version: 66.11
glider: 192
mission: 2
dive: 518
start: 12 23 113 8 31 57
data:
$ID,192
$MISSION,2
$DIVE,518
$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,-3
$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,549.71729
$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,-12201.854
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,231213,043537,6652.758,-5844.523,0,5093.6,0,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.33
$_SM_ANGLEo,-3.7
$GPS2,231213,043537,6652.758,-5844.523,0,5093.6,0,-33.6
$SPEED_LIMITS,0.143,0.247
$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,333.8,75988,-15.5,-8.250,-18.49,2720
$D_GRID,990
$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,-146.0,2536,2501,2646,2440,0.0,0.0,0,28,0.00,0.00,-5.97,0.000,16386,0.000,0.000,2536,2501,2832,2924,2740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.89,-146.0,2537,2502,2924,2741,14.1,0.0,1,51,0.93,1.60,-10.12,0.000,20740,0.091,0.161,2210,3346,3340,3514,3166,0,0,0,0,0,0,14.28,14.21,14.76
$GC,289,-0.78,-146.0,2210,3346,3517,3165,65.8,-22.5,48,296,0.20,1.50,0.00,0.000,3078,0.295,0.082,2253,2474,3341,3517,3165,0,0,0,0,0,0,13.85,14.26,28.83
$GC,609,-0.72,-146.0,2253,2474,3517,3165,119.0,-15.4,97,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2473,3341,3518,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,923,-0.66,-146.0,2253,2474,3517,3164,168.8,-16.1,128,928,0.12,1.48,0.00,0.000,2564,0.313,0.093,2286,1657,3341,3518,3164,0,0,0,0,0,0,14.02,14.14,28.83
$GC,1011,-0.64,-146.0,2286,1656,3518,3164,181.6,-12.8,136,1015,0.00,1.58,0.00,0.000,1030,0.000,0.116,2281,2500,3340,3517,3164,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1327,-0.60,-146.0,2281,2500,3518,3163,222.1,-13.5,167,1334,0.12,0.00,0.00,0.000,2054,0.295,0.000,2311,2500,3340,3518,3163,0,0,0,0,0,0,14.02,28.83,28.83
$GC,1637,-0.60,-146.0,2312,2500,3518,3163,257.5,-11.0,198,1641,0.00,1.60,0.00,0.000,260,0.000,0.132,2307,3348,3339,3517,3162,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1715,-0.60,-146.0,1440,3347,3510,3160,266.1,-11.1,205,1723,0.00,1.50,0.00,0.000,1030,0.000,0.084,2307,2481,3340,3517,3163,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2024,-0.60,-146.0,2307,2481,3517,3163,298.3,-9.8,236,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2481,3339,3517,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.60,-146.0,2307,2481,3518,3162,330.5,-11.0,267,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2481,3340,3517,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,-0.60,-146.0,2307,2481,3518,3163,365.6,-10.8,298,2657,0.00,1.67,0.00,0.000,260,0.000,0.131,2301,3348,3340,3518,3163,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2712,-0.60,-146.0,2301,3349,3518,3163,372.6,-11.5,303,2719,0.00,1.50,0.00,0.000,1030,0.000,0.083,2301,2494,3340,3517,3163,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3021,-0.60,-146.0,2301,2494,3517,3163,406.9,-10.2,334,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2494,3340,3517,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3338,-0.60,-146.0,2301,2494,3517,3163,438.3,-10.2,365,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2494,3340,3518,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3651,-0.60,-146.0,2301,2494,3519,3163,470.5,-10.3,396,3655,0.00,1.50,0.00,0.000,516,0.000,0.094,2301,1641,3341,3519,3163,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3697,-0.60,-146.0,2301,1640,3519,3163,475.7,-10.3,400,3701,0.00,1.60,0.00,0.000,1030,0.000,0.117,2295,2509,3340,3518,3163,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4013,-0.59,-146.0,2295,2509,3519,3163,508.7,-9.9,431,4016,0.00,1.52,0.00,0.000,260,0.000,0.128,2288,3348,3341,3519,3163,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4082,-0.58,-146.0,2288,3349,3519,3163,515.7,-10.8,437,4090,0.15,1.50,0.00,0.000,3078,0.258,0.082,2321,2481,3341,3519,3163,0,0,0,0,0,0,13.92,14.21,28.83
