version: 66.06
glider: 108
mission: 14
dive: 165
start: 7 9 110 23 56 10
data:
$ID,108
$MISSION,14
$DIVE,165
$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,-180788.42
$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,36
$R_STBD_OVSHOOT,22
$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
$GPS1,234857,6703.576,-5749.217,27,2.5,46,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-77.9
$GPS2,235550,6703.591,-5749.281,10,1.7,10,-37.8
$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,290.2,120254,-18.1,-10.000
$D_GRID,877
$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,-146.1,0.0,0.0,0,37,0.00,0.00,-19.35,0.000,2,0.000,0.000,344,2252,2076,0,0,0,0,0,0
$GC,41,-0.78,-146.1,3.0,-1.4,4,128,10.15,2.33,-69.05,0.000,4,0.238,0.077,2945,849,3657,0,0,0,0,0,0
$GC,249,-0.78,-146.1,21.5,-10.8,42,255,0.00,2.35,0.00,0.000,6,0.000,0.066,2938,2263,3663,0,0,0,0,0,0
$GC,592,-0.78,-146.1,58.9,-10.5,103,597,0.00,2.17,0.00,0.000,4,0.000,0.076,2928,3602,3666,0,0,0,0,0,0
$GC,638,-0.78,-146.1,64.3,-11.6,111,644,0.00,2.15,0.00,0.000,6,0.000,0.052,2927,2250,3666,0,0,0,0,0,0
$GC,985,-0.78,-146.1,103.9,-11.1,170,989,0.00,2.25,0.00,0.000,4,0.000,0.064,2928,839,3667,0,0,0,0,0,0
$GC,1104,-0.78,-146.1,116.9,-11.0,180,1109,0.10,2.35,0.00,0.000,6,0.161,0.068,2945,2263,3666,0,0,0,0,0,0
$GC,1429,-0.78,-146.1,146.8,-8.5,210,1433,0.00,2.15,0.00,0.000,4,0.000,0.080,2937,3603,3666,0,0,0,0,0,0
$GC,1492,-0.78,-146.1,152.6,-9.4,215,1496,0.00,2.15,0.00,0.000,6,0.000,0.055,2937,2242,3665,0,0,0,0,0,0
$GC,1822,-0.78,-146.1,182.0,-8.6,246,1826,0.00,2.22,0.00,0.000,4,0.000,0.077,2928,3595,3664,0,0,0,0,0,0
$GC,1862,-0.78,-146.1,185.7,-9.2,249,1866,0.00,2.12,0.00,0.000,6,0.000,0.055,2928,2242,3664,0,0,0,0,0,0
$GC,2188,-0.78,-146.1,213.7,-8.4,279,2191,0.00,2.22,0.00,0.000,4,0.000,0.066,2928,842,3663,0,0,0,0,0,0
$GC,2305,-0.78,-146.1,224.0,-8.6,289,2311,0.10,2.33,0.00,0.000,6,0.160,0.069,2946,2257,3663,0,0,0,0,0,0
$GC,2631,-0.78,-146.1,246.1,-6.8,320,2634,0.00,2.17,0.00,0.000,4,0.000,0.081,2938,3601,3663,0,0,0,0,0,0
$GC,2710,-0.78,-146.1,252.0,-7.4,327,2714,0.00,2.15,0.00,0.000,6,0.000,0.054,2938,2241,3663,0,0,0,0,0,0
$GC,3035,-0.78,-146.1,277.2,-7.9,357,3039,0.00,2.22,0.00,0.000,4,0.000,0.066,2938,837,3662,0,0,0,0,0,0
$GC,3097,-0.78,-146.1,282.5,-8.6,362,3102,0.00,2.33,0.00,0.000,6,0.000,0.068,2929,2257,3662,0,0,0,0,0,0
$GC,3422,-0.78,-146.1,309.5,-8.0,393,3426,0.00,2.17,0.00,0.000,4,0.000,0.080,2918,3605,3662,0,0,0,0,0,0
