version: 66.12
glider: 38
mission: 4
dive: 83
start: 8 14 115 23 49 21
data:
$ID,38
$MISSION,4
$DIVE,83
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,3000
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,110
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,50
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,140815,234122,3215.1467,-6511.4639,103,0.8,104,-14.8,0.0,0.0,11,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-69.7
$GPS2,140815,234857,3215.1152,-6511.4082,4,0.9,9,-14.8,0.0,0.0,9,10.0
$SPEED_LIMITS,0.060,0.218
$TGT_NAME,BDA_W
$TGT_LATLONG,3220.000,-6511.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.015352,0.059697
$KALMAN_X,49136.902344,0.000000,0.000000,-125023.156250,3385.464844
$KALMAN_Y,22230.371094,0.000000,0.000000,23366.228516,-1984.921875
$MHEAD_RNG_PITCHd_Wd,0.4,9069,-42.4,-6.000,-44.23,325
$D_GRID,5400
$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,15,-2.12,-12.7,135,2215,1293,1270,0.0,0.0,0,91,0.00,0.00,-73.10,0.154,16390,0.000,0.000,135,2216,2184,2135,2234,0,0,0,0,0,0,26.77,26.39,26.24
$GC,93,-2.13,-27.8,134,2215,2135,2233,2.1,-1.3,7,114,8.80,1.98,-2.90,0.300,18692,0.293,0.072,2273,3593,2236,2187,2285,0,0,0,0,0,0,26.01,26.30,26.21
$GC,304,-2.03,-27.8,2273,3594,2187,2286,40.4,-13.3,25,314,0.10,1.90,0.00,0.000,3078,0.263,0.060,2309,2172,2236,2187,2285,0,0,0,0,0,0,26.24,26.64,26.39
$GC,618,-2.04,-50.1,2309,2172,2188,2286,39.6,1.0,47,629,0.00,1.77,-1.33,0.482,16900,0.000,0.065,2312,848,2317,2275,2360,0,0,0,0,0,0,26.99,26.63,26.54
$GC,809,-2.04,-50.1,2311,849,2276,2359,46.6,-5.5,60,818,0.00,1.90,0.00,0.000,1030,0.000,0.060,2302,2222,2317,2275,2359,0,0,0,0,0,0,26.84,26.82,26.86
$GC,1120,-2.05,-65.0,2302,2222,2276,2360,52.8,-1.3,81,1125,0.00,1.90,0.00,0.000,260,0.000,0.072,2292,3587,2319,2276,2362,0,0,0,0,0,0,27.10,26.84,27.13
$GC,1443,-1.99,-80.7,2292,3587,2276,2363,59.3,-1.1,101,1449,0.12,1.80,0.00,0.000,3078,0.268,0.060,2329,2177,2319,2276,2363,0,0,0,0,0,0,26.51,26.96,26.67
$GC,1760,-2.00,-94.5,2329,2177,2276,2363,62.3,-1.7,122,1764,0.00,1.77,0.00,0.000,516,0.000,0.067,2338,895,2319,2276,2363,0,0,0,0,0,0,27.17,26.94,27.20
$GC,2079,-2.00,-105.6,2338,861,2277,2362,67.2,-2.5,141,2087,0.00,1.85,0.00,0.000,1030,0.000,0.062,2329,2212,2320,2277,2363,0,0,0,0,0,0,27.00,26.98,27.01
$GC,2386,-2.00,-119.6,2328,2213,2277,2363,71.3,-1.6,162,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2212,2320,2277,2363,0,0,0,0,0,0,27.21,27.23,27.22
$GC,2686,-2.01,-130.7,2329,2212,2277,2363,78.1,-2.5,182,2692,0.00,1.90,0.00,0.000,260,0.000,0.074,2318,3594,2320,2277,2363,0,0,0,0,0,0,27.22,26.95,27.23
$GC,3009,-2.01,-139.6,2318,3595,2277,2363,88.8,-3.2,202,3015,0.00,1.77,0.00,0.000,1030,0.000,0.060,2318,2208,2320,2278,2363,0,0,0,0,0,0,27.05,27.02,27.07
