version: 66.12
glider: 38
mission: 4
dive: 118
start: 10 25 115 9 21 17
data:
$ID,38
$MISSION,4
$DIVE,118
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$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,3750
$T_MISSION,4060
$T_ABORT,4120
$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,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,1
$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,0.1286
$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,122
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$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
$GPS1,251015,090537,2750.6130,-7432.3594,37,1.0,41,-10.0,0.7,296.3,8,8.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.9
$GPS2,251015,092049,2750.5928,-7432.4531,5,0.8,14,-10.0,0.0,0.0,10,9.0
$SPEED_LIMITS,0.147,0.208
$TGT_NAME,4_SW
$TGT_LATLONG,2744.630,-7432.070
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.196643,-0.067499
$KALMAN_X,277051.062500,0.000000,0.000000,-871760.125000,15460.062500
$KALMAN_Y,158733.406250,0.000000,0.000000,-424200.437500,4468.718750
$MHEAD_RNG_PITCHd_Wd,183.1,11061,-16.3,-5.333,-20.00,1845
$D_GRID,6000
$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
$STATE,13,begin dive
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$GC,105,-0.85,-111.3,165,2196,2309,2420,2.4,-2.8,8,130,10.57,1.95,-8.27,0.199,18948,0.291,0.067,2697,846,2525,2469,2581,0,0,0,0,0,0,25.81,26.29,26.08
$GC,462,-0.66,-111.3,2696,846,2471,2579,54.0,-15.2,37,468,0.20,1.85,0.00,0.000,3078,0.204,0.065,2756,2203,2525,2471,2579,0,0,0,0,0,0,26.06,26.67,26.17
$GC,780,-0.60,-111.3,2756,2203,2471,2579,83.5,-8.5,58,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2203,2524,2471,2578,0,0,0,0,0,0,27.09,27.10,27.10
$GC,1078,-0.60,-111.3,2756,2203,2471,2579,106.2,-6.3,78,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2203,2525,2472,2579,0,0,0,0,0,0,27.13,27.15,27.15
$GC,1378,-0.60,-111.3,2756,2203,2472,2579,124.9,-6.4,98,1383,0.00,1.88,0.00,0.000,516,0.000,0.067,2756,847,2526,2472,2580,0,0,0,0,0,0,27.16,26.77,27.17
$GC,1572,-0.54,-111.3,2756,847,2473,2579,139.6,-7.3,110,1579,0.12,1.85,0.00,0.000,3078,0.196,0.062,2794,2206,2526,2473,2579,0,0,0,0,0,0,26.39,26.84,26.47
$GC,1887,-0.54,-111.3,2794,2206,2473,2579,157.3,-5.8,127,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2206,2526,2473,2580,0,0,0,0,0,0,27.17,27.19,27.18
$GC,2187,-0.54,-111.3,2794,2206,2473,2579,175.8,-6.4,137,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2206,2526,2473,2579,0,0,0,0,0,0,27.17,27.20,27.19
$GC,2487,-0.54,-111.3,2794,2206,2472,2579,194.1,-6.4,147,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2206,2526,2473,2579,0,0,0,0,0,0,27.18,27.20,27.20
$GC,2787,-0.54,-111.3,2794,2206,2472,2578,212.3,-5.9,157,2792,0.00,1.88,0.00,0.000,516,0.000,0.067,2795,847,2525,2473,2578,0,0,0,0,0,0,27.18,26.79,27.20
$GC,2871,-0.54,-111.3,2794,848,2473,2577,216.6,-6.2,159,2880,0.00,1.88,0.00,0.000,1030,0.000,0.062,2786,2199,2525,2473,2577,0,0,0,0,0,0,26.87,26.84,26.89
