version: 66.13
glider: 221
mission: 7
dive: 259
start: 4 4 118 19 10 55
data:
$ID,221
$MISSION,7
$DIVE,259
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1020
$D_NO_BLEED,400
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,150
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,300
$T_MISSION,2000
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$EXEC_P,2
$EXEC_DT,0
$EXEC_T,10011800
$EXEC_N,6
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00184
$HD_B,0.0133
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3600
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,1
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.68855
$PRESSURE_SLOPE,0.000108275
$AD7714Ch0Gain,1
$COMPASS_USE,0
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.80000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044198656
$SEABIRD_T_H,0.00064431952
$SEABIRD_T_I,2.6320724e-05
$SEABIRD_T_J,3.2746798e-06
$SEABIRD_C_G,-9.9022408
$SEABIRD_C_H,1.1403944
$SEABIRD_C_I,-0.0013212307
$SEABIRD_C_J,0.00017705678
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,040418,181632,-7403.2925,-11228.1162,0,4125.0,0,53.4,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,1.0
$GPS2,040418,181632,-7403.2925,-11228.1162,0,4125.0,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.083,0.174
$TGT_NAME,drift5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,-15000.000
$MHEAD_RNG_PITCHd_Wd,76.2,2056,-30.2,-8.333,-36.12,805
$D_GRID,750
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-1.43,-44.8,2730,2819,3582,3587,0.0,0.0,0,22,0.00,0.00,-10.95,0.010,16390,0.000,0.000,2728,2818,3781,3774,3788,0,0,0,0,0,0,14.77,13.00,14.71
$GC,24,-1.43,-44.8,2730,2819,3776,3789,0.0,0.0,0,29,1.42,2.42,0.00,0.000,4612,0.127,0.044,2274,1394,3783,3777,3789,0,0,0,0,0,0,14.24,14.42,14.36
$GC,118,-1.43,-44.8,2275,1393,3785,3791,10.3,-10.2,14,125,0.00,2.53,0.00,0.000,1030,0.000,0.064,2274,2804,3787,3785,3789,0,0,0,0,0,0,14.35,14.26,14.40
$PING,33.6,35.4,9000.0,0.00,0.00
$GC,469,-1.43,-44.8,2274,2805,3788,3793,55.8,-13.1,28,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2804,3789,3787,3792,0,0,0,0,0,0,14.73,14.72,14.73
$GC,805,-1.43,-44.8,2274,2805,3789,3794,98.0,-12.2,40,811,0.00,2.45,0.00,0.000,516,0.000,0.047,2274,1395,3790,3788,3792,0,0,0,0,0,0,14.73,14.24,14.73
$GC,846,-1.43,-44.8,2275,1395,3789,3794,103.2,-12.2,46,853,0.00,2.55,0.00,0.000,1030,0.000,0.063,2274,2809,3791,3789,3793,0,0,0,0,0,0,14.46,14.32,14.51
$GC,1196,-1.43,-44.8,2274,2811,3790,3794,146.5,-12.3,60,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2810,3791,3789,3793,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1532,-1.43,-44.8,2274,2811,3790,3794,186.7,-11.7,72,1539,0.00,2.47,0.00,0.000,516,0.000,0.045,2274,1395,3791,3789,3793,0,0,0,0,0,0,14.85,14.31,14.85
$GC,1588,-1.43,-44.8,2274,1396,3790,3794,193.1,-11.4,80,1596,0.00,2.55,0.00,0.000,1030,0.000,0.063,2273,2812,3791,3789,3793,0,0,0,0,0,0,14.45,14.31,14.50
$GC,1953,-1.43,-44.8,2272,2813,3790,3794,236.2,-11.9,91,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2812,3791,3789,3793,0,0,0,0,0,0,14.73,14.73,14.73
$GC,2288,-1.43,-44.8,2274,2812,3790,3793,275.5,-11.7,97,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2812,3791,3789,3793,0,0,0,0,0,0,14.73,14.73,14.73
