$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,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,47,0.00,0.00,-29.45,0.000,2,0.000,0.000,340,2287,2231,0,0,0,0,0,0
$GC,51,-0.78,-146.1,3.0,-1.0,6,143,10.27,2.35,-75.03,0.000,4,0.240,0.071,2935,837,3655,0,0,0,0,0,0
$GC,214,-0.78,-146.1,11.4,-13.4,36,220,0.00,2.33,0.00,0.000,6,0.000,0.064,2927,2240,3659,0,0,0,0,0,0
$GC,559,-0.78,-146.1,50.4,-10.5,97,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2240,3661,0,0,0,0,0,0
$GC,901,-0.78,-146.1,85.4,-10.4,158,907,0.00,2.28,0.00,0.000,4,0.000,0.060,2927,830,3662,0,0,0,0,0,0
$GC,925,-0.78,-146.1,87.8,-10.0,162,931,0.10,2.33,0.00,0.000,6,0.163,0.065,2945,2249,3662,0,0,0,0,0,0
$GC,1264,-0.78,-146.1,116.9,-9.0,206,1268,0.00,2.28,0.00,0.000,4,0.000,0.062,2945,828,3662,0,0,0,0,0,0
$GC,1304,-0.78,-146.1,120.6,-9.7,209,1308,0.00,2.35,0.00,0.000,6,0.000,0.065,2937,2262,3662,0,0,0,0,0,0
$GC,1629,-0.78,-146.1,150.8,-9.3,239,1633,0.00,2.30,0.00,0.000,4,0.000,0.062,2937,833,3662,0,0,0,0,0,0
$GC,1657,-0.78,-146.1,153.1,-9.2,241,1662,0.00,2.33,0.00,0.000,6,0.000,0.067,2928,2252,3662,0,0,0,0,0,0
$GC,1983,-0.78,-146.1,182.4,-8.5,271,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2251,3661,0,0,0,0,0,0
$GC,2304,-0.78,-146.1,209.6,-8.6,301,2307,0.00,2.15,0.00,0.000,4,0.000,0.079,2918,3600,3660,0,0,0,0,0,0
$GC,2338,-0.78,-146.1,212.9,-9.1,304,2343,0.10,2.15,0.00,0.000,6,0.164,0.054,2944,2238,3660,0,0,0,0,0,0
$GC,2664,-0.78,-146.1,236.4,-6.9,334,2668,0.00,2.20,0.00,0.000,4,0.000,0.065,2944,844,3659,0,0,0,0,0,0
$GC,2686,-0.78,-146.1,238.1,-7.2,335,2691,0.00,2.30,0.00,0.000,6,0.000,0.067,2937,2251,3659,0,0,0,0,0,0
$GC,3011,-0.78,-146.1,261.6,-7.5,366,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2251,3659,0,0,0,0,0,0
$GC,3332,-0.78,-146.1,285.4,-7.5,396,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2251,3659,0,0,0,0,0,0
$GC,3652,-0.78,-146.1,309.6,-7.5,426,3655,0.00,2.15,0.00,0.000,4,0.000,0.077,2927,3596,3658,0,0,0,0,0,0
$GC,3687,-0.78,-146.1,312.8,-8.6,429,3690,0.00,2.12,0.00,0.000,6,0.000,0.053,2927,2244,3658,0,0,0,0,0,0
$GC,4017,-0.78,-146.1,338.8,-7.6,460,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2244,3658,0,0,0,0,0,0
$GC,4338,-0.78,-146.1,362.4,-7.5,490,4342,0.00,2.20,0.00,0.000,4,0.000,0.065,2927,844,3658,0,0,0,0,0,0
$GC,4356,-0.78,-146.1,364.0,-7.5,491,4361,0.10,2.30,0.00,0.000,6,0.163,0.067,2947,2257,3658,0,0,0,0,0,0
$GC,4681,-0.78,-146.1,384.8,-6.5,521,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2257,3658,0,0,0,0,0,0
$GC,5002,-0.78,-146.1,405.7,-6.8,551,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2257,3658,0,0,0,0,0,0