$GC,3324,-2.01,-139.6,2318,2206,2278,2363,100.1,-4.4,223,3329,0.00,1.92,0.00,0.000,260,0.000,0.072,2308,3592,2320,2277,2363,0,0,0,0,0,0,27.22,26.96,27.24
$GC,3648,-2.01,-139.6,2308,3591,2278,2363,118.9,-6.3,243,3653,0.00,1.80,0.00,0.000,1030,0.000,0.060,2309,2187,2320,2278,2363,0,0,0,0,0,0,27.06,27.03,27.07
$GC,3963,-2.01,-139.6,2308,2187,2278,2363,142.0,-8.2,264,3968,0.00,1.95,0.00,0.000,260,0.000,0.072,2298,3587,2320,2277,2363,0,0,0,0,0,0,27.23,26.96,27.24
$GC,4278,-2.01,-139.6,2298,3587,2277,2362,175.6,-11.8,277,4282,0.00,1.83,0.00,0.000,1030,0.000,0.060,2298,2201,2320,2277,2363,0,0,0,0,0,0,27.08,27.03,27.08
$GC,4611,-2.01,-139.6,2298,2201,2278,2362,213.5,-11.3,288,4616,0.00,1.95,0.00,0.000,260,0.000,0.072,2288,3583,2319,2277,2362,0,0,0,0,0,0,27.23,26.96,27.25
$GC,4922,-2.01,-139.6,2288,3583,2277,2361,254.5,-13.8,298,4928,0.12,1.77,0.00,0.000,3078,0.266,0.060,2327,2181,2319,2277,2361,0,0,0,0,0,0,26.59,27.03,26.76
$GC,5253,-2.01,-139.6,2327,2180,2277,2360,300.7,-13.9,309,5258,0.00,1.95,0.00,0.000,260,0.000,0.074,2317,3580,2318,2277,2360,0,0,0,0,0,0,27.24,26.96,27.25
$GC,5556,-2.01,-139.6,2317,3580,2277,2360,340.9,-14.4,315,5560,0.00,1.80,0.00,0.000,1030,0.000,0.057,2318,2225,2318,2277,2360,0,0,0,0,0,0,27.04,27.03,27.06
$GC,5890,-2.01,-139.6,2318,2225,2278,2359,392.0,-14.3,323,5894,0.00,1.90,0.00,0.000,260,0.000,0.074,2309,3582,2318,2277,2359,0,0,0,0,0,0,27.24,26.96,27.25
$GC,6192,-2.01,-139.6,2309,3582,2277,2359,435.5,-15.6,329,6196,0.00,1.80,0.00,0.000,1030,0.000,0.060,2309,2188,2318,2278,2358,0,0,0,0,0,0,27.07,27.03,27.08
$GC,6525,-2.01,-139.6,2308,2187,2278,2357,490.9,-15.3,337,6529,0.00,1.95,0.00,0.000,260,0.000,0.072,2298,3582,2317,2277,2357,0,0,0,0,0,0,27.24,26.96,27.26
$GC,6738,-2.01,-139.6,2298,3582,2277,2356,521.5,-16.4,341,6742,0.00,1.83,0.00,0.000,1030,0.000,0.057,2298,2202,2317,2278,2356,0,0,0,0,0,0,27.05,27.03,27.06
$GC,7072,-2.01,-139.6,2298,2202,2278,2355,576.4,-15.0,349,7076,0.00,1.95,0.00,0.000,260,0.000,0.072,2288,3594,2316,2277,2355,0,0,0,0,0,0,27.24,26.96,27.25
$GC,7121,-2.01,-139.6,2288,3594,2278,2355,583.4,-15.0,350,7126,0.12,1.85,0.00,0.000,3078,0.253,0.057,2321,2187,2316,2278,2355,0,0,0,0,0,0,26.60,27.03,26.76
$GC,7436,-2.07,-139.6,2322,2187,2277,2353,631.5,-15.5,357,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2187,2315,2277,2353,0,0,0,0,0,0,27.24,27.26,27.25
$GC,7751,-2.13,-139.6,2322,2187,2277,2351,685.6,-17.1,364,7753,0.05,0.00,0.00,0.000,4102,0.204,0.000,2292,2187,2314,2278,2351,0,0,0,0,0,0,27.01,27.06,27.04
$GC,8066,-2.13,-139.6,2292,2187,2277,2349,742.7,-18.7,371,8071,0.00,1.98,0.00,0.000,260,0.000,0.072,2282,3600,2313,2277,2349,0,0,0,0,0,0,27.24,26.96,27.25
$GC,8143,-2.13,-139.6,2281,3601,2277,2349,752.0,-19.4,372,8147,0.00,1.85,0.00,0.000,1030,0.000,0.060,2282,2216,2313,2277,2349,0,0,0,0,0,0,27.05,27.03,27.06