$GC,3180,-0.54,-111.3,2785,2200,2472,2577,237.6,-6.3,170,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2200,2525,2473,2577,0,0,0,0,0,0,27.18,27.20,27.20
$GC,3480,-0.54,-111.3,2785,2199,2473,2577,257.1,-6.5,180,3484,0.00,1.98,0.00,0.000,260,0.000,0.079,2775,3598,2524,2473,2576,0,0,0,0,0,0,27.18,26.70,27.19
$GC,3535,-0.54,-111.3,2774,3598,2473,2576,259.5,-6.7,181,3544,0.00,1.85,0.00,0.000,1030,0.000,0.057,2775,2198,2524,2473,2576,0,0,0,0,0,0,26.94,26.91,26.95
$GC,3844,-0.54,-111.3,2774,2198,2473,2574,284.6,-7.7,192,3850,0.00,1.85,0.00,0.000,516,0.000,0.067,2775,847,2523,2473,2574,0,0,0,0,0,0,27.17,26.79,27.20
$GC,3907,-0.54,-111.3,2775,846,2473,2574,289.7,-8.1,194,3912,0.00,1.88,0.00,0.000,1030,0.000,0.062,2765,2198,2523,2472,2574,0,0,0,0,0,0,26.86,26.84,26.89
$GC,4237,-0.54,-111.3,2764,2198,2473,2573,315.2,-7.4,203,4241,0.00,1.98,0.00,0.000,260,0.000,0.079,2754,3594,2523,2473,2573,0,0,0,0,0,0,27.17,26.70,27.19
$GC,4313,-0.54,-111.3,2753,3594,2473,2573,319.1,-7.5,204,4318,0.12,1.85,0.00,0.000,3078,0.166,0.057,2799,2178,2523,2473,2573,0,0,0,0,0,0,26.50,26.89,26.58
$GC,4648,-0.62,-111.3,2799,2178,2473,2571,342.7,-6.5,212,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2177,2521,2473,2570,0,0,0,0,0,0,27.17,27.20,27.19
$GC,4962,-0.69,-111.3,2799,2177,2473,2569,363.7,-6.6,219,4967,0.05,2.00,0.00,0.000,4356,0.189,0.074,2746,3589,2521,2473,2569,0,0,0,0,0,0,26.95,26.68,26.98
$GC,5059,-0.69,-111.3,2746,3589,2472,2569,371.8,-7.6,221,5064,0.00,1.83,0.00,0.000,1030,0.000,0.057,2746,2207,2521,2473,2569,0,0,0,0,0,0,26.91,26.90,26.94
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$GC,5446,-0.69,-111.3,2736,3599,2473,2567,401.3,-8.1,229,5451,0.00,1.88,0.00,0.000,1030,0.000,0.057,2736,2192,2520,2473,2567,0,0,0,0,0,0,26.91,26.90,26.93
$GC,5780,-0.69,-111.3,2736,2192,2473,2565,432.1,-8.5,237,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2192,2519,2473,2565,0,0,0,0,0,0,27.16,27.19,27.18
$GC,6096,-0.69,-111.3,2736,2192,2473,2564,459.5,-8.7,244,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2192,2518,2473,2564,0,0,0,0,0,0,27.17,27.19,27.18
$GC,6410,-0.69,-111.3,2736,2192,2473,2563,487.2,-8.6,251,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2192,2518,2473,2563,0,0,0,0,0,0,27.16,27.19,27.18
$GC,6725,-0.69,-111.3,2736,2192,2473,2562,514.2,-8.6,258,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2192,2517,2472,2562,0,0,0,0,0,0,27.16,27.19,27.18
$GC,7040,-0.69,-111.3,2736,2192,2473,2560,540.7,-8.4,265,7046,0.00,2.00,0.00,0.000,260,0.000,0.077,2726,3583,2516,2473,2560,0,0,0,0,0,0,27.16,26.67,27.17
$GC,7123,-0.69,-111.3,2726,3583,2473,2560,544.7,-8.5,266,7132,0.00,1.85,0.00,0.000,1030,0.000,0.057,2726,2199,2516,2473,2560,0,0,0,0,0,0,26.90,26.88,26.91
$GC,7447,-0.69,-111.3,2725,2199,2473,2558,577.3,-9.0,274,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2199,2516,2473,2559,0,0,0,0,0,0,27.16,27.18,27.17