$GC,5320,-0.78,-146.1,426.6,-6.5,581,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2257,3658,0,0,0,0,0,0
$GC,5636,-0.78,-146.1,447.5,-6.5,611,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2257,3658,0,0,0,0,0,0
$GC,5955,-0.78,-146.1,468.0,-6.4,641,5958,0.00,2.15,0.00,0.000,4,0.000,0.077,2940,3603,3658,0,0,0,0,0,0
$GC,5977,-0.78,-146.1,469.5,-6.5,642,5983,0.00,2.12,0.00,0.000,6,0.000,0.052,2940,2241,3657,0,0,0,0,0,0
$GC,6303,-0.78,-146.1,491.2,-6.8,673,6307,0.00,2.17,0.00,0.000,4,0.000,0.064,2940,840,3657,0,0,0,0,0,0
$GC,6325,-0.78,-146.1,492.8,-7.0,674,6331,0.00,2.30,0.00,0.000,6,0.000,0.066,2930,2263,3657,0,0,0,0,0,0
$GC,6650,-0.78,-146.1,515.7,-6.9,705,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2264,3657,0,0,0,0,0,0
$GC,6971,-0.78,-146.1,537.8,-6.7,735,6975,0.00,2.10,0.00,0.000,4,0.000,0.077,2921,3597,3657,0,0,0,0,0,0
$GC,7005,-0.78,-146.1,540.5,-7.9,737,7010,0.00,2.12,0.00,0.000,6,0.000,0.052,2921,2237,3657,0,0,0,0,0,0
$GC,7330,-0.78,-146.1,563.6,-6.9,768,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2237,3657,0,0,0,0,0,0
$GC,7648,-0.78,-146.1,585.3,-6.9,798,7652,0.00,2.20,0.00,0.000,4,0.000,0.064,2921,836,3657,0,0,0,0,0,0
$GC,7682,-0.78,-146.1,587.9,-7.6,800,7688,0.12,2.30,0.00,0.000,6,0.152,0.067,2948,2259,3657,0,0,0,0,0,0
$GC,8025,-0.78,-146.1,607.0,-5.5,825,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2259,3657,0,0,0,0,0,0
$GC,8330,-0.78,-146.1,624.0,-5.7,835,8334,0.00,2.12,0.00,0.000,4,0.000,0.077,2941,3593,3657,0,0,0,0,0,0
$GC,8363,-0.78,-146.1,626.0,-6.4,836,8367,0.00,2.10,0.00,0.000,6,0.000,0.051,2941,2245,3657,0,0,0,0,0,0
$GC,8692,-0.78,-146.1,646.6,-6.3,847,8696,0.00,2.20,0.00,0.000,4,0.000,0.064,2941,840,3657,0,0,0,0,0,0
$GC,8709,-0.78,-146.1,647.8,-6.5,847,8713,0.00,2.28,0.00,0.000,6,0.000,0.066,2932,2252,3657,0,0,0,0,0,0
$GC,9021,-0.78,-146.1,668.8,-6.8,857,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2253,3657,0,0,0,0,0,0
$GC,9328,-0.78,-146.1,688.8,-6.6,867,9331,0.00,2.15,0.00,0.000,4,0.000,0.076,2923,3605,3656,0,0,0,0,0,0
$GC,9356,-0.78,-146.1,690.9,-7.0,867,9361,0.00,2.12,0.00,0.000,6,0.000,0.051,2922,2238,3657,0,0,0,0,0,0
$GC,9669,-0.78,-146.1,713.2,-7.3,878,9673,0.00,2.20,0.00,0.000,4,0.000,0.064,2922,836,3656,0,0,0,0,0,0
$GC,9691,-0.78,-146.1,715.0,-7.7,878,9697,0.10,2.30,0.00,0.000,6,0.162,0.066,2941,2261,3656,0,0,0,0,0,0
$GC,10004,-0.78,-146.1,734.2,-6.1,889,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2260,3656,0,0,0,0,0,0
$GC,10310,-0.78,-146.1,752.0,-5.8,899,10314,0.00,2.12,0.00,0.000,4,0.000,0.076,2933,3596,3656,0,0,0,0,0,0
$GC,10338,-0.78,-146.1,753.8,-6.4,899,10343,0.00,2.10,0.00,0.000,6,0.000,0.051,2933,2248,3656,0,0,0,0,0,0