$GC,4392,-0.59,-146.0,2321,2481,3519,3163,542.7,-8.3,468,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2482,3341,3520,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4708,-0.60,-146.0,2322,2482,3520,3163,568.3,-8.6,499,4712,0.00,1.62,0.00,0.000,260,0.000,0.132,2317,3354,3341,3520,3163,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4775,-0.61,-146.0,2317,3354,3520,3163,574.2,-8.4,505,4779,0.00,1.50,0.00,0.000,1030,0.000,0.083,2317,2486,3341,3520,3163,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5090,-0.61,-146.0,2317,2486,3521,3163,599.6,-7.9,536,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2486,3342,3521,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5400,-0.61,-146.0,2317,2486,3521,3163,624.4,-7.9,547,5404,0.00,1.60,0.00,0.000,260,0.000,0.133,2310,3348,3342,3521,3163,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5455,-0.61,-146.0,2311,3348,3521,3163,627.2,-7.9,548,5458,0.00,1.50,0.00,0.000,1030,0.000,0.083,2310,2481,3342,3521,3163,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5769,-0.61,-146.0,2310,2481,3521,3163,655.2,-8.3,559,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2481,3342,3521,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.61,-146.0,2310,2481,3522,3163,680.1,-8.2,569,6073,0.00,1.62,0.00,0.000,260,0.000,0.132,2304,3352,3342,3521,3163,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6154,-0.61,-146.0,2304,3352,3522,3163,686.0,-8.6,571,6157,0.00,1.50,0.00,0.000,1030,0.000,0.082,2304,2487,3342,3521,3163,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6470,-0.61,-146.0,2304,2487,3521,3163,716.3,-9.1,582,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2487,3342,3522,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,-0.61,-146.0,2304,2487,3522,3163,744.1,-9.3,592,6774,0.00,1.62,0.00,0.000,260,0.000,0.133,2298,3355,3342,3521,3163,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6805,-0.61,-146.0,2298,3356,3521,3163,747.6,-9.3,593,6809,0.00,1.52,0.00,0.000,1030,0.000,0.081,2298,2478,3342,3522,3163,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7140,-0.61,-146.0,2298,2478,3521,3163,778.2,-9.1,604,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2478,3342,3522,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7442,-0.61,-146.0,2298,2478,3521,3164,805.7,-9.1,614,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2478,3341,3520,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7740,-0.61,-146.0,2298,2478,3521,3164,833.0,-9.2,624,7744,0.00,1.65,0.00,0.000,260,0.000,0.129,2291,3342,3342,3522,3163,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7779,-0.61,-146.0,2291,3342,3521,3164,836.3,-9.2,625,7782,0.00,1.50,0.00,0.000,1030,0.000,0.081,2292,2501,3342,3522,3163,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8110,-0.61,-146.0,2292,2501,3522,3163,868.0,-9.4,636,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2501,3342,3521,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8409,-0.61,-146.0,2292,2501,3521,3164,896.3,-9.3,646,8413,0.00,1.50,0.00,0.000,516,0.000,0.093,2291,1651,3342,3521,3163,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8444,-0.61,-146.0,2290,1651,3522,3164,899.7,-9.4,647,8448,0.00,1.60,0.00,0.000,1030,0.000,0.114,2285,2498,3342,3521,3164,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8781,-0.61,-146.0,2285,2498,3522,3164,932.6,-9.7,658,8784,0.00,1.58,0.00,0.000,260,0.000,0.129,2279,3355,3342,3521,3164,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8824,-0.60,-146.0,2279,3355,3521,3163,936.2,-9.8,659,8829,0.15,1.50,0.00,0.000,3078,0.256,0.082,2311,2487,3342,3521,3164,0,0,0,0,0,0,13.89,14.19,28.83