$GC,8472,-2.13,-139.6,2282,2216,2278,2346,830.7,-22.2,380,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2216,2312,2278,2346,0,0,0,0,0,0,27.23,27.26,27.25
$GC,8787,-2.13,-139.6,2281,2216,2278,2343,901.2,-22.4,387,8792,0.00,1.90,0.00,0.000,516,0.000,0.065,2282,827,2310,2278,2343,0,0,0,0,0,0,27.24,26.98,27.25
$GC,8937,-2.13,-139.6,2281,827,2278,2341,933.4,-23.2,390,8941,0.00,1.88,0.00,0.000,1030,0.000,0.062,2271,2203,2309,2277,2341,0,0,0,0,0,0,27.05,27.01,27.07
$GC,9361,-2.13,-139.6,2271,2203,2278,2336,1037.1,-24.0,398,9366,0.00,1.95,0.00,0.000,260,0.000,0.074,2261,3593,2307,2278,2337,0,0,0,0,0,0,27.24,26.95,27.25
$GC,9498,-2.13,-139.6,2261,3593,2277,2336,1068.7,-24.8,399,9502,0.00,1.83,0.00,0.000,1030,0.000,0.060,2261,2199,2307,2278,2336,0,0,0,0,0,0,27.06,27.02,27.08
$GC,9842,-2.13,-139.6,2261,2198,2278,2332,1161.7,-25.9,402,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2199,2305,2278,2332,0,0,0,0,0,0,27.23,27.26,27.25
$GC,10202,-2.13,-139.6,2261,2198,2277,2327,1257.5,-26.5,405,10207,0.00,2.00,0.00,0.000,260,0.000,0.074,2250,3606,2302,2277,2328,0,0,0,0,0,0,27.23,26.95,27.25
$GC,10278,-2.13,-139.6,2250,3606,2277,2327,1257.5,-26.5,405,10283,0.12,1.90,0.00,0.000,3078,0.246,0.060,2285,2197,2302,2277,2327,0,0,0,0,0,0,26.58,27.01,26.73
$GC,10682,-2.21,-139.6,2284,2195,2278,2322,1385.5,-26.6,409,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2195,2299,2277,2322,0,0,0,0,0,0,27.23,27.26,27.24
$GC,11042,-2.30,-139.6,2284,2195,2277,2318,1479.5,-26.2,412,11048,0.08,1.98,0.00,0.000,4356,0.161,0.072,2229,3583,2298,2277,2319,0,0,0,0,0,0,26.96,26.94,26.98
$GC,11134,-2.39,-139.6,2229,3584,2277,2318,1479.5,-26.2,412,11138,0.00,1.83,0.00,0.000,1030,0.000,0.060,2235,2212,2297,2277,2318,0,0,0,0,0,0,27.05,27.01,27.07
$GC,11518,-2.46,-139.6,2235,2211,2277,2314,1611.4,-27.7,416,11523,0.08,1.95,0.00,0.000,4356,0.164,0.072,2178,3581,2295,2277,2313,0,0,0,0,0,0,26.96,26.94,26.98
$GC,11589,-2.53,-139.6,2178,3581,2277,2313,1611.4,-27.7,416,11593,0.00,1.85,0.00,0.000,1030,0.000,0.060,2186,2202,2295,2277,2313,0,0,0,0,0,0,27.05,27.00,27.06
$GC,11997,-2.53,-139.6,2185,2201,2277,2309,1748.9,-28.6,420,12003,0.00,2.00,0.00,0.000,260,0.000,0.074,2176,3592,2293,2277,2310,0,0,0,0,0,0,27.23,26.93,27.24
$GC,12063,-2.53,-139.6,2176,3591,2277,2309,1748.9,-28.6,420,12067,0.00,1.92,0.00,0.000,1030,0.000,0.057,2178,2189,2293,2277,2309,0,0,0,0,0,0,27.02,27.00,27.03
$GC,12477,-2.53,-139.6,2178,2188,2276,2306,1880.1,-27.3,424,12483,0.00,2.00,0.00,0.000,260,0.000,0.072,2169,3582,2291,2277,2306,0,0,0,0,0,0,27.22,26.92,27.24
$GC,12538,-2.53,-139.6,2168,3582,2276,2306,1880.1,-27.3,424,12542,0.00,1.90,0.00,0.000,1030,0.000,0.060,2169,2199,2290,2276,2305,0,0,0,0,0,0,27.02,27.00,27.04