$GC,10651,-0.78,-146.1,773.6,-6.3,910,10655,0.00,2.20,0.00,0.000,4,0.000,0.064,2933,844,3656,0,0,0,0,0,0
$GC,10673,-0.78,-146.1,775.1,-6.3,910,10678,0.00,2.28,0.00,0.000,6,0.000,0.066,2925,2250,3656,0,0,0,0,0,0
$GC,10986,-0.78,-146.1,795.3,-6.4,921,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2249,3656,0,0,0,0,0,0
$GC,11292,-0.78,-146.1,815.8,-6.8,931,11296,0.00,2.12,0.00,0.000,4,0.000,0.076,2914,3596,3656,0,0,0,0,0,0
$GC,11327,-0.78,-146.1,818.3,-7.3,932,11331,0.10,2.10,0.00,0.000,6,0.161,0.051,2942,2246,3656,0,0,0,0,0,0
$GC,11662,-0.78,-146.1,837.6,-5.6,943,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2245,3656,0,0,0,0,0,0
$STATE,11908,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11908,begin apogee
$GC,11915,-0.17,0.0,851.2,5.6,951,12042,0.40,0.00,124.30,1.411,6,0.120,0.000,3076,2200,3058,0,0,0,0,0,0
$STATE,12043,end apogee,CONTROL_FINISHED_OK
$STATE,12043,begin climb
$GC,12046,0.78,146.1,853.9,0.0,955,12178,0.62,0.00,128.30,1.333,6,0.077,0.000,3288,2201,2462,0,0,0,0,0,0
$GC,12483,0.78,146.1,813.4,10.5,970,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2200,2458,0,0,0,0,0,0
$GC,12789,0.78,146.1,782.2,10.3,980,12793,0.00,2.33,0.00,0.000,4,0.000,0.064,3296,793,2457,0,0,0,0,0,0
$GC,12844,0.78,146.1,776.6,10.7,981,12850,0.00,2.35,0.00,0.000,6,0.000,0.064,3296,2199,2457,0,0,0,0,0,0
$GC,13157,0.78,146.1,743.7,10.7,992,13161,0.00,2.30,0.00,0.000,4,0.000,0.073,3296,3598,2456,0,0,0,0,0,0
$GC,13219,0.78,146.1,736.0,13.1,994,13223,0.10,2.22,0.00,0.000,6,0.186,0.051,3282,2200,2455,0,0,0,0,0,0
$GC,13554,0.78,146.1,701.8,10.4,1005,13558,0.00,2.25,0.00,0.000,4,0.000,0.062,3290,787,2455,0,0,0,0,0,0
$GC,13626,0.78,146.1,694.2,10.2,1007,13630,0.00,2.33,0.00,0.000,6,0.000,0.063,3290,2205,2456,0,0,0,0,0,0
$GC,13950,0.78,146.1,660.4,10.4,1018,13954,0.00,2.22,0.00,0.000,4,0.000,0.073,3290,3593,2456,0,0,0,0,0,0
$GC,14013,0.78,146.1,652.8,12.2,1020,14017,0.00,2.20,0.00,0.000,6,0.000,0.050,3299,2196,2456,0,0,0,0,0,0
$GC,14349,0.78,146.1,613.6,11.7,1031,14353,0.00,2.22,0.00,0.000,4,0.000,0.061,3310,786,2455,0,0,0,0,0,0
$GC,14405,0.78,146.1,607.0,12.4,1032,14411,0.12,2.30,0.00,0.000,6,0.165,0.061,3277,2202,2455,0,0,0,0,0,0
$GC,14727,0.79,153.9,575.1,9.6,1059,14739,0.00,2.30,6.65,1.022,4,0.000,0.074,3277,3595,2430,0,0,0,0,0,0
$GC,14797,0.79,153.9,567.5,11.4,1065,14801,0.00,2.20,0.00,0.000,6,0.000,0.050,3285,2198,2431,0,0,0,0,0,0
$GC,15121,0.79,153.9,534.3,10.2,1095,15125,0.00,2.22,0.00,0.000,4,0.000,0.061,3294,786,2431,0,0,0,0,0,0
$GC,15190,0.79,153.9,527.4,10.3,1101,15194,0.00,2.30,0.00,0.000,6,0.000,0.062,3294,2201,2431,0,0,0,0,0,0