$GC,2625,-1.43,-44.8,2274,2813,3790,3794,312.6,-10.9,103,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2812,3791,3789,3793,0,0,0,0,0,0,14.74,14.74,14.73
$GC,2960,-1.43,-44.8,2273,2813,3790,3794,348.6,-10.6,109,2968,0.00,2.47,0.00,0.000,516,0.000,0.044,2273,1392,3791,3789,3793,0,0,0,0,0,0,14.74,14.24,14.73
$GC,3043,-1.43,-44.8,2273,1393,3787,3794,357.2,-10.2,121,3052,0.00,2.55,0.00,0.000,1030,0.000,0.063,2273,2806,3791,3789,3793,0,0,0,0,0,0,14.47,14.31,14.50
$GC,3408,-1.43,-44.8,2274,2806,3790,3793,394.1,-10.1,131,3415,0.00,2.45,0.00,0.000,516,0.000,0.045,2273,1401,3791,3789,3793,0,0,0,0,0,0,14.73,14.26,14.73
$GC,3450,-1.43,-44.8,2274,1401,3789,3793,398.2,-9.5,137,3457,0.00,2.55,0.00,0.000,1030,0.000,0.063,2273,2816,3790,3789,3792,0,0,0,0,0,0,14.45,14.31,14.50
$GC,3800,-1.43,-44.8,2274,2816,3790,3793,431.3,-9.3,145,3807,0.00,2.00,0.00,0.000,260,0.000,0.084,2268,3912,3791,3789,3793,0,0,0,0,0,0,14.86,14.23,14.86
$GC,3827,-1.43,-44.8,2268,3914,3790,3795,434.0,-9.8,149,3835,0.00,1.92,0.00,0.000,1030,0.000,0.041,2268,2777,3793,3789,3798,0,0,0,0,0,0,14.54,14.47,14.56
$GC,4192,-1.43,-44.8,2269,2777,3790,3793,468.1,-9.4,159,4199,0.00,2.35,0.00,0.000,516,0.000,0.044,2268,1406,3791,3789,3793,0,0,0,0,0,0,14.73,14.28,14.73
$GC,4268,-1.43,-44.8,2269,1407,3790,3794,474.9,-8.7,170,4276,0.00,2.53,0.00,0.000,1030,0.000,0.063,2268,2810,3791,3789,3793,0,0,0,0,0,0,14.47,14.31,14.48
$GC,4640,-1.43,-44.8,2268,2810,3790,3793,508.1,-9.0,181,4648,0.00,2.45,0.00,0.000,516,0.000,0.044,2268,1401,3791,3789,3793,0,0,0,0,0,0,14.86,14.32,14.86
$GC,4688,-1.43,-44.8,2268,1402,3790,3794,512.5,-9.0,188,4697,0.00,2.53,0.00,0.000,1030,0.000,0.063,2266,2803,3791,3789,3793,0,0,0,0,0,0,14.45,14.31,14.49
$GC,5032,-1.43,-44.8,2268,2803,3789,3793,543.4,-9.0,195,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2803,3791,3790,3793,0,0,0,0,0,0,14.85,14.85,14.85
$GC,5368,-1.43,-44.8,2266,2804,3790,3795,573.3,-9.0,201,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2803,3791,3789,3793,0,0,0,0,0,0,14.85,14.85,14.86
$GC,5704,-1.43,-44.8,2267,2804,3790,3794,603.2,-8.9,207,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2803,3791,3789,3794,0,0,0,0,0,0,14.86,14.86,14.86
$GC,6040,-1.43,-44.8,2267,2803,3791,3794,631.8,-8.4,213,6048,0.00,2.45,0.00,0.000,516,0.000,0.044,2267,1395,3792,3790,3794,0,0,0,0,0,0,14.88,14.32,14.88
$GC,6159,-1.43,-44.8,2267,1396,3790,3792,641.2,-7.7,230,6166,0.00,2.55,0.00,0.000,1030,0.000,0.063,2266,2810,3792,3790,3794,0,0,0,0,0,0,14.43,14.29,14.48
$GC,6544,-1.43,-44.8,2266,2811,3790,3796,671.1,-7.8,243,6550,0.00,2.03,0.00,0.000,260,0.000,0.086,2262,3916,3792,3790,3794,0,0,0,0,0,0,14.85,14.19,14.85
$GC,6622,-1.43,-44.8,2263,3916,3791,3795,677.2,-8.1,254,6628,0.00,1.90,0.00,0.000,1030,0.000,0.042,2262,2794,3792,3790,3795,0,0,0,0,0,0,14.50,14.45,14.50
$GC,6993,-1.43,-44.8,2263,2794,3792,3795,705.2,-7.5,265,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2794,3792,3790,3795,0,0,0,0,0,0,14.85,14.85,14.85
$GC,7329,-1.43,-44.8,2263,2794,3791,3795,730.6,-7.6,271,7335,0.00,2.05,0.00,0.000,260,0.000,0.085,2261,3913,3792,3789,3795,0,0,0,0,0,0,14.84,14.15,14.84
$GC,7447,-1.43,-44.8,2262,3914,3791,3795,740.2,-8.1,288,7453,0.00,1.90,0.00,0.000,1030,0.000,0.042,2262,2792,3792,3790,3795,0,0,0,0,0,0,14.51,14.45,14.52