$GC,12957,-2.53,-139.6,2168,2199,2276,2303,2005.4,-26.1,428,12958,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2199,2289,2276,2303,0,0,0,0,0,0,27.22,27.25,27.24
$GC,13317,-2.53,-139.6,2169,2198,2275,2301,2096.0,-25.2,431,13323,0.00,2.00,0.00,0.000,260,0.000,0.074,2159,3584,2288,2275,2302,0,0,0,0,0,0,27.22,26.91,27.24
$GC,13418,-2.53,-139.6,2159,3584,2274,2301,2096.0,-25.2,431,13422,0.00,1.92,0.00,0.000,1030,0.000,0.060,2159,2198,2287,2274,2301,0,0,0,0,0,0,27.01,26.98,27.03
$GC,13797,-2.53,-139.6,2158,2197,2274,2300,2218.1,-25.4,435,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2198,2287,2274,2300,0,0,0,0,0,0,27.22,27.25,27.24
$GC,14158,-2.59,-139.6,2158,2197,2273,2299,2307.8,-24.9,438,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2196,2286,2273,2300,0,0,0,0,0,0,27.22,27.24,27.24
$GC,14518,-2.64,-139.6,2158,2197,2272,2298,2395.1,-24.4,441,14524,0.05,2.00,0.00,0.000,4356,0.201,0.072,2121,3579,2285,2272,2298,0,0,0,0,0,0,26.99,26.90,27.01
$GC,14599,-2.70,-139.6,2120,3579,2271,2298,2395.1,-24.4,441,14603,0.00,1.88,0.00,0.000,1030,0.000,0.060,2121,2206,2284,2271,2298,0,0,0,0,0,0,27.03,26.98,27.04
$GC,14998,-2.70,-139.6,2121,2195,2272,2297,2514.1,-24.7,445,15003,0.00,2.05,0.00,0.000,260,0.000,0.074,2111,3594,2284,2271,2297,0,0,0,0,0,0,27.20,26.89,27.22
$GC,15083,-2.70,-139.6,2110,3594,2270,2297,2514.1,-24.7,445,15087,0.00,1.95,0.00,0.000,1030,0.000,0.060,2111,2189,2283,2270,2297,0,0,0,0,0,0,27.00,26.98,27.01
$GC,15483,-2.70,-139.6,2110,2188,2270,2297,2629.1,-23.7,449,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2188,2283,2270,2297,0,0,0,0,0,0,27.19,27.22,27.21
$GC,15843,-2.70,-139.6,2110,2187,2270,2296,2713.5,-23.5,452,15850,0.00,2.05,0.00,0.000,260,0.000,0.074,2101,3582,2282,2269,2296,0,0,0,0,0,0,27.19,26.88,27.21
$GC,15925,-2.70,-139.6,2100,3582,2269,2296,2713.5,-23.5,452,15929,0.00,1.92,0.00,0.000,1030,0.000,0.060,2100,2198,2282,2268,2296,0,0,0,0,0,0,26.99,26.96,27.01
$GC,16330,-2.70,-139.6,2100,2198,2268,2295,2824.3,-22.7,456,16331,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2198,2281,2268,2295,0,0,0,0,0,0,27.19,27.22,27.21
$GC,16690,-2.70,-139.6,2101,2198,2268,2294,2904.0,-22.1,459,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2197,2281,2268,2295,0,0,0,0,0,0,27.19,27.22,27.21
$GC,17050,-2.75,-139.6,2100,2197,2268,2294,2980.0,-21.4,462,17057,0.00,1.95,0.00,0.000,516,0.000,0.065,2101,827,2280,2268,2293,0,0,0,0,0,0,27.20,26.91,27.21
$GC,17135,-2.81,-139.6,2100,827,2268,2293,2980.0,-21.4,462,17140,0.00,1.92,0.00,0.000,1030,0.000,0.060,2091,2192,2280,2268,2293,0,0,0,0,0,0,27.00,26.94,27.02
$GC,17541,-2.86,-139.6,2091,2191,2267,2292,3075.4,-19.4,466,17543,0.05,0.00,0.00,0.000,4102,0.189,0.000,2063,2192,2280,2267,2293,0,0,0,0,0,0,26.98,27.03,27.01
