version: 66.11
glider: 192
mission: 2
dive: 521
start: 12 24 113 1 34 48
data:
$ID,192
$MISSION,2
$DIVE,521
$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,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,22
$R_STBD_OVSHOOT,14
$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
$GPS1,241213,003512,6650.778,-5855.546,0,4114.2,0,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,4.6
$GPS2,241213,003512,6650.778,-5855.546,0,4114.2,0,-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,303.6,67353,-15.5,-8.250,-18.49,2720
$D_GRID,991
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.89,-146.0,2822,2522,1326,1169,0.0,0.0,0,127,0.00,0.00,-103.32,0.000,16386,0.000,0.000,2823,2522,3155,3312,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-0.89,-146.0,2822,2522,3314,2999,3.0,-4.7,18,149,2.12,1.62,-6.75,0.000,20996,0.229,0.129,2231,1652,3338,3518,3158,0,0,0,0,0,0,13.90,14.24,14.73
$GC,247,-0.80,-146.0,2231,1651,3520,3158,21.7,-19.9,37,255,0.00,1.58,0.00,0.000,1030,0.000,0.119,2225,2505,3339,3520,3158,0,0,0,0,0,0,28.83,14.12,28.83
$GC,568,-0.71,-146.0,2225,2505,3520,3158,93.2,-19.0,98,575,0.20,1.55,0.00,0.000,2308,0.291,0.123,2269,3348,3339,3520,3158,0,0,0,0,0,0,13.76,14.07,28.83
$GC,650,-0.66,-146.0,2269,3349,3520,3157,105.9,-13.9,108,657,0.00,1.50,0.00,0.000,1030,0.000,0.086,2269,2487,3338,3519,3157,0,0,0,0,0,0,28.83,14.21,28.83
$GC,959,-0.60,-146.0,2269,2487,3520,3157,155.5,-15.9,139,966,0.15,0.00,0.00,0.000,2054,0.285,0.000,2306,2487,3338,3520,3157,0,0,0,0,0,0,13.92,28.83,28.83
$GC,1270,-0.58,-146.0,2306,2487,3520,3156,195.6,-13.1,170,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2487,3337,3519,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1587,-0.57,-146.0,2306,2486,3520,3156,234.7,-12.0,201,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2487,3338,3520,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-0.56,-146.0,2306,2487,3520,3156,272.4,-11.2,232,1905,0.00,1.65,0.00,0.000,260,0.000,0.135,2301,3351,3337,3519,3156,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1947,-0.54,-146.0,2302,3351,3520,3156,278.1,-11.0,236,1951,0.12,1.50,0.00,0.000,3078,0.267,0.087,2327,2500,3338,3520,3156,0,0,0,0,0,0,13.93,14.19,28.83
$GC,2266,-0.54,-146.0,2328,2501,3520,3155,309.6,-10.3,267,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2501,3338,3520,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2582,-0.55,-146.0,2328,2501,3520,3155,342.5,-10.9,298,2585,0.00,1.60,0.00,0.000,260,0.000,0.131,2322,3349,3338,3520,3156,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2627,-0.55,-146.0,2323,3349,3519,3156,348.1,-11.0,302,2631,0.00,1.50,0.00,0.000,1030,0.000,0.086,2323,2497,3337,3520,3155,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2943,-0.55,-146.0,2323,2496,3520,3156,381.3,-9.9,333,2946,0.00,1.50,0.00,0.000,516,0.000,0.098,2323,1651,3338,3520,3156,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2991,-0.57,-146.0,2323,1651,3520,3155,385.8,-10.2,337,2999,0.00,1.58,0.00,0.000,1030,0.000,0.114,2317,2504,3338,3520,3156,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3301,-0.57,-146.0,2317,2504,3520,3156,416.7,-9.6,368,3304,0.00,1.58,0.00,0.000,260,0.000,0.128,2311,3356,3338,3520,3156,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3346,-0.57,-146.0,2311,3