$STATE,7606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7606,begin apogee
$GC,7611,-0.23,0.0,2263,2541,3791,3795,751.7,-7.1,297,7670,1.60,0.00,56.40,3.046,10246,0.289,0.000,2653,2540,3599,3600,3599,0,0,0,0,0,0,13.94,13.95,12.65
$STATE,7671,end apogee,CONTROL_FINISHED_OK
$STATE,7671,begin loiter
$GC,7999,-0.23,0.0,2654,2541,3596,3593,744.6,2.8,304,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3593,3594,3593,0,0,0,0,0,0,14.70,14.70,14.70
$GC,8671,-0.23,0.0,2653,2541,3595,3592,727.3,2.5,316,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2540,3592,3593,3592,0,0,0,0,0,0,14.92,14.92,14.91
$GC,9343,-0.23,0.0,2653,2542,3593,3593,714.2,1.8,328,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2541,3592,3593,3592,0,0,0,0,0,0,15.00,14.99,15.00
$GC,10015,-0.23,0.0,2653,2541,3593,3593,700.5,1.9,340,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.04,15.03,15.04
$GC,10687,-0.23,0.0,2653,2542,3593,3593,685.8,2.3,352,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3592,3592,0,0,0,0,0,0,15.06,15.06,15.06
$GC,11359,-0.23,0.0,2653,2542,3594,3593,670.9,2.2,364,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.08,15.08,15.08
$GC,12031,-0.23,0.0,2653,2542,3593,3593,655.8,2.1,376,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.09,15.09,15.10
$GC,12703,-0.23,0.0,2654,2542,3593,3593,643.5,1.7,388,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.11,15.11,15.11
$GC,13375,-0.23,0.0,2653,2542,3594,3593,632.9,1.6,400,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.09,15.11,15.11
$GC,14047,-0.23,0.0,2653,2541,3593,3593,620.7,2.0,412,14048,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.12,15.12,15.12
$GC,14719,-0.23,0.0,2654,2540,3594,3591,607.8,1.9,424,14720,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.12,15.13,15.12
$GC,15391,-0.23,0.0,2654,2541,3594,3592,595.3,1.8,436,15391,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.13,15.13
$GC,16063,-0.23,0.0,2653,2541,3593,3593,581.8,2.0,448,16064,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.13,15.13,15.13
$GC,16735,-0.23,0.0,2653,2542,3593,3593,568.1,2.1,460,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,17408,-0.23,0.0,2654,2541,3594,3592,554.9,1.8,472,17409,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.09,15.13,15.13
$GC,18079,-0.23,0.0,2654,2541,3594,3592,543.4,1.6,484,18080,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.10,15.10,15.10
$GC,18751,-0.23,0.0,2653,2541,3595,3592,534.0,1.4,496,18752,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.13,15.13,15.13
$GC,19423,-0.23,0.0,2653,2542,3593,3593,523.4,1.7,508,19423,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,20095,-0.23,0.0,2654,2541,3594,3592,510.5,2.0,520,20096,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
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$GC,71167,-0.19,0.0,2653,2541,3594,3593,348.6,-0.1,1432,71168,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,71839,-0.19,0.0,2654,2540,3591,3592,346.0,0.6,1444,71840,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.10,15.09,15.10
$GC,72511,-0.19,0.0,2652,2542,3593,3593,343.1,0.2,1456,72511,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,73183,-0.19,0.0,2654,2540,3594,3591,344.5,-0.3,1468,73184,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.13