$GC,3495,-0.78,-146.1,316.1,-9.0,399,3500,0.10,2.15,0.00,0.000,6,0.161,0.053,2946,2239,3662,0,0,0,0,0,0
$GC,3821,-0.78,-146.1,338.2,-6.6,429,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2238,3662,0,0,0,0,0,0
$GC,4142,-0.78,-146.1,358.8,-6.5,459,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2238,3662,0,0,0,0,0,0
$GC,4460,-0.78,-146.1,378.6,-6.2,489,4463,0.00,2.17,0.00,0.000,4,0.000,0.065,2946,844,3662,0,0,0,0,0,0
$GC,4505,-0.78,-146.1,381.8,-6.8,493,4510,0.00,2.30,0.00,0.000,6,0.000,0.067,2939,2252,3662,0,0,0,0,0,0
$GC,4831,-0.78,-146.1,402.9,-6.5,523,4834,0.00,2.15,0.00,0.000,4,0.000,0.077,2929,3596,3661,0,0,0,0,0,0
$GC,4910,-0.78,-146.1,408.5,-7.5,530,4914,0.00,2.12,0.00,0.000,6,0.000,0.053,2928,2240,3662,0,0,0,0,0,0
$GC,5241,-0.78,-146.1,431.5,-7.2,561,5245,0.00,2.20,0.00,0.000,4,0.000,0.064,2929,841,3662,0,0,0,0,0,0
$GC,5309,-0.78,-146.1,436.8,-7.5,567,5314,0.10,2.30,0.00,0.000,6,0.156,0.066,2948,2265,3662,0,0,0,0,0,0
$GC,5640,-0.78,-146.1,457.8,-6.3,598,5644,0.00,2.12,0.00,0.000,4,0.000,0.075,2940,3598,3662,0,0,0,0,0,0
$GC,5701,-0.78,-146.1,462.1,-7.1,603,5707,0.00,2.10,0.00,0.000,6,0.000,0.051,2939,2247,3662,0,0,0,0,0,0
$GC,6026,-0.78,-146.1,482.2,-5.8,634,6030,0.00,2.20,0.00,0.000,4,0.000,0.063,2939,845,3663,0,0,0,0,0,0
$GC,6088,-0.78,-146.1,486.3,-6.8,639,6094,0.00,2.28,0.00,0.000,6,0.000,0.065,2930,2247,3663,0,0,0,0,0,0
$GC,6413,-0.78,-146.1,507.2,-6.4,670,6417,0.00,2.15,0.00,0.000,4,0.000,0.075,2920,3598,3663,0,0,0,0,0,0
$GC,6485,-0.78,-146.1,512.5,-7.4,676,6492,0.10,2.10,0.00,0.000,6,0.156,0.050,2948,2248,3663,0,0,0,0,0,0
$GC,6811,-0.78,-146.1,532.0,-5.9,707,6814,0.00,2.20,0.00,0.000,4,0.000,0.062,2948,843,3664,0,0,0,0,0,0
$GC,6857,-0.78,-146.1,535.1,-6.6,711,6861,0.00,2.30,0.00,0.000,6,0.000,0.064,2940,2264,3664,0,0,0,0,0,0
$GC,7182,-0.78,-146.1,555.8,-6.7,741,7186,0.00,2.12,0.00,0.000,4,0.000,0.075,2930,3601,3664,0,0,0,0,0,0
$GC,7261,-0.78,-146.1,561.6,-7.3,748,7265,0.00,2.10,0.00,0.000,6,0.000,0.050,2930,2250,3663,0,0,0,0,0,0
$GC,7592,-0.78,-146.1,584.3,-6.9,779,7596,0.00,2.20,0.00,0.000,4,0.000,0.062,2930,836,3664,0,0,0,0,0,0
$GC,7661,-0.78,-146.1,589.1,-7.1,785,7665,0.00,2.30,0.00,0.000,6,0.000,0.065,2921,2256,3663,0,0,0,0,0,0
$GC,7984,-0.78,-146.1,610.7,-6.6,805,7988,0.00,2.12,0.00,0.000,4,0.000,0.075,2911,3596,3663,0,0,0,0,0,0
$GC,8063,-0.78,-146.1,616.8,-7.5,807,8067,0.12,2.10,0.00,0.000,6,0.148,0.050,2947,2242,3663,0,0,0,0,0,0
$GC,8392,-0.78,-146.1,634.0,-5.1,818,8396,0.00,2.20,0.00,0.000,4,0.000,0.062,2947,836,3664,0,0,0,0,0,0