$GC,7762,-0.69,-111.3,2725,2199,2473,2557,606.5,-9.4,281,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2199,2515,2473,2557,0,0,0,0,0,0,27.15,27.17,27.17
$GC,8077,-0.69,-111.3,2725,2199,2473,2555,636.1,-9.6,288,8081,0.00,2.00,0.00,0.000,260,0.000,0.079,2715,3583,2514,2473,2555,0,0,0,0,0,0,27.15,26.64,27.17
$GC,8174,-0.69,-111.3,2715,3584,2472,2555,645.9,-9.9,290,8179,0.10,1.80,0.00,0.000,3078,0.191,0.060,2750,2192,2514,2473,2555,0,0,0,0,0,0,26.51,26.86,26.63
$GC,8488,-0.69,-111.3,2750,2191,2473,2554,673.8,-8.6,297,8491,0.00,1.88,0.00,0.000,516,0.000,0.067,2750,845,2513,2473,2553,0,0,0,0,0,0,27.15,26.76,27.17
$GC,8543,-0.69,-111.3,2749,845,2473,2553,678.1,-8.7,298,8547,0.00,1.85,0.00,0.000,1030,0.000,0.062,2740,2201,2512,2473,2552,0,0,0,0,0,0,26.86,26.81,26.89
$GC,8851,-0.69,-111.3,2740,2200,2473,2551,706.2,-8.7,305,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2201,2512,2473,2551,0,0,0,0,0,0,27.15,27.17,27.17
$GC,9167,-0.69,-111.3,2740,2201,2473,2550,733.9,-8.8,312,9172,0.00,2.00,0.00,0.000,260,0.000,0.079,2730,3596,2511,2473,2549,0,0,0,0,0,0,27.15,26.63,27.17
$GC,9285,-0.69,-111.3,2730,3597,2472,2550,742.5,-9.1,314,9289,0.00,1.83,0.00,0.000,1030,0.000,0.057,2729,2199,2510,2472,2549,0,0,0,0,0,0,26.90,26.85,26.91
$GC,9619,-0.69,-111.3,2730,2199,2472,2546,776.3,-9.3,322,9625,0.00,1.98,0.00,0.000,260,0.000,0.079,2720,3579,2509,2473,2546,0,0,0,0,0,0,27.15,26.62,27.17
$GC,9666,-0.69,-111.3,2720,3579,2472,2546,780.8,-9.4,323,9670,0.00,1.85,0.00,0.000,1030,0.000,0.057,2720,2202,2509,2472,2546,0,0,0,0,0,0,26.87,26.85,26.89
$GC,9980,-0.69,-111.3,2720,2201,2473,2544,812.1,-9.9,330,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2202,2508,2473,2544,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10295,-0.69,-111.3,2720,2202,2473,2542,842.7,-9.6,337,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2202,2507,2473,2542,0,0,0,0,0,0,27.15,27.17,27.17
$GC,10611,-0.69,-111.3,2719,2202,2473,2539,874.1,-10.0,344,10616,0.00,2.00,0.00,0.000,260,0.000,0.079,2710,3589,2506,2472,2540,0,0,0,0,0,0,27.15,26.60,27.17
$GC,10719,-0.69,-111.3,2710,3590,2472,2539,884.4,-10.6,346,10724,0.10,1.88,0.00,0.000,3078,0.164,0.057,2746,2181,2506,2472,2540,0,0,0,0,0,0,26.47,26.84,26.53
$GC,11063,-0.75,-111.3,2746,2180,2472,2536,916.3,-8.8,354,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2180,2504,2472,2536,0,0,0,0,0,0,27.15,27.18,27.17
$GC,11378,-0.81,-111.3,2746,2180,2472,2534,945.0,-9.2,361,11382,0.00,2.05,0.00,0.000,4356,0.000,0.079,2737,3579,2503,2472,2534,0,0,0,0,0,0,27.17,26.57,27.18
$GC,11472,-0.86,-111.3,2736,3583,2472,2533,954.8,-9.8,363,11477,0.00,1.80,0.00,0.000,5126,0.000,0.060,2737,2216,2502,2472,2533,0,0,0,0,0,0,26.89,26.83,26.91
$GC,11791,-0.91,-111.3,2737,2215,2472,2531,986.3,-9.8,370,11793,0.08,0.00,0.00,0.000,4102,0.142,0.000,2681,2215,2501,2472,2531,0,0,0,0,0,0,26.93,26.96,26.95
$GC,12165,-0.91,-111.3,2681,2214,2472,2527,1031.5,-12.2,375,12170,0.00,2.05,0.00,0.000,260,0.000,0.079,2670,3594,2499,2472,2527,0,0,0,0,0,0,27.15,26.56,27.17