$GC,73855,-0.19,0.0,2654,2540,3594,3592,346.1,-0.1,1480,73856,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,74527,-0.19,0.0,2653,2542,3594,3593,346.6,-0.2,1492,74528,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,75199,-0.18,0.0,2654,2540,3594,3591,350.6,-0.8,1504,75200,0.00,0.00,0.00,0.000,70,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,75871,-0.18,0.0,2653,2541,3594,3593,354.5,-0.3,1516,75872,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,76543,-0.18,0.0,2654,2540,3594,3591,352.7,0.5,1528,76544,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,77215,-0.18,0.0,2653,2541,3594,3592,349.4,0.4,1540,77216,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,77887,-0.18,0.0,2654,2542,3593,3593,349.9,-0.3,1552,77888,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,78559,-0.18,0.0,2654,2541,3594,3592,351.4,-0.1,1564,78560,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,79231,-0.18,0.0,2654,2541,3594,3592,351.8,-0.2,1576,79232,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,79903,-0.18,0.0,2653,2541,3594,3593,353.5,-0.2,1588,79904,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3592,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,80575,-0.18,0.0,2653,2541,3593,3593,351.9,0.5,1600,80576,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3591,0,0,0,0,0,0,15.14,15.14,15.14
$GC,81247,-0.18,0.0,2653,2541,3593,3593,347.1,0.6,1612,81248,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,81919,-0.18,0.0,2653,2540,3593,3592,347.3,-0.3,1624,81920,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,82592,-0.18,0.0,2653,2542,3591,3593,348.8,-0.2,1636,82593,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3592,3592,0,0,0,0,0,0,15.13,15.13,15.13
$GC,83263,-0.18,0.0,2654,2541,3595,3593,350.0,-0.2,1648,83264,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.13,15.14
$GC,83935,-0.18,0.0,2653,2541,3593,3592,351.7,-0.2,1660,83936,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,84607,-0.18,0.0,2653,2541,3594,3593,351.4,0.2,1672,84608,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,85279,-0.18,0.0,2653,2541,3593,3593,352.1,-0.3,1684,85280,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3593,3594,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,85951,-0.18,0.0,2654,2540,3594,3592,353.2,-0.0,1696,85952,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,86623,-0.18,0.0,2653,2541,3593,3592,352.5,0.2,1708,86624,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,87295,-0.18,0.0,2654,2540,3593,3592,350.6,0.2,1720,87296,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,87967,-0.18,0.0,2653,2541,3593,3593,351.0,-0.1,1732,87968,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,88639,-0.18,0.0,2652,2542,3593,3593,351.0,0.1,1744,88640,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,89311,-0.18,0.0,2654,2540,3594,3592,350.4,0.0,1756,89312,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.15
$GC,89983,-0.18,0.0,2654,2540,3594,3592,350.9,-0.1,1768,89984,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,90655,-0.18,0.0,2653,2542,3594,3593,351.3,0.0,1780,90656,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,91327,-0.18,0.0,2654,2542,3594,3593,349.2,0.4,1792,91328,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,91999,-0.18,0.0,2653,2542,3593,3593,348.2,-0.1,1804,92000,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.14,15.14,15.14
