version: 66.13
glider: 221
mission: 7
dive: 457
start: 10 3 118 20 40 18
data:
$ID,221
$MISSION,7
$DIVE,457
$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,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,031018,181632,-7400.4302,-11240.3936,0,4111.7,0,53.1,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-50.4
$GPS2,031018,181632,-7400.4302,-11240.3936,181,99.0,181,53.1,0.0,0.0,0,0.0
$SPEED_LIMITS,0.083,0.174
$TGT_NAME,drift5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,-15000.000
$MHEAD_RNG_PITCHd_Wd,77.1,10245,-17.0,-8.333,-25.60,1830
$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,8,begin dive
$GC,11,-0.91,-107.1,184,2809,2402,2329,0.0,0.0,0,105,0.00,0.00,-93.62,0.003,16390,0.000,0.000,182,2813,3962,3972,3952,0,0,0,0,0,0,14.75,12.62,14.66
$GC,108,-0.91,-107.1,183,2810,3977,3957,2.7,-3.2,3,124,12.20,2.47,0.00,0.000,2564,0.451,0.044,2431,1390,3970,3977,3963,0,0,0,0,0,0,13.74,14.36,14.30
$PING,21.0,22.5,9000.0,0.00,0.00
$GC,250,-0.91,-107.1,2431,1390,3976,3972,25.9,-11.2,24,255,0.00,2.53,0.00,0.000,1030,0.000,0.067,2430,2801,3973,3976,3971,0,0,0,0,0,0,14.38,14.21,14.42
$GC,606,-0.91,-107.1,2430,2802,3976,3973,69.9,-11.3,39,612,0.00,2.45,0.00,0.000,516,0.000,0.048,2430,1386,3973,3975,3971,0,0,0,0,0,0,14.68,14.20,14.67
$GC,710,-0.91,-107.1,2430,1386,3976,3972,79.8,-8.1,54,721,0.00,2.58,0.00,0.000,1030,0.000,0.065,2429,2802,3973,3975,3972,0,0,0,0,0,0,14.21,14.13,14.27
$GC,1054,-0.91,-107.1,2430,2802,3977,3973,118.2,-11.2,67,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2800,3974,3975,3973,0,0,0,0,0,0,14.72,14.73,14.72
$GC,1390,-0.91,-107.1,2429,2802,3976,3972,154.4,-10.3,79,1396,0.00,2.50,0.00,0.000,516,0.000,0.048,2429,1387,3974,3975,3973,0,0,0,0,0,0,14.70,14.13,14.70
$GC,1459,-0.91,-107.1,2430,1387,3976,3973,161.2,-9.8,89,1467,0.00,2.58,0.00,0.000,1030,0.000,0.066,2428,2803,3974,3975,3973,0,0,0,0,0,0,14.21,14.12,14.26
$GC,1811,-0.91,-107.1,2428,2803,3977,3973,197.9,-10.9,103,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2803,3974,3975,3973,0,0,0,0,0,0,14.81,14.81,14.81
$GC,2174,-0.91,-107.1,2429,2803,3977,3973,240.3,-11.9,110,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2803,3974,3975,3973,0,0,0,0,0,0,14.70,14.70,14.70
$GC,2510,-0.91,-107.1,2428,2804,3976,3975,280.8,-12.1,116,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2803,3974,3975,3973,0,0,0,0,0,0,14.71,14.71,14.71
$GC,2846,-0.91,-107.1,2426,2803,3977,3974,323.5,-12.7,122,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2803,3974,3975,3974,0,0,0,0,0,0,14.71,14.72,14.72
$GC,3182,-0.91,-107.1,2428,2804,3976,3975,365.0,-12.2,128,3188,0.00,2.50,0.00,0.000,516,0.000,0.047,2428,1387,3974,3975,3974,0,0,0,0,0,0,14.72,14.02,14.72
$GC,3237,-0.91,-107.1,2428,1387,3975,3975,371.7,-11.8,136,3244,0.00,2.58,0.00,0.000,1030,0.000,0.066,2428,2800,3974,3975,3974,0,0,0,0,0,0,14.19,14.10,14.24
$GC,3631,-0.91,-107.1,2428,2807,3976,3974,416.3,-11.3,150,3636,0.00,2.05,0.00,0.000,260,0.000,0.091,2428,3924,3974,3975,3974,0,0,0,0,0,0,14.72,14.01,14.72
$GC,3714,-0.91,-107.1,2428,3925,3976,3975,426.5,-12.2,162,3720,0.00,1.98,0.00,0.000,1030,0.000,0.047,2428,2784,3974,3975,3974,0,0,0,0,0,0,14.32,14.27,14.33
$GC,4078,-0.91,-107.1,2429,2784,3976,3974,466.4,-10.8,172,4084,0.00,2.42,0.00,0.000,516,0.000,0.047,2430,1398,3974,3975,3974,0,0,0,0,0,0,14.71,14.12,14.71