$GC,8432,-0.78,-146.1,636.3,-5.8,819,8436,0.00,2.30,0.00,0.000,6,0.000,0.064,2940,2254,3663,0,0,0,0,0,0
$GC,8761,-0.78,-146.1,654.3,-5.5,830,8765,0.00,2.12,0.00,0.000,4,0.000,0.075,2930,3603,3664,0,0,0,0,0,0
$GC,8835,-0.78,-146.1,658.8,-6.6,832,8838,0.00,2.10,0.00,0.000,6,0.000,0.050,2930,2243,3663,0,0,0,0,0,0
$GC,9170,-0.78,-146.1,678.6,-6.1,843,9174,0.00,2.20,0.00,0.000,4,0.000,0.062,2930,838,3663,0,0,0,0,0,0
$GC,9221,-0.78,-146.1,681.3,-5.5,844,9225,0.00,2.30,0.00,0.000,6,0.000,0.064,2920,2259,3664,0,0,0,0,0,0
$GC,9539,-0.78,-146.1,699.3,-5.7,855,9543,0.10,2.12,0.00,0.000,4,0.162,0.075,2941,3596,3663,0,0,0,0,0,0
$GC,9607,-0.78,-146.1,702.8,-5.2,857,9610,0.00,2.10,0.00,0.000,6,0.000,0.050,2941,2241,3664,0,0,0,0,0,0
$GC,9948,-0.78,-146.1,719.3,-4.9,868,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2240,3664,0,0,0,0,0,0
$GC,10254,-0.78,-146.1,734.8,-5.2,878,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2240,3663,0,0,0,0,0,0
$GC,10562,-0.78,-146.1,750.7,-5.2,888,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2240,3664,0,0,0,0,0,0
$GC,10867,-0.78,-146.1,766.6,-5.3,898,10870,0.00,2.20,0.00,0.000,4,0.000,0.063,2941,836,3664,0,0,0,0,0,0
$GC,10906,-0.78,-146.1,769.0,-6.4,899,10910,0.00,2.30,0.00,0.000,6,0.000,0.065,2931,2259,3664,0,0,0,0,0,0
$GC,11235,-0.78,-146.1,787.7,-5.8,910,11239,0.00,2.12,0.00,0.000,4,0.000,0.076,2922,3606,3664,0,0,0,0,0,0
$GC,11320,-0.78,-146.1,793.2,-7.1,912,11324,0.00,2.10,0.00,0.000,6,0.000,0.049,2921,2237,3663,0,0,0,0,0,0
$GC,11644,-0.78,-146.1,812.6,-6.1,923,11648,0.00,2.17,0.00,0.000,4,0.000,0.063,2921,847,3663,0,0,0,0,0,0
$GC,11689,-0.78,-146.1,815.6,-7.5,924,11694,0.12,2.28,0.00,0.000,6,0.146,0.065,2949,2250,3663,0,0,0,0,0,0
$GC,12013,-0.78,-146.1,832.1,-5.2,935,12017,0.00,2.15,0.00,0.000,4,0.000,0.075,2941,3603,3663,0,0,0,0,0,0
$GC,12083,-0.78,-146.1,836.0,-5.9,937,12086,0.00,2.10,0.00,0.000,6,0.000,0.050,2941,2248,3663,0,0,0,0,0,0
$GC,12424,-0.78,-146.1,855.7,-5.9,948,12428,0.00,2.20,0.00,0.000,4,0.000,0.062,2941,843,3663,0,0,0,0,0,0
$GC,12493,-0.78,-146.1,860.4,-6.6,950,12497,0.00,2.28,0.00,0.000,6,0.000,0.065,2932,2249,3663,0,0,0,0,0,0
$STATE,12641,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12641,begin apogee
$GC,12649,-0.17,0.0,869.9,6.3,955,12778,0.45,0.00,126.18,1.414,6,0.117,0.000,3080,2176,3058,0,0,0,0,0,0
$STATE,12779,end apogee,CONTROL_FINISHED_OK
$STATE,12779,begin climb