356,3520,3156,421.2,-10.0,372,3350,0.00,1.50,0.00,0.000,1030,0.000,0.085,2311,2496,3338,3520,3156,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3662,-0.57,-146.0,2311,2495,3520,3156,451.5,-9.9,403,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2496,3338,3520,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3978,-0.57,-146.0,2311,2495,3520,3156,481.3,-9.8,434,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2495,3338,3520,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-0.57,-146.0,2311,2495,3521,3156,510.4,-9.4,465,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2495,3339,3521,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4607,-0.57,-146.0,2310,2495,3523,3156,541.0,-10.0,496,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2495,3339,3522,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4920,-0.57,-146.0,2311,2495,3523,3157,570.8,-9.2,527,4923,0.00,1.60,0.00,0.000,260,0.000,0.129,2305,3353,3340,3523,3157,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4959,-0.57,-146.0,2305,3353,3522,3156,574.6,-9.1,530,4965,0.00,1.50,0.00,0.000,1030,0.000,0.084,2305,2499,3340,3523,3157,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5267,-0.57,-146.0,2305,2499,3523,3157,603.7,-9.2,559,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2498,3340,3523,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5567,-0.57,-146.0,2305,2499,3524,3157,630.7,-9.0,569,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2499,3340,3524,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5867,-0.57,-146.0,2305,2499,3524,3157,657.4,-8.8,579,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2499,3340,3524,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6167,-0.57,-146.0,2305,2499,3524,3157,683.4,-8.7,589,6170,0.00,1.60,0.00,0.000,260,0.000,0.124,2298,3353,3341,3524,3158,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6195,-0.57,-146.0,2298,3353,3524,3158,683.4,-8.7,589,6202,0.00,1.50,0.00,0.000,1030,0.000,0.081,2298,2499,3341,3524,3158,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6503,-0.57,-146.0,2298,2499,3524,3158,713.9,-9.1,600,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2499,3341,3524,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6802,-0.57,-146.0,2298,2499,3524,3158,741.3,-9.1,610,6806,0.00,1.50,0.00,0.000,516,0.000,0.094,2298,1646,3341,3524,3158,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6845,-0.57,-146.0,2299,1646,3524,3158,744.6,-9.1,611,6850,0.12,1.58,0.00,0.000,3078,0.261,0.114,2320,2507,3341,3524,3158,0,0,0,0,0,0,13.90,14.06,28.83
$GC,7179,-0.58,-146.0,2320,2507,3524,3158,771.2,-7.7,622,7182,0.00,1.55,0.00,0.000,260,0.000,0.125,2315,3355,3341,3524,3158,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7215,-0.60,-146.0,2315,3355,3524,3159,774.8,-8.0,623,7218,0.00,1.50,0.00,0.000,1030,0.000,0.083,2315,2487,3341,3524,3159,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7553,-0.61,-146.0,2315,2487,3524,3158,801.6,-7.9,634,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2487,3341,3524,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7850,-0.62,-146.0,2315,2487,3524,3159,825.7,-8.1,644,7854,0.00,1.60,0.00,0.000,260,0.000,0.129,2309,3349,3341,3524,3159,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7879,-0.63,-146.0,