$GC,4119,-0.91,-107.1,2428,1398,3976,3976,470.9,-10.8,178,4126,0.00,2.58,0.00,0.000,1030,0.000,0.067,2427,2805,3974,3975,3974,0,0,0,0,0,0,14.16,14.09,14.24
$GC,4469,-0.91,-107.1,2428,2806,3976,3975,507.3,-10.4,186,4476,0.00,2.08,0.00,0.000,260,0.000,0.090,2428,3915,3975,3976,3974,0,0,0,0,0,0,14.84,14.05,14.84
$GC,4504,-0.91,-107.1,2428,3913,3976,3976,511.0,-10.6,191,4511,0.00,1.98,0.00,0.000,1030,0.000,0.048,2428,2788,3974,3975,3974,0,0,0,0,0,0,14.43,14.36,14.46
$PING,512.4,51.6,9000.0,0.00,0.00
$PING,523.9,35.4,9000.0,0.04,0.67
$PING,534.8,25.8,24.7,-1.16,0.98
$PING,545.4,15.8,15.9,-0.91,1.00
$GC,4864,-0.91,-107.1,2428,2789,3977,3974,545.4,-9.6,200,4869,0.00,2.42,0.00,0.000,516,0.000,0.047,2428,1384,3974,3975,3974,0,0,0,0,0,0,14.71,14.21,14.71
$STATE,4922,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4922,begin apogee
$PING,554.2,9.1,8.8,-0.86,1.00
$GC,4929,-0.23,0.0,2428,2561,3976,3975,551.9,-10.1,209,5046,0.88,0.00,114.53,3.042,10246,0.241,0.000,2651,2560,3599,3605,3594,0,0,0,0,0,0,13.72,13.43,11.95
$STATE,5047,end apogee,CONTROL_FINISHED_OK
$STATE,5047,begin loiter
$GC,5372,-0.22,3.5,2651,2561,3597,3589,560.7,-1.8,217,5372,0.00,0.00,0.00,0.000,38,0.000,0.000,2651,2560,3593,3598,3588,0,0,0,0,0,0,14.70,14.70,14.70
$GC,6043,-0.22,3.5,2651,2562,3596,3586,563.5,0.4,229,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2560,3590,3595,3585,0,0,0,0,0,0,14.97,14.97,14.97
$GC,6716,-0.22,3.5,2651,2562,3596,3586,565.7,0.0,241,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3590,3596,3585,0,0,0,0,0,0,15.04,15.04,15.03
$GC,7387,-0.22,3.5,2651,2561,3597,3586,565.8,-0.0,253,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3590,3595,3585,0,0,0,0,0,0,15.07,15.07,15.02
$GC,8059,-0.22,3.5,2651,2562,3596,3586,566.8,-0.4,265,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3590,3596,3585,0,0,0,0,0,0,15.09,15.09,15.08
$GC,8731,-0.22,3.5,2651,2562,3596,3586,567.1,-0.0,277,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3589,3594,3585,0,0,0,0,0,0,15.09,15.09,15.09
$GC,9403,-0.22,3.5,2651,2561,3596,3587,567.1,-0.0,289,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3591,3596,3586,0,0,0,0,0,0,15.10,15.10,15.10
$GC,10075,-0.22,3.5,2651,2562,3597,3589,567.1,0.0,301,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3592,3596,3588,0,0,0,0,0,0,15.10,15.11,15.11
$GC,10747,-0.22,3.5,2652,2561,3597,3588,567.1,0.0,313,10748,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3591,3595,3588,0,0,0,0,0,0,15.11,15.11,15.11
$GC,11419,-0.22,3.5,2651,2561,3598,3590,567.1,0.0,325,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3592,3596,3589,0,0,0,0,0,0,15.11,15.11,15.11
$GC,12093,-0.22,3.5,2651,2561,3599,3591,567.1,0.0,337,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3593,3597,3590,0,0,0,0,0,0,15.10,15.10,15.10
$GC,12763,-0.22,3.5,2652,2561,3599,3590,567.1,0.0,349,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3594,3598,3590,0,0,0,0,0,0,15.10,15.11,15.11
$GC,13435,-0.22,3.5,2651,2562,3600,3592,567.1,0.0,361,13441,0.00,0.00,4.43,2.021,8198,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,14.45,12.91
$GC,14107,-0.22,3.5,2652,2561,3593,3582,567.1,-0.0,373,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2560,3587,3592,3583,0,0,0,0,0,0,15.09,15.09,15.09
