version: 66.11
glider: 192
mission: 2
dive: 434
start: 12 7 113 19 10 1
data:
$ID,192
$MISSION,2
$DIVE,434
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$T_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,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$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,-9006.4541
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062281737
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,071213,163824,6647.958,-5902.166,0,3109.7,0,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.25
$_SM_ANGLEo,-1.4
$GPS2,071213,163824,6647.958,-5902.166,0,3109.7,0,-33.7
$SPEED_LIMITS,0.143,0.247
$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,62.7,100813,-15.5,-8.250,-18.49,2720
$D_GRID,960
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,20,-0.89,-146.0,2546,2495,2625,2416,0.0,0.0,0,27,0.00,0.00,-5.47,0.000,16386,0.000,0.000,2546,2495,2749,2841,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.89,-146.0,2546,2495,2841,2658,11.1,0.0,1,55,0.95,1.45,-13.07,0.000,20996,0.093,0.124,2220,1654,3339,3520,3158,0,0,0,0,0,0,14.35,14.38,14.82
$GC,282,-0.81,-146.0,1376,1652,3515,3154,59.3,-20.3,47,289,0.15,1.55,0.00,0.000,3078,0.298,0.118,2245,2505,3339,3522,3157,0,0,0,0,0,0,14.04,14.28,28.83
$GC,601,-0.74,-146.0,2245,2504,3523,3157,120.5,-18.9,97,604,0.00,1.50,0.00,0.000,516,0.000,0.096,2245,1637,3339,3522,3156,0,0,0,0,0,0,28.83,14.31,28.83
$GC,681,-0.68,-146.0,2245,1637,3523,3157,134.1,-17.2,104,688,0.20,1.58,0.00,0.000,3078,0.275,0.117,2286,2508,3339,3523,3156,0,0,0,0,0,0,14.02,14.27,28.83
$GC,990,-0.65,-146.0,2286,2508,3521,3156,180.2,-14.5,135,994,0.00,1.52,0.00,0.000,260,0.000,0.131,2282,3350,3339,3522,3156,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1075,-0.61,-146.0,2282,3350,3522,3156,192.5,-14.6,143,1080,0.12,1.50,0.00,0.000,3078,0.275,0.086,2307,2472,3339,3523,3155,0,0,0,0,0,0,14.11,14.37,28.83
$GC,1392,-0.60,-146.0,2307,2471,3522,3155,229.4,-11.0,174,1396,0.00,1.62,0.00,0.000,260,0.000,0.134,2303,3350,3338,3522,3155,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1448,-0.59,-146.0,2303,3350,3523,3155,235.7,-11.0,179,1451,0.00,1.50,0.00,0.000,1030,0.000,0.086,2303,2505,3338,3522,3155,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1764,-0.57,-146.0,2303,2505,3523,3155,270.7,-11.2,210,1768,0.00,1.50,0.00,0.000,516,0.000,0.097,2303,1644,3339,3523,3155,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1812,-0.57,-146.0,2303,1644,3523,3155,275.6,-10.7,214,1819,0.00,1.58,0.00,0.000,1030,0.000,0.123,2297,2499,3339,3523,3155,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2123,-0.56,-146.0,2297,2499,3523,3155,311.2,-11.6,245,2127,0.12,1.58,0.00,0.000,2308,0.289,0.132,2324,3355,3338,3522,3155,0,0,0,0,0,0,14.17,14.22,28.83