$STATE,17898,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,17898,begin apogee
$GC,17901,-0.25,0.0,2063,2192,2267,2293,3146.0,-19.5,469,17943,2.80,0.00,35.90,2.828,10246,0.219,0.000,2887,2193,2140,2134,2146,0,0,0,0,0,0,26.29,25.17,23.91
$STATE,17944,end apogee,CONTROL_FINISHED_OK
$STATE,17944,begin climb
$GC,17945,2.16,139.6,2887,2192,2134,2146,3146.0,0.0,469,18077,1.95,0.00,126.60,2.850,10502,0.082,0.000,3673,2193,1659,1671,1648,0,0,0,0,0,0,25.48,23.46,22.34
$GC,18379,2.16,139.6,3672,2193,1670,1648,3068.3,21.3,473,18384,0.00,2.03,0.00,0.000,516,0.000,0.065,3683,831,1659,1671,1648,0,0,0,0,0,0,26.29,26.06,26.31
$GC,18678,2.00,139.6,3683,831,1670,1648,3010.7,24.0,475,18683,0.28,2.00,0.00,0.000,5126,0.271,0.062,3614,2209,1659,1670,1648,0,0,0,0,0,0,26.08,26.46,26.34
$GC,19097,1.87,139.6,3614,2209,1670,1648,2913.4,20.4,479,19103,0.15,2.00,0.00,0.000,4612,0.288,0.062,3581,829,1658,1669,1648,0,0,0,0,0,0,26.27,26.55,26.45
$GC,19396,1.76,139.6,3581,829,1669,1648,2870.4,18.6,481,19401,0.17,1.98,0.00,0.000,5126,0.263,0.062,3536,2202,1659,1670,1648,0,0,0,0,0,0,26.34,26.74,26.61
$GC,19815,1.69,139.6,3536,2202,1669,1648,2791.9,16.5,485,19821,0.00,2.00,0.00,0.000,516,0.000,0.067,3546,821,1658,1669,1648,0,0,0,0,0,0,27.04,26.79,27.06
$GC,20114,1.63,139.6,3546,821,1669,1648,2755.3,15.7,487,20119,0.20,2.00,0.00,0.000,5126,0.263,0.062,3490,2210,1658,1669,1648,0,0,0,0,0,0,26.39,26.84,26.67
$GC,20533,1.63,139.6,3490,2210,1668,1648,2687.9,14.1,491,20538,0.00,1.98,0.00,0.000,516,0.000,0.067,3500,831,1657,1668,1647,0,0,0,0,0,0,27.10,26.85,27.13
$GC,20831,1.63,139.6,3500,831,1668,1647,2655.3,13.6,493,20835,0.00,2.00,0.00,0.000,1030,0.000,0.062,3500,2191,1657,1668,1647,0,0,0,0,0,0,26.91,26.89,26.93
$GC,21255,1.63,139.6,3500,2191,1667,1647,2591.4,13.3,497,21260,0.00,2.08,0.00,0.000,260,0.000,0.077,3500,3598,1657,1667,1648,0,0,0,0,0,0,27.14,26.84,27.16
$GC,21553,1.63,139.6,3500,3598,1665,1649,2559.3,13.2,499,21558,0.00,1.95,0.00,0.000,1030,0.000,0.060,3511,2212,1657,1665,1649,0,0,0,0,0,0,26.94,26.93,26.96
$GC,21977,1.63,139.6,3510,2211,1665,1648,2501.1,12.1,503,21979,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2212,1657,1665,1649,0,0,0,0,0,0,27.16,27.18,27.18
$GC,22337,1.63,139.6,3510,2211,1665,1649,2461.9,11.1,506,22343,0.00,1.98,0.00,0.000,516,0.000,0.067,3521,821,1657,1665,1649,0,0,0,0,0,0,27.17,26.90,27.19
$GC,22530,1.63,139.6,3521,821,1665,1648,2448.9,10.9,507,22534,0.00,2.03,0.00,0.000,1030,0.000,0.062,3521,2205,1657,1665,1649,0,0,0,0,0,0,26.95,26.92,26.96
$GC,22939,1.63,139.6,3520,2206,1665,1648,2400.1,10.2,511,22944,0.00,1.98,0.00,0.000,516,0.000,0.065,3531,825,1656,1665,1648,0,0,0,0,0,0,27.17,26.91,27.20
$GC,23238,1.63,139.6,3531,825,1665,1648,2377.2,9.7,513,23242,0.15,2.00,0.00,0.000,5126,0.263,0.060,3493,2195,1656,1665,1648,0,0,0,0,0,0,26.41,26.93,26.70