2309,3349,3524,3158,825.7,-8.1,644,7886,0.00,1.50,0.00,0.000,1030,0.000,0.083,2308,2489,3341,3524,3159,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8186,-0.63,-146.0,2309,2489,3524,3159,853.5,-8.3,655,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2489,3341,3524,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8486,-0.63,-146.0,2309,2489,3524,3159,879.5,-9.0,665,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2489,3341,3524,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8787,-0.63,-146.0,2309,2488,3524,3159,905.7,-8.8,675,8791,0.00,1.67,0.00,0.000,260,0.000,0.129,2302,3352,3341,3523,3159,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8831,-0.63,-146.0,2303,3352,3524,3159,909.1,-8.9,676,8835,0.00,1.55,0.00,0.000,1030,0.000,0.083,2302,2498,3341,3524,3159,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9158,-0.63,-146.0,2302,2497,3524,3159,939.8,-9.2,687,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2497,3340,3523,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9456,-0.63,-146.0,2302,2497,3525,3158,968.3,-9.6,697,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2497,3341,3524,3159,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9690,begin apogee
$GC,9704,-0.22,0.0,2302,2497,3524,3159,990.1,-9.5,705,9892,0.47,0.00,176.50,2.897,10246,0.217,0.000,2431,2496,2741,2859,2623,0,0,0,0,0,0,13.80,28.83,11.68
$STATE,9893,end apogee,CONTROL_FINISHED_OK
$STATE,9893,begin climb
$GC,9900,0.89,146.0,2431,2496,2858,2623,998.8,0.0,711,10114,1.27,0.00,200.32,2.795,10502,0.158,0.000,2787,2496,2145,2234,2056,0,0,0,0,0,0,13.11,28.83,11.18
$GC,10412,0.85,146.0,2787,2496,2234,2043,962.4,9.7,729,10416,0.00,1.67,0.00,0.000,260,0.000,0.128,2787,3353,2138,2234,2043,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10468,0.80,146.0,2787,3353,2234,2043,958.7,9.9,730,10471,0.00,1.50,0.00,0.000,1030,0.000,0.089,2794,2510,2138,2234,2043,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10783,0.75,146.0,2794,2510,2233,2041,925.9,9.7,741,10785,0.17,0.00,0.00,0.000,4102,0.248,0.000,2752,2510,2137,2233,2041,0,0,0,0,0,0,14.21,28.83,28.83
$GC,11084,0.76,166.4,2752,2510,2234,2040,902.7,7.5,751,11109,0.00,0.00,22.50,2.677,8454,0.000,0.000,2752,2510,2061,2162,1961,0,0,0,0,0,0,28.83,28.83,12.95
$GC,11419,0.75,176.1,2752,2510,2162,1959,877.0,7.9,762,11439,0.00,1.58,12.40,2.622,8452,0.000,0.132,2752,3365,2022,2125,1920,0,0,0,0,0,0,28.83,14.36,13.02
$GC,11505,0.74,180.0,2752,3364,2124,1920,871.7,8.1,764,11517,0.00,1.50,6.32,2.179,9222,0.000,0.089,2756,2506,2006,2108,1905,0,0,0,0,0,0,28.83,14.40,12.93
$GC,11851,0.73,180.0,2756,2506,2108,1904,839.3,9.0,776,11854,0.00,1.50,0.00,0.000,516,0.000,0.102,2762,1648,2006,2108,1904,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11887,0.71,180.0,2763,1648,2108,1903,835.5,9.0,777,11891,0.00,1.60,0.00,0.000,1030,0.000,0.119,2763,2505,2005,2108,1903,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12222,0.69,180.0,2762,2505,2108,1903,805.3,9.0,788,12226,0.00,1.55,0.00,0.000,260,0.000,0.133,2763,3362,2005,2108,1903,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12332,0.67,180.0,2763,3362,2108,1902,796.0,9.6,791,12336,0.17,1.50,0.00,0.000,5126,0.240,0.089,2727,2491,2005,2108,1902,0,0,0,0,0,0,14.19,14.38,28.83