$GC,9151,-0.62,-146.0,2311,2487,3521,3164,964.9,-8.4,670,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2487,3342,3521,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9452,-0.63,-146.0,2311,2487,3522,3164,989.4,-8.3,680,9456,0.00,1.65,0.00,0.000,260,0.000,0.131,2307,3349,3343,3522,3164,0,0,0,0,0,0,28.83,13.94,28.83
$STATE,9481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9481,begin apogee
$GC,9496,-0.22,0.0,2307,2501,3522,3163,992.5,-8.2,681,9683,0.45,0.00,175.70,2.873,10246,0.218,0.000,2429,2501,2741,2860,2623,0,0,0,0,0,0,13.82,28.83,11.73
$STATE,9684,end apogee,CONTROL_FINISHED_OK
$STATE,9684,begin climb
$GC,9690,0.89,146.0,2430,2501,2860,2623,1000.3,0.0,687,9893,1.30,0.00,197.25,2.753,10758,0.169,0.000,2788,2500,2145,2234,2056,0,0,0,0,0,0,13.12,28.83,11.24
$GC,10175,0.85,146.0,2788,2500,2234,2044,964.3,9.6,704,10179,0.00,1.65,0.00,0.000,260,0.000,0.129,2788,3354,2139,2234,2044,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10211,0.80,146.0,2788,3354,2233,2044,960.4,9.9,705,10215,0.00,1.50,0.00,0.000,1030,0.000,0.089,2794,2508,2138,2233,2044,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10547,0.74,146.0,2794,2508,2233,2041,927.3,9.8,716,10551,0.15,1.48,0.00,0.000,4612,0.258,0.099,2758,1661,2136,2233,2040,0,0,0,0,0,0,14.19,14.33,28.83
$GC,10592,0.70,146.0,2759,1660,2233,2040,924.1,9.6,717,10595,0.00,1.52,0.00,0.000,1030,0.000,0.119,2759,2512,2137,2234,2040,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10917,0.68,146.0,2759,2512,2233,2039,895.7,8.6,728,10919,0.12,0.00,0.00,0.000,4102,0.265,0.000,2732,2512,2136,2234,2039,0,0,0,0,0,0,14.31,28.83,28.83
$GC,11218,0.70,165.2,2731,2512,2233,2038,873.0,7.5,738,11244,0.00,1.58,20.83,2.640,8708,0.000,0.105,2735,1660,2067,2168,1966,0,0,0,0,0,0,28.83,14.35,13.00
$GC,11298,0.73,181.5,2736,1660,2167,1965,868.2,7.6,740,11324,0.00,1.58,20.50,2.577,9222,0.000,0.119,2736,2512,2000,2102,1898,0,0,0,0,0,0,28.83,14.29,12.88
$GC,11647,0.73,185.0,2736,2513,2102,1894,838.8,8.1,752,11654,0.00,0.00,4.97,1.964,8198,0.000,0.000,2736,2513,1986,2090,1883,0,0,0,0,0,0,28.83,28.83,13.02
$GC,11941,0.75,194.4,2736,2513,2089,1883,815.1,7.9,762,11955,0.00,0.00,12.32,2.459,8198,0.000,0.000,2736,2513,1948,2052,1844,0,0,0,0,0,0,28.83,28.83,13.09
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$GC,12637,0.81,231.1,2742,2514,1893,1696,759.8,8.5,785,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2514,1795,1894,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12933,0.82,231.1,2741,2514,1892,1695,734.1,8.6,795,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2514,1793,1892,1695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13231,0.82,231.1,2742,2514,1891,1694,708.2,8.8,805,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2514,1792,1891,1694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13535,0.83,231.1,2741,2514,1891,1693,681.3,9.1,815,13537,0.12,0.00,0.00,0.000,2054,0.156,0.000,2788,2514,1792,1891,1693,0,0,0,0,0,0,14.54,28.83,28.83
$GC,13833,0.81,231.1,2788,2514,1891,1693,646.5,11.8,825,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2514,1791,1890,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14132,0.78,231.1,2788,2514,1890,1693,611.8,11.4,835,14133,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2514,1791,1890,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14438,0.76,231.1,2789,2514,1890,1693,577.9,11.1,857,14445,0.12,0.00,0.00,0.000,4102,0.254,0.000,2756,2514,1791,1890,1693,0,0,0,0,0,0,14.19,28.83,28.83