$GC,92671,-0.17,0.0,2653,2541,3594,3593,350.9,-0.5,1816,92672,0.00,0.00,0.00,0.000,70,0.000,0.000,2653,2541,3592,3593,3591,0,0,0,0,0,0,15.14,15.14,15.14
$GC,93343,-0.17,0.0,2653,2541,3593,3594,353.2,-0.2,1828,93344,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3593,3593,3593,0,0,0,0,0,0,15.14,15.14,15.14
$GC,94015,-0.17,0.0,2653,2541,3594,3593,351.8,0.4,1840,94016,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2540,3592,3593,3592,0,0,0,0,0,0,15.10,15.10,15.10
$STATE,94069,end loiter,LOITER_COMPLETE
$STATE,94069,begin climb
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$GC,94212,1.43,44.8,3185,3903,3422,3409,342.2,10.8,1861,94219,0.00,2.38,0.00,0.000,1030,0.000,0.048,3195,2548,3414,3421,3408,0,0,0,0,0,0,14.33,14.27,14.35
$GC,94576,1.43,44.8,3195,2548,3418,3408,304.3,10.3,1871,94577,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2547,3412,3417,3407,0,0,0,0,0,0,14.71,14.71,14.71
$GC,94912,1.43,44.8,3195,2547,3418,3406,271.3,9.7,1877,94919,0.00,2.47,0.00,0.000,516,0.000,0.060,3205,1160,3411,3417,3406,0,0,0,0,0,0,14.78,14.25,14.78
$GC,95031,1.43,44.8,3206,1161,3418,3407,260.7,9.0,1894,95038,0.00,2.53,0.00,0.000,1030,0.000,0.063,3206,2565,3411,3417,3406,0,0,0,0,0,0,14.43,14.29,14.47
$GC,95417,1.43,44.8,3206,2566,3417,3407,225.9,9.0,1907,95423,0.00,2.47,0.00,0.000,260,0.000,0.089,3205,3911,3411,3417,3406,0,0,0,0,0,0,14.71,14.17,14.71
$GC,95556,1.43,44.8,3206,3913,3417,3407,211.7,10.2,1927,95563,0.00,2.38,0.00,0.000,1030,0.000,0.050,3217,2541,3411,3417,3406,0,0,0,0,0,0,14.51,14.44,14.54
$GC,95921,1.43,44.8,3217,2541,3418,3405,178.3,8.8,1941,95927,0.00,2.53,0.00,0.000,260,0.000,0.088,3216,3907,3411,3416,3406,0,0,0,0,0,0,14.84,14.17,14.83
$GC,95962,1.43,44.8,3217,3907,3417,3407,174.3,9.8,1947,95969,0.20,2.38,0.00,0.000,5126,0.342,0.051,3188,2538,3411,3417,3406,0,0,0,0,0,0,13.78,14.45,14.28
$GC,96313,1.43,44.8,3188,2537,3418,3406,145.4,8.1,1961,96319,0.00,2.45,0.00,0.000,516,0.000,0.061,3196,1160,3411,3417,3406,0,0,0,0,0,0,14.84,14.19,14.84
$GC,96375,1.45,44.8,3198,1161,3417,3407,140.6,7.3,1970,96383,0.00,2.53,0.00,0.000,1094,0.000,0.064,3197,2564,3409,3415,3404,0,0,0,0,0,0,14.45,14.31,14.50
$GC,96732,1.45,44.8,3198,2564,3418,3407,111.9,8.5,1985,96739,0.00,2.53,0.00,0.000,516,0.000,0.060,3208,1152,3411,3416,3406,0,0,0,0,0,0,14.85,14.25,14.85
$GC,96803,1.46,44.8,3209,1153,3418,3406,106.4,7.8,1995,96809,0.00,2.50,0.00,0.000,1094,0.000,0.066,3207,2547,3411,3417,3406,0,0,0,0,0,0,14.33,14.25,14.38
$PING,82.2,85.1,9000.0,0.00,0.00
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$PING,70.1,72.7,72.7,1.02,1.00
$PING,48.3,49.8,49.8,1.04,1.00
$GC,97545,1.47,44.8,3219,2544,3417,3407,46.2,7.5,2029,97551,0.00,2.53,0.00,0.000,324,0.000,0.090,3219,3907,3412,3416,3409,0,0,0,0,0,0,14.85,14.16,14.84
$GC,97628,1.47,44.8,3219,3907,3418,3406,39.0,9.0,2041,97635,0.00,2.38,0.00,0.000,1030,0.000,0.052,3229,2547,3411,3417,3406,0,0,0,0,0,0,14.51,14.43,14.54
$PING,27.4,27.7,27.7,1.05,1.00
$PING,15.6,18.0,17.3,0.98,1.00
$FREEZE,8.88,-1.783,-1.873,2,38,0
$GC,97993,1.47,44.8,3229,2548,3417,3407,8.9,8.3,2057,97999,0.00,2.47,0.00,0.000,516,0.000,0.060,3240,1154,3411,3416,3406,0,0,0,0,0,0,14.85,14.18,14.85