$GC,23662,1.63,139.6,3492,2195,1665,1648,2335.0,8.7,517,23667,0.00,1.98,0.00,0.000,516,0.000,0.067,3503,816,1656,1665,1648,0,0,0,0,0,0,27.18,26.91,27.20
$GC,23960,1.63,139.6,3502,816,1665,1648,2315.4,8.2,519,23964,0.00,2.03,0.00,0.000,1030,0.000,0.062,3503,2196,1656,1665,1648,0,0,0,0,0,0,27.00,26.93,27.01
$GC,24384,1.63,139.6,3503,2196,1665,1648,2279.5,7.5,523,24389,0.00,1.98,0.00,0.000,516,0.000,0.067,3513,819,1656,1664,1648,0,0,0,0,0,0,27.18,26.91,27.20
$GC,24683,1.63,139.6,3513,819,1665,1649,2263.6,7.0,525,24687,0.00,2.03,0.00,0.000,1030,0.000,0.062,3513,2218,1656,1665,1648,0,0,0,0,0,0,26.98,26.92,26.99
$GC,25107,1.63,139.6,3513,2218,1665,1648,2236.0,5.7,529,25112,0.00,2.00,0.00,0.000,516,0.000,0.065,3524,822,1656,1665,1648,0,0,0,0,0,0,27.19,26.91,27.20
$GC,25406,1.63,139.6,3524,822,1665,1648,2222.8,5.5,531,25410,0.08,2.00,0.00,0.000,5126,0.263,0.062,3495,2205,1656,1665,1648,0,0,0,0,0,0,26.44,26.92,26.69
$GC,25830,1.63,139.6,3495,2205,1665,1648,2196.6,5.4,535,25835,0.00,1.98,0.00,0.000,516,0.000,0.067,3506,825,1656,1665,1648,0,0,0,0,0,0,27.19,26.91,27.21
$GC,26129,1.63,139.6,3506,825,1665,1648,2183.6,5.4,537,26133,0.00,2.00,0.00,0.000,1030,0.000,0.062,3506,2187,1657,1665,1649,0,0,0,0,0,0,26.95,26.92,26.98
$GC,26552,1.63,139.6,3506,2188,1665,1648,2158.1,5.3,541,26558,0.00,1.98,0.00,0.000,516,0.000,0.067,3517,808,1656,1665,1648,0,0,0,0,0,0,27.19,26.90,27.21
$GC,26851,1.63,139.6,3516,808,1665,1648,2145.5,5.3,543,26855,0.00,2.03,0.00,0.000,1030,0.000,0.062,3517,2224,1656,1665,1648,0,0,0,0,0,0,26.98,26.92,27.00
$GC,27275,1.63,139.6,3516,2223,1665,1648,2120.4,5.2,547,27280,0.00,2.00,0.00,0.000,516,0.000,0.067,3527,821,1656,1665,1648,0,0,0,0,0,0,27.19,26.89,27.21
$GC,27574,1.63,139.6,3527,821,1665,1648,2108.7,5.1,549,27579,0.12,2.03,0.00,0.000,5126,0.263,0.062,3495,2237,1656,1665,1648,0,0,0,0,0,0,26.39,26.91,26.65
$GC,27998,1.63,139.6,3494,2237,1665,1648,2088.8,4.1,553,28003,0.00,2.03,0.00,0.000,516,0.000,0.065,3505,819,1656,1665,1648,0,0,0,0,0,0,27.20,26.89,27.21
$GC,28297,1.63,147.3,3505,819,1665,1648,2080.8,3.6,555,28311,0.00,1.98,7.35,1.746,9222,0.000,0.062,3505,2198,1632,1641,1624,0,0,0,0,0,0,26.98,26.91,25.37
$GC,28721,1.63,147.3,3505,2198,1641,1624,2057.0,5.0,559,28726,0.00,1.98,0.00,0.000,516,0.000,0.065,3516,823,1632,1641,1624,0,0,0,0,0,0,27.03,26.76,27.04
$GC,29019,1.63,147.3,3516,823,1641,1624,2045.2,5.2,561,29023,0.00,2.03,0.00,0.000,1030,0.000,0.060,3516,2199,1632,1641,1624,0,0,0,0,0,0,26.84,26.82,26.86
$GC,29443,1.63,147.3,3516,2199,1641,1624,2022.2,4.8,565,29449,0.00,1.98,0.00,0.000,516,0.000,0.067,3527,822,1632,1641,1624,0,0,0,0,0,0,27.10,26.83,27.13
$GC,29742,1.63,147.3,3526,821,1641,1624,2011.1,4.7,567,29746,0.10,2.03,0.00,0.000,5126,0.251,0.060,3499,2213,1632,1641,1624,0,0,0,0,0,0,26.41,26.87,26.71