$GC,14747,0.76,231.1,2756,2514,1890,1692,548.6,9.2,888,14750,0.00,1.50,0.00,0.000,516,0.000,0.102,2760,1661,1791,1890,1692,0,0,0,0,0,0,28.83,14.25,28.83
$GC,14782,0.76,231.1,2760,1661,1890,1692,545.4,9.1,891,14786,0.00,1.55,0.00,0.000,1030,0.000,0.117,2760,2512,1791,1890,1692,0,0,0,0,0,0,28.83,14.23,28.83
$GC,15098,0.76,231.1,2760,2513,1890,1692,515.4,9.4,922,15101,0.00,1.55,0.00,0.000,260,0.000,0.132,2760,3367,1791,1890,1692,0,0,0,0,0,0,28.83,14.18,28.83
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$GC,15454,0.76,231.1,2766,2505,1889,1692,481.3,9.6,957,15457,0.00,1.52,0.00,0.000,516,0.000,0.103,2773,1641,1790,1890,1691,0,0,0,0,0,0,28.83,14.22,28.83
$GC,15493,0.76,231.1,2773,1641,1889,1691,478.1,9.2,960,15499,0.00,1.58,0.00,0.000,1030,0.000,0.119,2773,2511,1790,1889,1691,0,0,0,0,0,0,28.83,14.21,28.83
$GC,15801,0.76,231.1,2773,2511,1889,1692,448.1,10.0,991,15807,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2511,1790,1889,1691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16111,0.76,231.1,2773,2511,1889,1691,417.4,10.2,1022,16115,0.00,1.55,0.00,0.000,260,0.000,0.132,2773,3357,1790,1889,1691,0,0,0,0,0,0,28.83,14.15,28.83
$GC,16141,0.75,231.1,2773,3358,1889,1690,414.9,10.1,1024,16148,0.00,1.50,0.00,0.000,1030,0.000,0.088,2779,2497,1790,1889,1691,0,0,0,0,0,0,28.83,14.29,28.83
$GC,16450,0.73,231.1,2779,2497,1889,1691,381.6,10.9,1055,16454,0.12,1.45,0.00,0.000,4612,0.256,0.098,2750,1668,1790,1889,1691,0,0,0,0,0,0,14.21,14.24,28.83
$GC,16488,0.73,231.1,1792,1666,1854,1688,378.2,9.8,1058,16495,0.00,1.55,0.00,0.000,1030,0.000,0.119,2750,2521,1790,1889,1691,0,0,0,0,0,0,28.83,14.19,28.83
$GC,16797,0.75,231.1,2750,2521,1889,1691,350.5,8.4,1089,16804,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2521,1790,1889,1691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17114,0.76,231.1,2750,2521,1888,1692,323.7,8.8,1120,17118,0.00,1.55,0.00,0.000,260,0.000,0.135,2750,3365,1790,1889,1691,0,0,0,0,0,0,28.83,14.12,28.83
$GC,17150,0.76,231.1,2750,3365,1889,1691,319.6,9.4,1123,17153,0.00,1.50,0.00,0.000,1030,0.000,0.089,2757,2498,1790,1889,1691,0,0,0,0,0,0,28.83,14.27,28.83
$GC,17466,0.77,231.1,2757,2498,1889,1691,290.5,9.3,1154,17469,0.00,1.50,0.00,0.000,516,0.000,0.103,2762,1672,1790,1889,1691,0,0,0,0,0,0,28.83,14.16,28.83
$GC,17533,0.78,231.1,2762,1672,1889,1690,284.8,8.6,1160,17537,0.00,1.52,0.00,0.000,1030,0.000,0.118,2762,2514,1790,1889,1691,0,0,0,0,0,0,28.83,14.16,28.83
$GC,17849,0.78,231.7,2762,2514,1889,1692,258.5,8.2,1191,17855,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2514,1790,1889,1691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18165,0.78,231.7,2762,2514,1889,1691,230.2,8.9,1222,18169,0.00,1.60,0.00,0.000,260,0.000,0.132,2762,3360,1790,1889,1691,0,0,0,0,0,0,28.83,14.07,28.83
$GC,18212,0.78,231.7,2762,3360,1889,1691,225.1,9.5,1226,18216,0.00,1.52,0.00,0.000,1030,0.000,0.088,2769,2513,1790,1889,1691,0,0,0,0,0,0,28.83,14.23,28.83
$GC,18528,0.80,240.0,2769,2513,1889,1691,198.1,7.9,1257,18546,0.00,1.45,9.02,1.893,8708,0.000,0.099,2774,1671,1762,1860,1664,0,0,0,0,0,0,28.83,14.28,13.26
$GC,18603,0.83,251.2,2775,1671,1860,1664,192.2,7.8,1264,18622,0.00,1.55,13.82,1.952,9222,0.000,0.119,2774,2507,1715,1812,1619,0,0,0,0,0,0,28.83,14.25,13.18
$GC,18924,0.83,251.2,2775,2507,1811,1619,166.5,8.7,1296,18927,0.00,1.50,0.00,0.000,516,0.000,0.103,2780,1672,1715,1812,1618,0,0,0,0,0,0,28.83,14.23,28.83
$GC,18979,0.84,251.2,2781,1672,1812,1619,161.8,8.6,1301,18983,0.00,1.52,0.00,0.000,1030,0.000,0.119,2780,2521,1715,1811,1619,0,0,0,0,0,0,28.83,14.25,28.83