$GC,12782,0.78,146.1,872.8,0.0,959,12918,0.57,2.50,127.78,1.344,4,0.069,0.061,3296,815,2462,0,0,0,0,0,0
$GC,12986,0.78,146.1,857.1,10.0,965,12990,0.00,2.47,0.00,0.000,6,0.000,0.061,3296,2208,2460,0,0,0,0,0,0
$GC,13304,0.78,146.1,824.2,10.4,976,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2208,2457,0,0,0,0,0,0
$GC,13609,0.78,146.1,791.7,10.8,986,13610,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2209,2456,0,0,0,0,0,0
$GC,13915,0.78,146.1,757.5,11.4,996,13920,0.00,2.25,0.00,0.000,4,0.000,0.074,3295,3607,2456,0,0,0,0,0,0
$GC,13932,0.78,146.1,755.5,11.5,996,13937,0.10,2.22,0.00,0.000,6,0.182,0.049,3281,2208,2455,0,0,0,0,0,0
$GC,14245,0.79,155.4,724.2,9.6,1006,14260,0.00,2.30,8.23,1.121,4,0.000,0.061,3288,798,2424,0,0,0,0,0,0
$GC,14288,0.81,165.9,719.9,9.5,1007,14304,0.00,2.33,10.65,1.166,6,0.000,0.062,3288,2206,2381,0,0,0,0,0,0
$GC,14611,0.81,165.9,687.1,10.1,1017,14612,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2206,2380,0,0,0,0,0,0
$GC,14917,0.81,165.9,656.3,10.2,1027,14921,0.00,2.25,0.00,0.000,4,0.000,0.073,3289,3601,2379,0,0,0,0,0,0
$GC,14933,0.81,165.9,654.2,11.2,1027,14937,0.00,2.20,0.00,0.000,6,0.000,0.049,3298,2196,2379,0,0,0,0,0,0
$GC,15251,0.81,165.9,616.1,12.4,1038,15255,0.00,2.20,0.00,0.000,4,0.000,0.060,3309,791,2379,0,0,0,0,0,0
$GC,15284,0.81,165.9,611.9,11.2,1039,15288,0.00,2.30,0.00,0.000,6,0.000,0.061,3309,2201,2379,0,0,0,0,0,0
$GC,15611,0.81,165.9,572.3,11.6,1063,15615,0.00,2.22,0.00,0.000,4,0.000,0.073,3309,3594,2378,0,0,0,0,0,0
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$GC,15953,0.81,165.9,535.5,11.3,1094,15957,0.00,2.17,0.00,0.000,4,0.000,0.060,3295,793,2378,0,0,0,0,0,0
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$GC,16340,0.81,165.9,490.3,11.8,1129,16344,0.00,2.22,0.00,0.000,4,0.000,0.074,3294,3600,2378,0,0,0,0,0,0
$GC,16380,0.81,165.9,485.0,13.5,1132,16384,0.00,2.20,0.00,0.000,6,0.000,0.050,3304,2192,2377,0,0,0,0,0,0
$GC,16705,0.81,165.9,443.3,12.7,1162,16709,0.00,2.28,0.00,0.000,4,0.000,0.071,3304,3595,2377,0,0,0,0,0,0
$GC,16738,0.81,165.9,438.8,14.5,1164,16744,0.12,2.17,0.00,0.000,6,0.171,0.049,3281,2199,2377,0,0,0,0,0,0
$GC,17063,0.81,169.8,404.8,9.8,1195,17074,0.00,2.28,4.38,0.773,4,0.000,0.071,3281,3594,2365,0,0,0,0,0,0
$GC,17087,0.81,169.8,402.1,12.0,1197,17091,0.00,2.17,0.00,0.000,6,0.000,0.049,3288,2198,2365,0,0,0,0,0,0
$GC,17417,0.81,169.8,365.1,11.3,1228,17421,0.00,2.20,0.00,0.000,4,0.000,0.059,3299,795,2366,0,0,0,0,0,0
$GC,17451,0.81,169.8,361.2,11.4,1230,17457,0.00,2.30,0.00,0.000,6,0.000,0.062,3299,2212,2365,0,0,0,0,0,0