$GC,12220,-0.91,-111.3,2670,3594,2472,2527,1031.5,-12.2,375,12224,0.00,1.90,0.00,0.000,1030,0.000,0.057,2670,2195,2499,2472,2527,0,0,0,0,0,0,26.85,26.83,26.87
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$GC,51796,-1.85,-111.3,2371,2199,2452,2487,4584.4,-5.2,705,51797,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2199,2469,2452,2487,0,0,0,0,0,0,27.03,27.05,27.04
$GC,52158,-1.85,-111.3,2371,2199,2452,2487,4602.4,-5.0,708,52159,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2199,2469,2452,2487,0,0,0,0,0,0,27.05,27.07,27.05
$GC,52516,-1.85,-111.3,2371,2199,2452,2487,4620.5,-5.0,711,52517,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2199,2469,2452,2487,0,0,0,0,0,0,27.02,27.05,27.04
$GC,52876,-1.85,-111.3,2371,2198,2452,2487,4637.8,-4.9,714,52877,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.08,27.10,27.10
$GC,53238,-1.85,-111.3,2371,2197,2452,2487,4654.5,-4.7,717,53239,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.04,27.07,27.06
$GC,53596,-1.85,-111.3,2371,2198,2452,2487,4671.0,-4.6,720,53597,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.03,27.05,27.05
$GC,53955,-1.85,-111.3,2370,2198,2452,2487,4686.7,-4.4,723,53956,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.08,27.10,27.10
$GC,54318,-1.85,-111.3,2371,2198,2451,2487,4702.3,-4.3,726,54319,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.05,27.08,27.07
$GC,54675,-1.85,-111.3,2371,2198,2452,2487,4718.0,-4.3,729,54676,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2470,2452,2488,0,0,0,0,0,0,27.08,27.10,27.10
$GC,55036,-1.85,-111.3,2371,2198,2452,2487,4733.3,-4.3,732,55037,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.03,27.05,27.04
$GC,55395,-1.85,-111.3,2371,2198,2452,2487,4748.8,-4.3,735,55396,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.08,27.10,27.10
$GC,55757,-1.85,-111.3,2371,2198,2452,2487,4764.1,-4.3,738,55758,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.03,27.05,27.05
$GC,56115,-1.85,-111.3,2371,2198,2452,2487,4778.6,-4.1,741,56116,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2198,2469,2452,2487,0,0,0,0,0,0,27.08,27.10,27.10
$STATE,56474,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,56474,begin apogee
$GC,56478,-0.25,0.0,2371,2198,2452,2487,4793.0,-4.0,744,56585,1.60,0.00,102.55,3.878,10246,0.137,0.000,2893,2199,2140,2140,2140,0,0,0,0,0,0,24.34,22.79,20.96
$STATE,56586,end apogee,CONTROL_FINISHED_OK
$STATE,56586,begin climb
$GC,56587,0.85,111.3,2893,2199,2140,2140,4793.0,0.0,744,56717,0.90,0.00,122.12,3.834,10502,0.089,0.000,3228,2199,1755,1768,1743,0,0,0,0,0,0,23.37,22.76,21.06
$GC,57076,0.39,111.3,3227,2198,1767,1743,4679.6,24.3,749,57081,0.45,2.12,0.00,0.000,4612,0.236,0.062,3111,831,1755,1768,1743,0,0,0,0,0,0,25.29,25.60,25.47
$GC,57293,-0.04,111.3,3111,831,1768,1743,4653.9,24.1,750,57298,0.43,2.03,0.00,0.000,5126,0.214,0.062,2989,2188,1756,1768,1744,0,0,0,0,0,0,25.63,26.16,25.91
$GC,57677,-0.26,111.3,2987,2188,1768,1743,4577.8,15.7,754,57683,0.20,2.08,0.00,0.000,4612,0.196,0.065,2930,840,1755,1767,1743,0,0,0,0,0,0,25.98,26.20,26.10