$GC,15515,0.79,153.9,493.5,10.2,1131,15519,0.00,2.22,0.00,0.000,4,0.000,0.074,3294,3594,2431,0,0,0,0,0,0
$GC,15566,0.79,153.9,487.3,12.3,1135,15570,0.00,2.20,0.00,0.000,6,0.000,0.051,3304,2190,2430,0,0,0,0,0,0
$GC,15891,0.79,153.9,450.7,11.0,1165,15895,0.00,2.20,0.00,0.000,4,0.000,0.061,3315,790,2431,0,0,0,0,0,0
$GC,15969,0.79,153.9,442.1,11.1,1171,15975,0.12,2.30,0.00,0.000,6,0.166,0.062,3281,2208,2431,0,0,0,0,0,0
$GC,16294,0.80,160.7,411.0,9.7,1202,16308,0.00,2.30,7.10,0.957,4,0.000,0.074,3281,3605,2403,0,0,0,0,0,0
$GC,16338,0.80,160.7,406.3,11.4,1206,16342,0.00,2.22,0.00,0.000,6,0.000,0.051,3289,2190,2403,0,0,0,0,0,0
$GC,16663,0.80,160.7,373.0,10.2,1236,16667,0.00,2.20,0.00,0.000,4,0.000,0.061,3299,797,2403,0,0,0,0,0,0
$GC,16748,0.80,160.7,364.5,10.4,1243,16752,0.00,2.30,0.00,0.000,6,0.000,0.064,3298,2211,2403,0,0,0,0,0,0
$GC,17073,0.80,160.7,330.7,10.4,1273,17077,0.00,2.20,0.00,0.000,4,0.000,0.075,3298,3600,2403,0,0,0,0,0,0
$GC,17124,0.80,160.7,325.0,12.0,1277,17129,0.10,2.20,0.00,0.000,6,0.180,0.052,3283,2198,2402,0,0,0,0,0,0
$GC,17449,0.83,187.0,295.6,8.8,1307,17480,0.00,2.33,22.48,1.054,4,0.000,0.063,3291,787,2295,0,0,0,0,0,0
$GC,17545,0.88,227.2,287.2,8.2,1315,17584,0.00,2.33,34.22,1.039,6,0.000,0.063,3291,2198,2131,0,0,0,0,0,0
$GC,17910,0.88,227.2,250.0,10.0,1350,17914,0.00,2.28,0.00,0.000,4,0.000,0.074,3291,3594,2123,0,0,0,0,0,0
$GC,17955,0.88,227.2,244.7,11.8,1353,17960,0.00,2.22,0.00,0.000,6,0.000,0.051,3300,2201,2121,0,0,0,0,0,0
$GC,18280,0.88,227.2,209.5,11.2,1384,18284,0.00,2.22,0.00,0.000,4,0.000,0.061,3310,793,2121,0,0,0,0,0,0
$GC,18369,0.90,242.1,200.2,9.3,1391,18389,0.00,2.30,12.38,0.930,6,0.000,0.064,3310,2208,2070,0,0,0,0,0,0
$GC,18715,0.90,242.1,160.3,11.4,1424,18719,0.00,2.22,0.00,0.000,4,0.000,0.075,3310,3594,2067,0,0,0,0,0,0
$GC,18766,0.90,242.1,153.5,13.2,1428,18771,0.00,2.20,0.00,0.000,6,0.000,0.052,3320,2197,2066,0,0,0,0,0,0
$GC,19097,0.90,242.1,112.4,11.5,1459,19101,0.00,2.22,0.00,0.000,4,0.000,0.062,3331,783,2066,0,0,0,0,0,0
$GC,19194,0.92,260.6,102.3,9.2,1467,19215,0.00,2.33,16.17,0.905,6,0.000,0.064,3331,2204,1995,0,0,0,0,0,0
$GC,19553,0.92,260.6,62.3,10.6,1529,19559,0.00,2.25,0.00,0.000,4,0.000,0.076,3331,3594,1990,0,0,0,0,0,0
$GC,19610,0.92,260.6,55.2,13.2,1539,19616,0.12,2.22,0.00,0.000,6,0.169,0.052,3307,2190,1989,0,0,0,0,0,0
$GC,19957,1.02,338.1,24.1,6.5,1600,20031,0.10,2.35,64.80,0.886,4,0.111,0.064,3361,789,1678,0,0,0,0,0,0
$GC,20089,1.02,338.1,10.3,10.4,1624,20095,0.12,2.38,0.00,0.000,6,0.145,0.064,3327,2205,1673,0,0,0,0,0,0
$FREEZE,8.77,3.829,-1.767,0,1,0
$FREEZE,8.41,3.829,-1.767,0,1,0