$GC,2191,-0.56,-146.0,2323,3355,3522,3155,318.1,-9.8,251,2198,0.00,1.52,0.00,0.000,1030,0.000,0.086,2323,2499,3339,3523,3155,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2500,-0.56,-146.0,2323,2499,3523,3155,348.5,-10.0,282,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2499,3339,3523,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-0.56,-146.0,2323,2499,3523,3155,377.7,-8.8,313,2818,0.00,1.58,0.00,0.000,260,0.000,0.135,2317,3352,3339,3523,3155,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2843,-0.56,-146.0,1444,3351,3515,3152,380.5,-9.0,315,2850,0.00,1.50,0.00,0.000,1030,0.000,0.086,2317,2482,3338,3522,3155,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3152,-0.56,-146.0,2317,2482,3523,3155,410.7,-9.8,346,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2482,3339,3523,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3467,-0.56,-146.0,2317,2482,3523,3155,440.3,-9.6,377,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2482,3339,3523,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3777,-0.56,-146.0,2317,2482,3524,3155,469.4,-9.7,408,3781,0.00,1.60,0.00,0.000,260,0.000,0.137,2311,3347,3339,3524,3155,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3822,-0.56,-146.0,2311,3348,3524,3155,473.7,-9.1,412,3826,0.00,1.50,0.00,0.000,1030,0.000,0.086,2311,2477,3339,3524,3155,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4137,-0.56,-146.0,2311,2477,3524,3155,505.5,-10.4,443,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2477,3339,3524,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4454,-0.56,-146.0,2311,2477,3524,3155,537.3,-10.1,474,4457,0.00,1.65,0.00,0.000,260,0.000,0.134,2305,3345,3339,3524,3155,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4499,-0.56,-146.0,2305,3345,3524,3155,542.6,-10.1,478,4504,0.00,1.50,0.00,0.000,1030,0.000,0.086,2305,2499,3339,3524,3155,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4817,-0.56,-146.0,2305,2498,3525,3155,574.8,-10.2,509,4820,0.00,1.50,0.00,0.000,516,0.000,0.097,2305,1663,3340,3525,3155,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4872,-0.56,-146.0,2305,1663,3525,3155,580.4,-10.3,514,4876,0.00,1.52,0.00,0.000,1030,0.000,0.123,2300,2499,3340,3525,3156,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5194,-0.56,-146.0,2299,2499,3524,3156,613.2,-10.3,537,5198,0.00,1.60,0.00,0.000,260,0.000,0.135,2293,3350,3340,3525,3156,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5222,-0.56,-146.0,2293,3351,3525,3156,613.2,-10.3,537,5230,0.15,1.50,0.00,0.000,3078,0.257,0.086,2326,2478,3340,3525,3156,0,0,0,0,0,0,14.05,14.33,28.83
$GC,5530,-0.57,-146.0,2326,2478,3525,3156,643.3,-8.3,548,5534,0.00,1.60,0.00,0.000,260,0.000,0.132,2322,3347,3340,3525,3156,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5569,-0.59,-146.0,1456,3346,3518,3153,646.4,-8.3,549,5572,0.00,1.50,0.00,0.000,1030,0.000,0.085,2322,2478,3340,3525,3155,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5900,-0.60,-146.0,2322,2478,3525,3156,673.9,-8.0,560,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2478,3340,3525,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6201,-0.61,-146.0,2322,2478,3526,3156,697.8,-7.9,570,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2478,3340,3525,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6499,-0.63,-146.0,2322,2478,3526,3156,722.3,-8.3,580,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2478,3340,3526,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6801,-0.64,-146.0,