$GC,57758,-0.48,111.3,2930,840,1768,1743,4577.8,15.7,754,57763,0.38,2.03,0.00,0.000,5126,0.171,0.062,2811,2199,1755,1768,1743,0,0,0,0,0,0,25.98,26.42,26.20
$GC,58152,-0.48,111.3,2810,2200,1767,1743,4539.1,8.0,758,58153,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2200,1755,1767,1743,0,0,0,0,0,0,26.84,26.86,26.86
$GC,58512,-0.48,111.3,2810,2200,1767,1743,4513.6,7.1,761,58518,0.00,2.10,0.00,0.000,516,0.000,0.067,2817,837,1755,1767,1743,0,0,0,0,0,0,26.91,26.52,26.93
$GC,58573,-0.48,111.3,2816,837,1767,1743,4513.6,7.1,761,58578,0.00,2.05,0.00,0.000,1030,0.000,0.062,2817,2193,1755,1767,1743,0,0,0,0,0,0,26.60,26.58,26.63
$GC,58992,-0.48,111.3,2816,2192,1767,1742,4479.2,7.2,765,58993,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2193,1755,1767,1743,0,0,0,0,0,0,26.96,26.98,26.98
$GC,59352,-0.48,111.3,2816,2193,1767,1743,4453.9,7.0,768,59358,0.00,2.10,0.00,0.000,516,0.000,0.067,2816,833,1755,1767,1743,0,0,0,0,0,0,26.98,26.58,27.01
$GC,59423,-0.48,111.3,2816,833,1768,1743,4453.9,7.0,768,59428,0.00,2.03,0.00,0.000,1030,0.000,0.062,2817,2201,1755,1768,1743,0,0,0,0,0,0,26.69,26.62,26.72
$GC,59832,-0.48,111.3,2816,2201,1767,1743,4421.6,6.7,772,59833,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2201,1755,1767,1743,0,0,0,0,0,0,27.01,27.03,27.03
$GC,60192,-0.48,111.3,2816,2201,1767,1743,4397.4,6.7,775,60198,0.00,2.08,0.00,0.000,516,0.000,0.067,2817,837,1754,1767,1742,0,0,0,0,0,0,27.03,26.58,27.05
$GC,60253,-0.48,111.3,2817,837,1768,1743,4397.4,6.7,775,60258,0.00,2.05,0.00,0.000,1030,0.000,0.062,2817,2198,1755,1767,1743,0,0,0,0,0,0,26.66,26.63,26.69
$GC,60672,-0.48,111.3,2816,2198,1767,1743,4365.4,6.6,779,60673,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2198,1755,1767,1743,0,0,0,0,0,0,27.04,27.06,27.06
$GC,61033,-0.48,111.3,2816,2198,1767,1743,4341.0,6.8,782,61038,0.00,2.08,0.00,0.000,516,0.000,0.067,2817,836,1755,1767,1743,0,0,0,0,0,0,27.05,26.58,27.07
$GC,61093,-0.48,111.3,2817,836,1767,1743,4341.0,6.8,782,61097,0.00,2.08,0.00,0.000,1030,0.000,0.062,2817,2208,1755,1767,1743,0,0,0,0,0,0,26.67,26.64,26.68
$GC,61513,-0.43,111.3,2816,2207,1767,1743,4308.2,6.8,786,61514,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2208,1754,1767,1742,0,0,0,0,0,0,27.06,27.09,27.08
$GC,61872,-0.37,111.3,2816,2208,1767,1742,4283.7,6.8,789,61879,0.00,2.08,0.00,0.000,2564,0.000,0.067,2817,838,1755,1767,1743,0,0,0,0,0,0,27.08,26.57,27.09
$GC,61934,-0.32,111.3,2817,838,1767,1743,4283.7,6.8,789,61939,0.05,2.03,0.00,0.000,3078,0.181,0.062,2858,2213,1755,1767,1743,0,0,0,0,0,0,26.55,26.62,26.62
$GC,62353,-0.32,111.3,2858,2212,1767,1743,4246.4,7.8,793,62354,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2213,1754,1767,1742,0,0,0,0,0,0,27.07,27.10,27.09
$GC,62713,-0.32,111.3,2858,2212,1767,1742,4219.1,7.7,796,62719,0.00,2.12,0.00,0.000,516,0.000,0.067,2869,832,1754,1767,1742,0,0,0,0,0,0,27.08,26.55,27.09