$FREEZE,7.98,3.823,-1.767,0,1,0
$FREEZE,7.68,3.807,-1.767,0,1,0
$FREEZE,7.30,3.806,-1.767,0,1,0
$FREEZE,6.87,3.812,-1.767,0,1,0
$FREEZE,6.45,3.794,-1.766,0,1,0
$FREEZE,6.06,3.792,-1.767,0,1,0
$FREEZE,5.73,3.781,-1.766,0,1,0
$FREEZE,5.50,3.777,-1.766,0,1,0
$FREEZE,5.15,3.776,-1.766,0,1,0
$FREEZE,4.80,3.780,-1.765,0,1,0
$FREEZE,4.39,3.785,-1.765,0,1,0
$FREEZE,3.98,3.790,-1.765,0,1,0
$FREEZE,3.62,3.786,-1.765,0,1,0
$FREEZE,3.23,3.789,-1.764,0,1,0
$FREEZE,2.61,3.790,-1.764,0,1,0
$STATE,20196,end climb,SURFACE_DEPTH_REACHED
$STATE,20196,begin surface coast
$FREEZE,2.29,3.778,-1.765,0,1,0
$FREEZE,1.92,3.731,-1.767,0,1,0
$FREEZE,1.94,3.800,-1.756,0,1,0
$FREEZE,1.95,3.769,-1.765,0,1,0
$FREEZE,1.91,3.779,-1.763,0,1,0
$FREEZE,2.02,3.593,-1.743,0,1,0
$FREEZE,1.91,3.778,-1.758,0,1,0
$FREEZE,2.00,3.794,-1.676,0,1,0
$FINISH,2.0,1.024346
$STATE,20242,end surface coast,CONTROL_FINISHED_OK
$STATE,20242,begin surface
$SM_CCo,20442,0.00,0.000,0,0,1659,342.93
$SM_GC,2.91,8.02,0.00,0.00,0.045,0.000,0.000,340,2255,1659,-12.67,0.14,342.93
$RAFOS_CLK,862
$RAFOS,0,1278345664,16.033333,16.017778,74,66,51,47,41,41,1056,1057,1681,1175,61,338
$RAFOS,6,1278334156,12.833333,12.821111,92,78,46,43,38,38,670,671,683,925,685,1182
$RAFOS,5,1278333668,12.700000,12.685555,174,144,48,47,45,44,515,514,1251,856,1251,1684
$RAFOS,4,1278333190,12.566667,12.552778,108,91,45,40,39,39,730,731,1345,1612,1,510
$RAFOS,3,1278332702,12.433333,12.417222,128,119,53,46,41,41,906,905,332,623,1,332
$RAFOS,2,1278332227,12.300000,12.285277,57,55,44,43,41,40,939,938,1541,333,1290,1
$RAFOS,1,1278331751,12.166667,12.153055,68,67,48,48,40,40,893,892,638,1403,654,1619
$RAFOS,0,1278331263,12.033333,12.017500,49,49,43,41,40,38,1370,1382,856,347,207,1
$RAFOS_FIX,6659.999023,-5742.582031,050710,121255,5,114,0.30
$IRIDIUM_FIX,6631.12,-5741.01,290999,101002
$TT8_MAMPS,0.027612
$HUMID,40.86
$INTERNAL_PRESSURE,10.225
$TCM_TEMP,16.10
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.5,17.5
$ALTIM_BOTTOM_PING,851.2,6.8
$24V_AH,22.7,23.679
$10V_AH,10.1,13.308
$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,20.750,170.050,416.400,0.000,0.000,55.993,75.518,838.890,6.750,0.000,12.769,2845.370,14067.144,580.390,2722.071,1602.955,0.000,2008.738,0.000,2680.544,3240.000,29.440,0.000
$DEVICE_MAMPS,240.071,158.002,1410.513,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.222,1195.095,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135660
$DATA_FILE_SIZE,66206,1651
$CAP_FILE_SIZE,218574,0
$CFSIZE,260165632,236855296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.3
$GPS,050710,161630,6658.767,-5733.737,39,1.5,39,-37.7