2322,2478,3526,3156,746.5,-8.1,590,6805,0.00,1.65,0.00,0.000,260,0.000,0.129,2315,3344,3341,3526,3156,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6850,-0.66,-146.0,2315,3344,3526,3156,749.4,-8.0,591,6854,0.00,1.50,0.00,0.000,1030,0.000,0.084,2315,2502,3341,3526,3156,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7172,-0.67,-146.0,2315,2502,3526,3156,775.5,-7.6,602,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2502,3341,3526,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7472,-0.68,-146.0,2315,2502,3526,3156,798.8,-7.6,612,7475,0.00,1.58,0.00,0.000,260,0.000,0.135,2309,3349,3341,3526,3156,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7509,-0.69,-146.0,2309,3349,3526,3156,801.8,-7.8,613,7512,0.00,1.50,0.00,0.000,1030,0.000,0.086,2309,2482,3341,3526,3156,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7844,-0.69,-146.0,2309,2482,3526,3156,829.5,-8.3,624,7848,0.00,1.48,0.00,0.000,516,0.000,0.098,2309,1661,3341,3526,3156,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7880,-0.69,-146.0,2309,1661,3526,3156,832.6,-8.2,625,7883,0.00,1.55,0.00,0.000,1030,0.000,0.122,2304,2507,3341,3526,3156,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8215,-0.69,-146.0,2304,2507,3526,3156,861.4,-8.8,636,8218,0.00,1.52,0.00,0.000,260,0.000,0.132,2298,3348,3341,3526,3156,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8253,-0.69,-146.0,2298,3347,3526,3156,864.6,-8.8,637,8257,0.00,1.50,0.00,0.000,1030,0.000,0.085,2297,2475,3341,3526,3156,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8583,-0.69,-146.0,2298,2475,3526,3156,894.2,-8.6,648,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2475,3341,3526,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8884,-0.69,-146.0,2297,2475,3526,3156,920.9,-9.1,658,8887,0.00,1.48,0.00,0.000,516,0.000,0.099,2298,1656,3341,3526,3156,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8913,-0.69,-146.0,2298,1656,3526,3156,920.9,-9.1,658,8919,0.00,1.55,0.00,0.000,1030,0.000,0.118,2292,2505,3341,3526,3156,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9220,-0.69,-146.0,2292,2504,3526,3156,951.7,-8.9,669,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2504,3341,3526,3156,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9333,begin apogee
$GC,9346,-0.22,0.0,2292,2504,3527,3156,962.5,-9.0,673,9538,0.50,0.00,179.77,2.899,10246,0.225,0.000,2428,2504,2741,2863,2620,0,0,0,0,0,0,13.99,28.83,11.76
$STATE,9539,end apogee,CONTROL_FINISHED_OK
$STATE,9539,begin climb
$GC,9545,0.89,146.0,2428,2504,2861,2620,969.3,0.0,679,9755,1.30,0.00,200.52,2.803,10502,0.166,0.000,2787,2504,2145,2235,2056,0,0,0,0,0,0,13.10,28.83,11.54
$GC,10065,0.85,146.0,2787,2505,2234,2043,930.2,9.8,697,10069,0.00,1.52,0.00,0.000,516,0.000,0.104,2793,1676,2139,2235,2043,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10101,0.81,146.0,2792,1676,2235,2042,925.9,9.9,698,10105,0.00,1.55,0.00,0.000,1030,0.000,0.120,2792,2513,2138,2235,2042,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10437,0.76,146.0,2793,2513,2234,2041,890.4,10.5,709,10439,0.15,0.00,0.00,0.000,4102,0.257,0.000,2758,2513,2137,2234,2041,0,0,0,0,0,0,14.28,28.83,28.83