$GC,62794,-0.32,111.3,2869,832,1768,1742,4219.1,7.7,796,62798,0.00,2.08,0.00,0.000,1030,0.000,0.062,2869,2204,1755,1767,1743,0,0,0,0,0,0,26.65,26.62,26.67
$GC,63193,-0.32,111.3,2868,2204,1767,1742,4182.9,7.5,800,63194,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2204,1754,1767,1742,0,0,0,0,0,0,27.08,27.10,27.10
$GC,63553,-0.32,111.3,2869,2204,1767,1742,4156.5,7.4,803,63559,0.00,2.10,0.00,0.000,516,0.000,0.067,2879,834,1754,1767,1742,0,0,0,0,0,0,27.08,26.55,27.10
$GC,63634,-0.32,111.3,2878,834,1767,1742,4156.5,7.4,803,63639,0.00,2.08,0.00,0.000,1030,0.000,0.062,2880,2197,1754,1767,1742,0,0,0,0,0,0,26.63,26.60,26.66
$GC,64033,-0.32,111.3,2878,2197,1767,1742,4121.9,7.2,807,64034,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2197,1754,1767,1742,0,0,0,0,0,0,27.08,27.10,27.10
$GC,64393,-0.32,111.3,2878,2197,1767,1742,4096.8,7.0,810,64399,0.00,2.08,0.00,0.000,516,0.000,0.065,2889,835,1754,1767,1742,0,0,0,0,0,0,27.08,26.52,27.10
$GC,64460,-0.32,111.3,2888,835,1767,1742,4096.8,7.0,810,64464,0.00,2.03,0.00,0.000,1030,0.000,0.062,2889,2203,1754,1767,1742,0,0,0,0,0,0,26.65,26.58,26.68
$GC,64868,-0.32,111.3,2888,2203,1767,1742,4062.1,7.3,814,64869,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2202,1754,1767,1741,0,0,0,0,0,0,27.08,27.11,27.10
$GC,65228,-0.32,111.3,2888,2202,1767,1742,4036.3,7.2,817,65233,0.00,2.08,0.00,0.000,516,0.000,0.067,2899,837,1754,1767,1742,0,0,0,0,0,0,27.08,26.51,27.10
$GC,65324,-0.32,111.3,2899,837,1767,1741,4036.3,7.2,817,65328,0.00,2.05,0.00,0.000,1030,0.000,0.062,2899,2216,1754,1767,1742,0,0,0,0,0,0,26.65,26.57,26.67
$GC,65708,-0.32,111.3,2898,2216,1767,1742,4000.8,7.4,821,65710,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2216,1754,1767,1742,0,0,0,0,0,0,27.09,27.11,27.10
$GC,66068,-0.32,111.3,2898,2216,1766,1742,3974.7,7.3,824,66072,0.00,2.15,0.00,0.000,516,0.000,0.067,2907,834,1754,1766,1742,0,0,0,0,0,0,27.09,26.49,27.10
$GC,66177,-0.32,111.3,2907,833,1767,1742,3974.7,7.3,824,66182,0.12,2.08,0.00,0.000,5126,0.164,0.062,2854,2201,1754,1767,1742,0,0,0,0,0,0,26.04,26.57,26.18
$GC,66551,-0.32,111.3,2854,2200,1767,1742,3946.1,5.9,828,66552,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2200,1754,1767,1741,0,0,0,0,0,0,27.09,27.11,27.10
$GC,66911,-0.32,111.3,2854,2200,1767,1741,3926.6,5.4,831,66912,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2200,1754,1767,1741,0,0,0,0,0,0,27.09,27.11,27.10
$GC,67271,-0.32,111.3,2854,2199,1767,1741,3907.8,5.2,834,67277,0.00,2.10,0.00,0.000,516,0.000,0.067,2855,839,1754,1767,1742,0,0,0,0,0,0,27.09,26.46,27.10
$GC,67357,-0.32,111.3,2854,839,1767,1742,3907.8,5.2,834,67361,0.00,2.08,0.00,0.000,1030,0.000,0.062,2855,2203,1754,1767,1742,0,0,0,0,0,0,26.58,26.55,26.61
$GC,67751,-0.26,111.3,2855,2203,1767,1742,3882.1,5.3,838,67752,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2203,1754,1767,1741,0,0,0,0,0,0,27.09,27.11,27.10
$GC,68111,-0.21,111.3,2854,2203,1767,1741,3863.4,5.2,841,68118,0.05,2.10,0.00,0.000,2564,0.181,0.062,2912,833,1754,1767,1742,0,0,0,0,0,0,26.87,26.45,26.89