$GC,14779,-0.22,3.5,2651,2562,3593,3584,567.1,0.0,385,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.10,15.10,15.10
$GC,15452,-0.22,3.5,2651,2561,3593,3584,567.1,-0.0,397,15452,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.13,15.11,15.11
$GC,16123,-0.22,3.5,2651,2559,3594,3583,567.2,-0.0,409,16124,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,16795,-0.22,3.5,2652,2561,3593,3583,567.2,-0.0,421,16796,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,17467,-0.22,3.5,2651,2562,3592,3584,567.2,-0.0,433,17468,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,18139,-0.22,3.5,2652,2560,3593,3583,567.2,-0.0,445,18140,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,18811,-0.22,3.5,2652,2561,3593,3583,567.3,-0.0,457,18812,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,19483,-0.22,3.5,2651,2562,3592,3584,567.3,-0.0,469,19484,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,20155,-0.22,3.5,2651,2562,3592,3584,567.3,0.0,481,20156,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,20827,-0.22,3.5,2651,2561,3593,3582,567.4,-0.0,493,20828,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3593,3583,0,0,0,0,0,0,15.12,15.11,15.12
$GC,21499,-0.22,3.5,2652,2561,3593,3583,567.4,-0.0,505,21500,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.12,15.12
$GC,22171,-0.22,3.5,2651,2562,3592,3584,567.4,-0.0,517,22172,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3587,3591,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,22845,-0.22,3.5,2652,2561,3593,3583,567.5,-0.0,529,22845,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,23516,-0.22,3.5,2651,2562,3592,3584,567.5,-0.0,541,23517,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.08,15.08,15.08
$GC,24188,-0.22,3.5,2651,2562,3593,3584,567.5,-0.0,553,24188,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
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$GC,73915,-0.22,3.5,2651,2560,3593,3584,566.4,-0.0,1441,73916,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,74587,-0.22,3.5,2651,2561,3593,3585,566.4,0.0,1453,74588,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,75260,-0.22,3.5,2651,2562,3593,3585,566.4,0.0,1465,75261,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,75931,-0.22,3.5,2651,2561,3593,3584,566.3,0.0,1477,75932,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,76603,-0.22,3.5,2652,2561,3594,3584,566.3,0.0,1489,76604,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,77275,-0.22,3.5,2652,2561,3593,3584,566.3,0.0,1501,77276,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3587,3592,3583,0,0,0,0,0,0,15.07,15.07,15.07
$GC,77947,-0.22,3.5,2651,2560,3593,3584,566.3,0.0,1513,77948,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.10,15.11,15.11
$GC,78619,-0.22,3.5,2651,2562,3593,3585,566.2,0.0,1525,78620,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3587,3591,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,79291,-0.22,3.5,2652,2560,3593,3584,566.2,0.0,1537,79292,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3587,3592,3583,0,0,0,0,0,0,15.11,15.11,15.11