$GC,10737,0.73,146.0,2758,2513,2234,2040,864.4,8.6,719,10741,0.00,1.52,0.00,0.000,516,0.000,0.106,2762,1650,2137,2234,2040,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10766,0.71,146.0,2762,1650,2234,2039,864.4,8.6,719,10772,0.00,1.58,0.00,0.000,1030,0.000,0.123,2762,2521,2137,2235,2039,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11073,0.69,146.0,2762,2521,2235,2038,836.1,8.5,730,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2521,2137,2235,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11374,0.67,148.8,2762,2521,2235,2038,811.2,8.1,740,11376,0.15,0.00,0.00,0.000,4102,0.255,0.000,2727,2521,2136,2234,2038,0,0,0,0,0,0,14.36,28.83,28.83
$GC,11673,0.75,203.6,2727,2519,2234,2037,792.2,6.2,750,11742,0.00,0.00,66.68,2.720,8198,0.000,0.000,2728,2521,1910,2013,1807,0,0,0,0,0,0,28.83,28.83,12.81
$GC,12034,0.80,226.4,2727,2521,2011,1801,767.0,7.4,762,12066,0.12,1.58,26.50,2.592,10756,0.144,0.106,2784,1647,1818,1918,1718,0,0,0,0,0,0,14.47,14.24,13.02
$GC,12111,0.80,226.7,2785,1647,1917,1717,761.4,8.2,764,12115,0.00,1.60,0.00,0.000,1030,0.000,0.125,2785,2516,1817,1917,1717,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12431,0.77,226.7,2785,2515,1916,1715,724.8,11.1,775,12435,0.00,1.58,0.00,0.000,260,0.000,0.138,2785,3354,1815,1916,1715,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12476,0.74,226.7,2785,3354,1915,1715,720.8,11.1,776,12480,0.12,1.50,0.00,0.000,5126,0.218,0.093,2755,2512,1815,1915,1715,0,0,0,0,0,0,14.28,14.45,28.83
$GC,12802,0.74,226.7,2755,2512,1915,1714,688.9,9.3,787,12805,0.00,1.50,0.00,0.000,516,0.000,0.106,2759,1649,1814,1915,1714,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12850,0.74,226.7,2759,1649,1915,1713,685.7,9.2,788,12854,0.00,1.55,0.00,0.000,1030,0.000,0.125,2759,2510,1814,1915,1713,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13170,0.74,226.7,2759,2510,1915,1713,653.5,9.8,799,13174,0.00,1.55,0.00,0.000,260,0.000,0.138,2759,3363,1813,1915,1712,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13218,0.74,226.7,2759,3363,1914,1713,650.0,9.8,800,13222,0.00,1.50,0.00,0.000,1030,0.000,0.093,2765,2492,1813,1914,1713,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13539,0.74,226.7,2766,2492,1914,1713,616.6,9.8,811,13542,0.00,1.48,0.00,0.000,516,0.000,0.106,2772,1667,1813,1914,1713,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13567,0.74,226.7,2772,1667,1914,1712,616.6,9.8,811,13573,0.00,1.52,0.00,0.000,1030,0.000,0.125,2772,2509,1813,1914,1712,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13880,0.73,226.7,2772,2509,1913,1712,582.9,10.2,832,13883,0.00,1.58,0.00,0.000,260,0.000,0.138,2772,3353,1813,1914,1712,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13936,0.71,226.7,2772,3353,1913,1712,576.5,11.0,837,13940,0.17,1.50,0.00,0.000,5126,0.238,0.094,2735,2512,1812,1912,1712,0,0,0,0,0,0,14.30,14.45,28.83
$GC,14253,0.74,236.0,2736,2512,1913,1712,550.5,7.9,868,14271,0.00,1.48,10.88,2.268,8708,0.000,0.104,2740,1661,1777,1875,1680,0,0,0,0,0,0,28.83,14.53,13.19
$GC,14311,0.77,238.3,2740,1661,1875,1680,546.0,8.2,873,14320,0.00,1.55,4.30,1.692,9222,0.000,0.124,2740,2516,1768,1865,1672,0,0,0,0,0,0,28.83,14.41,13.05