$GC,68214,-0.15,111.3,2912,832,1767,1742,3863.4,5.2,841,68218,0.00,2.03,0.00,0.000,1030,0.000,0.062,2912,2198,1754,1767,1742,0,0,0,0,0,0,26.61,26.54,26.65
$GC,68592,-0.15,111.3,2911,2198,1767,1741,3832.3,6.5,845,68593,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2198,1754,1767,1741,0,0,0,0,0,0,27.09,27.11,27.11
$GC,68952,-0.15,111.3,2911,2198,1767,1741,3810.1,6.3,848,68958,0.00,2.08,0.00,0.000,516,0.000,0.065,2918,833,1754,1767,1741,0,0,0,0,0,0,27.09,26.44,27.11
$GC,69023,-0.15,111.3,2918,833,1767,1742,3810.1,6.3,848,69028,0.00,2.08,0.00,0.000,1030,0.000,0.062,2919,2209,1754,1767,1742,0,0,0,0,0,0,26.60,26.52,26.63
$GC,69432,-0.15,111.3,2918,2209,1767,1742,3779.9,6.3,852,69433,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2209,1754,1767,1741,0,0,0,0,0,0,27.09,27.12,27.10
$GC,69792,-0.15,111.3,2918,2209,1766,1741,3757.3,6.3,855,69798,0.00,2.12,0.00,0.000,516,0.000,0.067,2922,834,1754,1767,1742,0,0,0,0,0,0,27.09,26.41,27.11
$GC,69888,-0.15,111.3,2922,834,1767,1742,3757.3,6.3,855,69892,0.00,2.08,0.00,0.000,1030,0.000,0.062,2922,2194,1754,1767,1741,0,0,0,0,0,0,26.55,26.51,26.58
$GC,70272,-0.15,111.3,2922,2194,1767,1741,3727.4,6.2,859,70273,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2194,1754,1767,1741,0,0,0,0,0,0,27.10,27.12,27.11
$GC,70632,-0.15,111.3,2921,2193,1767,1741,3705.6,6.1,862,70634,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2194,1754,1767,1741,0,0,0,0,0,0,27.09,27.12,27.11
$GC,70992,-0.15,111.3,2921,2193,1766,1741,3685.3,5.7,865,70996,0.00,2.10,0.00,0.000,516,0.000,0.065,2930,826,1754,1767,1741,0,0,0,0,0,0,27.09,26.41,27.11
$GC,71091,-0.15,111.3,2930,826,1767,1741,3685.3,5.7,865,71096,0.00,2.10,0.00,0.000,1030,0.000,0.062,2931,2205,1754,1767,1742,0,0,0,0,0,0,26.53,26.49,26.58
$GC,71475,-0.15,111.3,2930,2205,1767,1741,3658.7,5.5,869,71476,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2204,1754,1767,1741,0,0,0,0,0,0,27.09,27.12,27.11
$GC,71835,-0.15,111.3,2930,2204,1766,1741,3639.5,5.3,872,71840,0.00,2.10,0.00,0.000,516,0.000,0.065,2940,837,1753,1766,1741,0,0,0,0,0,0,27.09,26.40,27.11
$GC,71926,-0.15,111.3,2940,838,1766,1741,3639.5,5.3,872,71930,0.00,2.03,0.00,0.000,1030,0.000,0.062,2941,2197,1753,1766,1741,0,0,0,0,0,0,26.56,26.48,26.59
$GC,72316,-0.15,111.3,2940,2198,1767,1741,3612.3,5.7,876,72317,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2198,1754,1767,1741,0,0,0,0,0,0,27.09,27.12,27.11
$GC,72675,-0.15,111.3,2940,2197,1766,1741,3591.6,5.8,879,72676,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2198,1754,1767,1741,0,0,0,0,0,0,27.09,27.12,27.11
$GC,73035,-0.15,111.3,2940,2198,1767,1742,3571.4,5.6,882,73041,0.00,2.08,0.00,0.000,516,0.000,0.065,2950,838,1754,1767,1741,0,0,0,0,0,0,27.09,26.39,27.11
$GC,73106,-0.15,111.3,2950,837,1767,1741,3571.4,5.6,882,73110,0.00,2.05,0.00,0.000,1030,0.000,0.062,2950,2212,1754,1767,1741,0,0,0,0,0,0,26.55,26.47,26.58
$GC,73515,-0.15,111.3,2950,2212,1767,1741,3546.1,5.3,886,73516,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2211,1754,1767,1741,0,0,0,0,0,0,27.09,27.12,27.11