$GC,12654,0.70,204.2,2727,2491,2108,1901,771.4,7.3,802,12685,0.00,0.00,28.77,2.643,8198,0.000,0.000,2727,2491,1908,2013,1803,0,0,0,0,0,0,28.83,28.83,12.95
$GC,12984,0.75,220.9,2727,2491,2013,1801,746.5,7.6,813,13010,0.00,0.00,20.52,2.546,8198,0.000,0.000,2727,2491,1840,1945,1735,0,0,0,0,0,0,28.83,28.83,13.01
$GC,13315,0.80,241.5,2727,2491,1943,1732,721.8,7.5,824,13342,0.12,0.00,24.33,2.523,10502,0.147,0.000,2779,2491,1755,1854,1657,0,0,0,0,0,0,14.50,28.83,13.00
$GC,13649,0.78,241.5,2779,2491,1849,1657,688.3,10.3,835,13653,0.00,1.65,0.00,0.000,260,0.000,0.135,2779,3362,1753,1849,1657,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13694,0.76,241.5,2779,3362,1849,1657,683.9,10.4,836,13698,0.10,1.52,0.00,0.000,5126,0.216,0.089,2756,2512,1753,1850,1657,0,0,0,0,0,0,14.20,14.38,28.83
$GC,14020,0.76,241.5,2756,2511,1848,1657,653.4,9.2,847,14023,0.00,1.50,0.00,0.000,516,0.000,0.103,2760,1648,1752,1848,1657,0,0,0,0,0,0,28.83,14.33,28.83
$GC,14055,0.76,241.5,2760,1648,1848,1656,650.0,9.2,848,14059,0.00,1.60,0.00,0.000,1030,0.000,0.120,2760,2505,1752,1848,1656,0,0,0,0,0,0,28.83,14.28,28.83
$GC,14391,0.76,241.5,2760,2506,1847,1657,617.0,9.9,859,14395,0.00,1.55,0.00,0.000,260,0.000,0.134,2760,3363,1751,1847,1656,0,0,0,0,0,0,28.83,14.26,28.83
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$GC,15124,0.76,241.5,2767,3358,1845,1656,541.4,10.1,918,15128,0.00,1.52,0.00,0.000,1030,0.000,0.088,2773,2505,1751,1845,1657,0,0,0,0,0,0,28.83,14.31,28.83
$GC,15440,0.76,241.5,2773,2505,1845,1656,509.7,9.6,949,15443,0.00,1.50,0.00,0.000,516,0.000,0.101,2779,1653,1750,1845,1656,0,0,0,0,0,0,28.83,14.26,28.83
$GC,15466,0.76,241.5,2779,1653,1845,1656,507.3,9.5,951,15470,0.00,1.55,0.00,0.000,1030,0.000,0.118,2780,2510,1750,1845,1656,0,0,0,0,0,0,28.83,14.24,28.83
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$GC,16132,0.75,241.5,2743,2498,1844,1656,445.3,8.4,1016,16136,0.00,1.50,0.00,0.000,516,0.000,0.101,2746,1671,1749,1845,1654,0,0,0,0,0,0,28.83,14.21,28.83
$GC,16161,0.77,241.5,2747,1671,1844,1656,443.0,8.6,1018,16168,0.00,1.55,0.00,0.000,1030,0.000,0.119,2747,2521,1750,1844,1656,0,0,0,0,0,0,28.83,14.21,28.83
$GC,16470,0.78,241.5,2747,2521,1845,1656,416.5,8.7,1049,16474,0.00,1.58,0.00,0.000,260,0.000,0.135,2747,3353,1750,1845,1656,0,0,0,0,0,0,28.83,14.12,28.83
$GC,16509,0.79,241.5,2747,3353,1844,1656,413.3,8.6,1052,16516,0.00,1.50,0.00,0.000,1030,0.000,0.087,2753,2495,1750,1844,1656,0,0,0,0,0,0,28.83,14.30,28.83
$GC,16818,0.80,241.5,2753,2495,1844,1655,387.0,8.3,1083,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2495,1750,1844,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17135,0.81,241.5,2753,2495,1844,1655,361.0,8.6,1114,17138,0.00,1.60,0.00,0.000,260,0.000,0.132,2753,3355,1749,1844,1655,0,0,0,0,0,0,28.83,14.16,28.83
$GC,17173,0.81,241.5,2753,3354,1844,1656,357.1,9.2,1117,17180,0.00,1.50,0.00,0.000,1030,0.000,0.087,2759,2499,1749,1844,1655,0,0,0,0,0,0,28.83,14.28,28.83
$GC,17482,0.81,241.5,2759,2498,1844,1656,327.3,9.4,1148,17488,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2499,1750,1844,1656,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17824,0.81,241.5,2759,3359,1844,1656,294.4,9.4,1181,17828,0.00,1.52,0.00,0.000,1030,0.000,0.087,2766,2512,1750,1844,1656,0,0,0,0,0,0,28.83,14.26,28.83