$GC,14623,0.78,238.3,2740,2516,1865,1672,518.9,8.9,904,14627,0.00,1.58,0.00,0.000,260,0.000,0.140,2740,3353,1768,1865,1672,0,0,0,0,0,0,28.83,14.31,28.83
$GC,14662,0.80,238.3,2740,3353,1864,1672,515.5,8.9,907,14668,0.00,1.50,0.00,0.000,1030,0.000,0.093,2746,2486,1768,1864,1672,0,0,0,0,0,0,28.83,14.44,28.83
$GC,14971,0.81,238.3,2746,2486,1864,1672,487.9,8.8,938,14975,0.00,1.45,0.00,0.000,516,0.000,0.106,2751,1671,1768,1864,1672,0,0,0,0,0,0,28.83,14.37,28.83
$GC,15010,0.83,238.3,2751,1671,1864,1672,484.7,8.8,941,15017,0.00,1.52,0.00,0.000,1030,0.000,0.123,2751,2515,1768,1864,1672,0,0,0,0,0,0,28.83,14.37,28.83
$GC,15319,0.83,238.3,2751,2515,1864,1672,456.6,9.3,972,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2515,1768,1864,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15636,0.84,238.3,2751,2515,1864,1672,428.6,8.9,1003,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2515,1768,1864,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15950,0.85,238.3,2751,2515,1864,1672,398.9,9.8,1034,15956,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2515,1767,1863,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16263,0.86,238.3,2751,2515,1863,1672,370.2,8.7,1065,16270,0.12,0.00,0.00,0.000,2054,0.154,0.000,2802,2515,1767,1863,1672,0,0,0,0,0,0,14.53,28.83,28.83
$GC,16572,0.83,238.3,2802,2515,1863,1672,333.8,11.8,1096,16578,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2515,1767,1863,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16888,0.80,238.3,2803,2515,1863,1672,298.2,11.2,1127,16895,0.12,0.00,0.00,0.000,4102,0.252,0.000,2769,2515,1767,1863,1672,0,0,0,0,0,0,14.26,28.83,28.83
$GC,17197,0.80,238.3,2768,2515,1863,1672,269.2,9.2,1158,17200,0.00,1.55,0.00,0.000,516,0.000,0.106,2773,1668,1767,1863,1672,0,0,0,0,0,0,28.83,14.31,28.83
$GC,17263,0.80,238.3,2773,1668,1863,1671,263.3,8.6,1164,17267,0.00,1.55,0.00,0.000,1030,0.000,0.125,2773,2515,1767,1863,1671,0,0,0,0,0,0,28.83,14.33,28.83
$GC,17578,0.80,238.3,2773,2515,1863,1671,233.6,9.0,1195,17584,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2516,1767,1863,1671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17889,0.81,242.3,2773,2515,1863,1671,207.2,8.1,1226,17897,0.00,0.00,5.57,1.740,8198,0.000,0.000,2773,2515,1752,1848,1657,0,0,0,0,0,0,28.83,28.83,13.22
$GC,18198,0.81,242.3,2773,2515,1848,1657,180.1,8.9,1257,18202,0.00,1.50,0.00,0.000,516,0.000,0.106,2779,1664,1752,1847,1657,0,0,0,0,0,0,28.83,14.34,28.83
$GC,18277,0.82,242.3,2779,1665,1848,1657,173.4,8.7,1264,18284,0.00,1.55,0.00,0.000,1030,0.000,0.124,2779,2511,1752,1848,1657,0,0,0,0,0,0,28.83,14.32,28.83
$GC,18586,0.86,268.4,2779,2511,1848,1657,147.2,7.3,1295,18622,0.00,1.58,29.83,2.088,8708,0.000,0.109,2785,1663,1646,1738,1554,0,0,0,0,0,0,28.83,14.36,13.23
$GC,18675,0.88,274.8,2785,1662,1738,1554,140.7,8.0,1303,18692,0.00,1.58,8.68,1.822,9222,0.000,0.123,2785,2503,1619,1712,1527,0,0,0,0,0,0,28.83,14.24,13.12
$GC,18995,0.90,274.8,2785,2503,1710,1527,112.0,8.9,1335,18999,0.00,1.52,0.00,0.000,516,0.000,0.107,2790,1669,1618,1710,1526,0,0,0,0,0,0,28.83,14.29,28.83