$GC,73876,-0.15,111.3,2950,2212,1767,1741,3527.5,5.1,889,73881,0.00,2.12,0.00,0.000,516,0.000,0.067,2960,832,1754,1766,1742,0,0,0,0,0,0,27.10,26.39,27.11
$GC,73981,-0.15,111.3,2960,832,1767,1741,3527.5,5.1,889,73986,0.10,2.10,0.00,0.000,5126,0.161,0.062,2918,2213,1754,1767,1741,0,0,0,0,0,0,25.98,26.46,26.10
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$GC,136937,0.68,257.8,3214,802,1273,1238,338.6,9.6,1548,136942,0.00,1.98,0.00,0.000,1030,0.000,0.062,3214,2196,1255,1273,1237,0,0,0,0,0,0,26.72,26.70,26.74
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$GC,137952,0.73,257.8,3186,2211,1275,1241,251.9,7.7,1578,137956,0.00,1.95,0.00,0.000,516,0.000,0.067,3194,824,1258,1275,1241,0,0,0,0,0,0,27.15,26.63,27.16
$GC,138002,0.79,257.8,3194,824,1276,1241,249.3,7.9,1579,138006,0.00,1.92,0.00,0.000,1030,0.000,0.060,3194,2202,1258,1276,1241,0,0,0,0,0,0,26.77,26.71,26.79
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$GC,138681,0.90,257.8,3200,817,1277,1243,194.9,7.6,1602,138692,0.08,1.90,3.62,0.484,11270,0.139,0.060,3256,2203,1252,1267,1237,0,0,0,0,0,0,26.63,26.72,25.20
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$GC,139882,0.90,257.8,3276,813,1270,1237,74.6,8.8,1665,139891,0.00,1.95,0.00,0.000,1030,0.000,0.062,3276,2199,1253,1270,1237,0,0,0,0,0,0,26.77,26.74,26.79
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$GC,140268,0.90,257.8,3285,818,1273,1238,45.4,8.0,1690,140277,0.00,1.95,0.00,0.000,1030,0.000,0.062,3285,2200,1255,1273,1237,0,0,0,0,0,0,26.78,26.75,26.80
$GC,140577,0.90,257.8,3285,2200,1275,1239,18.4,9.7,1719,140578,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2200,1257,1274,1240,0,0,0,0,0,0,27.16,27.18,27.17
$STATE,140747,end climb,SURFACE_DEPTH_REACHED
$STATE,140747,begin surface coast
$FINISH,-0.5,0.997938
$STATE,140778,end surface coast,CONTROL_FINISHED_OK
$STATE,140778,begin surface
$SM_CCo,140852,0.00,0.000,0,0,1257,256.50
$SM_GC,1.24,8.02,0.00,0.00,0.082,0.000,0.000,135,2201,1257,-8.78,0.00,256.50,0,0,0,0,0,0,26.60,27.18,26.67
$IRIDIUM_FIX,2739.67,-7432.08,200808,223656
$TT8_MAMPS,0.025466,0.025466
$HUMID,75.00
$INTERNAL_PRESSURE,9.45592
$TCM_TEMP,23.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4773.8,45.2
$24V_AH,20.96,39.372
$10V_AH,10.18,27.638
$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,27.200,673.400,366.825,0.000,93.850,74.150,119.705,390.451,20.000,0.000,15.738,7281.020,120667.617,847.382,12411.846,485.418,0.000,5547.923,0.000,11506.111,0.000,145.528,0.000
$DEVICE_MAMPS,290.511,81.939,3878.446,0.000,198.640,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1193.313,5688.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329844
$DATA_FILE_SIZE,106822,1739
$CAP_FILE_SIZE,774313,0
$CFSIZE,1024409600,996540416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14093.33,0x235780,0,24
$CURRENT,0.047,147.90,1
$GPS,271015,003006,2733.288,-7431.963,36,0.9,39,-10.0,0.0,0.0,9,8.9