$GC,17776,0.81,169.8,323.2,11.1,1261,17780,0.00,2.25,0.00,0.000,4,0.000,0.059,3308,788,2366,0,0,0,0,0,0
$GC,17816,0.81,169.8,318.6,11.6,1264,17820,0.00,2.30,0.00,0.000,6,0.000,0.063,3308,2207,2366,0,0,0,0,0,0
$GC,18140,0.81,169.8,280.0,10.7,1294,18144,0.00,2.20,0.00,0.000,4,0.000,0.074,3308,3603,2366,0,0,0,0,0,0
$GC,18174,0.81,169.8,275.7,12.1,1296,18180,0.12,2.20,0.00,0.000,6,0.170,0.050,3284,2190,2366,0,0,0,0,0,0
$GC,18499,0.85,200.8,246.5,8.6,1327,18531,0.00,2.22,26.17,1.002,4,0.000,0.058,3293,790,2238,0,0,0,0,0,0
$GC,18566,0.88,229.1,240.8,8.7,1333,18598,0.00,2.33,24.45,0.969,6,0.000,0.061,3293,2202,2124,0,0,0,0,0,0
$GC,18917,0.90,238.1,206.5,9.6,1366,18931,0.00,2.33,8.25,0.841,4,0.000,0.073,3292,3600,2087,0,0,0,0,0,0
$GC,18944,0.90,238.1,203.6,10.1,1368,18949,0.00,2.22,0.00,0.000,6,0.000,0.048,3302,2200,2086,0,0,0,0,0,0
$GC,19268,0.90,238.1,172.0,10.3,1399,19272,0.00,2.22,0.00,0.000,4,0.000,0.059,3312,784,2085,0,0,0,0,0,0
$GC,19298,0.90,239.4,169.2,9.9,1401,19302,0.00,2.33,0.00,0.000,6,0.000,0.062,3312,2201,2085,0,0,0,0,0,0
$GC,19628,0.90,239.6,134.2,10.0,1432,19632,0.00,2.25,0.00,0.000,4,0.000,0.074,3313,3601,2085,0,0,0,0,0,0
$GC,19639,0.90,240.6,133.1,10.0,1432,19645,0.00,2.20,0.00,0.000,6,0.000,0.049,3322,2199,2084,0,0,0,0,0,0
$GC,19965,0.90,243.1,98.6,9.9,1464,19976,0.00,2.22,5.40,0.728,4,0.000,0.059,3333,785,2066,0,0,0,0,0,0
$GC,20029,0.90,244.9,92.3,9.9,1475,20035,0.10,2.30,0.00,0.000,6,0.167,0.064,3307,2201,2067,0,0,0,0,0,0
$GC,20375,0.95,279.7,61.9,8.4,1536,20413,0.00,2.30,32.20,0.904,4,0.000,0.075,3306,3604,1916,0,0,0,0,0,0
$GC,20431,0.98,306.1,56.8,8.8,1546,20462,0.00,2.28,23.23,0.861,6,0.000,0.051,3313,2193,1809,0,0,0,0,0,0
$GC,20800,1.02,338.8,24.6,8.5,1612,20837,0.00,2.38,27.40,0.868,4,0.000,0.064,3322,786,1676,0,0,0,0,0,0
$GC,20885,1.10,401.0,18.4,7.2,1627,20947,0.10,2.40,53.72,0.854,6,0.102,0.066,3376,2206,1422,0,0,0,0,0,0
$FREEZE,8.74,2.084,-1.731,0,1,0
$FREEZE,8.28,2.223,-1.728,0,1,0
$FREEZE,7.64,2.356,-1.723,0,1,0
$FREEZE,7.10,2.401,-1.720,0,1,0
$FREEZE,6.54,2.808,-1.717,0,1,0
$FREEZE,6.07,2.655,-1.713,0,1,0
$FREEZE,5.58,2.607,-1.710,0,1,0
$FREEZE,5.08,3.047,-1.707,0,1,0
$FREEZE,4.67,2.975,-1.691,0,1,0
$FREEZE,4.16,2.729,-1.690,0,1,0
$FREEZE,3.81,3.644,-1.684,0,1,0
$FREEZE,3.33,5.212,-1.681,0,1,0
$FREEZE,3.04,6.536,-1.659,0,1,0
$FREEZE,2.72,6.555,-1.664,0,1,0
$STATE,21047,end climb,SURFACE_DEPTH_REACHED
$STATE,21047,begin surface coast