$FREEZE,7.87,-1.783,-1.872,2,38,0
$FREEZE,7.46,-1.783,-1.872,2,38,0
$FREEZE,6.95,-1.786,-1.871,2,38,0
$FREEZE,6.50,-1.786,-1.871,2,38,0
$FREEZE,5.99,-1.786,-1.871,2,38,0
$FREEZE,5.51,-1.786,-1.870,2,38,0
$FREEZE,5.04,-1.786,-1.870,2,38,0
$FREEZE,4.54,-1.786,-1.870,2,38,0
$FREEZE,4.06,-1.786,-1.869,2,38,0
$FREEZE,3.56,-1.786,-1.869,2,38,0
$FREEZE,3.02,-1.788,-1.868,2,38,0
$STATE,98075,end climb,FINISH_DEPTH_REACHED
$STATE,98075,begin subsurface finish
$FINISH1,3.0,1.027383,6
$GC,98082,0.01,5.9,3241,2555,3418,3405,3.0,7.2,2069,98099,2.05,2.50,-10.02,0.011,20996,0.302,0.079,2732,1145,3579,3579,3580,0,0,0,0,0,0,13.97,13.14,14.40
$FINISH2,2.0
$STATE,98099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,98099,begin surface
$RAFOS_CLK,4422
$RAFOS,2,1522962789,21.233334,21.219166,153,64,57,56,55,52,475,194,226,120,211,157
$RAFOS,1,1522962453,21.133333,21.125834,100,64,63,61,58,58,408,430,146,167,203,220
$RAFOS,0,1522962061,21.032778,21.016945,80,66,63,58,56,54,579,225,190,170,213,202
$RAFOS,2,1522951981,18.233334,18.216944,112,55,54,54,53,52,523,205,177,191,151,218
$RAFOS,1,1522951645,18.133333,18.123611,138,66,61,58,57,57,456,217,205,194,114,180
$RAFOS,0,1522951309,18.032778,18.030277,155,62,56,54,53,48,323,192,155,215,115,176
$RAFOS,2,1522941229,15.233334,15.230278,128,56,55,54,53,51,269,418,199,219,173,140
$RAFOS,1,1522940837,15.133333,15.121388,134,64,61,61,53,53,505,203,212,167,222,154
$RAFOS,0,1522940501,15.032778,15.028055,124,60,60,59,58,57,371,195,455,132,144,570
$RAFOS,2,1522930421,12.233334,12.228056,138,58,54,53,52,50,317,137,114,190,212,176
$RAFOS,1,1522930029,12.133333,12.119166,83,58,56,55,55,52,554,155,183,214,143,230
$RAFOS,0,1522929693,12.032778,12.025833,132,64,61,59,55,53,420,215,197,179,165,156
$RAFOS,2,1522919613,9.233334,9.225833,149,64,59,58,56,53,367,176,121,192,217,517
$RAFOS,1,1522919221,9.133333,9.116944,85,56,55,52,51,49,602,217,199,136,122,160
$RAFOS,0,1522918885,9.032778,9.023611,176,58,55,55,55,54,469,161,198,210,140,187
$RAFOS,2,1522908805,6.233333,6.223611,142,60,59,58,58,54,415,193,160,228,205,149
$RAFOS,1,1522908469,6.133333,6.130278,119,62,61,59,58,54,345,196,165,134,122,213
$RAFOS,0,1522908077,6.032778,6.021389,111,61,60,58,57,56,517,197,228,160,208,150
$RAFOS,2,1522897997,3.233333,3.221389,158,75,65,57,54,53,463,205,196,154,121,163
$RAFOS,1,1522897661,3.133333,3.128056,161,65,60,59,59,54,392,177,523,200,212,156
$RAFOS_FIX,-7405.380371,-11227.505859,050418,212120,2,90,0.04
$IRIDIUM_FIX,-7402.95,-11228.77,030318,170928
$TT8_MAMPS,0.038948,0.234437
$HUMID,48.62
$INTERNAL_PRESSURE,7.88035
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,15.6,17.3
$24V_AH,12.65,85.527
$10V_AH,12.01,0.000
$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,7.025,99.400,104.475,0.000,0.000,0.000,0.000,0.000,33.500,0.000,0.000,0.000,94649.625,377.858,2889.341,259.844,0.000,1857.362,0.000,760.760,6480.000,237.568,0.000
$DEVICE_MAMPS,341.955,91.800,3046.230,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11706.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.186,0.000,0.000,0.000
$MEM,280640
$DATA_FILE_SIZE,53174,2072
$CAP_FILE_SIZE,264066,0
$CFSIZE,1024409600,990396416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,050418,210920,-7405.380,-11227.506,0,3090.0,0,53.4,0.0,0.0,0,0.0