$GC,79963,-0.22,3.5,2651,2562,3593,3585,566.1,0.0,1549,79964,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,80635,-0.22,3.5,2651,2561,3594,3584,566.1,0.0,1561,80636,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,81307,-0.22,3.5,2652,2561,3594,3584,566.1,0.0,1573,81308,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,81979,-0.22,3.5,2652,2560,3593,3584,566.0,0.0,1585,81980,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,82651,-0.22,3.5,2651,2562,3593,3585,566.0,0.0,1597,82652,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,83324,-0.22,3.5,2652,2562,3593,3586,565.9,0.0,1609,83325,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,83996,-0.22,3.5,2651,2560,3593,3584,565.9,0.0,1621,83996,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,84667,-0.22,3.5,2651,2560,3593,3584,565.8,0.0,1633,84668,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,85339,-0.22,3.5,2652,2561,3594,3584,565.8,0.0,1645,85340,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,86011,-0.22,3.5,2652,2560,3593,3584,565.7,0.0,1657,86012,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,86683,-0.22,3.5,2651,2561,3593,3584,565.7,0.0,1669,86684,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,87355,-0.22,3.5,2651,2561,3592,3586,565.6,0.0,1681,87356,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3593,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,88029,-0.22,3.5,2651,2562,3593,3585,565.6,0.0,1693,88029,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3592,3584,0,0,0,0,0,0,15.10,15.10,15.09
$GC,88700,-0.22,3.5,2651,2560,3592,3585,565.5,0.0,1705,88701,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2561,3588,3592,3584,0,0,0,0,0,0,15.07,15.07,15.07
$GC,89371,-0.22,3.5,2652,2561,3592,3585,565.5,0.0,1717,89372,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,90043,-0.22,3.5,2651,2560,3593,3584,565.5,0.0,1729,90044,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2560,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,90715,-0.22,3.5,2652,2560,3593,3585,565.4,0.0,1741,90716,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2561,3588,3592,3584,0,0,0,0,0,0,15.11,15.11,15.11
$GC,91387,-0.22,3.5,2651,2561,3593,3585,565.4,0.0,1753,91388,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2561,3588,3593,3584,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,91441,end loiter,LOITER_COMPLETE
$STATE,91441,begin climb
$GC,91443,0.91,107.1,2652,2560,3593,3584,565.4,0.0,1754,91579,1.17,2.70,124.10,3.016,10756,0.109,0.056,3030,1151,3171,3180,3163,0,0,0,0,0,0,13.90,13.40,11.82
$GC,91591,0.98,163.4,3030,1152,3177,3161,561.1,5.2,1775,91670,0.00,2.67,70.65,2.940,9254,0.000,0.060,3030,2554,2948,2960,2937,0,0,0,0,0,0,13.61,13.54,11.53
$PING,540.4,30.6,9000.0,-1.47,0.87
$GC,92007,0.98,163.4,3030,2554,2943,2919,525.6,8.8,1792,92012,0.00,2.50,0.00,0.000,260,0.000,0.090,3029,3914,2930,2942,2919,0,0,0,0,0,0,14.51,14.12,14.51
$GC,92053,0.98,163.4,3030,3915,2943,2915,520.6,10.4,1799,92062,0.00,2.40,0.00,0.000,1030,0.000,0.047,3038,2529,2930,2942,2919,0,0,0,0,0,0,14.35,14.31,14.35
$GC,92397,0.98,163.4,3039,2529,2940,2916,490.2,8.8,1806,92397,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2529,2927,2939,2916,0,0,0,0,0,0,14.78,14.78,14.78
$GC,92733,0.98,163.4,3038,2529,2938,2915,460.1,9.0,1812,92734,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2529,2925,2936,2914,0,0,0,0,0,0,14.77,14.77,14.77