$GC,30166,1.63,147.3,3498,2213,1641,1624,1992.0,4.0,571,30171,0.00,2.00,0.00,0.000,516,0.000,0.065,3510,816,1632,1641,1624,0,0,0,0,0,0,27.15,26.86,27.16
$GC,30464,1.63,154.4,3509,816,1641,1623,1982.6,3.8,573,30478,0.00,2.00,7.32,1.696,9222,0.000,0.062,3510,2198,1607,1617,1598,0,0,0,0,0,0,26.95,26.89,25.34
$GC,30888,1.63,154.4,3509,2197,1617,1598,1957.7,5.3,577,30893,0.00,2.00,0.00,0.000,516,0.000,0.067,3520,813,1608,1618,1598,0,0,0,0,0,0,27.01,26.74,27.02
$GC,31187,1.63,154.4,3520,813,1618,1598,1943.8,5.7,579,31191,0.00,2.05,0.00,0.000,1030,0.000,0.062,3520,2204,1608,1618,1598,0,0,0,0,0,0,26.82,26.79,26.84
$GC,31611,1.63,154.4,3520,2204,1618,1598,1918.6,5.2,583,31616,0.00,2.00,0.00,0.000,516,0.000,0.067,3531,813,1608,1618,1598,0,0,0,0,0,0,27.09,26.82,27.11
$GC,31909,1.63,154.4,3531,813,1618,1598,1907.4,4.8,585,31914,0.12,2.05,0.00,0.000,5126,0.248,0.062,3497,2217,1608,1618,1598,0,0,0,0,0,0,26.39,26.86,26.71
$GC,32333,1.63,154.4,3497,2218,1618,1598,1887.5,4.2,589,32338,0.00,2.03,0.00,0.000,516,0.000,0.067,3507,819,1608,1618,1598,0,0,0,0,0,0,27.13,26.86,27.15
$GC,32632,1.63,161.6,3507,819,1618,1598,1879.0,3.7,591,32646,0.00,1.98,7.40,1.656,9222,0.000,0.062,3508,2196,1582,1593,1572,0,0,0,0,0,0,26.95,26.89,25.35
$GC,33056,1.63,161.6,3507,2196,1594,1572,1854.4,5.2,595,33061,0.00,1.98,0.00,0.000,516,0.000,0.067,3517,823,1583,1594,1572,0,0,0,0,0,0,27.00,26.73,27.01
$GC,33354,1.63,161.6,3517,823,1594,1572,1840.4,5.8,597,33358,0.00,2.03,0.00,0.000,1030,0.000,0.060,3518,2200,1583,1594,1572,0,0,0,0,0,0,26.83,26.80,26.84
$GC,33778,1.63,161.6,3517,2200,1594,1572,1814.0,5.5,601,33783,0.00,1.98,0.00,0.000,516,0.000,0.065,3528,823,1582,1594,1571,0,0,0,0,0,0,27.09,26.82,27.10
$GC,34076,1.63,161.6,3528,823,1594,1572,1801.5,5.3,603,34081,0.12,2.03,0.00,0.000,5126,0.248,0.060,3495,2209,1583,1594,1572,0,0,0,0,0,0,26.39,26.86,26.55
$GC,34501,1.63,161.6,3494,2209,1594,1572,1776.4,5.2,607,34506,0.00,2.00,0.00,0.000,516,0.000,0.065,3506,814,1583,1594,1572,0,0,0,0,0,0,27.13,26.86,27.15
$GC,34799,1.63,161.6,3505,815,1594,1572,1763.8,5.3,609,34803,0.00,2.03,0.00,0.000,1030,0.000,0.060,3506,2190,1583,1594,1572,0,0,0,0,0,0,26.92,26.89,26.94
$GC,35223,1.63,161.6,3505,2190,1594,1572,1741.7,4.6,613,35228,0.00,2.00,0.00,0.000,516,0.000,0.067,3515,810,1583,1594,1572,0,0,0,0,0,0,27.16,26.88,27.17
$GC,35522,1.63,161.6,3516,811,1594,1572,1731.4,4.3,615,35526,0.00,2.05,0.00,0.000,1030,0.000,0.060,3516,2208,1582,1593,1572,0,0,0,0,0,0,26.94,26.91,26.94
$GC,35946,1.64,168.5,3516,2208,1594,1572,1712.9,3.8,619,35958,0.00,2.00,7.30,1.569,8708,0.000,0.067,3526,820,1559,1571,1547,0,0,0,0,0,0,27.17,26.30,25.41
$GC,36251,1.64,168.5,3526,820,1571,1547,1700.3,4.5,621,36256,0.12,2.00,0.00,0.000,5126,0.256,0.062,3494,2216,1559,1571,1547,0,0,0,0,0,0,26.34,26.75,26.59