$GC,19296,0.87,272.5,2780,2521,1812,1618,136.2,7.4,1332,19324,0.00,1.58,23.75,1.974,8452,0.000,0.138,2781,3356,1630,1725,1536,0,0,0,0,0,0,28.83,14.29,13.17
$GC,19402,0.87,272.5,2780,3356,1724,1536,128.1,8.6,1342,19406,0.00,1.50,0.00,0.000,1030,0.000,0.089,2786,2489,1630,1724,1536,0,0,0,0,0,0,28.83,14.36,28.83
$GC,19718,0.89,272.5,2787,2489,1722,1536,101.2,8.4,1373,19721,0.00,1.48,0.00,0.000,516,0.000,0.103,2792,1669,1629,1722,1536,0,0,0,0,0,0,28.83,14.25,28.83
$GC,19755,0.94,293.5,2793,1669,1722,1535,98.4,7.5,1378,19774,0.00,1.52,13.12,0.484,9222,0.000,0.120,2793,2511,1544,1636,1452,0,0,0,0,0,0,28.83,14.25,13.88
$GC,20090,0.98,305.5,2792,2511,1635,1450,71.6,7.8,1441,20104,0.00,1.55,7.15,0.396,8452,0.000,0.130,2793,3365,1494,1587,1402,0,0,0,0,0,0,28.83,14.28,13.80
$GC,20167,0.99,305.5,2792,3366,1587,1402,64.5,9.8,1454,20174,0.00,1.50,0.00,0.000,1030,0.000,0.089,2799,2496,1494,1585,1403,0,0,0,0,0,0,28.83,14.33,28.83
$GC,20491,1.02,306.8,1792,2495,1557,1400,40.0,8.2,1515,20498,0.12,0.00,0.00,0.000,2054,0.164,0.000,2850,2497,1493,1584,1402,0,0,0,0,0,0,14.42,28.83,28.83
$FREEZE,8.86,-1.677,-1.804,2,10,0
$FREEZE,8.17,-1.671,-1.803,2,10,0
$GC,20816,1.01,306.8,1824,2494,1555,1400,8.2,13.0,1576,20823,0.00,1.60,0.00,0.000,260,0.000,0.135,2850,3357,1492,1582,1402,0,0,0,0,0,0,28.83,14.14,28.83
$FREEZE,5.52,-1.695,-1.801,2,10,0
$FREEZE,4.86,-1.701,-1.801,2,10,0
$FREEZE,4.46,-1.706,-1.801,2,10,0
$STATE,20840,end climb,FINISH_DEPTH_REACHED
$STATE,20840,begin subsurface finish
$FINISH1,4.5,1.026402,54
$GC,20856,0.08,54.1,2857,2509,1582,1402,4.5,10.7,1580,20912,1.12,1.67,-49.92,0.000,20740,0.214,0.175,2542,3363,2521,2620,2422,0,0,0,0,0,0,13.93,14.19,14.78
$FINISH2,4.2
$STATE,20913,end subsurface finish,CONTROL_FINISHED_OK
$STATE,20913,begin surface
$RAFOS_CLK,1089
$RAFOS,6,1387802945,12.833333,12.818055,120,64,61,61,57,55,659,215,161,202,184,174
$RAFOS,5,1387802468,12.700000,12.685555,60,57,51,51,51,51,210,194,142,178,116,128
$RAFOS,4,1387801988,12.566667,12.552222,137,60,58,55,53,52,528,204,193,171,114,220
$RAFOS,3,1387801522,12.433333,12.422778,162,56,55,54,53,52,653,215,140,189,157,115
$RAFOS,2,1387801042,12.300000,12.289444,128,65,61,60,57,46,650,140,181,208,193,115
$RAFOS,1,1387800562,12.166667,12.156111,58,56,56,56,53,52,178,139,193,223,160,112
$RAFOS,0,1387800082,12.033333,12.022778,65,58,56,53,52,50,198,157,849,217,136,116
$RAFOS,6,1387788547,8.833333,8.818611,96,61,58,57,54,54,654,192,215,156,168,133
$RAFOS,5,1387788068,8.700000,8.685555,77,68,63,55,53,52,684,176,216,191,130,140
$RAFOS,4,1387787583,8.566667,8.550834,119,64,59,55,54,50,575,156,170,196,116,220
$RAFOS,3,1387787102,8.433333,8.417222,95,70,60,58,56,55,755,210,195,146,227,167
$RAFOS_FIX,6651.999023,-5847.395508,231213,080859,5,99,0.18
$IRIDIUM_FIX,6625.71,-5802.00,211213,050555
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.31
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,12.30
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,11.2,228.758
$10V_AH,11.3,0.000
$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,5.325,101.925,543.900,0.000,0.000,0.000,0.000,0.000,13.000,0.000,0.000,4177.982,12696.604,601.259,2697.847,838.921,0.000,2053.984,0.000,2649.367,3600.000,27.575,0.000
$DEVICE_MAMPS,312.885,175.185,2872.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1122.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,70006,1589
$CAP_FILE_SIZE,191881,0
$CFSIZE,259252224,210710528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$CURRENT,29.808,148.7,1
$GPS,231213,083459,6651.999,-5847.396,0,5098.8,0,-33.6