$GC,93069,0.98,163.4,3038,2529,2936,2912,429.6,9.1,1818,93075,0.00,2.58,0.00,0.000,260,0.000,0.090,3037,3916,2923,2935,2912,0,0,0,0,0,0,14.80,14.24,14.80
$GC,93090,0.98,163.4,3039,3916,2937,2912,427.6,9.1,1821,93096,0.00,2.35,0.00,0.000,1030,0.000,0.047,3044,2540,2924,2936,2912,0,0,0,0,0,0,14.51,14.47,14.53
$GC,93460,0.98,163.4,3044,2542,2935,2912,393.8,9.0,1832,93467,0.00,2.42,0.00,0.000,516,0.000,0.059,3044,1166,2922,2934,2910,0,0,0,0,0,0,14.88,14.28,14.90
$GC,93481,0.98,163.4,3045,1165,2935,2910,392.0,8.8,1835,93489,0.00,2.47,0.00,0.000,1030,0.000,0.062,3044,2556,2922,2934,2910,0,0,0,0,0,0,14.42,14.33,14.46
$GC,93853,0.98,163.4,3044,2555,2935,2911,360.1,8.6,1846,93861,0.00,2.47,0.00,0.000,260,0.000,0.089,3043,3901,2922,2934,2910,0,0,0,0,0,0,14.90,14.22,14.90
$GC,93894,0.98,163.4,3044,3903,2935,2911,355.8,10.4,1852,93901,0.00,2.33,0.00,0.000,1030,0.000,0.047,3044,2538,2922,2934,2910,0,0,0,0,0,0,14.51,14.48,14.53
$GC,94245,0.98,163.4,3044,2538,2935,2910,324.7,8.8,1860,94251,0.00,2.45,0.00,0.000,516,0.000,0.060,3044,1159,2921,2933,2909,0,0,0,0,0,0,14.81,14.24,14.81
$GC,94279,0.99,163.4,3044,1160,2934,2910,322.0,7.7,1865,94286,0.00,2.50,0.00,0.000,1094,0.000,0.062,3044,2557,2920,2933,2908,0,0,0,0,0,0,14.38,14.31,14.44
$GC,94636,0.99,163.4,3044,2558,2933,2910,292.5,8.2,1874,94637,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2557,2921,2933,2909,0,0,0,0,0,0,14.90,14.89,14.89
$GC,94973,0.99,163.4,3044,2558,2934,2910,265.6,8.0,1880,94973,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2557,2921,2933,2909,0,0,0,0,0,0,14.90,14.90,14.90
$GC,95308,0.99,163.4,3044,2558,2934,2910,238.2,8.2,1886,95309,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2557,2921,2933,2909,0,0,0,0,0,0,14.90,14.90,14.90
$GC,95645,0.99,163.4,3044,2557,2934,2909,210.5,8.3,1892,95645,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2557,2921,2933,2909,0,0,0,0,0,0,14.90,14.90,14.90
$GC,95981,1.00,163.4,3044,2557,2934,2909,184.0,7.8,1901,95987,0.00,2.50,0.00,0.000,324,0.000,0.088,3044,3906,2921,2933,2909,0,0,0,0,0,0,14.90,14.16,14.90
$GC,96015,1.00,163.4,3044,3907,2933,2910,181.0,9.0,1906,96026,0.00,2.35,0.00,0.000,1030,0.000,0.047,3044,2532,2921,2933,2909,0,0,0,0,0,0,14.50,14.47,14.52
$GC,96376,1.02,163.4,3044,2532,2934,2909,155.0,7.1,1921,96381,0.00,2.40,0.00,0.000,580,0.000,0.060,3044,1160,2920,2933,2908,0,0,0,0,0,0,14.88,14.26,14.88
$GC,96437,1.06,163.4,3044,1160,2934,2908,150.9,6.6,1930,96443,0.00,2.50,0.00,0.000,1094,0.000,0.061,3044,2553,2920,2933,2908,0,0,0,0,0,0,14.32,14.23,14.36
$GC,96794,1.08,163.4,3044,2555,2933,2909,126.2,7.0,1945,96802,0.12,2.50,0.00,0.000,2372,0.161,0.090,3093,3907,2920,2933,2908,0,0,0,0,0,0,14.41,14.13,14.52
$GC,96884,1.08,163.4,3094,3907,2934,2908,117.0,10.4,1958,96891,0.00,2.35,0.00,0.000,1030,0.000,0.047,3103,2535,2920,2933,2908,0,0,0,0,0,0,14.49,14.45,14.50
$GC,97244,1.08,163.4,3103,2535,2933,2909,82.6,9.8,1973,97249,0.00,2.53,0.00,0.000,260,0.000,0.090,3103,3914,2920,2933,2908,0,0,0,0,0,0,14.78,14.19,14.78
$GC,97270,1.08,163.4,3104,3913,2933,2908,79.6,10.8,1977,97277,0.12,2.35,0.00,0.000,5126,0.234,0.047,3079,2550,2920,2932,2908,0,0,0,0,0,0,13.86,14.42,14.09
$PING,61.9,64.7,9000.0,-0.09,0.87
$PING,49.7,51.8,9000.0,-0.06,0.85
$GC,97634,1.08,163.4,3079,2550,2938,2909,47.3,8.3,1993,97640,0.00,2.45,0.00,0.000,516,0.000,0.058,3086,1164,2920,2933,2908,0,0,0,0,0,0,14.89,14.17,14.89