$GC,36659,1.64,168.5,3494,2216,1571,1546,1671.7,6.0,625,36665,0.00,2.03,0.00,0.000,516,0.000,0.065,3505,821,1558,1571,1546,0,0,0,0,0,0,27.05,26.79,27.08
$GC,36958,1.64,168.5,3505,821,1571,1547,1658.1,5.8,627,36962,0.00,2.03,0.00,0.000,1030,0.000,0.060,3505,2201,1559,1571,1547,0,0,0,0,0,0,26.90,26.84,26.91
$GC,37382,1.64,168.5,3505,2200,1571,1547,1634.0,5.0,631,37387,0.00,2.00,0.00,0.000,516,0.000,0.067,3515,810,1559,1571,1547,0,0,0,0,0,0,27.12,26.84,27.13
$GC,37681,1.64,168.5,3515,810,1571,1547,1623.5,4.6,633,37685,0.00,2.05,0.00,0.000,1030,0.000,0.062,3515,2205,1559,1571,1547,0,0,0,0,0,0,26.94,26.87,26.96
$GC,38105,1.64,175.6,3515,2205,1571,1546,1605.1,3.8,637,38117,0.00,2.03,7.18,1.512,8708,0.000,0.070,3526,809,1535,1550,1520,0,0,0,0,0,0,27.15,26.29,25.41
$GC,38410,1.64,175.6,3526,809,1550,1520,1592.7,4.5,639,38415,0.12,2.00,0.00,0.000,5126,0.256,0.062,3493,2205,1535,1550,1520,0,0,0,0,0,0,26.34,26.74,26.60
$GC,38819,1.69,175.6,3493,2205,1550,1520,1567.8,5.2,643,38824,0.00,2.03,0.00,0.000,516,0.000,0.067,3504,816,1535,1550,1520,0,0,0,0,0,0,27.05,26.79,27.07
$GC,39118,1.75,175.6,3504,816,1550,1520,1554.8,5.2,645,39122,0.00,1.98,0.00,0.000,1030,0.000,0.062,3504,2196,1535,1550,1520,0,0,0,0,0,0,26.89,26.83,26.90
$GC,39536,1.80,175.6,3504,2196,1549,1520,1528.2,5.5,649,39542,0.08,1.95,0.00,0.000,2564,0.151,0.062,3567,823,1535,1550,1520,0,0,0,0,0,0,26.86,26.84,26.89
$GC,39835,1.80,175.6,3566,823,1550,1520,1513.2,5.8,651,39840,0.00,2.03,0.00,0.000,1030,0.000,0.062,3563,2232,1535,1550,1520,0,0,0,0,0,0,26.93,26.87,26.94
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$STATE,58604,end climb,SURFACE_DEPTH_REACHED
$STATE,58604,begin surface coast
$FINISH,-0.5,0.996907
$STATE,58630,end surface coast,CONTROL_FINISHED_OK
$STATE,58630,begin surface
$SM_CCo,58648,35.78,0.760,0,0,1279,250.11
$SM_GC,3.89,8.88,1.95,35.78,0.082,0.060,0.760,142,2193,1279,-8.74,-2.09,250.11,0,0,0,0,0,0,26.89,26.92,25.70
$IRIDIUM_FIX,3150.62,-6520.95,090608,072030
$TT8_MAMPS,0.026215,0.026215
$HUMID,63.70
$INTERNAL_PRESSURE,9.3192
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,50.0,48.0
$ALTIM_BOTTOM_PING,3122.7,40.1
$24V_AH,22.34,22.165
$10V_AH,10.38,11.982
$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
$DEVICE_SECS,26.075,318.425,228.000,35.775,77.325,26.166,45.205,226.287,14.250,0.000,10.537,4177.628,43974.656,463.485,10220.228,240.043,0.605,4298.208,0.000,9643.098,0.000,106.876,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.636,3294.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330312
$DATA_FILE_SIZE,67030,1007
$CAP_FILE_SIZE,460327,0
$CFSIZE,1024409600,1008730112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150815,160931,3218.383,-6510.006,85,0.9,89,-14.8,0.0,0.0,10,8.7