$GC,18142,0.86,274.5,2766,2511,1844,1656,268.0,7.0,1212,18187,0.00,1.55,35.78,2.150,8708,0.000,0.103,2772,1667,1621,1713,1529,0,0,0,0,0,0,28.83,14.26,13.05
$GC,18233,0.92,301.6,2772,1667,1713,1528,262.1,7.2,1220,18274,0.10,1.52,31.25,2.089,11270,0.177,0.119,2808,2509,1510,1601,1420,0,0,0,0,0,0,14.32,14.27,12.98
$GC,18576,0.91,301.6,2808,2509,1597,1417,228.6,10.2,1255,18580,0.00,1.60,0.00,0.000,260,0.000,0.134,2808,3357,1507,1597,1418,0,0,0,0,0,0,28.83,14.22,28.83
$GC,18642,0.89,301.6,2808,3357,1596,1417,221.2,11.7,1261,18646,0.00,1.50,0.00,0.000,1030,0.000,0.088,2815,2495,1506,1596,1417,0,0,0,0,0,0,28.83,14.37,28.83
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$GC,19295,0.86,301.6,2821,2514,1595,1416,138.7,12.2,1325,19303,0.12,0.00,0.00,0.000,4102,0.259,0.000,2787,2514,1505,1595,1416,0,0,0,0,0,0,14.21,28.83,28.83
$GC,19606,0.92,326.0,2787,2514,1595,1415,113.0,7.3,1356,19624,0.00,0.00,15.62,1.876,8198,0.000,0.000,2787,2514,1409,1499,1320,0,0,0,0,0,0,28.83,28.83,13.28
$GC,19932,0.95,326.0,2787,2514,1497,1318,87.2,9.7,1401,19940,0.00,1.50,0.00,0.000,516,0.000,0.102,2791,1669,1407,1496,1318,0,0,0,0,0,0,28.83,14.28,28.83
$GC,19967,0.99,326.0,2790,1669,1496,1318,84.0,10.4,1406,19975,0.12,1.52,0.00,0.000,3078,0.155,0.120,2837,2509,1407,1496,1318,0,0,0,0,0,0,14.36,14.26,28.83
$GC,20294,1.00,334.0,2837,2509,1495,1317,52.1,7.9,1467,20307,0.00,1.62,4.07,0.338,8452,0.000,0.134,2837,3358,1377,1465,1290,0,0,0,0,0,0,28.83,14.25,13.89
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$FREEZE,8.75,-1.701,-1.799,2,13,0
$STATE,20743,end climb,FINISH_DEPTH_REACHED
$STATE,20743,begin subsurface finish
$FINISH1,8.8,1.026337,57
$GC,20757,0.09,57.4,2844,2497,1464,1290,8.8,12.4,1550,20802,1.02,1.67,-38.47,0.000,20740,0.190,0.168,2545,3354,2509,2612,2406,0,0,0,0,0,0,14.02,14.22,14.79
$FINISH2,5.6
$STATE,20803,end subsurface finish,CONTROL_FINISHED_OK
$STATE,20803,begin surface
$RAFOS_CLK,1076
$RAFOS,6,1387860545,4.833333,4.818056,135,56,55,53,52,51,668,220,161,187,171,204
$RAFOS,5,1387860085,4.700000,4.690278,67,66,53,52,49,49,215,193,117,146,172,630
$RAFOS,4,1387859604,4.566667,4.556667,114,56,54,53,52,51,406,148,206,115,182,128
$RAFOS,3,1387859113,4.433333,4.420278,91,63,61,60,59,52,688,138,196,180,210,119
$RAFOS,2,1387858622,4.300000,4.283889,66,64,48,47,46,46,209,182,132,220,158,116
$RAFOS,1,1387858161,4.166667,4.155833,63,60,55,55,53,51,198,175,162,207,128,72
$RAFOS,0,1387857667,4.033333,4.018611,63,60,58,52,47,47,217,194,146,155,110,137
$RAFOS_FIX,6647.741699,-5829.979004,241213,040428,2,113,1.33
$IRIDIUM_FIX,6625.71,-5802.00,211213,050555
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.35
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,12.50
$XPDR_PINGS,87
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,11.2,229.986
$10V_AH,11.2,0.000
$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,6.600,97.650,578.400,0.000,0.000,0.000,0.000,0.000,25.500,0.000,0.000,4070.224,12612.379,704.770,2650.169,857.263,0.000,2166.042,0.000,2607.757,2520.000,32.828,0.000
$DEVICE_MAMPS,291.465,167.535,2897.055,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150776
$DATA_FILE_SIZE,66563,1557
$CAP_FILE_SIZE,187277,0
$CFSIZE,259252224,210472960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$CURRENT,2.263,102.9,1
$GPS,241213,043928,6647.742,-5829.979,0,2113.0,0,-33.6