$GC,19031,0.91,274.8,2790,1669,1711,1526,108.9,8.7,1338,19034,0.00,1.52,0.00,0.000,1030,0.000,0.124,2790,2509,1618,1710,1526,0,0,0,0,0,0,28.83,14.30,28.83
$GC,19346,0.94,281.9,1792,2507,1679,1523,82.1,8.0,1389,19354,0.00,0.00,4.07,0.437,8198,0.000,0.000,2790,2509,1590,1682,1498,0,0,0,0,0,0,28.83,28.83,13.80
$GC,19673,1.00,310.0,2790,2509,1682,1498,56.9,7.2,1450,19699,0.12,1.55,16.52,0.339,10500,0.161,0.135,2841,3356,1476,1566,1386,0,0,0,0,0,0,14.45,14.31,13.91
$GC,19716,0.98,310.0,2841,3356,1566,1386,52.1,11.9,1456,19722,0.00,1.50,0.00,0.000,1030,0.000,0.096,2848,2491,1476,1566,1386,0,0,0,0,0,0,28.83,14.38,28.83
$GC,20045,0.96,310.0,2848,2490,1561,1385,15.2,13.1,1517,20053,0.00,1.62,0.00,0.000,260,0.000,0.143,2848,3362,1472,1560,1385,0,0,0,0,0,0,28.83,14.24,28.83
$GC,20072,0.94,310.0,2848,3362,1560,1385,11.2,13.0,1520,20079,0.17,1.50,0.00,0.000,5126,0.253,0.096,2812,2505,1472,1560,1385,0,0,0,0,0,0,14.14,14.35,28.83
$FREEZE,8.91,-1.813,-1.811,2,9,0
$STATE,20086,end climb,FINISH_DEPTH_REACHED
$STATE,20086,begin subsurface finish
$FINISH1,8.9,1.026500,49
$GC,20100,0.07,49.3,2812,2506,1560,1385,8.9,11.0,1522,20143,0.93,1.48,-34.20,0.000,20996,0.194,0.138,2541,1666,2540,2642,2438,0,0,0,0,0,0,14.11,14.34,14.81
$FINISH2,6.2
$STATE,20144,end subsurface finish,CONTROL_FINISHED_OK
$STATE,20144,begin surface
$RAFOS_CLK,1053
$RAFOS,4,1386462785,0.566667,0.551389,123,64,61,60,58,55,518,206,162,189,153,53
$RAFOS,3,1386462309,0.433333,0.419167,81,63,61,60,60,56,708,152,188,223,174,198
$RAFOS,2,1386461830,0.300000,0.286111,101,58,57,56,54,53,687,171,187,211,223,154
$RAFOS,1,1386461343,0.166667,0.150833,66,60,59,58,53,52,188,215,203,157,171,126
$RAFOS,0,1386460863,0.033333,0.017500,63,62,59,52,52,51,210,170,145,136,122,816
$RAFOS,6,1386449354,20.833334,20.820555,99,57,57,54,54,52,642,227,159,147,209,191
$RAFOS,5,1386448864,20.700001,20.684444,69,59,54,53,51,51,200,187,224,158,213,145
$RAFOS,4,1386448383,20.566668,20.550833,101,62,60,59,56,56,543,227,190,166,145,200
$RAFOS,3,1386447904,20.433332,20.417778,159,65,61,58,57,55,743,192,138,214,180,163
$RAFOS,2,1386447422,20.299999,20.283890,90,60,56,55,52,52,729,183,215,129,157,140
$RAFOS,1,1386446950,20.166666,20.152779,63,60,60,58,57,57,220,210,196,138,174,152
$RAFOS,0,1386446466,20.033333,20.018333,67,62,59,59,56,55,794,216,184,197,126,162
$RAFOS_FIX,6650.376953,-5908.250000,071213,202005,5,103,0.46
$IRIDIUM_FIX,6614.97,-6009.24,041213,161649
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.80
$INTERNAL_PRESSURE,8.7718
$TCM_TEMP,12.20
$XPDR_PINGS,70
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,11.5,193.438
$10V_AH,11.1,0.000
$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,5.700,107.475,553.325,0.000,0.000,0.000,0.000,0.000,21.250,0.000,0.000,3985.787,12185.438,642.310,2594.708,828.438,0.000,2042.125,0.000,2549.229,4680.000,27.585,0.000
$DEVICE_MAMPS,297.585,143.055,2899.350,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,66622,1529
$CAP_FILE_SIZE,189648,0
$CFSIZE,259252224,217116672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$CURRENT,1.508,267.4,1
$GPS,071213,202705,6650.377,-5908.250,0,5103.2,0,-33.7