$FREEZE,2.34,6.563,-1.668,0,1,0
$FREEZE,1.92,6.559,-1.670,0,1,0
$FREEZE,1.98,5.522,-0.890,0,1,0
$FREEZE,1.89,6.295,-0.153,0,1,0
$FREEZE,1.83,5.897,-0.617,0,1,0
$FREEZE,1.80,5.944,-0.106,0,1,0
$FREEZE,1.89,5.788,-0.077,0,1,0
$FREEZE,1.87,6.054,-0.195,0,1,0
$FINISH,1.9,1.002729
$STATE,21094,end surface coast,CONTROL_FINISHED_OK
$STATE,21094,begin surface
$SM_CCo,21294,0.00,0.000,0,0,1401,406.46
$SM_GC,3.03,8.23,0.00,0.00,0.047,0.000,0.000,343,2255,1401,-12.65,0.11,406.46
$RAFOS_CLK,868
$RAFOS,6,1278737341,4.833333,4.816945,128,114,46,44,42,40,681,682,483,824,1793,826
$RAFOS,5,1278736866,4.700000,4.685000,151,148,47,42,42,41,561,562,945,1202,1634,1429
$RAFOS,4,1278736389,4.566667,4.552500,73,69,52,49,46,45,687,686,1582,1723,818,1835
$RAFOS,3,1278735905,4.433333,4.418056,130,123,49,44,44,43,874,875,1245,314,491,1323
$RAFOS,2,1278735423,4.300000,4.284167,132,119,42,41,41,41,925,926,204,1666,510,1260
$RAFOS,1,1278734956,4.166667,4.154444,106,97,52,46,41,41,811,812,1374,373,244,1285
$RAFOS,0,1278734470,4.033333,4.019444,58,47,47,40,39,38,970,974,107,501,500,1779
$RAFOS,6,1278722945,0.833333,0.818056,103,101,48,45,43,41,676,677,1376,1248,994,1466
$RAFOS,5,1278722466,0.700000,0.685000,159,157,45,41,41,40,563,562,214,896,1290,1
$RAFOS,4,1278721984,0.566667,0.551111,83,78,47,47,45,44,735,736,384,1404,1,1704
$RAFOS,3,1278721504,0.433333,0.417778,84,83,44,40,39,38,895,897,1254,61,1285,659
$RAFOS,2,1278721026,0.300000,0.285000,104,87,44,42,41,41,925,926,1352,447,559,1811
$RAFOS,1,1278720542,0.166667,0.150556,88,74,50,50,45,45,914,913,460,1939,372,1273
$RAFOS,0,1278720062,0.033333,0.017222,76,55,46,45,45,43,1033,1034,1929,1184,211,1869
$RAFOS_FIX,6703.889160,-5751.780762,100710,000007,7,100,1.01
$IRIDIUM_FIX,6636.54,-5747.39,031099,181850
$TT8_MAMPS,0.026845
$HUMID,41.53
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,850.2,34.5
$24V_AH,22.7,27.219
$10V_AH,10.1,15.401
$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,20.925,213.825,478.025,0.000,0.000,27.114,31.713,194.843,4.000,0.000,11.765,2998.750,14479.547,601.886,2924.070,721.678,0.000,2167.912,0.000,2873.336,5040.000,29.479,0.000
$DEVICE_MAMPS,237.770,134.992,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1200.165,1195.791,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135784
$DATA_FILE_SIZE,66219,1665
$CAP_FILE_SIZE,221891,0
$CFSIZE,260165632,234881024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$GPS,100710,055307,6703.374,-5756.719,31,1.6,31,-37.9