$GC,97796,1.08,163.4,3087,1164,2934,2908,33.9,8.2,2016,97803,0.00,2.47,0.00,0.000,1030,0.000,0.063,3086,2558,2920,2932,2908,0,0,0,0,0,0,14.42,14.27,14.47
$PING,28.8,30.3,30.3,1.04,1.00
$PING,16.2,16.9,17.0,1.04,1.00
$FREEZE,7.84,-1.844,-1.868,2,170,0
$STATE,98108,end climb,FINISH_DEPTH_REACHED
$STATE,98108,begin subsurface finish
$FINISH1,7.8,1.027325,9
$GC,98115,0.01,8.9,3088,2559,2934,2908,7.8,7.2,2028,98145,1.30,2.47,-22.33,0.007,20740,0.220,0.114,2734,3910,3570,3570,3571,0,0,0,0,0,0,13.80,12.64,14.02
$FINISH2,7.1
$STATE,98145,end subsurface finish,CONTROL_FINISHED_OK
$STATE,98145,begin surface
$RAFOS_CLK,4559
$RAFOS,2,1538687636,21.233334,21.232222,95,56,53,53,52,52,278,130,216,184,114,194
$RAFOS,1,1538687244,21.133333,21.123333,86,60,55,54,53,53,482,148,119,130,191,158
$RAFOS,0,1538686908,21.032778,21.030001,90,63,59,58,54,53,385,201,124,189,153,210
$RAFOS,2,1538676828,18.233334,18.230000,103,63,62,56,50,47,325,181,213,147,170,131
$RAFOS,1,1538676436,18.133333,18.121111,64,63,61,58,56,55,532,168,132,185,217,144
$RAFOS,0,1538676100,18.032778,18.027779,114,64,60,57,57,56,431,165,202,219,188,178
$RAFOS,2,1538666020,15.233334,15.227777,153,57,55,53,52,51,370,211,235,157,145,182
$RAFOS,1,1538665628,15.133333,15.118889,154,65,62,60,59,55,574,197,185,147,218,157
$RAFOS,0,1538665292,15.032778,15.025556,73,62,60,58,57,53,480,203,180,161,223,242
$RAFOS,2,1538655212,12.233334,12.225555,115,71,64,55,54,51,418,149,203,139,108,126
$RAFOS,1,1538654876,12.133333,12.132222,103,56,54,52,51,49,316,187,202,117,176,146
$RAFOS,0,1538654484,12.032778,12.023334,113,65,61,54,54,51,522,188,205,139,115,217
$RAFOS,2,1538644404,9.233334,9.223333,66,66,63,60,55,54,195,462,122,207,155,218
$RAFOS,1,1538644068,9.133333,9.130000,90,56,55,55,53,53,362,190,122,151,215,200
$RAFOS,0,1538643676,9.032778,9.021111,107,65,58,58,56,55,568,203,122,146,223,172
$RAFOS,2,1538633596,6.233333,6.221111,112,56,56,53,53,52,511,207,113,217,169,130
$RAFOS,1,1538633260,6.133333,6.127778,118,69,62,60,57,54,409,152,165,207,219,113
$RAFOS,0,1538632868,6.032778,6.018889,74,65,58,57,55,54,618,165,200,132,218,148
$RAFOS,2,1538622788,3.233333,3.218889,110,62,60,60,53,52,555,204,218,192,147,175
$RAFOS,1,1538622452,3.133333,3.125556,81,66,61,52,50,50,455,171,205,123,227,196
$RAFOS_FIX,-7359.963379,-11248.291016,041018,212136,3,90,0.04
$IRIDIUM_FIX,-7357.74,-11230.01,200418,201805
$TT8_MAMPS,0.03745,0.286118
$HUMID,50.47
$INTERNAL_PRESSURE,7.88035
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,16.2,17.0
$ALTIM_BOTTOM_PING,545.4,15.9
$24V_AH,11.53,146.895
$10V_AH,9.39,0.000
$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,15.800,94.550,313.700,0.000,0.000,0.000,0.000,119.825,22.500,0.000,182.979,0.000,94525.516,614.500,3087.472,726.404,0.000,2222.985,0.000,706.949,6480.000,161.926,0.000
$DEVICE_MAMPS,450.585,113.985,3042.405,0.000,0.000,0.000,0.000,75.735,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11772.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.537,0.000,0.000,0.000
$MEM,280640
$DATA_FILE_SIZE,49828,2033
$CAP_FILE_SIZE,262884,0
$CFSIZE,1024409600,965902336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,041018,211336,-7359.963,-11248.291,0,4090.3,0,53.1,0.0,0.0,0,0.0